CN114915719A

CN114915719A - Self-checking method and device for holder camera shooting equipment, holder camera shooting equipment and medium

Info

Publication number: CN114915719A
Application number: CN202110176448.9A
Authority: CN
Inventors: 万新贺; 李海涛; 赵传迅
Original assignee: Zhejiang Uniview Technologies Co Ltd
Current assignee: Zhejiang Uniview Technologies Co Ltd
Priority date: 2021-02-09
Filing date: 2021-02-09
Publication date: 2022-08-16
Anticipated expiration: 2041-02-09
Also published as: CN114915719B

Abstract

The application relates to a self-checking method and device of a holder camera device, the holder camera device and a medium. The self-test method is characterized by comprising the following steps: controlling a driving mechanism to drive a holder and an image acquisition device to rotate towards a first direction, and acquiring each first image frame acquired by the image acquisition device; when two adjacent first image frames meet the similarity condition, determining a first zero point of the holder, and controlling the driving mechanism to stop rotating; controlling the driving mechanism to drive the holder and the image acquisition device to rotate towards a second direction, and acquiring each second image frame acquired by the image acquisition device; the second direction is opposite to the first direction; when two adjacent second image frames meet the similarity condition, determining a second zero point of the holder, and controlling the driving mechanism to stop rotating; and determining whether the self-checking of the cradle head is finished or not according to whether the consumed time for the cradle head to rotate from one zero point to the other zero point of the first zero point and the second zero point is within the design time range or not.

Description

Self-checking method and device of holder camera shooting equipment, holder camera shooting equipment and medium

Technical Field

The application relates to the technical field of cloud deck zero point detection, in particular to a self-checking method and device of cloud deck camera equipment, cloud deck camera equipment and a medium.

Background

The cradle head is a supporting device for installing and fixing the image acquisition device and is divided into a fixed cradle head and an electric cradle head. The fixed cloud platform is suitable for the condition that the monitoring range is not large, the horizontal and pitching angles of the camera can be adjusted after the camera is installed on the fixed cloud platform, and the adjusting mechanism is locked after the best working posture is achieved. The electric pan-tilt is suitable for scanning and monitoring a large range, and can enlarge the monitoring range of the camera. The motor receives the signal from the controller to accurately operate and position, and the camera on the pan-tilt can automatically scan the monitoring area and track the monitored object under the control of the monitoring center attendant under the action of the control signal.

When the electric cradle head is applied, zero point detection is needed after the electric cradle head is electrified, and the rotation position of the cradle head and the coordinates of the monitoring position are controlled by using the detected zero point coordinate position. When the cradle head zero point detection is carried out at present, the detection is realized in a signal feedback mode, specifically, a detection signal jumping point of a sensor such as a Hall sensor or an optical interrupt sensor is used as a zero point position, and the scheme adds an additional sensor and has higher cost; at present, zero point detection is realized through multiple times of wall collision of the cradle head, the detection mode is poor in accuracy, long in detection time consumption, and easy to damage corresponding structures determined at the zero point, and the service life of the motor is shortened.

Disclosure of Invention

The present application aims to solve at least one of the above-mentioned technical drawbacks, and proposes the following technical solutions.

In a first aspect, the present application provides a self-checking method for a pan/tilt/zoom camera apparatus, where the pan/tilt/zoom camera apparatus includes a driving mechanism, a pan/tilt unit, and an image acquisition device, the self-checking method includes:

controlling the driving mechanism to drive the holder and the image acquisition device to rotate towards a first direction, and acquiring each first image frame acquired by the image acquisition device; when two adjacent first image frames meet the similarity condition, determining a first zero point of the holder, and controlling the driving mechanism to stop rotating;

controlling the driving mechanism to drive the holder and the image acquisition device to rotate towards a second direction, and acquiring each second image frame acquired by the image acquisition device; the second direction is opposite to the first direction; when two adjacent second image frames meet the similarity condition, determining a second zero point of the holder, and controlling the driving mechanism to stop rotating;

and determining whether the self-checking of the cradle head is finished or not according to whether the time consumed by the cradle head to rotate from one zero point to the other zero point of the first zero point and the second zero point is within a design time range or not.

Optionally, the determining whether the self-test of the cradle head is completed according to whether the time taken for the cradle head to rotate from one zero point of the first zero point and the second zero point to the other zero point falls within a design time range includes:

and if the time consumed by the cradle head to rotate from one zero point of the first zero point and the second zero point to the other zero point falls within a design time range, determining that the self-checking of the cradle head is completed.

Optionally, in the process of acquiring each first image frame acquired by the image acquisition apparatus, the method further includes:

dividing each first image frame into at least two image areas;

determining a gray value of a pixel point in each image area of each first image frame;

determining a gray value difference value of each image area of one first image frame and a corresponding image area of the other first image frame in the first image frames of every two adjacent frames;

and when two adjacent first image frames meet the similarity condition, determining a first zero point of the holder and controlling the driving mechanism to stop rotating, wherein the method comprises the following steps:

and when the occupation ratio of the image area with the gray value difference value smaller than a designed gray value threshold exceeds a designed occupation ratio threshold, determining that the two adjacent first image frames meet similar conditions, determining a first zero point of the holder, and controlling the driving mechanism to stop rotating.

Optionally, the determining whether the self-test of the cradle head is completed according to whether the consumed time for the cradle head to rotate from one zero point of the first zero point and the second zero point to the other zero point falls within a design time range includes:

and if the consumed time of the cradle head rotating from one zero point of the first zero point and the second zero point to the other zero point does not fall within the design time range, adjusting the rotating speed gear of the driving mechanism, and performing at least one subsequent round of self-inspection until the consumed time falls within the design time range.

Optionally, the adjusting the rotational speed gear of the driving mechanism includes:

adjusting the gear of the current output to the motor by the motor driving device; the driving mechanism comprises a motor driving device and a motor which are electrically connected, and the motor is rotationally connected with the holder.

Optionally, the adjusting the gear of the current output by the motor driving device to the motor includes:

adjusting the resistance value gear of the first resistance adjusting circuit to enable the first electrode driving unit to adjust the gear of the first current output to the motor, and adjusting the resistance value gear of the second resistance adjusting circuit to enable the second electrode driving unit to adjust the gear of the second current output to the motor; the motor driving device comprises a first electrode driving device and a second electrode driving device, and the first electrode driving device comprises the first resistance adjusting circuit and the first electrode driving unit which are electrically connected; the second electrode driving device includes the second resistance adjustment circuit and the second electrode driving unit that are electrically connected.

In a second aspect, the application provides a self-checking device of cloud platform camera equipment, cloud platform camera equipment includes actuating mechanism, cloud platform and image acquisition device, the device includes:

the first zero module is used for controlling the driving mechanism to drive the holder and the image acquisition device to rotate towards a first direction and acquiring each first image frame acquired by the image acquisition device; when two adjacent first image frames meet the similarity condition, determining a first zero point of the holder, and controlling the driving mechanism to stop rotating;

the second zero module is used for controlling the driving mechanism to drive the holder and the image acquisition device to rotate towards a second direction and acquiring each second image frame acquired by the image acquisition device; the second direction is opposite to the first direction; when two adjacent second image frames meet the similarity condition, determining a second zero point of the holder, and controlling the driving mechanism to stop rotating;

and the self-checking determining module is used for determining whether the self-checking of the holder is finished or not according to whether the consumed time for the holder to rotate from one zero point to the other zero point of the first zero point and the second zero point is within a design time range or not.

In a third aspect, the present application provides a pan/tilt/zoom apparatus, comprising:

a holder;

the image acquisition device is fixed on the holder;

the driving mechanism is connected with the holder;

at least one processor electrically connected to both the drive mechanism and the image capture device;

a memory electrically connected to the at least one processor for storing at least one program;

when the at least one program is executed by the at least one processor, the at least one processor is caused to implement the self-inspection method of the pan/tilt/zoom apparatus according to the first aspect.

Optionally, the drive mechanism comprises:

the motor is rotationally connected with the holder and is used for driving the holder and the image acquisition device to rotate;

the motor driving device is electrically connected with the motor;

the motor driving device comprises a first electrode driving device and a second electrode driving device;

the first electrode driving device comprises the first resistance adjusting circuit and the first electrode driving unit which are electrically connected, and the first electrode driving unit is electrically connected with the motor;

the second electrode driving device comprises the second resistance adjusting circuit and the second electrode driving unit which are electrically connected, and the second electrode driving unit is electrically connected with the motor.

Optionally, the first resistance adjustment circuit includes:

the first voltage division sub-circuit comprises at least two first voltage division units which are connected in series, and the first end of the first voltage division sub-circuit is electrically connected with the first electrode driving unit;

and the first switch subcircuit comprises at least one first switch unit, a conductive path of each first switch unit is connected with the first voltage division unit corresponding to the first switch unit in parallel, and a control end of each first switch unit is electrically connected with the processor.

Optionally, the second resistance adjustment circuit includes:

the second voltage division sub-circuit comprises at least two second voltage division units which are connected in series, and the first end of the second voltage division sub-circuit is electrically connected with the second electrode driving unit;

and the second switch subcircuit comprises at least one second switch unit, a conductive path of each second switch unit is connected with a second voltage division unit corresponding to the second switch unit in parallel, and a control end of each second switch unit is electrically connected with the processor.

In a fourth aspect, the present application provides a computer-readable storage medium, on which a computer program is stored, which when executed by a processor, implements the self-checking method of the pan-tilt camera apparatus of the first aspect.

The technical scheme that this application provided, through the first image frame that acquires, can confirm the first zero point of cloud platform, through the second image frame that acquires, can confirm the second zero point of cloud platform, reduced the number of times of hitting the wall of cloud platform, under the condition of other hardware such as not adding extra sensor, wire rod, can confirm the zero point of cloud platform, reduced the complexity that acquires at zero point, the cost is reduced to can not receive the restriction of surrounding environment to zero point detection. Moreover, this application still rotates whether the consuming time of another zero point falls into design time range from one zero point in first zero point and the second according to the cloud platform, confirms whether the self-checking of cloud platform is accomplished, can confirm whether the slew velocity of the cloud platform that actuating mechanism drove is suitable fast to the technical scheme of this application can be applicable to the motor of different grade type.

Drawings

Fig. 1 is a schematic flow chart of a self-inspection method of a pan/tilt/zoom camera device according to an embodiment of the present application.

Fig. 2 is a schematic flow chart of a scheme for determining a gray-scale value difference of a first image frame of two adjacent frames in the self-checking method of the pan-tilt camera device according to the embodiment of the present application.

Fig. 3 is a schematic diagram illustrating image areas divided by a first image frame of a previous frame and a first image frame of a next frame in an embodiment of the present application.

Fig. 4 is a schematic flowchart of a scheme of determining a gray-scale value difference of a second image frame of two adjacent frames in a self-inspection method of a pan-tilt camera device provided in an embodiment of the present application.

Fig. 5 is a schematic structural diagram of a pan/tilt head camera device provided in an embodiment of the present application.

Fig. 6 is a schematic block structure diagram of a driving mechanism according to an embodiment of the present application.

Fig. 7 is a schematic diagram of a specific circuit of a pan-tilt camera apparatus according to an embodiment of the present application.

Fig. 8 is a schematic structural diagram of a self-checking device of a pan-tilt camera apparatus according to an embodiment of the present application.

Detailed Description

Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present application and are not to be construed as limiting the present application.

As used herein, the singular forms "a", "an", "the" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. It will be understood that when an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements may also be present. Further, "connected" or "coupled" as used herein may include wirelessly connected or wirelessly coupled. As used herein, the term "and/or" includes all or any element and all combinations of one or more of the associated listed items.

In order to make the purpose, technical solutions and advantages of the present application clearer, the following is a detailed description of the technical solutions of the present application and how the technical solutions of the present application solve the above technical problems with specific embodiments. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments. Embodiments of the present application will be described below with reference to the accompanying drawings.

Referring to fig. 1, an embodiment of the present application provides a self-checking method for a pan/tilt/zoom apparatus, which is applicable to self-checking of the pan/tilt/zoom apparatus, and determines whether a zero point of a pan/tilt and a rotational speed of the pan/tilt are appropriate, so as to reduce the number of times of wall collision of the pan/tilt when the zero point of the pan/tilt is determined. The holder camera equipment comprises a driving mechanism, a holder and an image acquisition device, wherein the driving mechanism is rotatably connected with the holder, the holder is connected with the image acquisition device, and the driving mechanism can drive the holder to synchronously rotate with the image acquisition device. The method can be applied to the cloud deck camera equipment and is executed by the self-checking device of the cloud deck camera equipment, the self-checking device of the cloud deck camera equipment can be realized by software and/or hardware, and the device can be integrated in the cloud deck camera equipment. The self-checking method of the holder camera equipment comprises the following steps:

s101: controlling a driving mechanism to drive a holder and an image acquisition device to rotate towards a first direction, and acquiring each first image frame acquired by the image acquisition device; and when two adjacent first image frames meet the similarity condition, determining a first zero point of the holder, and controlling the driving mechanism to stop rotating.

Alternatively, the image capturing device may capture an image or video, and the image capturing device may be a camera, a video camera, or the like.

Optionally, the driving mechanism may drive the pan-tilt and the image capturing device to rotate. The specific structure of the driving mechanism is not limited, for example, the driving mechanism may include a motor, and the driving mechanism is controlled by an external control device to rotate; or the driving mechanism also can comprise a driving device and the like, and the driving device drives the motor to rotate so as to drive the holder and the image acquisition device to rotate.

Optionally, the specific direction of the first direction is not limited. If the cloud platform camera equipment starts the self-checking, the driving mechanism can be controlled to drive the cloud platform and the image acquisition device to rotate towards the first direction, and each first image frame acquired by the image acquisition device is acquired. The image acquisition device can acquire one frame of image continuously or at set time intervals, and each frame of image acquired in the process of rotating along the first direction is used as a first image frame of the application. The design time is not limited, and specifically, the design time is 0.1s (second), 0.2s, 0.05s, or the like.

Optionally, the specific condition of the similarity condition is not limited, for example, the similarity of two adjacent first image frames is greater than a preset similarity threshold, for example, a similarity threshold is satisfied between gray-scale values or brightness values of the two adjacent first image frames. When the two adjacent first image frames meet the similarity condition, the cloud platform reaches a zero point when rotating, the cloud platform cannot rotate under the action of external force, the two adjacent first image frames are basically consistent, and the current position of the cloud platform is used as the first zero point. It can be understood that when the two adjacent first image frames do not satisfy the similarity condition, the difference between the two adjacent first image frames acquired by the image acquisition device is large, which indicates that the pan-tilt is still rotating.

The driving mechanism is controlled to stop rotating, the cradle head and the image acquisition equipment also stop rotating, and damage caused by the fact that the driving mechanism cannot rotate after the cradle head reaches the zero point can be prevented.

S102: controlling the driving mechanism to drive the holder and the image acquisition device to rotate towards a second direction, and acquiring each second image frame acquired by the image acquisition device; the second direction is opposite to the first direction; and when two adjacent second image frames meet the similarity condition, determining a second zero point of the holder, and controlling the driving mechanism to stop rotating.

Optionally, the second direction is opposite to the first direction. If the first direction is clockwise, the second direction is counterclockwise. The driving mechanism drives the holder and the image acquisition device to rotate towards the second direction, and then each second image frame acquired by the image acquisition device is acquired. The image acquisition device can acquire one frame of image continuously or at set time intervals, and each frame of image acquired in the process of rotating along the second direction is used as a second image frame of the application.

When the two adjacent second image frames meet the similarity condition, the cloud platform reaches a zero point when rotating, the cloud platform cannot rotate under the action of external force, the two adjacent first image frames are basically consistent, and the current position of the cloud platform is used as the second zero point.

Optionally, in the present application, step S101 and step S102 do not have a sequence, and step S101 may be executed first, and then step S102 may be executed; step S102 may be executed first, and then step S101 may be executed, so that the first zero point and the second zero point of the pan/tilt head may be determined.

Optionally, when the pan/tilt head is controlled to rotate, the design angle needs to be rotated from the first zero point to the second zero point, or from the second zero point to the first zero point. The size of the design angle is not limited, and may be 360 °.

S103: and determining whether the self-checking of the cradle head is finished or not according to whether the consumed time for the cradle head to rotate from one zero point to the other zero point of the first zero point and the second zero point falls within the design time range or not.

Alternatively, the time consumption may be the time consumption for the pan/tilt head to rotate from the first zero point to the second zero point, or the time consumption for the pan/tilt head to rotate from the second zero point to the first zero point. Specifically, if the cloud platform rotates to the first zero point and then rotates to the second zero point, the time consumed by the cloud platform to rotate from the first zero point to the second zero point can be obtained, and the time consumed is compared with the design time range, so that whether the time consumed falls in the design time range or not can be determined. If the time consumed by the rotation of the tripod head from the first zero point to the second zero point is 45s, and the designed time range is 35s-40s, the time consumed does not fall within the designed time range.

Optionally, before determining whether the self-checking of the pan/tilt head is completed according to whether the time taken for the pan/tilt head to rotate from one zero point of the first zero point and the second zero point to the other zero point falls within a design time range, the method further includes:

and acquiring the time consumed by the rotation of the tripod head from one zero point to the other zero point of the first zero point and the second zero point.

When the time consumption is obtained, the time between the starting time and the ending time when the holder rotates from one zero point of the first zero point and the second zero point to the other zero point can be recorded, and the time consumption can be determined.

According to the technical scheme, the first zero point of the holder can be determined through the acquired first image frame, the second zero point of the holder can be determined through the acquired second image frame, the number of times of wall collision of the holder is reduced, the zero point of the holder can be determined under the condition that other hardware such as additional sensors and wires are not added, the complexity of zero point acquisition is reduced, and the limit of the surrounding environment on zero point detection is avoided. And this application still rotates whether to fall into the design time within range from one zero point in first zero point and the second zero point according to the cloud platform consuming time, confirms whether the self-checking of cloud platform is accomplished, can confirm whether the slew velocity of the cloud platform that actuating mechanism drove is suitable fast to the technical scheme of this application can be applicable to the motor of different grade type.

Referring to fig. 2 and fig. 3 together, optionally, in the process of acquiring each first image frame acquired by the image acquisition device, the following steps S201 to S203 are further included:

s201: each first image frame is divided into at least two image areas.

Optionally, each first image frame is divided into at least two image areas, and the specific number of the image areas is not limited. The number of the image areas of each image frame is the same as that of the image areas of other image frames, and the image areas of each image frame correspond to the image areas of other image frames one by one. The image area of each image frame is the same size as the image areas corresponding to the other image frames. The size of the different image areas may be the same or different in the same image frame.

For example, in fig. 3, an image a represents a first image frame of a previous frame and its divided image area; image B represents the second image frame of the subsequent frame and its divided image area. The number of image areas into which each first image frame is divided in the drawing is merely an example, and is not intended to limit the present application.

S202: determining gray values of pixel points in each image area of each first image frame.

Optionally, each image region includes one or more pixel points, each pixel point includes a corresponding gray value, and after the first image frame is acquired, the gray value of the pixel point in each image region of the first image frame can be determined. In an image area, the gray values of all the pixel points in the image area are added to obtain the gray value of the pixel point in the image area.

S203: determining the gray value difference value of each image area of one first image frame and the corresponding image area of the other first image frame in the first image frames of every two adjacent frames.

Optionally, for the first image frame of every two adjacent frames, the gray value of an image area of one first image frame is subtracted from the gray value of the corresponding image area of the other first image frame, so as to obtain the gray value difference between the image area and the corresponding image area. The gray value difference between each of all the image areas and the corresponding image area can be determined in turn.

Optionally, when two adjacent first image frames satisfy the similarity condition, determining a first zero point of the pan/tilt head, and controlling the driving mechanism to stall includes:

and when the occupation ratio of the image area with the gray value difference value smaller than the designed gray value threshold exceeds the designed occupation ratio threshold, determining that two adjacent first image frames meet the similar condition, determining a first zero point of the holder, and controlling the driving mechanism to stop rotating.

Optionally, the gray value difference is a gray value difference of two adjacent first image frames. In the application, a gray threshold is designed, and when the gray value difference value of an image area is smaller than the designed gray threshold, the image area meets the requirement. The size of the grayscale threshold is not limited. The proportion of image areas with gray value difference smaller than the design gray threshold value can be determined according to the number of image areas meeting the requirement and the total number of image areas divided by one first image frame. If the number of image areas with the gray value difference smaller than the design gray threshold is a and the number of divided image areas of the first image frame is b, the ratio of the image areas with the gray value difference smaller than the design gray threshold is a/b.

In the application, an occupation ratio threshold is also designed. The size of the duty ratio threshold is not limited. When the occupation ratio of the image area with the gray value difference value smaller than the design gray value threshold exceeds the design occupation ratio threshold, the two adjacent first image frames meet the requirements, namely the two adjacent first image frames meet the similar conditions, the current position of the holder can be used as a first zero point, and the driving mechanism is controlled to stop rotating.

Referring to fig. 4, optionally, the method further includes the following steps S401 to S403 in the process of acquiring each second image frame acquired by the image acquisition apparatus:

s401: each second image frame is divided into at least two image areas.

S402: determining the gray value of the pixel point in each image area of each second image frame.

S403: determining the gray value difference value of each image area of one second image frame and the corresponding image area of the other second image frame in the second image frames of every two adjacent frames.

The gray value difference is the gray value difference of two adjacent second image frames. In this application, the gray value difference between two adjacent second image frames is determined, and the scheme of determining the gray value difference between two adjacent first image frames is the same, and this application is not described again.

Optionally, wherein when two adjacent second image frames satisfy the similarity condition, determining a second zero point of the pan/tilt head, and controlling the driving mechanism to stop rotating comprises:

and when the occupation ratio of the image area with the gray value difference value smaller than the design gray value threshold exceeds the design occupation ratio threshold, determining that two adjacent second image frames meet the similar condition, determining a second zero point of the holder, and controlling the driving mechanism to stop rotating.

In this embodiment, the gray value difference is a gray value difference between two adjacent second image frames.

Optionally, determining whether the self-test of the cradle head is completed according to whether the consumed time for the cradle head to rotate from one zero point of the first zero point and the second zero point to the other zero point falls within a design time range, includes:

and if the consumed time for the cradle head to rotate from one zero point of the first zero point and the second zero point to the other zero point falls within the design time range, determining that the self-checking of the cradle head is completed.

When the time consumed by the cradle head to rotate from one zero point of the first zero point and the second zero point to the other zero point falls within the design time range, the first zero point and the second zero point of the cradle head are confirmed, the rotating speeds of the cradle head and the image acquisition device are proper, namely, the self-checking of the cradle head is not problematic, and the completion of the self-checking of the cradle head can be determined.

and if the consumed time of the cradle head rotating from one zero point to the other zero point of the first zero point and the second zero point does not fall within the design time range, adjusting the rotating speed gear of the driving mechanism, and performing self-checking of at least one subsequent round until the consumed time falls within the design time range.

When the time consumed by the pan/tilt head to rotate from one zero point to the other zero point of the first zero point and the second zero point does not fall within the design time range, it is described that although the first zero point and the second zero point of the pan/tilt head are confirmed, the rotational speeds of the pan/tilt head and the image acquisition device are not appropriate, the rotational speed of the pan/tilt head has a problem, and the rotational speed of the pan/tilt head, that is, the rotational speed gear of the driving mechanism needs to be adjusted.

After the rotating speed gear of the driving mechanism is adjusted, at least one subsequent round of self-checking is required until the consumed time falls within the design time range. And performing self-checking of one round, namely performing the previous steps of the application again.

According to the technical scheme, the zero point confirmation of the holder is combined with the rotating speed of the holder, whether the rotating speed of the holder is proper or not is confirmed in the zero point confirmation process, the efficiency of confirming the rotating speed of the holder is improved, the confirmation of the zero point and the rotating speed of the holder is simple and feasible, and the running stability of the motor is improved.

Optionally, adjusting the rotational speed gear of the drive mechanism comprises:

The motor driving device can comprise a gear of current output to the motor, and after the gear is adjusted, the current output to the motor by the motor driving device can be adjusted. The larger the current output by the motor driving device to the motor is, the faster the rotating speed of the motor is, and the smaller the current output by the motor driving device to the motor is, the slower the rotating speed of the motor is. Alternatively, when the gear of the current output from the motor driving device to the motor is adjusted, the gear may be adjusted by adjusting a resistance in a circuit of the current output from the motor driving device to the motor. When the resistance in the circuit of the current output to the motor by the motor driving device is decreased, the current in the circuit is increased, and when the resistance in the circuit of the current output to the motor by the motor driving device is increased, the current in the circuit is decreased.

According to the technical scheme, the gear of the current output from the motor driving device to the motor is adjusted, so that different motors can meet the rotating speed requirement of the holder.

Optionally, adjusting the gear of the current output by the motor driving device to the motor includes:

adjusting the resistance gear of the first resistance adjusting circuit to enable the first electrode driving unit to adjust the gear of the first current output to the motor, and adjusting the resistance gear of the second resistance adjusting circuit to enable the second electrode driving unit to adjust the gear of the second current output to the motor; the motor driving device comprises a first electrode driving device and a second electrode driving device, wherein the first electrode driving device comprises a first resistance adjusting circuit and a first electrode driving unit which are electrically connected; the second electrode driving device comprises a second resistance adjusting circuit and a second electrode driving unit which are electrically connected.

Optionally, the motor driving device includes a first electrode driving device and a second electrode driving device, and the first electrode driving device and the second electrode driving device are used together for driving the motor to rotate, such as together driving the motor to rotate towards the first direction or to rotate towards the second direction.

Optionally, the first electrode driving device includes a first resistance adjustment circuit and a first electrode driving unit electrically connected, and the first electrode driving unit is electrically connected to the motor. The first resistance adjusting circuit is used for adjusting the current output to the motor by the first electrode driving unit.

In this application, the specific scheme of the electric connection between the first resistance adjusting circuit and the first electrode driving unit is not limited, and the first electrode driving unit can adjust the gear of the first current output to the motor by adjusting the gear of the resistance value of the first resistance adjusting circuit.

Optionally, the second electrode driving device includes a second resistance adjusting circuit and a second electrode driving unit electrically connected to each other, and the second electrode driving unit is electrically connected to the motor. The second resistance adjusting circuit is used for adjusting the current output to the motor by the second electrode driving unit.

In this application, the specific scheme that the second resistance adjustment circuit is electrically connected with the second electrode driving unit is not limited, and the second electrode driving unit can adjust the gear of the second current output to the motor by adjusting the resistance gear of the second resistance adjustment circuit.

Based on the same inventive concept, another embodiment of the present application provides a pan/tilt/zoom apparatus, including:

a holder;

the image acquisition device is fixed on the holder;

the driving mechanism is connected with the holder;

when the at least one program is executed by the at least one processor, the at least one processor is enabled to implement the self-test method of the pan-tilt-zoom camera device, compared with the prior art, the method can implement: the first zero point of the holder can be determined through the acquired first image frame, the second zero point of the holder can be determined through the acquired second image frame, the number of times of wall collision of the holder is reduced, the zero point of the holder can be determined under the condition that other hardware such as additional sensors and wires are not added, the complexity of zero point acquisition is reduced, and the limit of the surrounding environment on zero point detection is avoided. Moreover, this application still rotates whether the consuming time of another zero point falls into design time range from one zero point in first zero point and the second according to the cloud platform, confirms whether the self-checking of cloud platform is accomplished, can confirm whether the slew velocity of the cloud platform that actuating mechanism drove is suitable fast to the technical scheme of this application can be applicable to the motor of different grade type.

Referring to fig. 5, in an alternative embodiment, a pan-tilt imaging apparatus is provided, where the pan-tilt imaging apparatus 4000 includes: a processor 4001, a memory 4003, a pan-tilt head (not shown), an image capturing device 4005, and a driving mechanism 4007.

The processor 4001 is connected to the memory 4003, the image capturing device 4005, and the driving mechanism 4007, respectively, such as via a bus 4002. The image acquisition device 4005 is fixed on the holder, and the driving mechanism 4007 is connected with the holder. Optionally, the pan/tilt head camera apparatus 4000 may further include a transceiver 4004, and the transceiver 4004 may be used for data interaction between the pan/tilt head camera apparatus and other pan/tilt head camera apparatuses, such as data transmission and/or data reception. It should be noted that the transceiver 4004 is not limited to one in practical applications, and the structure of the pan/tilt/zoom apparatus 4000 does not constitute a limitation to the embodiment of the present application.

Alternatively, the image capturing device 4005 may capture an image or a video, and the image capturing device 4005 may be a camera, a still camera, or the like.

The driving mechanism 4007 can drive the cloud deck and the image acquisition device 4005 to rotate.

The Processor 4001 may be a CPU (Central Processing Unit), a general-purpose Processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array) or other Programmable logic device, a transistor logic device, a hardware component, or any combination thereof. Which may implement or perform the various illustrative logical blocks, modules, and circuits described in connection with the disclosure. The processor 4001 may also be a combination that performs a computing function, e.g., comprising one or more microprocessors, a combination of DSPs and microprocessors, etc.

Bus 4002 may include a path that carries information between the aforementioned components. The bus 4002 may be a PCI (Peripheral Component Interconnect) bus, an EISA (Extended Industry Standard Architecture) bus, or the like. The bus 4002 may be divided into an address bus, a data bus, a control bus, and the like. For ease of illustration, only one thick line is shown, but this does not mean that there is only one bus or one type of bus.

The Memory 4003 may be a ROM (Read Only Memory) or other type of static storage device that can store static information and instructions, a RAM (Random Access Memory) or other type of dynamic storage device that can store information and instructions, an EEPROM (Electrically Erasable Programmable Read Only Memory), a CD-ROM (Compact Disc Read Only Memory) or other optical Disc storage, optical Disc storage (including Compact Disc, laser Disc, optical Disc, digital versatile Disc, blu-ray Disc, etc.), a magnetic Disc storage medium or other magnetic storage device, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer, but is not limited thereto.

The memory 4003 is used for storing application program codes (computer programs) for executing the present scheme, and is controlled by the processor 4001 to execute. Processor 4001 is configured to execute application code stored in memory 4003 to implement what is shown in the foregoing method embodiments.

Referring to fig. 6 and 7, in the present application, the driving mechanism 4007 includes a motor driving device 51 and a motor 52 electrically connected to each other, and the motor 52 is rotatably connected to the pan/tilt head. The motor 52 is rotatably connected with the pan/tilt head, that is, the rotating shaft of the motor 52 can drive the pan/tilt head and the image acquisition device 4005 to rotate synchronously.

The type of the motor 52 is not limited, and optionally, in the embodiment of the present application, the motor 52 is a stepping motor.

The motor driving device 51 may include a gear position of the current output to the motor 52, and after adjusting the gear position, the current output from the motor driving device 51 to the motor 52 may be adjusted. The larger the current that the motor drive unit 51 outputs to the motor 52, the faster the rotation speed of the motor 52, and the smaller the current that the motor drive unit 51 outputs to the motor 52, the slower the rotation speed of the motor 52. Alternatively, when adjusting the gear position of the current output from the motor drive device 51 to the motor 52, the current output from the motor drive device 51 to the motor 52 may be adjusted by adjusting a resistance in a circuit. When the resistance in the circuit of the current output from the motor drive device 51 to the motor 52 is decreased, the current in the circuit is increased, and when the resistance in the circuit of the current output from the motor drive device 51 to the motor 52 is increased, the current in the circuit is decreased.

According to the technical scheme, the gear of the current output from the motor driving device 51 to the motor 52 is adjusted, so that different motors 52 can meet the rotating speed requirement of the pan-tilt.

With continued reference to fig. 7, the motor driving device 51 may alternatively include a first electrode driving device and a second electrode driving device, and the first electrode driving device and the second electrode driving device are commonly used for driving the motor to rotate, such as commonly driving the motor to rotate in a first direction or rotate in a second direction.

Alternatively, the first electrode driving device includes a first resistance adjusting circuit 511 and a first electrode driving unit U1 electrically connected, and the first electrode driving unit U1 is electrically connected to the motor 52. The first resistance adjustment circuit 511 is used to adjust the magnitude of the current output from the first electrode driving unit U1 to the motor 52. For the first electrode driving unit U1, external power passes through VDD2, OUT1+, OUT1-, the first resistance adjusting circuit 511 in sequence, wherein OUT1+ is used for driving the motor 52 to rotate. In adjusting the resistance value of the first resistance adjusting circuit 511, the first electrode driving unit U1 adjusts the position of the first current output to the motor 52.

In this application, the specific scheme of the electrical connection between the first resistance adjusting circuit 511 and the first electrode driving unit U1 is not limited, and the first electrode driving unit U1 can adjust the position of the first current output to the motor 52 when adjusting the position of the resistance value of the first resistance adjusting circuit 511. For the first electrode driving unit U1, the external power passes through VDD2, the first resistance adjusting circuit 511, OUT1+, OUT1 —, and then flows OUT of the first electrode driving unit U1.

Alternatively, the first electrode driving unit U1 may comprise a motor driver, such as in particular a stepper motor driver.

Optionally, the first resistance adjustment circuit 511 includes: a first voltage division sub-circuit 5111 and a first switch sub-circuit 5112.

Optionally, the first voltage-dividing sub-circuit 5111 comprises at least two first voltage-dividing units connected in series, and a first end of the first voltage-dividing sub-circuit 5111 is electrically connected with the first electrode driving unit U1; the first switch sub-circuit 5112 includes at least one first switch unit, the number of the first switch units is less than or equal to the number of the first voltage dividing units, and each first switch unit corresponds to one first voltage dividing unit. The conductive path of each first switch unit is connected with the first voltage division unit in parallel, and the control end of each first switch unit is electrically connected with the processor.

Optionally, in the embodiment of the present application, the first voltage dividing unit includes 3 voltage dividing units, which are respectively R1, R2, and R3, where the resistance value of R1 is 1R, the resistance value of R2 is 2R, and the resistance value of R3 is 1R. The specific magnitude of the resistance value R is not limited.

Optionally, in this embodiment of the present application, the first switch unit includes 2, i.e., Q1 and Q2, the conductive path of Q1 is connected in parallel with R2, and the conductive path of Q2 is connected in parallel with R3. The specific type of the first switch unit is not limited, and the first switch unit may be a mos (Metal-Oxide-Semiconductor Field-Effect Transistor, MOSFET, Field Effect Transistor) or a triode, etc. When the first switch unit is electrically conducted, the conductive path of the first switch unit is electrically conducted, and when the first switch unit is electrically disconnected, the conductive path of the first switch unit is electrically disconnected. Specifically, if the first switch unit is a mos transistor, the conductive path of the first switch unit includes a source electrode and a drain electrode of the mos transistor, the conductive path of the first switch unit is connected in parallel with the first voltage division unit and includes that the source electrode of the mos transistor is electrically connected with one end of the first voltage division unit, the drain electrode is electrically connected with the other end of the first voltage division unit, and the control end of the first switch unit includes a gate electrode of the mos transistor; if the first switch unit is a triode, the conductive path of the first switch unit comprises a collector and an emitter of the triode, the conductive path of the first switch unit is connected with the first voltage division unit in parallel and comprises a collector electrically connected with one end of the first voltage division unit, the emitter is electrically connected with the other end of the first voltage division unit, and the control end of the first switch unit comprises a base of the triode.

Optionally, the second electrode driving apparatus includes a second resistance adjusting circuit 512 and a second electrode driving unit U2 electrically connected, the second electrode driving unit U2 is electrically connected with the motor 52. The second resistance adjustment circuit 512 is used to adjust the current output from the second electrode driving unit U2 to the motor 52.

Alternatively, for the second electrode driving unit U2, the external power passes through VDD2, OUT2+, OUT2-, and the second resistance adjustment circuit 512 in sequence, wherein OUT2+ is used for driving the motor 52 to rotate. In adjusting the resistance step of the second resistance adjusting circuit 512, the second electrode driving unit U2 adjusts the step of the second current output to the motor 52.

In this application, the specific scheme of the electrical connection between the second resistance adjusting circuit 512 and the second electrode driving unit U2 is not limited, and the second electrode driving unit U2 can adjust the position of the second current output to the motor 52 when adjusting the resistance position of the second resistance adjusting circuit 512. For example, for the second electrode driving unit U2, external power passes through VDD2, the second resistance adjusting circuit 512, OUT2+, OUT2 —, and then flows OUT of the second electrode driving unit U2.

Alternatively, the second electrode driving unit U2 may comprise a motor driver, in particular a stepper motor driver.

Optionally, the second resistance adjustment circuit 512 includes: a second voltage division sub-circuit 5121 and a second switch sub-circuit 5122.

Optionally, the second voltage dividing sub-circuit 5121 comprises at least two second voltage dividing units connected in series, and a first end of the second voltage dividing sub-circuit 5121 is electrically connected with the second electrode driving unit U2; the second switch sub-circuit 5122 includes at least one second switch unit, the number of the second switch units is less than or equal to the number of the second voltage dividing units, and each second switch unit corresponds to one second voltage dividing unit. The conductive path of each second switch unit is connected in parallel with the second voltage division unit corresponding to the second switch unit, and the control end of each second switch unit is electrically connected with the processor.

Optionally, in the embodiment of the present application, the second voltage dividing unit includes 3 voltage dividing units, which are respectively R4, R5, and R6, where the resistance value of R4 is 1R, the resistance value of R5 is 2R, and the resistance value of R6 is 1R. The specific magnitude of the resistance value R is not limited.

Optionally, in the embodiment of the present application, the second switch unit includes 2, i.e., Q3 and Q4, a conductive path of Q3 is connected in parallel with R5, and a conductive path of Q4 is connected in parallel with R6. The specific type of the second switch unit is not limited, and the second switch unit may be a mos Transistor (Metal-Oxide-Semiconductor Field-Effect Transistor, MOSFET, Field Effect Transistor), a triode, or the like. When the second switch unit is electrically conducted, the conductive path of the second switch unit is electrically conducted, and when the second switch unit is electrically disconnected, the conductive path of the second switch unit is electrically disconnected. Specifically, if the second switch unit is a mos tube, the conductive path of the second switch unit includes a source electrode and a drain electrode of the mos tube, the conductive path of the second switch unit is connected in parallel with the second voltage division unit and includes that the source electrode of the mos tube is electrically connected with one end of the second voltage division unit, the drain electrode is electrically connected with the other end of the second voltage division unit, and the control end of the second switch unit includes a gate electrode of the mos tube; if the second switch unit is a triode, the conductive path of the second switch unit comprises a collector and an emitter of a triode s-tube, the conductive path of the second switch unit is connected with the second voltage division unit in parallel, the collector is electrically connected with one end of the second voltage division unit, the emitter is electrically connected with the other end of the second voltage division unit, and the control end of the second switch unit is a base electrode of the triode.

Optionally, when the pan-tilt camera apparatus is used and self-checked for the first time, all the switch units Q1, Q2, Q3 and Q4 are electrically disconnected, and the resistances of the first resistance adjusting circuit 511 and the second resistance adjusting circuit 512 are all 4R; if the time consumed by the rotation of the tripod head from one zero point to the other zero point of the first zero point and the second zero point does not fall within the design time range, and the rotation speed gear of the driving mechanism 4007 is adjusted, the switch unit Q2 and the switch Q4 are electrically disconnected, the switch units Q1 and Q3 are electrically connected, and the resistances of the first resistance adjusting circuit 511 and the second resistance adjusting circuit 512 are both 3R; if the time consumed by the rotation of the tripod head from one zero point to the other zero point of the first zero point and the second zero point does not fall within the design time range, and the rotation speed gear of the driving mechanism 4007 is adjusted, the switch unit Q1 and the switch Q3 are electrically disconnected, the switch units Q2 and Q4 are electrically connected, and the resistances of the first resistance adjusting circuit 511 and the second resistance adjusting circuit 512 are both 2R; if the time consumed by the rotation of the tripod head from one zero point to the other zero point of the first zero point and the second zero point does not fall within the design time range, and the rotation speed gear of the driving mechanism 4007 is adjusted, the switch units Q1, Q2, Q3 and Q4 are electrically conducted, and the resistance values of the first resistance adjusting circuit 511 and the second resistance adjusting circuit 512 are both 1R. The current output from the motor drive device to the motor can be gradually increased.

Fig. 8 is a schematic structural diagram of a self-checking device of a pan/tilt/zoom camera apparatus provided in an embodiment of the present application, as shown in the drawing, the pan/tilt/zoom camera apparatus includes a driving mechanism, a pan/tilt unit, and an image acquisition device, and the self-checking device of the pan/tilt/zoom camera apparatus of this embodiment may include:

the first zero module 801 is used for controlling the driving mechanism to drive the holder and the image acquisition device to rotate towards a first direction, and acquiring each first image frame acquired by the image acquisition device; when two adjacent first image frames meet the similarity condition, determining a first zero point of the holder, and controlling the driving mechanism to stop rotating;

the second zero module 802 is configured to control the driving mechanism to drive the pan/tilt and the image acquisition device to rotate in a second direction, and acquire each second image frame acquired by the image acquisition device; when the second direction is opposite to the first direction, when two adjacent second image frames meet the similarity condition, determining a second zero point of the holder, and controlling the driving mechanism to stop rotating;

and a self-checking determining module 803, configured to determine whether the self-checking of the pan/tilt head is completed according to whether time consumed for the pan/tilt head to rotate from one zero point to the other zero point of the first zero point and the second zero point falls within a design time range.

Optionally, the first zero module 801 includes:

the first acquisition unit is used for controlling the driving mechanism to drive the holder and the image acquisition device to rotate towards a first direction and acquiring each first image frame acquired by the image acquisition device;

and the first zero point unit is used for determining a first zero point of the holder and controlling the driving mechanism to stop rotating when two adjacent first image frames meet the similarity condition.

Optionally, the second zero module 802 includes:

the second acquisition unit is used for controlling the driving mechanism to drive the holder and the image acquisition device to rotate towards a second direction and acquiring each second image frame acquired by the image acquisition device;

and the second zero point unit is used for determining a second zero point of the holder and controlling the driving mechanism to stop rotating when the second direction is opposite to the first direction and when two adjacent second image frames meet the similarity condition.

Optionally, the self-inspection apparatus of the pan/tilt/zoom camera device further includes:

a first region dividing module for dividing each first image frame into at least two image regions;

the first gray level determining module is used for determining the gray level value of a pixel point in each image area of each first image frame;

the first difference value determining module is used for determining the gray value difference value of each image area of one first image frame and the corresponding image area of the other first image frame in the first image frames of every two adjacent frames.

Optionally, the first zero point unit is further specifically configured to determine that two adjacent first image frames satisfy a similar condition, determine a first zero point of the pan/tilt head, and control the driving mechanism to stop rotating when the ratio of the image area having the gray value difference smaller than the design gray value threshold exceeds the design ratio threshold.

a second region dividing module for dividing each second image frame into at least two image regions;

the second gray level determining module is used for determining the gray level value of the pixel point in each image area of each second image frame;

and the second difference value determining module is used for determining the gray value difference value of each image area of one second image frame and the corresponding image area of the other second image frame in the second image frames of every two adjacent frames.

Optionally, the second zero point unit is further specifically configured to determine that two adjacent second image frames satisfy a similar condition, determine a second zero point of the pan/tilt head, and control the driving mechanism to stop rotating when the ratio of the image area having the gray value difference smaller than the design gray value threshold exceeds the design ratio threshold.

Optionally, the self-checking determining module 803 is specifically configured to determine that the self-checking of the pan/tilt head is completed if the time consumed for the pan/tilt head to rotate from one zero point of the first zero point and the second zero point to the other zero point falls within a design time range.

Optionally, the self-checking determining module 803 is further specifically configured to, if the consumed time for the pan/tilt to rotate from one zero point of the first zero point and the second zero point to the other zero point does not fall within the design time range, adjust the rotational speed gear of the driving mechanism, and perform self-checking for at least one subsequent round until the consumed time falls within the design time range.

Optionally, the self-checking determining module 803 is further configured to adjust a gear of a current output by the motor driving device to the motor; the driving mechanism comprises a motor driving device and a motor which are electrically connected, and the motor is rotationally connected with the holder.

Optionally, the self-test determining module 803 is specifically further configured to adjust a resistance level of the first resistance adjusting circuit, so that the first electrode driving unit adjusts a level of the first current output to the motor, and adjust a resistance level of the second resistance adjusting circuit, so that the second electrode driving unit adjusts a level of the second current output to the motor; the motor driving device comprises a first electrode driving device and a second electrode driving device, wherein the first electrode driving device comprises a first resistance adjusting circuit and a first electrode driving unit which are electrically connected; the second electrode driving device comprises a second resistance adjusting circuit and a second electrode driving unit which are electrically connected.

The present application provides a computer-readable storage medium, on which a computer program is stored, which, when running on a computer, enables the computer to execute the corresponding content in the foregoing method embodiments.

A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In embodiments of the present application, a computer readable storage medium may be any tangible storage medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.

A computer readable signal storage medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal storage medium may also be any computer readable storage medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.

Program code embodied on a computer readable storage medium may be transmitted using any appropriate storage medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or camera. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).

All possible combinations of the technical features in the above embodiments may not be described for the sake of brevity, but should be considered as being within the scope of the present disclosure as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present application. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. A self-checking method of a holder camera device, wherein the holder camera device comprises a driving mechanism, a holder and an image acquisition device, and the self-checking method is characterized by comprising the following steps:

2. The self-checking method of the pan/tilt/zoom camera apparatus according to claim 1, wherein the determining whether the self-checking of the pan/tilt/zoom lens is completed according to whether the elapsed time for the pan/tilt to rotate from one of the first zero point and the second zero point to the other zero point falls within a design time range includes:

3. The self-checking method of the pan-tilt camera apparatus according to claim 1, wherein in the process of acquiring each first image frame acquired by the image acquisition device, the method further comprises:

dividing each first image frame into at least two image areas;

4. The self-checking method of the pan/tilt/zoom camera apparatus according to claim 1, wherein the determining whether the self-checking of the pan/tilt/zoom lens is completed according to whether the elapsed time for the pan/tilt to rotate from one of the first zero point and the second zero point to the other zero point falls within a design time range includes:

and if the consumed time of the cradle head rotating from one zero point of the first zero point and the second zero point to the other zero point does not fall within the design time range, adjusting the rotating speed gear of the driving mechanism, and performing self-checking of at least one subsequent round until the consumed time falls within the design time range.

5. The self-checking method of the pan-tilt camera apparatus according to claim 4, wherein the adjusting the rotational speed gear of the driving mechanism comprises:

6. The self-checking method of the pan-tilt camera apparatus according to claim 5, wherein the adjusting the gear of the current output from the motor driving device to the motor comprises:

7. The utility model provides a cloud platform camera equipment's self-checking device, cloud platform camera equipment includes actuating mechanism, cloud platform and image acquisition device, its characterized in that, cloud platform camera equipment's self-checking device includes:

8. A pan/tilt/zoom camera apparatus, comprising:

a holder;

the image acquisition device is fixed on the holder;

the driving mechanism is connected with the holder;

when executed by the at least one processor, cause the at least one processor to implement the self-test method of a pan-tilt-camera apparatus according to any one of claims 1 to 6.

9. The pan-tilt camera apparatus according to claim 8, wherein the drive mechanism includes:

the motor driving device is electrically connected with the motor;

10. A computer-readable storage medium on which a computer program is stored, the program, when executed by a processor, implementing the self-test method of a pan-tilt-camera apparatus according to any one of claims 1 to 6.