CN108196590B - Rotation control method and device of cloud platform machine, electronic equipment and storage medium - Google Patents
Rotation control method and device of cloud platform machine, electronic equipment and storage medium Download PDFInfo
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Abstract
The invention discloses a rotation control method and device of a pan-tilt machine. The method comprises the following steps: and detecting a limit signal sent by the limit switch when the limit switch touches the camera device, acquiring limit information of the limit switch sending the limit signal, and changing the rotation state of the camera device according to the limit information. According to the method, the limiting information can be obtained according to the limiting switch, and the rotation state of the camera device is changed according to the limiting information, so that the problems that the camera device rotates to a rotation clamping position, and the camera device rubs with the physical rotation clamping position and generates vibration are avoided.
Description
Technical Field
The invention relates to the technical field of a pan-tilt machine, in particular to a rotation control method of the pan-tilt machine, a rotation control device of the pan-tilt machine, electronic equipment and a computer readable storage medium.
Background
The cloud platform machine (pan/tilt/zoom camera) is provided with a device for bearing the camera to rotate in the horizontal direction and the vertical direction, and the camera is arranged on the pan/tilt so that the camera can take a picture from a plurality of angles.
The cloud platform machine rotates by adopting the drive of a stepping motor, and due to the limitation of an external circuit, the cloud platform can not rotate circularly for one circle and can only rotate for one circle by 360 degrees. At present, the rotation of the cradle head is limited not to exceed 360 degrees through the physical clamping design, the cradle head rotates to the position of the physical clamping position, the friction vibration and other conditions can occur, the noise can be caused, and the user experience is not good.
Disclosure of Invention
In view of the above problems, the present invention has been made to provide a rotation control method of a cloud platform machine, a rotation control apparatus of a cloud platform machine, an electronic device, and a computer-readable storage medium that overcome or at least partially solve the above problems.
According to an aspect of the present invention, there is provided a rotation control method for a cloud platform machine, which is applied to a cloud platform machine equipped with at least one limit switch, where the limit switch is located between a rotation clamp of the cloud platform machine and a camera device, the method including:
detecting a limit signal sent by a limit switch when the limit switch touches the camera device;
acquiring limit information of a limit switch which sends a limit signal;
and changing the rotation state of the camera device according to the limit information, wherein the rotation state comprises at least one of a rotation direction, a rotation speed and a rotation angle.
Optionally, before the acquiring limit information of the limit switch sending the limit signal, the method further includes:
and determining a corresponding limit switch according to the limit signal.
Optionally, the rotation state includes a rotation speed, and changing the rotation state of the image pickup apparatus according to the limit information includes:
and reducing the current rotating speed according to the limiting information.
Optionally, the reducing the current rotation speed according to the limit information includes:
and if the target position expected to be reached by the camera device does not reach the position of the limit switch, interrupting the rotation of the camera device.
Optionally, the rotation state includes a rotation direction, and changing the rotation state of the image pickup apparatus according to the limit information includes:
and changing the rotation direction of the camera device to be the opposite direction of the current rotation direction according to the limiting information.
Optionally, the changing the rotation direction of the image capturing device to the opposite direction of the current rotation direction according to the limit information includes:
and if the target position expected to be reached by the camera device does not reach the position of the limit switch, changing the target position to the opposite direction of the current rotating direction.
Optionally, the rotation state includes a rotation angle, and changing the rotation state of the image pickup apparatus according to the limit information includes:
and changing the rotation angle of the camera device according to the position of the limit switch and the expected target position of the camera device.
Optionally, the changing the rotation angle of the camera device according to the position of the limit switch and the target position expected to be reached by the camera device includes:
judging that the target position expected to be reached by the camera device does not reach the position of the limit switch;
and determining the rotation angle according to a first angle difference of the position of the limit switch relative to a target position.
Optionally, the position of the limit switch and the position of the rotation clamp are separated by a preset angle, and changing the rotation angle of the camera device according to the position of the limit switch and the target position expected to be reached by the camera device includes:
judging that the target position expected to be reached by the camera device reaches the position of the limit switch;
and determining the rotation angle according to a second angle difference of the target position relative to the position of the limit switch and a preset angle.
Optionally, the determining the rotation angle according to a second angle difference between the target position and the position of the limit switch and a preset angle includes:
and if the second angle difference exceeds a preset angle, determining that the rotation angle is the preset angle.
Optionally, the determining the rotation angle according to a second angle difference between the target position and the position of the limit switch and a preset angle includes:
and if the second angle difference does not exceed the preset angle, determining that the rotation angle is the second angle difference.
Optionally, the method further comprises:
judging that the recording position of the camera device is wrong according to the position of the limit switch;
and correcting the recorded position according to the position of the limit switch.
According to another aspect of the present invention, there is provided a rotation control device for a cloud platform machine, which is applied to a cloud platform machine equipped with at least one limit switch, wherein the limit switch is located between a rotation clamp of the cloud platform machine and a camera device, the device includes:
the signal detection module is used for detecting a limit signal sent by the limit switch when the limit switch touches the camera device;
the information acquisition module is used for acquiring limit information of a limit switch which sends a limit signal;
and the state changing module is used for changing the rotating state of the camera device according to the limiting information, and the rotating state comprises at least one of a rotating direction, a rotating speed and a rotating angle.
Optionally, the apparatus further comprises:
and the switch determining module is used for determining the corresponding limit switch according to the limit signal before the limit information of the limit switch sending the limit signal is acquired.
Optionally, the rotation state includes a rotation speed, and the state change module includes:
and the speed reduction submodule is used for reducing the current rotating speed according to the limiting information.
Optionally, the speed reduction sub-module comprises:
and the rotating terminal unit is used for interrupting the rotation of the camera device if the target position expected to be reached by the camera device does not reach the position of the limit switch.
Optionally, the rotation state includes a rotation direction, and the state changing module includes:
and the direction changing submodule is used for changing the rotation direction of the camera device to the direction opposite to the current rotation direction according to the limiting information.
Optionally, the direction changing submodule is specifically configured to change the direction to a direction opposite to the current rotation direction if the target position expected to be reached by the image pickup device does not reach the position of the limit switch.
Optionally, the rotation state includes a rotation angle, and the state changing module includes:
and the angle changing submodule is used for changing the rotation angle of the camera device according to the position of the limit switch and the target position expected to be reached by the camera device.
Optionally, the angle change submodule includes:
the first position judging unit is used for judging that the target position expected to be reached by the camera device does not reach the position of the limit switch;
and the second angle determining unit is used for determining the rotation angle according to the first angle difference of the position of the limit switch relative to the target position.
Optionally, the position of the limit switch and the position of the rotation clamp are separated by a preset angle, and the angle changing submodule includes:
a second position determination unit for determining that a target position which the image pickup apparatus is expected to reach reaches a position where the limit switch is located;
and the second angle determining unit is used for determining the rotation angle according to a second angle difference of the target position relative to the position of the limit switch and a preset angle.
Optionally, the second angle determining unit is specifically configured to determine that the rotation angle is a preset angle if the second angle difference exceeds a preset angle.
Optionally, the second angle determining unit is specifically configured to determine that the rotation angle is the second angle difference if the second angle difference does not exceed the preset angle.
Optionally, the apparatus further comprises:
the error judgment module is used for judging the recording position error of the camera device according to the position of the limit switch;
and the position correction module is used for correcting the recorded position according to the position of the limit switch.
According to another aspect of the present invention, there is provided an electronic apparatus including:
a processor; and
a memory configured to store computer-executable instructions that, when executed, cause the electronic device to perform a swivel method in accordance with the cloud platform machine described above.
According to another aspect of the present invention, there is provided a computer-readable storage medium storing one or more programs which, when executed by an electronic device, cause the electronic device to perform a swivel method according to the above-described cloud platform machine.
According to the rotation control method and device of the cloud deck, the limit information of the limit switch sending the limit signal is obtained by detecting the limit signal sent by the limit switch when the limit switch touches the camera device, and the rotation state of the camera device is changed according to the limit information. According to the method, the limiting information can be obtained according to the limiting switch, and the rotation state of the camera device is changed according to the limiting information, so that the problems that the camera device rotates to a rotation clamping position, and the camera device rubs with the physical rotation clamping position and generates vibration are avoided.
The foregoing description is only an overview of the technical solutions of the present invention, and the embodiments of the present invention are described below in order to make the technical means of the present invention more clearly understood and to make the above and other objects, features, and advantages of the present invention more clearly understandable.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:
fig. 1 is a schematic flow chart illustrating steps of a rotation control method of a cloud platform according to a first embodiment of the invention;
fig. 2 is a schematic flow chart illustrating steps of a rotation control method of a cloud platform according to a second embodiment of the invention;
fig. 3 is a schematic flow chart illustrating steps of a rotation control method of a cloud platform according to a third embodiment of the present invention;
fig. 4 is a schematic block diagram showing a rotation control apparatus of a cloud platform according to a fourth embodiment of the present invention;
FIG. 5 schematically shows a block diagram for executing a computing device according to the invention; and
fig. 6 schematically shows a storage unit for holding or carrying program code implementing the method according to the invention.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
Referring to fig. 1, a schematic step flow diagram illustrating a rotation control method of a cloud platform machine according to an embodiment of the present invention is shown, which may specifically include the following steps:
and 101, detecting a limit signal sent by a limit switch when the limit switch touches the camera device.
In the embodiment of the invention, the pan-tilt machine (pan-tilt camera) is provided with a device for bearing the camera to rotate in the horizontal direction and the vertical direction, and the camera is arranged on the pan-tilt so that the camera can shoot images from multiple angles. Two motors are arranged in the tripod head and are used for driving the camera to rotate.
In the embodiment of the invention, the cloud platform machine is provided with at least one limit switch, and the limit switch is positioned between a rotating clamping position of the cloud platform machine and the camera device. The rotary clamping position is a physical clamping position and is designed at the limit position where the camera device can rotate, so that the problem that the external circuit is pulled away due to the fact that the camera device continues to rotate is avoided.
The limit switch is also called a travel switch and can be arranged on a fixed frame of the cloud platform machine. When the camera device rotates towards the rotary clamping position, the camera device touches the limit switch, and the connecting rod of the switch drives the contact of the switch to cause the disconnection of the closed contact or the closing of the opened contact. The limit switch can be in a contact type or a non-contact type, and a limit stop at the limit position is arranged on a contact type fixing point moving relative to the camera device, or the opposite mounting position. When the mechanical contact of the travel switch hits the stop, the control circuit is switched off (or changed), and the machine stops or changes operation. The non-contact type includes a reed switch, a photoelectric type, an inductive type, etc., or any other suitable manner, which is not limited in this embodiment of the present invention.
In the embodiment of the invention, the limit switch can send the limit number when touching the camera device. The limit signal may comprise an electrical signal, and the control circuit of the camera device receives the limit signal indicating that the camera device has rotated to the position of the limit switch.
And 102, acquiring limit information of a limit switch sending a limit signal.
In the embodiment of the present invention, the limit information includes position information of the limit switch, or any other suitable information, which is not limited in this embodiment of the present invention. A plurality of limit switch that set up on the cloud platform machine, different limit switch are located different positions, specifically can be the angle etc. that limit switch is located. For example, if the side of the camera device that rotates is close to a limit position, for example, the limit position is 360 degrees, the limit switch may be set to a 355 degrees position, and the limit information corresponding to the limit switch is 355 degrees.
In the embodiment of the invention, after the limit signal is detected, the corresponding limit switch is determined, and the limit information corresponding to the limit switch is obtained.
And 103, changing the rotation state of the camera device according to the limit information.
In the embodiment of the present invention, the rotation state includes at least one of a rotation direction, a rotation speed, and a rotation angle, or any other suitable rotation-related state, which is not limited in this embodiment of the present invention.
In the embodiment of the invention, the current position to which the camera device rotates can be obtained according to the limiting information, and the rotating state of the camera device is changed according to the position. The method may specifically include controlling the camera to stop rotating, controlling the camera to reduce a rotation speed, adjusting a rotation angle of the camera, changing a rotation direction of the camera, or any other suitable rotation state, which is not limited in this embodiment of the present invention.
For example, the camera device is controlled to stop rotating because the limiting information is acquired as 355 degrees when the rotating position of the cloud platform machine is 360 degrees, which indicates that the camera device rotates to 355 degrees and the camera device collides with the rotating position when the camera device continues to rotate.
According to the rotation control method of the cloud platform machine, the limit information of the limit switch sending the limit signal is obtained by detecting the limit signal sent by the limit switch when the limit switch touches the camera device, and the rotation state of the camera device is changed according to the limit information. According to the method, the limiting information can be obtained according to the limiting switch, and the rotation state of the camera device is changed according to the limiting information, so that the problems that the camera device rotates to a rotation clamping position, and the camera device rubs with the physical rotation clamping position and generates vibration are avoided.
In this embodiment of the present invention, preferably, before the acquiring the limit information of the limit switch sending the limit signal, the method further includes: and determining a corresponding limit switch according to the limit signal.
The limit switches can comprise a plurality of limit switches, and different limit signals are designed correspondingly by different limit switches. For example, the corresponding limit switch is determined according to a line on which the limit signal is received, or the limit signal includes a digital number representing the number of the limit switch, so as to determine the corresponding limit switch, or any other suitable manner, which is not limited in this embodiment of the present invention.
In the embodiment of the present invention, preferably, the method further includes: judging that the recording position of the camera device is wrong according to the position of the limit switch; and correcting the recorded position according to the position of the limit switch.
The recording position is information of a position of the imaging device itself, and may specifically include an angle, a position mark, and the like, which is not limited in this embodiment of the present invention. The recording position of the image pickup device may be changed continuously with the rotation of the image pickup device, for example, the recording position of the image pickup device is 90 degrees at the beginning, and after 30 degrees of rotation to a greater degree, the recording position is changed to 120 degrees. According to the position of the limit switch, the position of the limit switch can be determined, if the recording position of the camera device is inconsistent with the position of the limit switch when the limit information is acquired, the recording position of the camera device is judged to be wrong, and then the recording position can be corrected according to the position of the limit switch. According to the method, the problem that the recorded rotation angle error cannot be corrected due to manual twisting of the camera device is solved.
In the embodiment of the present invention, preferably, the rotation state includes a rotation angle, and the changing the rotation state of the image capturing apparatus according to the limit information includes: and changing the rotation angle of the camera device according to the position of the limit switch and the expected target position of the camera device.
The target position is a position that the image capturing apparatus is expected to reach, and may be specifically obtained from a control command that specifies the target position and is sent to the image capturing apparatus, or may be determined according to a position that is initially recorded by the image capturing apparatus and an angle that the image capturing apparatus needs to rotate, or any other suitable manner, which is not limited in this embodiment of the present invention.
The camera device touches the limit switch to reach the position of the limit switch, and the rotation angle of the camera device is changed into the angle from the position of the limit switch to the target position according to the angle difference between the position of the limit switch and the target position expected to be reached by the camera device, so that the camera device can rotate to the target position expected to be reached
In the embodiment of the present invention, preferably, the changing the rotation angle of the camera device according to the position of the limit switch and the target position expected to be reached by the camera device includes: judging that the target position expected to be reached by the camera device does not reach the position of the limit switch; and determining the rotation angle according to a first angle difference of the position of the limit switch relative to a target position.
The fact that the target position does not reach the position of the limit switch means that the camera device rotates towards the target position, and the target position does not reach the position of the limit switch, namely the camera device does not touch the limit switch theoretically. For example, the rotation position of the cloud platform machine is limited at 360 degrees, the limit switch is positioned at 355 degrees, and the target position is 300 degrees, so that the target position is judged not to reach the position of the limit switch.
When the target position does not reach the position of the limit switch, the camera device touches the limit switch, the camera device is shown to rotate to the wrong position, the rotation angle of the camera device is determined again according to the first angle difference of the position of the limit switch relative to the target position, and the camera device is controlled to rotate to the target position.
In the embodiment of the present invention, preferably, the position of the limit switch is separated from the position of the rotation lock by a preset angle, and changing the rotation angle of the camera device according to the position of the limit switch and the target position expected to be reached by the camera device includes: judging that the target position expected to be reached by the camera device reaches the position of the limit switch; and determining the rotation angle according to a second angle difference of the target position relative to the position of the limit switch and a preset angle.
The target position expected to be reached by the camera device reaches the position of the limit switch, for example, the rotation position of the cloud platform machine is limited at 360 degrees, the limit switch is positioned at 355 degrees, and the target position is 357 degrees, so that the target position is judged to reach the position of the limit switch. And determining a rotation angle according to a second angle difference of the target position relative to the position of the limit switch and a preset angle between the position of the limit switch and the position of the rotation clamping position, wherein if the second angle difference is smaller than the preset angle, the rotation angle is the second angle difference, and if the second angle difference is not smaller than the preset angle, the rotation angle is the preset angle. The camera device is prevented from not stopping the rotation of the motor after reaching the rotation position, and the camera device is prevented from rubbing the rotation position.
In this embodiment of the present invention, preferably, the determining the rotation angle according to a second angle difference between the target position and a position of the limit switch and a preset angle includes: and if the second angle difference exceeds a preset angle, determining that the rotation angle is the preset angle.
In this embodiment of the present invention, preferably, the determining the rotation angle according to a second angle difference between the target position and a position of the limit switch and a preset angle includes: and if the second angle difference does not exceed the preset angle, determining that the rotation angle is the second angle difference.
Referring to fig. 2, a schematic step flow diagram of a rotation control method of a pan/tilt head according to a second embodiment of the present invention is shown, which may specifically include the following steps:
In the embodiment of the present invention, a specific implementation manner of this step may refer to the description in the foregoing embodiment, and the embodiment of the present invention is not limited thereto.
And step 202, acquiring limit information of a limit switch sending a limit signal.
In the embodiment of the present invention, a specific implementation manner of this step may refer to the description in the foregoing embodiment, and the embodiment of the present invention is not limited thereto.
And step 203, reducing the current rotating speed according to the limiting information.
In an embodiment of the invention, the rotation state comprises a rotation speed. According to the limiting information, the fact that the position to which the camera device rotates currently reaches the position of the limiting switch can be obtained, and accordingly the current rotating speed of the camera device is reduced.
In this embodiment of the present invention, preferably, the reducing the current rotation speed according to the limit information includes: and if the target position expected to be reached by the camera device does not reach the position of the limit switch, interrupting the rotation of the camera device.
If the target position does not reach the position of the limit switch, and the camera device collides with the limit switch, the camera device is shown to exceed the target position, the position recorded by the camera device is wrong, the next rotation is carried out after the position recorded by the camera device needs to be corrected, and therefore an interruption instruction can be sent out, the rotation speed of the camera device is reduced to zero, and the rotation is stopped.
According to the rotation control method of the cloud platform machine, the limit information of the limit switch sending the limit signal is obtained by detecting the limit signal sent by the limit switch when the limit switch touches the camera device, and the current rotation speed is reduced according to the limit information. According to the method, the limit information can be obtained according to the limit switch, the rotating speed of the camera device is reduced, the problems that the camera device collides with a physical rotating position and generates vibration due to the fact that inertia of the camera device collides with the rotating position are solved, and the possibility that the machine is damaged due to collision is avoided.
Referring to fig. 3, a schematic flow chart illustrating steps of a rotation control method of a cloud platform machine according to a third embodiment of the present invention is shown, which may specifically include the following steps:
In the embodiment of the present invention, a specific implementation manner of this step may refer to the description in the foregoing embodiment, and the embodiment of the present invention is not limited thereto.
And step 302, acquiring limit information of a limit switch sending a limit signal.
In the embodiment of the present invention, a specific implementation manner of this step may refer to the description in the foregoing embodiment, and the embodiment of the present invention is not limited thereto.
And 303, changing the rotation direction of the camera device to the opposite direction of the current rotation direction according to the limit information.
In the embodiment of the invention, the rotation state comprises a rotation direction, the limit information indicates that the camera device rotates to the position of the limit switch, the rotation direction of the camera device is changed to be the opposite direction of the current rotation direction according to the limit information, and the camera device is controlled to rotate in the rotation direction.
In the embodiment of the present invention, preferably, the changing the rotation direction of the image capturing apparatus to the opposite direction of the current rotation direction according to the limit information includes: and if the target position expected to be reached by the camera device does not reach the position of the limit switch, changing the target position to the opposite direction of the current rotating direction.
If the target position does not reach the position of the limit switch, and the camera device collides with the limit switch, the camera device is shown to exceed the target position, and the position recorded by the camera device is wrong, and the next rotation is carried out after the position recorded by the camera device needs to be corrected, so that the rotation direction of the camera device can be changed to be the opposite direction of the current rotation direction, and the camera device can rotate back to the target position.
According to the rotation control method of the cloud platform machine, the limit information of the limit switch sending the limit signal is obtained by detecting the limit signal sent by the limit switch when the limit switch touches the camera device, and the rotation direction of the camera device is changed to the opposite direction of the current rotation direction according to the limit information. According to the method, the limit information can be obtained according to the limit switch, and the reverse rotation of the camera device is controlled according to the limit information, so that the camera device is prevented from rotating to a rotation position, and is prevented from rotating in the reverse direction, and the multi-rotation angle of the camera device is corrected.
Referring to fig. 4, a schematic block diagram of a rotation control device of a cloud platform machine according to a fourth embodiment of the present invention is shown, and is applied to a cloud platform machine on which at least one limit switch is installed, where the limit switch is located between a rotation clamp of the cloud platform machine and a camera device, and specifically includes the following modules:
the signal detection module 401 is configured to detect a limit signal sent by the limit switch when the limit switch touches the image pickup apparatus;
an information obtaining module 402, configured to obtain limit information of a limit switch that sends a limit signal;
a state changing module 403, configured to change a rotation state of the image capturing apparatus according to the limit information, where the rotation state includes at least one of a rotation direction, a rotation speed, and a rotation angle.
In the embodiment of the present invention, preferably, the apparatus further includes:
and the switch determining module is used for determining the corresponding limit switch according to the limit signal before the limit information of the limit switch sending the limit signal is acquired.
In the embodiment of the present invention, preferably, the rotation state includes a rotation speed, and the state changing module includes:
and the speed reduction submodule is used for reducing the current rotating speed according to the limiting information.
In the embodiment of the present invention, preferably, the speed reduction submodule includes:
and the rotating terminal unit is used for interrupting the rotation of the camera device if the target position expected to be reached by the camera device does not reach the position of the limit switch.
In the embodiment of the present invention, preferably, the rotation state includes a rotation direction, and the state changing module includes:
and the direction changing submodule is used for changing the rotation direction of the camera device to the direction opposite to the current rotation direction according to the limiting information.
In the embodiment of the present invention, preferably, the direction changing submodule is specifically configured to change the direction of the image capturing device to a direction opposite to the current rotation direction if the expected target position of the image capturing device does not reach the position of the limit switch.
In the embodiment of the present invention, preferably, the rotation state includes a rotation angle, and the state changing module includes:
and the angle changing submodule is used for changing the rotation angle of the camera device according to the position of the limit switch and the target position expected to be reached by the camera device.
In the embodiment of the present invention, preferably, the angle modification sub-module includes:
the first position judging unit is used for judging that the target position expected to be reached by the camera device does not reach the position of the limit switch;
and the second angle determining unit is used for determining the rotation angle according to the first angle difference of the position of the limit switch relative to the target position.
In the embodiment of the present invention, preferably, the position of the limit switch is separated from the position of the rotation lock by a preset angle, and the angle changing sub-module includes:
a second position determination unit for determining that a target position which the image pickup apparatus is expected to reach reaches a position where the limit switch is located;
and the second angle determining unit is used for determining the rotation angle according to a second angle difference of the target position relative to the position of the limit switch and a preset angle.
In the embodiment of the present invention, preferably, the second angle determining unit is specifically configured to determine that the rotation angle is a preset angle if the second angle difference exceeds a preset angle.
In the embodiment of the present invention, preferably, the second angle determining unit is specifically configured to determine that the rotation angle is the second angle difference if the second angle difference does not exceed a preset angle.
In the embodiment of the present invention, preferably, the apparatus further includes:
the error judgment module is used for judging the recording position error of the camera device according to the position of the limit switch;
and the position correction module is used for correcting the recorded position according to the position of the limit switch.
According to the rotation control device of the cloud platform machine, the limit information of the limit switch sending the limit signal is obtained by detecting the limit signal sent by the limit switch when the limit switch touches the camera device, and the rotation state of the camera device is changed according to the limit information. According to the method, the limiting information can be obtained according to the limiting switch, and the rotation state of the camera device is changed according to the limiting information, so that the problems that the camera device rotates to a rotation clamping position, and the camera device rubs with the physical rotation clamping position and generates vibration are avoided.
The algorithms and displays presented herein are not inherently related to any particular computer, virtual machine, or other apparatus. Various general purpose systems may also be used with the teachings herein. The required structure for constructing such a system will be apparent from the description above. Moreover, the present invention is not directed to any particular programming language. It is appreciated that a variety of programming languages may be used to implement the teachings of the present invention as described herein, and any descriptions of specific languages are provided above to disclose the best mode of the invention.
In the description provided herein, numerous specific details are set forth. It is understood, however, that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.
Similarly, it should be appreciated that in the foregoing description of exemplary embodiments of the invention, various features of the invention are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the various inventive aspects. However, the disclosed method should not be interpreted as reflecting an intention that: that the invention as claimed requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this invention.
Those skilled in the art will appreciate that the modules in the device in an embodiment may be adaptively changed and disposed in one or more devices different from the embodiment. The modules or units or components of the embodiments may be combined into one module or unit or component, and furthermore they may be divided into a plurality of sub-modules or sub-units or sub-components. All of the features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the processes or elements of any method or apparatus so disclosed, may be combined in any combination, except combinations where at least some of such features and/or processes or elements are mutually exclusive. Each feature disclosed in this specification (including any accompanying claims, abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.
Furthermore, those skilled in the art will appreciate that while some embodiments described herein include some features included in other embodiments, rather than other features, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments. For example, in the following claims, any of the claimed embodiments may be used in any combination.
The various component embodiments of the invention may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. Those skilled in the art will appreciate that a microprocessor or Digital Signal Processor (DSP) may be used in practice to implement some or all of the functions of some or all of the components of the environment monitoring method and apparatus according to embodiments of the present invention. The present invention may also be embodied as apparatus or device programs (e.g., computer programs and computer program products) for performing a portion or all of the methods described herein. Such programs implementing the present invention may be stored on computer-readable media or may be in the form of one or more signals. Such a signal may be downloaded from an internet website or provided on a carrier signal or in any other form.
The embodiment of the invention provides electronic equipment, which comprises a processor; and a memory configured to store computer-executable instructions that, when executed, cause the electronic device to perform a rotation control method of a cloud platform machine according to any of the above embodiments.
An embodiment of the present invention further provides a computer-readable storage medium, where the computer-readable storage medium stores one or more programs, and when the one or more programs are executed by an electronic device, the electronic device is caused to execute the rotation control method of the cloud platform machine according to any of the above embodiments.
For example, fig. 5 illustrates a computing device, i.e., the electronic device in the foregoing, which may implement the cloud-based rotation control method. The computing device conventionally includes a computer program product or computer-readable medium in the form of a processor 510 and memory 520. The memory 520 may be an electronic memory such as a flash memory, an EEPROM (electrically erasable programmable read only memory), an EPROM, a hard disk, or a ROM. The memory 520 has a memory space 530 storing program code 531 for performing any of the method steps of the above-described method. For example, the storage space 530 storing the program codes may store the respective program codes 531 for implementing the various steps in the above method, respectively. The program code can be read from or written to one or more computer program products. These computer program products comprise a program code carrier such as a hard disk, a Compact Disc (CD), a memory card or a floppy disk. Such a computer program product is typically a portable or fixed storage unit as shown for example in fig. 6. The memory unit may have memory segments, memory spaces, etc. arranged similarly to memory 520 in the computing device of fig. 5. The program code may be compressed, for example, in a suitable form. Typically, the memory unit comprises computer readable code 531' for performing the steps of the method of the invention, i.e. code that can be read by a processor such as 510, which when run by a computing device causes the computing device to perform the steps of the method described above.
It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The usage of the words first, second and third, etcetera do not indicate any ordering. These words may be interpreted as names.
Claims (26)
1. A rotation control method of a cloud platform machine is applied to the cloud platform machine provided with at least one limit switch, wherein the limit switch is positioned between a rotation clamping position of the cloud platform machine and a camera device, and the method comprises the following steps:
detecting a limit signal sent by a limit switch when the limit switch touches the camera device;
acquiring limit information of a limit switch which sends a limit signal;
changing the rotation state of the camera device according to the limit information, wherein the rotation state comprises at least one of a rotation direction, a rotation speed and a rotation angle;
the changing the rotation state of the camera device according to the limit information comprises:
and according to the limiting information, obtaining the current position to which the camera device rotates, and changing the rotating state of the camera device according to the position.
2. The method of claim 1, wherein prior to said obtaining limit information for a limit switch signaling a limit, the method further comprises:
and determining a corresponding limit switch according to the limit signal.
3. The method of claim 1, wherein the rotational state comprises a rotational speed, and wherein modifying the rotational state of the camera device based on the position limit information comprises:
and reducing the current rotating speed according to the limiting information.
4. The method of claim 3, wherein the reducing the current rotational speed according to the limit information comprises:
and if the target position expected to be reached by the camera device does not reach the position of the limit switch, interrupting the rotation of the camera device.
5. The method of claim 1, wherein the rotational state comprises a rotational direction, and wherein modifying the rotational state of the camera device based on the position limit information comprises:
and changing the rotation direction of the camera device to be the opposite direction of the current rotation direction according to the limiting information.
6. The method of claim 5, wherein the changing the rotation direction of the camera device to be opposite to the current rotation direction according to the limit information comprises:
and if the target position expected to be reached by the camera device does not reach the position of the limit switch, changing the target position to the opposite direction of the current rotating direction.
7. The method of claim 1, wherein the rotational state comprises a rotational angle, and wherein modifying the rotational state of the camera device based on the position limit information comprises:
and changing the rotation angle of the camera device according to the position of the limit switch and the expected target position of the camera device.
8. The method of claim 7, wherein the changing the rotation angle of the camera device according to the position of the limit switch and the target position expected to be reached by the camera device comprises:
judging that the target position expected to be reached by the camera device does not reach the position of the limit switch;
and determining the rotation angle according to a first angle difference of the position of the limit switch relative to a target position.
9. The method of claim 7, wherein the position of the limit switch is separated from the position of the rotation clamp by a preset angle, and the changing the rotation angle of the camera device according to the position of the limit switch and the target position expected to be reached by the camera device comprises:
judging that the target position expected to be reached by the camera device reaches the position of the limit switch;
and determining the rotation angle according to a second angle difference of the target position relative to the position of the limit switch and a preset angle.
10. The method of claim 9, wherein the determining the rotation angle according to a second angle difference of the target position relative to a position of a limit switch and a preset angle comprises:
and if the second angle difference exceeds a preset angle, determining that the rotation angle is the preset angle.
11. The method of claim 9, wherein the determining the rotation angle according to a second angle difference of the target position relative to a position of a limit switch and a preset angle comprises:
and if the second angle difference does not exceed the preset angle, determining that the rotation angle is the second angle difference.
12. The method of claim 1, wherein the method further comprises:
judging that the recording position of the camera device is wrong according to the position of the limit switch;
and correcting the recorded position according to the position of the limit switch.
13. The utility model provides a rotation control device of cloud platform machine, is applied to the cloud platform machine of installation at least one limit switch, limit switch is located between the rotation screens of cloud platform machine and the camera device, the device includes:
the signal detection module is used for detecting a limit signal sent by the limit switch when the limit switch touches the camera device;
the information acquisition module is used for acquiring limit information of a limit switch which sends a limit signal;
the state changing module is used for changing the rotating state of the camera device according to the limiting information, and the rotating state comprises at least one of a rotating direction, a rotating speed and a rotating angle;
and the state changing module is used for obtaining the current position to which the camera device rotates according to the limiting information and changing the rotating state of the camera device according to the position to which the camera device rotates.
14. The apparatus of claim 13, wherein the apparatus further comprises:
and the switch determining module is used for determining the corresponding limit switch according to the limit signal before the limit information of the limit switch sending the limit signal is acquired.
15. The apparatus of claim 13, wherein the rotational state comprises a rotational speed, the state change module comprising:
and the speed reduction submodule is used for reducing the current rotating speed according to the limiting information.
16. The apparatus of claim 15, wherein the speed reduction sub-module comprises:
and the rotating terminal unit is used for interrupting the rotation of the camera device if the target position expected to be reached by the camera device does not reach the position of the limit switch.
17. The apparatus of claim 13, wherein the rotational state comprises a rotational direction, the state change module comprising:
and the direction changing submodule is used for changing the rotation direction of the camera device to the direction opposite to the current rotation direction according to the limiting information.
18. The apparatus according to claim 17, wherein the direction changing submodule is configured to change the direction to a direction opposite to the current rotation direction if the target position expected to be reached by the camera does not reach the position of the limit switch.
19. The apparatus of claim 13, wherein the rotational state comprises a rotational angle, the state change module comprising:
and the angle changing submodule is used for changing the rotation angle of the camera device according to the position of the limit switch and the target position expected to be reached by the camera device.
20. The apparatus of claim 19, wherein the angle alteration sub-module comprises:
the first position judging unit is used for judging that the target position expected to be reached by the camera device does not reach the position of the limit switch;
and the second angle determining unit is used for determining the rotation angle according to the first angle difference of the position of the limit switch relative to the target position.
21. The device of claim 19, wherein the limit switch is located at a predetermined angle from the rotation detent, and the angle modification submodule comprises:
a second position determination unit for determining that a target position which the image pickup apparatus is expected to reach reaches a position where the limit switch is located;
and the second angle determining unit is used for determining the rotation angle according to a second angle difference of the target position relative to the position of the limit switch and a preset angle.
22. The apparatus according to claim 21, wherein the second angle determining unit is specifically configured to determine that the rotation angle is a preset angle if the second angle difference exceeds a preset angle.
23. The apparatus according to claim 21, wherein the second angle determining unit is specifically configured to determine that the rotation angle is the second angle difference if the second angle difference does not exceed a preset angle.
24. The apparatus of claim 13, wherein the apparatus further comprises:
the error judgment module is used for judging the recording position error of the camera device according to the position of the limit switch;
and the position correction module is used for correcting the recorded position according to the position of the limit switch.
25. An electronic device, comprising:
a processor; and
a memory configured to store computer-executable instructions that, when executed, cause the electronic device to perform the method of rotating the cloud platform as recited in any of claims 1-12.
26. A computer-readable storage medium storing one or more programs which, when executed by an electronic device, cause the electronic device to perform the rotation method of the cloud platform according to any one of claims 1 to 12.
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| CN113949814B (en) * | 2021-11-09 | 2024-01-26 | 重庆紫光华山智安科技有限公司 | Gun-ball linkage snapshot method, device, equipment and medium |
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