CN106249888A - A kind of cloud platform control method and device - Google Patents
A kind of cloud platform control method and device Download PDFInfo
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- CN106249888A CN106249888A CN201610608793.4A CN201610608793A CN106249888A CN 106249888 A CN106249888 A CN 106249888A CN 201610608793 A CN201610608793 A CN 201610608793A CN 106249888 A CN106249888 A CN 106249888A
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- cloud terrace
- prearranged gesture
- primary importance
- control
- angle
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/017—Gesture based interaction, e.g. based on a set of recognized hand gestures
Abstract
The invention provides a kind of cloud platform control method and device, be used for solving prior art control The Cloud Terrace lag time long, the problem of interactive experience difference.Described method includes: gathers image by the image acquisition units carried on The Cloud Terrace, is identified the image collected, it is thus achieved that recognition result；There is prearranged gesture in the image that collects described in representing in described recognition result, and the position of described prearranged gesture is in primary importance；Obtain the deviation between described primary importance and the initial position of storage, and according to the rotational angle of described deviation control The Cloud Terrace, so that described primary importance overlaps with described initial position.
Description
Technical field
The present invention relates to electronic technology field, particularly relate to a kind of cloud platform control method and device.
Background technology
The mode of existing control The Cloud Terrace motion, is to be controlled by click keys, click virtual key or manipulation remote-control lever etc.
The direction of The Cloud Terrace processed motion and speed.It is specifically described as a example by virtual key in click graphical interaction interface.User's point
Hit virtual key control The Cloud Terrace to move, then observe whether The Cloud Terrace post exercise attitude reaches targeted attitude.Without
Reach targeted attitude, then according to the difference of post exercise attitude Yu targeted attitude, again tap on virtual key and adjust the appearance of The Cloud Terrace
State.
Method that is visible, that control The Cloud Terrace in prior art, may experience repeatedly adjusting, observe, adjust, just can make cloud
Delta is to targeted attitude.Therefore, it is long to there is lag time in method of the prior art, and interactive experience is poor, manipulates loaded down with trivial details technology
Problem.
Summary of the invention
Embodiments provide a kind of cloud platform control method and device, be used for solving prior art and control The Cloud Terrace sluggishness
Time is long, the technical problem of interactive experience difference.
First aspect, the invention provides a kind of cloud platform control method, including:
Gather image by the image acquisition units carried on The Cloud Terrace, the image collected is identified, it is thus achieved that identify
Result；There is prearranged gesture in the image that collects described in representing in described recognition result, and the position of described prearranged gesture exists
Primary importance；
Obtain the deviation between described primary importance and the initial position of storage, and control turning of The Cloud Terrace according to described deviation
Dynamic angle, so that described primary importance overlaps with described initial position.
Optionally, control the rotational angle of The Cloud Terrace according to described deviation, including:
According to described deviation, determine target yaw angle and the target pitch of the described The Cloud Terrace needs rotation being in tracking mode
Angle, and based on described target yaw angle and described target pitch angle, generate the first control information；
Control information based on described first and control target yaw angle and described target pitch angle described in described cloud platform rotation.
Optionally, before the deviation obtained between described primary importance and the initial position of storage, also include:
Judge whether described The Cloud Terrace is in tracking mode；
When described The Cloud Terrace is not in described tracking mode, generate for controlling the described The Cloud Terrace described tracking mode of entrance
Second controls information, and stores described primary importance, and then using described primary importance as described initial position.
Optionally, the image collected is identified, it is thus achieved that recognition result, including:
Mate in the described image collected according to the prearranged gesture feature prestored, it is thus achieved that matching result；
When the image collected described in described matching result represents exists described prearranged gesture, based on described predetermined hand
Gesture, it is thus achieved that the external geometric figure of described prearranged gesture, and obtain the position of described external geometric preset reference point；
The position determining described preset reference point is described primary importance, it is thus achieved that described recognition result.
Optionally, based on described prearranged gesture, it is thus achieved that after the external geometric figure of described prearranged gesture, also include:
Obtain described external geometric current direction, and determine that described current direction is described primary importance, it is thus achieved that
Described recognition result；
Described initial position includes the reference direction of described external several picture, controls the rotation of The Cloud Terrace according to described deviation
Angle, including:
According to the differential seat angle between described current direction and described reference direction, determine the described The Cloud Terrace being in tracking mode
Need the target roll angle rotated, and based on described target roll angle, generate the first control information.
Optionally, in the deviation obtained between described primary importance and the initial position of storage, and according to described deviation control
After the rotational angle of The Cloud Terrace processed, also include:
Whether the image collected described in judgement exists described prearranged gesture；
When the described image collected does not exists described prearranged gesture, generate the 3rd control information, and based on described
3rd control information controls described The Cloud Terrace and exits described tracking mode.
Optionally, before generating the second control information entering described tracking mode for controlling described The Cloud Terrace, also wrap
Include:
Judge whether the retention time of described prearranged gesture reaches Preset Time；
When the retention time of described prearranged gesture reaches described Preset Time, determine that needing to generate described second controls letter
Breath.
Second aspect, the invention provides a kind of tripod head controlling device, including:
Identification module, gathers image for the image acquisition units by carrying on The Cloud Terrace, carries out the image collected
Identify, it is thus achieved that recognition result；There is prearranged gesture in the image that collects described in representing in described recognition result, and described predetermined
The position of gesture is in primary importance；
First control module, for obtaining the deviation between described primary importance and the initial position of storage, and according to institute
State deviation and control the rotational angle of The Cloud Terrace, so that described primary importance overlaps with described initial position.
Optionally, described first control module, for according to described deviation, determines that the described The Cloud Terrace being in tracking mode needs
Target yaw angle to be rotated and target pitch angle, and based on described target yaw angle and described target pitch angle, generate first
Control information；Control information based on described first and control target yaw angle and described target pitch angle described in described cloud platform rotation.
Optionally, described device also includes the first judge module, for obtaining the initial of described primary importance and storage
Before deviation between position, it is judged that whether described The Cloud Terrace is in described tracking mode；
Second control module, for when described The Cloud Terrace is not in tracking mode, generates and is used for controlling the entrance of described The Cloud Terrace
Second control information of described tracking mode, and stores described primary importance, so using described primary importance as described initially
Position.
Optionally, described identification module is used for according to the prearranged gesture feature prestored in the described image collected
Mate, it is thus achieved that matching result；When there is described prearranged gesture in the image collected described in described matching result represents,
Based on described prearranged gesture, it is thus achieved that the external geometric figure of described prearranged gesture, and obtain described external geometric default
The position of reference point；The position determining described preset reference point is described primary importance, it is thus achieved that described recognition result.
Optionally, described identification module is additionally operable to based on described prearranged gesture, it is thus achieved that described prearranged gesture external several
After what figure, obtain described external geometric current direction, and determine that described current direction is described primary importance, obtain
Obtain described recognition result；
Described initial position includes the reference direction of described external several picture, and described first control module is for according to institute
State the differential seat angle between current direction and described reference direction, determine and be in the target that the described The Cloud Terrace needs of tracking mode rotate
Roll angle, and based on described target roll angle, generate the first control information.
Optionally, described device also includes the second judge module, for obtaining the initial of described primary importance and storage
Deviation between position, and after control the rotational angle of The Cloud Terrace according to described deviation, it is judged that described in the image that collects is
No there is described prearranged gesture；
3rd control module, for when there is not described prearranged gesture in the described image collected, generates the 3rd control
Information processed, and exit described tracking mode based on the described 3rd control information described The Cloud Terrace of control.
Optionally, described device also includes the 3rd judge module, enters described for being used for controlling described The Cloud Terrace in generation
Before second control information of tracking mode, it is judged that whether the retention time of described prearranged gesture reaches Preset Time；
Determine module, for when the retention time of described prearranged gesture reaches described Preset Time, determine and need to generate
Described second controls information.
Beneficial effects of the present invention is as follows:
In embodiments of the present invention, the image acquisition units by carrying on The Cloud Terrace gathers image, to the image collected
It is identified, it is thus achieved that recognition result；Recognition result represents and there is prearranged gesture in the image collected, and the position of prearranged gesture
Put in primary importance.Then, it is thus achieved that the deviation between primary importance and the initial position of storage, and according to deviation The Cloud Terrace is controlled
Rotational angle, so that primary importance overlaps with initial position.As can be seen here, based on primary importance and initial position due to The Cloud Terrace
Deviation controls rotational angle, so The Cloud Terrace can follow the tracks of prearranged gesture real time kinematics.And then, user adjusts the process of The Cloud Terrace attitude
In, just can realize controlling The Cloud Terrace simply by gesture and move, and the real-time attitude of The Cloud Terrace can be simultaneously observed, thus and
Time adjust hand gesture location so that The Cloud Terrace adjusts accordingly.So, the present invention solves the technical problem of cradle head control lag time length,
Achieve the technique effect controlling The Cloud Terrace in real time.
Accompanying drawing explanation
Fig. 1 is the cloud platform control method flow chart of the embodiment of the present invention；
Fig. 2 a-Fig. 2 c is the prearranged gesture schematic diagram of the embodiment of the present invention；
Fig. 3 is the external geometric figure in the embodiment of the present invention and the position view of preset reference point；
Fig. 4 is the current direction of external several picture in the embodiment of the present invention and reference direction schematic diagram；
Fig. 5 is an embodiment schematic diagram in the embodiment of the present invention；
Fig. 6 is the tripod head controlling device structural representation in the embodiment of the present invention.
Detailed description of the invention
Embodiments provide a kind of cloud platform control method and device, be used for solving prior art and control The Cloud Terrace sluggishness
Time is long, the technical problem of interactive experience difference.
In order to solve above-mentioned technical problem, in embodiments of the present invention, the image acquisition units by carrying on The Cloud Terrace is adopted
Collection image, is identified the image collected, it is thus achieved that recognition result；Recognition result represents that in the image collected, existence is predetermined
Gesture, and the position of prearranged gesture is in primary importance.Then, it is thus achieved that inclined between primary importance and the initial position of storage
Difference, and control the rotational angle of The Cloud Terrace according to deviation, so that primary importance overlaps with initial position.As can be seen here, due to The Cloud Terrace
Deviation based on primary importance and initial position controls rotational angle, so The Cloud Terrace can follow the tracks of prearranged gesture real time kinematics.Enter
And, during user adjusts The Cloud Terrace attitude, just can realize controlling The Cloud Terrace motion simply by gesture, and can see simultaneously
Observe the real-time attitude of The Cloud Terrace, thus adjust hand gesture location in time so that The Cloud Terrace adjusts accordingly.So, the present invention solves The Cloud Terrace
Control the technical problem of lag time length, it is achieved that control the technique effect of The Cloud Terrace in real time.
For making the purpose of the embodiment of the present invention, technical scheme and advantage clearer, below in conjunction with the embodiment of the present invention
In accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is
The a part of embodiment of the present invention rather than whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art
The every other embodiment obtained under not making creative work premise, broadly falls into the scope of protection of the invention.
The terms "and/or", a kind of incidence relation describing affiliated partner, can there are three kinds of passes in expression
System, such as, A and/or B, can represent: individualism A, there is A and B, individualism B these three situation simultaneously.It addition, herein
Middle character "/", typicallys represent the forward-backward correlation relation to liking a kind of "or".
Refer to Fig. 1, for the flow chart of cloud platform control method in the embodiment of the present invention.The Cloud Terrace control in the embodiment of the present invention
Method processed can be applicable in the electronic equipments such as balance car, unmanned plane or mobile robot.These can apply the electronics of the present invention
Equipment includes being equipped with on The Cloud Terrace, and The Cloud Terrace image acquisition units, and when The Cloud Terrace rotates, image acquisition units can be with The Cloud Terrace
Rotate.It addition, it will be appreciated by those skilled in the art that The Cloud Terrace of the present invention not merely refers to the The Cloud Terrace in this area, tool
Body realize during driving device, the rotating head of robot, rotatable platform etc. also belong to described The Cloud Terrace indication
Device or equipment.As it is shown in figure 1, the method for cradle head control includes:
S101: gather image by the image acquisition units carried on The Cloud Terrace, the image collected is identified, it is thus achieved that
Recognition result.
S102: obtain the deviation between described primary importance and the initial position of storage, and control cloud according to described deviation
The rotational angle of platform.
Specifically, before S101, start the image acquisition units carried on The Cloud Terrace, make image acquisition units be in figure
As acquisition state.Then, in S101, carry out image acquisition by image acquisition units, and, to collection while gathering
To image be identified, it is thus achieved that recognition result.During implementing, may recognize predetermined from the image collected
Gesture, it is also possible to identify less than prearranged gesture.Introduce the method in the embodiment of the present invention for convenience, it will be assumed that the knowledge in S101
Other result specially represents in the image collected and there is prearranged gesture, and the position of prearranged gesture is in primary importance.Wherein,
Primary importance in the embodiment of the present invention can be specially the position of any point in prearranged gesture, and/or is prearranged gesture
Direction, the present invention is not particularly limited.
The embodiment of the present invention is previously stored with initial position.Wherein, initial position include The Cloud Terrace follow the tracks of gesture time
Reference position, also includes reference direction during The Cloud Terrace tracking gesture.Initial position can be default setting, and can also be by user
Arrange voluntarily, it is also possible to for the primary importance recognized first, during implementing, at the beginning of can arranging according to actual needs
Beginning position.
In S102, calculate the deviation between primary importance and initial position, calculate The Cloud Terrace according to deviation further
Need how to rotate and primary importance just can be made to overlap with initial position, the most how to rotate and can eliminate deviation.Finally, according to calculating
As a result, the rotational angle of The Cloud Terrace is controlled.
As can be seen here, owing to The Cloud Terrace deviation based on primary importance and initial position controls rotational angle, so The Cloud Terrace energy
Enough follow the tracks of prearranged gesture real time kinematics.And then, during user adjusts The Cloud Terrace attitude, just can realize simply by gesture
Control The Cloud Terrace to move, and the real-time attitude of The Cloud Terrace can be simultaneously observed, thus adjust gesture in time so that The Cloud Terrace adjusts accordingly.
So, the present invention solves the technical problem of cradle head control lag time length, it is achieved that control the technique effect of The Cloud Terrace in real time.
Below to how the image collected being identified, it is thus achieved that recognition result describes in detail.
In embodiments of the present invention, S101 can be realized by following process:
Mate in the described image collected according to the prearranged gesture feature prestored, it is thus achieved that matching result；
When the image collected described in described matching result represents exists described prearranged gesture, based on described predetermined hand
Gesture, it is thus achieved that the external geometric figure of described prearranged gesture, and obtain the position of described external geometric preset reference point；
The position determining described preset reference point is described primary importance, it is thus achieved that described recognition result.
Specifically, in order to determine, whether the image collected exist prearranged gesture, need first at the image collected
In carry out hard recognition, in other words, need first to identify in the image collected whether have hand.According to general hand-characteristic,
Characteristic matching is carried out in the image collected.If matching the unit meeting general hand-characteristic from the image collected
Element, it is determined that there is in the image collected hand, and this element is exactly hand.Certainly, if having recognized hand, one will be entered
Step identifies whether the gesture of this hand is prearranged gesture；And if in the image collected unidentified go out hand, then need not
Further confirm whether the image collected has prearranged gesture.
In embodiments of the present invention, prearranged gesture feature it is previously stored with.Prearranged gesture can be any gesture, such as, scheme
Shown in 2a-Fig. 2 c wherein three kinds, this is not particularly limited by the present invention.And prearranged gesture feature, can be default setting；With
Family as required and hobby oneself can also arrange prearranged gesture, and control image acquisition units and gather oneself arrange predetermined
Gesture, and then make tripod head controlling device obtain and store the feature of this gesture.During implementing, art of the present invention
Those of ordinary skill can be configured according to actual, the present invention is not particularly limited.
When there is hand in the image collected, according to prearranged gesture feature, mate in the image collected,
It is specially hand Match of elemental composition, it is thus achieved that matching degree.If matching degree reaches threshold value, show that the gesture of this hand is predetermined hand
Gesture, then obtain and represent the matching result that there is prearranged gesture in the image collected；Whereas if matching degree is less than threshold value, table
The gesture of this hand bright is not prearranged gesture, then obtain and represent the matching result that there is not prearranged gesture in the image collected.
Threshold value for example, 80%, 90% or 95% etc..
Further, when there is prearranged gesture during matching result represents the image collected, according to the edge of prearranged gesture
Feature, it is thus achieved that the external geometric figure of prearranged gesture.During the present invention realizes, the external geometric figure of prearranged gesture is energy
Enough surround the minimum geometric figure of prearranged gesture, geometric figure for example, rectangle, circle, ellipse or other irregular geometric graphs
Shape etc..Further, in one embodiment, in addition it is also necessary to obtain the position of the preset reference point of the external figure of this geometry further.Preset
Reference point can be any point on external geometric figure edge, such as summit, minimum point etc., it is also possible to for external geometric graph
Any point within shape, such as midpoint, focus etc., the present invention is not particularly limited.
Then, read the position of preset reference point, and determine that the position of preset reference point is primary importance, by preset reference
The position of point is included in recognition result, it is thus achieved that identifies in the image that expression collects and there is prearranged gesture, and prearranged gesture
Position at the recognition result of primary importance.
Further, during implementing, user determines whether the prearranged gesture made is successfully identified for convenience,
The image collected and external geometric figure can also be shown in display unit.
In order to clearly demonstrate above-mentioned identification process, below with prearranged gesture for the gesture shown in Fig. 2 a, external geometric graph
Shape is rectangle, and preset reference point is to illustrate as a example by rectangular centre.
The image collected as shown in Figure 3 is shown on display unit.First, in figure 3, enter according to general hand-characteristic
Row identifies, identifies the hand in Fig. 3.Further, enter according to the prearranged gesture feature of the prearranged gesture shown in Fig. 2 a of storage
Row coupling, obtains representing the matching result that there is prearranged gesture.So, the edge feature of prearranged gesture made a reservation for further
The external geometric figure of gesture, as shown in dashed rectangle in Fig. 3.And, it is thus achieved that the position at the center of rectangle, such as white in Fig. 3
Shown in circle, the position at center is included in recognition result output.
It follows that perform S102, calculate the deviation between primary importance and initial position.In embodiments of the present invention,
Initial position is the position of certain point.Primary importance and initial position are all with the coordinate representation under the same coordinate system.The present invention will
This coordinate system is referred to as conventional coordinates, and wherein, conventional coordinates can be the acquisition plane coordinate system of image acquisition units, it is possible to
Thinking the displaing coordinate system etc. of display unit, the present invention is not particularly limited.So, when calculating deviation, the seat of primary importance
Mark and the coordinate of initial position subtract each other and are obtained with deviation.Such as, initial position is (0,0), and the first coordinate is (4,3), then
Deviation is (0-4,0-3), i.e. (-4 ,-3), or (4-0,3-0), i.e. (4,3).
It follows that control the rotational angle of The Cloud Terrace based on deviation.In embodiments of the present invention, specifically can be by such as lower section
The rotational angle of formula control The Cloud Terrace:
According to described deviation, determine target yaw angle and the target pitch of the described The Cloud Terrace needs rotation being in tracking mode
Angle, and based on described target yaw angle and described target pitch angle, generate the first control information；
Control information based on described first and control target yaw angle and described target pitch angle described in described cloud platform rotation.
Specifically, according to conventional coordinates and yaw angle, the corresponding relation of the angle of pitch, deviation The Cloud Terrace to be eliminated is calculated
Need to rotate how many yaw angles and/or the angle of pitch.Wherein, conventional coordinates and yaw angle, the corresponding relation of the angle of pitch represent cloud
Platform rotates how many degree yaw angle and/or the angle of pitch can make the point in conventional coordinates move a basic coordinates unit.And then,
Using calculated yaw angle as target yaw angle, and using the calculated angle of pitch as target pitch angle.Such as, may be used
With according to the deviation on wobble shaft direction between primary importance and initial position, determine that The Cloud Terrace needs the target yaw rotated
Angle, according to the deviation on pitch axis direction between primary importance and initial position, determines that The Cloud Terrace needs the target pitch rotated
Angle.
It follows that inputted in cradle head control model in target yaw angle and target pitch angle, it is calculated the control of correspondence
Parameter, and then generate the first control information.During implementing, those skilled in the art can be right
The motion of The Cloud Terrace detects, modeling, and debugging etc. obtains cradle head control model, repeats this most one by one.
Further, control the first motor that information input drives The Cloud Terrace to rotate around yaw axis by first, so that the first electricity
Machine controls information based on first and drives cloud platform rotation target yaw angle.And, by first control information input drive The Cloud Terrace around
Second motor of pitch axes, so that the second motor controls information based on first drives cloud platform rotation target pitch angle.It addition,
Rocking to prevent, the 3rd motor driving The Cloud Terrace to rotate around wobble shaft also needs to compensate drive accordingly, with really
Protect stablizing of The Cloud Terrace.
By foregoing description it can be seen that control cloud platform rotation target yaw angle and target pitch angle, eliminate the need for deviation, enter
And primary importance is overlapped with initial position, it is achieved The Cloud Terrace follows the tracks of prearranged gesture motion.And, on the one hand, The Cloud Terrace is according to pre-
The primary importance determining gesture adjusts yaw angle and the angle of pitch accordingly, so prearranged gesture can control the rotational angle of The Cloud Terrace.Separately
On the one hand, the speed of prearranged gesture motion, in that case it can be decided that inclined extent, and extent partially determines target yaw angle
Size with target pitch angle.Owing to rotating object yaw angle is identical with the time slot at target pitch angle, so prearranged gesture motion
Speed also control the velocity of rotation of The Cloud Terrace.
In conjunction with above-described embodiment, in another embodiment, it is also possible to control The Cloud Terrace and rotate certain roll angle around wobble shaft.
Specifically external geometric graph can be arranged reference direction, and then according between external geometric current direction and reference direction
Differential seat angle control The Cloud Terrace around wobble shaft rotate.Now, primary importance just further comprises and external geometric works as front
To, initial position also includes reference direction.Specifically, when controlling The Cloud Terrace and rotating around wobble shaft, based on prearranged gesture,
After obtaining the external geometric figure of prearranged gesture, also include:
Obtain described external geometric current direction, and determine that described current direction is described primary importance, it is thus achieved that
Described recognition result；
Now, initial position also includes the reference direction of external several picture, controls the rotation of The Cloud Terrace according to described deviation
Angle, including:
According to the differential seat angle between described current direction and described reference direction, determine the described The Cloud Terrace being in tracking mode
Need the target roll angle rotated, and based on described target roll angle, generate the first control information.
For continuing to use the example that the most external geometric figure is rectangle.It is assumed that arranging reference direction is square
The long limit of shape is parallel to the direction of the conventional coordinates longitudinal axis.And then, calculate the differential seat angle θ on the long limit of current rectangle and reference direction,
Control the corresponding roll angle of cloud platform rotation.
During implementing, above-mentioned two embodiment can individually be implemented, it is also possible to combines and implements.In other words, may be used
Only to make The Cloud Terrace only keep track hand gesture location to adjust the angle of pitch and yaw angle, it is also possible to only make The Cloud Terrace follow the tracks of gesture direction and adjust rolling
Corner, it is also possible to make The Cloud Terrace adjust the angle of pitch, yaw angle and roll angle according to position and the direction of gesture.Art of the present invention
Those of ordinary skill can be configured according to actual, the present invention is not particularly limited.
Further, in another embodiment, before S102 obtains the deviation between primary importance and initial position, also may be used
To include:
Judge whether described The Cloud Terrace is in tracking mode；
When described The Cloud Terrace is not in described tracking mode, generate for controlling the described The Cloud Terrace described tracking mode of entrance
Second controls information, and stores described primary importance, and then using described primary importance as described initial position.
Specifically, in embodiments of the present invention, tracking mode be The Cloud Terrace according to the technical scheme in above-described embodiment with
The state of track prearranged gesture motion.If The Cloud Terrace is not in tracking mode, even if then having recognized pre-in the image collected
Determine gesture, also will not follow prearranged gesture and adjust rotational angle.Therefore, before S102, need to judge The Cloud Terrace whether be in
Track state.Judge whether The Cloud Terrace is in tracking mode, can be determined by inquiry The Cloud Terrace state.If the state inquired is
Tracking mode, then judge that The Cloud Terrace is in tracking mode；Whereas if the state inquired is not tracking mode, then judge The Cloud Terrace
It is not in tracking mode.
In embodiments of the present invention, if recognition result represents the position having recognized prearranged gesture and prearranged gesture
In primary importance, and The Cloud Terrace is not in tracking mode, then it represents that user now wishes to control The Cloud Terrace by prearranged gesture.Institute
With, generate the second control information entering tracking mode for controlling The Cloud Terrace, and primary importance is stored, as follow-up
The initial position followed the tracks of.
In conjunction with above-described embodiment, in another embodiment, before the second control information of generation, also include:
Judge whether the retention time of described prearranged gesture reaches Preset Time；
When the retention time of described prearranged gesture reaches described Preset Time, determine that needing to generate described second controls letter
Breath.
Owing to, during implementing, user is likely to be due to maloperation and is made that prearranged gesture, it is not required to The Cloud Terrace and enters
Enter tracking mode, therefore, in order to improve the accuracy rate of control, before the second control information of generation, need to judge prearranged gesture
Retention time whether reach Preset Time.Wherein, Preset Time for example, 2S, 3S etc., common skill of the art
Art personnel can be configured according to actual, and the present invention is not particularly limited.
For the retention time, owing to image acquisition units gathers image according to equal time distances, therefore by knowing continuously
The frame number of the image being clipped to prearranged gesture just can be calculated the retention time.Citing come institute, it is assumed that image acquisition units every
1mS gathers a two field picture, has all recognized prearranged gesture, then when calculating the holding of prearranged gesture in continuous 1200 two field pictures
Between be 1.2S.
Due to the retention time of prearranged gesture reach Preset Time time, user misoperation makes the probability of prearranged gesture relatively
Little, it is thus determined that user needs to be controlled The Cloud Terrace, and then determine and need to generate the second control information.
Seen from the above description, when the retention time judging prearranged gesture reaches Preset Time, regeneration second controls
Information, can avoid, owing to maloperation causes The Cloud Terrace to enter tracking mode, improve the accuracy rate of control.
In order to clearly technical scheme above be illustrated, an example is set forth below and illustrates how by advance
Determine gesture and control The Cloud Terrace.Refer to Fig. 5, be an embodiment schematic diagram.Subscriber station, in the front of balance car, lifts left hand, makes
Left hand is maintained in the acquisition range of image acquisition units.Tripod head controlling device identifies prearranged gesture from the image collected
And obtain the center of the external several picture of prearranged gesture.The Cloud Terrace is now not in tracking mode.Further, be calculated pre-
The retention time determining gesture reaches Preset Time 2S, therefore generates the second control information, controls The Cloud Terrace and enter tracking mode, and deposit
Storage boundary rectangle center now is as initial position.User observes that the expression The Cloud Terrace that display unit shows enters and follows the tracks of
After the information of state, start to move left hand as required.During movement, image acquisition units continuous collecting image, and
And continue to identify prearranged gesture from the image collected, and obtain the primary importance of prearranged gesture.Then, calculate in real time
Primary importance and the deviation of initial position, and cloud platform rotation corresponding target yaw angle and target pitch is controlled in real time according to deviation
Angle.
Further, if user is no longer necessary to control The Cloud Terrace motion, then The Cloud Terrace can exit tracking mode.Real in the present invention
Execute in example, have various ways can control The Cloud Terrace and exit tracking mode.To enumerate the most several below, implement process
In, include but not limited to following several.
The first:
When The Cloud Terrace is in tracking mode, it is judged that whether the quiescent time of prearranged gesture reaches post-set time；When resting
Between when reaching post-set time, generate the 3rd control information, and control The Cloud Terrace based on the 3rd control information and exit tracking mode.
Specifically, when user needs The Cloud Terrace to enter tracking mode, prearranged gesture can be kept to reach Preset Time, and
When user needs The Cloud Terrace to exit from tracking mode, post-set time can also be reached in fact by holding prearranged gesture is static equally
Existing.Wherein, it is thus achieved that the mode of quiescent time is similar with the mode obtaining the retention time, does not repeats to repeat.When exiting
Between such as 2S, 3S etc., the present invention is not particularly limited.When judging that quiescent time reaches post-set time, determine that user needs cloud
Platform exits tracking mode, and then the 3rd control information that generates controls The Cloud Terrace and exits tracking mode, and makes The Cloud Terrace keep exiting tracking
Attitude during state.
As an example it is assumed that post-set time and Preset Time are all 1S.In the T1 moment, user's remote control balance car moves to certainly
In face of Ji, it is desirable to control the cloud platform rotation of balance car.Therefore the right hand that user lifts oneself is made prearranged gesture and keeps.According to
The image that image acquisition units collects, tripod head controlling device identifies prearranged gesture, and when calculating the holding of prearranged gesture
Between reached 1S, therefore control The Cloud Terrace enter tracking mode.After user confirms that The Cloud Terrace enters tracking mode, start the mobile right hand,
Control cloud platform rotation.In the T2 moment after the T1 moment, the desired attitude of cloud platform rotation to user, user keeps the right hand quiet again
Only.Tripod head controlling device judges that the time that prearranged gesture is static reaches 1S, controls The Cloud Terrace and exits tracking mode.
The second:
When The Cloud Terrace is in tracking mode, it is judged that whether prearranged gesture is converted to exit gesture；When prearranged gesture is converted to
When exiting gesture, generate the 3rd control information, and exit tracking mode based on the 3rd control information control The Cloud Terrace.
Specifically, in embodiments of the present invention, exiting gesture is the gesture different from prearranged gesture, such as prearranged gesture
As shown in Figure 2 a, static gesture is as shown in Figure 2 b.When The Cloud Terrace is in tracking mode, the image collected is identified, if
Identify and exit gesture, it is determined that prearranged gesture is converted to exit gesture.Wherein, to exiting the identification of gesture and to prearranged gesture
Identification be similar to.When prearranged gesture is converted to exit gesture, determine that user needs The Cloud Terrace to exit tracking mode, and then generate the 3rd
Control information controls The Cloud Terrace and exits tracking mode, and attitude when making The Cloud Terrace keep exiting tracking mode.
As an example it is assumed that Preset Time is 1S.In the T3 moment, user's remote control balance car moves in face of oneself, uncommon
Hope the cloud platform rotation controlling balance car.Therefore user lifts oneself the right hand and makes prearranged gesture keeping as shown in Figure 2 a.According to
The image that image acquisition units collects, tripod head controlling device identifies prearranged gesture, and when calculating the holding of prearranged gesture
Between reached 1S, therefore control The Cloud Terrace enter tracking mode.After user confirms that The Cloud Terrace enters tracking mode, start the mobile right hand,
Control cloud platform rotation.In the T4 moment after t 3, after the desired attitude of cloud platform rotation to user, user makes such as Fig. 2 b with the right hand
Shown gesture.Tripod head controlling device recognizes and exits gesture, controls The Cloud Terrace and exits tracking mode.
The third:
Whether the image collected described in judgement exists described prearranged gesture；
When the described image collected does not exists described prearranged gesture, generate the 3rd control information, and based on described
3rd control information controls described The Cloud Terrace and exits described tracking mode.
Specifically, when The Cloud Terrace is in tracking mode, prearranged gesture will be persistently identified by tripod head controlling device, and
And acquisition primary importance, in order to realize Sustainable Control cloud platform rotation.When the hands of user moves out the collection model of image acquisition units
Enclose, the image collected will no longer recognize prearranged gesture.When from the image recognition collected less than prearranged gesture time, it is judged that
The image collected does not exists prearranged gesture, determines that user needs The Cloud Terrace to exit tracking mode, and then generate the 3rd control letter
Breath controls The Cloud Terrace and exits tracking mode, and attitude when making The Cloud Terrace keep exiting tracking mode.
As an example it is assumed that Preset Time is 1S.In the T5 moment, user's remote control balance car moves in face of oneself, uncommon
Hope the cloud platform rotation controlling balance car.Therefore the right hand that user lifts oneself makes prearranged gesture holding as shown in Figure 2 a.According to figure
The image collected as collecting unit, tripod head controlling device identifies prearranged gesture, and calculates the retention time of prearranged gesture
Reach 1S, therefore controlled The Cloud Terrace and enter tracking mode.After user confirms that The Cloud Terrace enters tracking mode, start the mobile right hand, control
Cloud platform rotation processed.In the T6 moment aftert, after the desired attitude of cloud platform rotation to user, user puts down the right hand, makes the right hand move
Move out of acquisition range.Tripod head controlling device, in the T6 moment, identifies less than prearranged gesture, and then judges to there is not prearranged gesture, control
The Cloud Terrace processed exits tracking mode.
Based on the inventive concept as cloud platform control method in previous embodiment, second aspect present invention also provides for one
Tripod head controlling device, as shown in Figure 6, including:
Identification module 101, gathers image for the image acquisition units by carrying on The Cloud Terrace, enters the image collected
Row identifies, it is thus achieved that recognition result；There is prearranged gesture in the image that collects described in representing in described recognition result, and described pre-
Determine the position of gesture in primary importance；
First control module 102, for obtaining the deviation between described primary importance and the initial position of storage, and according to
Described deviation controls the rotational angle of The Cloud Terrace, so that described primary importance overlaps with described initial position.
Specifically, the first control module 102, for according to described deviation, determines that the described The Cloud Terrace being in tracking mode needs
Target yaw angle to be rotated and target pitch angle, and based on described target yaw angle and described target pitch angle, generate first
Control information；Control information based on described first and control target yaw angle and described target pitch angle described in described cloud platform rotation.
Further, described device also includes the first judge module, for obtaining the initial of described primary importance and storage
Before deviation between position, it is judged that whether described The Cloud Terrace is in described tracking mode；
Second control module, for when described The Cloud Terrace is not in tracking mode, generates and is used for controlling the entrance of described The Cloud Terrace
Second control information of described tracking mode, and stores described primary importance, so using described primary importance as described initially
Position.
Specifically, identification module 101 is used for according to the prearranged gesture feature prestored at the described image collected
In mate, it is thus achieved that matching result；There is described prearranged gesture in the image collected described in representing when described matching result
Time, based on described prearranged gesture, it is thus achieved that the external geometric figure of described prearranged gesture, and obtain described external geometric pre-
If the position of reference point；The position determining described preset reference point is described primary importance, it is thus achieved that described recognition result.
Optionally, identification module 101 is additionally operable to based on described prearranged gesture, it is thus achieved that the external geometry of described prearranged gesture
After figure, obtain described external geometric current direction, and determine that described current direction is described primary importance, it is thus achieved that
Described recognition result；
Described initial position includes the reference direction of described external several picture, and the first control module 102 is for according to institute
State the differential seat angle between current direction and described reference direction, determine and be in the target that the described The Cloud Terrace needs of tracking mode rotate
Roll angle, and based on described target roll angle, generate the first control information.
Further, described device also includes the second judge module, for obtaining the initial of described primary importance and storage
Deviation between position, and after control the rotational angle of The Cloud Terrace according to described deviation, it is judged that described in the image that collects is
No there is described prearranged gesture；
3rd control module, for when there is not described prearranged gesture in the described image collected, generates the 3rd control
Information processed, and exit described tracking mode based on the described 3rd control information described The Cloud Terrace of control
Further, described device also includes the 3rd judge module, enters institute for being used for controlling described The Cloud Terrace in generation
Before stating the second control information of tracking mode, it is judged that whether the retention time of described prearranged gesture reaches Preset Time；
Determine module, for when the retention time of described prearranged gesture reaches described Preset Time, determine and need to generate
Described second controls information.
The various variation patterns of the cloud platform control method in earlier figures 1-Fig. 4 embodiment and instantiation are equally applicable to this
The tripod head controlling device of embodiment, by the aforementioned detailed description to cloud platform control method, those skilled in the art can be clear
Know the implementation of tripod head controlling device in the present embodiment, so succinct for description, be not described in detail in this.
Beneficial effects of the present invention is as follows:
In order to solve above-mentioned technical problem, in embodiments of the present invention, the image acquisition units by carrying on The Cloud Terrace is adopted
Collection image, is identified the image collected, it is thus achieved that recognition result；Recognition result represents that in the image collected, existence is predetermined
Gesture, and the position of prearranged gesture is in primary importance.Then, it is thus achieved that inclined between primary importance and the initial position of storage
Difference, and control the rotational angle of The Cloud Terrace according to deviation, so that primary importance overlaps with initial position.As can be seen here, due to The Cloud Terrace
Deviation based on primary importance and initial position controls rotational angle, so The Cloud Terrace can follow the tracks of prearranged gesture real time kinematics.Enter
And, during user adjusts The Cloud Terrace attitude, just can realize controlling The Cloud Terrace motion simply by gesture, and can see simultaneously
Observe the real-time attitude of The Cloud Terrace, thus adjust hand gesture location in time so that The Cloud Terrace adjusts accordingly.So, the present invention solves The Cloud Terrace
Control lag time long, the technical problem of interactive experience difference, it is achieved that control the technique effect of The Cloud Terrace in real time.
Obviously, those skilled in the art can carry out various change and the modification essence without deviating from the present invention to the present invention
God and scope.So, if these amendments of the present invention and modification belong to the scope of the claims in the present invention and equivalent technologies thereof
Within, then the present invention is also intended to comprise these change and modification.
Claims (14)
1. a cloud platform control method, it is characterised in that including:
Gather image by the image acquisition units carried on The Cloud Terrace, the image collected is identified, it is thus achieved that recognition result；
There is prearranged gesture in the image that collects described in representing in described recognition result, and the position of described prearranged gesture is at first
Put；
Obtain the deviation between described primary importance and the initial position of storage, and control the angle of rotation of The Cloud Terrace according to described deviation
Degree, so that described primary importance overlaps with described initial position.
2. the method for claim 1, it is characterised in that control the rotational angle of The Cloud Terrace according to described deviation, including:
According to described deviation, determine target yaw angle and the target pitch angle of the described The Cloud Terrace needs rotation being in tracking mode,
And based on described target yaw angle and described target pitch angle, generate the first control information；
Control information based on described first and control target yaw angle and described target pitch angle described in described cloud platform rotation.
3. method as claimed in claim 2, it is characterised in that obtaining between described primary importance and the initial position of storage
Deviation before, also include:
Judge whether described The Cloud Terrace is in described tracking mode；
When described The Cloud Terrace is not in described tracking mode, generates and be used for controlling the second of the described The Cloud Terrace described tracking mode of entrance
Control information, and store described primary importance, and then using described primary importance as described initial position.
4. the method as described in any one of claim 1-3, it is characterised in that the image collected is identified, it is thus achieved that know
Other result, including:
Mate in the described image collected according to the prearranged gesture feature prestored, it is thus achieved that matching result；
When the image collected described in described matching result represents exists described prearranged gesture, based on described prearranged gesture,
Obtain the external geometric figure of described prearranged gesture, and obtain the position of described external geometric preset reference point；
The position determining described preset reference point is described primary importance, it is thus achieved that described recognition result.
5. method as claimed in claim 4, it is characterised in that based on described prearranged gesture, it is thus achieved that described prearranged gesture
After external geometric figure, also include:
Obtain described external geometric current direction, and determine that described current direction is described primary importance, it is thus achieved that be described
Recognition result；
Described initial position includes the reference direction of described external several picture, controls the angle of rotation of The Cloud Terrace according to described deviation
Degree, including:
According to the differential seat angle between described current direction and described reference direction, determine the described The Cloud Terrace needs being in tracking mode
The target roll angle rotated, and based on described target roll angle, generate the first control information.
6. method as claimed in claim 3, it is characterised in that obtaining between described primary importance and the initial position of storage
Deviation, and according to described deviation control The Cloud Terrace rotational angle after, also include:
Whether the image collected described in judgement exists described prearranged gesture；
When the described image collected does not exists described prearranged gesture, generate the 3rd control information, and based on the described 3rd
Control information controls described The Cloud Terrace and exits described tracking mode.
7. method as claimed in claim 3, it is characterised in that be used for controlling described The Cloud Terrace in generation and enter described tracking mode
The second control information before, also include:
Judge whether the retention time of described prearranged gesture reaches Preset Time；
When the retention time of described prearranged gesture reaches described Preset Time, determine and need to generate described second control information.
8. a tripod head controlling device, it is characterised in that including:
Identification module, gathers image for the image acquisition units by carrying on The Cloud Terrace, is identified the image collected,
Obtain recognition result；Prearranged gesture, and described prearranged gesture is there is in the image that collects in described recognition result described in representing
Position in primary importance；
First control module, for obtaining the deviation between described primary importance and the initial position of storage, and according to described partially
Difference controls the rotational angle of The Cloud Terrace, so that described primary importance overlaps with described initial position.
9. device as claimed in claim 8, it is characterised in that described first control module, for according to described deviation, determines
Be in target yaw angle and target pitch angle that the described The Cloud Terrace of tracking mode needs to rotate, and based on described target yaw angle and
Described target pitch angle, generates the first control information；Control information based on described first and control target described in described cloud platform rotation
Yaw angle and described target pitch angle.
10. device as claimed in claim 9, it is characterised in that described device also includes the first judge module, for obtaining
Before deviation between described primary importance and the initial position of storage, it is judged that whether described The Cloud Terrace is in described tracking mode；
Second control module, for when described The Cloud Terrace is not in tracking mode, generates and is used for controlling described in the entrance of described The Cloud Terrace
Second control information of tracking mode, and store described primary importance, and then using described primary importance as described initial position.
11. devices as described in any one of claim 8-10, it is characterised in that described identification module is for according to prestoring
Prearranged gesture feature mate in the described image collected, it is thus achieved that matching result；When described matching result represents institute
State time the image collected exists described prearranged gesture, based on described prearranged gesture, it is thus achieved that described prearranged gesture external several
What figure, and obtain the position of described external geometric preset reference point；The position determining described preset reference point is institute
State primary importance, it is thus achieved that described recognition result.
12. devices as claimed in claim 11, it is characterised in that described identification module is additionally operable to based on described predetermined hand
Gesture, it is thus achieved that after the external geometric figure of described prearranged gesture, obtains described external geometric current direction, and determines institute
Stating current direction is described primary importance, it is thus achieved that described recognition result；
Described initial position includes the reference direction of described external several picture, and described first control module is for working as according to described
Front differential seat angle between described reference direction, determines and is in the target rolling that the described The Cloud Terrace needs of tracking mode rotate
Angle, and based on described target roll angle, generate the first control information.
13. devices as claimed in claim 10, it is characterised in that described device also includes the second judge module, for obtaining
Deviation between described primary importance and the initial position of storage, and according to described deviation control The Cloud Terrace rotational angle it
After, it is judged that described in whether the image that collects exists described prearranged gesture；
3rd control module, for when there is not described prearranged gesture in the described image collected, generates the 3rd control letter
Breath, and exit described tracking mode based on the described 3rd control information described The Cloud Terrace of control.
14. devices as claimed in claim 10, it is characterised in that described device also includes the 3rd judge module, for giving birth to
Before becoming to enter the second control information of described tracking mode for controlling described The Cloud Terrace, it is judged that during the holding of described prearranged gesture
Between whether reach Preset Time；
Determine module, for when the retention time of described prearranged gesture reaches described Preset Time, determine that needs generate described
Second controls information.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610608793.4A CN106249888A (en) | 2016-07-28 | 2016-07-28 | A kind of cloud platform control method and device |
| PCT/CN2017/094882 WO2018019290A1 (en) | 2016-07-28 | 2017-07-28 | Method and device for controlling cradle head, and storage medium |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610608793.4A CN106249888A (en) | 2016-07-28 | 2016-07-28 | A kind of cloud platform control method and device |
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| WO (1) | WO2018019290A1 (en) |
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Application publication date: 20161221 |