1. A media transmission method based on telepresence, wherein a media transmission system comprises a master telepresence terminal and at least one secondary telepresence terminal, the method comprises: during connection establishment, performing signaling exchange by a master telepresence terminal of a local media transmission system and a remote endpoint, to establish media logical channels between the local media transmission system and the remote endpoint; the local media transmission system transmitting the same type of media streams to the remote endpoint through a media logical channel or respectively through multiple media logical channels, and receiving the same type of media streams through a media logical channel or respectively through multiple media logical channels from the remote endpoint; wherein the media logical channel is distinguished by an IP address and a port number, at least IP addresses or port numbers to which different media logical channels correspond are different.