WO2020154959A1 - Procédé de transmission d'images à charges multiples, système de commande, terminal de commande, véhicule aérien sans pilote et serveur - Google Patents

Procédé de transmission d'images à charges multiples, système de commande, terminal de commande, véhicule aérien sans pilote et serveur Download PDF

Info

Publication number
WO2020154959A1
WO2020154959A1 PCT/CN2019/073938 CN2019073938W WO2020154959A1 WO 2020154959 A1 WO2020154959 A1 WO 2020154959A1 CN 2019073938 W CN2019073938 W CN 2019073938W WO 2020154959 A1 WO2020154959 A1 WO 2020154959A1
Authority
WO
WIPO (PCT)
Prior art keywords
load
network mode
control terminal
image data
drone
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/CN2019/073938
Other languages
English (en)
Chinese (zh)
Inventor
王景正
郑德恩
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
Original Assignee
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/CN2019/073938 priority Critical patent/WO2020154959A1/fr
Priority to CN201980004930.5A priority patent/CN111279690A/zh
Publication of WO2020154959A1 publication Critical patent/WO2020154959A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Images

Classifications

    • 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
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/38—Services specially adapted for particular environments, situations or purposes for collecting sensor information
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
    • H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W48/00—Access restriction; Network selection; Access point selection
    • H04W48/18—Selecting a network or a communication service

Definitions

  • the invention relates to the field of control technology, in particular to a multi-load image transmission method, a control system, a control terminal, an unmanned aerial vehicle and a server.
  • the communication distance is limited by the power of the wireless network module, and it is not possible to perform ultra-long-distance image transmission, such as remote control and airplane image transmission under the distance between provinces and cities;
  • the private wireless network module is usually a point-to-point transmission model, it is often only possible to realize one machine for one control (one drone to one remote control), and it is impossible to realize the real-time transmission of image data in the case of multiple terminals.
  • the embodiment of the present invention provides a multi-load image transmission method, control system, control terminal, unmanned aerial vehicle, and server to remove the limitation of image data transmission distance, realize ultra-long distance real-time image transmission and control of one machine with multiple controls It provides more possibilities for the working scenarios of drones in the industry.
  • the first aspect of the embodiments of the present invention provides a multi-load image transmission method for controlling a terminal, including:
  • the image data acquired by the corresponding load on the drone sent by the drone or the server is received through a mobile data network.
  • the technical solution of the second aspect of the present invention provides a multi-load image transmission method for drones, the drone includes a drone body and a plurality of load devices arranged on the drone body,
  • the multi-load image transmission method includes:
  • the image data corresponding to the corresponding load is sent to the server or the control terminal through a mobile data network.
  • the technical solution of the third aspect of the present invention provides a multi-load image transmission method for a server, including:
  • the image data sent by the drone corresponding to the above corresponding load device is received through a mobile data network, and the image data is sent to the control terminal through the mobile data network.
  • the technical solution of the fourth aspect of the present invention provides a control system, including a control terminal and an unmanned aerial vehicle, wherein:
  • the drone opens the mobile data network transmission channel corresponding to the load according to the received image transmission acquisition instruction
  • the drone sends the image data corresponding to the corresponding load to the control terminal through a mobile data network.
  • the technical solution of the fifth aspect of the present invention provides a control terminal, including: a remote control device, a display device, and a processor, wherein the processor is used for:
  • the image data acquired by the corresponding load on the drone sent by the drone or the server is received through a mobile data network.
  • the image data corresponding to the corresponding load is sent to the server or the control terminal through a mobile data network.
  • the technical solution of the seventh aspect of the present invention provides a server, including a processor, configured to:
  • the image data sent by the drone corresponding to the above corresponding load device is received through a mobile data network, and the image data is sent to the control terminal through the mobile data network.
  • the technical solution of the eighth aspect of the present invention provides a computer-readable storage medium on which a computer program is stored.
  • the computer program is executed by a processor, the multi-load image transmission method as provided in the first aspect of the embodiment of the present invention is implemented. Steps, implementing the steps of the multi-load image transmission method provided in the second aspect of the embodiment of the present invention, or implementing the steps of the multi-load image transmission method provided in the third aspect of the embodiment of the present invention.
  • the multi-load image transmission method, control system, control terminal, drone, and server provided by the embodiments of the present invention adopt a mobile data network for multi-load image transmission, and have the following advantages:
  • the mobile data network has a high network coverage. Where there is a mobile data network, the real-time image transmission function of the drone's airborne equipment can be realized, which greatly increases the application range of the drone;
  • any control terminal that is authenticated by the drone that is connected to the mobile data network can obtain real-time images as long as it can send instructions to request image transmission to the drone.
  • Data enables ultra-long distance image transmission between the control terminal and the drone; for example, the remote control and the drone are separated in two places in different provinces and cities, and image data transmission can also be realized.
  • the data communication model based on the mobile data network is usually not a point-to-point communication model, so the drone can be sent at once, and multiple authenticated control terminals can receive image data, which improves the drone and control terminal Ease of use.
  • the image transmission channel of the mobile data network can also be used as the backup image transmission link of the private wireless network image transmission channel.
  • the image transmission channel can realize more reliable image transmission and grasp the current dynamics of the UAV in real time.
  • FIG. 1 shows a schematic structural block diagram of an unmanned aerial vehicle system according to an embodiment of the present invention
  • FIG. 2 shows a schematic flowchart of a multi-load image transmission method running on a control terminal according to an embodiment of the present invention
  • FIG. 3 shows a schematic flowchart of a multi-load image transmission method running on a drone according to an embodiment of the present invention
  • Figure 4 shows a schematic flowchart of a control system according to an embodiment of the present invention
  • Figure 5 shows a schematic flowchart of a specific embodiment of the present invention
  • Figure 6 shows a structural block diagram of a control system according to an embodiment of the present invention
  • Figure 7 shows a structural block diagram of a control system according to another specific embodiment of the present invention.
  • Figure 8 shows a structural diagram of a control terminal according to an embodiment of the present invention.
  • Fig. 9 shows a structural diagram of an unmanned aerial vehicle according to an embodiment 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.
  • a component When a component is considered to be “connected” to another component, it can be directly connected to another component or a centered component may exist at the same time.
  • FIG. 1 is a schematic architecture diagram of an unmanned aerial vehicle system 10 according to an embodiment of the present invention.
  • the UAV system 10 may include a control terminal 110 of the UAV and the UAV 120.
  • the drone 120 may be a single-rotor or multi-rotor drone.
  • the power system 102 may include one or more motors 1022, and the motors 1022 are used to provide power to the drone 120, and the power enables the drone 120 to realize movement of one or more degrees of freedom.
  • the control system 104 may include a controller 1042 and a sensing system 1044.
  • the sensing system 1044 is used to measure the status information of the UAV 120 and/or the information of the environment in which the UAV 120 is located, where the status information may include attitude information, position information, remaining power information, and the like.
  • the information of the environment may include the depth of the environment, the atmospheric pressure of the environment, the humidity of the environment, the temperature of the environment, and so on.
  • the sensing system 1044 may include, for example, at least one of sensors such as a barometer, a gyroscope, an ultrasonic sensor, an electronic compass, an inertial measurement unit, a visual sensor, a global navigation satellite system, and a barometer.
  • the global navigation satellite system may be a global positioning system (Global Positioning System, GPS).
  • the drone 120 may include a photographing device 1064.
  • the photographing device 1064 may be, for example, a device for capturing images such as a camera or a video camera.
  • the photographing device 1064 may communicate with the controller 1042, and is configured in the controller 1042. Shooting under control, the controller 1042 can also control the drone 120 according to the image captured by the camera 1064.
  • the drone 120 further includes a pan/tilt 106, the pan/tilt 106 may include a motor 1062, the pan/tilt 106 is used to carry the camera 1064, and the controller 1042 may control the movement of the pan/tilt 106 through the motor. It should be understood that the pan-tilt 106 may be independent of the drone 120 or a part of the drone 120. In some embodiments, the camera 1064 may be fixedly connected to the body of the drone 120.
  • the UAV 120 also includes a transmission device 108. Under the control of the controller 1042, the transmission device 108 can send data collected by the sensing system 1044 and/or the camera 1064 to the control terminal 110.
  • the control terminal 110 may include a transmission device (not shown), the transmission device of the control terminal may establish a wireless communication connection with the transmission device 108 of the drone 120, and the transmission device of the control terminal may receive data sent by the transmission device 108.
  • control The terminal 110 may also send a control instruction to the drone 120 through a transmission device configured by itself.
  • the control terminal 110 may include a control device 1102 and a display device 1104.
  • the control device 1102 can control various operations of the control terminal.
  • the control device 1102 can control the transmission device to receive the data sent by the drone 120 through the transmission device 108; for another example, the control device 1102 can control the display device 1104 to display the sent data, where the data can include the data captured by the camera 1064. Environment image, posture information, location information, power information, etc.
  • control terminal in the foregoing part may include one or more processors, where the one or more processors may work individually or in cooperation.
  • FIG. 2 is a flowchart of a multi-load image transmission method provided by an embodiment of the present invention.
  • the multi-load image transmission method described in this embodiment can be applied to a control terminal. As shown in Figure 2, the method in this embodiment may include:
  • S202 In response to the load selection instruction, send an image transmission acquisition instruction to turn on the load device in the drone to the drone or server, where the image transmission acquisition instruction is used to instruct the drone to start mobile data network transmission of the corresponding load aisle.
  • the execution subject of the foregoing multi-load image transmission method may be a remote control device.
  • the remote control device may be a component of the control terminal, that is, the control terminal includes a remote control device.
  • a part of the remote control device can be installed on the control terminal, and a part of the remote control device can be installed on the drone.
  • the control terminal also includes a display device, which is electrically connected with the remote control device to display a corresponding program interface, wherein the display device may be a touch display device.
  • the remote control device and the display device may be separated and communicate in a wired or wireless manner, and the two may also be integrated.
  • S204 Receive the image data acquired by the corresponding load on the drone and sent by the drone or the server through a mobile data network.
  • the drone or the server sends the image data acquired by the drone corresponding to the load to the control terminal, and the control terminal receives the acquired image data through the mobile data network.
  • the mobile network is used for transmission, It can reduce the interference of multiple private networks, and can also transmit multiple drones to the control terminal at the same time, which improves the transmission speed of image transmission and the reliability of data transmission.
  • image data can be transmitted in a variety of scenarios, even between the drone and the control terminal, the server and the control
  • the distance between the terminals is extremely long, and stable and reliable data transmission can also be realized.
  • it can also enable users to obtain real-time image data from the drone, or after a certain interval of time, Obtaining image data in a certain period of time from the server in a remote place has greatly improved the convenience of using the UAV system, and during the transmission process, interference can also be reduced, and the stability and reliability of data transmission can be improved.
  • the image data when opening the mobile data network transmission channel, in order to improve the confidentiality of data, the image data can be encrypted first, and then the encrypted image data can be sent through the mobile data network.
  • the method before the receiving the image data acquired by the corresponding load on the drone sent by the drone or the server, the method further includes: determining The network mode of signal transmission; the corresponding image transmission channel is opened according to the network mode to receive the image data.
  • the mobile network covers a large area, but there are also places where the coverage is not available or the signal is weak. Therefore, the mobile network transmission channel may not be used in all cases.
  • the control terminal can directly use the Bluetooth mode for signal transmission to quickly obtain data; or at home, if wifi is installed, the control terminal can be directly from the server
  • the image data is obtained through the transmission of the wifi network; or outdoors, and the drone is far away from the control terminal, as long as it is within the coverage of the mobile network, the mobile network can be used as the data transmission channel. This improves the convenience and reliability of the UAV system.
  • the determining the network mode used for signal transmission specifically includes: determining the network mode used by the control terminal for signal transmission; and the network mode is a private wireless network mode In the case of, if the strength of the private wireless network mode is less than the first preset strength, the network mode of the control terminal is switched to the mobile data network mode; in the case that the network mode is the mobile data network mode, If the strength of the mobile data network mode is less than the second preset strength, the network mode of the remote control terminal is switched to the private wireless network mode.
  • network modes there may be multiple network modes in the environment in some scenarios, such as Bluetooth, wifi, radio and other private wireless network modes, and mobile network modes; in this case, various network The signal strength of the modes is compared, and the network mode with the strong signal is used for image transmission to improve the transmission speed and the reliability and stability of the transmission.
  • the network mode of the control terminal can be switched to the private wireless network mode with stronger signal, so as to ensure the transmission speed and transmission reliability and stability; if the mobile network mode is If the strength is greater than the first preset strength, it indicates that the signal in the mobile network mode is stronger, and in this case, the mobile network mode can be used for signal transmission directly.
  • the determining the network mode used for signal transmission specifically includes: determining the network mode used by the control terminal for signal transmission; in the network mode, it is a private wireless network In the case of mobile data network mode, if the mobile data network mode is detected, the network mode of the control terminal is switched to the mobile data network mode; or when the network mode is the mobile data network mode, if the private network mode is detected In the wireless network mode, the network mode of the control terminal is maintained as the mobile data network mode.
  • the mobile data network mode when determining the network mode used by the control terminal for signal transmission, is preferred, that is, regardless of whether the preset network mode is a private wireless network mode or a mobile data network mode, as long as the mobile data network mode can be detected , The mobile data network mode is adopted, so that the mobile data network mode can be used for ultra-long-distance transmission and one-to-many transmission mode to improve the convenience and stability of the UAV system.
  • the determining the network mode for signal transmission specifically includes: detecting whether there is a mobile communication card in the network card slot in the control terminal, and generating a detection result; When the detection result is yes, determine the communication strength corresponding to the mobile communication card; when the communication strength is greater than a third preset strength, determine that the network mode of the control terminal is the mobile data network mode.
  • the mobile data network mode you first need to have a mobile communication card in the control terminal, so that you can enter the mobile data network and use the mobile data network; therefore, when determining the network mode for signal transmission, first check the control terminal If there is a mobile communication card in the mobile communication card, if the detection result is yes, it means that the control terminal can use the mobile data network; further, determine the communication strength corresponding to the mobile communication card, and when the communication strength is greater than the third preset strength, It is determined that the network mode of the control terminal is the mobile data network mode, that is, the mobile data network mode is used for signal transmission when the signal of the mobile data network mode is sufficiently strong, so as to ensure the transmission speed and the stability and reliability of the transmission; If the communication strength is less than the third preset strength, it indicates that the signal of the mobile data network mode is weak. If the mobile data network is used as the transmission channel at this time, the ultra-long-distance transmission effect is often not guaranteed.
  • the method before the response to the load selection instruction, the method further includes: determining a plurality of load devices corresponding to the drone; and displaying the multi-load device through the display device of the control terminal.
  • Load attribute list of a load device receiving a load selection instruction corresponding to any one of the load devices in the load attribute list displayed by the display device, wherein the load attribute list includes interface information of each load device, Network protocol, operating parameters and network mode.
  • drones usually have more multi-load applications.
  • mobile data network image transmission needs to select multiple loads on the current drone, and select the image data of a device to transmit to the control terminal ; In order to select the load corresponding to the selection instruction to transmit data to the control terminal according to the load attribute status displayed on the load attribute list, so as to ensure that the load can access the mobile data network for data transmission.
  • the multiple load devices may be video acquisition devices (for example, cameras), light source devices (for example, lighting), or radio devices (for example, microphones).
  • the sending the image transmission acquisition instruction to turn on the load device in the drone to the drone or the server specifically includes: determining corresponding loads in the multiple load devices according to the load selection instruction; The image transmission acquisition instruction of the mobile data network transmission channel corresponding to the load; the image transmission acquisition instruction is sent to the drone or the server through the remote control device of the control terminal.
  • the drone may have multiple load devices, so first determine the corresponding load of the multiple load devices according to the load selection instruction, so as to facilitate the generation of the corresponding load according to the specific load.
  • the multi-load image transmission method further includes: decoding the image data, and displaying the decoded image data.
  • the data stream output by the load generally has its own specific encoding, especially the mobile data network bandwidth changes significantly, so it is necessary to do a bandwidth adaptive encoding before sending, and the drone is responsible for receiving the data stream. Then decode and encode to ensure the accuracy of data transmission.
  • the bit rate of the video stream will adapt to the bandwidth of the current mobile data network to effectively reduce the transmission of higher bit rate videos due to poor network The stuttering improves transmission efficiency and reduces the delay of real-time transmission.
  • the code rate is selected to be controlled below 200 kps.
  • the decoding the image data and displaying the decoded image data specifically includes: receiving the image data through a remote control device of the control terminal; sending the image data by the remote control device To the display device of the control terminal; perform a decoding operation on the image data through the display device, and display the decoded image data through the display device.
  • the image data is transmitted in the form of encoding during the data transmission process, that is, the image data captured by the load device is first stored in the H264 video stream. Before the drone is sent to the control terminal, the H264 data is adjusted according to the bandwidth of the mobile data.
  • the video stream is decoded and re-encoded to send the re-encoded image data to the control terminal.
  • the remote control device and the display device can be connected in a wired or wireless manner, and the remote control device and the display device can also be integrated.
  • the image data can be transmitted transparently between the payload and the drone body. At this time, there is no need to encode first, and then decode it on the drone body.
  • the drone body obtains the image data of the payload, it directly Corresponding to the bandwidth of the mobile data network transmission channel of the load, the coding rate is determined according to the bandwidth, and then the image data is encoded and transmitted to the server or control terminal.
  • FIG. 3 is a flowchart of another multi-load image transmission method provided in an embodiment of the present invention.
  • the multi-load image transmission method described in this embodiment can be applied to drones; as shown in FIG. 3, the multi-load image transmission method in this embodiment includes:
  • S302 Receive an image transmission acquisition instruction issued by the server or the control terminal.
  • the execution subject of the multi-load image transmission method in this embodiment may be a drone.
  • the drone includes the drone body and multiple load devices set on the drone body, and whether it is the image data on the server or the image data on the control terminal, it actually comes from The drone is photographed by the load on the drone. Therefore, after the drone is photographed and stored on the drone, the data can be transmitted to the server or control terminal. That is, the drone receives the image sent by the server or the control terminal. Pass the get command.
  • the multiple load devices may be video acquisition devices (for example, cameras), light source devices (for example, lighting), or radio devices (for example, microphones).
  • This command will carry the user to select the type of camera/load to be opened, and the command is received by the drone.
  • the command sent by the APP is passed to the remote control, and the remote control sends the command to the server through the mobile data network module (when the private wireless network exists, this command can also be sent through the private wireless network); the server then transfers the command Give the drone.
  • the network transmission channel that is, the mobile data network is used to transmit the data in the corresponding load device, which can realize ultra-long-distance data transmission and ensure the stability and reliability of the transmission process.
  • S306 Send image data corresponding to the corresponding load to the server or the control terminal through a mobile data network.
  • the multi-load image transmission method before the sending image data corresponding to the corresponding load to the server or the control terminal through a mobile data network, further includes: determining the corresponding load The bandwidth of the mobile data network transmission channel; the code rate of encoding is determined according to the bandwidth; the video stream obtained through the corresponding load is coded at the code rate to generate image data.
  • the bandwidth of the mobile data network transmission channel has a great impact on the stability and reliability of data transmission, and the bandwidth of the mobile data network may change significantly due to network abnormalities, so it is necessary to do a bandwidth adaptation before sending Encoding, that is, first determining the bandwidth of the mobile data network transmission channel of the corresponding load, thereby facilitating the determination of a suitable bit rate according to the bandwidth, and encoding the video stream obtained through the corresponding load according to the bit rate to generate Image data, which is more conducive to the data transmission of the mobile network, and improves the reliability and stability of the transmission.
  • Encoding that is, first determining the bandwidth of the mobile data network transmission channel of the corresponding load, thereby facilitating the determination of a suitable bit rate according to the bandwidth, and encoding the video stream obtained through the corresponding load according to the bit rate to generate Image data, which is more conducive to the data transmission of the mobile network, and improves the reliability and stability of the transmission.
  • the encoding the acquired video stream at the bit rate to generate image data specifically includes: sending the video stream acquired by the corresponding load to the drone body; the drone body pairing After the video stream is decoded, the decoded video stream is encoded according to the bit rate to generate image data. Specifically, since the image is taken by the payload device, it is necessary to send the video stream obtained by the payload to the drone body, and then the drone body decodes the video stream, and then according to the The code rate encodes the decoded video stream, so that the code rate of the video stream adapts to the bandwidth of the current mobile data network, so as to reduce the delay of real-time transmission, and at the same time reduce the possibility of jams during the video transmission process Enhance the stability and reliability of data transmission.
  • the code rate is less than 200 kps.
  • the method further includes: determining all the load devices mounted on the drone body Load equipment; generate a load attribute list according to the load attributes of all the load equipment, and send the load attribute list to the control terminal; receive a load equipment corresponding to any load attribute in the load attribute list sent by the control terminal The load selection instruction of the load selection instruction, and determine that the load device corresponding to the load selection instruction is the corresponding load; determine the network mode for signal transmission; open the image transmission channel of the corresponding load according to the network mode to receive the image Data, wherein the load attribute includes: interface information, network protocol, operating parameters, and network mode of each load device.
  • the corresponding signal transmission network mode can be determined to ensure the transmission speed and transmission stability.
  • the determining the network mode used for signal transmission specifically includes: determining the network mode in which the corresponding load is used for signal transmission; if the network mode is a private wireless network mode, if the private wireless network If the strength of the mode is less than the first preset strength, the network mode of the corresponding load is switched to the mobile data network mode; if the network mode is the mobile data network mode, if the strength of the mobile data network mode is less than The second preset intensity is to switch the network mode of the corresponding load to the private wireless network mode.
  • the network mode of signal transmission is finally determined according to the signal strength of the drone, which helps to ensure the stability and reliability of data transmission and increase the transmission speed.
  • the preset network mode is the private wireless network mode
  • the strength of the private wireless network mode is less than the first preset strength
  • the control terminal can be The network mode is switched to the mobile data network mode with stronger signal, so as to ensure the transmission speed and transmission reliability and stability; if the strength of the private wireless network mode is greater than the first preset strength, the private wireless network mode is If the signal is strong, the private wireless network mode can be used for signal transmission directly; if the network mode is the mobile data network mode, if the strength of the mobile data network mode is less than the second preset strength, It shows that the strength of the mobile data network mode is weak.
  • the determining the network mode used for signal transmission specifically includes: determining the network mode in which the corresponding load is used for signal transmission; if the network mode is a private wireless network mode, if mobile data is detected Network mode, the network mode of the corresponding load is switched to the mobile data network mode; or when the network mode is the mobile data network mode, if the private wireless network mode is detected, the corresponding load The network mode of the mobile data network mode is maintained.
  • the mobile data network mode when determining the network mode used by the control terminal for signal transmission, is preferred, that is, regardless of whether the preset network mode is a private wireless network mode or a mobile data network mode, as long as the mobile data network mode can be detected , The mobile data network mode is adopted, so that the mobile data network mode can be used for ultra-long-distance transmission and one-to-many transmission mode to improve the convenience and stability of the UAV system.
  • the determining the network mode for signal transmission specifically includes: detecting whether there is a mobile communication card in the network card slot in the control terminal, and generating a detection result; When the detection result is yes, determine the communication strength corresponding to the mobile communication card; when the communication strength is greater than a third preset strength, determine that the network mode of the control terminal is the mobile data network mode.
  • the mobile data network mode you first need to have a mobile communication card in the control terminal, so that you can enter the mobile data network and use the mobile data network; therefore, when determining the network mode for signal transmission, first check the control terminal If there is a mobile communication card in the mobile communication card, if the detection result is yes, it means that the control terminal can use the mobile data network; further, determine the communication strength corresponding to the mobile communication card, and when the communication strength is greater than the third preset strength, It is determined that the network mode of the control terminal is the mobile data network mode, that is, the mobile data network mode is used for signal transmission when the signal of the mobile data network mode is sufficiently strong, so as to ensure the transmission speed and the stability and reliability of the transmission; If the communication strength is less than the third preset strength, it indicates that the signal of the mobile data network mode is weak. If the mobile data network is used as the transmission channel at this time, the ultra-long-distance transmission effect is often not guaranteed.
  • FIG. 4 is a flowchart of another method for multi-load image transmission provided by an embodiment of the present invention.
  • the multi-load image transmission method described in this embodiment can be applied to a server; as shown in FIG. 4, the multi-load image transmission method in this embodiment includes:
  • S402 Receive an image transmission acquisition instruction sent by the control terminal to turn on the load device in the drone.
  • S404 Send the image transmission acquisition instruction to the drone to instruct the drone to open a mobile data network transmission channel corresponding to the load.
  • the server is used for transfer. Control operations are recorded to provide data reference for later error correction or improvement. It is necessary to open the mobile data network transmission channel of the corresponding load in the multiple load devices according to the image transmission acquisition instruction, that is, use the mobile data network to transfer the corresponding load.
  • the data in the device is transmitted, which can realize ultra-long-distance data transmission and ensure the stability and reliability of the transmission process.
  • S406 Receive the image data sent by the drone corresponding to the corresponding load device through the mobile data network, and send the image data to the control terminal through the mobile data network.
  • the server receives the image data corresponding to the corresponding load device sent by the drone through the mobile data network, and sends the image data to the control terminal through the mobile data network, so that as long as the Wherever the mobile network covers, the image data taken by the drone can be transmitted to the server for storage, and when the user needs it, the historical image data for a certain period of time in the past can be downloaded from the server, which greatly expands the drone’s
  • the scope of use increases the amount of image data saved, thereby improving the convenience of drone use and the reproducibility of image data.
  • the multi-load image transmission method when the number of the control terminal is multiple, the number of the drone is one, and at least two image transmission instructions issued by the control terminal are received
  • the multi-load image transmission method further includes: determining the load device corresponding to each control terminal; determining the first image transmission instruction with the earliest receiving time among the plurality of image transmission instructions, and determining the first image The load device corresponding to the transmission instruction; in the process of sending the image data of the load device corresponding to the first image transmission instruction to the control terminal, it is determined that the first image transmission instruction is The second image transmission instruction with the same controlled load device; the image data of the load device corresponding to the first image transmission instruction is sent to the control terminal corresponding to each second image transmission instruction.
  • the first image transmission instruction is the instruction with the earliest receiving time among the multiple image transmission instructions.
  • the response time to the first image transmission instruction is also the earliest. Therefore, when determining the second image transmission instruction
  • the image data corresponding to the first image transmission command can be transmitted at the same time; since the second image transmission command corresponds to the same load device as the first image transmission command, the image data corresponding to the second image transmission command is the same as the first image transmission command.
  • the image data corresponding to one image transmission instruction is also the same. Therefore, the image data of the load device corresponding to the first image transmission instruction can be directly sent to the control terminal corresponding to each second image transmission instruction, and there is no need to download from the load device.
  • the video stream is obtained on the upper side to perform repeated encoding and decoding operations, thereby simplifying the process of image data transmission, improving transmission speed and transmission efficiency, and realizing the purpose of one load device corresponding to multiple control terminals.
  • the first image transmission instruction to open a certain load can be sent to the drone through the mobile data network;
  • the second terminal or the Nth terminal needs to view the real-time image transmission of the drone, it will directly send an instruction to the server, and the server will determine whether it is the first control terminal and determine the mobile data network of the drone according to the judgment.
  • the server can distribute the image data to multiple terminal devices according to the actual situation of the connected terminal. Realize the display of one machine and multiple terminals of image transmission.
  • the image transmission request of the three terminals (terminal 1, terminal 2 and terminal 3) is first received, and it is judged whether the received image transmission request is the first An image transmission request, when the judgment result is yes, the terminal currently requested is considered as Terminal 1.
  • an instruction is sent to the drone to request to open the mobile data network image transmission, and the image data is sent to Terminal 1. If the result is no, it is considered that the currently requested terminal is terminal 2 or 3, and the current image data (that is, the image data requested by terminal 1) is distributed to terminal 2 or 3.
  • the multi-load image transmission method when the number of drones is multiple and the number of control terminals is one, the multi-load image transmission method further includes: determining each of the The network mode used by drones for signal transmission; determine multiple drones with the same network mode, and acquire image data of each of the multiple drones; receive multiple images Data, and send a plurality of the image data to the control terminal.
  • the multi-load image transmission method when multiple drones correspond to one control terminal, by acquiring the image data of each of the multiple drones with the same network mode, it is convenient to jointly save the data on the drones with the same network mode.
  • the image data is then transmitted to the control terminal, which is conducive to the optimization of the transfer through the server, simplifies the workload of the drone and the control terminal, and improves the convenience of the control terminal to view multiple drone screens, and to the scene of multiple drones. Control of the company.
  • the control terminal shown in Figure 7 can query the UAV equipment currently using the mobile data network from the server, or the UAV equipment with the mobile data network module but not the corresponding image transmission; if the UAV has been For mobile data network image transmission, the corresponding image data is directly pulled from the server to reduce the workload of the drone; if the drone has not opened the mobile data network image transmission, but the mobile data network link is unblocked, you can use
  • the method of sending control instructions allows the drone to open the mobile data network image transmission; the control terminal can also realize the synchronization of all the drone equipment with the permission to the remote control center and display it in real time, so that the control center can monitor the unmanned Control of the machine site.
  • the sending the image data to the control terminal specifically includes: sending the image data to a display device of the control terminal, so that the image data is decoded and combined by the display device. Display the decoded image data; or send the image data to the remote control device of the control terminal, and send the image data to the display device of the control terminal through the remote control device, so that the display device can
  • the image data is decoded and the decoded image data is displayed.
  • the image data is directly sent to the display device of the control terminal, or the image data is indirectly sent to the display device through the remote control device, so as to facilitate the decoding of the image data through the display device and display the decoded image data , So that users can intuitively see the images taken by the drone from the display device.
  • FIG. 6 is a structural diagram of the control system provided by the embodiment of the present invention.
  • the control system described in this embodiment includes a control terminal and an unmanned aerial vehicle, wherein, in response to a load selection instruction, the control terminal sends an image transmission acquisition instruction to turn on the load device in the unmanned aerial vehicle;
  • the drone opens the mobile data network transmission channel of the corresponding load according to the received image transmission acquisition instruction; the drone sends image data corresponding to the corresponding load to the control terminal through the mobile data network.
  • control system further includes a server electrically connected to the control terminal and the drone, and the server is configured to receive the image transmission acquisition instruction issued by the control terminal, and use Yu sends the image transmission acquisition instruction to the drone.
  • the server is configured to receive the image data acquired by the corresponding load sent by the drone through a mobile data network, and the server is also configured to send the image data to the control terminal through a mobile data network.
  • FIG. 8 is a structural diagram of a control terminal 1000 provided in an embodiment of the present invention.
  • the control terminal 1000 in this embodiment includes a remote control device 1002, a display device 1004, and a processor 1006.
  • the processor 1006 is configured to: in response to a load selection instruction, send the drone or server to turn on the drone
  • the image transmission acquisition instruction of the medium load equipment, the image transmission acquisition instruction is used to instruct the drone to open the mobile data network transmission channel of the corresponding load; receive the data sent by the drone or the server through the mobile data network Image data acquired by the corresponding load on the drone.
  • the control terminal 1000 is further used to determine The network mode of transmission; the corresponding image transmission channel is opened according to the network mode to receive the image data.
  • the processor 1006 is configured to determine a network mode used for signal transmission, and specifically configured to: determine a network mode used by the control terminal 1000 for signal transmission; when the network mode is a private wireless network mode If the mobile data network mode is detected, the network mode of the control terminal 1000 is switched to the mobile data network mode; or if the network mode is the mobile data network mode, if a private wireless network is detected Mode, the network mode of the control terminal 1000 is maintained as the mobile data network mode.
  • the processor 1006 is configured to determine a network mode used for signal transmission, and is specifically configured to: detect whether there is a mobile communication card in the network card slot of the control terminal 1000, and generate a detection result; in the detection result If yes, determine the communication strength corresponding to the mobile communication card; when the communication strength is greater than the third preset strength, determine that the network mode of the control terminal 1000 is the mobile data network mode.
  • control terminal 1000 is further configured to: determine multiple load devices corresponding to the drone; and display multiple load devices through the display device 1004 of the control terminal 1000 Load attribute list of load equipment; receiving load selection instructions corresponding to any one of the load equipment in the load attribute list displayed by the display device 1004, wherein the load attribute list includes interface information of each load equipment, Network protocol, operating parameters and network mode.
  • the processor 1006 sends an image transmission acquisition instruction for turning on a load device in the drone to the drone or a server, which is specifically used to: determine corresponding loads in the multiple load devices according to the load selection instruction; Generate an image transmission acquisition instruction for opening the mobile data network transmission channel of the corresponding load; send the image transmission acquisition instruction to a drone or a server through the remote control device 1002 of the control terminal 1000.
  • the processor 1006 is further configured to: decode the image data and display the decoded image data.
  • the processor 1006 decodes the image data and displays the decoded image data, which is specifically configured to: receive the image data through the remote control device 1002 of the control terminal 1000; The remote control device 1002 is sent to the display device 1004 of the control terminal 1000; the image data is decoded through the display device 1004, and the decoded image data is displayed on the display device 1004.
  • FIG. 9 is a structural diagram of an unmanned aerial vehicle 2000 provided in an embodiment of the present invention.
  • the drone 2000 in this embodiment includes a drone body 2002, a plurality of load devices 2004 arranged on the drone body 2002, and a processor 2006, wherein the processor 2006 is used to: The image transmission acquisition instruction issued by the server or the control terminal; according to the image transmission acquisition instruction, the mobile data network transmission channel corresponding to the load in the plurality of load devices 2004 is opened; and the mobile data network is sent to the server or the control terminal Image data corresponding to the corresponding load.
  • the processor 2006 sends the image data corresponding to the corresponding load to the server or the control terminal through the mobile data network, it is further configured to: determine the mobile data network transmission of the corresponding load The bandwidth of the channel; the code rate of encoding is determined according to the bandwidth; the video stream obtained through the corresponding load is coded at the code rate to generate image data.
  • the processor 2006 encodes the acquired video stream at the bit rate to generate image data, which is specifically configured to: send the video stream acquired by the corresponding load to the drone body 2002; After the drone body 2002 decodes the video stream, it encodes the decoded video stream according to the bit rate to generate image data.
  • the processor 2006 encodes the acquired video stream at the bit rate to generate image data, which is specifically configured to: generate image data from the video stream through the corresponding load according to the bit rate.
  • the processor 2006 is further configured to: determine to be mounted on the drone before opening the mobile data network transmission channel corresponding to the load in the plurality of load devices 2004 according to the image transmission acquisition instruction All the load devices 2004 on the main body 2002; generate a load attribute list according to the load attributes of all the load devices 2004, and send the load attribute list to the control terminal; receive the control terminal corresponding to all The load selection instruction of any load device 2004 in the load attribute list, and determine that the load device 2004 corresponding to the load selection instruction is the corresponding load; determine the network mode used for signal transmission; turn on the network mode according to the network mode
  • the image transmission channel corresponding to the load is used to receive the image data, wherein the load attribute includes: interface information, network protocol, operating parameters, and network mode of each load device 2004.
  • the processor 2006 determines the network mode used for signal transmission, which is specifically configured to: determine the network mode used by the corresponding load for signal transmission; if the network mode is a private wireless network mode, if If the intensity of the private wireless network mode is less than the first preset intensity, the network mode of the corresponding load is switched to the mobile data network mode; in the case that the network mode is the mobile data network mode, if the mobile data network If the intensity of the mode is greater than the second preset intensity, the network mode of the corresponding load is switched to the private wireless network mode.
  • the processor 2006 determines a network mode for signal transmission, which is specifically configured to: determine a network mode for the corresponding load to be used for signal transmission; if the network mode is a private wireless network mode, if If the mobile data network mode is detected, the network mode of the corresponding load is switched to the mobile data network mode; or when the network mode is the mobile data network mode, if the private wireless network mode is detected, the The network mode of the corresponding load remains the mobile data network mode.
  • the processor 2006 determines a network mode for signal transmission, which is specifically configured to: detect whether there is a mobile communication card in the network card slot in the corresponding load, and generate a detection result; when the detection result is yes , Determining the communication strength corresponding to the mobile communication card; when the communication strength is greater than a third preset strength, determining that the network mode of the corresponding load is the mobile data network mode.
  • An embodiment of the present invention provides a server, including a processor, the processor is configured to: receive an image transmission acquisition instruction sent by a control terminal to turn on a load device in a drone; and send the image transmission acquisition instruction to the The man-machine to instruct the drone to open the mobile data network transmission channel corresponding to the load; to receive the image data sent by the drone corresponding to the above corresponding load device through the mobile data network, and pass the mobile The data network sends the image data to the control terminal.
  • the processor is further configured to: determine Each of the control terminals corresponds to the load device to be controlled; determines the first image transmission instruction with the earliest receiving time among the multiple image transmission instructions, and determines the load device corresponding to the first image transmission instruction; During the process of sending the image data of the load device corresponding to a picture transmission instruction to the control terminal, determining a second picture transmission instruction that is the same as the load device controlled by the first picture transmission instruction among the plurality of picture transmission instructions; The image data of the load device corresponding to the first image transmission instruction is sent to the control terminal corresponding to each of the second image transmission instructions.
  • the processor is further configured to: determine a network mode used by each drone for signal transmission; Determine multiple drones with the same network mode, acquire image data of each of the multiple drones; receive multiple of the image data, and send multiple of the image data To the control terminal.
  • the processor is configured to send the image data to the control terminal, and is specifically configured to: send the image data to a display device of the control terminal, so that the image data can be viewed by the display device. Decode and display the decoded image data; or send the image data to the remote control device of the control terminal, and send the image data to the display device of the control terminal through the remote control device to pass the The display device decodes the image data and displays the decoded image data.
  • the embodiment of the present invention provides a computer-readable storage medium on which a computer program is stored.
  • the computer program When executed by a processor, it implements the steps of the multi-load image transmission method in the first aspect of the above-mentioned embodiment, and realizes the above-mentioned first aspect.
  • a "computer-readable medium” can be any device that can contain, store, communicate, propagate, or transmit a program for use by an instruction execution system, device, or device or in combination with these instruction execution systems, devices, or devices.
  • computer readable media include the following: electrical connections (electronic devices) with one or more wiring, portable computer disk cases (magnetic devices), random access memory (RAM), Read only memory (ROM), erasable and editable read only memory (EPROM or flash memory), fiber optic devices, and portable compact disk read only memory (CDROM).
  • the computer-readable medium may even be paper or other suitable medium on which the program can be printed, because it can be done, for example, by optically scanning the paper or other medium, and then editing, interpreting, or other suitable methods when necessary. Process to obtain the program electronically and then store it in the computer memory.
  • each embodiment of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units may be integrated into one module.
  • the above-mentioned integrated modules can be implemented in the form of hardware or software functional modules. If the integrated module is implemented in the form of a software function module and sold or used as an independent product, it can also be stored in a computer readable storage medium.
  • the storage medium mentioned above may be a read-only memory, a magnetic disk or an optical disk, etc.

Landscapes

  • Engineering & Computer Science (AREA)
  • Signal Processing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Multimedia (AREA)
  • Computer Security & Cryptography (AREA)
  • Closed-Circuit Television Systems (AREA)
  • Selective Calling Equipment (AREA)

Abstract

La présente invention concerne un procédé de transmission d'images à charges multiples, un système de commande, un terminal de commande, un véhicule aérien sans pilote et un serveur. Le procédé de transmission d'images à charges multiples comprend les étapes consistant à : en réponse à une instruction de sélection de charge, transmettre à un véhicule aérien sans pilote ou à un serveur une instruction d'acquisition de transmission d'images visant à activer un dispositif de charge sur le véhicule aérien sans pilote, l'instruction d'acquisition de transmission d'images étant utilisée pour indiquer au véhicule aérien sans pilote d'ouvrir le canal de transmission de réseau de données mobile de la charge correspondante (S202) ; et envoyer, au moyen du véhicule aérien sans pilote ou du serveur, des données d'images acquises par la charge correspondante sur le véhicule aérien sans pilote (S204). D'après la solution technique de la présente invention, en utilisant un réseau de données mobile pour effectuer une transmission d'images, la présente invention peut supprimer une limite à une distance de transmission de données d'images. De plus, la présente invention réalise une transmission d'images en temps réel sur une distance très éloignée et procure de plus nombreuses possibilités associées à la scène de travail de l'application industrielle du véhicule aérien sans pilote.
PCT/CN2019/073938 2019-01-30 2019-01-30 Procédé de transmission d'images à charges multiples, système de commande, terminal de commande, véhicule aérien sans pilote et serveur Ceased WO2020154959A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
PCT/CN2019/073938 WO2020154959A1 (fr) 2019-01-30 2019-01-30 Procédé de transmission d'images à charges multiples, système de commande, terminal de commande, véhicule aérien sans pilote et serveur
CN201980004930.5A CN111279690A (zh) 2019-01-30 2019-01-30 多负载图传方法、控制系统、控制终端、无人机和服务器

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2019/073938 WO2020154959A1 (fr) 2019-01-30 2019-01-30 Procédé de transmission d'images à charges multiples, système de commande, terminal de commande, véhicule aérien sans pilote et serveur

Publications (1)

Publication Number Publication Date
WO2020154959A1 true WO2020154959A1 (fr) 2020-08-06

Family

ID=70999836

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2019/073938 Ceased WO2020154959A1 (fr) 2019-01-30 2019-01-30 Procédé de transmission d'images à charges multiples, système de commande, terminal de commande, véhicule aérien sans pilote et serveur

Country Status (2)

Country Link
CN (1) CN111279690A (fr)
WO (1) WO2020154959A1 (fr)

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114257820A (zh) * 2020-09-25 2022-03-29 华为技术有限公司 数据传输方法及相关装置
CN112218056A (zh) * 2020-10-13 2021-01-12 云南电网有限责任公司电力科学研究院 一种基于5g通讯的数据传输方法和图像传输方法
CN112435454A (zh) * 2020-11-03 2021-03-02 北京京东乾石科技有限公司 一种无人机系统、无人机控制方法、装置、设备和介质
CN112637815B (zh) * 2020-12-03 2023-05-23 北京长焜科技有限公司 一种支持4g/5g双模在线的无人机数图传输通信设备
CN114600445A (zh) * 2020-12-16 2022-06-07 深圳市大疆创新科技有限公司 追踪算法的运行方法、装置、电子设备及计算机可读存储介质
CN117041451B (zh) * 2023-06-19 2024-04-26 广州科易光电技术有限公司 数据同步方法、装置、电子设备及存储介质

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1571299A (zh) * 2004-04-28 2005-01-26 王海芳 一种基于公众移动通信网络实现航空通信的系统及方法
US20050282493A1 (en) * 1998-04-27 2005-12-22 Chuprun Jeffery S Satellite based data transfer and delivery system
CN106341784A (zh) * 2016-10-26 2017-01-18 广州极飞科技有限公司 一种数据通信的方法、装置和系统
CN107396426A (zh) * 2016-05-16 2017-11-24 天津航天中为数据系统科技有限公司 用于无人机的机载终端及相应的数据传输系统和传输方法
CN108200394A (zh) * 2018-01-04 2018-06-22 广东容祺智能科技有限公司 一种支持多路图像传输的无人机系统

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3346618B1 (fr) * 2014-02-10 2021-09-15 SZ DJI Technology Co., Ltd. Commutation de mode de communication adaptatif
CN108702487A (zh) * 2017-11-20 2018-10-23 深圳市大疆创新科技有限公司 无人机的图像传输方法和装置

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20050282493A1 (en) * 1998-04-27 2005-12-22 Chuprun Jeffery S Satellite based data transfer and delivery system
CN1571299A (zh) * 2004-04-28 2005-01-26 王海芳 一种基于公众移动通信网络实现航空通信的系统及方法
CN107396426A (zh) * 2016-05-16 2017-11-24 天津航天中为数据系统科技有限公司 用于无人机的机载终端及相应的数据传输系统和传输方法
CN106341784A (zh) * 2016-10-26 2017-01-18 广州极飞科技有限公司 一种数据通信的方法、装置和系统
CN108200394A (zh) * 2018-01-04 2018-06-22 广东容祺智能科技有限公司 一种支持多路图像传输的无人机系统

Also Published As

Publication number Publication date
CN111279690A (zh) 2020-06-12

Similar Documents

Publication Publication Date Title
WO2020154959A1 (fr) Procédé de transmission d'images à charges multiples, système de commande, terminal de commande, véhicule aérien sans pilote et serveur
WO2020155037A1 (fr) Procédé de transmission d'images à trajets multiples et à charges multiples, système de commande et terminal, véhicule aérien sans pilote et serveur
CN104898699B (zh) 飞行控制方法及装置、电子设备
US10469893B2 (en) Integrated cast and sling system and method of its operation in an interoperable multiple display device environment
HK1220058A1 (zh) 無線攝像機
US11877253B2 (en) Aircraft time synchronization system and method
CN107493311B (zh) 实现操控设备的方法、装置和系统
US20200180759A1 (en) Imaging device, camera-equipped drone, and mode control method, and program
CN108924520B (zh) 传输控制方法、装置、控制器、拍摄设备及飞行器
US20240328815A1 (en) Data transmission throttling and data quality updating for a slam device
US12602805B2 (en) Data transmission throttling and data quality updating for a slam device
EP3185644B1 (fr) Procédé, dispositif et support de stockage pour le réveil d'un dispositif d'interconnexion de la famille
CN208987073U (zh) 一种拍摄设备及飞行器
CN114637314B (zh) 无人飞行器及其控制方法、装置、系统
US20240089414A1 (en) Electronic device, method for data transmission between the electronic device and another electronic device, and medium
US20140152901A1 (en) Control system for video device and video device
CN114071424A (zh) 移动端的失联找回方法、装置、系统、设备及存储介质
US12538368B2 (en) Unmanned aerial vehicle and pairing method and system thereof
KR20180078931A (ko) 듀얼 카메라로부터의 영상스트리밍의 스위칭 전송 기능을 구비한 드론 및 드론시스템
CN110611879B (zh) 一种网络参数的处理方法、网络侧设备及终端
CN107079109B (zh) 相机快门控制方法、装置及系统
CN106793155B (zh) 网络通道选择方法、装置及终端
JP7525431B2 (ja) 無人移動装置、制御方法、通信システム及びプログラム
JP2023021817A (ja) 情報処理装置、情報処理方法、及び、プログラム
CN117156267B (zh) 基于环境自适应的云台相机工作模式切换方法及系统

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 19914096

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 19914096

Country of ref document: EP

Kind code of ref document: A1