CN105323535A - Video conference terminal stability control method and video conference terminal - Google Patents

Abstract

The invention relates to a video conference terminal stability control method and a video conference terminal, wherein the method comprises the following steps: acquiring the motion angular velocity of a holder detected by a gyroscope, wherein the gyroscope is arranged on the holder of the video conference terminal; converting the motion angular speed into a digital control signal and transmitting the digital control signal to a torque motor; the moment motor generates compensation moment to act on the frame on the holder, so that the holder is kept stable. According to the invention, the gyroscope stabilizer is arranged on the video conference terminal, so that image shake caused by vibration of the video conference terminal can be effectively avoided.

Description

Video conference terminal stability control method and video conference terminal

technical field

The invention relates to the technical field of video conferencing image processing, in particular to a method for controlling the stability of a video conferencing terminal and the video conferencing terminal.

Background technique

With the continuous growth of video conferencing services, there are new requirements for the use of video conferencing. At present, most video conferencing terminals are placed in a stable environment to ensure that the output image will not shake. If the video conferencing terminal is slightly touched, the picture received by the other end of the meeting will shake. If the video conferencing terminal is used in a sports environment, it will cause the other party's picture to vibrate even more.

Contents of the invention

The main purpose of the present invention is to provide a method for controlling the stability of a video conferencing terminal and the video conferencing terminal, aiming at improving the stability of the video conferencing terminal in a vibration environment.

In order to achieve the above object, the present invention proposes a method for controlling the stability of a video conferencing terminal, including:

Acquiring the motion angular velocity of the pan-tilt detected by the gyroscope, the gyroscope being set on the pan-tilt of the video conferencing terminal;

Converting the angular velocity of motion into a digital control signal and transmitting it to the torque motor;

The compensation torque is generated by the torque motor and acts on the frame on the platform to keep the platform stable.

Preferably, the gyroscope includes an azimuth gyroscope and/or a pitch gyroscope.

Preferably, after the step of converting the angular velocity of motion into a digital control signal, the step further includes:

Perform power amplification processing on the digital control signal.

The embodiment of the present invention also proposes a video conferencing terminal, including: a pan-tilt and a gyro stabilizer arranged on the pan-tilt for controlling the stability of the pan-tilt.

Preferably, the gyro stabilizer includes at least one gyroscope, a torque motor and a frame corresponding to the gyroscope, and a speed controller, wherein:

The gyroscope is arranged on the pan-tilt, and is used to detect the movement angular velocity of the pan-tilt, and send it to the speed controller;

The speed controller is used to convert the motion angular velocity into a digital control signal and transmit it to the corresponding torque motor;

The torque motor is used to generate a compensation torque according to the digital control signal, and act on a corresponding frame on the pan-tilt to keep the pan-tilt stable.

Preferably, the gyroscope is an azimuth gyroscope and/or a pitch gyroscope.

Preferably, the video conferencing terminal also includes:

The power amplifier is used to perform power amplification processing on the digital control signal.

The method for controlling the stability of a video conference terminal and the video conference terminal proposed by the embodiments of the present invention can effectively avoid image jitter caused by vibration of the video conference terminal by setting a gyroscope stabilizer on the video conference terminal.

Description of drawings

FIG. 1 is a schematic diagram of functional modules of an embodiment of a video conferencing terminal of the present invention;

2 is a schematic flow diagram of an embodiment of a method for controlling the stability of a video conferencing terminal in the present invention;

Fig. 3 is a schematic flowchart of another embodiment of the method for controlling the stability of a video conference terminal according to the present invention.

In order to make the technical solution of the present invention clearer and clearer, it will be further described below in conjunction with the accompanying drawings.

detailed description

It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

The solution of the embodiment of the present invention is mainly: a gyro stabilizer is installed on the pan/tilt of the video conferencing terminal, and the principle of the gyroscope is used. Keep at the original angular position. When the terminal gimbal deviates from the original orientation due to the disturbance torque, the gyroscope will sensitively measure the angular rate generated by the change of the axis. After passing through the control system, it will be fed back to the torque motor, and the torque motor will generate compensation torque. Compensate the disturbance torque to keep the gimbal stable, so as to ensure the stability of the image.

As shown in FIG. 1 , a preferred embodiment of the present invention proposes a video conference terminal, including: a pan-tilt and a gyroscope 10 stabilizer arranged on the pan-tilt for controlling the stability of the pan-tilt.

The gyroscope 10 stabilizer includes at least one gyroscope 10, a torque motor 40 and a frame 50 corresponding to the gyroscope 10, and a speed controller 20, wherein:

The gyroscope 10 is arranged on the cloud platform for detecting the movement angular velocity of the platform and sending it to the speed controller 20;

The speed controller 20 is used to convert the motion angular velocity into a digital control signal and transmit it to the corresponding torque motor 40;

The torque motor 40 is used to generate a compensation torque according to the digital control signal, and acts on the corresponding frame 50 on the pan-tilt to keep the pan-tilt stable. The torque motor 40 can be understood as a common motor 40 , such as stepping motor 40.

Due to the weak anti-vibration performance of the existing video conferencing terminals, if the video conferencing terminal is slightly touched, the picture received by the other end of the meeting will shake, and if the video conferencing terminal is used in a sports environment, It will cause greater jitter in the other party's screen. The video conferencing terminal with the gyroscope 10 in this embodiment can effectively avoid the image shaking caused by the vibration of the video conferencing terminal.

The principle of the gyroscope 10 is: the direction pointed by the rotation axis of a rotating object will not change when it is not affected by external force. Using this feature, the video conferencing terminal with the gyroscope 10 stabilizer, when the terminal cloud When there is no disturbance torque on the support axis of the platform, the platform will always maintain the original angular position relative to the inertial space. The angular rate is converted by the speed controller 20 and then fed back to the motor 40. The motor 40 generates a compensating torque to compensate the disturbance torque to keep the pan/tilt stable, thereby ensuring the stability of the image on the video terminal.

Specifically, firstly, when the pan/tilt is in a vibrating state, the gyroscope 10 detects the motion angular velocity of the pan/tilt, so as to subsequently perform compensation control on the vibration of the pan/tilt according to the motion angular velocity.

Then, the motion angular velocity is converted into a digital control signal that the torque motor 40 can recognize by the speed controller 20 and transmitted to the torque motor 40 .

After the torque motor 40 receives the digital control signal transmitted by the speed controller 20, it generates a compensating torque, which acts on the frame 50 on the pan-tilt, causing the frame 50 to move in the opposite direction, thereby keeping the pan-tilt stable.

In this embodiment, the gyroscope 10 can specifically be a gyroscope 10 for detecting different directions, such as an azimuth gyroscope 10, a pitch gyroscope 10, etc. When multiple gyroscopes 10 are set on the cloud platform, the multiple gyroscopes 10 can have Various combination settings are not specifically limited here.

Further, the video conferencing terminal may further include: a power amplifier 30, configured to perform power amplification processing on the digital control signal, so as to improve the efficiency and accuracy of signal processing.

In this embodiment, through the above solution, by setting the gyroscope 10 stabilizer on the video conferencing terminal, image shaking caused by the vibration of the video conferencing terminal can be effectively avoided.

In practical applications, due to the widespread use of 4G technology and the successful commercial use of 4G ground-to-air broadband, video conferencing terminals with 4G modules and gyroscopes 10 can be used on high-end seats of vehicles such as airplanes, high-speed rails, and luxury cruise ships in the future. At the same time, the video conferencing terminal tends to be miniaturized and portable. In the future, the video conferencing terminal with the gyroscope 10 can also be placed on a car for remote command in scenarios such as geological disasters and military affairs.

In the specific implementation process, the video conferencing terminal using the gyroscope 10 stabilizer, the rotation of its pan-tilt is controlled by the gyroscope 10 stabilizer, and when the power-on self-check rotates and the user controls the pan-tilt to rotate, the gyroscope 10 stabilizer does not stop. Function, after the rotation instruction is released, the gyroscope 10 stabilizer begins to grasp the balance of the gimbal. In geological disaster sites and field survey sites, put the video conferencing terminal on the command vehicle to conduct video conferences with multiple vehicles at the same time for synchronization. Remote command, because the gimbal keeps a stable camera state under the control of the gyroscope 10 stabilizer, so the images transmitted back to each end are also stable.

Therefore, using a video conferencing terminal with a gyroscope 10 on a high-speed rail or an airplane will also help to improve the stability of the picture. The video conferencing terminal is relatively static. Although the people in the picture are also vibrating due to vibration, the This vibration frequency is very low and will not cause visual discomfort. Similar to football and basketball game broadcasts, many lenses move with the players, and these lenses do not feel vibration, so video conferencing terminals are placed on high-speed trains and airplanes. Scenes such as sports are also feasible.

As shown in FIG. 2, an embodiment of the present invention proposes a method for controlling the stability of a video conferencing terminal, which is implemented based on the above-mentioned video conferencing terminal. The method for controlling the stability of a video conferencing terminal includes:

Step S101, acquiring the motion angular velocity of the pan/tilt detected by the gyroscope, the gyroscope being set on the pan/tilt of the video conferencing terminal;

The operating environment of the method in this embodiment involves a video conferencing terminal. Since the existing video conferencing terminal has weak vibration resistance, if the video conferencing terminal is slightly touched, the picture received by the other end of the conference will vibrate. If the video conferencing terminal is used in a sports environment, it will cause greater jitter in the other party's screen. The video conferencing terminal with a gyroscope in this embodiment can effectively avoid image shaking caused by the vibration of the video conferencing terminal.

The frame structure of the video conferencing terminal can be shown in Figure 1, the video conferencing terminal includes: a pan-tilt and a gyro stabilizer arranged on the pan-tilt, the gyro stabilizer includes one or more gyroscopes, and the gyroscope A torque motor, a frame, and a speed controller are set correspondingly; further, the gyro stabilizer may also include a power amplifier.

Specifically, firstly, when the pan-tilt is in a vibrating state, the angular velocity of the pan-tilt is detected by the gyroscope, so that the vibration of the pan-tilt is subsequently compensated and controlled according to the angular velocity of movement.

Step S102, converting the motion angular velocity into a digital control signal and transmitting it to the torque motor;

In step S103, the torque motor generates compensation torque, which acts on the frame on the pan-tilt to keep the pan-tilt stable.

Then, the angular velocity of motion is converted into a digital control signal that can be recognized by the torque motor through the speed controller, and then transmitted to the torque motor.

After the torque motor receives the digital control signal transmitted by the speed controller, it generates compensation torque, which acts on the frame on the pan-tilt, causing the frame to move in the opposite direction, and then keeps the pan-tilt stable.

In this embodiment, the gyroscope can specifically be a gyroscope that detects different directions, such as an azimuth gyroscope, a pitch gyroscope, etc. When multiple gyroscopes are set on the cloud platform, multiple gyroscopes can be configured in various combinations. This is not specifically limited.

In this embodiment, through the above solution, by setting a gyro stabilizer on the video conferencing terminal, image shaking caused by the vibration of the video conferencing terminal can be effectively avoided.

As shown in Figure 3, another embodiment of the present invention proposes a method for controlling the stability of a video conferencing terminal. On the basis of the above-mentioned embodiment shown in Figure 2, after the step of converting the motion angular velocity into a digital control signal, it also includes :

Step S104, performing power amplification processing on the digital control signal.

The difference between this embodiment and the above-mentioned embodiment shown in FIG. 2 is that, after converting the motion angular velocity into a digital control signal, this embodiment also performs power amplification processing on the digital control signal to improve the efficiency and accuracy of signal processing.

In this embodiment, through the above solution, by setting a gyro stabilizer on the video conferencing terminal, image shaking caused by the vibration of the video conferencing terminal can be effectively avoided.

In practical applications, due to the widespread use of 4G technology and the successful commercialization of 4G ground-to-air broadband, video conferencing terminals with 4G modules and gyroscopes can be used in high-end seats of transportation such as airplanes, high-speed rails, and luxury cruise ships in the future. At the same time, video conferencing terminals tend to be miniaturized and portable. In the future, video conferencing terminals with gyroscopes can also be placed on cars for remote command in geological disasters, military and other scenarios.

In the specific implementation process, the rotation of the video conferencing terminal using the gyro stabilizer is controlled by the gyro stabilizer, and the gyro stabilizer does not work when the power-on self-inspection rotates and the user controls the rotation of the gimbal. After turning the instructions, the gyro stabilizer begins to grasp the balance of the gimbal. At geological disaster sites and field survey sites, put the video conferencing terminal on the command vehicle to conduct video conferences with multiple vehicles at the same time and perform synchronous remote command. The gimbal keeps a stable camera state under the control of the gyro stabilizer, so the images transmitted back to each end are also stable.

Therefore, the use of video conferencing terminals with gyroscopes on high-speed rail and airplanes will also help to improve the stability of the picture. Video conferencing terminals are relatively static. Although the people in the picture are also vibrating due to vibration, this The vibration frequency is very low and will not cause visual discomfort. Similar to football and basketball game broadcasts, many lenses move with the players, and these lenses do not feel vibration, so the video conferencing terminal is placed on high-speed rail, airplanes, etc. Sports scenes are also possible.

The above is only a preferred embodiment of the present invention, and does not limit the patent scope of the present invention. Any equivalent structure or process transformation made by using the description of the present invention and the contents of the accompanying drawings, or directly or indirectly used in other related technical fields , are all included in the scope of patent protection of the present invention in the same way.

Claims (7)

1. a video conference terminal stability control method, is characterized in that, comprising:

Obtain the angular velocity of satellite motion of the The Cloud Terrace that gyroscope detects, described gyroscope is arranged on the The Cloud Terrace of video conference terminal;

Described angular velocity of satellite motion is converted to digital controlled signal, is transferred to torque motor;

Produce compensating torque by described torque motor, act on the framework on described The Cloud Terrace, make described The Cloud Terrace keep stable.

2. method according to claim 1, is characterized in that, described gyroscope comprises azimuth gyroscope and/or pitch gyroscope.

3. method according to claim 1 and 2, is characterized in that, described angular velocity of satellite motion is converted to the step of digital controlled signal after also comprise:

Power amplification process is carried out to described digital controlled signal.

4. a video conference terminal, is characterized in that, comprising: The Cloud Terrace and being arranged on described The Cloud Terrace, for controlling the Gyroscopic stabilization device of described The Cloud Terrace stability.

5. video conference terminal according to claim 4, is characterized in that, described Gyroscopic stabilization device comprises at least one gyroscope, the torque motor that arrange corresponding to described gyroscope and framework, and speed control, wherein:

Described gyroscope is arranged on described The Cloud Terrace, for detecting the angular velocity of satellite motion of described The Cloud Terrace, and sends to described speed control;

Described speed control, for described angular velocity of satellite motion is converted to digital controlled signal, is transferred to corresponding torque motor;

Described torque motor, for according to described digital controlled signal, produces compensating torque, acts on framework corresponding on described The Cloud Terrace, makes described The Cloud Terrace keep stable.

6. video conference terminal according to claim 4, is characterized in that, described gyroscope is azimuth gyroscope and/or pitch gyroscope.

7. the video conference terminal according to claim 4,5 or 6, is characterized in that, also comprise:

Amplifirer, for carrying out power amplification process to described digital controlled signal.