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WO2021081815A1 - 视频传输方法、设备及计算机可读存储介质 - Google Patents

视频传输方法、设备及计算机可读存储介质 Download PDF

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Publication number
WO2021081815A1
WO2021081815A1 PCT/CN2019/114390 CN2019114390W WO2021081815A1 WO 2021081815 A1 WO2021081815 A1 WO 2021081815A1 CN 2019114390 W CN2019114390 W CN 2019114390W WO 2021081815 A1 WO2021081815 A1 WO 2021081815A1
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WO
WIPO (PCT)
Prior art keywords
drone
control station
control
accessed
background server
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2019/114390
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English (en)
French (fr)
Inventor
陈文月
尹小俊
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
SZ DJI Technology Co Ltd
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SZ DJI Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by SZ DJI Technology Co Ltd filed Critical SZ DJI Technology Co Ltd
Priority to PCT/CN2019/114390 priority Critical patent/WO2021081815A1/zh
Priority to CN201980033763.7A priority patent/CN112205020A/zh
Publication of WO2021081815A1 publication Critical patent/WO2021081815A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W12/00—Security arrangements; Authentication; Protecting privacy or anonymity
    • H04W12/06—Authentication
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft
    • G08G5/80—Anti-collision systems
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W76/00—Connection management
    • H04W76/10—Connection setup

Definitions

  • the embodiments of the present invention relate to the field of communications, and in particular to a video transmission method, device, and computer-readable storage medium.
  • UAVs are generally operated on-site.
  • On-site operators control the UAVs by operating the ground control terminal that communicates with the UAVs point-to-point.
  • the working site of the drone is far away from the rear command center.
  • the rear command center needs to output the video information to the preview through the HDMI/USB of the ground control terminal.
  • Set the video capture device, and then the video capture device can send video information to the rear command center via Ethernet.
  • the video transmission is one-way transmission, and the rear command center can only see the video information, but cannot control the drone based on the video information.
  • the above-mentioned video transmission method often requires multiple devices to be connected, and the on-site operation is complicated, which is not conducive to operation.
  • the embodiments of the present invention provide a video transmission method, equipment, and computer-readable storage medium, so as to solve the problem that in the existing video transmission method, the video is transmitted in one direction, and the rear command center can only see the video information, but it cannot be based on the video.
  • Information controls UAVs and complex technical issues for on-site operations.
  • the first aspect of the embodiments of the present invention is to provide a video transmission method, which is applied to drones, including:
  • the collected video information is sent to the control station to be accessed so that the control station to be accessed will
  • the video information is sent to the back-end server, where the successful response is sent to the drone when the control station to be accessed determines that the back-end server has passed the authentication of the video access authentication request of.
  • the second aspect of the embodiments of the present invention is to provide a video transmission method, which is applied to a control station, and includes:
  • the third aspect of the embodiments of the present invention is to provide a video transmission method, which is applied to a video transmission system.
  • the video transmission system includes a drone, a control station, a background server, and a handheld control terminal.
  • the method includes:
  • the drone determines the control station to be accessed, and establishes a wireless connection with the control station to be accessed;
  • the drone sends a video access authentication request to the control station to be accessed, where the video access authentication request includes drone identification information;
  • the control station obtains the video access authentication request sent by the drone;
  • the control station sends success response information to the drone when it is determined that the background server has passed the authentication of the video access authentication request;
  • the drone sends the collected video information to the control station to be accessed;
  • the control station obtains the video information sent by the drone
  • the control station sends the video information to the background server.
  • the fourth aspect of the embodiments of the present invention is to provide an unmanned aerial vehicle, including: a memory and a processor;
  • the memory is used to store program codes
  • the processor calls the program code, and when the program code is executed, is used to perform the following operations:
  • the collected video information is sent to the control station to be accessed so that the control station to be accessed will
  • the video information is sent to the back-end server, where the successful response is sent to the drone when the control station to be accessed determines that the back-end server has passed the authentication of the video access authentication request of.
  • the fifth aspect of the embodiments of the present invention is to provide a control station, including: a memory and a processor;
  • the memory is used to store program codes
  • the processor calls the program code, and when the program code is executed, is used to perform the following operations:
  • the sixth aspect of the embodiments of the present invention is to provide a video transmission system.
  • the video transmission system includes an unmanned aerial vehicle, a control station, a background server, and a handheld control terminal.
  • the system is used for:
  • the drone determines the control station to be accessed, and establishes a wireless connection with the control station to be accessed;
  • the drone sends a video access authentication request to the control station to be accessed, where the video access authentication request includes drone identification information;
  • the control station obtains the video access authentication request sent by the drone;
  • control station determines that the background server has passed the authentication of the video access authentication request, send a success response message to the drone;
  • the drone sends the collected video information to the control station to be accessed;
  • the control station obtains the video information sent by the drone
  • the control station sends the video information to the background server.
  • a seventh aspect of the embodiments of the present invention is to provide a computer-readable storage medium on which a computer program is stored, and the computer program is executed by a processor to implement the method described in the first aspect or the second aspect or the third aspect .
  • the video transmission method, equipment, and computer-readable storage medium provided in this embodiment are different from the point-to-point connection between the drone and the control terminal in the prior art, by establishing communication between the drone, the control station to be accessed, and the background server Connect, which can quickly and easily transfer the data collected on the drone operation site to the back-end server. Furthermore, the operator can control the drone by accessing the data collected by the drone in the background server.
  • Figure 1 is a schematic diagram of the system architecture on which the present invention is based;
  • Embodiment 1 of the present invention is a schematic flowchart of a video transmission method provided by Embodiment 1 of the present invention
  • Embodiment 3 is a schematic flowchart of a video transmission method provided by Embodiment 2 of the present invention.
  • Figure 4 is another system architecture diagram provided by an embodiment of the present invention.
  • FIG. 5 is a schematic flowchart of a video transmission method provided by Embodiment 3 of the present invention.
  • FIG. 6 is another system architecture diagram provided by an embodiment of the present invention.
  • FIG. 7 is a schematic flowchart of a video transmission method provided by Embodiment 4 of the present invention.
  • FIG. 8 is a schematic flowchart of a video transmission method provided by Embodiment 5 of the present invention.
  • FIG. 9 is a schematic flowchart of a video transmission method provided by Embodiment 6 of the present invention.
  • Embodiment 7 of the present invention is a schematic flowchart of a video transmission method provided by Embodiment 7 of the present invention.
  • FIG. 11 is a schematic structural diagram of an unmanned aerial vehicle provided by Embodiment 8 of the present invention.
  • Fig. 12 is a schematic structural diagram of a control station provided by Embodiment 9 of the present invention.
  • a component when referred to as being "fixed to” another component, it can be directly on the other component or a central component may also exist. When a component is considered to be “connected” to another component, it can be directly connected to the other component or there may be a centered component at the same time.
  • the video is one-way transmission
  • the rear command center can only see the video information, but cannot control the drone based on the video information, and the on-site operation is complicated.
  • the present invention provides a video transmission method, device and computer-readable storage medium.
  • video transmission method, device, and computer-readable storage medium provided by the present invention can be applied to any scenario where a mobile device communicates with the rear at the work site.
  • Fig. 1 is a schematic diagram of the system architecture on which the present invention is based.
  • the system architecture on which the present invention is based at least includes: a drone 1, a control station to be accessed, and a back-end server 3.
  • the control station 2 to be accessed is in communication connection with the UAV 1 and the background server 3 respectively.
  • Fig. 2 is a schematic flowchart of a video transmission method according to Embodiment 1 of the present invention. As shown in Fig. 2, the method includes:
  • Step 101 Determine the control station to be accessed, and establish a wireless connection with the control station to be accessed.
  • the execution subject of this embodiment is a drone.
  • the number of control stations can be multiple, and the control stations that can be accessed are also different according to the different working sites of the drone. Therefore, in order to realize the communication interaction with the background server, the drone can first determine the control station currently to be accessed, and then can perform information interaction with the control station to be accessed.
  • the control station to be accessed may specifically establish a communication connection with the UAV through a Radio signal.
  • other connection methods may also be used to establish a communication connection with the UAV, which is not limited by the present invention.
  • control station may specifically be any one of a fixed base station and a mobile base station.
  • Step 102 Send a video access authentication request to the control station to be accessed, so that the control station to be accessed sends a video access authentication request to a background server, where the video access authentication request includes a drone Identification information.
  • the UAV after the UAV establishes a communication connection with the control station to be accessed, it can exchange information with the control station to be accessed. Therefore, the drone can send a video access authentication request to the control station to be accessed.
  • the control station to be accessed can establish a communication connection with the background server, so that the server to be accessed can send the video access certification request to the video access certification request after receiving the video access certification request sent by the drone. Background server. Since there may be multiple drones operating at the same time at the same job site, in order to achieve accurate connection between the back-end server and a specific drone, when sending a video access authentication request, it can also be included in the video access authentication request.
  • Carry drone identification information where the drone identification information can uniquely identify the drone.
  • Step 103 When the received video access authentication response fed back by the to-be-accessed control station is a successful response, send the collected video information to the to-be-accessed control station, so that the to-be-accessed control station The control station sends the video information to the back-end server, where the successful response is that the control station to be accessed determines that the back-end server has passed the authentication of the video access authentication request. Sent by man-machine.
  • the background server can authenticate the video access authentication request to determine whether to approve the drone access.
  • the information requesting authentication through the video access authentication can be sent to the control station to be accessed.
  • the control station After the control station receives the information that has passed the video access authentication request authentication, it can send a successful response message to the UAV.
  • the drone After the drone receives the successful response information, it can send the currently collected video information to the control station to be accessed, and the control station to be accessed sends the video information to the background server.
  • the control station to be accessed can send video information to the background server via Ethernet or cellular mobile network.
  • the drone may also obtain parameter information in the current operation process, and send the parameter information to the control station to be accessed, so that the control station to be accessed forwards the parameter information to the background server.
  • the operator can access the background server through a browser to view the video information and parameter information, and then the operator can view After the above information, you can also want to send control information to the drone.
  • the video transmission method provided in this embodiment is different from the point-to-point connection between the drone and the control terminal in the prior art.
  • the communication connection between the drone, the control station to be accessed, and the background server can be established quickly and simply
  • the data collected at the drone operation site is transmitted to the back-end server.
  • the operator can control the drone by accessing the data collected by the drone in the background server.
  • FIG. 3 is a schematic flowchart of a video transmission method provided by Embodiment 2 of the present invention. On the basis of any of the above embodiments, after step 101, it further includes:
  • Step 201 Obtain a first control instruction sent by the control station to be accessed, where the first control instruction is obtained by the control station to be accessed from a background server;
  • Step 202 Control the operation of the drone according to the first control instruction.
  • the drone can send the collected video cable to the back-end server for the operator to view;
  • the background server can also send control instructions to the drone to control the drone.
  • the drone may obtain the first control instruction sent by the control station to be accessed, where the first control instruction is sent by the background server to the control station to be accessed.
  • the drone can operate according to the first control instruction.
  • the first control instruction may be sent by the operator to the drone according to the current demand, or it may be generated by the operator after viewing the data on the video collected by the drone; the first control instruction may be none. What is sent to the UAV before the human-machine flight may also be sent to the UAV during the operation of the UAV, which is not limited in the present invention.
  • the first control instruction may include route information, so that after receiving the first control instruction, the drone can navigate according to the route information; optionally, the first control instruction may also include control actions , Where the control actions include but are not limited to take-off, return, stop, etc. Therefore, the drone can perform the control action after receiving the first control instruction; optionally, the background server can also obtain parameter information during the operation of the drone, and generate a data acquisition request.
  • the data acquisition request includes The identification of the data to be acquired, the data acquisition request is sent to the control station to be accessed, and the control station to be connected sends the data acquisition request to the drone. After the drone receives the data acquisition request, it will acquire and wait for the data acquisition request. The data corresponding to the identifier of the acquired data is fed back to the control station to be accessed, and the control station to be accessed sends the data corresponding to the identifier of the data to be acquired to the background server.
  • the video transmission method provided in this embodiment obtains the first control instruction sent by the back-end server through the control station to be accessed, and controls the drone according to the first control instruction, so as to realize the information between the drone and the back-end server. On the basis of interaction, the drone can be controlled accurately and effectively, which improves the safety of the drone during its operation.
  • FIG. 4 is another system architecture diagram provided by an embodiment of the present invention.
  • the system architecture on which the present invention is based may also include a handheld control terminal 4, which includes, but is not limited to, a handheld remote control, operation ⁇ terminal, etc.
  • the handheld control terminal 4 is in communication connection with the control station 2 to be accessed, so as to be able to communicate with the control station 2 to be accessed.
  • the method further includes:
  • the operation of the drone is controlled according to the second control instruction.
  • the handheld control terminal can also realize the control of the drone.
  • the handheld control terminal may send a second control instruction to the control station to be accessed, and accordingly, after the control station to be accessed receives the second control instruction, it may send the second control instruction to the drone.
  • the drone After the drone receives the second control instruction sent by the handheld control terminal through the control station to be accessed, the drone can control the drone to fly according to the second control instruction.
  • the content contained in the second control instruction is similar to that of the first control instruction, and the details can be seen in the above-mentioned embodiment, which will not be repeated here.
  • the operator can control the drone through a handheld control terminal according to current needs. For example, if there are sudden obstacles on the current route of the drone, and the drone cannot perform timely obstacle avoidance operations, the operator can send a second control instruction to the drone through the handheld control terminal to control UAVs avoid obstacles and improve the safety of UAV operations.
  • the video transmission method provided in this embodiment obtains the second control instruction sent by the handheld control terminal through the control station to be accessed, and controls the UAV according to the second control instruction, thereby enabling the UAV to communicate with the background server. On the basis of information interaction, the safety of UAV operation is further improved.
  • FIG. 5 is a schematic flowchart of a video transmission method provided in Embodiment 3 of the present invention. Based on any of the foregoing embodiments, the method further includes:
  • Step 301 Send the first communication verification information of the drone to the handheld control terminal, so that the handheld control terminal sends the first communication verification information to a background server, where the background server is configured To send the first communication verification information to the control station to be accessed;
  • Step 302 Obtain the second communication verification information of the control station to be accessed and the third communication verification information of the candidate control station sent by the handheld control terminal, where the second communication verification information is the handheld terminal Obtained from the background server; wherein the first communication verification information and the second communication verification information are used to establish the wireless connection between the drone and the control station to be accessed.
  • the communication ID of each drone since the communication ID of each drone is different in the prior art, it must enter the pairing mode at the same time through a short distance with the handheld control terminal, and then exchange the communication ID and encryption code before each other can communicate with each other. send Message.
  • the control station to be accessed is usually fixed at a high point and has a large distance from the ground. It cannot trigger the frequency-linking mode frequently, and it cannot use close-range frequency-linking to pair and communicate with the UAV. Therefore, in order to establish a communication connection between the drone and the control station to be accessed, the drone can first send the first communication verification information of the drone to the handheld control terminal. After receiving the first communication verification information, the handheld control terminal can send the first communication verification information to the background server.
  • the background server can send the first communication verification information to the control station to be accessed.
  • the drone obtains the second communication verification information of the to-be-accessed control station and the third verification information of the candidate control station sent by the handheld control terminal, where the second communication verification information is obtained by the handheld terminal from the background server.
  • the first communication verification information and the second communication verification information are specifically used to establish a wireless connection between the drone and the control station to be accessed.
  • Fig. 6 is another system architecture diagram provided by an embodiment of the present invention. As shown in Fig. 6, in the system architecture based on the present invention, the handheld control terminal 4 can respectively communicate with the drone 1, the control station 2 to be accessed, and The background server 3 establishes a communication connection.
  • the method further includes:
  • a plurality of control stations determine the control station to be accessed.
  • the number of control stations can be multiple. Because the location of the drone's work site is different, the control stations that the drone can connect to are also different, and the communication effects of connecting to different control stations are also different. different. Therefore, before communicating with the control station, you first need to determine the control station to be accessed. Specifically, the location information of the drone can be sent to the handheld control terminal, so that the handheld control terminal can send the location information to the background server. Correspondingly, the background server can determine the control station to be accessed from the multiple control terminals according to the location information. The control station to be accessed may be the closest to the UAV, or the one with the best communication effect, which is not limited in the present invention.
  • the video transmission method provided in this embodiment establishes a wireless connection between the drone and the control station to be accessed by using the first communication verification information and the second communication verification information, thereby providing a communication between the drone and the background server.
  • Information exchange provides the basis.
  • FIG. 7 is a schematic flowchart of a video transmission method provided by Embodiment 4 of the present invention.
  • the application and control station as shown in FIG. 7, the method includes:
  • Step 401 Establish a wireless connection with the drone
  • Step 402 Obtain a video access authentication request sent by the drone, where the video access authentication request includes drone identification information.
  • Step 403 When it is determined that the background server has passed the authentication of the video access authentication request, send a success response message to the drone;
  • Step 404 Obtain the video information sent by the drone, and forward the video information to the background server.
  • the control station in order to realize the communication connection between the UAV and the background server, the control station first needs to establish a communication connection with the UAV. It can establish a communication connection with the UAV through a Radio signal. In addition, other connection methods may also be used to establish a communication connection with the UAV, which is not limited in the present invention.
  • the control station After establishing a communication connection with the drone, the control station can receive the video access authentication request sent by the drone. Since multiple drones may exist at the same operation site at the same time, the video access authentication request may also include drone identification information, where the drone identification information can uniquely identify the drone.
  • the control station can establish a communication connection with the background server, so that after receiving the video access authentication request sent by the drone, the video access authentication request can be sent to the background server.
  • the control station can send a successful response message to the UAV.
  • the background server After the background server receives the video access authentication request, it can authenticate the video access authentication request to determine whether to approve the drone access.
  • the information requesting authentication through the video access authentication can be sent to the control station to be accessed.
  • the control station receives the information that the video access authentication request is authenticated, it can send a successful response message to the UAV.
  • the drone receives the successful response information, it can send the currently collected video information to the control station to be connected, and the control station to be connected sends the video information to the background server.
  • the video transmission method provided in this embodiment is different from the point-to-point connection between the drone and the control terminal in the prior art.
  • the communication connection between the drone, the control station to be accessed, and the background server can be established quickly and simply
  • the data collected at the drone operation site is transmitted to the back-end server.
  • the operator can control the drone by accessing the data collected by the drone in the background server.
  • step 404 specifically includes:
  • the video information after the format conversion is forwarded to the background server.
  • control station can also obtain the video information sent by the drone, perform format conversion on it, and send the converted video information to the background server. Therefore, the operator can directly access the background server to view the video information, without the need to perform video format conversion again, which improves the user experience.
  • control station is any one of a fixed base station and a mobile base station.
  • the method further includes:
  • control station when the control station is a fixed base station, the control station can establish a communication connection with the background server via Ethernet to realize information exchange.
  • the method further includes:
  • a communication connection is established with the background server through a cellular mobile network.
  • control station when the control station is a fixed base station, the control station can establish a communication connection with the background server through a cellular mobile network to realize information interaction.
  • FIG. 8 is a schematic flowchart of a video transmission method according to Embodiment 5 of the present invention. On the basis of any of the above embodiments, after step 401, it further includes:
  • Step 501 Obtain a first control instruction sent by the background server, where the first control instruction is sent by an operator accessing the background server through a terminal device;
  • Step 502 Send the first control instruction to the drone, so that the drone executes the first control instruction.
  • the drone can send the collected video cable to the back-end server for the operator to view; on the other hand, the back-end server You can also send control instructions to the drone to control the drone.
  • the control station may obtain the first control instruction sent by the background server, and the first control instruction may specifically be sent by an operator accessing the background server through a terminal device.
  • the control station may send the first control instruction to the drone, so that the drone can operate according to the first control instruction after receiving the first control instruction.
  • the first control instruction may be sent by the operator to the drone according to the current demand, or it may be generated by the operator after viewing the data on the video collected by the drone; the first control instruction may be none.
  • What is sent to the UAV before the human-machine flight may also be sent to the UAV during the operation of the UAV, which is not limited in the present invention.
  • the first control instruction may include route information, so that after receiving the first control instruction, the drone can navigate according to the route information; optionally, the first control instruction may also include control actions , Where the control actions include but are not limited to take-off, return, stop, etc. Therefore, the drone can perform the control action after receiving the first control instruction; optionally, the background server can also obtain parameter information during the operation of the drone, and generate a data acquisition request.
  • the data acquisition request includes The identification of the data to be acquired, the data acquisition request is sent to the control station, and the control station sends the data acquisition request to the drone. After receiving the data acquisition request, the drone acquires the data corresponding to the identification of the data to be acquired, It is fed back to the control station, and the control station sends the data corresponding to the identification of the data to be obtained to the background server.
  • the video transmission method provided in this embodiment obtains the first control instruction sent by the background server, and sends the first control instruction to the drone, and controls the drone according to the first control instruction, so as to realize the unmanned operation. Based on the information interaction between the drone and the background server, the drone can be accurately and effectively controlled, which improves the safety of the drone during its operation.
  • step 401 the method further includes:
  • the second control instruction is sent to the drone, so that the drone executes the second control instruction.
  • the handheld control terminal can also realize the control of the drone.
  • the control station may obtain the second control instruction sent by the handheld control terminal, and send the second control instruction to the drone. After the drone receives the second control instruction sent by the handheld control terminal through the control station to be accessed, the drone can control the drone to fly according to the second control instruction.
  • the content contained in the second control instruction is similar to that of the first control instruction, and the details can be seen in the above-mentioned embodiment, which will not be repeated here.
  • the operator can control the drone through a handheld control terminal according to current needs. For example, if there are sudden obstacles on the current route of the drone, and the drone cannot perform timely obstacle avoidance operations, the operator can send a second control instruction to the drone through the handheld control terminal to control UAVs avoid obstacles and improve the safety of UAV operations.
  • the video transmission method provided in this embodiment acquires the second control instruction sent by the handheld control terminal, and sends the second control instruction to the drone, and controls the drone according to the second control instruction, so as to realize the Based on the information interaction between man-machine and background server, the safety of UAV operation is further improved.
  • Fig. 9 is a schematic flowchart of a video transmission method according to Embodiment 6 of the present invention. Based on any of the foregoing embodiments, the method further includes:
  • Step 601 Receive the first communication verification information of the drone sent by the back-end server, where the back-end server is configured to obtain the first communication verification information from the handheld control terminal and send it to the control to be accessed. station;
  • Step 602 Send the second communication verification information of the control station to the background server, so that the background server sends the second communication verification information to the handheld control terminal, where the handheld control terminal Sending the second communication verification information to the drone; wherein the first communication verification information and the second communication verification information are used to establish the wireless connection between the drone and the control station connection.
  • the communication ID of each drone since the communication ID of each drone is different in the prior art, it must enter the pairing mode at the same time through a short distance with the handheld control terminal, and then exchange the communication ID and encryption code before each other can communicate with each other. send Message.
  • the control station is usually fixed at a high point and has a large distance from the ground. It cannot trigger the frequency-linking mode frequently, and it cannot use close-range frequency-linking to pair and communicate with the drone. Therefore, in order to establish a communication connection between the drone and the control station to be accessed, the first communication verification information of the drone sent by the background server can be received. The first communication verification information is sent by the drone to the handheld control terminal.
  • the first communication verification information of the drone After the first communication verification information of the drone, the first communication verification information is sent to the background server, and the background server feeds back.
  • the second communication verification information of the control station is sent to the background server, so that the background server can send the second communication verification information to the handheld control terminal.
  • the handheld control terminal After receiving the second communication verification information, the handheld control terminal can send the second communication verification information to the drone, so that the drone and the control station can use the first communication verification information and the second communication verification information to establish a communication connection .
  • the video transmission method provided in this embodiment uses the first communication verification information and the second communication verification information to establish a wireless connection between the drone and the control station, thereby providing information interaction between the drone and the background server basis.
  • the method further includes:
  • the second control instruction is sent to the drone according to a preset priority, So that the drone executes the second control instruction.
  • both the handheld control terminal and the background server can realize the control of the drone. It is understandable that when the drone only receives the first control instruction sent by the background server or the second control instruction sent by the handheld control terminal, it can only be based on the first control instruction sent by the background server or the second control instruction sent by the handheld control terminal. Second, the control instruction is executed. However, when the drone simultaneously receives the first control instruction sent by the background server and the second control instruction sent by the handheld control terminal, it needs to determine to execute the first control instruction or the second control instruction.
  • the second control instruction can be sent to the drone according to the preset priority to control the drone.
  • the man-machine executes the second control instruction.
  • the first control instruction may be sent by the operator according to actual needs, or may be sent by the operator according to the video information collected by the drone, which does not have real-time performance.
  • the second control instruction is sent by the operator according to the actual situation on the job site. Therefore, in order to ensure the operational safety of the drone, a higher priority can be set for the second control instruction.
  • the video transmission method provided in this embodiment determines the control instructions that need to be executed according to the preset priority when receiving the first control instruction sent by the background server and the second control instruction sent by the handheld control terminal at the same time. On the basis of the information interaction between the drone and the background server, the safety of the drone operation is improved.
  • FIG. 10 is a schematic flowchart of a video transmission method according to Embodiment 7 of the present invention, which is applied to a video transmission system, where the video transmission system specifically includes a drone, a control station, a background server, and a handheld control terminal.
  • the method includes:
  • Step 701 The drone determines the control station to be accessed, and establishes a wireless connection with the control station to be accessed;
  • Step 702 The drone sends a video access authentication request to the control station to be accessed, where the video access authentication request includes drone identification information;
  • Step 703 The control station obtains the video access authentication request sent by the drone;
  • Step 704 The control station sends a success response message to the drone when it is determined that the background server has passed the authentication of the video access authentication request;
  • Step 705 When the received video access authentication response fed back by the control station to be accessed is a successful response, the drone sends the collected video information to the control station to be accessed;
  • Step 706 The control station obtains the video information sent by the drone.
  • Step 707 The control station sends the video information to the background server.
  • the control station in order to realize the communication connection between the UAV and the background server, the control station first needs to establish a communication connection with the UAV. It can establish a communication connection with the UAV through a Radio signal. In addition, other connection methods may also be used to establish a communication connection with the UAV, which is not limited in the present invention.
  • the control station After establishing a communication connection with the drone, the control station can receive the video access authentication request sent by the drone. Since multiple drones may exist at the same operation site at the same time, the video access authentication request may also include drone identification information, where the drone identification information can uniquely identify the drone.
  • the control station can establish a communication connection with the background server, so that after receiving the video access authentication request sent by the drone, the video access authentication request can be sent to the background server.
  • the control station can send a successful response message to the UAV.
  • the background server After the background server receives the video access authentication request, it can authenticate the video access authentication request to determine whether to approve the drone access.
  • the information requesting authentication through the video access authentication can be sent to the control station to be accessed.
  • the control station receives the information that the video access authentication request is authenticated, it can send a successful response message to the UAV.
  • the drone receives the successful response information, it can send the currently collected video information to the control station to be connected, and the control station to be connected sends the video information to the background server.
  • the video transmission method provided in this embodiment is different from the point-to-point connection between the drone and the control terminal in the prior art.
  • the communication connection between the drone, the control station to be accessed, and the background server can be established quickly and simply
  • the data collected at the drone operation site is transmitted to the back-end server.
  • the operator can control the drone by accessing the data collected by the drone in the background server.
  • FIG. 11 is a schematic structural diagram of an unmanned aerial vehicle according to Embodiment 8 of the present invention.
  • the unmanned aerial vehicle includes: a memory 81 and a processor 82;
  • the memory 81 is used to store program codes
  • the processor 82 calls the program code, and when the program code is executed, is used to perform the following operations:
  • the collected video information is sent to the control station to be accessed so that the control station to be accessed will
  • the video information is sent to the back-end server, where the successful response is sent to the drone when the control station to be accessed determines that the back-end server has passed the authentication of the video access authentication request of.
  • the processor is further configured to:
  • the operation of the drone is controlled according to the first control instruction.
  • control station is in a communication connection with a handheld control terminal
  • processor is further configured to: after establishing a connection with the control station to be accessed:
  • the operation of the drone is controlled according to the second control instruction.
  • the processor is further configured to:
  • the second communication verification information of the control station Acquire the second communication verification information of the control station to be accessed and the third communication verification information of the candidate control station sent by the handheld control terminal, wherein the second communication verification information is the second communication verification information of the handheld terminal from the Obtained by the background server;
  • the first communication verification information and the second communication verification information are used to establish the wireless connection between the drone and the control station to be accessed.
  • the processor is further configured to:
  • a plurality of control stations determine the control station to be accessed.
  • FIG. 12 is a schematic structural diagram of a control station provided by Embodiment 9 of the present invention. As shown in FIG. 12, the control station includes: a memory 91 and a processor 92;
  • the memory 91 is used to store program codes
  • the processor 92 calls the program code, and when the program code is executed, is configured to perform the following operations:
  • control station is any one of a fixed base station and a movable base station.
  • control station is a fixed base station
  • processor is further configured to: before forwarding the video information to the background server:
  • control station is a mobile base station
  • processor is further configured to: before forwarding the video information to the background server:
  • a communication connection is established with the background server through a cellular mobile network.
  • the processor After the processor establishes a connection with the drone, it is further used for:
  • the first control instruction is sent to the drone, so that the drone executes the first control instruction.
  • the processor After the processor establishes a connection with the drone, it is further used for:
  • the second control instruction is sent to the drone, so that the drone executes the second control instruction.
  • the processor is further configured to:
  • the background server is configured to obtain the first communication verification information from the handheld control terminal and send it to the control station to be accessed;
  • the second communication verification information of the control station is sent to the background server, so that the background server sends the second communication verification information to the handheld control terminal, wherein the handheld control terminal sends the The second communication verification information is sent to the drone;
  • the first communication verification information and the second communication verification information are used to establish the wireless connection between the drone and the control station.
  • the processor is further configured to:
  • the second control instruction is sent to the drone according to a preset priority, So that the drone executes the second control instruction.
  • the processor obtains the video information sent by the drone and forwards the video information to the background server, it is used to:
  • the video information after the format conversion is forwarded to the background server.
  • the video transmission system includes an unmanned aerial vehicle, a control station, a background server, and a handheld control terminal.
  • the system is used for:
  • the drone determines the control station to be accessed, and establishes a wireless connection with the control station to be accessed;
  • the drone sends a video access authentication request to the control station to be accessed, where the video access authentication request includes drone identification information;
  • the control station obtains the video access authentication request sent by the drone;
  • the control station sends success response information to the drone when it is determined that the background server has passed the authentication of the video access authentication request;
  • the drone sends the collected video information to the control station to be accessed;
  • the control station obtains the video information sent by the drone
  • the control station sends the video information to the background server.
  • Yet another embodiment of the present invention also provides a computer-readable storage medium on which a computer program is stored, and the computer program is executed by a processor to implement the method described in any of the foregoing embodiments.
  • the disclosed device and method can be implemented in other ways.
  • the device embodiments described above are merely illustrative, for example, the division of the units is only a logical function division, and there may be other divisions in actual implementation, for example, multiple units or components may be combined or It can be integrated into another system, or some features can be ignored or not implemented.
  • the displayed or discussed mutual coupling or direct coupling or communication connection may be indirect coupling or communication connection through some interfaces, devices or units, and may be in electrical, mechanical or other forms.
  • the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the objectives of the solutions of the embodiments.
  • the functional units in the various embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units may be integrated into one unit.
  • the above-mentioned integrated unit may be implemented in the form of hardware, or may be implemented in the form of hardware plus software functional units.
  • the above-mentioned integrated unit implemented in the form of a software functional unit may be stored in a computer readable storage medium.
  • the above-mentioned software functional unit is stored in a storage medium and includes several instructions to make a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor (processor) execute the method described in the various embodiments of the present invention. Part of the steps.
  • the aforementioned storage media include: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disk or optical disk and other media that can store program code .

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Abstract

一种视频传输方法、设备及计算机可读存储介质，该方法包括：确定待接入的控制站（2），并与待接入的控制站（2）建立无线连接（101）；向待接入的控制站（2）发送视频接入认证请求（102）；在接收到的待接入的控制站（2）反馈的视频接入认证响应为成功响应时，向待接入的控制站（2）发送采集的视频信息，以使待接入的控制站（2）将视频信息发送给后台服务器（3）（103）。通过建立无人机（1）、待接入的控制站（2）以及后台服务器（3）的通信连接，从而能够快速、简便地将无人机作业现场采集到的数据传输至后台服务器。进而操作者可以通过访问后台服务器中无人机采集的数据对无人机进行控制。

Description

视频传输方法、设备及计算机可读存储介质 技术领域
本发明实施例涉及通信领域，尤其涉及一种视频传输方法、设备及计算机可读存储介质。
背景技术
无人机在应用过程中，一般都是无人机在现场作业，现场操作者通过操作与无人机点对点通信的地面控制终端实现对无人机的控制。
无人机的作业现场与后方指挥中心的距离较远，后方指挥中心为了实现对无人机上设置的图像采集装置采集的视频信息的查看，需要通过地面控制终端的HDMI/USB输出视频信息到预设的视频采集设备，进而该视频采集设备可以通过以太网将视频信息发送至后方指挥中心。
但是，采用上述方法进行视频传输时，该视频传输为单向传输，后方指挥中心仅能够看到视频信息，但无法根据该视频信息对无人机进行控制。此外，上述视频传输方法往往需要多个设备进行连接，现场操作复杂，不利于操作。
发明内容
本发明实施例提供一种视频传输方法、设备及计算机可读存储介质，以解决现有的视频传输方法中，视频为单向传输，后方指挥中心仅能够看到视频信息，但无法根据该视频信息对无人机进行控制，且现场操作复杂的技术问题。
本发明实施例的第一方面是提供一种视频传输方法，应用于无人机，包括：
确定待接入的控制站，并与所述待接入的控制站建立无线连接；
向所述待接入的控制站发送视频接入认证请求，以使所述待接入的控制站向后台服务器发送视频接入认证请求，所述视频接入认证请求包括无人机标识信息；
在接收到的所述待接入的控制站反馈的视频接入认证响应为成功响应时，向所述待接入的控制站发送采集的视频信息，以使所述待接入的控制站将所述视频信息发送给所述后台服务器，其中，所述成功响应是所述待接入的控制站在确定所述后台服务器对所述视频接入认证请求认证通过时向所述无人机发送的。
本发明实施例的第二方面是提供一种视频传输方法，应用于控制站，包括：
与无人机建立无线连接；
获取所述无人机发送的视频接入认证请求，所述视频接入认证请求包括无人机标识信息；
当确定后台服务器对所述视频接入认证请求认证通过时，向所述无人机发送成功响应信息；
获取所述无人机发送的视频信息，并将所述视频信息转发至后台服务器。
本发明实施例的第三方面是提供一种视频传输方法，应用于视频传输系统，所述视频传输系统包括无人机、控制站、后台服务器以及手持控制终端，所述方法包括：
所述无人机确定待接入的控制站，并与所述待接入的控制站建立无线连接；
所述无人机向所述待接入的控制站发送视频接入认证请求，所述视频接入认证请求包括无人机标识信息；
所述控制站获取所述无人机发送的视频接入认证请求；
所述控制站当确定所述后台服务器对所述视频接入认证请求认证通过时，向所述无人机发送成功响应信息；
所述无人机在接收到的所述待接入的控制站反馈的视频接入认证响应为成功响应时，向所述待接入的控制站发送采集的视频信息；
所述控制站获取所述无人机发送的视频信息；
所述控制站将所述视频信息发送至所述后台服务器。
本发明实施例的第四方面是提供一种无人机，包括：存储器和处理器；
所述存储器用于存储程序代码；
所述处理器，调用所述程序代码，当程序代码被执行时，用于执行以下操作：
确定待接入的控制站，并与所述待接入的控制站建立无线连接；
向所述待接入的控制站发送视频接入认证请求，以使所述待接入的控制站向后台服务器发送视频接入认证请求，所述视频接入认证请求包括无人机标识信息；
在接收到的所述待接入的控制站反馈的视频接入认证响应为成功响应时，向所述待接入的控制站发送采集的视频信息，以使所述待接入的控制站将所述视频信息发送给所述后台服务器，其中，所述成功响应是所述待接入的控制站在确定所述后台服务器对所述视频接入认证请求认证通过时向所述无人机发送的。
本发明实施例的第五方面是提供一种控制站，包括：存储器和处理器；
所述存储器用于存储程序代码；
所述处理器，调用所述程序代码，当程序代码被执行时，用于执行以下操作：
与无人机建立无线连接；
获取所述无人机发送的视频接入认证请求，所述视频接入认证请求包括无人机标识信息；
当确定后台服务器对所述视频接入认证请求认证通过时，向所述无人机发送成功响应信息；
获取所述无人机发送的视频信息，并将所述视频信息转发至后台服务器。
本发明实施例的第六方面是提供一种视频传输系统，所述视频传输系统包括无人机、控制站、后台服务器以及手持控制终端，所述系统用于：
所述无人机确定待接入的控制站，并与所述待接入的控制站建立无线连接；
所述无人机向所述待接入的控制站发送视频接入认证请求，所述视频接入认证请求包括无人机标识信息；
所述控制站获取所述无人机发送的视频接入认证请求；
所述控制站当确定所述后台服务器对所述视频接入认证请求认证通 过时，向所述无人机发送成功响应信息；
所述无人机在接收到的所述待接入的控制站反馈的视频接入认证响应为成功响应时，向所述待接入的控制站发送采集的视频信息；
所述控制站获取所述无人机发送的视频信息；
所述控制站将所述视频信息发送至所述后台服务器。
本发明实施例的第七方面是提供一种计算机可读存储介质，其上存储有计算机程序，所述计算机程序被处理器执行以实现第一方面或第二方面或第三方面所述的方法。
本实施例提供的视频传输方法、设备及计算机可读存储介质，区别于现有技术中无人机与控制终端点对点的连接，通过建立无人机、待接入的控制站以及后台服务器的通信连接，从而能够快速、简便地将无人机作业现场采集到的数据传输至后台服务器。进而操作者可以通过访问后台服务器中无人机采集的数据对无人机进行控制。
附图说明
为了更清楚地说明本发明实施例中的技术方案，下面将对实施例描述中所需要使用的附图作一简单地介绍，显而易见地，下面描述中的附图是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1为本发明所基于的系统架构示意图；
图2为本发明实施例一提供的视频传输方法的流程示意图；
图3为本发明实施例二提供的视频传输方法的流程示意图；
图4为本发明实施例提供的又一系统架构图；
图5为本发明实施例三提供的视频传输方法的流程示意图；
图6为本发明实施例提供的又一系统架构图；
图7为本发明实施例四提供的视频传输方法的流程示意图；
图8为本发明实施例五提供的视频传输方法的流程示意图；
图9为本发明实施例六提供的视频传输方法的流程示意图；
图10为本发明实施例七提供的视频传输方法的流程示意图；
图11为本发明实施例八提供的无人机的结构示意图；
图12为本发明实施例九提供的控制站的结构示意图。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
需要说明的是，当组件被称为“固定于”另一个组件，它可以直接在另一个组件上或者也可以存在居中的组件。当一个组件被认为是“连接”另一个组件，它可以是直接连接到另一个组件或者可能同时存在居中组件。
除非另有定义，本文所使用的所有的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同。本文中在本发明的说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在于限制本发明。本文所使用的术语“及/或”包括一个或多个相关的所列项目的任意的和所有的组合。
下面结合附图，对本发明的一些实施方式作详细说明。在不冲突的情况下，下述的实施例及实施例中的特征可以相互组合。
针对上述提及的在现有的视频传输方法中，视频为单向传输，后方指挥中心仅能够看到视频信息，但无法根据该视频信息对无人机进行控制，且现场操作复杂的技术问题，本发明提供了一种视频传输方法、设备及计算机可读存储介质。
需要说明的是，本发明提供的视频传输方法、设备及计算机可读存储介质能够应用在任意一种可移动设备工作现场与后方通信的场景中。
图1为本发明所基于的系统架构示意图，如图1所示，本发明基于的系统架构至少包括：无人机1、待接入的控制站2、后台服务器3。其中，待接入的控制站2分别与无人机1以及后台服务器3通信连接。
图2为本发明实施例一提供的视频传输方法的流程示意图，如图2所示，所述方法包括：
步骤101、确定待接入的控制站，并与所述待接入的控制站建立无线 连接。
本实施例的执行主体为无人机。实际应用中，控制站的数量可以为多个，而根据无人机作业现场的不同，其能接入的控制站也有所不同。因此，为了实现与后台服务器的通信交互，无人机首先可以确定当前待接入的控制站，进而能够与该待接入的控制站进行信息交互。可选地，该待接入的控制站具体可以通过Radio信号与无人机建立通信连接，此外，还可以采用其他连接方式与无人机建立通信连接，本发明对此不做限制。
需要说明的是，控制站具体可以为固定基站与可移动基站中的任意一种。
步骤102、向所述待接入的控制站发送视频接入认证请求，以使所述待接入的控制站向后台服务器发送视频接入认证请求，所述视频接入认证请求包括无人机标识信息。
在本实施方式中，无人机与待接入的控制站建立通信连接之后，即能够与待接入的控制站进行信息交互。从而无人机可以向待接入的控制站发送视频接入认证请求。需要说明的是，待接入的控制站能够与后台服务器建立通信连接，从而待接入的服务器在接收到无人机发送的视频接入认证请求之后，可以将该视频接入认证请求发送至后台服务器。由于同一个作业现场可能同时存在多台无人机同时作业，因此，为了实现后台服务器与特定无人机的精准连接，在发送视频接入认证请求时，还可以在该视频接入认证请求中携带无人机标识信息，其中，该无人机标识信息能够唯一标识无人机。
步骤103、在接收到的所述待接入的控制站反馈的视频接入认证响应为成功响应时，向所述待接入的控制站发送采集的视频信息，以使所述待接入的控制站将所述视频信息发送给所述后台服务器，其中，所述成功响应是所述待接入的控制站在确定所述后台服务器对所述视频接入认证请求认证通过时向所述无人机发送的。
在本实施方式中，后台服务器接收到视频接入认证请求之后，可以对该视频接入认证请求进行认证，以确定是否同意该无人机接入。相应地，若是确定同意该无人机接入，则可以向待接入的控制站发送通过视频接入认证请求认证的信息。控制站在接收到该通过视频接入认证请求认证的信 息之后，可以向发送至无人机成功响应信息。此时，无人机接收到成功响应信息之后，可以将当前采集的视频信息发送至待接入的控制站，待接入的控制站将视频信息发送至后台服务器。需要说明的是，待接入的控制站可以通过以太网或者蜂窝移动网络向后台服务器发送视频信息。可选地，无人机也可以获取当前运行过程中的参数信息，将参数信息发送至待接入的控制站，以使待接入的控制站将参数信息转发至后台服务器。
在无人机通过待接入的控制器将视频信息、参数信息等数据发送至后台服务器之后，操作者可以通过浏览器访问后台服务器实现对视频信息、参数信息的查看，进而操作者在查看到上述信息之后，还可以想无人机发送控制信息。
本实施例提供的视频传输方法，区别于现有技术中无人机与控制终端点对点的连接，通过建立无人机、待接入的控制站以及后台服务器的通信连接，从而能够快速、简便地将无人机作业现场采集到的数据传输至后台服务器。进而操作者可以通过访问后台服务器中无人机采集的数据对无人机进行控制。
图3为本发明实施例二提供的视频传输方法的流程示意图，在上述任一实施例的基础上，步骤101之后，还包括：
步骤201、获取所述待接入的控制站发送的第一控制指令，其中，所述第一控制指令是所述待接入的控制站从后台服务器获取的；
步骤202、根据所述第一控制指令控制所述无人机运行。
在本实施例中，基于无人机、待接入的控制站以及后台服务器的系统架构，一方面无人机可以将采集到的视频线发送至后台服务器，以供操作者进行查看；另一方面，后台服务器也可以向无人机发送控制指令，实现对无人机的控制。具体地，无人机可以获取待接入的控制站发送的第一控制指令，其中，该第一控制指令是后台服务器发送给待接入的控制站的。无人机在接收到该第一控制指令之后，可以根据该第一控制指令运行。其中，该第一控制指令可以为操作者根据当前需求主动发送至无人机的，也可以为操作者在查看到无人机采集到的视频上数据之后生成的；第一控制指令可以为无人机飞行之前发送至无人机的，也可以为无人机运行过程中发送至无人机的，本发明对此不做限制。
可选地，该第一控制指令可以包括航线信息，从而无人机在接收到第一控制指令之后，可以按照该航线信息进行航行；可选地，该第一控制指令中还可以包括控制动作，其中，该控制动作包括但不限于起飞、返航、停止等。从而无人机在接收到第一控制指令之后，可以执行该控制动作；可选地，后台服务器还可以对无人机运行过程中的参数信息进行获取，生成数据获取请求，数据获取请求中包括待获取数据的标识，将数据获取请求发送至待接入的控制站，待接入的控制站将数据获取请求发送至无人机，无人机在接收到该数据获取请求之后，获取与待获取数据的标识对应的数据，反馈至待接入的控制站，待接入的控制站将与待获取数据的标识对应的数据发送至后台服务器。
本实施例提供的视频传输方法，通过获取后台服务器通过待接入的控制站发送的第一控制指令，根据第一控制指令对无人机进行控制，从而能够在实现无人机与后台服务器信息交互的基础上，精准有效地对无人机进行控制，提高了无人机运行过程中的安全性。
图4为本发明实施例提供的又一系统架构图，如图4所示，本发明所基于的系统架构还可以包括手持控制终端4，该手持控制终端4包括但不限于手持遥控器、操作者终端等。该手持控制终端4与待接入的控制站2通信连接，从而能够与待接入的控制站2进行通信连接。
基于图4提供的系统架构图，在上述任一实施例的基础上，步骤101之后，还包括：
获取所述待接入的控制站发送的第二控制指令，其中，所述第二控制指令是所述待接入的控制站从所述手持控制终端获取的；
根据所述第二控制指令控制所述无人机运行。
在本实施例中，手持控制终端也能够实现对无人机的控制。具体地，手持控制终端可以向待接入的控制站发送第二控制指令，相应地，待接入的控制站接收到该第二控制指令之后，可以将第二控制指令发送至无人机。无人机在接收到手持控制终端通过待接入的控制站发送的第二控制指令之后，可以根据该第二控制指令控制无人机飞行。需要说明的是，第二控制指令所包含的内容与第一控制指令类似，具体可见上述实施例，在此不做赘述。
可选地，操作者可以根据当前需求通过手持控制终端对无人机进行控制。举例来说，若无人机当前运行的航线上出现突发障碍物，无人机无法进行及时的避障操作，则操作者可以通过手持控制终端向无人机发送第二控制指令，以控制无人机进行避障，提高无人机运行的安全性。
本实施例提供的视频传输方法，通过获取手持控制终端通过待接入的控制站发送的第二控制指令，根据第二控制指令对无人机进行控制，从而能够在实现无人机与后台服务器信息交互的基础上，进一步地提高无人机运行的安全性。
图5为本发明实施例三提供的视频传输方法的流程示意图，在上述任一实施例的基础上，所述方法还包括：
步骤301、向所述手持控制终端发送所述无人机的第一通信验证信息，以使所述手持控制终端将所述第一通信验证信息发送给后台服务器，其中，所述后台服务器被配置为将所述第一通信验证信息发送所述待接入的控制站；
步骤302、获取所述手持控制终端发送的所述待接入的控制站的第二通信验证信息和候选控制站的第三通信验证信息，其中，所述第二通信验证信息是所述手持终端从所述后台服务器获取的；其中，所述第一通信验证信息和所述第二通信验证信息用于建立所述无人机与所述待接入的控制站之间的所述无线连接。
在本实施例中，由于现有技术中，每台无人机的通信ID各不相同，必须要与手持控制终端通过近距离同时进入对频模式之后，彼此交换通信ID、加密码后才能互相发送信息。而待接入的控制站通常固定在高点，距离地面有较大距离，无法经常触发对频模式，也无法使用近距离对频来与无人机进行配对通信。因此，为了建立无人机与待接入的控制站的通信连接，首先无人机可以向手持控制终端发送无人机的第一通信验证信息。手持控制终端接收到该第一通信验证信息之后，可以将该第一通信验证信息发送给后台服务器。后台服务器在接收到该第一通信验证信息之后，能够将第一通信验证信息发送至待接入的控制站。无人机获取手持控制终端发送的待接入控制站的第二通信验证信息以及候选控制站的第三验证信息，其中，第二通信验证信息是手持终端从后台服务器获取的。需要说明的是， 第一通信验证信息以及第二通信验证信息具体用于建立无人机与待接入的控制站之间的无线连接。
图6为本发明实施例提供的又一系统架构图，如图6所示，本发明所基于的系统架构中，手持控制终端4分别能够与无人机1、待接入的控制站2以及后台服务器3建立通信连接。
具体地，在上述任一实施例的基础上，所述方法还包括：
向所述手持控制终端发送所述无人机的位置信息，以使所述手持控制终端将所述位置信息发送给所述后台服务器，其中，所述后台服务器被配置为根据所述位置信息从多个控制站确定所述待接入的控制站。
在本实施例中，控制站的数量可以有多个，由于无人机作业现场的位置不同，因此，无人机可以连接的控制站也有所不同，且连接至不同的控制站通信效果也有所不同。因此，在与控制站进行通信连接之前，首先需要确定待接入的控制站。具体地，可以向手持控制终端发送无人机的位置信息，从而手持控制终端能够将该位置信息发送至后台服务器。相应地，后台服务器可以根据该位置信息从多个控制终端中确定待接入的控制站。该待接入的控制站可以为距离无人机最近的，也可以为通信效果最佳的，本发明对此不做限制。
本实施例提供的视频传输方法，通过采用第一通信验证信息以及第二通信验证信息建立无人机以及待接入的控制站之间的无线连接，从而为无人机与后台服务器之间的信息交互提供了基础。
图7为本发明实施例四提供的视频传输方法的流程示意图，应用与控制站，如图7所示，所述方法包括：
步骤401、与无人机建立无线连接；
步骤402、获取所述无人机发送的视频接入认证请求，所述视频接入认证请求包括无人机标识信息；
步骤403、当确定后台服务器对所述视频接入认证请求认证通过时，向所述无人机发送成功响应信息；
步骤404、获取所述无人机发送的视频信息，并将所述视频信息转发至后台服务器。
在本实施例中，为了实现无人机与后台服务器的通信连接，首先控制 站需要与无人机建立通信连接。其可以通过Radio信号与无人机建立通信连接，此外，还可以采用其他连接方式与无人机建立通信连接，本发明对此不做限制。与无人机建立通信连接之后，控制站可以接收无人机发送的视频接入认证请求。由于同一作业现场可能同时存在多个无人机，因此，视频接入认证请求中还可以包括无人机标识信息，其中，该无人机标识信息能够唯一标识无人机。
需要说明的是，控制站能够与后台服务器建立通信连接，从而在接收到无人机发送的视频接入认证请求之后，可以将该视频接入认证请求发送至后台服务器。当确定后台服务器对视频接入认证请求认证通过时，控制站可以向无人机发送成功响应信息。后台服务器接收到视频接入认证请求之后，可以对该视频接入认证请求进行认证，以确定是否同意该无人机接入。相应地，若是确定同意该无人机接入，则可以向待接入的控制站发送通过视频接入认证请求认证的信息。控制站在接收到该通过视频接入认证请求认证的信息之后，可以向发送至无人机成功响应信息。此时，无人机接收到成功响应信息之后，可以将当前采集的视频信息发送至待接入的控制站，待接入的控制站将视频信息发送至后台服务器。
本实施例提供的视频传输方法，区别于现有技术中无人机与控制终端点对点的连接，通过建立无人机、待接入的控制站以及后台服务器的通信连接，从而能够快速、简便地将无人机作业现场采集到的数据传输至后台服务器。进而操作者可以通过访问后台服务器中无人机采集的数据对无人机进行控制。
进一步地，在上述任一实施例的基础上，步骤404具体包括：
获取所述无人机发送的视频信息，对所述视频信息进行格式转换操作，获得格式转换后的视频信息；
将所述格式转换后的视频信息转发至后台服务器。
在本实施例中，控制站还可以获取无人机发送的视频信息，对其进行格式转换，将格式转换后的视频信息发送至后台服务器。从而操作者可以直接接入后台服务器进行视频信息的查看，无需再次进行视频格式转换，提高用户体验。
进一步地，在上述任一实施例的基础上，所述控制站为固定基站与可 移动基站中的任意一种。
相应地，在上述任一实施例的基础上，当控制站为固定基站时，步骤404之前，还包括：
通过以太网与所述后台服务器建立通信连接。
在本实施例中，当控制站为固定基站时，控制站可以通过以太网与后台服务器建立通信连接，实现信息交互。
相应地，在上述任一实施例的基础上，当控制站为可移动基站，步骤404之前，还包括：
通过蜂窝移动网络与所述后台服务器建立通信连接。
在本实施例中，当控制站为固定基站时，控制站可以通过蜂窝移动网络与后台服务器建立通信连接，实现信息交互。
图8为本发明实施例五提供的视频传输方法的流程示意图，在上述任一实施例的基础上，步骤401之后，还包括：
步骤501、获取所述后台服务器发送的第一控制指令，所述第一控制指令是操作者通过终端设备接入所述后台服务器发送的；
步骤502、将所述第一控制指令发送至所述无人机，以使所述无人机执行所述第一控制指令。
在本实施例中，基于无人机、控制站以及后台服务器的系统架构，一方面无人机可以将采集到的视频线发送至后台服务器，以供操作者进行查看；另一方面，后台服务器也可以向无人机发送控制指令，实现对无人机的控制。具体地，控制站可以获取后台服务器发送的第一控制指令，该第一控制指令具体可以是操作者通过终端设备接入所述后台服务器发送的。控制站可以将第一控制指令发送至无人机，从而无人机在接收到该第一控制指令之后，可以根据该第一控制指令运行。其中，该第一控制指令可以为操作者根据当前需求主动发送至无人机的，也可以为操作者在查看到无人机采集到的视频上数据之后生成的；第一控制指令可以为无人机飞行之前发送至无人机的，也可以为无人机运行过程中发送至无人机的，本发明对此不做限制。
可选地，该第一控制指令可以包括航线信息，从而无人机在接收到第一控制指令之后，可以按照该航线信息进行航行；可选地，该第一控制指 令中还可以包括控制动作，其中，该控制动作包括但不限于起飞、返航、停止等。从而无人机在接收到第一控制指令之后，可以执行该控制动作；可选地，后台服务器还可以对无人机运行过程中的参数信息进行获取，生成数据获取请求，数据获取请求中包括待获取数据的标识，将数据获取请求发送至控制站，控制站将数据获取请求发送至无人机，无人机在接收到该数据获取请求之后，获取与待获取数据的标识对应的数据，反馈至控制站，控制站将与待获取数据的标识对应的数据发送至后台服务器。
本实施例提供的视频传输方法，通过获取后台服务器发送的第一控制指令，并将第一控制指令发送至无人机，根据第一控制指令对无人机进行控制，从而能够在实现无人机与后台服务器信息交互的基础上，精准有效地对无人机进行控制，提高了无人机运行过程中的安全性。
进一步地，在上述任一实施例的基础上，步骤401之后，还包括：
获取手持控制终端发送的第二控制指令；
将所述第二控制指令发送至所述无人机，以使所述无人机执行所述第二控制指令。
在本实施例中，手持控制终端也能够实现对无人机的控制。具体地，控制站可以获取手持控制终端发送的第二控制指令，将第二控制指令发送至无人机。无人机在接收到手持控制终端通过待接入的控制站发送的第二控制指令之后，可以根据该第二控制指令控制无人机飞行。需要说明的是，第二控制指令所包含的内容与第一控制指令类似，具体可见上述实施例，在此不做赘述。
可选地，操作者可以根据当前需求通过手持控制终端对无人机进行控制。举例来说，若无人机当前运行的航线上出现突发障碍物，无人机无法进行及时的避障操作，则操作者可以通过手持控制终端向无人机发送第二控制指令，以控制无人机进行避障，提高无人机运行的安全性。
本实施例提供的视频传输方法，通过获取手持控制终端发送的第二控制指令，并将第二控制指令发送至无人机，根据第二控制指令对无人机进行控制，从而能够在实现无人机与后台服务器信息交互的基础上，进一步地提高无人机运行的安全性。
图9为本发明实施例六提供的视频传输方法的流程示意图，在上述任 一实施例的基础上，所述方法还包括：
步骤601、接收后台服务器发送的所述无人机的第一通信验证信息，其中，所述后台服务器被配置为从所述手持控制终端获取所述第一通信验证信息发送至待接入的控制站；
步骤602、将所述控制站的第二通信验证信息发送至所述后台服务器，以使所述后台服务器将所述第二通信验证信息发送给所述手持控制终端，其中，所述手持控制终端将所述第二通信验证信息发送至无人机；其中，所述第一通信验证信息和所述第二通信验证信息用于建立所述无人机与所述控制站之间的所述无线连接。
在本实施例中，由于现有技术中，每台无人机的通信ID各不相同，必须要与手持控制终端通过近距离同时进入对频模式之后，彼此交换通信ID、加密码后才能互相发送信息。而控制站通常固定在高点，距离地面有较大距离，无法经常触发对频模式，也无法使用近距离对频来与无人机进行配对通信。因此，为了建立无人机与待接入的控制站的通信连接，首先可以接收后台服务器发送的无人机的第一通信验证信息，该第一通信验证信息是无人机向手持控制终端发送无人机的第一通信验证信息后，将第一通信验证信息发送至后台服务器，后台服务器反馈的。将控制站的第二通信验证信息发送至后台服务器，从而后台服务器能够将第二通信验证信息发送给手持控制终端。手持控制终端接收到该第二通信验证信息之后，可以将该第二通信验证信息发送至无人机，从而无人机与控制站可以采用第一通信验证信息和第二通信验证信息建立通信连接。
本实施例提供的视频传输方法，通过采用第一通信验证信息以及第二通信验证信息建立无人机以及控制站之间的无线连接，从而为无人机与后台服务器之间的信息交互提供了基础。
进一步地，在上述任一实施例的基础上，所述方法还包括：
若同时接收到所述后台服务器发送的第一控制指令以及所述手持控制终端发送的第二控制指令，则根据预设的优先级，将所述第二控制指令发送至所述无人机，以使所述无人机执行所述第二控制指令。
在本实施例中，手持控制终端以及后台服务器均能够实现对无人机的控制。可以理解的是，当无人机仅接收到后台服务器发送的第一控制指令 或手持控制终端发送的第二控制指令时，可以仅根据后台服务器发送的第一控制指令或手持控制终端发送的第二控制指令进行运行。但是，当无人机同时接收到后台服务器发送的第一控制指令以及手持控制终端发送的第二控制指令时，需要确定执行第一控制指令或第二控制指令。
具体地，若无人机同时接收到后台服务器发送的第一控制指令以及手持控制终端发送的第二控制指令，可以根据预设的优先级，将第二控制指令发送至无人机，控制无人机执行第二控制指令。实际应用中，第一控制指令可以为操作者根据实际需求发送的，也可以为操作者根据无人机采集的视频信息发送的，其不具有实时性。而第二控制指令则是操作者根据作业现场实际情况发送的，因此，为了保障无人机的运行安全性，可以为第二控制指令设置更高的优先级。
本实施例提供的视频传输方法，通过同时接收到后台服务器发送的第一控制指令以及手持控制终端发送的第二控制指令时，根据预设的优先级确定需要执行的控制指令，从而能够在实现无人机与后台服务器信息交互的基础上，提高无人机运行的安全性。
图10为本发明实施例七提供的视频传输方法的流程示意图，应用于视频传输系统，其中，视频传输系统具体包括无人机、控制站、后台服务器以及手持控制终端，所述方法包括：
步骤701、所述无人机确定待接入的控制站，并与所述待接入的控制站建立无线连接；
步骤702、所述无人机向所述待接入的控制站发送视频接入认证请求，所述视频接入认证请求包括无人机标识信息；
步骤703、所述控制站获取所述无人机发送的视频接入认证请求；
步骤704、所述控制站当确定所述后台服务器对所述视频接入认证请求认证通过时，向所述无人机发送成功响应信息；
步骤705、所述无人机在接收到的所述待接入的控制站反馈的视频接入认证响应为成功响应时，向所述待接入的控制站发送采集的视频信息；
步骤706、所述控制站获取所述无人机发送的视频信息；
步骤707、所述控制站将所述视频信息发送至所述后台服务器。
在本实施例中，为了实现无人机与后台服务器的通信连接，首先控制 站需要与无人机建立通信连接。其可以通过Radio信号与无人机建立通信连接，此外，还可以采用其他连接方式与无人机建立通信连接，本发明对此不做限制。与无人机建立通信连接之后，控制站可以接收无人机发送的视频接入认证请求。由于同一作业现场可能同时存在多个无人机，因此，视频接入认证请求中还可以包括无人机标识信息，其中，该无人机标识信息能够唯一标识无人机。
需要说明的是，控制站能够与后台服务器建立通信连接，从而在接收到无人机发送的视频接入认证请求之后，可以将该视频接入认证请求发送至后台服务器。当确定后台服务器对视频接入认证请求认证通过时，控制站可以向无人机发送成功响应信息。后台服务器接收到视频接入认证请求之后，可以对该视频接入认证请求进行认证，以确定是否同意该无人机接入。相应地，若是确定同意该无人机接入，则可以向待接入的控制站发送通过视频接入认证请求认证的信息。控制站在接收到该通过视频接入认证请求认证的信息之后，可以向发送至无人机成功响应信息。此时，无人机接收到成功响应信息之后，可以将当前采集的视频信息发送至待接入的控制站，待接入的控制站将视频信息发送至后台服务器。
本实施例提供的视频传输方法，区别于现有技术中无人机与控制终端点对点的连接，通过建立无人机、待接入的控制站以及后台服务器的通信连接，从而能够快速、简便地将无人机作业现场采集到的数据传输至后台服务器。进而操作者可以通过访问后台服务器中无人机采集的数据对无人机进行控制。
图11为本发明实施例八提供的无人机的结构示意图，如图11所示，所述无人机包括：存储器81和处理器82；
所述存储器81用于存储程序代码；
所述处理器82，调用所述程序代码，当程序代码被执行时，用于执行以下操作：
确定待接入的控制站，并与所述待接入的控制站建立无线连接；
向所述待接入的控制站发送视频接入认证请求，以使所述待接入的控制站向后台服务器发送视频接入认证请求，所述视频接入认证请求包括无人机标识信息；
在接收到的所述待接入的控制站反馈的视频接入认证响应为成功响应时，向所述待接入的控制站发送采集的视频信息，以使所述待接入的控制站将所述视频信息发送给所述后台服务器，其中，所述成功响应是所述待接入的控制站在确定所述后台服务器对所述视频接入认证请求认证通过时向所述无人机发送的。
进一步地，在上述任一实施例的基础上，所述处理器在与所述待接入的控制站建立连接之后，还用于：
获取所述待接入的控制站发送的第一控制指令，其中，所述第一控制指令是所述待接入的控制站从后台服务器获取的；
根据所述第一控制指令控制所述无人机运行。
进一步地，在上述任一实施例的基础上，所述控制站与手持控制终端通信连接，所述处理器在与所述待接入的控制站建立连接之后，还用于：
获取所述待接入的控制站发送的第二控制指令，其中，所述第二控制指令是所述待接入的控制站从所述手持控制终端获取的；
根据所述第二控制指令控制所述无人机运行。
进一步地，在上述任一实施例的基础上，所述处理器还用于：
向所述手持控制终端发送所述无人机的第一通信验证信息，以使所述手持控制终端将所述第一通信验证信息发送给后台服务器，其中，所述后台服务器被配置为将所述第一通信验证信息发送所述待接入的控制站；
获取所述手持控制终端发送的所述待接入的控制站的第二通信验证信息和候选控制站的第三通信验证信息，其中，所述第二通信验证信息是所述手持终端从所述后台服务器获取的；
其中，所述第一通信验证信息和所述第二通信验证信息用于建立所述无人机与所述待接入的控制站之间的所述无线连接。
进一步地，在上述任一实施例的基础上，所述处理器还用于：
向所述手持控制终端发送所述无人机的位置信息，以使所述手持控制终端将所述位置信息发送给所述后台服务器，其中，所述后台服务器被配置为根据所述位置信息从多个控制站确定所述待接入的控制站。
图12为本发明实施例九提供的控制站的结构示意图，如图12所示，所述控制站包括：存储器91和处理器92；
所述存储器91用于存储程序代码；
所述处理器92，调用所述程序代码，当程序代码被执行时，用于执行以下操作：
与无人机建立无线连接；
获取所述无人机发送的视频接入认证请求，所述视频接入认证请求包括无人机标识信息；
当确定后台服务器对所述视频接入认证请求认证通过时，向所述无人机发送成功响应信息；
获取所述无人机发送的视频信息，并将所述视频信息转发至后台服务器。
进一步地，在上述任一实施例的基础上，所述控制站为固定基站与可移动基站中的任意一种。
进一步地，在上述任一实施例的基础上，所述控制站为固定基站，所述处理器在将所述视频信息转发至后台服务器之前，还用于：
通过以太网与所述后台服务器建立通信连接。
进一步地，在上述任一实施例的基础上，所述控制站为移动基站，所述处理器在将所述视频信息转发至后台服务器之前，还用于：
通过蜂窝移动网络与所述后台服务器建立通信连接。
进一步地，在上述任一实施例的基础上，所述处理器在与无人机建立连接之后，还用于：
获取所述后台服务器发送的第一控制指令，所述第一控制指令是操作者通过终端设备接入所述后台服务器发送的；
将所述第一控制指令发送至所述无人机，以使所述无人机执行所述第一控制指令。
进一步地，在上述任一实施例的基础上，所述处理器在与无人机建立连接之后，还用于：
获取手持控制终端发送的第二控制指令；
将所述第二控制指令发送至所述无人机，以使所述无人机执行所述第二控制指令。
进一步地，在上述任一实施例的基础上，所述处理器还用于：
接收后台服务器发送的所述无人机的第一通信验证信息，其中，所述后台服务器被配置为从所述手持控制终端获取所述第一通信验证信息发送至待接入的控制站；
将所述控制站的第二通信验证信息发送至所述后台服务器，以使所述后台服务器将所述第二通信验证信息发送给所述手持控制终端，其中，所述手持控制终端将所述第二通信验证信息发送至无人机；
其中，所述第一通信验证信息和所述第二通信验证信息用于建立所述无人机与所述控制站之间的所述无线连接。
进一步地，在上述任一实施例的基础上，所述处理器还用于：
若同时接收到所述后台服务器发送的第一控制指令以及所述手持控制终端发送的第二控制指令，则根据预设的优先级，将所述第二控制指令发送至所述无人机，以使所述无人机执行所述第二控制指令。
进一步地，在上述任一实施例的基础上，所述处理器在获取所述无人机发送的视频信息，并将所述视频信息转发至后台服务器时，用于：
获取所述无人机发送的视频信息，对所述视频信息进行格式转换操作，获得格式转换后的视频信息；
将所述格式转换后的视频信息转发至后台服务器。
本发明又一实施例还提供一种视频传输系统，所述视频传输系统包括无人机、控制站、后台服务器以及手持控制终端，所述系统用于：
所述无人机确定待接入的控制站，并与所述待接入的控制站建立无线连接；
所述无人机向所述待接入的控制站发送视频接入认证请求，所述视频接入认证请求包括无人机标识信息；
所述控制站获取所述无人机发送的视频接入认证请求；
所述控制站当确定所述后台服务器对所述视频接入认证请求认证通过时，向所述无人机发送成功响应信息；
所述无人机在接收到的所述待接入的控制站反馈的视频接入认证响应为成功响应时，向所述待接入的控制站发送采集的视频信息；
所述控制站获取所述无人机发送的视频信息；
所述控制站将所述视频信息发送至所述后台服务器。
本发明又一实施例还提供一种计算机可读存储介质，其上存储有计算机程序，所述计算机程序被处理器执行以实现上述任一实施例所述的方法。
在本发明所提供的几个实施例中，应该理解到，所揭露的装置和方法，可以通过其它的方式实现。例如，以上所描述的装置实施例仅仅是示意性的，例如，所述单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，装置或单元的间接耦合或通信连接，可以是电性，机械或其它的形式。
所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。
另外，在本发明各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。上述集成的单元既可以采用硬件的形式实现，也可以采用硬件加软件功能单元的形式实现。
上述以软件功能单元的形式实现的集成的单元，可以存储在一个计算机可读取存储介质中。上述软件功能单元存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)或处理器(processor)执行本发明各个实施例所述方法的部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器(Read-Only Memory，ROM)、随机存取存储器(Random Access Memory，RAM)、磁碟或者光盘等各种可以存储程序代码的介质。
本领域技术人员可以清楚地了解到，为描述的方便和简洁，仅以上述各功能模块的划分进行举例说明，实际应用中，可以根据需要而将上述功能分配由不同的功能模块完成，即将装置的内部结构划分成不同的功能模块，以完成以上描述的全部或者部分功能。上述描述的装置的具体工作过程，可以参考前述方法实施例中的对应过程，在此不再赘述。
最后应说明的是：以上各实施例仅用以说明本发明的技术方案，而非 对其限制；尽管参照前述各实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的范围。

Claims (31)

  1. 一种视频传输方法，应用于无人机，其特征在于，包括：
    确定待接入的控制站，并与所述待接入的控制站建立无线连接；
    向所述待接入的控制站发送视频接入认证请求，以使所述待接入的控制站向后台服务器发送视频接入认证请求，所述视频接入认证请求包括无人机标识信息；
    在接收到的所述待接入的控制站反馈的视频接入认证响应为成功响应时，向所述待接入的控制站发送采集的视频信息，以使所述待接入的控制站将所述视频信息发送给所述后台服务器，其中，所述成功响应是所述待接入的控制站在确定所述后台服务器对所述视频接入认证请求认证通过时向所述无人机发送的。
  2. 根据权利要求1所述的方法，其特征在于，所述与所述待接入的控制站建立连接之后，还包括：
    获取所述待接入的控制站发送的第一控制指令，其中，所述第一控制指令是所述待接入的控制站从后台服务器获取的；
    根据所述第一控制指令控制所述无人机运行。
  3. 根据权利要求1所述的方法，其特征在于，所述控制站与手持控制终端通信连接，所述与所述待接入的控制站建立连接之后，还包括：
    获取所述待接入的控制站发送的第二控制指令，其中，所述第二控制指令是所述待接入的控制站从所述手持控制终端获取的；
    根据所述第二控制指令控制所述无人机运行。
  4. 根据权利要求3所述的方法，其特征在于，所述方法还包括：
    向所述手持控制终端发送所述无人机的第一通信验证信息，以使所述手持控制终端将所述第一通信验证信息发送给后台服务器，其中，所述后台服务器被配置为将所述第一通信验证信息发送所述待接入的控制站；
    获取所述手持控制终端发送的所述待接入的控制站的第二通信验证信息，其中，所述第二通信验证信息是所述手持终端从所述后台服务器获取的；
    其中，所述第一通信验证信息和所述第二通信验证信息用于建立所述无人机与所述待接入的控制站之间的所述无线连接。
  5. 根据权利要求4所述的方法，其特征在于，所述方法还包括：
    向所述手持控制终端发送所述无人机的位置信息，以使所述手持控制终端将所述位置信息发送给所述后台服务器，其中，所述后台服务器被配置为根据所述位置信息从多个控制站确定所述待接入的控制站。
  6. 一种视频传输方法，应用于控制站，其特征在于，包括：
    与无人机建立无线连接；
    获取所述无人机发送的视频接入认证请求，所述视频接入认证请求包括无人机标识信息；
    当确定后台服务器对所述视频接入认证请求认证通过时，向所述无人机发送成功响应信息；
    获取所述无人机发送的视频信息，并将所述视频信息转发至后台服务器。
  7. 根据权利要求6所述的方法，其特征在于，所述控制站为固定基站与可移动基站中的任意一种。
  8. 根据权利要求7所述的方法，其特征在于，所述控制站为固定基站，所述将所述视频信息转发至后台服务器之前，还包括：
    通过以太网与所述后台服务器建立通信连接。
  9. 根据权利要求7所述的方法，其特征在于，所述控制站为移动基站，所述将所述视频信息转发至后台服务器之前，还包括：
    通过蜂窝移动网络与所述后台服务器建立通信连接。
  10. 根据权利要求6-9任一项所述的方法，其特征在于，所述与无人机建立连接之后，还包括：
    获取所述后台服务器发送的第一控制指令，所述第一控制指令是操作者通过终端设备接入所述后台服务器发送的；
    将所述第一控制指令发送至所述无人机，以使所述无人机执行所述第一控制指令。
  11. 根据权利要求6所述的方法，其特征在于，所述与无人机建立连接之后，还包括：
    获取手持控制终端发送的第二控制指令；
    将所述第二控制指令发送至所述无人机，以使所述无人机执行所述第 二控制指令。
  12. 根据权利要求11所述的方法，其特征在于，所述方法还包括：
    接收后台服务器发送的所述无人机的第一通信验证信息，其中，所述后台服务器被配置为从所述手持控制终端获取所述第一通信验证信息发送至待接入的控制站；
    将所述控制站的第二通信验证信息发送至所述后台服务器，以使所述后台服务器将所述第二通信验证信息发送给所述手持控制终端，其中，所述手持控制终端将所述第二通信验证信息发送至无人机；
    其中，所述第一通信验证信息和所述第二通信验证信息用于建立所述无人机与所述控制站之间的所述无线连接。
  13. 根据权利要求11所述的方法，其特征在于，所述方法还包括：
    若同时接收到所述后台服务器发送的第一控制指令以及所述手持控制终端发送的第二控制指令，则根据预设的优先级，将所述第二控制指令发送至所述无人机，以使所述无人机执行所述第二控制指令。
  14. 根据权利要求6-9、11-13任一项所述的方法，其特征在于，所述获取所述无人机发送的视频信息，并将所述视频信息转发至后台服务器，包括：
    获取所述无人机发送的视频信息，对所述视频信息进行格式转换操作，获得格式转换后的视频信息；
    将所述格式转换后的视频信息转发至后台服务器。
  15. 一种视频传输方法，应用于视频传输系统，其特征在于，所述视频传输系统包括无人机、控制站、后台服务器以及手持控制终端，所述方法包括：
    所述无人机确定待接入的控制站，并与所述待接入的控制站建立无线连接；
    所述无人机向所述待接入的控制站发送视频接入认证请求，所述视频接入认证请求包括无人机标识信息；
    所述控制站获取所述无人机发送的视频接入认证请求；
    所述控制站当确定所述后台服务器对所述视频接入认证请求认证通过时，向所述无人机发送成功响应信息；
    所述无人机在接收到的所述待接入的控制站反馈的视频接入认证响应为成功响应时，向所述待接入的控制站发送采集的视频信息；
    所述控制站获取所述无人机发送的视频信息；
    所述控制站将所述视频信息发送至所述后台服务器。
  16. 一种无人机，其特征在于，包括：存储器和处理器；
    所述存储器用于存储程序代码；
    所述处理器，调用所述程序代码，当程序代码被执行时，用于执行以下操作：
    确定待接入的控制站，并与所述待接入的控制站建立无线连接；
    向所述待接入的控制站发送视频接入认证请求，以使所述待接入的控制站向后台服务器发送视频接入认证请求，所述视频接入认证请求包括无人机标识信息；
    在接收到的所述待接入的控制站反馈的视频接入认证响应为成功响应时，向所述待接入的控制站发送采集的视频信息，以使所述待接入的控制站将所述视频信息发送给所述后台服务器，其中，所述成功响应是所述待接入的控制站在确定所述后台服务器对所述视频接入认证请求认证通过时向所述无人机发送的。
  17. 根据权利要求16所述的无人机，其特征在于，所述处理器在与所述待接入的控制站建立连接之后，还用于：
    获取所述待接入的控制站发送的第一控制指令，其中，所述第一控制指令是所述待接入的控制站从后台服务器获取的；
    根据所述第一控制指令控制所述无人机运行。
  18. 根据权利要求16所述的无人机，其特征在于，所述控制站与手持控制终端通信连接，所述处理器在与所述待接入的控制站建立连接之后，还用于：
    获取所述待接入的控制站发送的第二控制指令，其中，所述第二控制指令是所述待接入的控制站从所述手持控制终端获取的；
    根据所述第二控制指令控制所述无人机运行。
  19. 根据权利要求18所述的无人机，其特征在于，所述处理器还用于：
    向所述手持控制终端发送所述无人机的第一通信验证信息，以使所述手持控制终端将所述第一通信验证信息发送给后台服务器，其中，所述后台服务器被配置为将所述第一通信验证信息发送所述待接入的控制站；
    获取所述手持控制终端发送的所述待接入的控制站的第二通信验证信息，其中，所述第二通信验证信息是所述手持终端从所述后台服务器获取的；
    其中，所述第一通信验证信息和所述第二通信验证信息用于建立所述无人机与所述待接入的控制站之间的所述无线连接。
  20. 根据权利要求19所述的无人机，其特征在于，所述处理器还用于：
    向所述手持控制终端发送所述无人机的位置信息，以使所述手持控制终端将所述位置信息发送给所述后台服务器，其中，所述后台服务器被配置为根据所述位置信息从多个控制站确定所述待接入的控制站。
  21. 一种控制站，其特征在于，包括：存储器和处理器；
    所述存储器用于存储程序代码；
    所述处理器，调用所述程序代码，当程序代码被执行时，用于执行以下操作：
    与无人机建立无线连接；
    获取所述无人机发送的视频接入认证请求，所述视频接入认证请求包括无人机标识信息；
    当确定后台服务器对所述视频接入认证请求认证通过时，向所述无人机发送成功响应信息；
    获取所述无人机发送的视频信息，并将所述视频信息转发至后台服务器。
  22. 根据权利要求21所述的控制站，其特征在于，所述控制站为固定基站与可移动基站中的任意一种。
  23. 根据权利要求22所述的控制站，其特征在于，所述控制站为固定基站，所述处理器在将所述视频信息转发至后台服务器之前，还用于：
    通过以太网与所述后台服务器建立通信连接。
  24. 根据权利要求22所述的控制站，其特征在于，所述控制站为移 动基站，所述处理器在将所述视频信息转发至后台服务器之前，还用于：
    通过蜂窝移动网络与所述后台服务器建立通信连接。
  25. 根据权利要求21-24任一项所述的控制站，其特征在于，所述处理器在与无人机建立连接之后，还用于：
    获取所述后台服务器发送的第一控制指令，所述第一控制指令是操作者通过终端设备接入所述后台服务器发送的；
    将所述第一控制指令发送至所述无人机，以使所述无人机执行所述第一控制指令。
  26. 根据权利要求21所述的控制站，其特征在于，所述处理器在与无人机建立连接之后，还用于：
    获取手持控制终端发送的第二控制指令；
    将所述第二控制指令发送至所述无人机，以使所述无人机执行所述第二控制指令。
  27. 根据权利要求26所述的控制站，其特征在于，所述处理器还用于：
    接收后台服务器发送的所述无人机的第一通信验证信息，其中，所述后台服务器被配置为从所述手持控制终端获取所述第一通信验证信息发送至待接入的控制站；
    将所述控制站的第二通信验证信息发送至所述后台服务器，以使所述后台服务器将所述第二通信验证信息发送给所述手持控制终端，其中，所述手持控制终端将所述第二通信验证信息发送至无人机；
    其中，所述第一通信验证信息和所述第二通信验证信息用于建立所述无人机与所述控制站之间的所述无线连接。
  28. 根据权利要求26所述的控制站，其特征在于，所述处理器还用于：
    若同时接收到所述后台服务器发送的第一控制指令以及所述手持控制终端发送的第二控制指令，则根据预设的优先级，将所述第二控制指令发送至所述无人机，以使所述无人机执行所述第二控制指令。
  29. 根据权利要求21-24、26-28任一项所述的控制站，其特征在于，所述处理器在获取所述无人机发送的视频信息，并将所述视频信息转发至 后台服务器时，用于：
    获取所述无人机发送的视频信息，对所述视频信息进行格式转换操作，获得格式转换后的视频信息；
    将所述格式转换后的视频信息转发至后台服务器。
  30. 一种视频传输系统，其特征在于，所述视频传输系统包括无人机、控制站、后台服务器以及手持控制终端，所述系统用于：
    所述无人机确定待接入的控制站，并与所述待接入的控制站建立无线连接；
    所述无人机向所述待接入的控制站发送视频接入认证请求，所述视频接入认证请求包括无人机标识信息；
    所述控制站获取所述无人机发送的视频接入认证请求；
    所述控制站当确定所述后台服务器对所述视频接入认证请求认证通过时，向所述无人机发送成功响应信息；
    所述无人机在接收到的所述待接入的控制站反馈的视频接入认证响应为成功响应时，向所述待接入的控制站发送采集的视频信息；
    所述控制站获取所述无人机发送的视频信息；
    所述控制站将所述视频信息发送至所述后台服务器。
  31. 一种计算机可读存储介质，其特征在于，其上存储有计算机程序，所述计算机程序被处理器执行以实现如权利要求1-5、6-14、15任一项所述的方法。
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