WO2017177807A1 - 可转动设备的调整系统、方法及装置、遥控器 - Google Patents

可转动设备的调整系统、方法及装置、遥控器 Download PDF

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Publication number
WO2017177807A1
WO2017177807A1 PCT/CN2017/077771 CN2017077771W WO2017177807A1 WO 2017177807 A1 WO2017177807 A1 WO 2017177807A1 CN 2017077771 W CN2017077771 W CN 2017077771W WO 2017177807 A1 WO2017177807 A1 WO 2017177807A1
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WIPO (PCT)
Prior art keywords
angle
measurement
rotatable device
measurement signal
sensor
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PCT/CN2017/077771
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English (en)
French (fr)
Inventor
苗军
Original Assignee
中兴通讯股份有限公司
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Publication of WO2017177807A1 publication Critical patent/WO2017177807A1/zh

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N21/00—Selective content distribution, e.g. interactive television or video on demand [VOD]
    • H04N21/40—Client devices specifically adapted for the reception of or interaction with content, e.g. set-top-box [STB]; Operations thereof
    • H04N21/41—Structure of client; Structure of client peripherals
    • H04N21/422—Input-only peripherals, i.e. input devices connected to specially adapted client devices, e.g. global positioning system [GPS]
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N21/00—Selective content distribution, e.g. interactive television or video on demand [VOD]
    • H04N21/40—Client devices specifically adapted for the reception of or interaction with content, e.g. set-top-box [STB]; Operations thereof
    • H04N21/41—Structure of client; Structure of client peripherals
    • H04N21/422—Input-only peripherals, i.e. input devices connected to specially adapted client devices, e.g. global positioning system [GPS]
    • H04N21/42204—User interfaces specially adapted for controlling a client device through a remote control device; Remote control devices therefor
    • H04N21/42206—User interfaces specially adapted for controlling a client device through a remote control device; Remote control devices therefor characterized by hardware details
    • H04N21/42221—Transmission circuitry, e.g. infrared [IR] or radio frequency [RF]
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/66—Remote control of cameras or camera parts, e.g. by remote control devices
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/14—Systems for two-way working
    • H04N7/15—Conference systems

Definitions

  • the movement of the viewing angle of the videoconferencing terminal screen in the related art is an operation of the operator to adjust the up, down, left and right rotation by the up, down, left and right adjustment buttons of the remote controller, and then adjust the rotation of the camera/head through the built-in motor of the camera/head; the user of the smart television
  • the left and right adjustment buttons of the remote control are used to issue a left and right rotation command, and then the rotation of the television is adjusted by the built-in motor of the television base.
  • the person operating the remote controller generally wants the camera/head of the conference television terminal to point to himself, or the screen of the smart TV is facing himself, and there is often a pointing of the camera/head of the conference television terminal or the pointing of the smart television screen. It has a certain angle with the direction of the remote control. It needs to be pressed multiple times or pressed for a long time to turn to the desired angle. Especially when the remote control has less power, it is more time-consuming and labor-intensive.
  • the camera/head rotation of the conference television terminal or the rotation of the smart TV screen is realized by pressing the direction adjustment button of the remote controller, which may require multiple key presses, and thus there is a problem that the adjustment time is relatively long.
  • the embodiment of the invention provides an adjustment system, a method and a device for a rotatable device, a remote controller and a computer storage medium, which at least solve the technical problem that the adjustment time is long when the rotatable device rotates to a specified angle in the related art.
  • an adjustment system for a rotatable device including: a rotatable device, a measurement sensor, and a remote controller; the remote controller configured to send an instruction to rotate the rotatable device to the rotatable device, Amplifying the first measurement signal of the measurement specified physical parameter sent by the received measurement sensor, and transmitting the second measurement signal to the measurement sensor; wherein the second measurement signal is the amplified first measurement signal; the measurement sensor, Configuring to receive a second measurement signal sent by the remote controller, and determining a measurement value of the specified physical parameter according to the first measurement signal and the second measurement signal; the rotatable device configured to receive the measurement value sent by the measurement sensor; determining according to the measurement value
  • the rotatable device requires an angle of rotation and rotates the rotatable device at a determined angle; wherein the angle is the angle between the normal of the plane in which the rotatable device is currently located and the centerline of the remote control and the rotatable device.
  • the remote controller includes: a first transmitter, a first receiver, and an amplifying device, wherein the amplifying device is located in the first transmitter; and the first transmitter is configured to be a rotatable device And transmitting the second measurement signal to the measurement sensor; the first receiver is configured to receive the first measurement signal sent by the measurement sensor; and the amplification device is configured to amplify the first measurement signal to the second measurement signal.
  • the measurement sensor when the specified physical parameter is the distance between the measurement sensor and the remote controller, includes: two distance sensors; wherein the two distance sensors are located at a rotation center of the rotatable device On the line.
  • each of the two distance sensors includes: a second transmitter, a second receiver and a distance measuring device; and a second transmitter configured to send the first measurement to the remote controller Transmitting the measured value of the distance to the rotatable device; the second receiver is configured to receive the second measurement signal sent by the remote controller; and the distance measuring device is configured to determine the distance measurement according to the first measurement signal and the second measurement signal value.
  • the measurement sensor when the specified physical parameter is an angle, includes: an angle sensor configured to measure an angle.
  • the angle sensor includes: a third transmitter, a third receiver and an angle measuring device; and a third transmitter configured to send the first measurement signal to the remote controller and send the measured value of the angle Providing a rotatable device; a third receiver configured to receive a second measurement signal transmitted by the remote controller; and an angle measuring device configured to determine a measured value of the angle based on the first measurement signal and the second measurement signal.
  • the angle sensor is disposed on a central axis of the rotatable device.
  • the rotatable device comprises at least one of the following: a terminal with a rotatable camera or camera, and a visual device with a rotating base.
  • a method of adjusting a rotatable device comprising: receiving a first measurement signal of a measurement specified physical parameter transmitted by a measurement sensor after transmitting an instruction to rotate the rotatable device to the rotatable device Amplifying the first measurement signal to the second measurement signal; and transmitting the second measurement signal to the measurement sensor; wherein the first measurement signal and the second measurement signal are used to determine a measurement value of the specified physical parameter; the measurement value is used to determine The angle at which the rotatable device needs to be rotated. The angle is the angle between the normal of the plane in which the rotatable device is currently located and the center line of the remote control and the rotatable device.
  • the measurement sensor when the specified physical parameter is the distance between the measurement sensor and the remote controller, includes: two distance sensors; wherein the two distance sensors are symmetrically disposed on both sides of the rotatable device Extension on.
  • the measurement sensor in a case where the specified physical parameter is an angle, includes: an angle sensor.
  • an adjustment device for a rotatable device comprising: a receiving module configured to, after transmitting an instruction to a rotatable device to rotate the rotatable device, Receiving, by the measurement sensor, a first measurement signal for measuring a specified physical parameter; an amplification module configured to amplify the first measurement signal to the second measurement signal; and a transmitting module configured to send the second measurement signal to the measurement sensor; wherein The second measurement signal is used to instruct the measurement sensor to measure the specified physical parameter; the measurement value of the specified physical parameter is used to determine the angle at which the rotatable device needs to be rotated, the angle is the normal of the plane where the rotatable device is currently located, and the remote controller and the rotatable The angle between the centerlines of the device.
  • the receiving module, the amplifying module, and the transmitting module may use a central processing unit (CPU), a digital signal processor (DSP, Digital Singnal Processor), and a programmable logic array (FPGA) when performing processing. , a device implementation in Field-Programmable Gate Array). In addition, it may be an integrated circuit (IC) chip with program processing capability.
  • CPU central processing unit
  • DSP digital signal processor
  • FPGA programmable logic array
  • IC integrated circuit
  • Embodiments of the present invention also provide a computer storage medium in which computer executable instructions are stored, the computer executable instructions being configured to perform the adjustment method of the rotatable device.
  • a remote controller including the above-described adjusting device of the rotatable device is provided.
  • the measuring sensor measures the specified physical parameter, and the rotatable device determines the angle to be rotated according to the specified physical parameter, and rotates the rotatable device according to the determined angle. Further, the function of adjusting the rotation angle of the rotatable device by one key is realized, the operation of the remote controller is reduced, the rotation time of the rotatable device is shortened, and the adjustment time of the rotatable device rotating to a specified angle in the related art is solved.
  • Technical problem is described in the remote controller.
  • FIG. 1 is a structural block diagram of an adjustment system of a rotatable device according to an embodiment of the present invention
  • FIG. 2 is a block diagram showing the structure of a remote controller 14 in an adjustment system of a rotatable device according to an embodiment of the present invention
  • FIG. 3 is a flow chart of a method of adjusting a rotatable device according to an embodiment of the present invention
  • FIG. 4 is a schematic diagram of a conventional manner of controlling camera/head rotation of a conference television terminal according to an embodiment of the present invention
  • Figure 5 is a schematic illustration of a conventional manner of rotating a smart television with a rotating base in accordance with an embodiment of the present invention
  • FIG. 6 is a geometrical diagram of a rotation angle required for a rotatable device according to an embodiment of the present invention.
  • Figure 7 is a geometrical diagram of the first rotation of the rotatable device when the first solution is employed in accordance with an embodiment of the present invention
  • Figure 8 is a geometrical diagram of the rotation of the rotatable device when the first solution is employed in accordance with an embodiment of the present invention
  • FIG. 9 is a block diagram showing the structure of an adjusting device of a rotatable device according to an embodiment of the present invention.
  • FIG. 1 is a structural block diagram of an adjustment system of a rotatable device according to an embodiment of the present invention. As shown in FIG. 1, the system includes: a rotatable device 10 , measuring sensor 12, remote control 14;
  • the remote controller 14 is configured to send an instruction to the rotatable device 10 to rotate the rotatable device 10, Receiving the first measurement signal of the measurement specified physical parameter sent by the measurement sensor 12 for amplification, and transmitting the second measurement signal to the measurement sensor 12; wherein the second measurement signal is the amplified first measurement signal;
  • the measurement sensor 12 is configured to receive a second measurement signal sent by the remote controller 14 and determine a measurement value of the specified physical parameter according to the first measurement signal and the second measurement signal;
  • the rotatable device 10 is configured to receive the measured value sent by the measuring sensor 12; determine an angle at which the rotatable device 10 needs to be rotated according to the measured value, and rotate the rotatable device 10 according to the determined angle; wherein the angle is the current position of the rotatable device 10 The angle between the normal of the plane and the center line of the remote control 14 and the rotatable device 10.
  • the remote controller 14 is used to issue an instruction to rotate the rotatable device, the measuring sensor 12 measures the specified physical parameter, and the rotatable device 10 determines the angle to be rotated according to the specified physical parameter, and rotates the rotatable device according to the determined angle. Further, the function of adjusting the rotation angle of the rotatable device by one key is realized, the operation of the remote controller is reduced, the rotation time of the rotatable device is shortened, and the adjustment time of the rotatable device rotating to a specified angle in the related art is solved. Technical problem.
  • the remote controller 14, the measurement sensor 12 and the rotatable device 10 may be independent of each other or may not be independent of each other.
  • the measurement sensor 12 may be disposed in the rotatable device 10, but is not limited thereto.
  • the rotating device can be connected by a solid line or not by a solid line. When not connected by a solid line, it can be interacted by some signals, such as scattered laser, ultrasonic wave, radio signal, etc., not limited to this.
  • FIG. 2 is a structural block diagram of a remote controller 14 in an adjustment system of a rotatable device according to an embodiment of the present invention.
  • the remote controller 14 may include: a first launch.
  • a first transmitter 20 configured to send an instruction to the rotatable device 10 and to transmit a second measurement signal Sended to the measurement sensor 12;
  • the first receiver 22 is connected to the first transmitter 20 and configured to receive the first measurement signal sent by the measurement sensor 12;
  • the amplifying means 24 is configured to amplify the first measurement signal to the second measurement signal.
  • the remote controller 14 described above has a first receiver 22 and an amplifying device 24 as compared with the remote controller of the prior art, so that the remote controller 14 has a function of receiving and signal enhancement.
  • the specular reflection of the surface of other objects can be avoided to interfere with the measurement sensor 12, for example, if the amplification is not performed, the second measurement signal that may be obtained is weak. Therefore, it may be overwhelmed by the specularly reflected signal, and the specified physical parameters may not be obtained. After the amplification, the second measurement signal is enhanced, the specular reflection interference is avoided, and a more accurate value of the specified physical parameter can be obtained.
  • the measurement sensor 12 may include: two distance sensors; wherein the two distance sensors are located at the center of rotation of the rotatable device 10 On a straight line.
  • the above two distance sensors may be located on both sides of the rotatable device 10, or may be located on the same side of the rotatable device 10, and when located on both sides of the rotatable device 10, may be symmetrically disposed as one way. Both sides of the device 10 can be rotated, but are not limited thereto.
  • the above two distance sensors can be combined with a remote controller to form a triangle, wherein the two distance sensors and the rotatable device are in a straight line, wherein one side of the triangle is a distance between two distance sensors, and the two distance sensors respectively
  • the distance from the remote controller is the two sides of the triangle, and the distance between the distance sensor and the remote controller can be measured by two distance sensors, that is, the lengths of the three sides of the triangle are obtained, and the cosine theorem can be used to simply Trigonometric function, you can get the angle that the rotatable device needs to rotate.
  • each of the two distance sensors may include: a second transmitter, a second receiver and a distance measuring device; and a second transmitter configured to send the first to the remote controller 14 Measuring a signal and transmitting the measured value of the distance to the rotatable device 10; the second receiver is configured to receive the second measurement signal sent by the remote controller 14; and the distance measuring device is configured to be configured according to the first measurement signal and the second measurement signal Determine the measured value of the distance. That is, the distance sensor has a function of signal transmission and signal receiver distance measurement.
  • both the second transmitter and the second receiver may be connected to the distance measuring device, but are not limited thereto.
  • the measurement sensor 12 described above may include an angle sensor configured to measure an angle.
  • the foregoing angle sensor may include: a third transmitter, a third receiver and an angle measuring device; and a third transmitter configured to send the first measurement signal to the remote controller 14 and send the measured value of the angle to the Rotating the device 10; the third receiver is configured to receive the second measurement signal sent by the remote controller 14; the angle measuring device is configured to determine the measured value of the angle according to the first measurement signal and the second measurement signal.
  • the above angle sensor has the functions of signal transmission, reception and angle measurement.
  • the angle sensor may be disposed on a central axis of the rotatable device 10.
  • the angle sensor can directly measure the angle at which the rotatable device 10 needs to be rotated, or can measure other angles, and the angle at which the rotatable device 10 needs to be rotated is obtained by the angle conversion, but is not limited thereto.
  • rotatable device 10 may include at least one of the following, but is not limited thereto: a terminal with a rotatable camera or a camera, and a visual device with a rotating base.
  • FIG. 3 is a flowchart of a method for adjusting a rotatable device according to an embodiment of the present invention. As shown in FIG. 3, the process includes the following steps:
  • Step S302 after transmitting an instruction to rotate the rotatable device to the rotatable device, receiving a first measurement signal sent by the measurement sensor to measure the specified physical parameter;
  • Step S304 the first measurement signal is amplified to the second measurement signal
  • Step S306 the second measurement signal is sent to the measurement sensor; wherein the first measurement signal and the second measurement signal are used to determine a measurement value of the specified physical parameter; the measurement value is used to determine an angle at which the rotatable device needs to be rotated, and the angle is Rotate the angle between the normal of the plane in which the device is currently located and the center line of the remote control and the rotatable device.
  • the received first measurement signal is amplified to the second measurement signal, and the measured value of the specified physical parameter is determined according to the first measurement signal and the second measurement signal, according to the The measured value determines the angle at which the rotatable device needs to be rotated, thereby realizing the function of adjusting the rotation angle of the rotatable device with one key, reducing the operation of the remote controller and shortening the rotation time of the rotatable device, thereby solving the related art.
  • execution body of the above steps may be a remote controller, but is not limited thereto.
  • the foregoing method may be implemented by using an instruction, and may be implemented by using a hardware.
  • the receiving the first measurement signal may be implemented by using a receiver, and the amplifying the first measurement signal to the second measurement signal may be performed by using an amplifying device.
  • the transmission of the two measurement signals to the measurement sensor can be done by one transmitter, but is not limited thereto.
  • the measuring sensor when the specified physical parameter is the distance between the measuring sensor and the remote controller, the measuring sensor comprises: two distance sensors; wherein the two distance sensors are in line with the center of rotation of the rotatable device on.
  • the above two distance sensors may be located on both sides of the rotatable device. It may also be located on the same side of the rotatable device, and one embodiment may be symmetrically disposed on both sides of the rotatable device when located on both sides of the rotatable device, but is not limited thereto.
  • the distance sensor reference may be made to the foregoing system embodiment, and details are not described herein again.
  • the measurement sensor can include an angle sensor.
  • the above angle sensor is disposed on the central axis of the rotatable device.
  • the invention provides a method for adjusting a rotatable device, which can automatically complete the rotation of the rotatable device: after the remote controller issues an automatic rotation command, a pair of position sensors of known distance sequentially transmit signals, and the receiver at the remote controller receives the signal. After the signal is transmitted and then transmitted, the position sensor receives the signal and calculates the distance between itself and the remote controller, thereby calculating the angle that needs to be rotated, and finally making the terminal camera/head pointing or the smart TV screen normal pointing to the remote controller. Thereby achieving the function of one-button adjustment direction, greatly improving the usability and intelligence of the device.
  • the rotatable device includes a terminal camera/head or a smart TV with a rotating base.
  • the embodiment of the present invention provides two solutions: a first solution: a position measurement method; and a second solution: an angle measurement method.
  • a first solution a position measurement method
  • a second solution an angle measurement method.
  • Step b symmetrically setting the distance measuring sensor on the extension lines on both sides or sides of the smart TV, that is to say, the rotating base of the smart TV is located at the midpoint of the line connecting the measuring sensors, and the two distance sensors include signal transmission and signals.
  • the function of receiving and distance measurement they receive the distance measurement command from the remote controller and start measuring the distance between themselves and the remote controller;
  • Step d the two distance measuring sensors and the remote controller form a triangle, which includes the side length of the 3 o'clock line of the camera/head or the smart TV of the conference television terminal, which is known in advance when the sensor is placed, and the other two sides are long.
  • the size is obtained by measuring the distance between the remote controller and the distance sensor by the distance sensor;
  • step e the lengths of the three sides of the triangle are obtained, and the angle of the camera/head or the smart TV base needs to be rotated by using a cosine theorem by a simple trigonometric function calculation;
  • Step f the conference television terminal camera/head or smart TV rotates according to the calculated angle
  • step g when the position of the remote controller changes, the operations of steps c to f are repeated.
  • Step B measuring the sensor in the built-in angle of the smart TV, the sensor has the functions of signal transmission, reception and angle measurement;
  • the remote controller has a built-in receiver capable of receiving a signal from the angle sensor and a transmitter having an enhanced function for the signal.
  • the terminal or smart TV The angle sensor of the shaft emits a measurement signal, and the remote controller receives the signal and performs the amplification enhancement process before transmitting, and the signal enhancement function is to avoid the interference of the specular reflection of the surface of other objects on the angle sensor;
  • FIG. 4 is a schematic diagram of a conventional manner of controlling camera/head rotation of a conference television terminal according to an embodiment of the present invention, as shown in FIG. 4:
  • R is a remote controller capable of issuing a left and right rotation command
  • T is a camera/head with a rotatable camera/head.
  • Conference TV terminal When the person holding the remote control is ready to adjust the camera/head to turn left or right, he will press the button to turn left or right, when the camera/head is pointing in the direction and the remote control operator is at When the angle between the positions is large, it is necessary to press the remote control button several times or for a long time to turn to the desired position.
  • R is a remote controller capable of issuing a left and right rotation command
  • T is an intelligent with a rotatable base.
  • TV When the person holding the remote control is ready to adjust the smart TV to turn left or right, he will press the button to turn left or right, when the original direction of the smart TV and the position of the remote control operator When the angle is large, you need to press the remote control button several times or for a long time to turn to the desired position.
  • FIG. 7 is a geometrical relationship diagram of the first rotation of the rotatable device when the first scheme is adopted according to an embodiment of the present invention, as shown in FIG. 7, on the basis of FIG. 6, equidistant installation distance measurement in a direction perpendicular to the TD pointing direction
  • the sensors A, B which are combined with the remote controller R on which the signal receiving transmitter is mounted, form a triangle.
  • the remote controller R first initiates the distance measurement request, that is, the command to be rotated, and the distance measurement sensors A and B.
  • the camera/head or smart TV After obtaining the distance between AR and BR, it is sent to the terminal or smart TV. Since the distance of AB is known in advance, T is the midpoint of AB. Emphasize that the first operation is because TD is perpendicular to AB, so the size of ⁇ and ⁇ can be easily calculated according to the cosine theorem. With the value of angle ⁇ , the camera/head or smart TV can automatically rotate to the corresponding position and rotate to The direction of the camera/head or the direction of the smart TV normal becomes the direction of the TR after the specified position. In order to maintain compatibility with the traditional remote control mode, when you need to rotate, you can choose not to let the camera/head or smart TV automatically rotate.
  • AR and BR are only used to obtain the distance information, in order to calculate the angle required for this rotation.
  • the angle ⁇ value of this time (an acute angle indicating whether the movement is left or right) is recorded. The reason for recording this angle information is because it will be used later.
  • Figure 8 is a geometrical diagram of the rotation of a rotatable device using the first scheme in accordance with an embodiment of the present invention.
  • the distance between AR and BR is recalculated. According to the cosine theorem, the size of ⁇ can be easily calculated. Since the value of angle ⁇ is saved in the step of Fig. 7, it is easy to calculate this time. The angle ⁇ ' that needs to be rotated.
  • the value of the acute angle ⁇ instead of the complementary obtuse angle (180- ⁇ ) is preserved in Fig. 7 because the remote controller position is in the leftward direction of the AB perpendicular line, and the same reason is needed in Fig. 8 to preserve the acute angle ⁇ instead of the complementary obtuse angle ( The value of 180- ⁇ ) is because the position of the remote controller is in the right direction of the AB perpendicular line;
  • Figure 6 is also a geometric relationship diagram when using the angle measurement method.
  • the angle measuring sensor When the position of the remote control R changes, the angle measuring sensor only needs to obtain the angle of deviation from TD, and then refer to the angle of the previous rotation to calculate the need to rotate this time. Angle.
  • the degree of intelligence of the conference television terminal or the smart television can be improved.
  • the time for turning the camera/head or the smart TV can be shortened; the operation of the remote controller is reduced, and the operator is more concerned with the video conference or the television program itself.
  • the method according to the above embodiment can be implemented by means of software plus a necessary general hardware platform, and of course, by hardware, but in many cases, the former is A better implementation.
  • the technical solution of the present invention which is essential or contributes to the prior art, can be embodied in the form of a software product stored in a storage medium (such as a read only memory (ROM, Read). -Only Memory)/Random Access Memory (RAM), including several instructions to enable a terminal device (which can be a mobile phone, computer, server, or network device) to execute the program.
  • ROM read only memory
  • RAM Random Access Memory
  • an adjustment device for the rotatable device is provided, which is used to implement the above-mentioned embodiments and implementation manners, and has not been described again.
  • the term “module” may implement a combination of software and/or hardware of a predetermined function.
  • the apparatus described in the following embodiments is preferably implemented in software, hardware, or a combination of software and hardware, is also possible and contemplated.
  • FIG. 9 is a structural block diagram of an adjusting device of a rotatable device according to an embodiment of the present invention. As shown in FIG. 9, the device includes:
  • the receiving module 92 is configured to receive, after transmitting an instruction to rotate the rotatable device to the rotatable device, a first measurement signal sent by the measurement sensor to measure the specified physical parameter;
  • the amplification module 94 is connected to the receiving module 92, and configured to amplify the first measurement signal to the second measurement signal;
  • the sending module 96 is connected to the amplifying module 94, and configured to send the second measurement signal to a measurement sensor; wherein the second measurement signal is used to instruct the measurement sensor to measure the specified physical parameter; the measurement value of the specified physical parameter is used to determine an angle at which the rotatable device needs to be rotated, the angle being the normal of the plane in which the rotatable device is currently located The angle between the remote control and the center line of the rotatable device.
  • Embodiments of the present invention also provide a computer storage medium. Therein is stored computer executable instructions configured to perform the above-described method of adjusting the rotatable device.
  • the above computer storage medium may be configured to store program code for performing the following steps:
  • the first measurement signal is amplified to the second measurement signal
  • the foregoing storage medium may include, but is not limited to, a U disk, a ROM, a RAM, a mobile hard disk, a magnetic disk, or an optical disk, and the like, which can store program codes.
  • the measuring sensor measures the specified physical parameter
  • the rotatable device determines the angle to be rotated according to the specified physical parameter, and rotates the rotatable device according to the determined angle.
  • a one-button adjustment is possible.
  • the function of rotating the rotation angle of the device reduces the operation of the remote controller and shortens the rotation time of the rotatable device, thereby solving the technical problem that the adjustment time is long when the rotatable device rotates to a specified angle in the related art.

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Abstract

本发明提供了一种可转动设备的调整系统、方法及装置、遥控器、计算机存储介质；其中，该系统包括：遥控器，配置为向可转动设备发送转动可转动设备的指令，将接收到的测量传感器发送的测量指定物理参数的第一测量信号进行放大，以及将第二测量信号发送给测量传感器；其中，第二测量信号为放大后的第一测量信号；测量传感器，配置为接收遥控器发送的第二测量信号，以及根据第一测量信号和第二测量信号确定指定物理参数的测量值；可转动设备，配置为接收测量传感器发送的测量值；根据测量值确定可转动设备需要转动的角度，以及按照确定的角度转动可转动设备。

Description

可转动设备的调整系统、方法及装置、遥控器 技术领域
本发明涉及通信领域，尤其涉及一种可转动设备的调整系统、方法及装置、遥控器、计算机存储介质。
背景技术
相关技术中的会议电视终端画面视角的移动是操作者通过遥控器的上下左右调整按键，发出上下左右转动的指令，继而通过摄像机/头的内置马达来调整摄像机/头的转动；智能电视的用户通过遥控器的左右调整按键，发出左右转动的指令，继而通过电视机基座的内置马达来调整电视机的转动。在实际应用中，操作遥控器的人员一般希望会议电视终端的摄像机/头指向自己，或者智能电视的画面正对着自己，而往往存在会议电视终端摄像机/头的指向或智能电视屏幕的指向，与遥控器所在的方向有一定的夹角，需要多次按动或长时间按键才能转动到所需的角度，特别是在遥控器电量比较少的情况下操作，还是比较费时费力的。
即相关技术中是通过按动遥控器的方向调整键来实现会议电视终端摄像机/头的转动或智能电视屏幕的转动，这样会需要多次按键，因而存在调整时间比较长的问题。
针对上述技术问题，目前尚未提出有效的解决方案。
发明内容
本发明实施例提供了一种可转动设备的调整系统、方法及装置、遥控器、计算机存储介质，至少解决了相关技术中可转动设备转动至指定角度时调整时间比较长的技术问题。
根据本发明实施例的一个方面，提供了一种可转动设备的调整系统，包括：可转动设备，测量传感器，遥控器；上述遥控器，配置为向可转动设备发送转动可转动设备的指令，将接收到的测量传感器发送的测量指定物理参数的第一测量信号进行放大，以及将第二测量信号发送给测量传感器；其中，第二测量信号为放大后的第一测量信号；上述测量传感器，配置为接收遥控器发送的第二测量信号，以及根据第一测量信号和第二测量信号确定指定物理参数的测量值；上述可转动设备，配置为接收测量传感器发送的测量值；根据测量值确定可转动设备需要转动的角度，以及按照确定的角度转动可转动设备；其中，角度为可转动设备当前所在平面的法线与遥控器和可转动设备的中心连线之间的夹角。
在本发明实施例一实施方式中，上述遥控器包括：第一发射器，第一接收器和放大装置，其中，放大装置位于第一发射器中；第一发射器，配置为向可转动设备发送指令以及将第二测量信号发送给测量传感器；第一接收器，配置为接收测量传感器发送的第一测量信号；放大装置，配置为将第一测量信号放大至第二测量信号。
在本发明实施例一实施方式中，在指定物理参数为测量传感器与遥控器之间的距离时，测量传感器包括：两个距离传感器；其中，两个距离传感器与可转动设备的转动中心位于一条直线上。
在本发明实施例一实施方式中，两个距离传感器中的每个距离传感器包括：第二发射器，第二接收器和距离测量装置；第二发射器，配置为向遥控器发送第一测量信号以及将距离的测量值发送给可转动设备；第二接收器，配置为接收遥控器发送的第二测量信号；距离测量装置，配置为根据第一测量信号和第二测量信号确定距离的测量值。
在本发明实施例一实施方式中，在指定物理参数为角度的情况下，测量传感器包括：角度传感器，配置为测量角度。
在本发明实施例一实施方式中，角度传感器包括：第三发射器，第三接收器和角度测量装置；第三发射器，配置为向遥控器发送第一测量信号以及将角度的测量值发送给可转动设备；第三接收器，配置为接收遥控器发送的第二测量信号；角度测量装置，配置为根据第一测量信号和第二测量信号确定角度的测量值。
在本发明实施例一实施方式中，角度传感器设置在可转动设备的中轴线上。
在本发明实施例一实施方式中，可转动设备包括以下至少之一：带可转动摄像机或者摄像头的终端、带转动机座的可视设备。
根据本发明实施例的一个方面，提供了一种可转动设备的调整方法，包括：在向可转动设备发送转动可转动设备的指令之后，接收测量传感器发送的测量指定物理参数的第一测量信号；将第一测量信号放大至第二测量信号；以及将第二测量信号发送至测量传感器；其中，第一测量信号和第二测量信号用于确定指定物理参数的测量值；测量值用于确定可转动设备需要转动的角度，角度为可转动设备当前所在平面的法线与遥控器和可转动设备的中心连线之间的夹角。
在本发明实施例一实施方式中，在指定物理参数为测量传感器与遥控器之间的距离时，测量传感器包括：两个距离传感器；其中，两个距离传感器对称设置在可转动设备的两侧的延长上。
在本发明实施例一实施方式中，在指定物理参数为角度的情况下，测量传感器包括：角度传感器。
在本发明实施例一实施方式中，角度传感器设置在可转动设备的中轴线上。
根据本发明实施例的一个方面，提供了一种可转动设备的调整装置，包括：接收模块，配置为在向可转动设备发送转动可转动设备的指令之后， 接收测量传感器发送的测量指定物理参数的第一测量信号；放大模块，配置为将第一测量信号放大至第二测量信号；以及发送模块，配置为将第二测量信号发送至测量传感器；其中，第二测量信号用于指示测量传感器对指定物理参数进行测量；指定物理参数的测量值用于确定可转动设备需要转动的角度，角度为可转动设备当前所在平面的法线与遥控器和可转动设备的中心连线之间的夹角。
所述接收模块、所述放大模块、所述发送模块在执行处理时，可以采用中央处理器(CPU，Central Processing Unit)、数字信号处理器(DSP，Digital Singnal Processor)、可编程逻辑阵列(FPGA，Field－Programmable Gate Array)中的一种器件实现。除此之外，也可以是某种具备程序处理能力的集成电路(IC)芯片。
本发明实施例还提供一种计算机存储介质，其中存储有计算机可执行指令，该计算机可执行指令配置为执行上述可转动设备的调整方法。
根据本发明实施例的一个方面，提供了一种遥控器，包括上述可转动设备的调整装置。
采用本发明实施例，采用遥控器发出转动可转动设备的指令之后，测量传感器测量指定物理参数，可转动设备根据该指定物理参数确定出需要转动的角度，按照该确定的角度转动可转动设备，进而实现了一键调整可转动设备的转动角度的功能，减少了对遥控器的操作，缩短了可转动设备的转动时间，进而解决了相关技术中可转动设备转动至指定角度时调整时间比较长的技术问题。
附图说明
此处所说明的附图用来提供对本发明的进一步理解，构成本申请的一部分，本发明的示意性实施例及其说明用于解释本发明，并不构成对本发明的不当限定。在附图中：
图1是根据本发明实施例提供的可转动设备的调整系统的结构框图；
图2是根据本发明实施例提供的可转动设备的调整系统中的遥控器14的结构框图；
图3是根据本发明实施例的可转动设备的调整方法的流程图；
图4是根据本发明实施例的控制会议电视终端摄像机/头转动的传统方式的示意图；
图5是根据本发明实施例的带有转动基座智能电视转动的传统方式的示意图；
图6是根据本发明实施例提供的可转动设备需要转动角度的几何关系图；
图7是根据本发明实施例采用第一种方案时可转动设备首次转动的几何关系图；
图8是根据本发明实施例采用第一种方案时可转动设备转动的几何关系图；
图9是根据本发明实施例的可转动设备的调整装置的结构框图。
具体实施方式
下文中将参考附图并结合实施例来详细说明本发明。需要说明的是，在不冲突的情况下，本申请中的实施例及实施例中的特征可以相互组合。
需要说明的是，本发明的说明书和权利要求书及上述附图中的术语“第一”、“第二”等是用于区别类似的对象，而不必用于描述特定的顺序或先后次序。
在本实施例中提供了一种可转动设备的调整系统，图1是根据本发明实施例提供的可转动设备的调整系统的结构框图，如图1所示，该系统包括：可转动设备10，测量传感器12，遥控器14；
遥控器14，配置为向可转动设备10发送转动可转动设备10的指令，将 接收到的测量传感器12发送的测量指定物理参数的第一测量信号进行放大，以及将第二测量信号发送给测量传感器12；其中，第二测量信号为放大后的第一测量信号；
测量传感器12，配置为接收遥控器14发送的第二测量信号，以及根据第一测量信号和第二测量信号确定指定物理参数的测量值；
可转动设备10，配置为接收测量传感器12发送的测量值；根据测量值确定可转动设备10需要转动的角度，以及按照确定的角度转动可转动设备10；其中，角度为可转动设备10当前所在平面的法线与遥控器14和可转动设备10的中心连线之间的夹角。
通过上述系统，采用遥控器14发出转动可转动设备的指令，测量传感器12测量指定物理参数，可转动设备10根据该指定物理参数确定出需要转动的角度，按照该确定的角度转动可转动设备，进而实现了一键调整可转动设备的转动角度的功能，减少了对遥控器的操作，缩短了可转动设备的转动时间，进而解决了相关技术中可转动设备转动至指定角度时调整时间比较长的技术问题。
需要说明的是，遥控器14、测量传感器12和可转动设备10之间可以是相互独立的，也可以不相互独立，比如测量传感器12可以设置在可转动设备10中，但并不限于此，另外，转动设备可以通过实线进行连接，也可以不通过实线进行连接，当不通过实线进行连接时，可以通过一些信号进行交互，比如散射激光，超声波、无线电信号等等，并不限于此。
在本发明的一个实施例中，图2是根据本发明实施例提供的可转动设备的调整系统中的遥控器14的结构框图，如图2所示，上述遥控器14可以包括：第一发射器20，第一接收器22和放大装置24；其中，放大装置24位于第一发射器20中；
第一发射器20，配置为向可转动设备10发送指令以及将第二测量信号 发送给测量传感器12；
第一接收器22，与上述第一发射器20连接，配置为接收测量传感器12发送的第一测量信号；
放大装置24，配置为将第一测量信号放大至第二测量信号。
上述遥控器14与现有技术中的遥控器相比，增加了第一接收器22和放大装置24，使得遥控器14具有接收和信号增强的功能。
需要说明的是，将第一测量信号放大到第二测量信号，可以避免其它物体表面的镜面反射对测量传感器12的干扰，比如如果不经过放大的话，可能得到的第二测量信号会比较弱，因而可能会被镜面反射的信号所淹没，得不到准确的指定物理参数，而进行放大之后，使得第二测量信号增强，避免了镜面反射的干扰，能够获得更加准确的指定物理参数的值。
需要说明的是，在指定物理参数为测量传感器12与遥控器14之间的距离时，上述测量传感器12可以包括：两个距离传感器；其中，两个距离传感器与可转动设备10的转动中心位于一条直线上。
需要说明的是，上述两个距离传感器可以位于该可转动设备10的两侧，也可以位于可转动设备10的同侧，在位于可转动设备10的两侧时，作为一个方式可以对称设置在可转动设备10的两侧，但并不限于此。
即上述两个距离传感器可遥控器组成一个三角形，其中，该两个距离传感器和可转动设备在一条直线上，其中，该三角形的一边为两个距离传感器之间的距离，两个距离传感器分别与遥控器之间的距离为该三角形的两边，进而可以通过两个距离传感器测量出距离传感器与遥控器之间的距离，即获得了三角形的三条边的长度，进而可以利用余弦定理通过简单的三角函数，就可以得到可转动设备需要转动的角度。
需要说明的是，上述计算可转动设备10需要转动的角度可以上述可转动设备10完成的。
在本发明的一个实施例中，上述两个距离传感器中的每个距离传感器可以包括：第二发射器，第二接收器和距离测量装置；第二发射器，配置为向遥控器14发送第一测量信号以及将距离的测量值发送给可转动设备10；第二接收器，配置为接收遥控器14发送的第二测量信号；距离测量装置，配置为根据第一测量信号和第二测量信号确定距离的测量值。即距离传感器具有信号发射，信号接收机距离测量的功能。
需要说明的是，上述第二发射器和第二接收器都可以与距离测量装置连接，但并不限于此。
在本发明的一个实施例中，在指定物理参数为角度的情况下，上述测量传感器12可以包括：角度传感器，配置为测量角度。
需要说明的是，上述角度传感器可以包括：第三发射器，第三接收器和角度测量装置；第三发射器，配置为向遥控器14发送第一测量信号以及将角度的测量值发送给可转动设备10；第三接收器，配置为接收遥控器14发送的第二测量信号；角度测量装置，配置为根据第一测量信号和第二测量信号确定角度的测量值。及上述角度传感器具有信号发射，接收以及角度测量的功能。
在本发明实施例一实施方式中，上述角度传感器可以设置在可转动设备10的中轴线上。
通过角度传感器可以直接测量得到可转动设备10需要转动的角度，也可以是测量其他的角度，通过角度的换算来得到可转动设备10需要转动的角度，但并不限于此。
需要说明的是，上述可转动设备10可以包括以下至少之一，但并不限于此：带可转动摄像机或者摄像头的终端、带转动机座的可视设备。
通过上述系统，可以使得上述可转动设备的智能程度得到提高，在操作人员大角度偏离预设方向的情况下，可以减少对遥控器的操作，使操作 人员更多地关注视频会议或电视节目本身。
在本实施例中提供了一种可转动设备的调整方法，图3是根据本发明实施例的可转动设备的调整方法的流程图，如图3所示，该流程包括如下步骤：
步骤S302，在向可转动设备发送转动可转动设备的指令之后，接收测量传感器发送的测量指定物理参数的第一测量信号；
步骤S304，将第一测量信号放大至第二测量信号；
步骤S306，将第二测量信号发送至测量传感器；其中，第一测量信号和第二测量信号用于确定指定物理参数的测量值；测量值用于确定可转动设备需要转动的角度，角度为可转动设备当前所在平面的法线与遥控器和可转动设备的中心连线之间的夹角。
通过上述步骤，在发送转动可转动设备的指令之后，将接收到的第一测量信号放大至第二测量信号，根据该第一测量信号和第二测量信号确定指定物理参数的测量值，根据该测量值确定可转动设备需要转动的角度，进而实现了一键调整可转动设备的转动角度的功能，减少了对遥控器的操作，缩短了可转动设备的转动时间，进而解决了相关技术中可转动设备转动至指定角度时调整时间比较长的技术问题。
需要说明的是，上述步骤的执行主体可以是遥控器，但并不限于此。
上述方法可以通过指令完成，可以通过硬件来实现，比如上述接收第一测量信号可以通过一个接收器来实现，将第一测量信号放大至第二测量信号可以通过一个放大装置来完成，上述将第二测量信号发送至测量传感器可以通过一个发射器完成，但并不限于此。
在本发明的一个实施例中，在指定物理参数为测量传感器与遥控器之间的距离时，测量传感器包括：两个距离传感器；其中，两个距离传感器与可转动设备的转动中心位于一条直线上。
需要说明的是，上述两个距离传感器可以位于该可转动设备的两侧， 也可以位于可转动设备的同侧，在位于可转动设备的两侧时，一个实施方式是可以对称设置在可转动设备的两侧，但并不限于此。其中，对于距离传感器的具体结构可以参考上述系统实施例，此处不再赘述。
在本发明的一个实施例中，在指定物理参数为角度的情况下，测量传感器可以包括：角度传感器。上述角度传感器设置在可转动设备的中轴线上。其中，对于该角度传感器的具体结构可以参考上述系统实施例，此处不再赘述。
具体的，怎样利用距离传感器测量的距离或者怎样利用角度传感器测量的角度来确定可转动设备的角度，可参考系统实施例的介绍，此处不再赘述。
为了更好的理解本发明，以下结合实施例对本发明做进一步解释。
本发明提供了一种可转动设备的调整方法，能够自动完成可转动设备的转动：遥控器发出自动转动的命令之后，一对已知距离的位置传感器先后发射信号，位于遥控器的接收器接收到信号后增强再发射出去，前述位置传感器接收信号并计算出自己和遥控器的距离，从而计算出需要转动的角度，最终使终端摄像机/头指向或者智能电视屏幕法线指向遥控器所在位置，从而实现一键调整方向的功能，大大提高了设备的可用性和智能程度。
以可转动设备包括终端摄像机/头或者带有转动基座智能电视为例，进行说明，本发明实施例提供了两种方案：第一种方案：位置测量法；第二种方案：角度测量法；其中，对于第一种方案，具体包括步骤a-g步骤如下：
步骤a，在会议电视终端摄像机/头预置指向垂直的方向上设置距离测量传感器，为了简单起见，这两个距离传感器对称设置，也就是说两个距离测量传感器和摄像机/头三点一线，且摄像机/头位于两个距离测量传感器连线的中点位置，会议电视终端摄像机/头预置指向方向与这条3点一线的连线相互垂直，两个距离传感器含信号发射、信号接收及距离测量的功能，它 们接收遥控器发出的距离测量命令后开始测量自己和遥控器之间的距离；
步骤b，在智能电视两侧或两侧的延长线上对称设置距离测量传感器，也就是说智能电视的转动基座位于距离测量传感器连线的中点位置，两个距离传感器含信号发射、信号接收及距离测量的功能，它们接收遥控器发出的距离测量命令后开始测量自己和遥控器之间的距离；
步骤c，遥控器内置能够接收距离传感器发射出信号的接收器以及对此信号有增强功能的发射器。遥控器发出转动的命令后，终端或智能电视两侧的距离传感器先后发射距离测量信号，遥控器接收到该信号后做放大增强的处理之后再发射出去，具有信号增强功能是为了避免其它物体表面的镜面反射对距离传感器的干扰；
步骤d，2个距离测量传感器和遥控器组成一个三角形，其中包含会议电视终端摄像机/头或智能电视这条3点一线的边长，在安置传感器的时候就是事先知道的，另外两条边长的大小是通过距离传感器测量遥控器和距离传感器之间的距离得到的；
步骤e，得到了三角形三条边的长度，利用余弦定理通过简单的三角函数计算，就可以得到摄像机/头或智能电视基座需要转动的角度；
步骤f，会议电视终端摄像机/头或智能电视按照计算出来的角度转动；
步骤g，当遥控器的位置发生变化，重复步骤c～f的动作。
对于第二种方案，具有包括步骤A-D：
步骤A，在会议电视终端或其摄像机/头内置角度测量传感器，该传感器具有信号发射、接收以及角度测量的功能；
步骤B，在智能电视内置角度测量传感器，该传感器具有信号发射、接收以及角度测量的功能；
步骤C，遥控器内置能够接收角度传感器发射出信号的接收器以及对此信号有增强功能的发射器。遥控器发出转动的命令后，终端或智能电视中 轴的角度传感器发射测量信号，遥控器接收到该信号后做放大增强的处理之后再发射出去，具有信号增强功能是为了避免其它物体表面的镜面反射对角度传感器的干扰；
步骤D，当遥控器的位置发生变化，会议电视终端摄像机/头或智能电视按照角度的变化数值转动
以下结合图4至图8，对本发明实施例进行详细阐述：
图4是根据本发明实施例的控制会议电视终端摄像机/头转动的传统方式的示意图，如图4所示：R是能够发出左右转动命令的遥控器，T是带有可转动摄像机/头的会议电视终端。当持有遥控器的人员准备调整摄像机/头向左或向右转动的时候，他会按动向左或向右转动的按键，当摄像机/头原先指向的方向和遥控器操作人员所处位置的夹角比较大时，需要多次或长时间按遥控器按键才能转动到所需位置。
图5是根据本发明实施例的带有转动基座智能电视转动的传统方式的示意图，如图5所示：R是能够发出左右转动命令的遥控器，T是带有可转动基座的智能电视。当持有遥控器的人员准备调整智能电视向左或向右转动的时候，他会按动向左或向右转动的按键，当智能电视原先的法线方向和遥控器操作人员所处位置的夹角比较大时，需要多次或长时间按遥控器按键才能转动到所需位置。
图6是根据本发明实施例提供的可转动设备需要转动角度的几何关系图，如图6所示，T是带有可转动摄像机/头的会议电视终端或带有可转动基座的智能电视，也是转动的轴心，R是发出左右转动命令的遥控器，TD是可转动摄像机/头开机缺省的指向方向或智能电视屏幕的法向方向，TR是转动轴心和遥控器的连线，TD和TR的夹角θ就是需要转动的角度，图6是对图4和图5的数学抽象。此外，图6还是角度测量法方案时的几何关系图，后面还会描述；
图7是根据本发明实施例采用第一种方案时可转动设备首次转动的几何关系图，如图7所示，在图6的基础上，在与TD指向垂直的方向上等距安装距离测量传感器A、B，它们和安装了信号接收发射器的遥控器R构成了一个三角形。当会议电视终端或智能电视开机后首次需要转动角度θ的时候，也就是TD和TR此时存在夹角，遥控器R先发起距离测量的请求也就是需要转动的命令，距离测量传感器A、B获取AR和BR的距离之后发给终端或智能电视，由于AB的距离是事先知道的，T是AB的中点。强调首次操作是因为TD与AB相垂直，因此根据余弦定理可以很容易计算出φ、θ的大小，有了角度θ的数值，摄像机/头或智能电视就能够自动转动到相应的位置，转动到指定位置之后摄像机/头的指向或智能电视法线的方向变成了TR的指向。为了保持对传统遥控器操作方式的兼容，在需要转动的时候，可以选择不让摄像机/头或智能电视自动转动，AR和BR仅用来获取距离信息，以便计算出本次转动所需的角度，另外记录本次的角度φ数值(锐角，指示本次移动是偏左还是偏右)，之所以要记录这个角度信息，是因为它随后还会用到。
图8是根据本发明实施例采用第一种方案时可转动设备转动的几何关系图。当遥控器移动到新的位置时，重新计算AR和BR的距离，根据余弦定理可以很容易计算出ω的大小，因为在图7的步骤保存了角度φ的数值，很容易可以计算出此次需要转动的角度θ’。图7中保存了锐角φ而不是互补钝角(180-φ)的数值，是因为此时遥控器位置在AB垂线偏左的方向，同样的道理图8中需要保存锐角ω而不是互补钝角(180-ω)的数值，是因为此时遥控器位置在AB垂线偏右的方向；
另外图6也是采用角度测量法方案时的几何关系图，当遥控器R位置发生变化，角度测量传感器只需获取偏离TD的角度，然后参考前一次转动的角度，就可以计算出本次需要转动的角度。
采用本发明上述实施例，可以使会议电视终端或智能电视的智能化程度得到提高。在操作人员大角度偏离预设方向的情况下，尤其可以缩短摄像机/头或智能电视转动的时间；减少了对遥控器的操作，使操作人员更多地关注视频会议或电视节目本身。
通过以上的实施方式的描述，本领域的技术人员可以清楚地了解到根据上述实施例的方法可借助软件加必需的通用硬件平台的方式来实现，当然也可以通过硬件，但很多情况下前者是更佳的实施方式。基于这样的理解，本发明的技术方案本质上或者说对现有技术做出贡献的部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质(如只读存储器(ROM，Read-Only Memory)/随机存取存储器(RAM，Random Access Memory)、磁碟、光盘)中，包括若干指令用以使得一台终端设备(可以是手机，计算机，服务器，或者网络设备等)执行本发明各个实施例所述的方法。
在本实施例中还提供了一种可转动设备的调整装置，该装置用于实现上述实施例及实施方式，已经进行过说明的不再赘述。如以下所使用的，术语“模块”可以实现预定功能的软件和/或硬件的组合。尽管以下实施例所描述的装置较佳地以软件来实现，但是硬件，或者软件和硬件的组合的实现也是可能并被构想的。
图9是根据本发明实施例的可转动设备的调整装置的结构框图，如图9所示，该装置包括：
接收模块92，配置为在向可转动设备发送转动可转动设备的指令之后，接收测量传感器发送的测量指定物理参数的第一测量信号；
放大模块94，与上述接收模块92连接，配置为将第一测量信号放大至第二测量信号；
发送模块96，与上述放大模块94连接，配置为将第二测量信号发送至 测量传感器；其中，第二测量信号用于指示测量传感器对指定物理参数进行测量；指定物理参数的测量值用于确定可转动设备需要转动的角度，角度为可转动设备当前所在平面的法线与遥控器和可转动设备的中心连线之间的夹角。
通过上述装置，在发送转动可转动设备的指令之后，将接收到的第一测量信号放大至第二测量信号，进而能够通过该第一测量信号和第二测量信号确定指定物理参数的测量值，根据该测量值确定可转动设备需要转动的角度，进而实现了一键调整可转动设备的转动角度的功能，减少了对遥控器的操作，缩短了可转动设备的转动时间，进而解决了相关技术中可转动设备转动至指定角度时调整时间比较长的技术问题。
对于测量传感器的介绍可以参考上述系统实施例，此处不再赘述。具体的，怎样利用距离传感器测量的距离或者怎样利用角度传感器测量的角度来确定可转动设备的角度，可参考系统实施例的介绍，此处不再赘述。
需要说明的是，上述装置可以位于遥控器中，但并不限于此。
需要说明的是，上述各个模块是可以通过软件或硬件来实现的，对于后者，可以通过以下方式实现，但不限于此：上述模块均位于同一处理器中；或者，上述模块分别位于多个处理器中。
根据本发明实施例的一个方面，提供了一种遥控器，可以包括图4所示的可转动设备的调整装置。
本发明的实施例还提供了一种计算机存储介质。其中存储有计算机可执行指令，该计算机可执行指令配置为执行上述可转动设备的调整方法。可选地，在本实施例中，上述计算机存储介质可以被设置为存储用于执行以下步骤的程序代码：
S1，在向可转动设备发送转动可转动设备的指令之后，接收测量传感器发送的测量指定物理参数的第一测量信号；
S2，将第一测量信号放大至第二测量信号；
S3，将第二测量信号发送至测量传感器；其中，第一测量信号和第二测量信号用于确定指定物理参数的测量值；测量值用于确定可转动设备需要转动的角度，角度为可转动设备当前所在平面的法线与遥控器和可转动设备的中心连线之间的夹角。
可选地，在本实施例中，上述存储介质可以包括但不限于：U盘、ROM、RAM、移动硬盘、磁碟或者光盘等各种可以存储程序代码的介质。
可选地，本实施例中的具体示例可以参考上述实施例及可选实施方式中所描述的示例，本实施例在此不再赘述。
显然，本领域的技术人员应该明白，上述的本发明的各模块或各步骤可以用通用的计算装置来实现，它们可以集中在单个的计算装置上，或者分布在多个计算装置所组成的网络上，可选地，它们可以用计算装置可执行的程序代码来实现，从而，可以将它们存储在存储装置中由计算装置来执行，并且在某些情况下，可以以不同于此处的顺序执行所示出或描述的步骤，或者将它们分别制作成各个集成电路模块，或者将它们中的多个模块或步骤制作成单个集成电路模块来实现。这样，本发明不限制于任何特定的硬件和软件结合。
以上所述仅为本发明的实施例，并不用于限制本发明，对于本领域的技术人员来说，本发明可以有各种更改和变化。凡在本发明的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。
工业实用性
采用本发明实施例，采用遥控器发出转动可转动设备的指令之后，测量传感器测量指定物理参数，可转动设备根据该指定物理参数确定出需要转动的角度，按照该确定的角度转动可转动设备，进而实现了一键调整可 转动设备的转动角度的功能，减少了对遥控器的操作，缩短了可转动设备的转动时间，进而解决了相关技术中可转动设备转动至指定角度时调整时间比较长的技术问题。

Claims (15)

  1. 一种可转动设备的调整系统，包括：可转动设备，测量传感器，遥控器；
    所述遥控器，配置为向所述可转动设备发送转动所述可转动设备的指令，将接收到的所述测量传感器发送的测量指定物理参数的第一测量信号进行放大，以及将第二测量信号发送给所述测量传感器；其中，所述第二测量信号为放大后的所述第一测量信号；
    所述测量传感器，配置为接收所述遥控器发送的所述第二测量信号，以及根据所述第一测量信号和所述第二测量信号确定所述指定物理参数的测量值；
    所述可转动设备，配置为接收所述测量传感器发送的所述测量值；根据所述测量值确定所述可转动设备需要转动的角度，以及按照确定的所述角度转动所述可转动设备；其中，所述角度为所述可转动设备当前所在平面的法线与所述遥控器和所述可转动设备的中心连线之间的夹角。
  2. 根据权利要求1所述的系统，其中，所述遥控器包括：第一发射器，第一接收器和放大装置，其中，所述放大装置位于所述第一发射器中；
    所述第一发射器，配置为向所述可转动设备发送所述指令以及将所述第二测量信号发送给所述测量传感器；
    所述第一接收器，配置为接收所述测量传感器发送的所述第一测量信号；
    所述放大装置，配置为将所述第一测量信号放大至所述第二测量信号。
  3. 根据权利要求1所述的系统，其中，在所述指定物理参数为所述测量传感器与所述遥控器之间的距离时，所述测量传感器包括：两个距离传感器；其中，所述两个距离传感器与所述可转动设备的转动中心位于一条直线上。
  4. 根据权利要求3所述的系统，其中，所述两个距离传感器中的每个距离传感器包括：第二发射器，第二接收器和距离测量装置；
    所述第二发射器，配置为向所述遥控器发送所述第一测量信号以及将所述距离的测量值发送给所述可转动设备；
    所述第二接收器，配置为接收所述遥控器发送的所述第二测量信号；
    所述距离测量装置，配置为根据所述第一测量信号和所述第二测量信号确定所述距离的测量值。
  5. 根据权利要求1所述的系统，其中，在所述指定物理参数为所述角度的情况下，所述测量传感器包括：角度传感器，配置为测量所述角度。
  6. 根据权利要求5所述的系统，其中，所述角度传感器包括：第三发射器，第三接收器和角度测量装置；
    所述第三发射器，配置为向所述遥控器发送所述第一测量信号以及将所述角度的测量值发送给所述可转动设备；
    所述第三接收器，配置为接收所述遥控器发送的所述第二测量信号；
    所述角度测量装置，配置为根据所述第一测量信号和所述第二测量信号确定所述角度的测量值。
  7. 根据权利要求5所述的系统，其中，所述角度传感器设置在所述可转动设备的中轴线上。
  8. 根据权利要求1至7中任一项所述的系统，其中，所述可转动设备包括以下至少之一：带可转动摄像机或者摄像头的终端、带转动机座的可视设备。
  9. 一种可转动设备的调整方法，包括：
    在向可转动设备发送转动所述可转动设备的指令之后，接收测量传感器发送的测量指定物理参数的第一测量信号；
    将所述第一测量信号放大至第二测量信号；以及
    将所述第二测量信号发送至所述测量传感器；
    其中，所述第一测量信号和所述第二测量信号用于确定所述指定物理参数的测量值；所述测量值用于确定所述可转动设备需要转动的角度，所述角度为所述可转动设备当前所在平面的法线与遥控器和所述可转动设备的中心连线之间的夹角。
  10. 根据权利要求9所述的方法，其中，在所述指定物理参数为所述测量传感器与所述遥控器之间的距离时，所述测量传感器包括：两个距离传感器；其中，所述两个距离传感器与所述可转动设备的转动中心位于一条直线上。
  11. 根据权利要求9所述的方法，其中，在所述指定物理参数为所述角度的情况下，所述测量传感器包括：角度传感器。
  12. 根据权利要求9所述的方法，其中，所述角度传感器设置在所述可转动设备的中轴线上。
  13. 一种可转动设备的调整装置，包括：
    接收模块，配置为在向可转动设备发送转动所述可转动设备的指令之后，接收测量传感器发送的测量指定物理参数的第一测量信号；
    放大模块，配置为将所述第一测量信号放大至第二测量信号；以及
    发送模块，配置为将所述第二测量信号发送至所述测量传感器；
    其中，所述第二测量信号用于指示所述测量传感器对所述指定物理参数进行测量；所述指定物理参数的测量值用于确定所述可转动设备需要转动的角度，所述角度为所述可转动设备当前所在平面的法线与遥控器和所述可转动设备的中心连线之间的夹角。
  14. 一种遥控器，包括权利要求13所述的装置。
  15. 一种计算机存储介质，存储有计算机可执行指令，该计算机可执行指令配置为执行上述权利要求9-12任一项的可转动设备的调整方法。
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