CN111447362B

CN111447362B - Pan-tilt motor limiting method and device, pan-tilt camera and storage medium

Info

Publication number: CN111447362B
Application number: CN202010256791.XA
Authority: CN
Inventors: 姜民; 周光炎; 黄强强
Original assignee: Zhejiang Dahua Technology Co Ltd
Current assignee: Zhejiang Dahua Technology Co Ltd
Priority date: 2020-04-02
Filing date: 2020-04-02
Publication date: 2021-04-27
Anticipated expiration: 2040-04-02
Also published as: CN111447362A

Abstract

The application discloses a holder motor limiting method and device, a holder camera and a storage medium. The method comprises the following steps: acquiring a sound signal collected by a microphone; extracting feature information of the sound signal to obtain first feature information; comparing the first characteristic information with pre-stored second characteristic information, wherein the second characteristic information is characteristic information of impact sound generated when the motor and/or the holder impact the limiting structural part; and if the first characteristic information is consistent with the second characteristic information, stopping sending a first rotating instruction to the motor, wherein the first rotating instruction is used for controlling the motor to rotate. Through the mode, the impact noise can be reduced.

Description

Pan-tilt motor limiting method and device, pan-tilt camera and storage medium

Technical Field

The application relates to the technical field of pan-tilt cameras, in particular to a pan-tilt motor limiting method and device, a pan-tilt camera and a storage medium.

Background

The pan-tilt camera is a camera with a pan-tilt, and the pan-tilt can drive the camera to move. In order to protect the internal structure and devices of the camera, the motion of the holder needs to be limited within a specified range, namely, the motion of the holder and/or a motor driving the holder needs to be limited.

At present, a plurality of limiting modes are available, such as sensor (optical coupler, Hall sensor and the like) limiting, pure structural part limiting and the like. However, the existing limiting method still has defects. For example, sensors such as opto-couplers and hall sensors are required to be used for limiting the sensors, the limiting cost is high, corresponding positions are required to be reserved on the structure for placing the sensors, and therefore the occupied space is large. The pure structure part is adopted for limiting, after the holder and/or the motor impact the structure part, the holder and/or the motor can continue to move in the original direction, and the structure part can be continuously impacted, so that great noise is generated.

Disclosure of Invention

The application provides a cloud platform motor limiting method and device, a cloud platform camera and a storage medium, and can solve the technical problem that an existing limiting mode is high in cost and large in occupied space or generates large noise.

In order to solve the technical problem, the application adopts a technical scheme that: the method for limiting the motor of the holder comprises the following steps: acquiring a sound signal collected by a microphone; extracting feature information of the sound signal to obtain first feature information; comparing the first characteristic information with pre-stored second characteristic information, wherein the second characteristic information is characteristic information of impact sound generated when the motor and/or the holder impact the limiting structural part; and if the first characteristic information is consistent with the second characteristic information, stopping sending a first rotating instruction to the motor, wherein the first rotating instruction is used for controlling the motor to rotate.

In order to solve the above technical problem, the present application adopts another technical solution that: the device comprises a processor and a memory coupled with the processor, wherein the memory is used for storing instructions, and the processor is used for executing the instructions to realize the method.

In order to solve the above technical problem, the present application adopts another technical solution that: the holder camera comprises a holder, a motor for driving the holder to rotate, a limiting structural member for limiting the limit position of the motor and/or the rotation of the holder and a controller; the controller is used for executing instructions to realize the method.

In order to solve the above technical problem, the present application adopts another technical solution that: a storage medium is provided that stores instructions that, when executed, implement the above-described method.

The beneficial effect of this application is: this application is through the sound signal that acquires the microphone and gather at motor and/or cloud platform rotation in-process, judges whether current motor and/or cloud platform take place the striking with spacing structure according to this sound signal to stop control motor and/or cloud platform continue to move when can confirming motor and/or cloud platform and spacing structure take place the striking, reduce the striking noise. And the current position of the motor can be recorded as the limit position when the impact occurs, and then the movement of the motor can be controlled according to the determined limit position in the subsequent actual use process, so that the possibility that the motor and/or the holder impact the limit structural member in the rotating process is effectively reduced, and the possibility of impact noise is further reduced. Meanwhile, the microphone is a common accessory of the camera, an additional sensor is not needed, the cost and the assembly difficulty can be reduced, and the main control pin resource is saved.

Drawings

FIG. 1 is a schematic structural diagram of a first embodiment of a pan-tilt camera according to the present application;

FIG. 2 is a schematic structural diagram of a second embodiment of the pan-tilt camera of the present application;

FIG. 3 is a schematic flow chart of a first embodiment of a method for limiting a motor of a pan/tilt head according to the present application;

FIG. 4 is a schematic diagram of a detailed flow of S120 in FIG. 3;

FIG. 5 is a schematic flow chart of a second embodiment of a method for limiting a motor of a pan/tilt head according to the present application;

FIG. 6 is a schematic structural diagram of an embodiment of a holder motor limiting device according to the present application;

FIG. 7 is a schematic structural diagram of an embodiment of a storage medium according to the present application.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

The terms "first", "second" and "third" in this application are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any indication of the number of technical features indicated. Thus, a feature defined as "first," "second," or "third" may explicitly or implicitly include at least one of the feature. In the description of the present application, "plurality" means at least two, e.g., two, three, etc., unless explicitly specifically limited otherwise. All directional indications (such as up, down, left, right, front, and rear … …) in the embodiments of the present application are only used to explain the relative positional relationship between the components, the movement, and the like in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indication is changed accordingly. Furthermore, the terms "include" and "have," as well as any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.

Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those skilled in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments without conflict.

Fig. 1 is a schematic structural diagram of a first embodiment of a pan-tilt camera according to the present application. As shown in fig. 1, the pan/tilt/zoom camera 10 may include a controller 11, a motor 12, a pan/tilt head 13, and a limit structure (not shown).

Wherein the controller 11 may send a rotation command to the motor 12. The motor 12 can rotate according to the received rotation instruction, and the motor 12 drives the pan-tilt 13 to rotate when rotating.

The limiting structure is used for limiting the movement range of the motor 12 and/or the pan/tilt head 13, and the position of the limiting structure is the limit position of the rotation of the motor 12 and/or the pan/tilt head 13. When the motor 12 and/or the pan/tilt head 13 rotate to the position of the limit structural member, the motor 12 and/or the pan/tilt head 13 collide with the limit structural member to generate collision sound because the motor 12 and/or the pan/tilt head 13 is blocked by the limit structural member and cannot continue to rotate along the current direction according to the rotation command sent by the controller 11.

When the motor 12 and/or the pan/tilt.

Fig. 2 is a schematic structural diagram of a second embodiment of the pan-tilt camera of the present application. As shown in fig. 1, pan-tilt camera 10 may also include a microphone 14.

The microphone 14 can collect sound signals in the rotating process of the motor and/or the pan/tilt head, the controller 11 can acquire the sound signals collected by the microphone 14, and judge whether the motor 12 and/or the pan/tilt head 13 collides with the limiting structural part or not through the collected sound signals. This can be achieved in particular by the methods presented hereinafter.

Fig. 3 is a schematic flow chart of a first embodiment of a pan/tilt/zoom motor limiting method according to the present application. It should be noted that, if the result is substantially the same, the flow sequence shown in fig. 3 is not limited in this embodiment. The embodiment is a test process of the holder motor limiting method. As shown in fig. 3, the present embodiment includes:

s110: and acquiring the sound signal collected by the microphone.

The execution main part of this embodiment is the controller, thereby it can control the rotation of motor and drive the motion of cloud platform, and the motor in this embodiment also can be called cloud platform motor. For example, the motor may be a stepping motor to realize fine control of the pan/tilt head. The controller can send first rotation instruction to the motor, makes the motor begin to rotate according to this first rotation instruction, can drive the cloud platform rotation of cloud platform camera when the motor rotates.

Optionally, the first rotation instruction is a unidirectional rotation instruction, the unidirectional rotation instruction is an instruction for controlling the motor to rotate in one direction, and the corresponding rotational direction of the pan/tilt head may be determined according to a connection manner of the motor and the pan/tilt head, an installation manner of the pan/tilt head, and the like.

The microphone is an electroacoustic device, can continuously gather the sound signal of motor and/or cloud platform rotation in-process to according to predetermineeing the time length and send the sound signal once to the controller, the sound signal length of sending each time also can preset, for example 2s, 3 s.

To enable two-way conversations, many cameras are equipped with a microphone. The microphone can be the microphone of the pan-tilt camera to which the motor belongs, and the sound signal collected by the microphone is acquired by the microphone of the pan-tilt camera to which the motor belongs.

In some application scenarios, it may occur that the pan/tilt camera itself is not equipped with a microphone, but that other devices in proximity to it and capable of communication are equipped with a microphone, such as other cameras, where the pan/tilt camera may receive sound signals from other devices.

S120: and extracting the characteristic information of the sound signal to obtain first characteristic information.

After the controller acquires the sound signals collected by the microphone, the characteristic information of the sound signals can be extracted.

As shown in fig. 4, S120 may specifically include the following sub-steps:

s121: the sound signal is filtered.

The pass band of the filtering includes the frequency band in which the impact sound is located. Because the position and the material of the limit structural part of the tripod head camera of the same model are fixed, the characteristic information of the impact sound generated when the motor and/or the tripod head impacts the limit structural part is basically consistent, and the frequency bands of the corresponding impact sound are also basically consistent. The filtering may be band pass filtering, low pass filtering, high pass filtering, etc. For example, after the sound signal is acquired, sound frequency segments of the sound signal except for the impact sound can be filtered in a band-pass filtering manner, and the sound frequency segment in which the impact sound is located in the sound signal is reserved.

S122: and extracting the feature information of the filtered sound signal to obtain first feature information.

In a specific embodiment, a speech recognition algorithm may be used to extract feature information of the filtered sound signal, i.e., the first feature information.

S130: the first characteristic information is compared with pre-stored second characteristic information.

The second characteristic information is the characteristic information of impact sound generated when the known motor and/or the pan-tilt impact the limit structural part.

S140: and judging whether the first characteristic information is consistent with the second characteristic information.

If yes, go to S150; if not, jumping to S110, and executing S110-S140.

If the first characteristic information is inconsistent with the second characteristic information, the motor and/or the holder does not collide with the limiting structural part at present, the motor and/or the holder does not reach the position of the limiting structural part, and a first rotating instruction can be continuously sent to the motor, so that the motor and/or the holder can continuously rotate along the current direction.

S150: and stopping sending the first rotation command to the motor.

And if the first characteristic information is consistent with the second characteristic information, the current motor and/or the cradle head is/are collided with the limiting structural part, namely the motor and/or the cradle head reaches the position of the limiting structural part. Therefore, if the first characteristic information is consistent with the second characteristic information, the controller stops sending the first rotation instruction to the motor, so that the motor and/or the holder do not rotate any more.

In the motor rotation process, the controller can record the position of motor and/or cloud platform in real time, and the concrete mode can be: the rotating angle of the motor is calculated by recording the number of steps of the motor rotation in a counting mode and combining with a known step angle and a gear ratio, and the position of the holder can be calculated by combining the rotating angle of the motor and the connecting mode of the motor and the holder. When the controller stops sending the first rotation command to the motor so that the motor does not continue to rotate, the controller may record the current position of the motor as the limit position of the rotation of the motor and/or the pan/tilt head.

The number of the limiting structural members may be more than one, for example, one limiting structural member may be arranged in each moving direction of the pan/tilt head. The motors can be controlled to rotate in different directions respectively, and the limit positions in different directions can be detected and recorded by adopting the method.

Through the implementation of this embodiment, this application is through the sound signal that acquires the microphone and gather at motor and/or cloud platform rotation in-process, judges whether current motor and/or cloud platform take place to strike with spacing structure according to this sound signal to stop control motor and/or cloud platform and continue the motion when spacing structure takes place to strike, reduce the striking noise when can confirming motor and/or cloud platform. And the current position of the motor can be recorded as the limit position when the impact occurs, and then the movement of the motor can be controlled according to the determined limit position in the subsequent actual use process, so that the possibility that the motor and/or the holder impact the limit structural member in the rotating process is effectively reduced, and the possibility of impact noise is further reduced. Meanwhile, the microphone is a common accessory of the camera, an additional sensor is not needed, the cost and the assembly difficulty can be reduced, and the main control pin resource is saved.

Fig. 5 is a schematic flow chart of a pan/tilt/zoom motor limiting method according to a second embodiment of the present application. It should be noted that, if the result is substantially the same, the flow sequence shown in fig. 5 is not limited in this embodiment. This embodiment is the actual use process of cloud platform motor spacing method. As shown in fig. 5, the present embodiment may include:

s210: and sending a first rotation instruction to the motor, and acquiring a sound signal collected by the microphone.

S220: and extracting the characteristic information of the sound signal to obtain first characteristic information.

S230: the first characteristic information is compared with pre-stored second characteristic information.

S240: and judging whether the first characteristic information is consistent with the second characteristic information.

If yes, executing S250; if not, jumping to S210, and executing S210-S240.

S250: and stopping sending the first rotation instruction to the motor, and recording the current position as the limit position.

In this embodiment, please refer to the first embodiment of the method for describing details of S210 to S250, which will not be repeated here.

S260: and sending a second rotation instruction to the motor, and calculating the real-time position.

The second rotation instruction can include information such as the direction, distance/step number of motor pivoted, and the motor can drive the cloud platform according to this second rotation instruction and rotate to the target location. During the rotation process of the motor and/or the pan/tilt head, the controller calculates the real-time position of the motor and/or the pan/tilt head, and the specific calculation mode can refer to the related description of the previous embodiment.

S270: and judging whether the real-time position reaches the limit position or whether the distance between the real-time position and the limit position is smaller than a preset threshold value.

If yes, go to step S280, otherwise go to step S260.

S280: and stopping sending the second rotation command to the motor.

The controller may control the rotation of the motor based on the calculated real-time position and the recorded limit position. If the calculated real-time position reaches the limit position, the motor and/or the holder and the limit structural part are/is considered to be in collision or about to collide, and the second rotating instruction is stopped being sent to the motor so that the motor and/or the holder stops rotating, so that the possibility of continuing rotating after the motor and/or the holder reaches the limit position is reduced, and the possibility of collision noise is reduced.

In addition, after the extreme position is determined, the motor and/or the cradle head may lose step and the cradle head position may be changed artificially in the rotation process, so that the actual position of the motor and/or the cradle head may not be consistent with the real-time position calculated by the controller, and the controller may make a mistake in judging whether the motor and/or the cradle head reaches the extreme position.

In order to avoid the above situations, the real-time position of the motor is calculated, meanwhile, the sound signal acquired by the microphone in real time can be continuously acquired, the sound information is analyzed to obtain third characteristic information, and the third characteristic information is compared with preset second characteristic information to judge whether the impact sound of the motor and/or the cradle head and the limiting structural member occurs at present. For a specific determination method, please refer to the first embodiment of the method, which is not repeated here.

And when the impact sound of the motor and/or the holder and the limiting structural member is judged to be generated at present, updating the limiting position to the currently calculated real-time position so as to eliminate the influence caused by the inconsistency of the actual position of the motor and/or the holder and the calculated real-time position.

Fig. 6 is a schematic structural diagram of an embodiment of the holder motor limiting device. As shown in fig. 6, the pan/tilt/zoom motor limiting device 60 includes a processor 61, and a memory 62 coupled to the processor 61, wherein the memory 62 stores program instructions for implementing the method of any of the above embodiments; the processor 61 is adapted to execute program instructions stored by the memory 62 to implement the method of any of the embodiments described above. The processor 61 may also be referred to as a CPU (Central Processing Unit). The processor 61 may be an integrated circuit chip having signal processing capabilities. The processor 61 may also be a general purpose processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

Referring to fig. 7, fig. 7 is a schematic structural diagram of a storage medium according to an embodiment of the present application. The storage medium 70 of the embodiment of the present application stores instructions, and the instructions, when executed, implement the method for limiting the pan/tilt/motor of the present application. The instructions may form a program file stored in the storage medium in the form of a software product, so as to enable a computer device (which may be a personal computer, a server, or a network device) or a processor (processor) to execute all or part of the steps of the methods according to the embodiments of the present application. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a mobile hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, or terminal devices, such as a computer, a server, a mobile phone, and a tablet.

In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and for example, a division of a unit is merely a logical division, and an actual implementation may have another division, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.

In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit. The above embodiments are merely examples and are not intended to limit the scope of the present disclosure, and all modifications, equivalents, and flow charts using the contents of the specification and drawings of the present disclosure or those directly or indirectly applied to other related technical fields are intended to be included in the scope of the present disclosure.

Claims

1. A holder motor limiting method is characterized by comprising the following steps:

acquiring a sound signal collected by a microphone;

extracting feature information of the sound signal to obtain first feature information;

comparing the first characteristic information with second characteristic information prestored, wherein the second characteristic information is characteristic information of impact sound generated when the motor and/or the holder impacts the limiting structural part;

and if the first characteristic information is consistent with the second characteristic information, stopping sending a first rotating instruction to the motor, wherein the first rotating instruction is used for controlling the motor to rotate.

2. The method of claim 1,

the acquiring of the sound signal collected by the microphone comprises:

and acquiring the sound signal collected by a microphone of the pan-tilt camera to which the motor belongs.

3. The method of claim 1,

the extracting the feature information of the sound signal to obtain first feature information includes:

filtering the sound signal, wherein the passband of the filtering comprises the frequency band of the impact sound;

and extracting the feature information of the sound signal after filtering to obtain the first feature information.

4. The method of claim 3,

the extracting the feature information of the sound signal after the filtering includes:

and extracting the characteristic information of the sound signal after filtering by adopting a speech recognition algorithm.

5. The method of any one of claims 1 to 4, further comprising:

and if the first characteristic information is consistent with the second characteristic information, recording the current position of the motor as the limit position.

6. The method of claim 5, further comprising:

sending a second rotation instruction to the motor, and acquiring a real-time position according to the second rotation instruction;

and if the real-time position reaches the limit position or the distance between the real-time position and the limit position is smaller than a preset threshold value, stopping sending the second rotation instruction to the motor.

7. The method of claim 6, further comprising:

acquiring the real-time position and simultaneously acquiring the sound signal acquired by the microphone;

extracting feature information of the sound signal to obtain third feature information;

comparing the third characteristic information with the pre-stored second characteristic information;

and if the third characteristic information is consistent with the second characteristic information, stopping sending the second rotation instruction to the motor, and updating the limit position to the current position.

8. The method of claim 1,

the first rotation instruction is a unidirectional rotation instruction.

9. A holder motor limiting device is characterized by comprising a processor and a memory coupled with the processor, wherein,

the memory is to store instructions for execution by the processor to implement the method of any one of claims 1-8.

10. A cloud deck camera is characterized by comprising a cloud deck, a motor, a limiting structural member and a controller, wherein the motor is used for driving the cloud deck to rotate;

the controller is configured to execute instructions to implement the method of any one of claims 1-8.

11. The pan-tilt camera according to claim 10, further comprising a microphone.

12. A storage medium storing instructions that, when executed, implement the method of any one of claims 1-8.