WO2021081810A1 - 控制方法、控制系统、云台及存储介质 - Google Patents

控制方法、控制系统、云台及存储介质 Download PDF

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Publication number
WO2021081810A1
WO2021081810A1 PCT/CN2019/114363 CN2019114363W WO2021081810A1 WO 2021081810 A1 WO2021081810 A1 WO 2021081810A1 CN 2019114363 W CN2019114363 W CN 2019114363W WO 2021081810 A1 WO2021081810 A1 WO 2021081810A1
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WIPO (PCT)
Prior art keywords
camera
pan
tilt
terminal device
video
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Application number
PCT/CN2019/114363
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English (en)
French (fr)
Inventor
陈哲斯
谢卓
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to PCT/CN2019/114363 priority Critical patent/WO2021081810A1/zh
Priority to CN201980039404.2A priority patent/CN112313939B/zh
Publication of WO2021081810A1 publication Critical patent/WO2021081810A1/zh

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    • 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

Definitions

  • the present invention relates to the technical field of pan/tilt, and more specifically to a control method, control system, pan/tilt and storage medium.
  • the gimbal can improve the user's camera shooting effect and experience, and with the development of technology, a solution to control the camera on the gimbal through a terminal device such as a mobile phone has emerged, which further improves the convenience of users. .
  • this solution generally connects the camera to the pan/tilt by using a wired connection.
  • the camera stabilizer software ie, the pan/tilt APP
  • terminal devices such as mobile phones is connected to the pan/tilt through the wifi module to control the camera. Realize shooting control and/or parameter setting of the camera on terminal devices such as mobile phones.
  • this method is limited by the performance and environment of the wifi module, and the actual use effect is poor. If the hardware performance of the wifi module is poor, or the environment interference is large during use, the camera control may have invalid setting parameters or shooting control, which will affect the normal use of the user. At the same time, adding wifi modules will also increase product costs and reduce product cost-effectiveness and competitiveness. In addition, the built-in wifi module will affect the internal structure of the gimbal, increase product complexity and system stability, and the built-in wifi module requires users to connect. In actual use, the operation process is more complicated and affects the user experience.
  • the present invention is proposed in order to solve at least one of the above-mentioned problems.
  • the present invention provides a control method, a control system, a pan/tilt and a storage medium, which can make the terminal device and the pan/tilt be directly connected by wire, thereby directly controlling the camera connected to the pan/tilt in the terminal device, which is similar to the WiFi mode. Compared with, its stability and anti-interference are strong, and the cost is low, and the operation is simple.
  • the embodiment of the present invention provides a control method, which is applied to a system composed of a pan/tilt, a terminal device, and a camera.
  • the terminal device, the pan/tilt, and the camera are connected in sequence; the terminal device is connected to the cloud via a USB data cable.
  • Station connection; the method includes:
  • the terminal device In response to the camera control command input by the user, the terminal device converts the camera control command into a pan/tilt SDK protocol command, and transmits the pan/tilt SDK protocol command to the pan/tilt;
  • pan/tilt After the pan/tilt receives the pan/tilt SDK protocol command, converts the pan/tilt SDK protocol into a camera SDK protocol command, and transmits the camera SDK protocol command to the camera;
  • the camera When the camera receives the camera SDK protocol command, it executes a corresponding operation according to the camera SDK protocol command.
  • the embodiment of the present invention also provides a control method, which is applied to a pan/tilt, and the pan/tilt is connected to a preset terminal device through a USB data cable; the method includes:
  • the camera SDK protocol command is transmitted to the camera connected to the pan/tilt.
  • An embodiment of the present invention also provides a control system, which includes: a pan/tilt, a terminal device, and a camera, the terminal device, the pan/tilt, and the camera are connected in sequence, and the terminal device is connected to the pan/tilt via a USB data cable;
  • the terminal device is configured to respond to a camera control command input by a user, convert the camera control command into a pan/tilt SDK protocol command, and transmit the pan/tilt SDK protocol command to the pan/tilt;
  • the pan/tilt head is configured to convert the pan/tilt SDK protocol into a camera SDK protocol command after receiving the pan/tilt SDK protocol command, and transmit the camera SDK protocol command to the camera;
  • the camera is configured to perform corresponding operations according to the camera SDK protocol command when receiving the camera SDK protocol command.
  • the embodiment of the present invention also provides a pan-tilt, which includes:
  • the first communication interface is used to realize connection and data transmission with a terminal device, the first communication interface is a USB interface, and the terminal device is connected to the pan/tilt via a USB data cable;
  • the second communication interface is used to realize connection with the camera and data transmission
  • One or more memories for storing one or more computer programs
  • One or more processors when the one or more computer programs are executed by the one or more processors, the one or more processors execute the following steps:
  • the camera SDK protocol command is transmitted to the camera connected to the pan/tilt.
  • the embodiment of the present invention also provides a storage medium, the storage medium stores a computer program, and the computer program executes the above-mentioned control method when running.
  • the embodiment of the present invention provides a control method, control system, pan/tilt and storage medium.
  • the terminal device is connected to the pan/tilt via a USB data cable, and the pan/tilt SDK is sent from the terminal device in the pan/tilt.
  • the protocol commands are converted into camera SDK protocol commands, so that the terminal device and the pan/tilt can directly control the camera after being connected via a USB data cable, which is convenient for users to use, and the pan/tilt does not need to have a built-in wifi module, which reduces costs and improves
  • the use stability and anti-interference performance are reduced, the operation complexity is reduced, and the user experience is improved.
  • Fig. 1 shows a schematic block diagram of an exemplary electronic device used to implement a control method and system, and a pan/tilt according to an embodiment of the present invention
  • Fig. 2 shows a schematic flowchart of a control method according to an embodiment of the present invention
  • Fig. 3 shows a schematic block diagram of a control system according to an embodiment of the present invention
  • Fig. 4 shows a schematic flowchart of a control method according to an embodiment of the present invention
  • Fig. 5 shows a schematic block diagram of a pan-tilt according to an embodiment of the present invention.
  • the electronic device 100 includes one or more processors 102, one or more storage devices 104, an input/output device 106, and a communication interface 108. These components are connected through a bus system 110 and/or other forms of connection mechanisms. (Not shown) interconnected. It should be noted that the components and structure of the electronic device 100 shown in FIG. 1 are only exemplary and not restrictive. According to requirements, the electronic device may also have other components and structures, or may not include some of the aforementioned components.
  • the processor 102 generally represents any type or form of processing unit capable of processing data or interpreting and executing instructions.
  • the processor can be a central processing unit (CPU), an image processing unit (GPU), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), an encoder, an image signal processor (ISP), or Other forms of processing units having data processing capabilities and/or instruction execution capabilities, and can control other components in the electronic device 100 to perform desired functions.
  • the processor 102 can include one or more embedded processors, processor cores, microprocessors, logic circuits, hardware finite state machines (FSM), digital signal processors (DSP), or combinations thereof.
  • the processor 102 may receive instructions from software applications or modules. These instructions may cause the processor 102 to complete the method described and/or shown herein for hybrid navigation of a degree device and the self-moving device and method.
  • the storage device 104 may include one or more computer program products, and the computer program products may include various forms of computer-readable storage media, such as volatile memory and/or non-volatile memory.
  • the volatile memory may include random access memory (RAM) and/or cache memory (cache), for example.
  • the non-volatile memory may include, for example, read-only memory (ROM), hard disk, flash memory, and the like.
  • One or more computer program instructions may be stored on the computer-readable storage medium, and the processor 102 may run the program instructions to implement the client functions (implemented by the processor) in the embodiments of the present invention described below. And/or other desired functions.
  • Various application programs and various data such as various data used and/or generated by the application program, can also be stored in the computer-readable storage medium.
  • the input/output device 106 may be a device used by the user to input instructions and output various information to the outside.
  • the input device may include one or more of a keyboard, a mouse, a microphone, and a touch screen.
  • the output device may include one or more of a display, a speaker, and the like.
  • the communication interface 108 broadly represents any type or form of adapter or communication device capable of facilitating communication between the example electronic device 100 and one or more additional devices.
  • the communication interface 108 may facilitate communication between the electronic device 100 and a front-end or accessory electronic device, and a back-end server or cloud.
  • Examples of the communication interface 108 include, but are not limited to, a wired network interface (such as a network interface card), a wireless network interface (such as a wireless network interface card), a modem, a universal serial interface (USB), an HDMI interface, and any other suitable interface.
  • the communication interface 108 provides a direct connection to a remote server/remote head-end device through a direct connection to a network such as the Internet.
  • the communication interface 108 provides a direct connection to a remote server/remote front-end device through a direct connection to a network such as a private network.
  • the communication interface 108 can also indirectly provide such a connection through any other suitable connection.
  • Fig. 2 shows a schematic flowchart of a control method according to an embodiment of the present invention.
  • the control method disclosed in this embodiment is applied to a system composed of a terminal device 210, a pan/tilt 220, and a camera 230.
  • the terminal device 210, the pan/tilt 220, and the camera 230 are connected in sequence, and the terminal device 210 is connected to the terminal device 210 through a USB data cable.
  • the pan-tilt 220 is connected, and the camera 230 is connected to the pan-tilt 220 through a shutter release cable and/or HDMI data cable.
  • the method disclosed in this embodiment includes:
  • Step 201 In response to the camera control command input by the user, the terminal device 210 converts the camera control command into a pan/tilt SDK protocol command, and transmits the pan/tilt SDK protocol command to the pan/tilt 220.
  • the terminal device 210 includes a smart phone, a PDA, and a tablet.
  • the terminal device 210 is a smart phone.
  • the camera control command can be input by the user operating the corresponding control interface of the terminal device, such as the UI interface of the PTZ APP.
  • the terminal device 210 responds to the camera control command input by the user.
  • the camera control command is converted into a pan/tilt SDK protocol command, and the pan/tilt SDK protocol command is transmitted to the pan/tilt 220.
  • the terminal device 210 may be implemented by the electronic device shown in FIG. 1, and the pan-tilt SDK may be implemented by a processor in the terminal device 210 running a corresponding program.
  • the PTZ SDK protocol command is generated by the PTZ SDK in response to the camera control command input by the user.
  • the terminal device 210 and the pan-tilt 220 are connected through a wired connection, such as a USB data cable. Therefore, before transmitting the PTZ SDK protocol commands to the PTZ 220, the terminal device 210 also encapsulates the PTZ SDK protocol commands according to the USB transmission protocol.
  • the terminal device 210 includes a USB protocol analysis module, and the USB protocol analysis module can encapsulate the PTZ SDK protocol commands. After the encapsulation is completed, the PTZ SDK protocol command is sent to the PTZ 220 via the USB data cable.
  • the camera control command includes a camera shooting control command or a camera parameter setting command.
  • the camera control command is, for example, shooting, video recording start, video recording end, etc.
  • the camera parameter setting command is, for example, Set commands for exposure parameters, shooting mode setting commands, etc.
  • step 202 after receiving the PTZ SDK protocol command, the PTZ 220 converts the PTZ SDK protocol into a camera SDK protocol command, and transmits the camera SDK protocol command to the camera 230.
  • the pan-tilt 220 may be implemented by the electronic device shown in FIG. 1, the pan-tilt 220 includes an SDK control command converter, which may be an SDK control command converter integrated inside or external to the pan-tilt 220.
  • the SDK control command converter can be an independent hardware module, or can also be implemented by the processor of the pan/tilt 220 running a corresponding program.
  • the pan-tilt 220 converts the pan-tilt SDK protocol commands received from the terminal device 210 into camera SDK protocol commands through the SDK control command converter.
  • step 203 when the camera 230 receives the camera SDK protocol command, it executes a corresponding operation according to the camera SDK protocol command.
  • the camera 230 is connected to the pan/tilt 220 via a shutter cable, and the pan/tilt 220 may send the camera SDK protocol commands to the camera 230 through the camera shutter cable.
  • the camera 230 receives the camera SDK protocol command, it performs corresponding operations according to the camera SDK protocol command, such as setting camera parameters, shooting, starting video recording, and ending video recording.
  • the terminal device and the camera are independent of the pan/tilt
  • the terminal device is connected to the pan/tilt via a USB data cable
  • the pan/tilt SDK protocol commands sent by the terminal device are converted into the camera SDK protocol in the pan/tilt.
  • the PTZ SDK protocol commands generated by the terminal are equivalent to the camera SDK protocol commands, so that the terminal device and the PTZ can directly control the camera after passing through the USB data cable, without the need for wifi connection settings and other operations, which is not only convenient It can be used by the user, and it can solve the problem that the user is greatly affected by the environment during use, and may affect the camera control effect in the wifi interference environment (for example, the problem of parameter setting failure).
  • the PTZ does not need to have a built-in wifi module, which reduces the cost, improves the stability and anti-interference performance, reduces the operation complexity, and improves the user experience.
  • step S204 the camera 230 sends the shooting status of the camera to the pan-tilt 220 in response to the status transmission instruction.
  • the camera status transmission instruction may be automatically generated by the terminal device 210 and sent to the camera 230 through the pan/tilt 220.
  • the camera 230 receives the status transmission instruction, the camera's shooting status is sent to The PTZ 220.
  • the shooting status includes, for example, the current shooting mode of the camera (photographing or video recording and shooting mode), the shooting parameters of the current camera, and the like.
  • the camera 230 is connected to the pan/tilt head 220 through a shutter release cable, and the camera 230 transmits the shooting status of the camera to the pan/tilt head 220 through the shutter release cord.
  • Step S205 After receiving the shooting state, the PTZ 220 converts the shooting state into PTZ SDK protocol data, and transmits the PTZ SDK protocol data to the terminal device 210.
  • the PTZ 220 receives the shooting state from the camera through the shutter release, and after receiving the shooting state, converts the shooting state into PTZ SDK protocol data, and transfers the PTZ SDK protocol data It is transmitted to the terminal device 210.
  • the terminal device 210 is connected to the pan-tilt 220 via a USB data cable.
  • the data of the PTZ SDK protocol is encapsulated according to the USB transmission protocol.
  • Step S206 After receiving the PTZ SDK protocol data, the terminal device 210 converts the PTZ SDK protocol data into terminal SDK protocol data, and displays it according to the terminal SDK protocol data.
  • the terminal device 210 is connected to the pan/tilt 220 via a USB data cable, and the terminal device 210 receives the pan/tilt from the pan/tilt 220 via a wired connection such as a USB data cable.
  • the received encapsulated data is parsed according to the USB transmission protocol to obtain the PTZ SDK protocol data, and then the PTZ SDK protocol data is converted into terminal SDK protocol data according to the PTZ SDK protocol, thereby Obtain the shooting status of the camera, and then display the shooting status of the camera.
  • the terminal device 210 may be implemented by the electronic device shown in FIG. 1.
  • the terminal device 210 includes a USB protocol parsing module, an SDK command converter, and a display module.
  • the USB protocol parsing module And the SDK command converter can be implemented by the processor in the terminal device 210 running a corresponding program.
  • the USB protocol analysis module may be implemented by a processor in the terminal device 210 running a corresponding program, or may be an independent hardware module.
  • the USB protocol parsing module parses the received package data to obtain the PTZ SDK protocol data, and then transfers the PTZ SDK through the SDK command converter.
  • the protocol data is converted into terminal SDK protocol data, thereby obtaining the shooting status of the camera, and displaying it on the user interface of the PTZ APP.
  • step 207 the camera 230 sends the image taken by the camera to the pan-tilt 220 in response to the image transmission instruction.
  • the image transmission instruction may be automatically generated by the terminal device 210, for example, and sent to the camera 230 through the pan/tilt 220.
  • the camera 230 receives the image transmission instruction, it sends the image taken by the camera to the camera 230. ⁇ 220.
  • the images taken by the camera include photos and video images taken by the camera.
  • the camera 230 is connected to the pan/tilt 220 via a shutter release cable, and the camera 230 transmits the images taken by the camera to the pan/tilt mount 220 through the shutter release cord.
  • the camera 230 is connected to the pan/tilt 220 via an HDMI data cable, and the camera 230 sends the image taken by the camera to the pan/tilt via the HDMI data cable. 220.
  • Step S208 After receiving the image, the pan-tilt 220 encodes the image into a video in a predetermined format, and sends the video in the predetermined format to the terminal device 210.
  • the pan-tilt 220 may be implemented by the electronic device shown in FIG. 1, and the pan-tilt 220 includes an encoder, such as an H.264 or H.265 encoder.
  • the encoder is an encoder integrated inside the pan/tilt 220 or an external encoder.
  • the encoder can be implemented by a processor running a corresponding program or implemented by an independent codec chip.
  • the pan/tilt 220 After the pan/tilt 220 receives the image sent by the camera 230, it encodes the received image through a built-in or external encoder to convert it into encoded video data in a predetermined format, such as H.264 or H.265 video data.
  • the terminal device 210 is connected to the pan-tilt 220 via a USB data cable.
  • the USB transmission protocol encapsulates the video in the predetermined format.
  • Step S209 The terminal device 210 receives the video in the predetermined format, decodes the video in the predetermined format into a video image, and displays the video image.
  • the terminal device 210 is connected to the pan/tilt head 220 through a USB data cable. After receiving the encapsulated video in the predetermined format, the terminal device 210 parses the encapsulated video in the predetermined format to After obtaining the video in the predetermined format.
  • the terminal device 210 may be implemented by the electronic device shown in FIG. 1, and the terminal device 210 includes a USB protocol analysis module, a decoder, and a pan-tilt APP.
  • the USB protocol analysis module, decoder, and PTZ APP can be implemented by the processor of the terminal device 210 running corresponding programs, or can be implemented by independent hardware, for example, the decoder can be implemented by an independent codec chip .
  • the terminal device 210 After the terminal device 210 receives the encapsulated video in the predetermined format, the encapsulated data is parsed through the USB protocol parsing module to obtain the video in the predetermined format, and then displayed through the user interface (UI) of the PTZ APP .
  • UI user interface
  • the image captured by the camera 230 is encoded into a video in a predetermined format by an encoder built into or external to the pan/tilt 220, in other embodiments, it may also be encoded by an encoder integrated with the camera 230.
  • the camera 230 encodes the image taken by the camera into a video in a predetermined format in response to the image transmission instruction, and then sends the video in the predetermined format to the pan/tilt 220; in step 208 After receiving the video in the predetermined format, the pan/tilt head 220 sends the video in the predetermined format to the terminal device 210, that is, no more video encoding operation is performed in step S208.
  • the terminal device since the terminal device is connected to the pan/tilt via a USB data cable, the video freeze problem in the WiFi control method is solved, and the efficiency of the user in controlling the camera is improved. And it allows users to view the camera preview video images with the best real-time and image clarity, as well as low-latency pan-tilt and camera control.
  • Fig. 3 shows a schematic block diagram of a control system according to an embodiment of the present invention.
  • the control system 300 disclosed in this embodiment includes a terminal device 310, a pan-tilt 320, and a camera 330.
  • the terminal device 310 is connected to the pan-tilt 320 via a USB data cable.
  • the camera 330 is connected to the pan-tilt 320 via a shutter cable and/or HDMI data cable.
  • the pan/tilt 320 and the camera 330 are connected by a shutter cable, the pan/tilt 320 transmits camera SDK protocol commands to the camera 330 through the shutter cable, and the camera 330 uses The shutter release transmits the shooting status of the camera and/or the images/videos shot by the camera to the pan/tilt 320.
  • the pan/tilt 320 and the camera 330 are connected through a shutter cable and an HDMI data cable, and the camera 330 sends the images/videos taken by the camera 330 to the
  • the pan-tilt 320 transmits the shooting state of the camera 330 to the pan-tilt 320 through the shutter release cable, and the pan-tilt 320 transmits camera SDK protocol commands to the camera 330 through the shutter release cord.
  • the control system 300 disclosed in this embodiment can realize the control of the camera 330 connected to the pan-tilt 320 by the terminal device 310 on the one hand, and on the other hand can realize the camera 330 to transmit the captured images and shooting status to the terminal device 310 for display in real time.
  • the terminal device 310 may be implemented as the electronic device shown in FIG. 1, for example, a smart phone, a PDA, or a tablet.
  • the terminal device 310 is connected to the pan-tilt 320 via a USB data cable.
  • the terminal device 310 is configured to respond to the camera control command input by the user, convert the camera control command into a pan/tilt SDK protocol command, and transmit the pan/tilt SDK protocol command to the pan/tilt 320.
  • the terminal device 310 includes an SDK command converter 311 and a USB protocol parsing module 312.
  • the SDK command converter 311 may be implemented by a program in the processor running memory of the terminal device.
  • the USB protocol analysis module 312 may be implemented by a program in a processor running memory of the terminal device or an independent hardware module.
  • the user inputs camera control commands by operating the user interface 314 of the PTZ APP, and then the terminal device 310 responds to the camera control commands input by the user to convert the camera control commands into PTZ SDK protocol commands.
  • the USB protocol parsing module 312 encapsulates the SDK protocol command, and then sends the encapsulated PTZ SDK protocol command to the PTZ 320 via the USB data cable.
  • the camera control command includes a camera shooting control command or a camera parameter setting command.
  • the camera control command is, for example, shooting, video recording start, video recording end, etc.
  • the camera parameter setting command is, for example, an exposure parameter setting command, a shooting mode setting command, etc.
  • the pan/tilt 320 includes any suitable stabilizer structure, and can be implemented as an electronic device as shown in FIG. 1.
  • the pan/tilt head 320 is configured to convert the pan/tilt SDK protocol into a camera SDK protocol command after receiving the pan/tilt SDK protocol command, and transmit the camera SDK protocol command to the camera 330.
  • the pan/tilt 320 includes an SDK command converter 321, and the SDK command converter 321 is a built-in or external SDK command converter of the pan/tilt 320.
  • the SDK commander 321 may be implemented by a processor executing a corresponding program, or may be implemented by an independent hardware module.
  • the PTZ 320 After the PTZ 320 receives the PTZ SDK protocol command, it converts the PTZ SDK protocol into the camera SDK protocol command through the built-in or external SDK command converter, and then uses the shutter release to transfer the camera SDK protocol command Transfer to the camera 330.
  • the camera 330 may be implemented as the electronic device shown in FIG. 1.
  • the camera 330 is configured to perform corresponding operations according to the camera SDK protocol command when receiving the camera SDK protocol command.
  • the camera 320 When the camera 320 receives the camera SDK protocol command, it executes corresponding operations according to the camera SDK protocol command, such as setting camera parameters, shooting, starting video recording, and ending video recording.
  • the PTZ SDK protocol commands sent by the terminal device are converted into camera SDK protocol commands in the PTZ, so that the terminal device and the PTZ can be directly connected to the camera after a wired connection (such as USB).
  • a wired connection such as USB
  • the PTZ does not need to have a built-in wifi module, which reduces the cost, improves the stability and anti-interference performance, reduces the operation complexity, and improves the user experience.
  • the real-time image transmission in the control system 300 will be described below with reference to FIG. 3.
  • the camera 330 is further configured to send the shooting status of the camera to the pan/tilt 320 in response to a status transmission instruction; and/or to send the image captured by the camera in response to an image transmission instruction Send to the PTZ 320.
  • the shooting status includes, for example, the current shooting mode of the camera (photographing or video recording and shooting mode), the shooting parameters of the current camera, and the like.
  • the images taken by the camera include photos and/or video images taken by the camera.
  • the camera state transmission instruction and/or image transmission instruction may be automatically generated by the terminal device 310, for example, and sent to the camera 330 via the pan/tilt 320, when the camera 330 receives the state transmission instruction and/or image transmission After the instruction, the shooting status of the camera and/or the captured images are sent to the pan/tilt 320.
  • the camera 203 is connected to the pan/tilt 202 through a shutter cable and an HDMI data cable, and the camera 203 sends the shooting status of the camera to the cloud through the shutter cable.
  • the station 320 sends the captured image to the PTZ 320 via the HDMI data cable.
  • the shooting status and the transmission of the shot image can be realized between the camera and the pan/tilt only through the shutter release.
  • the PTZ 320 is further configured to convert the shooting state into PTZ SDK protocol data after receiving the shooting state, and transmit the PTZ SDK protocol data to the terminal device 310; and/or It is used to encode the image into a video in a predetermined format after receiving the image, and send the video in the predetermined format to the terminal device 310.
  • the terminal device 310 is connected to the PTZ 320 via a USB data cable, and the PTZ 320 is transmitting the PTZ SDK protocol data and/or captured images to the terminal device 310.
  • the PTZ SDK protocol data and/or the video in a predetermined format were encapsulated according to the USB transmission protocol, and then sent to the terminal device 310 through the USB data line after the encapsulation.
  • the pan/tilt 320 further includes an encoder 322, and the encoder 322 is an encoder integrated or externally connected to the pan/tilt 320.
  • the encoder 322 may be implemented by a processor executing a corresponding program, or may be implemented by an independent codec chip.
  • the pan/tilt 320 receives the image sent by the camera 330, the image is encoded into a video in a predetermined format through an encoder built into or external to the pan/tilt 320, for example, encoded into H.264 or H.265 format. Video.
  • the terminal device 310 is further configured to, after receiving the PTZ SDK protocol data, convert the PTZ SDK protocol data into terminal SDK protocol data, and display according to the terminal SDK protocol data; and/or also When receiving the video in the predetermined format, decode the video in the predetermined format into a video image, and display the video image.
  • the terminal device 310 further includes a decoder 313, and the decoder 313 may be implemented by a processor of the terminal device 310 running a corresponding program or implemented by an independent or integrated decoding chip.
  • the terminal device 310 is connected to the pan/tilt 320 via a USB data cable. After receiving the encapsulated data transmitted by the USB data cable, the terminal device 310 analyzes the encapsulated data through the USB protocol analysis module 312. Perform analysis to obtain SDK protocol data and/or video in a predetermined format. Then use the SDK command converter 311 to parse the gimbal SDK protocol data to convert it into terminal SDK protocol data to obtain the camera's shooting status, and use the decoder 313 to decode the video in a predetermined format to obtain the camera shots image. Subsequently, the shooting status and/or video images are displayed through the user interface of the PTZ APP, so as to realize the real-time transmission and display of the camera shooting status and images.
  • the image captured by the camera 330 is encoded by an encoder built into or external to the pan/tilt 320
  • the encoder configured by the camera 330 may be directly encoded into a video in a predetermined format.
  • the camera 330 is used to encode the image taken by the camera into a video in a predetermined format in response to an image transmission instruction, and then send the video in the predetermined format to the pan/tilt 320; then the pan/tilt After receiving the video in the predetermined format, 320 sends the video in the predetermined format to the terminal device 310. At this time, the pan-tilt 320 no longer performs the encoding operation.
  • the terminal device 310 is connected to the pan/tilt 320 via a wired connection such as a USB data cable, the video freeze problem in the WiFi control method is solved, and the user's efficiency in controlling the camera is improved.
  • the user can view the camera preview video images with the best real-time performance and image clarity, as well as low-latency pan-tilt and camera control.
  • Fig. 4 shows a schematic flowchart of a control method according to an embodiment of the present invention.
  • the control method disclosed in this embodiment is applied to a pan/tilt, the pan/tilt is connected to a preset terminal device and a camera, the terminal device includes a smart phone, a PDA or a tablet, and the terminal is connected to the pan/tilt via a USB data cable.
  • control method disclosed in this embodiment includes:
  • Step 401 After receiving the PTZ SDK protocol command sent by the terminal device, convert the PTZ SDK protocol into a camera SDK protocol command.
  • the pan-tilt includes a built-in or external pan-tilt SDK command converter, and the pan-tilt SDK command converter can be implemented by a processor running a corresponding program, or implemented by a separate hardware module.
  • the pan/tilt After the pan/tilt receives the pan/tilt SDK protocol command sent by the terminal device, it converts the pan/tilt SDK protocol into a camera SDK protocol command through its built-in or external pan/tilt SDK command converter.
  • the PTZ SDK protocol command includes a camera shooting control command or a camera parameter setting command.
  • the camera control command is, for example, shooting, video recording start, video recording end, etc.
  • the camera parameter setting command is, for example, an exposure parameter setting command, a shooting mode setting command, etc.
  • Step 402 Transmit the camera SDK protocol command to the camera connected to the pan-tilt.
  • the pan/tilt is connected to the camera via a shutter release, and the pan/tilt transmits the camera SDK protocol commands to the camera connected to the pan/tilt through the shutter release.
  • the camera SDK protocol command includes a camera control command or a camera parameter setting command.
  • the camera can respond to the camera SDK protocol command to perform corresponding operations, such as shooting, video recording or Set camera parameters.
  • Step 403 Send a state transmission instruction and/or an image transmission instruction to the camera, and receive a shooting state of the camera and/or an image taken by the camera.
  • the state transmission instruction and/or the image transmission instruction may be automatically generated by the terminal device and sent to the camera via the pan-tilt.
  • the camera When the camera receives a state transmission instruction and/or an image transmission instruction, it sends the camera's shooting state and/or the image taken by the camera to the pan/tilt, and the pan/tilt receives the photographing state and/or the camera sent by the camera. Or an image taken by the camera.
  • Step 404 Convert the shooting state into PTZ SDK protocol data, and transmit the PTZ SDK protocol data to the terminal device; and/or encode the image into a video in a predetermined format, and transfer the The video in the predetermined format is sent to the terminal device.
  • the PTZ After receiving the shooting status sent by the camera, the PTZ converts the shooting state into PTZ SDK protocol data.
  • the camera After receiving the image taken by the camera and sent by the camera, the camera will encode the image into a video in a predetermined format.
  • the pan/tilt includes a built-in or external encoder, and the pan/tilt uses the built-in or external encoder to encode the image into a video in a predetermined format, such as H.264 or H. 265 format video.
  • the terminal device is connected to the pan/tilt via a USB data cable.
  • the pan/tilt Before the pan/tilt transmits the SDK protocol data of the pan/tilt and/or the video in a predetermined format to the terminal device, it is based on The USB transmission protocol encapsulates the PTZ SDK protocol data and/or the video in a predetermined format.
  • the pan/tilt will encode the image captured by the camera after receiving it
  • the pan/tilt may also directly receive the video in the predetermined format sent by the camera, and convert the video in the predetermined format. Send to the terminal device. At this time, the encoding of the image taken by the camera is completed in the camera, and the pan/tilt does not perform encoding operations any more.
  • the PTZ SDK protocol command sent by the terminal device is converted into the camera SDK protocol command in the PTZ, so that the terminal device and the PTZ can be connected using a USB connection, so as to pass through the cloud.
  • the SDK controls the camera to solve the problem that the user is greatly affected by the environment during use, which may affect the camera control effect and the image transmission jam in the wifi interference environment, and it is convenient for the user to use the USB cable to connect the terminal device to the PTZ You can directly start using the camera control function, which is convenient for users.
  • the control method according to this embodiment eliminates the need for the PTZ built-in wifi module, which solves the cost and design problems of the wifi module, and improves the overall cost performance and competitiveness of the product.
  • Fig. 5 shows a schematic block diagram of a pan-tilt according to an embodiment of the present invention.
  • the pan-tilt 500 disclosed in this embodiment includes a first communication interface 510, a second communication interface 520, one or more memories 530, and one or more processors 540.
  • the first communication interface 510 is used to implement connection with the terminal device 600 and data transmission.
  • the first communication interface 510 includes a USB interface
  • the pan-tilt 500 and the terminal device 600 are connected through a USB data cable.
  • the terminal device includes a smart phone, a PDA or a tablet.
  • the second communication interface 520 is used to realize connection with the camera and data transmission.
  • the second communication interface is a shutter release interface.
  • the pan/tilt 500 is connected to the camera 70 through a shutter cable to realize the transmission of camera control commands, camera shooting status, and images.
  • the second communication interface 520 may also include an HDMI data cable interface.
  • the camera 700 and the pan/tilt 500 are also connected via an HDMI data cable. At this time, the camera control command and the camera shooting status are transmitted through the shutter cable.
  • the HDMI data cable is used for the transmission of photos and images.
  • One or more memories 530 are used to store one or more computer programs.
  • the one or more memories 530 may include one or more computer program products, and the computer program products may include various forms of computer-readable storage media, such as volatile memory and/or nonvolatile memory.
  • the volatile memory may include random access memory (RAM) and/or cache memory (cache), for example.
  • the non-volatile memory may include, for example, a read-only memory (ROM), a hard disk, a flash memory, and other permanent memories.
  • One or more computer program instructions can be stored on the computer-readable storage medium, and the processor can run the program instructions to implement the control method in the above-mentioned embodiment of the present invention (implemented by the processor) and / Or other desired functions.
  • Various application programs and various data such as various data used and/or generated by the application program, can also be stored in the computer-readable storage medium.
  • the one or more processors 540 may be a central processing unit (CPU) or other forms of processing units with data processing capability and/or instruction execution capability, such as a microcontroller (MCU), and may control the platform 500 Other components to perform the desired functions.
  • CPU central processing unit
  • MCU microcontroller
  • the one or more processors 540 execute the following steps:
  • the camera SDK protocol command is transmitted to the camera connected to the pan/tilt.
  • the one or more processors 540 include an SDK command converter 541, and the SDK command converter 541 may be implemented by a processor running a corresponding program, or by a separate processor hardware module. After receiving the PTZ SDK protocol command sent by the terminal device 600, the PTZ SDK protocol is converted into the camera SDK protocol command through the SDK command converter 541.
  • the PTZ SDK protocol command includes a camera shooting control command or a camera parameter setting command.
  • the camera control command is, for example, shooting, video recording start, video recording end, etc.
  • the camera parameter setting command is, for example, an exposure parameter setting command, a shooting mode setting command, and the like.
  • the one or more processors 540 further execute the following steps:
  • the shooting state is converted into PTZ SDK protocol data, and the PTZ SDK protocol data is transmitted to the terminal device.
  • the terminal device 600 is connected to the PTZ 500 through a USB data cable.
  • the one or more The processor also performs the following steps:
  • the data of the PTZ SDK protocol is encapsulated according to the USB transmission protocol.
  • the one or more processors 540 further execute the following steps:
  • the image is encoded into a video in a predetermined format, and the video in the predetermined format is sent to the terminal device.
  • the one or more processors 540 include an encoder 542, which is a built-in or external encoder of the pan/tilt 500, and the encoder 542 may be implemented by a processor running a corresponding program , Or implemented by a separate codec chip.
  • the pan/tilt 500 encodes the image into a video in a predetermined format through a built-in or external encoder, for example, into a video in the H.264 or H.265 format.
  • the one or more processors 540 further execute the following steps:
  • the video in a predetermined format is sent to the terminal device.
  • the terminal device 600 is connected to the pan-tilt 500 through a USB data cable.
  • the one or more processes The device 540 also performs the following steps:
  • the video in the predetermined format is encapsulated according to the USB transmission protocol. After the encapsulation is completed, the encapsulated video is sent to the lifetime device 600 through the first communication borrowing building 510 and the USB data line.
  • the pan/tilt SDK protocol commands sent by the terminal device are converted into camera SDK protocol commands in the pan/tilt, so that the terminal device and the pan/tilt can be connected using a USB connection, so as to pass through the cloud.
  • the SDK controls the camera to solve the problem that the user is greatly affected by the environment during use, which may affect the camera control effect and the image transmission jam in the wifi interference environment, and it is convenient for the user to use the USB cable to connect the terminal device to the PTZ You can directly start using the camera control function, which is convenient for users.
  • the pan-tilt according to this embodiment no longer needs a built-in wifi module, which solves the cost and design problems of the wifi module, and improves the overall cost performance and competitiveness of the product.
  • a storage medium on which program instructions are stored, and when the program instructions are executed by a computer or a processor, they are used to execute the control method of the embodiment of the present invention.
  • the corresponding steps are used to implement the corresponding modules in the devices of the control system according to the embodiment of the present invention.
  • the storage medium may include, for example, a memory card of a smart phone, a storage component of a tablet computer, a hard disk of a personal computer, a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a portable compact disk read-only memory (CD-ROM), USB memory, or any combination of the above storage media.
  • the computer-readable storage medium may be any combination of one or more computer-readable storage media.
  • the computer program instructions execute the following steps when they are run by a computer: the terminal device responds to the camera control command input by the user, converts the camera control command into a pan/tilt SDK protocol command, and converts all the camera control commands into pan/tilt SDK protocol commands.
  • the pan/tilt SDK protocol command is transmitted to the pan/tilt; after the pan/tilt SDK receives the pan/tilt SDK protocol command, the pan/tilt SDK converts the pan/tilt SDK protocol into a camera SDK protocol command, and the camera SDK protocol command is Transmit to the camera; when the camera receives the camera SDK protocol command, it executes the corresponding operation according to the camera SDK protocol command.
  • the computer program instructions execute the following steps when being run by a computer: after receiving a pan/tilt SDK protocol command sent by the terminal device, convert the pan/tilt SDK protocol to a camera SDK protocol command; The camera SDK protocol command is transmitted to the camera connected to the pan/tilt.
  • the modules in the control system according to the embodiment of the present invention may be implemented by the processor of the electronic device according to the embodiment of the present invention running computer program instructions stored in the memory, or may be implemented in the computer program product according to the embodiment of the present invention.
  • the computer instructions stored in the computer-readable storage medium are implemented when the computer is running.
  • the problem of screen freezes and control failures when using the built-in wifi module of the pan/tilt to perform camera control and image transmission acquisition is currently solved.
  • the mobile phone is directly connected to the pan/tilt through the USB connection method, and the camera control and camera image acquisition are performed through the interface provided by the camera SDK, thereby replacing the original connection method using the built-in wifi module, improving user convenience and reducing product cost.
  • the camera control command and the image transmission acquisition command communication are carried out to meet the needs of the user for camera control.
  • the disclosed device and method may be implemented in other ways.
  • the device embodiments described above are only illustrative.
  • the division of the units is only a logical function division, and there may be other divisions in actual implementation, for example, multiple units or components may be combined or It can be integrated into another device, or some features can be ignored or not implemented.
  • the various component embodiments of the present invention may be implemented by hardware, or by software modules running on one or more processors, or by a combination of them.
  • a microprocessor or a digital signal processor may be used in practice to implement some or all of the functions of some modules according to the embodiments of the present invention.
  • the present invention can also be implemented as a device program (for example, a computer program and a computer program product) for executing part or all of the methods described herein.
  • a program for realizing the present invention may be stored on a computer-readable medium, or may have the form of one or more signals.
  • Such a signal can be downloaded from an Internet website, or provided on a carrier signal, or provided in any other form.

Abstract

一种控制方法、控制系统（300）、云台（220，320，500）及存储介质。所述控制方法应用于云台（220，320，500）、终端设备（210，310，600）和相机（230，330，700）构成的系统，终端设备（210，310，600）、云台（220，320，500）和相机（230，330，700）依次连接，终端设备（210，310，600）通过USB数据线与云台（220，320，500）连接；所述方法包括：终端设备（210，310，600）响应于用户输入的相机控制命令，将相机控制命令转换为云台SDK协议命令，并将云台SDK协议命令传输至云台（220，320，500）（步骤201）；所述云台（220，320，500）接收到云台SDK协议命令后，将云台SDK协议转换为相机SDK协议命令，并将相机SDK协议命令传输至相机（230，330，700）（步骤202）；所述相机（230，330，700）接收相机SDK协议命令时，根据相机SDK协议命令执行相应的操作（步骤203）。使得所述终端设备（210，310，600）与云台（220，320，500）通过有线连接后即可直接对相机（230，330，700）进行控制，方便用户使用，且云台（220，320，500）无需再内置wifi模块，降低了成本。

Description

控制方法、控制系统、云台及存储介质
说明书
技术领域
本发明涉及云台技术领域，更具体地涉及一种控制方法、控制系统、云台及存储介质。
背景技术
云台作为一种相机稳定器可以提高用户的相机拍摄效果和体验，并且随着技术发展出现了通过诸如手机的终端设备控制云台上的相机的解决方案，这进一步提高了用户的使用便利性。目前这种方案一般是通过使用有线连接方式将相机连接到云台上，诸如手机的终端设备上的相机稳定器软件(即云台APP)通过wifi模块与云台连接，进而对相机控制，从而在诸如手机的终端设备上实现对相机的拍摄控制和/或参数设置。
但是此方法受限于wifi模块性能和环境，实际使用效果较差。若wifi模块硬件性能较差，或者使用时环境干扰较大，则相机控制可能出现设置参数或拍摄控制无效的情况，影响用户的正常使用。同时，增加wifi模块也将增加产品成本，降低产品的性价比和竞争力。此外，内置wifi模块会影响云台内部结构，增加产品复杂度和系统稳定性，并且内置wifi模块需用户进行连接，实际使用时操作流程更加复杂，影响用户使用体验。
发明内容
为了解决上述问题中的至少一个而提出了本发明。本发明提供一种控制方法、控制系统、云台及存储介质，其可以使得终端设备与云台直接通过有线连接，从而在终端设备中直接对与云台连接的相机进行控制，与WiFi模式相比，其稳定性和抗干扰性强，且成本低，操作简单。
具体地，本发明实施例提供一种控制方法，应用于云台、终端设备和相机构成的系统，所述终端设备、云台和相机依次连接；所述终端设备通 过USB数据线与所述云台连接；所述方法包括：
所述终端设备响应于用户输入的相机控制命令，将所述相机控制命令转换为云台SDK协议命令，并将所述云台SDK协议命令传输至所述云台；
所述云台接收到所述云台SDK协议命令后，将所述云台SDK协议转换为相机SDK协议命令，并将所述相机SDK协议命令传输至所述相机；
所述相机接收到所述相机SDK协议命令时，根据所述相机SDK协议命令执行相应的操作。
本发明实施例还提供一种控制方法，应用于云台，所述云台通过USB数据线和预设的终端设备连接；所述方法包括：
当接收到所述终端设备发送的云台SDK协议命令后，将所述云台SDK协议转换为相机SDK协议命令；
将所述相机SDK协议命令传输至与所述云台连接的相机。
本发明实施例还提供一种控制系统，其包括：云台、终端设备和相机，所述终端设备、云台和相机依次连接，所述终端设备通过USB数据线与所述云台连接；
所述终端设备，用于响应于用户输入的相机控制命令，将所述相机控制命令转换为云台SDK协议命令，并将所述云台SDK协议命令传输至所述云台；
所述云台，用于接收到所述云台SDK协议命令后，将所述云台SDK协议转换为相机SDK协议命令，并将所述相机SDK协议命令传输至所述相机；
所述相机，用于接收到所述相机SDK协议命令时，根据所述相机SDK协议命令执行相应的操作。
本发明实施例还提供一种云台，其包括：
第一通信接口，用于实现与终端设备的连接和数据传输，所述第一通信接口为USB接口，所述终端设备通过USB数据线与所述云台连接；
第二通信接口，用于实现与相机的连接和数据传输；
一个或更多存储器，用于存储一种或更多种计算机程序；
一个或更多处理器，当所述一种或更多种计算机程序被所述一个或更多处理器时使得所述一个或更多处理器执行下述步骤：
当接收到所述终端设备发送的云台SDK协议命令后，将所述云台SDK协议转换为相机SDK协议命令；
将所述相机SDK协议命令传输至与所述云台连接的相机。
本发明实施例还提供一种存储介质，所述存储介质上存储有计算机程序，所述计算机程序在运行时执行如上所述的控制方法。
本发明实施例提供了一种控制方法、控制系统、云台及存储介质，本发明实施例通过使终端设备与云台通过USB数据线连接，并在云台内将终端设备发送的云台SDK协议命令转换为相机SDK协议命令，从而使得所述终端设备与云台通过USB数据线连接后即可直接对相机进行控制，方便用户使用，且云台无需再内置wifi模块，降低了成本，提高了使用稳定性和抗干扰性，降低了操作复杂度，提高了用户体验。
附图说明
图1示出用于实现根据本发明实施例的控制方法及系统、云台的示例电子设备的示意性框图；
图2示出根据本发明一实施例的控制方法的示意性流程图；
图3示出根据本发明一实施例的控制系统的示意性框图；
图4示出根据本发明一实施例的控制方法的示意性流程图；
图5示出根据本发明一实施例的云台的示意性框图。
具体实施方式
为了使得本发明的目的、技术方案和优点更为明显，下面将参照附图详细描述根据本发明的示例实施例。显然，所描述的实施例仅仅是本发明的一部分实施例，而不是本发明的全部实施例，应理解，本发明不受这里描述的示例实施例的限制。基于本发明中描述的本发明实施例，本领域技术人员在没有付出创造性劳动的情况下所得到的所有其它实施例都应落入本发明的保护范围之内。
在下文的描述中，给出了大量具体的细节以便提供对本发明更为彻底的理解。然而，对于本领域技术人员而言显而易见的是，本发明可以无需一个或多个这些细节而得以实施。在其他的例子中，为了避免与本发明发 生混淆，对于本领域公知的一些技术特征未进行描述。
应当理解的是，本发明能够以不同形式实施，而不应当解释为局限于这里提出的实施例。相反地，提供这些实施例将使公开彻底和完全，并且将本发明的范围完全地传递给本领域技术人员。
在此使用的术语的目的仅在于描述具体实施例并且不作为本发明的限制。在此使用时，单数形式的“一”、“一个”和“所述/该”也意图包括复数形式，除非上下文清楚指出另外的方式。还应明白术语“组成”和/或“包括”，当在该说明书中使用时，确定所述特征、整数、步骤、操作、元件和/或部件的存在，但不排除一个或更多其它的特征、整数、步骤、操作、元件、部件和/或组的存在或添加。在此使用时，术语“和/或”包括相关所列项目的任何及所有组合。
为了彻底理解本发明，将在下列的描述中提出详细的步骤以及详细的结构，以便阐释本发明提出的技术方案，然而除了这些详细描述外，本发明还可以具有其他实施方式。
首先，参照图1来描述用于实现根据本发明实施例的控制方法及系统、云台的示例电子设备100。如图1所示，电子设备100包括一个或多个处理器102、一个或多个存储装置104、输入/输出装置106以及通信接口108，这些组件通过总线系统110和/或其它形式的连接机构(未示出)互连。应当注意，图1所示的电子设备100的组件和结构只是示例性的，而非限制性的，根据需要，所述电子设备也可以具有其他组件和结构，也可以不包括前述的部分组件。
所述处理器102一般表示任何类型或形式的能够处理数据或解释和执行指令的处理单元。一般而言，处理器可以是中央处理单元(CPU)、图像处理单元(GPU)、专用集成电路(ASIC)、现场可编程门阵列(FPGA)、编码器、图像信号处理器(ISP)，或者具有数据处理能力和/或指令执行能力的其它形式的处理单元，并且可以控制所述电子设备100中的其它组件以执行期望的功能。例如，处理器102能够包括一个或多个嵌入式处理器、处理器核心、微型处理器、逻辑电路、硬件有限状态机(FSM)、数字信号处理器(DSP)或它们的组合。在特定实施例中，处理器102可以接收来自软件应用或模块的指令。这些指令可以导致处理器102完成本文描述和/ 或示出的用于度设备混合导航的方法和自移动设备与方法。
所述存储装置104可以包括一个或多个计算机程序产品，所述计算机程序产品可以包括各种形式的计算机可读存储介质，例如易失性存储器和/或非易失性存储器。所述易失性存储器例如可以包括随机存取存储器(RAM)和/或高速缓冲存储器(cache)等。所述非易失性存储器例如可以包括只读存储器(ROM)、硬盘、闪存等。在所述计算机可读存储介质上可以存储一个或多个计算机程序指令，处理器102可以运行所述程序指令，以实现下文所述的本发明实施例中(由处理器实现)的客户端功能以及/或者其它期望的功能。在所述计算机可读存储介质中还可以存储各种应用程序和各种数据，例如所述应用程序使用和/或产生的各种数据等。
所述输入/输出装置106可以是用户用来输入指令和向外部输出各种信息的装置，例如输入装置可以包括键盘、鼠标、麦克风和触摸屏等中的一个或多个。输出装置可以包括显示器、扬声器等中的一个或多个。
通信接口108广泛地表示任何类型或形式的能够促进示例电子设备100和一个或多个附加设备之间的通信的适配器或通信设备。例如，通信接口108可以促进电子设备100和前端或附件电子设备以及后端服务器或云端的通信。通信接口108的示例包括但不限于有线网络接口(诸如网络接口卡)、无线网络接口(诸如无线网络接口卡)、调制解调器、通用串行接口(USB)、HDMI接口和任何其他合适的接口。在一实施例中，通信接口108通过与诸如因特网的网络的直连提供到远程服务器/远程前端设备的直连。在特定实施例中，通信接口108通过与专用网络等网络的直连提供到远程服务器/远程前端设备的直连。通信接口108还可以间接提供这种通过任何其它合适连接的连接。
图2示出根据本发明一实施例的控制方法的示意性流程图。
本实施例公开的控制方法，应用于终端设备210、云台220、和相机230构成的系统，所述终端设备210、云台220和相机230依次连接，所述终端设备210通过USB数据线与云台220连接，所述相机230通过快门线和/或HDMI数据线与云台220连接。
如图2所示，本实施公开的方法包括：
步骤201，所述终端设备210响应于用户输入的相机控制命令，将所 述相机控制命令转换为云台SDK协议命令，并将所述云台SDK协议命令传输至所述云台220。
示例性地，所述终端设备210包括智能手机、PDA、平板，优选地，所述终端设备210为智能手机。所述相机控制命令可以由用户操作所述终端设备的相应控制界面，例如云台APP的UI界面输入，当用户输入相机控制命令后，所述终端设备210响应于用户输入的相机控制命令，将所述相机控制命令转换为云台SDK协议命令，并将所述云台SDK协议命令传输至所述云台220。所述终端设备210可以由图1所示的电子设备实现，所述云台SDK可以通过所述终端设备210内的处理器运行相应的程序实现。所述云台SDK协议命令由所述云台SDK响应于用户输入的相机控制命令生成。
在本实施例中，所述终端设备210与云台220通过有线连接，例如USB数据线连接。因此，在将所述云台SDK协议命令传输至所述云台220之前，所述终端设备210还根据USB传输协议对所述云台SDK协议命令进行封装。示例性地，所述终端设备210包括USB协议解析模块，所述USB协议解析模块可以对对所述云台SDK协议命令进行封装。当封装完成之后，所述云台SDK协议命令通过USB数据线发送至所述云台220。
示例性地，在本实施例中，所述相机控制命令包括相机拍摄控制命令或相机参数设置命令，所述相机控制命令，例如为拍摄、录像开始、录像结束等；所述相机参数设置命令例如为曝光参数设置命令、拍摄模式设置命令等。
步骤202，所述云台220接收到所述云台SDK协议命令后，将所述云台SDK协议转换为相机SDK协议命令，并将所述相机SDK协议命令传输至所述相机230。
在本实施例中，所述云台220可以由图1所示的电子设备实现，云台220包括SDK控制命令转换器，其可以为云台220内部集成或外接的SDK控制命令转换器。SDK控制命令转换器可以为独立的硬件模块，或者也可以由云台220的处理器运行相应的程序实现。所述云台220通过SDK控制命令转换器将从终端设备210接收的云台SDK协议命令转换为相机SDK协议命令。
步骤203，所述相机230接收到所述相机SDK协议命令时，根据所述相机SDK协议命令执行相应的操作。
示例性地，在本实施例中，所述相机230通过快门线与所述云台220连接，所述云台220可以通过所述相机快门线将所述相机SDK协议命令发送至所述相机230。所述相机230接收到所述相机SDK协议命令时，根据所述相机SDK协议命令执行相应的操作，例如设置相机参数、拍摄、开始录像、结束录像等。
在本实施例中，由于终端设备与相机独立于云台，因此通过使终端设备与云台通过USB数据线连接，并在云台内将终端设备发送的云台SDK协议命令转换为相机SDK协议命令，这样终端生成的云台SDK协议命令相当于相机SDK协议命令，从而使得所述终端设备与云台通过USB数据线后即可直接对相机进行控制，无需进行wifi连接设置等操作，不仅方便用户使用，而且可以以解决用户在使用过程中受环境影响较大，可能在wifi干扰环境下影响相机控制效果(例如参数设置失效等问题)。并且云台无需再内置wifi模块，降低了成本，提高了使用稳定性和抗干扰性，降低了操作复杂度，提高了用户体验。
步骤S204，所述相机230响应于状态传输指令，将所述相机的拍摄状态发送至所述云台220。
所述相机状态传输指令例如可以由所述终端设备210自动生成，并通过所述云台220发送至所述相机230，当相机230接收到状态传输指令后，将所述相机的拍摄状态发送至所述云台220。所述拍摄状态例如包括相机当前的拍摄模式(拍照还是录像以及拍照模式)、当前相机的拍摄参数等。
示例性地，所述相机230通过快门线与所述云台220连接，所述相机230通过所述快门线将所述相机的拍摄状态发送至所述云台220。
步骤S205，所述云台220接收到所述拍摄状态后，将所述拍摄状态转换为云台SDK协议数据，并将所述云台SDK协议数据传输至所述终端设备210。
示例性地，所述云台220通过快门线从相机接收拍摄状态，并且在接收到所述拍摄状态后，将所述拍摄状态转换为云台SDK协议数据，并将所述云台SDK协议数据传输至所述终端设备210。
在本实施例中，示例性地，所述终端设备210通过USB数据线与所述云台220连接，所述云台220在将所述云台SDK协议数据传输至所述终端设备210之前，根据USB传输协议对所述云台SDK协议数据进行封装。
步骤S206，所述终端设备210接收到所述云台SDK协议数据后，将所述云台SDK协议数据转换为终端SDK协议数据，并根据所述终端SDK协议数据进行显示。
在本实施例中，示例性地，所述终端设备210通过USB数据线与所述云台220连接，所述终端设备210通过诸如USB数据线的有线连接从云台220接收到所述云台SDK协议数据后，根据USB传输协议对接收到的封装数据进行解析，从而获得所述云台SDK协议数据，然后根据云台SDK协议将所述云台SDK协议数据转换为终端SDK协议数据，从而获得相机的拍摄状态，进而对相机的拍摄状态进行显示。
示例性地，如前所述，所述终端设备210可以由图1所示的电子设备实现，所述终端设备210包括USB协议解析模块、SDK命令转换器和显示模块，所述USB协议解析模块和SDK命令转换器可以通过所述终端设备210内的处理器运行相应的程序实现。所述USB协议解析模块可以由所述终端设备210内的处理器运行相应的程序实现，或者可以为独立的硬件模块。当终端设备210接收到云台SDK协议数据后，所述USB协议解析模块对接收到的封装数据进行解析，从而获得所述云台SDK协议数据，然后通过SDK命令转换器将所述云台SDK协议数据转换为终端SDK协议数据，从而获得相机的拍摄状态，并在云台APP的用户界面上进行显示。
步骤207，所述相机230响应于图像传输指令，将所述相机拍摄的图像发送至所述云台220。
所述图像传输指令例如可以由所述终端设备210自动生成，并通过所述云台220发送至所述相机230，当相机230接收到图像传输指令后，将所述相机拍摄的图像发送至所述云台220。所述相机拍摄的图像包括所述相机拍摄的照片以及视频图像。
示例性地，在一实施例中，所述相机230通过快门线与所述云台220连接，所述相机230通过所述快门线将所述相机的拍摄的图像发送至所述云台220。
示例性地，在一实施例中，所述相机230通过HDMI数据线与所述云台220连接，所述相机230通过所述HDMI数据线将所述相机的拍摄的图像发送至所述云台220。
步骤S208，所述云台220接收到所述图像后，将所述图像编码为预定格式的视频，并将所述预定格式的视频发送至所述终端设备210。
在本发明实施例中，所述云台220可以由图1所示的电子设备实现，所述云台220包括编码器，例如H.264或H.265编码器。所述编码器为所述云台220内部集成的编码器或外接的编码器。所述编码器可以由处理器运行相应的程序实现或者由独立的编解码芯片实现。当云台220接收到相机230发送的图像后，通过内置或外接的编码器对接收到的图像进行编码，使其转变为预定格式的编码视频数据，例如H.264或H.265视频数据。
示例性地，在本实施例中，所述终端设备210通过USB数据线与所述云台220连接，所述云台220在将所述预定格式的视频发送至所述终端设备210之前，根据USB传输协议对所述预定格式的视频进行封装。
步骤S209，所述终端设备210接收到所述预定格式的视频，将所述预定格式的视频解码为视频图像，并对所述视频图像进行显示。
示例性地，所述终端设备210通过USB数据线与所述云台220连接，所述终端设备210接收到封装的所述预定格式的视频后，对封装的所述预定格式的视频进行解析以得到所述预定格式的视频后。示例性地，所述终端设备210可以由图1所示的电子设备实现，所述终端设备210包括USB协议解析模块、解码器和云台APP。所述USB协议解析模块、解码器和云台APP可以由所述终端设备210的处理器运行相应的程序实现，或者可以由独立的硬件实现，例如所述解码器可以由独立的编解码芯片实现。当所述终端设备210接收到封装的所述预定格式的视频后，通过USB协议解析模块对封装数据进行解析以获得所述预定格式的视频，然后通过云台APP的用户界面(UI)进行显示。
应当理解，虽然在本实施例中，相机230拍摄的图像通过云台220内置或外接的编码器编码为预定格式的视频，但是在其它实施例中，也可以由相机230集成的编码器进行编码。此时，在步骤207，所述相机230响应于图像传输指令，将所述相机拍摄的图像编码为预定格式的视频，然后 将所述预定格式的视频发送至所述云台220；在步骤208，所述云台220接收到所述预定格式的视频后，将预定格式的视频发送至所述终端设备210即，在步骤S208不再执行视频编码操作。
在本实施例中，由于终端设备通过USB数据线与云台进行连接，从而解决了WiFi控制方式存在的视频卡顿问题，提升用户操控相机的效率。并且使得用户可以查看到实时性和画面清晰度最好的相机预览视频画面，以及实现低延时的云台以及相机操控。
图3示出根据本发明一实施例的控制系统的示意性框图。
如图3所示，本实施例公开的控制系统300包括终端设备310、云台320和相机330。所述终端设备310通过USB数据线与云台320进行连接。所述相机330通过快门线和/或HDMI数据线与云台320连接。在一实施例中，所述云台320和所述相机330通过快门线连接，所述云台320通过所述快门线将相机SDK协议命令传输至所述相机330，所述相机330通过所述快门线将所述相机的拍摄状态和/或所述相机拍摄的图像/视频发送至所述云台320。在另一实施例中，所述云台320和所述相机330通过快门线和HDMI数据线连接，所述相机330通过所述HDMI数据线将所述相机330拍摄的图像/视频发送至所述云台320，通过所述快门线将所述相机330的拍摄状态发送至所述云台320，所述云台320通过所述相机快门线将相机SDK协议命令传输至所述相机330。
本实施例公开的控制系统300一方面可以实现终端设备310对与云台320连接的相机330的控制，另一方面可以实现相机330实时将拍摄的图像以及拍摄状态传输至终端设备310进行显示。
下面先结合图3对终端设备310对与云台320连接的相机330的控制进行说明。
在本实施例中，示例性地，所述终端设备310可以实现为图1所示的电子设备，例如为智能手机、PDA或平板。所述终端设备310通过USB数据线与云台320连接。所述终端设备310用于响应于用户输入的相机控制命令，将所述相机控制命令转换为云台SDK协议命令，并将所述云台SDK协议命令传输至所述云台320。示例性地，在本实施例中，所述终端 设备310包括SDK命令转换器311和USB协议解析模块312。SDK命令转换器311可以由终端设备的处理器运行存储器中的程序实现。所述USB协议解析模块312可以由终端设备的处理器运行存储器中的程序实现或独立的硬件模块实现。用户通过操作云台APP的用户界面314输入相机控制命令，随后终端设备310响应于用户输入的相机控制命令，将所述相机控制命令转换为云台SDK协议命令。随后USB协议解析模块312对SDK协议命令进行封装，然后通过USB数据线将封装的云台SDK协议命令发送给云台320。
示例性地，所述相机控制命令包括相机拍摄控制命令或相机参数设置命令。所述相机控制命令，例如为拍摄、录像开始、录像结束等；所述相机参数设置命令例如为曝光参数设置命令、拍摄模式设置命令等。
所述云台320包括任何合适的稳定器结构，并且可以实现为图1所示的电子设备。所述云台320用于在接收到所述云台SDK协议命令后，将所述云台SDK协议转换为相机SDK协议命令，并将所述相机SDK协议命令传输至所述相机330。示例性地，所述云台320包括SDK命令转换器321，所述SDK命令转换器321为所述云台320内置或外接的SDK命令转换器。所述SDK命令器321可以由处理器执行相应的程序实现，或者由独立的硬件模块实现。所述云台320在接收到所述云台SDK协议命令后，通过内置的或外接的SDK命令转换器将云台SDK协议转换为相机SDK协议命令，然后通过快门线将所述相机SDK协议命令传输至所述相机330。
所述相机330可以实现为图1所示的电子设备。所述相机330用于在接收到所述相机SDK协议命令时，根据所述相机SDK协议命令执行相应的操作。
所述相机320接收到所述相机SDK协议命令时，根据所述相机SDK协议命令执行相应的操作，例如设置相机参数、拍摄、开始录像、结束录像等。
在本实施例中，通过在云台内将终端设备发送的云台SDK协议命令转换为相机SDK协议命令，从而使得所述终端设备与云台通过有线连接(例如USB)后即可直接对相机进行控制，无需进行wifi连接设置等操作，不仅方便用户使用，而且可以以解决用户在使用过程中受环境影响较大，可 能在wifi干扰环境下影响相机控制效果(例如参数设置失效等问题)。并且云台无需再内置wifi模块，降低了成本，提高了使用稳定性和抗干扰性，降低了操作复杂度，提高了用户体验。
下面结合图3对控制系统300中的实时图传进行说明。
在本实施例中，所述相机330还用于响应于状态传输指令，将所述相机的拍摄状态发送至所述云台320；和/或响应于图像传输指令，将所述相机拍摄的图像发送至所述云台320。所述拍摄状态例如包括相机当前的拍摄模式(拍照还是录像以及拍照模式)、当前相机的拍摄参数等。所述相机拍摄的图像包括相机拍摄的照片和/或视频图像。
所述相机状态传输指令和/或图像传输指令例如可以由所述终端设备310自动生成，并通过所述云台320发送至所述相机330，当相机330接收到状态传输指令和/或图像传输指令后，将所述相机的拍摄状态和/或拍摄的图像发送至所述云台320。
示例性地，在本实施例中，所述相机203通过快门线和HDMI数据线与所述云台202连接，所述相机203通过所述快门线将所述相机的拍摄状态发送至所述云台320，通过HDMI数据线将拍摄的图像发送至云台320。在其它实施例中，也可以如上所述，仅通过快门线在相机和云台之间实现拍摄状态和拍摄图像的传输。
所述云台320还用于在接收到所述拍摄状态后，将所述拍摄状态转换为云台SDK协议数据，并将所述云台SDK协议数据传输至所述终端设备310；和/或用于在接收到所述图像后，将所述图像编码为预定格式的视频，并将所述预定格式的视频发送至所述终端设备310。
在本实施例中，所述终端设备310通过USB数据线与所述云台320连接，所述云台320在将所述云台SDK协议数据和/或拍摄的图像传输至所述终端设备310之前，根据USB传输协议对所述云台SDK协议数据和/或预定格式的视频进行封装，封装之后再通过USB数据线发送至终端设备310。
在本实施例中，所述云台320还包括编码器322，所述编码器322为所述云台320集成或外接的编码器。所述编码器322可以由处理器执行相应的程序实现，或者由独立的编解码芯片实现。所述云台320在接收到相 机330发送的所述图像后，通过云台320内置的或外接的编码器将所述图像编码为预定格式的视频，例如编码为H.264或H.265格式的视频。
所述终端设备310还用于在接收到所述云台SDK协议数据后，将所述云台SDK协议数据转换为终端SDK协议数据，并根据所述终端SDK协议数据进行显示；和/或还用于在接收到所述预定格式的视频，将所述预定格式的视频解码为视频图像，并对所述视频图像进行显示。
示例性地，所述终端设备310还包括解码器313，所述解码器313可以由终端设备310的处理器运行相应的程序实现或者由独立或集成的解码芯片实现。
在本实施例中，所述终端设备310通过USB数据线与所述云台320连接，终端设备310在接收到USB数据线传输过来的封装的数据之后，通过USB协议解析模块312对封装的数据进行解析，以获得SDK协议数据和/或预定格式的视频。然后通过SDK命令转换器311对云台SDK协议数据进行解析以将其转换为终端SDK协议数据，从而获得相机的拍摄状态，并通过解码器313对预定格式的视频进行解码，从而获得相机拍摄的图像。随后通过云台APP的用户界面对拍摄状态和/或视频图像进行显示，从而实现相机拍摄状态和图像的实时传输及显示。
应当理解，虽然在本实施例中，相机330拍摄的图像通过云台320内置或外接的编码器编码，但是在其它实施例中，也可以直接由相机330配置的编码器编码为预定格式的视频。此时，所述相机330用于响应于图像传输指令，将所述相机拍摄的图像编码为预定格式的视频，然后将所述预定格式的视频发送至所述云台320；随后所述云台320在接收到所述预定格式的视频后，将预定格式的视频发送至所述终端设备310，此时云台320不再执行编码操作。
在本实施例的控制系统300中，由于终端设备310通过诸如USB数据线的有线连接与云台320进行连接，从而解决了WiFi控制方式存在的视频卡顿问题，提升用户操控相机的效率。在本实施例的控制系统300中，用户可以查看到实时性和画面清晰度最好的相机预览视频画面，以及实现低延时的云台以及相机操控。
图4示出根据本发明一实施例的控制方法的示意性流程图。
本实施例公开的控制方法应用于云台，所述云台和预设的终端设备和相机连接，所述终端设备包括智能手机、PDA或平板，所述终端通过USB数据线与云台连接。
如图4所示，本实施例公开的控制方法包括：
步骤401，当接收到所述终端设备发送的云台SDK协议命令后，将所述云台SDK协议转换为相机SDK协议命令。
示例性地，所述云台包括内置的或外接的云台SDK命令转换器，所述云台SDK命令转换器可以处理器运行相应的程序实现，或者由单独的硬件模块实现。所述云台在接收到所述终端设备发送的云台SDK协议命令后，通过其内置的或外接的云台SDK命令转换器将所述云台SDK协议转换为相机SDK协议命令。
示例性地，所述云台SDK协议命令包括相机拍摄控制命令或相机参数设置命令。所述相机控制命令，例如为拍摄、录像开始、录像结束等；所述相机参数设置命令例如为曝光参数设置命令、拍摄模式设置命令等。
步骤402，将所述相机SDK协议命令传输至与所述云台连接的相机。
示例性地，所述云台通过快门线与所述相机连接，所述云台通过所述快门线将所述相机SDK协议命令传输至与所述云台连接的相机。
示例性地，所述相机SDK协议命令包括相机控制命令或相机参数设置命令，所述相机在接收到相机SDK协议命令，可以响应于该相机SDK协议命令进行相应的操作，例如进行拍摄、录像或设置相机参数。
步骤403，向所述相机发送状态传输指令和/或图像传输指令，并接收所述相机的拍摄状态和/或所述相机拍摄的图像。
所述状态传输指令和/或图像传输指令可以由终端设备自动生成，并通过云台发送至所述相机。
所述相机在接收到状态传输指令和/或图像传输指令，向云台发送所述相机的拍摄状态和/或所述相机拍摄的图像，所述云台接收所述相机发送的拍摄状态和/或所述相机拍摄的图像。
步骤404，将所述拍摄状态转换为云台SDK协议数据，并将所述云台SDK协议数据传输至所述终端设备；和/或将所述图像编码为预定格式的视频，并将所述预定格式的视频发送至所述终端设备。
所述云台在接收到相机发送的拍摄状态后，将所述拍摄状态转换为云台SDK协议数据。
所述相云台在接收到所述相机发送的所述相机拍摄的图像后，将所述图像编码为预定格式的视频。示例性地，所述云台包括内置的或外接的编码器，所述云台通过该内置的或外接的编码器将所述图像编码为预定格式的视频，例如编码为H.264或H.265格式的视频。
在本实施例中，所述终端设备通过USB数据线与所述云台连接，所述云台在将所述云台SDK协议数据和/或预定格式的视频传输至所述终端设备之前，根据USB传输协议对所述云台SDK协议数据和/或预定格式的视频进行封装。
虽然在上述实施例中，云台在接收相机拍摄的图像后对其进行编码，但是在其它实施例中，云台也可以直接接收所述相机发送的预定格式的视频，并将预定格式的视频发送至所述终端设备。此时，相机拍摄的图像的编码在相机中完成，云台不再执行编码操作。
根据本实施例的控制方法，通过在云台内将终端设备发送的云台SDK协议命令转换为相机SDK协议命令，从而使得所述终端设备与云台可以使用USB连接方式进行连接，从而通过云台SDK对相机进行控制，解决用户在使用过程中受环境影响较大，可能在wifi干扰环境下影响相机控制效果、图传卡顿的问题，且用户使用USB线将终端设备与云台连接便可直接开始使用相机控制功能，方便用户使用。此外，根据本实施例的控制方法使得云台不再需要云台内置wifi模块，解决wifi模块的成本和设计问题，提升产品的整体性价比和竞争力。
图5示出根据本发明一实施例的云台的示意性框图。
如图5所示，本实施例公开的云台500包括第一通信接口510、第二通信接口520、一个或更多存储器530以及一个或更多处理器540。
第一通信接口510用于实现与终端设备600的连接和数据传输。示例性地，在本实施例中，第一通信接口510包括USB接口，所述云台500与终端设备600通过USB数据线连接。所述终端设备包括智能手机、PDA或平板。
第二通信接口520用于实现与相机的连接和数据传输。示例性地，所 述第二通信接口为快门线接口。所述云台500通过快门线与所述相机70连接，以实现相机控制命令、相机拍摄状态和图像的传输。应当理解，所述第二通信接口520还可以包括HDMI数据线接口，所述相机700和云台500还通过HDMI数据线连接，此时通过快门线进行相机控制命令和相机拍摄状态的传输，通过HDMI数据线进行相片拍摄图像的传输。
一个或更多存储器530用于存储一种或更多种计算机程序。一个或更多存储器530可以包括一个或多个计算机程序产品，所述计算机程序产品可以包括各种形式的计算机可读存储介质，例如易失性存储器和/或非易失性存储器。所述易失性存储器例如可以包括随机存取存储器(RAM)和/或高速缓冲存储器(cache)等。所述非易失性存储器例如可以包括只读存储器(ROM)、硬盘、闪存等永久性存储器。在所述计算机可读存储介质上可以存储一个或多个计算机程序指令，处理器可以运行所述程序指令，以实现上文所述的本发明实施例中(由处理器实现)的控制方法以及/或者其它期望的功能。在所述计算机可读存储介质中还可以存储各种应用程序和各种数据，例如所述应用程序使用和/或产生的各种数据等。
一个或更多处理器540可以是中央处理单元(CPU)或者具有数据处理能力和/或指令执行能力的其它形式的处理单元，例如微微控制器(MCU)，并且可以控制所述云台500中的其它组件以执行期望的功能。
当所述一种或更多种计算机程序被所述一个或更多处理器540时使得所述一个或更多处理器540执行下述步骤：
当接收到所述终端设备发送的云台SDK协议命令后，将所述云台SDK协议转换为相机SDK协议命令；
将所述相机SDK协议命令传输至与所述云台连接的相机。
示例性地，所述一个或更多个处理器540包括SDK命令转换器541，SDK命令转换器541可以由处理器运行相应的程序实现，或者由单独的处理器硬件模块实现。当当接收到所述终端设备600发送的云台SDK协议命令后，通过SDK命令转换器541将所述云台SDK协议转换为相机SDK协议命令。
示例性地，所述云台SDK协议命令包括相机拍摄控制命令或相机参数设置命令。所述相机控制命令，例如为拍摄、录像开始、录像结束等；所 述相机参数设置命令例如为曝光参数设置命令、拍摄模式设置命令等。
在本实施例中，所述一个或更多处理器540还执行下述步骤：
向所述相机发送状态传输指令，并接收所述相机的拍摄状态；
将所述拍摄状态转换为云台SDK协议数据，并将所述云台SDK协议数据传输至所述终端设备。
示例性地，所述终端设备600通过USB数据线与所述云台500连接，所述云台500在将所述云台SDK协议数据传输至所述终端设备600之前，所述一个或更多处理器还执行下述步骤：
根据USB传输协议对所述云台SDK协议数据进行封装。
在本实施例中，所述一个或更多处理器540还执行下述步骤：
向所述相机发送图像传输指令，并接收所述相机拍摄的图像；
将所述图像编码为预定格式的视频，并将所述预定格式的视频发送至所述终端设备。
示例性地，所述一个或更多处理器540包括编码器542，所述编码器542为所述云台500内置或外接的编码器，所述编码器542可以由处理器运行相应的程序实现，或者由单独的编解码芯片实现。所述云台500在接收所述相机拍摄的图像后，通过内置的或外接的编码器将将所述图像编码为预定格式的视频，例如编码为H.264或H.265格式的视频。
在本实施例中，所述一个或更多处理器540还执行下述步骤：
向所述相机发送图像传输指令，并接收所述相机发送的预定格式的视频；
将预定格式的视频发送至所述终端设备。
示例性地，所述终端设备600通过USB数据线与所述云台500连接，所述云台500在将所述预定格式的视频发送至所述终端设备600之前，所述一个或更多处理器540还执行下述步骤：
根据USB传输协议对所述预定格式的视频进行封装。封装完成之后，通过第一通信借楼510和USB数据线将封装的视频发送至终身设备600。
根据本实施例的云台，通过在云台内将终端设备发送的云台SDK协议命令转换为相机SDK协议命令，从而使得所述终端设备与云台可以使用USB连接方式进行连接，从而通过云台SDK对相机进行控制，解决用户 在使用过程中受环境影响较大，可能在wifi干扰环境下影响相机控制效果、图传卡顿的问题，且用户使用USB线将终端设备与云台连接便可直接开始使用相机控制功能，方便用户使用。此外，根据本实施例的云台不再需要内置wifi模块，解决wifi模块的成本和设计问题，提升产品的整体性价比和竞争力。
此外，根据本发明实施例，还提供了一种存储介质，在所述存储介质上存储了程序指令，在所述程序指令被计算机或处理器运行时用于执行本发明实施例的控制方法的相应步骤，并且用于实现根据本发明实施例的控制系统各装置中的相应模块。所述存储介质例如可以包括智能电话的存储卡、平板电脑的存储部件、个人计算机的硬盘、只读存储器(ROM)、可擦除可编程只读存储器(EPROM)、便携式紧致盘只读存储器(CD-ROM)、USB存储器、或者上述存储介质的任意组合。所述计算机可读存储介质可以是一个或多个计算机可读存储介质的任意组合。
在一个实施例中，所述计算机程序指令在被计算机运行时执行以下步骤：所述终端设备响应于用户输入的相机控制命令，将所述相机控制命令转换为云台SDK协议命令，并将所述云台SDK协议命令传输至所述云台；所述云台接收到所述云台SDK协议命令后，将所述云台SDK协议转换为相机SDK协议命令，并将所述相机SDK协议命令传输至所述相机；所述相机接收到所述相机SDK协议命令时，根据所述相机SDK协议命令执行相应的操作。
在一个实施例中，所述计算机程序指令在被计算机运行时执行以下步骤：当接收到所述终端设备发送的云台SDK协议命令后，将所述云台SDK协议转换为相机SDK协议命令；将所述相机SDK协议命令传输至与所述云台连接的相机。
根据本发明实施例的控制系统中的各模块可以通过根据本发明实施例的电子设备的处理器运行在存储器中存储的计算机程序指令来实现，或者可以在根据本发明实施例的计算机程序产品的计算机可读存储介质中存储的计算机指令被计算机运行时实现。
根据本发明实施例的控制方法、控制系统及存储介质，解决当前使用云台内置wifi模块进行相机控制和图传获取时的画面卡顿、控制不流程的 问题。通过USB连接方式将手机直接与云台连接，通过相机SDK提供的接口进行相机控制和相机图像画面获取，从而替代原有的使用内置wifi模块连接的方式，提升用户使用便捷程度，降低产品成本，并且通过USB连接方式，进行相机控制命令和图传获取命令通信，满足用户进行相机控制的需求。
尽管这里已经参考附图描述了示例实施例，应理解上述示例实施例仅仅是示例性的，并且不意图将本发明的范围限制于此。本领域普通技术人员可以在其中进行各种改变和修改，而不偏离本发明的范围和精神。所有这些改变和修改意在被包括在所附权利要求所要求的本发明的范围之内。
本领域普通技术人员可以意识到，结合本文中所公开的实施例描述的各示例的单元及算法步骤，能够以电子硬件、或者计算机软件和电子硬件的结合来实现。这些功能究竟以硬件还是软件方式来执行，取决于技术方案的特定应用和设计约束条件。专业技术人员可以对每个特定的应用来使用不同方法来实现所描述的功能，但是这种实现不应认为超出本发明的范围。
在本申请所提供的几个实施例中，应该理解到，所揭露的设备和方法，可以通过其它的方式实现。例如，以上所描述的设备实施例仅仅是示意性的，例如，所述单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个设备，或一些特征可以忽略，或不执行。
在此处所提供的说明书中，说明了大量具体细节。然而，能够理解，本发明的实施例可以在没有这些具体细节的情况下实践。在一些实例中，并未详细示出公知的方法、结构和技术，以便不模糊对本说明书的理解。
类似地，应当理解，为了精简本发明并帮助理解各个发明方面中的一个或多个，在对本发明的示例性实施例的描述中，本发明的各个特征有时被一起分组到单个实施例、图、或者对其的描述中。然而，并不应将该本发明的方法解释成反映如下意图：即所要求保护的本发明要求比在每个权利要求中所明确记载的特征更多的特征。更确切地说，如相应的权利要求书所反映的那样，其发明点在于可以用少于某个公开的单个实施例的所有特征的特征来解决相应的技术问题。因此，遵循具体实施方式的权利要求 书由此明确地并入该具体实施方式，其中每个权利要求本身都作为本发明的单独实施例。
本领域的技术人员可以理解，除了特征之间相互排斥之外，可以采用任何组合对本说明书(包括伴随的权利要求、摘要和附图)中公开的所有特征以及如此公开的任何方法或者设备的所有过程或单元进行组合。除非另外明确陈述，本说明书(包括伴随的权利要求、摘要和附图)中公开的每个特征可以由提供相同、等同或相似目的替代特征来代替。
此外，本领域的技术人员能够理解，尽管在此所述的一些实施例包括其它实施例中所包括的某些特征而不是其它特征，但是不同实施例的特征的组合意味着处于本发明的范围之内并且形成不同的实施例。例如，在权利要求书中，所要求保护的实施例的任意之一都可以以任意的组合方式来使用。
本发明的各个部件实施例可以以硬件实现，或者以在一个或者多个处理器上运行的软件模块实现，或者以它们的组合实现。本领域的技术人员应当理解，可以在实践中使用微处理器或者数字信号处理器(Digital Signal Processor，DSP)来实现根据本发明实施例的一些模块的一些或者全部功能。本发明还可以实现为用于执行这里所描述的方法的一部分或者全部的装置程序(例如，计算机程序和计算机程序产品)。这样的实现本发明的程序可以存储在计算机可读介质上，或者可以具有一个或者多个信号的形式。这样的信号可以从因特网网站上下载得到，或者在载体信号上提供，或者以任何其他形式提供。
应该注意的是上述实施例对本发明进行说明而不是对本发明进行限制，并且本领域技术人员在不脱离所附权利要求的范围的情况下可设计出替换实施例。在权利要求中，不应将位于括号之间的任何参考符号构造成对权利要求的限制。本发明可以借助于包括有若干不同元件的硬件以及借助于适当编程的计算机来实现。在列举了若干装置的单元权利要求中，这些装置中的若干个可以是通过同一个硬件项来具体体现。单词第一、第二、以及第三等的使用不表示任何顺序。可将这些单词解释为名称。
以上所述，仅为本发明的具体实施方式或对具体实施方式的说明，本发明的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本发明 揭露的技术范围内，可轻易想到变化或替换，都应涵盖在本发明的保护范围之内。本发明的保护范围应以权利要求的保护范围为准。

Claims (42)

  1. 一种控制方法，应用于云台、终端设备和相机构成的系统，所述终端设备、云台和相机依次连接；所述终端设备通过USB数据线与所述云台连接；所述方法包括：
    所述终端设备响应于用户输入的相机控制命令，将所述相机控制命令转换为云台SDK协议命令，并将所述云台SDK协议命令传输至所述云台；
    所述云台接收到所述云台SDK协议命令后，将所述云台SDK协议转换为相机SDK协议命令，并将所述相机SDK协议命令传输至所述相机；
    所述相机接收到所述相机SDK协议命令时，根据所述相机SDK协议命令执行相应的操作。
  2. 根据权利要求1所述的方法，其特征在于，所述方法还包括：
    所述相机响应于状态传输指令，将所述相机的拍摄状态发送至所述云台；
    所述云台接收到所述拍摄状态后，将所述拍摄状态转换为云台SDK协议数据，并将所述云台SDK协议数据传输至所述终端设备；
    所述终端设备接收到所述云台SDK协议数据后，将所述云台SDK协议数据转换为终端SDK协议数据，并根据所述终端SDK协议数据进行显示。
  3. 根据权利要求1所述的方法，其特征在于，所述方法还包括：
    所述相机响应于图像传输指令，将所述相机拍摄的图像发送至所述云台；
    所述云台接收到所述图像后，将所述图像编码为预定格式的视频，并将所述预定格式的视频发送至所述终端设备；
    所述终端设备接收到所述预定格式的视频，将所述预定格式的视频解码为视频图像，并对所述视频图像进行显示。
  4. 根据权利要求1所述的方法，其特征在于，所述方法还包括：
    所述相机响应于图像传输指令，将所述相机拍摄的图像编码为预定格式的视频，然后将所述预定格式的视频发送至所述云台；
    所述云台接收到所述预定格式的视频后，将预定格式的视频发送至所 述终端设备；
    所述终端设备接收到所述预定格式的视频，将所述预定格式的视频解码为视频图像，并对所述视频图像进行显示。
  5. 根据权利要求3或4所述的方法，其特征在于，所述预定格式的视频为H.264或H.265格式的视频。
  6. 根据权利要求1-4任意一项所述的方法，其特征在于，所述终端设备在将所述云台SDK协议命令传输至所述云台之前，根据USB传输协议对所述云台SDK协议命令进行封装。
  7. 根据权利要求2所述的方法，其特征在于，所述云台在将所述云台SDK协议数据传输至所述终端设备之前，根据USB传输协议对所述云台SDK协议数据进行封装；
    所述终端设备接收到封装的所述云台SDK协议数据后，对封装的所述云台SDK协议数据进行解析以得到所述云台SDK协议数据。
  8. 根据权利要求3或4所述的方法，其特征在于，所述云台在将所述预定格式的视频发送至所述终端设备之前，根据USB传输协议对所述预定格式的视频进行封装；
    所述终端设备接收到封装的所述预定格式的视频后，对封装的所述预定格式的视频进行解析以得到所述预定格式的视频后。
  9. 根据权利要求1所述的方法，其特征在于，所述相机控制命令包括相机拍摄控制命令或相机参数设置命令。
  10. 根据权利要求1所述的方法，其特征在于，所述终端设备包括智能手机、PDA、平板。
  11. 根据权利要求1所述的方法，其特征在于，所述云台和所述相机通过快门线连接，所述云台通过所述快门线将所述相机SDK协议命令传输至所述相机，所述相机通过所述快门线将所述相机的拍摄状态和/或所述相机拍摄的图像/视频发送至所述云台。
  12. 根据权利要求3或4所述的方法，其特征在于，所述云台和所述相机通过HDMI数据线连接，所述相机通过所述HDMI数据线将所述相机拍摄的图像/视频发送至所述云台。
  13. 一种控制方法，应用于云台，所述云台通过USB数据线和预设的 终端设备连接；所述方法包括：
    当接收到所述终端设备发送的云台SDK协议命令后，将所述云台SDK协议转换为相机SDK协议命令；
    将所述相机SDK协议命令传输至与所述云台连接的相机。
  14. 根据权利要求13所述的方法，其特征在于，所述方法包括：
    向所述相机发送状态传输指令，并接收所述相机的拍摄状态；
    将所述拍摄状态转换为云台SDK协议数据，并将所述云台SDK协议数据传输至所述终端设备。
  15. 根据权利要求13所述的方法，其特征在于，所述方法包括：
    向所述相机发送图像传输指令，并接收所述相机拍摄的图像；
    将所述图像编码为预定格式的视频，并将所述预定格式的视频发送至所述终端设备。
  16. 根据权利要求13所述的方法，其特征在于，所述方法包括：
    向所述相机发送图像传输指令，并接收所述相机发送的预定格式的视频；
    将预定格式的视频发送至所述终端设备。
  17. 根据权利要求15或16所述的方法，其特征在于，所述预定格式的视频为H.264或H.265格式的视频。
  18. 根据权利要求14所述的方法，其特征在于，所述云台在将所述云台SDK协议数据传输至所述终端设备之前，根据USB传输协议对所述云台SDK协议数据进行封装。
  19. 根据权利要求15或16所述的方法，其特征在于，所述云台在将所述预定格式的视频发送至所述终端设备之前，根据USB传输协议对所述预定格式的视频进行封装。
  20. 根据权利要求13所述的方法，其特征在于，所述云台SDK协议命令包括相机拍摄控制命令或相机参数设置命令。
  21. 根据权利要求13所述的方法，其特征在于，所述终端设备包括智能手机、PDA、平板。
  22. 一种控制系统，其特在于，包括：云台、终端设备和相机，所述终端设备、云台和相机依次连接，所述终端设备通过USB数据线与云台连 接；
    所述终端设备，用于响应于用户输入的相机控制命令，将所述相机控制命令转换为云台SDK协议命令，并将所述云台SDK协议命令传输至所述云台；
    所述云台，用于接收到所述云台SDK协议命令后，将所述云台SDK协议转换为相机SDK协议命令，并将所述相机SDK协议命令传输至所述相机；
    所述相机，用于接收到所述相机SDK协议命令时，根据所述相机SDK协议命令执行相应的操作。
  23. 根据权利要求22所述的系统，其特征在于，
    所述相机还用于响应于状态传输指令，将所述相机的拍摄状态发送至所述云台；
    所述云台还用于在接收到所述拍摄状态后，将所述拍摄状态转换为云台SDK协议数据，并将所述云台SDK协议数据传输至所述终端设备；
    所述终端设备还用于在接收到所述云台SDK协议数据后，将所述云台SDK协议数据转换为终端SDK协议数据，并根据所述终端SDK协议数据进行显示。
  24. 根据权利要求22所述的系统，其特征在于，
    所述相机还用于响应于图像传输指令，将所述相机拍摄的图像发送至所述云台；
    所述云台还用于在接收到所述图像后，将所述图像编码为预定格式的视频，并将所述预定格式的视频发送至所述终端设备；
    所述终端设备还用于在接收到所述预定格式的视频，将所述预定格式的视频解码为视频图像，并对所述视频图像进行显示。
  25. 根据权利要求22所述的系统，其特征在于，所述相机还用于响应于图像传输指令，将所述相机拍摄的图像编码为预定格式的视频，然后将所述预定格式的视频发送至所述云台；
    所述云台还用于在接收到所述预定格式的视频后，将预定格式的视频发送至所述终端设备；
    所述终端设备还用于在接收到所述预定格式的视频，将所述预定格式 的视频解码为视频图像，并对所述视频图像进行显示。
  26. 根据权利要求24或25所述的系统，其特征在于，所述预定格式的视频为H.264或H.265格式的视频。
  27. 根据权利要求22-26任意一项所述的系统，其特征在于，所述终端设备包括USB协议解析模块，所述终端设备在将所述云台SDK协议命令传输至所述云台之前，由所述USB协议解析模块对所述云台SDK协议命令进行封装。
  28. 根据权利要求23所述的系统，其特征在于，所述云台在将所述云台SDK协议数据传输至所述终端设备之前，根据USB传输协议对所述云台SDK协议数据进行封装；
    所述终端设备包括USB协议解析模块，所述终端设备接收到封装的所述云台SDK协议数据后，所述USB协议解析模块对封装的所述云台SDK协议数据进行解析以得到所述云台SDK协议数据。
  29. 根据权利要求24或25所述的系统，其特征在于，所述云台在将所述预定格式的视频发送至所述终端设备之前，根据USB传输协议对所述预定格式的视频进行封装；
    所述终端设备包括USB协议解析模块，所述终端设备接收到封装的所述预定格式的视频后，所述USB协议解析模块对封装的所述预定格式的视频进行解析以得到所述预定格式的视频后。
  30. 根据权利要求22所述的系统，其特征在于，所述相机控制命令包括相机拍摄控制命令或相机参数设置命令。
  31. 根据权利要求22所述的系统，其特征在于，所述终端设备包括智能手机、PDA、平板。
  32. 一种云台，其特在于，包括：
    第一通信接口，用于实现与终端设备的连接和数据传输，所述第一通信接口为USB接口，所述终端设备通过USB数据线与所述云台连接；
    第二通信接口，用于实现与相机的连接和数据传输；
    一个或更多存储器，用于存储一种或更多种计算机程序；
    一个或更多处理器，当所述一种或更多种计算机程序被所述一个或更多处理器时使得所述一个或更多处理器执行下述步骤：
    当接收到所述终端设备发送的云台SDK协议命令后，将所述云台SDK协议转换为相机SDK协议命令；
    将所述相机SDK协议命令传输至与所述云台连接的相机。
  33. 根据权利要求32所述的云台，其特征在于，所述一个或更多处理器还执行下述步骤：
    向所述相机发送状态传输指令，并接收所述相机的拍摄状态；
    将所述拍摄状态转换为云台SDK协议数据，并将所述云台SDK协议数据传输至所述终端设备。
  34. 根据权利要求32所述的云台，其特征在于，所述一个或更多处理器还执行下述步骤：
    向所述相机发送图像传输指令，并接收所述相机拍摄的图像；
    将所述图像编码为预定格式的视频，并将所述预定格式的视频发送至所述终端设备。
  35. 根据权利要求32所述的云台，其特征在于，所述一个或更多处理器还执行下述步骤：
    向所述相机发送图像传输指令，并接收所述相机发送的预定格式的视频；
    将预定格式的视频发送至所述终端设备。
  36. 根据权利要求34或35所述的云台，其特征在于，所述预定格式的视频为H.264或H.265格式的视频。
  37. 根据权利要求33所述的云台，其特征在于，所述云台在将所述云台SDK协议数据传输至所述终端设备之前，所述一个或更多处理器还执行下述步骤：
    根据USB传输协议对所述云台SDK协议数据进行封装。
  38. 根据权利要求34或35所述的云台，其特征在于，所述云台在将所述预定格式的视频发送至所述终端设备之前，所述一个或更多处理器还执行下述步骤：
    根据USB传输协议对所述预定格式的视频进行封装。
  39. 根据权利要求32所述的云台，其特征在于，所述云台SDK协议命令包括相机拍摄控制命令或相机参数设置命令。
  40. 根据权利要求32所述的云台，其特征在于，所述终端设备包括智能手机、PDA、平板。
  41. 根据权利要求32所述的云台，其特征在于，所述一个或多个处理器包括SDK命令转换器和/或编码器，所述SDK命令转换器和/或编码器集成在所述云台内部或为所述云台外接的SDK命令转换器和/或编码器。
  42. 一种存储介质，其特征在于，所述存储介质上存储有计算机程序，所述计算机程序在运行时执行如权利要求1-19中的任一项所述的控制方法。
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