CN112702529B - Pan-tilt camera configuration method and device, readable storage medium and electronic equipment - Google Patents
Pan-tilt camera configuration method and device, readable storage medium and electronic equipment Download PDFInfo
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Abstract
The embodiment of the invention provides a pan-tilt camera configuration method and device, a readable storage medium and electronic equipment. The method comprises the following steps: the method comprises the steps that a device side sends a plurality of video streams collected by a plurality of cloud deck cameras mounted on the device side to a control side, wherein each video stream carries a cloud deck camera identification for collecting the video stream; the equipment terminal receives a main control camera configuration instruction which is sent by the control terminal and carries a first pan-tilt camera identifier, configures the first pan-tilt camera corresponding to the first pan-tilt camera identifier as a main control pan-tilt camera, and configures other pan-tilt cameras as driven pan-tilt cameras; the first pan/tilt/zoom camera identifier is selected from a plurality of pan/tilt/zoom camera identifiers analyzed from the plurality of video streams by the control terminal. The embodiment of the invention reduces the complexity of the configuration of the pan-tilt camera.
Description
Technical Field
The invention relates to the technical field of communication control, in particular to a method and a device for configuring a pan-tilt camera, a readable storage medium and electronic equipment.
Background
At present, in a scene where a multi-cloud-station camera is used, when the multi-cloud-station camera is controlled, a feature ID of a cloud-station camera corresponding to a picture preview window needs to be configured in advance at a control end, such as: the IP address or the name of the camera and the like of the camera, so that the pan-tilt camera is switched when the picture preview window is switched.
Specifically, initially, the control end performs the following operations according to the pre-configured feature IDs of each pan-tilt camera: the method comprises the steps that a camera IP address or a camera name is used for obtaining a video stream collected by a pan-tilt camera, the video stream is played in a preview window, and the pan-tilt camera is controlled according to needs during previewing; when the video stream played in the preview window needs to be switched, the video stream of another pan-tilt camera is acquired according to the feature ID of the other pan-tilt camera configured by the video stream, then the acquired video stream is played on the preview window, and the other pan-tilt camera is controlled according to the need during previewing. The method is relatively rigid, the control end must be configured with the feature ID of the pan-tilt camera in advance, otherwise, image acquisition and pan-tilt camera control cannot be realized.
Disclosure of Invention
The embodiment of the invention provides a method and a device for configuring a pan-tilt camera, a readable storage medium and electronic equipment, so as to reduce the complexity of the pan-tilt camera configuration.
The technical scheme of the embodiment of the invention is realized as follows:
a pan-tilt camera configuration method, the method comprising:
the method comprises the steps that a device side sends a plurality of video streams collected by a plurality of cloud deck cameras mounted on the device side to a control side, wherein each video stream carries a cloud deck camera identification for collecting the video stream;
the equipment terminal receives a main control camera configuration instruction which is sent by the control terminal and carries a first pan-tilt camera identifier, configures the first pan-tilt camera corresponding to the first pan-tilt camera identifier as a main control pan-tilt camera, and configures other pan-tilt cameras as driven pan-tilt cameras; the first holder camera identifier is selected from a plurality of holder camera identifiers analyzed from the plurality of video streams by the control end.
After configuring the first pan/tilt/zoom camera corresponding to the first pan/tilt/zoom camera identifier as the main control pan/tilt/zoom camera, the method further includes:
the equipment terminal receives a main control camera configuration instruction which is sent by the control terminal and carries a second pan-tilt camera identifier, configures the second pan-tilt camera corresponding to the second pan-tilt camera identifier as a main control pan-tilt camera, and configures the first pan-tilt camera as a driven pan-tilt camera; wherein, the configuration instruction of the master control camera carrying the second holder camera identifier is: the control end sends out when detecting that the preview main picture of the control end is switched from a first video stream collected by a first pan-tilt camera to a second video stream collected by a second pan-tilt camera.
After configuring the first pan/tilt head camera corresponding to the first pan/tilt head camera identifier as the main control pan/tilt head camera, the method further includes:
the equipment end receives a main control pan-tilt control command sent by the control end, and sends the command to a first pan-tilt where a first pan-tilt camera is located if the currently configured main control pan-tilt camera is the first pan-tilt camera; and/or the first and/or second light sources,
and the equipment terminal receives a main control holder camera control instruction sent by the control terminal, inquires that the currently configured main control holder camera is the first holder camera, and sends the instruction to the first holder camera.
After configuring the first pan/tilt head camera corresponding to the first pan/tilt head camera identifier as the main control pan/tilt head camera, the method further includes:
the equipment end receives the pan-tilt linkage opening instruction sent by the control end, acquires the identification of the currently configured main control pan-tilt camera, broadcasts the identification of the main control pan-tilt camera carried in the linkage opening instruction, and,
after each cradle head receives the linkage starting instruction, identifying a main control cradle head camera identification in the instruction, and if the main control cradle head camera identification is consistent with the cradle head camera identification of the cradle head, periodically broadcasting own attitude data to all other cradle heads; otherwise, starting to monitor the attitude data sent by other pan-tilt cameras, and adjusting the self attitude to be consistent with the monitored attitude data.
Configuring a second pan/tilt camera corresponding to the second pan/tilt camera identifier as a master pan/tilt camera, and configuring the first pan/tilt camera as a slave pan/tilt camera, and then further comprising:
when the equipment terminal detects that the equipment terminal is currently in the pan-tilt linkage mode, the second pan-tilt camera identification is carried in the linkage master control change instruction as a new master control pan-tilt camera identification and is broadcasted;
and each pan-tilt receives the linkage main control change instruction, identifies the main control pan-tilt camera mark in the instruction, and,
if the main control holder camera identification is consistent with the holder camera identification of the holder, judging whether the own mode is the main control mode, if so, keeping the main control mode unchanged, and continuously and periodically broadcasting the own attitude data to all other holders; otherwise, switching to a master control mode, and starting to periodically broadcast the attitude data of the mobile phone to all other holders;
if the main control holder camera identification is inconsistent with the holder camera identification of the holder, judging whether the self mode is the main control mode, if so, switching to the driven mode, starting to monitor attitude data sent by other holders, and adjusting the self attitude to be consistent with the monitored attitude data; otherwise, keeping the driven mode unchanged, continuously monitoring the attitude data sent by other pan-tilt units, and adjusting the self attitude to be consistent with the monitored attitude data.
After the device configures the first pan/tilt camera corresponding to the first pan/tilt camera identifier as the master control pan/tilt camera and before the device receives the master control camera configuration instruction carrying the second pan/tilt camera identifier sent by the control end, the method further includes:
the equipment end detects that the posture of a first cloud deck where a first cloud deck camera is located reaches a mechanical limit value, and then sends a main control cloud deck limit alarm to the control end;
and, the configuration instruction of the master control camera carrying the second pan-tilt camera identifier is: and the control end sends the preview main picture after receiving the main control holder limit alarm and when the preview main picture is switched from a first video stream acquired by a first holder camera to a second video stream acquired by a second holder camera.
The equipment end is unmanned aerial vehicle, the control end is the ground satellite station.
A cloud platform camera configuration device, the device is located the equipment end of carrying many cloud platform cameras, the device includes:
the image transmission module is used for sending a plurality of video streams acquired by a plurality of pan-tilt cameras mounted on the equipment end to the control end, wherein each video stream carries a pan-tilt camera identifier for acquiring the video stream;
the data transmission module receives a main control camera configuration instruction which is sent by the control end and carries the first holder camera identifier, and forwards the instruction to the configuration module;
the configuration module is used for receiving a main control camera configuration instruction which is sent by the data transmission module and carries a first holder camera identifier, configuring the first holder camera corresponding to the first holder camera identifier as a main control holder camera, and configuring other holder cameras as driven holder cameras; the first pan/tilt/zoom camera identifier is selected from a plurality of pan/tilt/zoom camera identifiers analyzed from the plurality of video streams by the control terminal.
A non-transitory computer readable storage medium storing instructions that, when executed by a processor, cause the processor to perform the steps of the pan-tilt camera configuration method of any one of the above.
An electronic device comprising a non-transitory computer readable storage medium as described above, and the processor having access to the non-transitory computer readable storage medium.
In the embodiment of the invention, when the device end sends the video stream of each pan-tilt camera to the control end, the corresponding pan-tilt camera identification is carried in each video stream, so that the control end can directly acquire the pan-tilt camera identification from the video stream, and inform the device end after selecting one pan-tilt camera identification as the main control pan-tilt camera identification, thereby the control end can realize the configuration of the main control pan-tilt camera without pre-configuring the characteristic ID of each pan-tilt camera, and the complexity of the configuration of the pan-tilt camera is reduced.
Drawings
Fig. 1 is a flowchart of a pan/tilt/zoom camera configuration method according to an embodiment of the present invention;
fig. 2 is a flowchart of a pan/tilt/zoom camera configuration method according to another embodiment of the present invention;
fig. 3 is a flowchart of a pan/tilt/zoom camera configuration method according to another embodiment of the present invention;
fig. 4 is a schematic structural diagram of a system configured by a pan-tilt camera of an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 5 is a flowchart of a method for configuring a pan-tilt camera of an unmanned aerial vehicle according to an embodiment of the present invention;
FIG. 6 is a diagram illustrating a switching of a screen window of a ground station according to an embodiment of the present invention;
fig. 7 is a flowchart of a method for linking multiple cloud platforms of an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 8 is a flowchart of a method for switching a master-slave pan/tilt camera of an unmanned aerial vehicle in a linkage mode according to an embodiment of the present invention;
fig. 9 is a schematic structural diagram of a pan/tilt/zoom camera configuration apparatus according to an embodiment of the present invention;
fig. 10 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
The invention is further described in detail below with reference to the drawings and specific embodiments.
For convenience of understanding, the following explanation is first given:
unmanned aerial vehicle: the unmanned plane is called unmanned plane for short, and is called UAV in English, and is an unmanned aerial vehicle operated by using a radio remote control device and a self-contained program control device.
Cloud platform camera: the three-axis mechanical stability-increasing holder and the high-definition camera are highly integrated.
The cradle head is linked: the multiple cloud platforms keep consistent in posture, and the linkage cloud platform is divided into a master control cloud platform and a driven cloud platform. And the master control holder performs attitude control according to the rocker instruction, and the slave holder adjusts the own attitude according to the attitude information of the master control holder to be consistent with the master control holder.
A ground station: and the ground control end of the unmanned aerial vehicle supports the picture preview of the pan-tilt camera and the control of the pan-tilt and the pan-tilt camera.
The image transmission module: and the unmanned aerial vehicle is used for transmitting the video code stream of the pan-tilt camera to the ground station. And simultaneous transmission of multiple video streams is supported.
The data transmission module: and a module for receiving the control instruction of the ground station to the unmanned aerial vehicle, the cradle head and the cradle head camera in the unmanned aerial vehicle and simultaneously issuing the states of the unmanned aerial vehicle, the cradle head and the cradle head camera to the ground station.
Fig. 1 is a flowchart of a pan-tilt camera configuration method according to an embodiment of the present invention, which includes the following specific steps:
step 101: the equipment end sends a plurality of video streams collected by a plurality of cloud deck cameras mounted on the equipment end to the control end, wherein each video stream carries a cloud deck camera identification for collecting the video stream.
Step 102: the equipment terminal receives a main control camera configuration instruction which is sent by the control terminal and carries a first pan-tilt camera identifier, configures the first pan-tilt camera corresponding to the first pan-tilt camera identifier as a main control pan-tilt camera, and configures other pan-tilt cameras as driven pan-tilt cameras; the first holder camera identification is selected from a plurality of holder camera identifications analyzed from a plurality of video streams by the control end.
In practical application, if the preview window of the control end supports multi-picture display, the control end can use the pan-tilt camera identifier in the video stream of the main picture as the main control pan-tilt camera identifier.
In the above embodiment, when the device side sends the video stream of each pan-tilt camera to the control side, the device side carries the corresponding pan-tilt camera identifier in each video stream, and thus, the control side can directly acquire the pan-tilt camera identifier from the video stream, and notifies the device side after selecting one pan-tilt camera identifier as the main control pan-tilt camera identifier, so that the control side can configure the pan-tilt camera without configuring the feature ID of each pan-tilt camera in advance, the complexity of the pan-tilt camera configuration is reduced, and the flexibility of acquiring the pan-tilt camera image and controlling the pan-tilt camera and the pan-tilt camera is improved.
In an optional embodiment, in step 102, after configuring the first pan/tilt camera corresponding to the first pan/tilt camera identifier as the main control pan/tilt camera, the method further includes: and the equipment terminal receives a main control camera configuration instruction which is sent by the control terminal and carries a second cloud platform camera identification, configures the second cloud platform camera corresponding to the second cloud platform camera identification as a main control cloud platform camera, and configures the first cloud platform camera as a driven cloud platform camera. Wherein, the main control camera configuration instruction carrying the second pan-tilt camera identifier is: the control end sends out when detecting that the preview main picture of the control end is switched from a first video stream collected by a first pan-tilt camera to a second video stream collected by a second pan-tilt camera.
The embodiment realizes the switching of the main control pan-tilt camera.
In an optional embodiment, after step 102, the method further includes: the equipment end receives a main control pan-tilt control instruction sent by the control end, inquires that the currently configured main control pan-tilt camera is a first pan-tilt camera, and sends the instruction to a first pan-tilt where the first pan-tilt camera is located; or/and the equipment end receives a main control holder camera control instruction sent by the control end, inquires that the currently configured main control holder camera is the first holder camera, and sends the instruction to the first holder camera.
For example: when the control end takes the pan-tilt camera corresponding to the preview main picture as the main control pan-tilt camera, when the control end wants to adjust the display angle of the picture, an attitude adjustment instruction aiming at the pan-tilt where the main control pan-tilt camera is located is sent to the equipment end, and after the equipment end receives the instruction, the currently configured main control pan-tilt camera is inquired, and the instruction is sent to the pan-tilt where the currently configured main control pan-tilt camera is located; or when the control end takes the pan-tilt camera corresponding to the preview main picture as the main control pan-tilt camera, when the control end wants to adjust the resolution of the picture, a resolution adjustment instruction for the main control pan-tilt camera is sent to the equipment end, and after the equipment end receives the instruction, the currently configured main control pan-tilt camera is inquired, and the instruction is sent to the currently configured main control pan-tilt camera.
Fig. 2 is a flowchart of a pan/tilt/zoom camera configuration method according to another embodiment of the present invention, which includes the following specific steps:
step 201: the equipment end sends a plurality of video streams collected by a plurality of cloud deck cameras mounted on the equipment end to the control end, wherein each video stream carries a cloud deck camera identification for collecting the video stream.
For example: the equipment end is connected with each pan-tilt camera through a bus, and then the equipment end initially sends a coded polling message to each pan-tilt camera mounted on the bus so as to acquire the serial number of each pan-tilt camera.
And when the equipment end performs compression coding on the video stream of each pan-tilt camera, coding the serial number of the pan-tilt camera into the corresponding video stream.
Step 202: the equipment terminal receives a main control camera configuration instruction carrying a first pan-tilt camera identifier sent by the control terminal, configures the first pan-tilt camera corresponding to the first pan-tilt camera identifier as a main control pan-tilt camera, and configures other pan-tilt cameras as driven pan-tilt cameras; the first holder camera identification is selected from a plurality of holder camera identifications analyzed from a plurality of video streams by the control end.
In practical applications, if the preview window of the control end supports multi-picture display, the control end may use the pan/tilt/zoom camera identifier in the video stream of the main picture as the main control pan/tilt/zoom camera identifier.
Initially, the cradle head camera with the minimum or maximum serial number can be defaulted by the equipment end as the main control cradle head camera.
Step 203: and the equipment end receives the cradle head linkage instruction sent by the control end, acquires the identification of the currently configured main control cradle head camera, and broadcasts the identification of the main control cradle head camera carried in the linkage starting instruction.
Step 204: after each cradle head receives the linkage starting instruction, identifying a main control cradle head camera identification in the instruction, and if the main control cradle head camera identification is consistent with the cradle head camera identification of the cradle head, periodically broadcasting own attitude data to all other cradle heads; otherwise, starting to monitor the attitude data sent by other holders, and adjusting the self attitude to be consistent with the monitored attitude data.
The main control holder can periodically broadcast the current actual attitude data of the main control holder to all other holders, and can also broadcast the current expected attitude data of the main control holder to all other holders.
And each cradle head is provided with a cradle head camera identifier of the cradle head.
In the above embodiment, when the multiple cloud platforms are to be linked, the master control cloud platform attitude data does not need to be acquired first and then forwarded to the driven cloud platforms one by one, but the master control cloud platform is directly informed to broadcast the attitude data to the driven cloud platforms, so that the linkage delay caused by the forwarding process is avoided, the linkage delay is greatly reduced, and the linkage real-time performance is improved.
Fig. 3 is a flowchart of a pan/tilt/zoom camera configuration method according to another embodiment of the present invention, which includes the following specific steps:
step 301: the equipment end sends a plurality of video streams collected by a plurality of cloud deck cameras mounted on the equipment end to the control end, wherein each video stream carries a cloud deck camera identification for collecting the video stream.
Step 302: the equipment terminal receives a main control camera configuration instruction which is sent by the control terminal and carries a first pan-tilt camera identifier, configures the first pan-tilt camera corresponding to the first pan-tilt camera identifier as a main control pan-tilt camera, and configures other pan-tilt cameras as driven pan-tilt cameras; the first holder camera identification is selected from a plurality of holder camera identifications analyzed from a plurality of video streams by the control end.
In practical application, if the preview window of the control end supports multi-picture display, the control end can use the pan-tilt camera identifier in the video stream of the main picture as the main control pan-tilt camera identifier.
Initially, the cradle head camera with the minimum or maximum serial number can be defaulted by the equipment end as the main control cradle head camera.
Step 303: and the equipment terminal receives a main control camera configuration instruction which is sent by the control terminal and carries a second cloud platform camera identification, configures the second cloud platform camera corresponding to the second cloud platform camera identification as a main control cloud platform camera, and configures the first cloud platform camera as a driven cloud platform camera.
In practical application, if the preview window of the control end supports multi-picture display, when the control end finds that the main picture is switched, the cradle head camera identification in the switched video stream is used as a new main control cradle head camera identification, and the new main control cradle head camera identification is carried in a main control camera configuration command and sent to the equipment end. As shown in fig. 4, a large picture (i.e., a main picture) of a current preview window is a picture of the pan/tilt camera a, a user switches the picture window by clicking a small picture of the pan/tilt camera B, the picture of the pan/tilt camera B is a large picture, and the picture of the pan/tilt camera a is a small picture after switching, and meanwhile, the ground station notifies the unmanned aerial vehicle of the number of the pan/tilt camera B corresponding to the large picture, so that the unmanned aerial vehicle is required to switch the main control pan/tilt camera from the pan/tilt camera a to the pan/tilt camera B, and the unmanned aerial vehicle changes the stored number of the main control pan/tilt camera to the number of the pan/tilt camera B.
Step 304: and when the equipment terminal detects that the equipment terminal is currently in the cradle head linkage mode, the second cradle head camera identification is carried in the linkage master control change instruction as a new master control cradle head camera identification and is broadcasted.
Step 305: after each cradle head receives the linkage main control change instruction, the main control cradle head camera identification in the instruction is identified,
if the main control holder camera identification is consistent with the holder camera identification of the holder, judging whether the own mode is the main control mode, if so, keeping the main control mode unchanged, and continuously and periodically broadcasting the own attitude data to all other holders; otherwise, the slave mode is changed into the master mode, and the self attitude data is periodically broadcasted to all other pan heads. When the pan-tilt is in the master control mode, the pan-tilt camera connected with the pan-tilt is currently the master control pan-tilt camera; similarly, when the pan/tilt head is in the slave mode, the pan/tilt head camera connected to the pan/tilt head is currently the slave pan/tilt head camera.
If the main control holder camera identification is inconsistent with the holder camera identification of the holder, judging whether the self mode is the main control mode, if so, changing the main control mode into the slave mode, starting to monitor attitude data sent by other holder cameras, and adjusting the self attitude to be consistent with the monitored attitude data; otherwise, keeping the driven mode unchanged, continuously monitoring the attitude data sent by other holders, and adjusting the self attitude to be consistent with the monitored attitude data.
In the above embodiment, when the main control pan-tilt camera is switched, if the main control pan-tilt camera is in the pan-tilt linkage mode, the timely switching between the main control mode and the slave mode of the pan-tilt where the new main control pan-tilt camera is located and the old main control pan-tilt camera is located is realized, so that the new main control pan-tilt can timely synchronize the attitude data to other pan-tilts.
The main control role and the slave role of the pan-tilt camera support dynamic change, so that the switching of the main control pan-tilt in the cloud platform linkage is realized. For example: when the controlled target angle is within the mechanical limit of the main control holder, the driven holder cannot reach the target angle even if the mechanical limit is absent, at the moment, the camera of the main control holder can be dynamically switched, and the driven holder is switched into the main control holder and can continue to rotate to the target angle. Specifically, the method comprises the following steps: after step 302 and before step 303, when the device end detects that the posture of the first pan/tilt head where the first pan/tilt head camera is located reaches the mechanical limit value, sending a main control pan/tilt head limit alarm to the control end (for example, the mechanical rotation range of the first pan/tilt head where the first pan/tilt head camera is located is 0-180 degrees, and when the mechanical rotation range reaches 180 degrees, the device end sends the main control pan/tilt head limit alarm), after receiving the main control pan/tilt head limit alarm, the control end switches the first video stream acquired by the first pan/tilt head camera in the preview main picture thereof into the second video stream acquired by the second pan/tilt head camera, and sends a main control camera configuration instruction carrying the identification of the second pan/tilt head camera to the device end.
The equipment end in the embodiment of the invention can be an unmanned aerial vehicle, and the control end can be a ground station.
Fig. 5 is a schematic structural diagram of a system for configuring a pan/tilt camera of an unmanned aerial vehicle according to an embodiment of the present invention, which mainly includes: unmanned aerial vehicle, cloud platform camera and ground station triplex. Wherein the content of the first and second substances,
the unmanned aerial vehicle is connected with each pan-tilt camera through a CAN bus, and a plurality of pan-tilt cameras are connected;
the unmanned aerial vehicle comprises a data transmission module and an image transmission module, wherein the image transmission module acquires video streams from all pan-tilt cameras through network connection; the ground station performs control and state data interaction of a cloud deck, a cloud deck camera and the unmanned aerial vehicle through a data transmission module, and acquires a video stream of the cloud deck camera through an image transmission module; the image transmission module supports sending the video streams of the plurality of pan-tilt cameras to the ground station;
the ground station displays the video pictures of the plurality of pan-tilt cameras in a large-size window, and the pan-tilt camera pictures can be previewed in real time through the ground station, and the pan-tilt camera with large pictures at present are controlled. Meanwhile, the ground station can open or close the cradle head linkage function. When linkage is started, the cradle head where the cradle head camera corresponding to the large picture is located is the main control cradle head, and the other cradle heads are kept consistent with the main control cradle head in posture.
Fig. 6 is a flowchart of a method for configuring a pan-tilt camera of an unmanned aerial vehicle according to an embodiment of the present invention, which includes the following specific steps:
step 601: all cloud platform cameras of mounting on the unmanned aerial vehicle polling bus to acquire the serial number of each cloud platform camera, and, at the beginning, the cloud platform camera that the number is minimum is acquiescently to unmanned aerial vehicle, and when unmanned aerial vehicle received the control command to cloud platform camera that ground station sent this moment, the current main control cloud platform camera was forwarded to control command.
Step 602: the image transmission module of the unmanned aerial vehicle acquires the serial numbers of the cloud deck cameras, codes the corresponding cloud deck camera serial numbers and the video streams together when the video streams collected by the cloud deck cameras are compressed and coded, and transmits the coded video streams of the cloud deck cameras to the ground station through the wireless network.
Step 603: and analyzing the received video stream by the ground station to obtain the pan-tilt camera number corresponding to each video, and displaying the video stream with the minimum default pan-tilt camera number as a large picture on a preview window at the beginning, and displaying the rest pictures as small pictures.
Step 604: the ground station finds that the video stream displayed by the large picture on the preview window is switched, and then carries the cradle head camera number corresponding to the switched video stream in the main control cradle head camera configuration instruction to inform the unmanned aerial vehicle, and the unmanned aerial vehicle updates the main control cradle head camera number stored by the unmanned aerial vehicle.
As shown in fig. 4, the current large picture corresponds to the pan/tilt/zoom camera a, then the user clicks the small picture of the pan/tilt/zoom camera B to switch the picture window, the switched large picture corresponds to the pan/tilt/zoom camera B, and the picture of the pan/tilt/zoom camera a is changed into the small picture.
Step 605: the ground station sends a main control pan-tilt control instruction to the unmanned aerial vehicle, the unmanned aerial vehicle receives the instruction, obtains a main control pan-tilt camera number stored by the unmanned aerial vehicle, and controls a pan-tilt where the main control pan-tilt camera is located according to the content of the instruction; or/and the ground station sends a main control pan-tilt camera control instruction to the unmanned aerial vehicle, the unmanned aerial vehicle receives the instruction, acquires a main control pan-tilt camera number stored by the unmanned aerial vehicle, and controls the main control pan-tilt camera according to the content of the instruction.
In the above embodiment, the serial number of the pan-tilt-zoom camera is added to the video stream by the unmanned aerial vehicle, so that when the ground station switches among a plurality of pictures, the ground station can automatically identify the pan-tilt-zoom camera serial number corresponding to the current main picture, thereby realizing that the ground station automatically switches and controls the pan-tilt-zoom camera corresponding to the main picture, binding the main control pan-tilt camera with the main picture without acquiring the IP address or name of the pan-tilt camera in advance, and realizing automatic switching of the main control pan-tilt or/and the main control pan-tilt-zoom camera according to the switching of the main picture.
Fig. 7 is a flowchart of a method for linking multiple cloud platforms of an unmanned aerial vehicle according to an embodiment of the present invention, which includes the following specific steps:
step 701: the ground station sends a cloud platform linkage opening instruction to the unmanned aerial vehicle.
Step 702: the unmanned aerial vehicle receives the instruction, acquires the stored main control pan/tilt camera number, attaches the main control pan/tilt camera number to the instruction, and broadcasts the instruction to all pan/tilt heads.
Step 703: each cradle head receives the instruction, identifies the number of the main control cradle head camera in the instruction, judges whether the number is consistent with the number of the cradle head camera configured by the cradle head camera, and if so, executes step 704; otherwise, step 705 is performed.
Each pan-tilt is configured with the pan-tilt camera number of the pan-tilt.
Step 704: the cradle head periodically broadcasts the current attitude data of the cradle head, and the process is finished.
Step 705: the cradle head starts to monitor attitude data sent by other cradle heads, and adjusts the self attitude according to the received attitude data, so that the self attitude is consistent with the received attitude data.
Fig. 8 is a flowchart of a method for switching a master cradle head and a slave cradle head of an unmanned aerial vehicle in a linkage mode, which is provided by the embodiment of the invention and comprises the following specific steps:
step 801: the unmanned aerial vehicle receives a main control holder camera configuration instruction carrying a main control holder camera number sent by the ground station, and updates the main control holder camera number stored by the unmanned aerial vehicle according to the main control holder camera number in the instruction.
Step 802: the unmanned aerial vehicle judges whether the unmanned aerial vehicle is in the pan-tilt linkage mode at present, if so, the step 803 is executed; otherwise, no further processing is performed, and the process ends.
Step 803: and the unmanned aerial vehicle broadcasts a linkage master control change instruction carrying a new master control holder camera number outwards.
Step 804: after each pan-tilt receives the linkage master control change instruction, identifying a master control pan-tilt camera number in the instruction, judging whether the master control pan-tilt camera number is consistent with a pan-tilt camera number configured by the pan-tilt camera number, and if so, executing step 805; otherwise, step 808 is performed.
Step 805: the cradle head judges whether the current mode of the cradle head is the master control mode, if so, the step 806 is executed; otherwise, step 807 is performed.
Step 806: the cradle head continuously keeps the master control mode unchanged, the attitude data of the cradle head is continuously and periodically broadcast to all other cradle heads, and the process is finished.
Step 807: the cradle head is changed from the slave mode to the master control mode, the self attitude data is periodically broadcasted to all other cradle heads, and the process is finished.
Step 808: the cradle head judges whether the current mode of the cradle head is the master control mode, if so, the step 809 is executed; otherwise, step 810 is performed.
Step 809: the cradle head is changed from the master control mode to the slave mode, the attitude data sent by other cradle heads is monitored, the self attitude is adjusted to be consistent with the monitored attitude data, and the process is finished.
Step 810: and the cradle head keeps the driven mode unchanged, continuously monitors the attitude data sent by other cradle heads, and adjusts the self attitude to be consistent with the monitored attitude data.
Fig. 9 is a schematic structural diagram of a pan/tilt/zoom camera configuration apparatus according to an embodiment of the present invention, where the apparatus is located at a device end on which a multi-pan/tilt/zoom camera is mounted, and the apparatus mainly includes:
the image transmission module 91 sends a plurality of video streams collected by a plurality of pan/tilt cameras mounted on the device side to the control side, where each video stream carries a pan/tilt camera identifier for collecting the video stream.
The data transmission module 92 receives a main control camera configuration instruction carrying the first pan/tilt camera identifier sent by the control terminal, and forwards the instruction to the configuration module 93.
The configuration module 93 is configured to receive a master control camera configuration instruction carrying a first pan/tilt camera identifier sent by the data transmission module 92, configure the first pan/tilt camera corresponding to the first pan/tilt camera identifier as a master control pan/tilt camera, and configure other pan/tilt cameras as slave pan/tilt cameras; the first pan/tilt/zoom camera identifier is selected from a plurality of pan/tilt/zoom camera identifiers analyzed from the plurality of video streams by the control terminal.
In an optional embodiment, the data transmission module 92 is further configured to receive a main control camera configuration instruction carrying a second pan/tilt camera identifier sent by the control end, and forward the instruction to the configuration module 93, where the main control camera configuration instruction carrying the second pan/tilt camera identifier is: the control terminal detects that the preview main picture of the control terminal is sent when a first video stream collected by the first pan-tilt camera is switched into a second video stream collected by the second pan-tilt camera,
the configuration module 93 is further configured to receive a main control camera configuration instruction carrying a second pan/tilt camera identifier sent by the data transmission module 92, configure the second pan/tilt camera corresponding to the second pan/tilt camera identifier as a main control pan/tilt camera, and configure the first pan/tilt camera as a slave pan/tilt camera.
In an alternative embodiment, the configuration module 93 is further configured to: receiving a main control pan-tilt control instruction sent by a control end, inquiring that a currently configured main control pan-tilt camera is a first pan-tilt camera, and sending the instruction to a first pan-tilt where the first pan-tilt camera is located; and/or receiving a main control holder camera control instruction sent by the control end, inquiring that the currently configured main control holder camera is the first holder camera, and sending the instruction to the first holder camera.
In an alternative embodiment, the configuration module 93 is further configured to: receiving a pan-tilt linkage opening instruction sent by a control end, acquiring an identifier of a currently configured main control pan-tilt camera, carrying the identifier of the main control pan-tilt camera in the linkage opening instruction, and broadcasting the identifier so as to enable: and after each cradle head receives the linkage starting instruction, identifying a main control cradle head camera identification in the instruction, if the main control cradle head camera identification is consistent with the cradle head camera identification of the cradle head, periodically broadcasting own attitude data to other cradle heads, otherwise, starting to monitor attitude data sent by other cradle heads, and adjusting the own attitude to be consistent with the monitored attitude data.
In an optional embodiment, the configuring module 93 configures the second pan/tilt camera corresponding to the second pan/tilt camera identifier as the master pan/tilt camera, and configures the first pan/tilt camera as the slave pan/tilt camera, and further includes: detecting to be in cloud platform linkage mode at present, then carrying out the broadcast away in linkage master control change instruction with second cloud platform camera sign as new master control cloud platform camera sign to make: after each cradle head receives the linkage main control change instruction, the main control cradle head camera identification in the instruction is identified,
if the main control holder camera identification is consistent with the holder camera identification of the holder, judging whether the self mode is the main control mode, if so, keeping the main control mode unchanged, and continuously and periodically broadcasting the self attitude data to all other holders; otherwise, switching to a master control mode, and starting to periodically broadcast the attitude data of the mobile phone to all other holders;
if the main control holder camera identification is inconsistent with the holder camera identification of the holder, judging whether the self mode is the main control mode, if so, changing the main control mode into the slave mode, starting to monitor the attitude data sent by other holders, and adjusting the self attitude to be consistent with the monitored attitude data; otherwise, keeping the driven mode unchanged, continuously monitoring the attitude data sent by other holders, and adjusting the self attitude to be consistent with the monitored attitude data.
In an optional embodiment, the equipment end is an unmanned aerial vehicle, and the control end is a ground station.
Embodiments of the present invention also provide a non-transitory computer-readable storage medium storing instructions, which when executed by a processor, cause the processor to perform the steps of the pan-tilt camera configuration method according to any one of the above embodiments.
Fig. 10 is a schematic structural diagram of an electronic device according to an embodiment of the present invention, which mainly includes the non-transitory computer-readable storage medium described above and a processor that can access the non-transitory computer-readable storage medium.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and should not be taken as limiting the scope of the present invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (9)
1. A pan-tilt camera configuration method, characterized in that the method comprises:
the method comprises the steps that a device side sends a plurality of video streams collected by a plurality of cloud deck cameras mounted on the device side to a control side, wherein each video stream carries a cloud deck camera identification for collecting the video stream;
the equipment terminal receives a main control camera configuration instruction carrying a first pan-tilt camera identifier sent by the control terminal, configures the first pan-tilt camera corresponding to the first pan-tilt camera identifier as a main control pan-tilt camera, and configures other pan-tilt cameras as driven pan-tilt cameras; the first holder camera identifier is selected from a plurality of holder camera identifiers analyzed from the plurality of video streams by the control terminal;
after configuring the first pan/tilt head camera corresponding to the first pan/tilt head camera identifier as the main control pan/tilt head camera, the method further includes:
the equipment end receives the pan-tilt linkage opening instruction sent by the control end, acquires the identification of the currently configured main control pan-tilt camera, broadcasts the identification of the main control pan-tilt camera carried in the linkage opening instruction, and,
after each cradle head receives the linkage starting instruction, identifying a main control cradle head camera identification in the instruction, and if the main control cradle head camera identification is consistent with the cradle head camera identification of the cradle head, periodically broadcasting own attitude data to all other cradle heads; otherwise, starting to monitor the attitude data sent by other pan-tilt cameras, and adjusting the self attitude to be consistent with the monitored attitude data.
2. The method according to claim 1, wherein after configuring the first pan/tilt camera corresponding to the first pan/tilt camera identifier as the master pan/tilt camera, further comprising:
the equipment terminal receives a main control camera configuration instruction which is sent by the control terminal and carries a second pan-tilt camera identifier, configures the second pan-tilt camera corresponding to the second pan-tilt camera identifier as a main control pan-tilt camera, and configures the first pan-tilt camera as a driven pan-tilt camera; wherein, the configuration instruction of the master control camera carrying the second holder camera identifier is: the control end sends out when detecting that the preview main picture of the control end is switched from a first video stream collected by a first pan-tilt camera to a second video stream collected by a second pan-tilt camera.
3. The method according to claim 1, wherein after configuring the first pan/tilt camera corresponding to the first pan/tilt camera identifier as the master pan/tilt camera, further comprising:
the equipment end receives a main control pan-tilt control command sent by the control end, and sends the command to a first pan-tilt where a first pan-tilt camera is located if the currently configured main control pan-tilt camera is the first pan-tilt camera; and/or the first and/or second light sources,
and the equipment terminal receives a main control holder camera control instruction sent by the control terminal, inquires that the currently configured main control holder camera is the first holder camera, and sends the instruction to the first holder camera.
4. The method according to claim 2, wherein after configuring the second pan/tilt camera corresponding to the second pan/tilt camera identification as the master pan/tilt camera and configuring the first pan/tilt camera as the slave pan/tilt camera, further comprising:
when the equipment terminal detects that the equipment terminal is currently in the pan-tilt linkage mode, the second pan-tilt camera identification is carried in the linkage master control change instruction as a new master control pan-tilt camera identification and broadcasted;
and after each pan-tilt receives the linkage master control change instruction, the master control pan-tilt camera identification in the instruction is identified,
if the main control holder camera identification is consistent with the holder camera identification of the holder, judging whether the own mode is the main control mode, if so, keeping the main control mode unchanged, and continuously and periodically broadcasting the own attitude data to all other holders; otherwise, switching to a master control mode, and starting to periodically broadcast the attitude data of the mobile phone to all other cloud platforms;
if the main control holder camera identification is inconsistent with the holder camera identification of the holder, judging whether the self mode is the main control mode, if so, switching to the driven mode, starting to monitor attitude data sent by other holders, and adjusting the self attitude to be consistent with the monitored attitude data; otherwise, keeping the driven mode unchanged, continuously monitoring the attitude data sent by other holders, and adjusting the self attitude to be consistent with the monitored attitude data.
5. The method according to claim 2, wherein after the device configures the first pan/tilt camera corresponding to the first pan/tilt camera identifier as the main control pan/tilt camera and before the device receives the main control camera configuration instruction carrying the second pan/tilt camera identifier sent by the control end, the method further comprises:
the equipment end detects that the posture of a first cloud deck where a first cloud deck camera is located reaches a mechanical limit value, and then sends a main control cloud deck limit alarm to the control end;
and, the configuration instruction of the master control camera carrying the second pan-tilt camera identifier is: and the control end sends the preview main picture after receiving the main control holder limit alarm and when the preview main picture is switched from a first video stream acquired by a first holder camera to a second video stream acquired by a second holder camera.
6. The method of claim 1, wherein the device end is a drone and the control end is a ground station.
7. The utility model provides a cloud platform camera configuration device, the device is located the equipment end of mounting many cloud platform cameras, its characterized in that, the device includes:
the image transmission module is used for sending a plurality of video streams acquired by a plurality of pan-tilt cameras mounted on the equipment end to the control end, wherein each video stream carries a pan-tilt camera identifier for acquiring the video stream;
the data transmission module receives a main control camera configuration instruction which is sent by the control end and carries the first holder camera identifier, and forwards the instruction to the configuration module;
the configuration module is used for receiving a main control camera configuration instruction which is sent by the data transmission module and carries a first holder camera identifier, configuring the first holder camera corresponding to the first holder camera identifier as a main control holder camera, and configuring other holder cameras as driven holder cameras; wherein the first pan/tilt camera identifier is selected from a plurality of pan/tilt camera identifiers analyzed from the plurality of video streams by the control terminal;
the configuration module is further used for receiving a cradle head linkage opening instruction sent by the control end, acquiring the identification of the currently configured main control cradle head camera, carrying the identification of the main control cradle head camera in the linkage opening instruction and broadcasting the identification so as to enable: and after each cradle head receives the linkage starting instruction, identifying a main control cradle head camera identification in the instruction, if the main control cradle head camera identification is consistent with the cradle head camera identification of the cradle head, periodically broadcasting own attitude data to other cradle heads, otherwise, starting to monitor attitude data sent by other cradle head cameras, and adjusting the own attitude to be consistent with the monitored attitude data.
8. A non-transitory computer readable storage medium storing instructions that, when executed by a processor, cause the processor to perform the steps of the pan-tilt camera configuration method of any one of claims 1 to 6.
9. An electronic device comprising the non-transitory computer readable storage medium of claim 8, and the processor having access to the non-transitory computer readable storage medium.
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| CN104662911A (en) * | 2013-09-03 | 2015-05-27 | 索尼公司 | Decoding device, decoding method, encoding device, and encoding method |
| CN111866446A (en) * | 2019-04-26 | 2020-10-30 | 梅克朗有限两合公司 | Vehicle observation system |
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