CN108289196A - Control method, cradle head controllor and the computer readable storage medium of holder cruise - Google Patents
Control method, cradle head controllor and the computer readable storage medium of holder cruise Download PDFInfo
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- CN108289196A CN108289196A CN201711466406.9A CN201711466406A CN108289196A CN 108289196 A CN108289196 A CN 108289196A CN 201711466406 A CN201711466406 A CN 201711466406A CN 108289196 A CN108289196 A CN 108289196A
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- 238000000034 method Methods 0.000 title claims abstract description 41
- 230000005055 memory storage Effects 0.000 claims description 2
- 238000012544 monitoring process Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 3
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- 230000003252 repetitive effect Effects 0.000 description 1
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
- H04N7/185—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source from a mobile camera, e.g. for remote control
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
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Abstract
The embodiment of the present invention provides method, cradle head controllor and the computer readable storage medium of control holder cruise, and duplicate paths are more when solving holder cruise in the prior art, the technical issues of being easily reduced holder service life.The method is cruised between multiple preset points for controlling holder, and each preset point in multiple preset points includes respective level angle and vertical angle, the method includes：At least with the level angle and vertical angle of each preset point, each preset point is ranked up；Holder is controlled with the positive sequence and/or inverted sequence of ranking results, is cruised between multiple preset points.
Description
Technical field
The present invention relates to cradle head control technical fields, more particularly to method, cradle head controllor and the meter of control holder cruise
Calculation machine readable storage medium storing program for executing.
Background technology
In cradle head control technical field, for example, by using in the video monitoring system of holder, acquiring the camera of image by cloud
Platform control direction, since the monitoring scene that camera can be seen under fixed viewpoint is limited, therefore, it is necessary to rely on pan and tilt head
To in monitoring scene all directions and angle carry out effective monitoring.Holder can both adjust camera and turn on a longitudinal axis
It is dynamic, and camera can be allowed to horizontally rotate in the horizontal plane, so that camera is carried out full side in three dimensions to reach
The effect of position shooting.
In the prior art, usually with spherical coordinate system come describe holder cruise preset point position, specifically, respectively with
Horizontal (Pan), vertical (Tilt), zoom (Zoom) describe the control to holder, abbreviation PTZ.Such as：Preset point [50,70,
20], wherein 50 indicate that the angle in preset point horizontal direction is 50 °, 70 ° of angle in 70 expression preset point vertical direction, 20
Indicate the zoom ratio of the camera in preset point.Arbitrary preset point can be determined by level angle and vertical angle in space
Position.
Currently, the sequence for adding preset point when holder cruises according to user calls preset point to cruise.As shown in Figure 1,
Label 1,2,3,4,5 in Fig. 1 indicates totally 5 preset points that user sets gradually, with preset when holder cruises in the prior art
It cruises in o'clock from 1 to 2 to 3 to 4 to 5 path.
Path when although holder is cruised in the prior art can cover that user needs to reach each is preset
Point, however, this kind cruise path usually there will be more duplicate paths, such as from the path of preset point 3 to 4 in Fig. 1 and in advance
The path sections set o'clock from 4 to 5 repeat.Also, usual holder, which needs to overturn repeatedly, could complete once to cruise, and increase holder
The burden of the components such as rotating belt, conducting slip ring reduces the service life of holder.
Invention content
The embodiment of the present invention provides method, cradle head controllor and the computer readable storage medium of control holder cruise, uses
More, the technical issues of being easily reduced holder service life with duplicate paths when solving that holder cruises in the prior art.
In a first aspect, providing a kind of method of control holder cruise, patrolled between multiple preset points for controlling holder
Boat, each preset point in the multiple preset point include respective level angle and vertical angle, the method includes：
At least with the level angle and vertical angle of each preset point, each preset point is ranked up；
The holder is controlled with the positive sequence and/or inverted sequence of ranking results, is cruised between the multiple preset point.
In one possible implementation, at least with the level angle and vertical angle of each preset point, to described
Each preset point is ranked up, including：
For each preset point, it is ranked up with the sequence of level angle from small to large or from big to small；
During being ranked up to each preset point with level angle, for level angle in each preset point
Identical preset point is ranked up with the sequence of vertical angle from small to large or from big to small.
In one possible implementation, at least with the level angle and vertical angle of each preset point, to described
Each preset point is ranked up, including：
For each preset point, it is ranked up with the sequence of vertical angle from small to large or from big to small；
During being ranked up to each preset point with vertical angle, for vertical angle in each preset point
Identical preset point is ranked up with the sequence of level angle from small to large or from big to small.
In one possible implementation, before being ranked up to each preset point, the method further includes：
Determine whether the quantity of multiple preset points is more than 2；
If so, being ranked up to each preset point；
Otherwise, the holder is directly controlled to cruise between the multiple preset point.
Second aspect provides cradle head controllor, cruises between multiple preset points for controlling holder, the multiple pre-
Each preset point in setting a little includes respective level angle and vertical angle, and the cradle head controllor includes：
Sorting module is used at least with the level angle and vertical angle of each preset point, to each preset click-through
Row sequence；
Control module, for controlling the holder with the positive sequence and/or inverted sequence of ranking results, between the multiple preset point
It cruises.
In one possible implementation, the sorting module is used for：
For each preset point, it is ranked up with the sequence of level angle from small to large or from big to small；
During being ranked up to each preset point with level angle, for level angle in each preset point
Identical preset point is ranked up with the sequence of vertical angle from small to large or from big to small.
In one possible implementation, the sorting module is used for：
For each preset point, it is ranked up with the sequence of vertical angle from small to large or from big to small；
During being ranked up to each preset point with vertical angle, for vertical angle in each preset point
Identical preset point is ranked up with the sequence of level angle from small to large or from big to small.
In one possible implementation, the cradle head controllor further includes judgment module, wherein：
The judgment module, for determining whether the quantity of the multiple preset point is more than 2；
The sorting module, when for determining that the quantity of the multiple preset point is more than 2 in the judgment module, to each pre-
It sets and is a little ranked up；
The control module is additionally operable to when the judgment module determines that the quantity of the multiple preset point is not more than 2, directly
The control holder is connect to cruise between the multiple preset point.
The third aspect, provides a kind of cradle head controllor, and the cradle head controllor includes：
At least one processor, and
The memory being connect at least one processor；
Wherein, the memory is stored with the instruction that can be executed by least one processor, at least one place
The instruction that device is stored by executing the memory is managed, method as described in relation to the first aspect is executed.
Fourth aspect provides a kind of computer readable storage medium：
The computer-readable recording medium storage has computer instruction, when the computer instruction on a computing device
When operation so that the computer equipment executes method as described in relation to the first aspect.
In the embodiment of the present invention, each preset point includes respective level angle and vertical angle, at least with each preset point
Level angle and vertical angle are ranked up each preset point, and control holder with the positive sequence and/or inverted sequence of ranking results,
It cruises between multiple preset points.
Due to being ranked up with the level angle and vertical angle of each preset point, thus, each preset point in ranking results
Sequence is tactic with the position progress of each preset point.It is cruised with the positive sequence of ranking results and/or inverted sequence in control holder
When, holder is to be cruised according to the sequence of positions of preset point, and cruise path is most short, avoids cruise and goes out in the process
Existing overlapping route, reduces the burden of the components such as cloud platform rotation belt, conducting slip ring, improves the service life of holder.
Description of the drawings
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Inventive embodiments for those of ordinary skill in the art without creative efforts, can also be according to carrying
The attached drawing of confession obtains other attached drawings.
Fig. 1 is a kind of cruise path schematic diagram of holder in the prior art；
Fig. 2 is a kind of flow diagram of the method for control holder cruise in the embodiment of the present invention；
Fig. 3 is a kind of cruise path schematic diagram of holder in the embodiment of the present invention；
Fig. 4 is a kind of structure diagram of cradle head controllor in the embodiment of the present invention.
Specific implementation mode
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
The every other embodiment obtained without creative efforts, shall fall within the protection scope of the present invention.
In addition, the terms "and/or", only a kind of incidence relation of description affiliated partner, indicates may exist
Three kinds of relationships, for example, A and/or B, can indicate：Individualism A exists simultaneously A and B, these three situations of individualism B.Separately
Outside, character "/" herein, in the case where not illustrating, it is a kind of relationship of "or" to typically represent forward-backward correlation object.
Embodiment one
The embodiment of the present invention provides a kind of method of control holder cruise, and this method can be applied to control cloud platform rotation
Device, for example, this method can be applied to cradle head controllor.
In the embodiment of the present invention, cradle head controllor can be the device external with holder, for example, cradle head controllor can be
The photographing module with calculation processing ability of holder connection, can also be specifically the processing unit inside photographing module, certainly,
Cradle head controllor can also be that holder external one can be dedicated for controlling the device of holder.
Also, the cradle head controllor in the embodiment of the present invention, which can also be one included by holder, has calculation processing work(
Can component, such as can be processor, microcontroller, etc. that holder includes.
Method in embodiment in order to better understand the present invention, below in conjunction with Figure of description and specific implementation
The above described technique is demenstrated in detail for mode.
The method of control holder cruise in the embodiment of the present invention is cruised for controlling holder between multiple preset points,
Each preset point in these preset points includes respective level angle (Pan) and vertical angle (Tilt), i.e., by each preset
The level angle and vertical angle of point, it may be determined that the position of each preset point.
These preset points can be that user is voluntarily arranged as needed, as shown in Figure 1, the label 1,2,3,4,5 in Fig. 1
Indicate totally 5 preset points that user sets gradually.
It should be noted that the position of each preset point is only to illustrate in Fig. 1,3, in three dimensions, these are preset for reality
Point may not be in the same plane.
Also, the cruise path described in the embodiment of the present invention repeats to include not only the completely overlapped situation in path, also wraps
Include the case where interval between path is less than predetermined space threshold value.By taking monitored video camera system as an example, camera usually has relatively wide
Shooting angle, thus, if the interval between path is smaller, camera shooting picture in can exist it is large range of heavy
Multiple, the practical range monitored is smaller during leading to cruise, is unable to reach best monitoring effect.
Also, the level angle (i.e. Pan) and vertical angle in the embodiment of the present invention for characterizing each preset point position are (i.e.
Tilt) be cradle head control field term, it is therein it is horizontal with vertical to be being arranged based on platform itself describe.Namely
It says, in practice, level angle may be not the angle on the horizontal plane in nature meaning, and vertical angle may also be not
With the horizontal plane angulation in natural meaning.
Fig. 2 is referred to, the flow that the method for holder cruise is controlled in the embodiment of the present invention is described as follows.
Step 201：At least with the level angle and vertical angle of each preset point, each preset point is ranked up.
Step 202：Holder is controlled with the positive sequence and/or inverted sequence of ranking results, is cruised between multiple preset points.
As shown in figure 3, Fig. 3 show it is a kind of through the embodiment of the present invention in control holder cruise method control holder
Path when being cruised.Label 1,2,3,4,5 in Fig. 3 indicates totally 5 preset points that user sets gradually, patrolling in Fig. 3
Bit path can be from preset point 1 to 4 to 2 to 3 to 5.As it can be seen that compared to cruise path shown in FIG. 1, in the embodiment of the present invention
Holder cruise when path repetitive rate is lower, path is shorter.
In the embodiment of the present invention, when being ranked up to each preset point based on the position of each preset point, also, to each
When preset point is ranked up, while the level angle and vertical angle of preset point are considered, based on three-dimensional space position to each preset
Point is ranked up, to cook up the cruise path that repetition is low, path is short.
In present invention implementation, the factors such as the slewing area and holder type of holder, mounting means, software are arranged are related, respectively
The level angle of preset point, the value range of vertical angle depend in the slewing area of holder.For example, preset point is horizontal
The value range of angle can be 0 °~360 °, and the value range of vertical angle can be -90 °~30 °, etc., and the present invention is real
Apply the level angle in example for each preset point, the value range of vertical angle is not limited.
In specific implementation process, at least each preset point is arranged with the level angle of each preset point and vertical angle
When sequence, one in level angle and vertical angle can be regard as the most important condition, another is as secondary conditions.Citing comes
Say, when level angle is the most important condition, vertical angle is secondary conditions, when sequence preferential comparison level angle, it is horizontal at that time
Compare vertical angle when angle is equal again.
After being ranked up acquisition ranking results to each preset point, so that it may to control holder with the positive sequence of ranking results
And/or inverted sequence, it cruises between multiple preset points.
In the embodiment of the present invention, ranking results may include the sequence of each preset point, with the positive sequence or inverted sequence of ranking results
Can be the cruise path of the holder determined during the present invention is implemented by the path that each preset point connects.
In specific implementation process, the mode that control holder cruises between multiple preset points can be with ranking results
Positive sequence and/or inverted sequence call the coordinate of each preset point successively, to realize that control holder is patrolled with identified cruise path
Boat.Can be that preset point is alternately called with the positive sequence of ranking results and inverted sequence also, during controlling holder cruise, with
It back and forth cruises on determining cruise path.Certainly, can also be last on calling cruise path in specific implementation process
After one preset point, first preset point is directly invoked, then called successively to the last one preset point from first preset point, etc.
Deng.
In a kind of possible embodiment, at least with the level angle and vertical angle of each preset point, to each preset point
When being ranked up, it can be directed to each preset point, be ranked up with the sequence of level angle from small to large or from big to small, also,
During being ranked up to each preset point with level angle, for the identical preset point of level angle in each preset point, with
The sequence of vertical angle from small to large or from big to small is ranked up.
In the embodiment of the present invention, when being ranked up to each preset point, level angle can be paid the utmost attention to and be ranked up.It lifts
It, can be from the level angle of each preset point from 0 ° when the slewing area of holder in the horizontal direction is 0 °~360 ° for example
To 360 ° this be sequentially ranked up (i.e. from small to large), can also this be suitable from 360 ° to 0 ° from the level angle of each preset point
Sequence is ranked up (i.e. from big to small).
May include rotating clockwise and rotating counterclockwise when holder rotates in the horizontal direction in the embodiment of the present invention,
For example, can set from 0 ° to 360 ° rotation to rotate clockwise, from 360 ° to 0 ° rotation to rotate counterclockwise.Namely
It says, the process that each preset point is ranked up in the embodiment of the present invention, it is also contemplated that be ranked up in a clockwise direction (i.e.
From small to large), or in a counterclockwise direction it is ranked up (i.e. from big to small).
Also, holder is when vertical direction rotates, and may include having rotation from the bottom up and rotating from top to bottom, citing comes
It says, the slewing area of holder in vertical direction can be -90 °~30 °, and the rotation that can be set from -90 ° to 30 ° is under
Up rotation, the rotation from 30 ° to -90 ° are to rotate from top to bottom.
In the embodiment of the present invention, pay the utmost attention in the case that level angle is ranked up, holder is often completed primary each preset
The cruise of positive sequence or inverted sequence between point, each preset point can only pass through once, also, holder is at most only overturn in the horizontal direction
Once.
In a kind of possible embodiment, at least with the level angle and vertical angle of each preset point, to each preset point
When being ranked up, it can be directed to each preset point, be ranked up with the sequence of vertical angle from small to large or from big to small, also,
During being ranked up to each preset point with vertical angle, for the identical preset point of vertical angle in each preset point, with
The sequence of level angle from small to large or from big to small is ranked up.
In the embodiment of the present invention, when being ranked up to each preset point, vertical angle can be paid the utmost attention to and be ranked up.It lifts
For example, when the slewing area of holder in vertical direction is -90 °~30 °, can from the vertical angle of each preset point from -
90 ° to 30 ° this be sequentially ranked up (i.e. from small to large), can also from the level angle of each preset point from 30 ° to -90 ° this
One sequence is ranked up (i.e. from big to small).
In the embodiment of the present invention, pay the utmost attention in the case that vertical angle is ranked up, holder is often completed primary each preset
The cruise of positive sequence or inverted sequence between point, each preset point can only pass through once, also, holder is at most only overturn in vertical direction
Once.
For ease of understanding, it is illustrated below with a specific sequencer procedure：
It is ranked up for example, level angle can be paid the utmost attention to, level angle sequence can be (such as up time from small to large
Needle), vertical angle sequence can be from big to small (as from top to bottom), and it includes 7 to need the preset point to sort, this 7 are preset
Point format be (Pan, Tilt) user add the sequence of this 7 preset points be A (50,70), B (30,40), C (90,80), D
(40,50), E (70,60), F (40,60), G (70,30) can be real as follows when being ranked up to 7 preset points
It is existing：
(1) first preset point A (50,70) is taken from this 7 preset points, then：
A (50,70)
(2) second preset point B (30,40) is taken from this 7 preset points, judge B not the clockwise direction of A (i.e.
Level angle 30<50), then B is placed in before A：
B (30,40), A (50,70)
(3) take third preset point C (90,80) from this 7 preset points, judge C A clockwise direction (i.e. water
Straight angle degree 50<90), then C is placed in after A：
B (30,40), A (50,70), C (90,80)
(4) the 4th preset point D (40,50) is taken from this 7 preset points, judge D not the clockwise direction of A (i.e.
Level angle 40<50), and judge D B clockwise direction (i.e. level angle 30<50), then by D be placed in before A and B it
Afterwards：
B (30,40), D (40,50), A (50,70), C (90,80)
(5) the 5th preset point E (70,60) is taken from this 7 preset points, judge E A clockwise direction (i.e. water
Straight angle degree 50<70), and judge E not in the clockwise direction of C (i.e. level angle 70<90), then by E be placed in after A and C it
Before：
B (30,40), D (40,50), A (50,70), E (70,60), C (90,80)
(6) the 6th preset point F (40,60) is taken from this 7 preset points, judge F not the clockwise direction of A (i.e.
Level angle 40<50), and judge that F overlaps (i.e. level angle 40=40) with D in vertical direction, then further judge F
(the i.e. vertical angle 60 on D>50), and judge F in B clockwise direction (i.e. level angles 30<40), then by F be placed in B it
Afterwards and before D：
B (30,40), F (40,60), D (40,50), A (50,70), E (70,60), C (90,80)
(7) the 7th preset point G (70,30) is taken from this 7 preset points, judge G A clockwise direction (i.e. water
Straight angle degree 50<70), and judge that G overlaps (i.e. level angle 70=70) with E in vertical direction, then further judge G not
(the i.e. vertical direction 60 on E>30), and judge G not in C clockwise direction (i.e. level angles 70<90), then G is placed in E
Later and before C：
B (30,40), F (40,60), D (40,50), A (50,70), E (70,60), G (70,30), C (90,80).
It, can be directly by row in the pre- of first position after being ranked up to multiple preset points in the embodiment of the present invention
It sets as the initial point in ranking results, will also select any one point as initial in ranking results from multiple preset points
Point.For example：
The first, is using directly by row when the preset point of first position is as initial point in ranking results, above-mentioned act
The positive sequence of ranking results obtained in example is B (30,40), F (40,60), D (40,50), A (50,70), E (70,60), G (70,
30), (90,80) C；
Second, when will select any one point from multiple preset points as initial point in ranking results, if taking preset
Point A (50,70) is used as initial point, the positive sequence of the ranking results obtained in the example above is A (50,70), E (70,60), G (70,
30), C (90,80), B (30,40), F (40,60), D (40,50).
Also, in the embodiment of the present invention, when being ranked up to multiple preset points, the suitable of preset point can be added with user
Sequence sorts, i.e., the sequence used in the example above, it is of course also possible to be sorted with other arbitrary sequences, the present invention implemented
It is without limitation in example.
In a kind of possible embodiment, before being ranked up to each preset point, it can also determine multiple pre-
Whether the quantity set a little is more than 2.If the quantity of multiple preset points is more than 2, each preset point is ranked up, otherwise, is directly controlled
Holder processed cruises between multiple preset points.
In the embodiment of the present invention, if the quantity of multiple preset points is not more than 2, i.e. the quantity of preset point is 2, at this point, being not necessarily to
The two preset points are ranked up, can directly start control holder and cruise between the two preset points, be saved with reaching
The effect of process resource, and it is possible to which holder is made faster to enter cruising condition.
Embodiment two
Fig. 4 is referred to, is based on same inventive concept, the embodiment of the present invention provides a kind of cradle head controllor, for controlling cloud
Platform cruises between multiple preset points, and each preset point in this multiple preset point includes respective level angle and vertical angle
Degree.
Also, the cradle head controllor in the embodiment of the present invention can be the cradle head controllor described in embodiment one, can be with
The method for executing the control holder cruise described in embodiment, thus, in the embodiment of the present invention about cradle head controllor say
Explanation that is bright, and cruising between multiple preset points about holder server controls holder may refer to and quote implementation
Description in example one, details are not described herein.
In the embodiment of the present invention, cradle head controllor includes：
Sorting module 401, at least with the level angle and vertical angle of each preset point, arranging each preset point
Sequence；
Control module 402 is carried out for controlling holder with the positive sequence and/or inverted sequence of ranking results between multiple preset points
Cruise.
In a kind of possible embodiment, sorting module 401 is used for：
For each preset point, it is ranked up with the sequence of level angle from small to large or from big to small；
It is identical pre- for level angle in each preset point during being ranked up to each preset point with level angle
It sets a little, is ranked up with the sequence of vertical angle from small to large or from big to small.
In a kind of possible embodiment, sorting module 401 is used for：
For each preset point, it is ranked up with the sequence of vertical angle from small to large or from big to small；
It is identical pre- for vertical angle in each preset point during being ranked up to each preset point with vertical angle
It sets a little, is ranked up with the sequence of level angle from small to large or from big to small.
In a kind of possible embodiment, cradle head controllor further includes judgment module, wherein：
Judgment module, for determining whether the quantity of multiple preset points is more than 2；
Sorting module 401 carries out each preset point when for determining that the quantity of multiple preset points is more than 2 in judgment module
Sequence；
Control module 402 is additionally operable to, when judgment module determines that the quantity of multiple preset points is not more than 2, directly control cloud
Platform cruises between multiple preset points.
Embodiment three
Based on same inventive concept, the embodiment of the present invention provides a kind of cradle head controllor, which can be real
Apply the cradle head controllor described in example one or embodiment two.The cradle head controllor includes：
At least one processor, and
The memory being connect at least one processor；
Wherein, memory is stored with the instruction that can be executed by least one processor, and at least one processor passes through execution
The instruction of memory storage, the method for executing the control holder cruise as described in embodiment one.
Example IV
Based on same inventive concept, the embodiment of the present invention provides a kind of computer readable storage medium, this is computer-readable
Storage medium is stored with computer instruction, when computer instruction is run on computers so that computer executes embodiment one
The method of the control holder cruise.
In specific implementation process, computer readable storage medium includes：General serial bus USB
(Universal Serial Bus flash drive, USB), mobile hard disk, read-only memory (Read-Only Memory,
ROM), random access memory (Random Access Memory, RAM), magnetic disc or CD etc. are various can store program
The storage medium of code.
The apparatus embodiments described above are merely exemplary, wherein the units/modules illustrated as separating component
It may or may not be physically separated, the component shown as units/modules may or may not be
Physical unit/module, you can be located at a place, or may be distributed in multiple network element/modules.It can basis
It is actual to need that some or all of module therein is selected to achieve the purpose of the solution of this embodiment.Ordinary skill people
Member is not in the case where paying performing creative labour, you can to understand and implement.
Through the above description of the embodiments, those skilled in the art can be understood that each embodiment can
It is realized by the mode of software plus required general hardware platform, naturally it is also possible to pass through hardware.Based on this understanding, on
Stating technical solution, substantially the part that contributes to existing technology can be expressed in the form of software products in other words, should
Computer software product can store in a computer-readable storage medium, such as ROM/RAM, magnetic disc, CD, including several fingers
It enables and using so that a computer equipment (can be personal computer, server or the network equipment etc.) executes each implementation
Method described in certain parts of example or embodiment.
Finally it should be noted that：The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
Present invention has been described in detail with reference to the aforementioned embodiments, it will be understood by those of ordinary skill in the art that：It still may be used
With technical scheme described in the above embodiments is modified or equivalent replacement of some of the technical features；
And these modifications or replacements, various embodiments of the present invention technical solution that it does not separate the essence of the corresponding technical solution spirit and
Range.
Claims (10)
1. a kind of method of control holder cruise, cruises for controlling holder between multiple preset points, the multiple preset
Each preset point in point includes respective level angle and vertical angle, which is characterized in that the method includes：
At least with the level angle and vertical angle of each preset point, each preset point is ranked up；
The holder is controlled with the positive sequence and/or inverted sequence of ranking results, is cruised between the multiple preset point.
2. the method as described in claim 1, which is characterized in that at least with the level angle and vertical angle of each preset point
Degree, is ranked up each preset point, including：
For each preset point, it is ranked up with the sequence of level angle from small to large or from big to small；
It is identical for level angle in each preset point during being ranked up to each preset point with level angle
Preset point, be ranked up with the sequence of vertical angle from small to large or from big to small.
3. the method as described in claim 1, which is characterized in that at least with the level angle and vertical angle of each preset point
Degree, is ranked up each preset point, including：
For each preset point, it is ranked up with the sequence of vertical angle from small to large or from big to small；
It is identical for vertical angle in each preset point during being ranked up to each preset point with vertical angle
Preset point, be ranked up with the sequence of level angle from small to large or from big to small.
4. the method as described in any claim in claim 1-3, which is characterized in that arranged to each preset point
Before sequence, the method further includes：
Determine whether the quantity of multiple preset points is more than 2；
If so, being ranked up to each preset point；
Otherwise, the holder is directly controlled to cruise between the multiple preset point.
5. a kind of cradle head controllor cruises for controlling holder between multiple preset points, each in the multiple preset point
Preset point includes respective level angle and vertical angle, which is characterized in that the cradle head controllor includes：
Sorting module, at least with the level angle and vertical angle of each preset point, arranging each preset point
Sequence；
Control module is carried out for controlling the holder with the positive sequence and/or inverted sequence of ranking results between the multiple preset point
Cruise.
6. cradle head controllor as claimed in claim 5, which is characterized in that the sorting module is used for：
For each preset point, it is ranked up with the sequence of level angle from small to large or from big to small；
It is identical for level angle in each preset point during being ranked up to each preset point with level angle
Preset point, be ranked up with the sequence of vertical angle from small to large or from big to small.
7. cradle head controllor as claimed in claim 5, which is characterized in that the sorting module is used for：
For each preset point, it is ranked up with the sequence of vertical angle from small to large or from big to small；
It is identical for vertical angle in each preset point during being ranked up to each preset point with vertical angle
Preset point, be ranked up with the sequence of level angle from small to large or from big to small.
8. the cradle head controllor as described in any claim in claim 5-7, which is characterized in that the cradle head controllor is also
Including judgment module, wherein：
The judgment module, for determining whether the quantity of the multiple preset point is more than 2；
The sorting module, when for determining that the quantity of the multiple preset point is more than 2 in the judgment module, to each preset point
It is ranked up；
The control module is additionally operable to, when the judgment module determines that the quantity of the multiple preset point is not more than 2, directly control
The holder is made to cruise between the multiple preset point.
9. a kind of cradle head controllor, which is characterized in that the cradle head controllor includes：
At least one processor, and
The memory being connect at least one processor；
Wherein, the memory is stored with the instruction that can be executed by least one processor, at least one processor
By executing the instruction of the memory storage, the method as described in any claim in claim 1-4 is executed.
10. a kind of computer readable storage medium, it is characterised in that：
The computer-readable recording medium storage has computer instruction, when the computer instruction is run on a computing device
When so that the computer equipment executes the method as described in any claim in claim 1-4.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711466406.9A CN108289196A (en) | 2017-12-28 | 2017-12-28 | Control method, cradle head controllor and the computer readable storage medium of holder cruise |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711466406.9A CN108289196A (en) | 2017-12-28 | 2017-12-28 | Control method, cradle head controllor and the computer readable storage medium of holder cruise |
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| CN108289196A true CN108289196A (en) | 2018-07-17 |
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ID=62832432
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| Application Number | Title | Priority Date | Filing Date |
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| CN201711466406.9A Pending CN108289196A (en) | 2017-12-28 | 2017-12-28 | Control method, cradle head controllor and the computer readable storage medium of holder cruise |
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| CN (1) | CN108289196A (en) |
Cited By (5)
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| CN110771138A (en) * | 2018-07-27 | 2020-02-07 | 深圳市大疆创新科技有限公司 | Control method and control device for panoramic shooting, imaging system and storage medium |
| CN111683229A (en) * | 2020-06-22 | 2020-09-18 | 杭州海康威视系统技术有限公司 | Cruise monitoring method, device, equipment and storage medium |
| CN112204944A (en) * | 2019-08-13 | 2021-01-08 | 深圳市大疆创新科技有限公司 | Shooting detection method, device, holder, system and storage medium |
| CN113411486A (en) * | 2020-03-16 | 2021-09-17 | 浙江宇视科技有限公司 | Pan-tilt camera control method and device, pan-tilt camera and storage medium |
| WO2023040457A1 (en) * | 2021-09-15 | 2023-03-23 | 浙江宇视科技有限公司 | Cruise method and apparatus for heavy gimbal, storage medium, and electronic device |
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| CN110771138A (en) * | 2018-07-27 | 2020-02-07 | 深圳市大疆创新科技有限公司 | Control method and control device for panoramic shooting, imaging system and storage medium |
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| CN113411486A (en) * | 2020-03-16 | 2021-09-17 | 浙江宇视科技有限公司 | Pan-tilt camera control method and device, pan-tilt camera and storage medium |
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| CN111683229B (en) * | 2020-06-22 | 2021-10-26 | 杭州海康威视系统技术有限公司 | Cruise monitoring method, device, equipment and storage medium |
| WO2023040457A1 (en) * | 2021-09-15 | 2023-03-23 | 浙江宇视科技有限公司 | Cruise method and apparatus for heavy gimbal, storage medium, and electronic device |
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