WO2021184495A1 - 云台摄像机控制方法、装置、云台摄像机和存储介质 - Google Patents

云台摄像机控制方法、装置、云台摄像机和存储介质 Download PDF

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Publication number
WO2021184495A1
WO2021184495A1 PCT/CN2020/087186 CN2020087186W WO2021184495A1 WO 2021184495 A1 WO2021184495 A1 WO 2021184495A1 CN 2020087186 W CN2020087186 W CN 2020087186W WO 2021184495 A1 WO2021184495 A1 WO 2021184495A1
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WIPO (PCT)
Prior art keywords
path
life load
load value
pan
clockwise
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PCT/CN2020/087186
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English (en)
French (fr)
Inventor
李宇翔
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浙江宇视科技有限公司
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Application filed by 浙江宇视科技有限公司 filed Critical 浙江宇视科技有限公司
Priority to US17/912,335 priority Critical patent/US12101558B2/en
Priority to EP20926108.0A priority patent/EP4124028A4/en
Publication of WO2021184495A1 publication Critical patent/WO2021184495A1/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
    • H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B17/00—Details of cameras or camera bodies; Accessories therefor
    • G03B17/56—Accessories
    • G03B17/561—Support related camera accessories

Definitions

  • the embodiments of the present application relate to the technical field of security monitoring, for example, to a method and device for controlling a pan-tilt camera, a pan-tilt camera, and a storage medium.
  • pan-tilt cameras In the field of security monitoring, PTZ cameras have been widely used. Compared with ordinary cameras, PTZ cameras can freely rotate up and down, left and right.
  • Current pan-tilt cameras generally have the function of 360° unrestricted rotation.
  • the pan-tilt camera is provided with a rotating connection device, that is, a slip ring.
  • the slip ring is installed in the rotation center of the pan/tilt camera, connecting the rotating and stationary parts of the pan/tilt camera, and plays the role of information transmission.
  • the PTZ camera is set with multiple preset positions, and can rotate back and forth between multiple preset positions uninterruptedly, so as to monitor different scenes at different preset positions. Due to the frequent rotation of the PTZ camera for a long time, problems such as damage to the brush of the slip ring, damage to the ring, and frictional break of the cable often occur, resulting in the loss of the image transmission signal. Therefore, the service life of the slip ring and the cable becomes the bottleneck of the rotation life of the pan/tilt, and the improvement of the rotation life of the pan/tilt camera has become an urgent problem in the security field.
  • the technology to improve the rotation life of the pan/tilt generally depends on the improvement of the life of the hardware components: 1) Choose slip ring brushes and ring materials with better wear resistance; 2) Choose slip ring cables with better wear resistance; 3 ) Optimize the structure of the slip ring.
  • this type of approach requires increased hardware costs.
  • the embodiments of the present application provide a pan-tilt camera control method, device, pan-tilt camera, and storage medium, so as to achieve the purpose of improving the rotation life of the pan-tilt camera without increasing hardware costs.
  • An embodiment of the present application provides a method for controlling a PTZ camera, the method including:
  • An embodiment of the present application provides a pan-tilt camera control device, the device includes:
  • the first path determination module is set to determine the clockwise path and the counterclockwise path of the pan/tilt camera from the current preset position to the target preset position;
  • the second path determination module is set to be based on the life load values of at least two first location points that the clockwise path needs to pass through, and the life load values of at least two second location points that the counterclockwise path needs to pass through, Selecting the current rotation path from the clockwise path and the counterclockwise path, wherein the life load value is used to represent the total number of times that the pan/tilt camera has passed through a preset position point in the pan/tilt;
  • the rotation control module is configured to control the pan-tilt camera to rotate from the current preset position to the target preset position according to the current rotation path.
  • the embodiment of the application also provides a pan-tilt camera, including:
  • At least one processor At least one processor
  • the storage device is set to store at least one program
  • the at least one processor When the at least one program is executed by the at least one processor, the at least one processor implements the pan-tilt camera control method according to any embodiment of the present application.
  • the embodiment of the present application also provides a computer-readable storage medium that stores a computer program, and when the program is executed by a processor, the pan-tilt camera control method as described in any of the embodiments of the present application is implemented.
  • FIG. 1a is a flowchart of a method for controlling a pan-tilt camera in Embodiment 1 of this application;
  • Fig. 1b is a schematic diagram of the pan-tilt camera rotation in the first embodiment of the application
  • FIG. 2 is a flowchart of a method for controlling a pan-tilt camera in the second embodiment of the application
  • Fig. 3 is a schematic structural diagram of a pan-tilt camera control device in the third embodiment of the present application.
  • Fig. 4 is a schematic structural diagram of a pan-tilt camera in the fourth embodiment of the present application.
  • Figure 1a is a flow chart of a pan-tilt camera control method provided in Embodiment 1 of this application. This embodiment is applicable to the situation of improving the service life of the pan-tilt camera.
  • the method can be executed by a pan-tilt camera control device, which can use software And/or hardware, and can be integrated on the PTZ camera.
  • the PTZ camera control method includes the following processes:
  • S1010 Determine the clockwise path and the counterclockwise path of the pan/tilt camera from the current preset position to the target preset position.
  • the preset position is used to characterize the key area to be monitored and the operating status of the pan/tilt camera.
  • PTZ cameras usually set multiple preset positions in advance, and rotate between multiple preset positions according to a preset route. In one embodiment, during the actual rotation of the PTZ camera, there may be multiple rotation routes set. For example, the PTZ camera has four preset positions A, B, C, and D.
  • the set rotation route is exemplary Including route 1: follow the route of A ⁇ B ⁇ C ⁇ D to rotate in a circle; route 2: follow the route of A ⁇ C ⁇ D ⁇ B to rotate in a circle; route 3: follow the route of B ⁇ A ⁇ C ⁇ D to rotate in a circle.
  • the pan/tilt camera performs cyclic rotation according to line 1
  • the pan/tilt camera performs cyclic rotation according to line 2.
  • the current preset position is B
  • the target preset position is C
  • the clockwise path from B to C is B ⁇ C
  • the counterclockwise path from B to C is B ⁇ A ⁇ D ⁇ C.
  • the purpose of determining the clockwise path and counterclockwise path of the pan/tilt camera from the current preset position to the target preset position is to ensure that one of the clockwise path and the counterclockwise path is selected as the current rotation path, so that the pan/tilt After the camera rotates according to the current rotation path, the rotation life of the slip ring and the cable of the pan-tilt camera can be guaranteed to be the longest.
  • the life load value of the preset position point is determined according to the total number of times that the pan-tilt camera has passed through the preset position point in the pan-tilt during the historical rotation process. For example, the total number of cumulative passes through a location point is directly used as the life load value of the location point.
  • the PTZ camera after the cumulative number of passes through each position point in the clockwise path and the counterclockwise path in the process of acquiring the historical rotation of the pan/tilt camera, if the number of passes through a position point is greater (that is, the position The greater the life load value of the point), it indicates that the PTZ camera often rotates according to the rotation path of the position point, so that the wear of a fixed area of the slip ring and the cable corresponding to the path of the position point is greater than that of other areas, that is, sliding The uneven wear of the ring and cable at multiple locations is not conducive to maximizing the life of the slip ring and cable.
  • the cumulative value of each location point in the clockwise path and the counterclockwise path is obtained. frequency.
  • the rotation life statistical coordinates (X, Y) of each position point of the horizontal 360° are established in advance, and the (X, Y) database is established.
  • the abscissa X is the angle value of the horizontal orientation
  • the value range is an integer of [0, 359]
  • the factory default initial value of Y is all zero.
  • the factory default statistical coordinates of the rotation life of each position point of the pan/tilt camera are (0, 0), (1, 0)... (358, 0), (359, 0).
  • the angle value of the horizontal orientation can be subdivided.
  • the value range of X is [0, 3599], thereby obtaining 3,600 sets of data.
  • the Y value of the ordinate is dynamically changing, and is used to count the number of times that the PTZ camera passes through the position point when the pan/tilt camera rotates.
  • each time the pan/tilt camera rotates the ordinate Y value of each position point passed by the pan/tilt camera increases by a preset value (for example, an increase of 1).
  • the pan/tilt camera level changes from 10 °Clockwise to 70°, (11, Y), (12, Y)... (68, Y), (69, Y) in Y are all +1; from 10° counterclockwise to 70°, Y in (9, Y), (8, Y)...(72, Y), (71, Y) are all +1. That is, the ordinate value of each position point represents the cumulative number of times that the position point is passed when the pan-tilt camera rotates.
  • the cumulative value of each position point in the clockwise path and the counterclockwise path in the history of the pan/tilt camera can be obtained.
  • the following operations may be performed: obtaining the coordinates of each position point in the clockwise path and the coordinates of each position point in the counterclockwise path.
  • each position point coordinate in the clockwise path and the ordinate value of each position point coordinate in the counterclockwise path determine the clockwise path and the counterclockwise path of the pan/tilt camera in the historical process
  • the number of times in each position point in the middle is to determine the life load value of each position point.
  • the principle is the same as that of the horizontal rotation, and the rotation life statistical coordinates (X', Y') of each position point on the vertical plane can also be established, and the (X', Y') database can be established.
  • Y' represents the cumulative number of times through each location point during the vertical rotation of the PTZ camera, that is, the life load value of each location point.
  • the rotation path of the pan/tilt camera needs to be dynamically adjusted to make the cloud
  • the life load value of a camera is balanced at multiple locations.
  • S110 Determine the clockwise path according to the life load values of the at least two first position points of the clockwise path and the life load values of the at least two second position points of the counterclockwise path. The life load value of the path and the life load value of the counterclockwise path.
  • the maximum life load value among the life load values of the at least two first position points that the clockwise path needs to pass is used as the life load value of the clockwise path;
  • the counterclockwise path requires a maximum life load value among the life load values of at least two second position points of the path as the life load value of the counterclockwise path.
  • the average life load value of the life load values of at least two first position points that the clockwise path needs to pass is used as the life load value of the clockwise path, for example, The average life load value of the life load values of all the first position points that the clockwise path needs to pass is taken as the life load value of the clockwise path; the life load of at least two second position points that the counterclockwise path needs to pass The average life load value of the value is used as the life load value of the counterclockwise path. For example, the average life load value of the life load values of all the second position points that the counterclockwise path needs to pass is used as the counterclockwise path The life load value.
  • the average life load value of the life load value of at least two first position points and the average life load value of the average life load value of at least two second position points are used as the life load value of the clockwise path and the counterclockwise path respectively.
  • the life load value can ensure that the overall wear of the slip ring and the cable is in the most uniform state after the current rotation path is determined and rotated.
  • the shorter path of the clockwise path and the counterclockwise path is used as the current rotation path.
  • the life load value of the clockwise path is equal to the life load value of the counterclockwise path, it indicates that the slip ring and cable of the pan/tilt camera are evenly worn at this time.
  • the clockwise path and the counterclockwise path are selected The shorter path is used as the current rotation path.
  • Figure 1b shows a schematic diagram of the rotation of the pan/tilt camera, where A and B are two preset positions.
  • the pan/tilt camera rotates from point A to point B in a clockwise path for a period of time.
  • the clockwise path and the path with the smaller life load value of the counterclockwise path are used as the Describe the current rotation path.
  • the life load value of the clockwise path is greater than the life load value of the counterclockwise path, that is, the wear of the slip ring and cable area corresponding to the clockwise path is greater than that of the slip ring and cable area corresponding to the counterclockwise path.
  • the current rotation path is a counterclockwise path; if the life load value of the clockwise path is less than the life load value of the counterclockwise path, that is, the wear of the slip ring and the cable area corresponding to the clockwise path is less than
  • the counterclockwise path corresponds to the wear of the slip ring and the cable area, so it is determined that the current rotation path is a clockwise path.
  • the life load value of each position point on the rotation path is increased A preset value, so that the life load value of each location point can accurately count the number of times that the PTZ camera has passed the location point during the rotation process.
  • the current rotation path is determined according to the life load value of the position points in the clockwise path and the counterclockwise path during the historical rotation of the pan/tilt camera, so that after rotating according to the current rotation path, the pan/tilt camera passes more
  • the life load value of each location is balanced, thereby ensuring that the slip ring and cable of the pan/tilt camera are evenly worn, which can improve the rotation life of the pan/tilt camera without increasing the hardware cost of the pan/tilt camera.
  • Fig. 2 is a flowchart of a method for controlling a pan-tilt camera provided in the second embodiment of the application. This embodiment is described on the basis of the above-mentioned embodiment. Referring to Fig. 2, the method includes:
  • S2010 Determine the maximum life load value among the life load values of all preset position points in the pan/tilt.
  • the life load value of each position can be determined according to the ordinate value of the preset position point, and the maximum life load value among the life load values of the multiple position points can be determined by comparison.
  • S2020 Determine whether the maximum life load value is equal to or greater than the rotation life threshold of the pan/tilt head, and if the maximum life load value is equal to or greater than the rotation life threshold of the pan/tilt head, execute S2030-S2050.
  • the rotation life threshold is preset based on the total rotation life, for example, half of the total rotation life is used as the rotation life threshold.
  • the rotation life is sufficient, that is, when the maximum life load value is less than the PTZ rotation life threshold, the PTZ camera rotates according to the shortest path.
  • the PTZ camera starts from the current A clockwise path and a counterclockwise path from the preset position to the target preset position, and the path with a small life load value (that is, the shortest path) in the clockwise path and the counterclockwise path is used as the current rotation path.
  • the maximum life load value is equal to or greater than the rotation life threshold of the pan/tilt, it indicates that the rotation life of the pan/tilt camera is insufficient. It is necessary to determine the rotation path according to S2030-S2050, and rotate according to the rotation path, so that the pan/tilt After the camera is rotated, the life load values of multiple positions are balanced.
  • the total rotation life can be obtained by testing multiple pan/tilt cameras, for example, the total rotation life of multiple pan/tilt cameras is tested, and the minimum total rotation life of the total rotation life of the multiple pan/tilt cameras is determined. As the total rotation life of the pan/tilt camera.
  • the pan/tilt camera rotates according to the shortest path strategy when the rotation life is sufficient, thereby ensuring the rotation efficiency and user experience.
  • the load balancing method is enabled to determine the rotation path , To ensure the maximum use of slip ring and cable life.
  • Fig. 3 is a schematic structural diagram of a pan-tilt camera control device in the third embodiment of the present application. This embodiment is applicable to the situation of improving the service life of the pan-tilt camera.
  • the device includes: a first path determination module 301 configured to To determine the clockwise path and counterclockwise path of the pan/tilt camera from the current preset position to the target preset position; the second path determination module 302 is set to at least two first position points that need to be routed according to the clockwise path The life load value of the counterclockwise path and the life load values of at least two second location points that the counterclockwise path needs to pass through, select the current rotation path from the clockwise path and the counterclockwise path; the rotation control module 303 sets To control the pan/tilt camera to rotate from the current preset position to the target preset position according to the current rotation path.
  • the device further includes: a life load value determining module, configured to determine the number of times the preset position point in the pan/tilt has been accumulated according to the total number of times the pan/tilt camera has passed through a preset position in the pan/tilt during the historical rotation of the camera. Life load value.
  • the second path determination module includes: a path life load value determining unit configured to determine the life load values of at least two first location points of the clockwise path required path, and the counterclockwise path required path The life load values of the at least two second location points of, respectively determine the life load value of the clockwise path and the life load value of the counterclockwise path; the path determining unit is configured to compare the life load of the clockwise path Value and the life load value of the counterclockwise path, and select the current rotation path from the clockwise path and the counterclockwise path according to the comparison result.
  • the path life load value determining unit is configured to: use the maximum life load value among the life load values of at least two first position points that the clockwise path needs to pass as the life load value of the clockwise path Value; the maximum life load value among the life load values of at least two second position points that the counterclockwise path needs to pass is used as the life load value of the counterclockwise path.
  • the path life load value determining unit is configured to: use the average life load value of the life load values of at least two first position points that the clockwise path needs to pass as the life load value of the clockwise path.
  • the average life load value of the life load values of at least two second location points that the counterclockwise path needs to pass is used as the life load value of the counterclockwise path.
  • the path determining unit is configured to: in the case that the life load value of the clockwise path is equal to the life load value of the counterclockwise path, the shorter of the clockwise path and the counterclockwise path is The path of the current rotation path; in the case that the life load value of the clockwise path is not equal to the life load value of the counterclockwise path, the life load value of the clockwise path and the counterclockwise path The small path is used as the current rotation path.
  • the device further includes: a maximum life load value determination module, which is set to determine the maximum life load value among the life load values of all preset positions in the pan/tilt; a path confirmation trigger module, which is set to be at the maximum life When the load value is equal to or greater than the rotation life threshold of the pan/tilt head, the first path determination module 301 is notified to determine the clockwise path and the counterclockwise path of the pan/tilt camera from the current preset position to the target preset position.
  • a maximum life load value determination module which is set to determine the maximum life load value among the life load values of all preset positions in the pan/tilt
  • a path confirmation trigger module which is set to be at the maximum life
  • the pan-tilt camera control device provided in the embodiment of the present application can execute the pan-tilt camera control method provided in any embodiment of the present application, and has functional modules corresponding to the execution method.
  • FIG. 4 is a schematic structural diagram of a pan-tilt camera provided in the fourth embodiment of the application.
  • FIG. 4 shows a block diagram of an exemplary pan-tilt camera 12 suitable for implementing the embodiments of the present application.
  • the pan-tilt camera 12 shown in FIG. 4 is only an example, and should not bring any limitation to the functions and scope of use of the embodiments of the present application.
  • the pan-tilt camera 12 is represented in the form of a general-purpose computing device.
  • the components of the pan-tilt camera 12 may include, but are not limited to: one or more processors or processing units 16, a system memory 28, and a bus 18 connecting different system components (including the system memory 28 and the processing unit 16).
  • the bus 18 represents one or more of several types of bus structures, including a memory bus or a memory controller, a peripheral bus, a graphics acceleration port, a processor, or a local bus using any bus structure among multiple bus structures.
  • these architectures include but are not limited to Industrial Standard Architecture (ISA) bus, Micro Channel Architecture (MAC) bus, enhanced ISA bus, Video Electronics Standards Association (Video Electronics Standards) Association, VESA) local bus and Peripheral Component Interconnect (PCI) bus.
  • the pan-tilt camera 12 includes a variety of computer system readable media. These media can be any available media that can be accessed by the pan/tilt camera 12, including volatile and non-volatile media, removable and non-removable media.
  • the system memory 28 may include a computer system readable medium in the form of a volatile memory, such as a random access memory (RAM) 30 and/or a cache memory 32.
  • the pan/tilt camera 12 may further include other removable/non-removable, volatile/nonvolatile computer system storage media.
  • the storage system 34 may be configured to read and write a non-removable, non-volatile magnetic medium (not shown in FIG. 4, usually referred to as a "hard drive").
  • the storage system 34 may provide a disk drive for reading and writing to a removable non-volatile disk (such as a "floppy disk"), and a removable non-volatile optical disk (such as a portable compact disk only).
  • CD-ROM drives for reading and writing from Compact Disc Read-Only Memory (CD-ROM), Digital Video Disc Read-Only Memory (DVD-ROM) or other optical media.
  • each drive can be connected to the bus 18 through one or more data media interfaces.
  • the memory 28 may include at least one program product, the program product having a set (for example, at least one) program modules, and these program modules are configured to perform the functions of each embodiment of the present application.
  • a program/utility tool 40 having a set of (at least one) program module 42 may be stored in, for example, the memory 28.
  • Such program module 42 includes but is not limited to an operating system, one or more application programs, other program modules, and program data Each of these examples or some combination may include the implementation of a network environment.
  • the program module 42 usually executes the functions and/or methods in the embodiments described in this application.
  • the pan-tilt camera 12 can also communicate with one or more external devices 14 (such as keyboards, pointing devices, displays 24, etc.), and can also communicate with one or more devices that enable users to interact with the pan-tilt camera 12, and/ Or communicate with any device (such as a network card, modem, etc.) that enables the pan-tilt camera 12 to communicate with one or more other computing devices. This communication can be performed through an input/output (I/O) interface 22.
  • the pan-tilt camera 12 may also communicate with one or more networks (for example, a local area network (LAN), a wide area network (WAN), and/or a public network, such as the Internet) through the network adapter 20.
  • networks for example, a local area network (LAN), a wide area network (WAN), and/or a public network, such as the Internet
  • the network adapter 20 communicates with other modules of the pan-tilt camera 12 through the bus 18.
  • other hardware and/or software modules can be used in conjunction with the PTZ camera 12, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, and disk arrays (Redundant Arrays of Independent). Disks, RAID) systems, tape drives, and data backup storage systems.
  • the processing unit 16 executes a variety of functional applications and data processing by running programs stored in the memory 28, for example, realizes the pan-tilt camera control method provided in the embodiment of the present application.
  • the method includes: determining that the pan-tilt camera is from the current preset The clockwise path and the counterclockwise path from the setting to the target preset position; according to the life load values of at least two first position points that the clockwise path requires, and the at least two paths that the counterclockwise path requires The life load value of the second position point, select the current rotation path from the clockwise path and the counterclockwise path; control the pan/tilt camera to rotate from the current preset position to the current rotation path according to the current rotation path The target preset position.
  • the fifth embodiment of the present application also provides a computer-readable storage medium that stores a computer program that, when executed by a processor, realizes the pan-tilt camera control method as provided in the embodiments of the present application, and the method includes: determining the cloud The clockwise path and the counterclockwise path of the camera from the current preset position to the target preset position; the life load values of at least two first position points that need to be routed according to the clockwise path, and the counterclockwise path requirements Select the current rotation path from the clockwise path and the counterclockwise path; control the pan/tilt camera to follow the current rotation path from the current preset The set position rotates to the target preset position.
  • the computer storage medium of the embodiment of the present application may adopt any combination of one or more computer-readable media.
  • the computer-readable medium may be a computer-readable signal medium or a computer-readable storage medium.
  • the computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the above.
  • Examples of computer-readable storage media include: electrical connections with one or more wires, portable computer disks, hard disks, RAM, read-only memory (ROM), erasable memory Programmable Read-Only Memory ((Erasable Programmable Read-Only Memory, EPROM) or flash memory), optical fiber, CD-ROM, optical storage device, magnetic storage device, or any suitable combination of the foregoing.
  • the computer-readable storage medium can be any tangible medium that contains or stores a program, and the program can be used by or in combination with an instruction execution system, apparatus, or device.
  • the computer-readable signal medium may include a data signal propagated in baseband or as a part of a carrier wave, and carries computer-readable program code. This propagated data signal can take many forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the foregoing.
  • the computer-readable signal medium may also be any computer-readable medium other than the computer-readable storage medium.
  • the computer-readable medium may send, propagate, or transmit the program for use by or in combination with the instruction execution system, apparatus, or device .
  • the program code contained on the computer-readable medium can be transmitted by any suitable medium, including but not limited to wireless, wire, optical cable, radio frequency (RF), etc., or any suitable combination of the foregoing.
  • suitable medium including but not limited to wireless, wire, optical cable, radio frequency (RF), etc., or any suitable combination of the foregoing.
  • the computer program code used to perform the operations of this application can be written in one or more programming languages or a combination thereof.
  • the programming languages include object-oriented programming languages—such as Java, Smalltalk, C++, and also conventional Procedural programming language-such as "C" language or similar programming language.
  • the program code can be executed entirely on the user's computer, partly on the user's computer, executed as an independent software package, partly on the user's computer and partly executed on a remote computer, or entirely executed on the remote computer or server.
  • the remote computer can be connected to the user's computer through any kind of network-including a local area network (LAN)-or a wide area network (WAN)-or it can be connected to an external computer (for example, using an Internet service provider to Connect via the Internet).
  • LAN local area network
  • WAN wide area network

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Abstract

本申请实施例公开了一种云台摄像机控制方法、装置、云台摄像机和存储介质，方法包括：确定云台摄像机从当前预置位转到目标预置位的顺时针路径和逆时针路径；根据顺时针路径需要途径的至少两个第一位置点的寿命负载值，以及逆时针路径需要途径的至少两个第二位置点的寿命负载值，从顺时针路径和逆时针路径中选择当前转动路径，其中，所述寿命负载值用于表征云台摄像机累计经过云台中预设的位置点的总次数；控制云台摄像机按照所述当前转动路径，从当前预置位转动到所述目标预置位。

Description

云台摄像机控制方法、装置、云台摄像机和存储介质
本申请要求在2020年03月16日提交中国专利局、申请号为202010181739.2的中国专利申请的优先权，该申请的全部内容通过引用结合在本申请中。
技术领域
本申请实施例涉及安防监控技术领域，例如涉及一种云台摄像机控制方法、装置、云台摄像机和存储介质。
背景技术
安防监控领域，云台摄像机已得到广泛应用。云台摄像机与普通摄像机相比，可以上下左右自由旋转。目前的云台摄像机普遍具备360°无限制旋转的功能，为了避免摄像机在旋转过程中绕线，达到交互信息不受阻碍地传输，云台摄像机上设置有旋转连通装置，即滑环。滑环安装在云台摄像机的旋转中心，连接着云台摄像机旋转和静止的两大部分，起到信息传输的作用。
通常云台摄像机设置有多个预置位，并且可以在多个预置位之间不间断地来回转动，以便在不同的预置位监控不同的场景。由于云台摄像机长期频繁转动，常出现滑环的电刷损坏，环道损坏，线缆摩擦断裂等问题，导致图像传输信号丢失。因此，滑环和线缆的使用寿命成为云台转动寿命的瓶颈，提升云台摄像机的转动寿命成为安防领域迫切需要解决的问题。
目前，提升云台转动寿命的技术普遍依靠硬件器件寿命的提升：1)选择耐磨性更好的滑环电刷和环道材料；2)选择耐磨性更好的滑环线缆；3)优化滑环的结构。然而，这类方式需要增加硬件成本。
发明内容
本申请实施例提供一种云台摄像机控制方法、装置、云台摄像机和存储介 质，以达到在不增加硬件成本的情况下，提升云台摄像机转动寿命的目的。
本申请实施例提供了一种云台摄像机控制方法，所述方法包括：
确定云台摄像机从当前预置位转到目标预置位的顺时针路径和逆时针路径；
根据所述顺时针路径需要途径的至少两个第一位置点的寿命负载值，以及所述逆时针路径需要途径的至少两个第二位置点的寿命负载值，从所述顺时针路径和所述逆时针路径中选择当前转动路径，其中，所述寿命负载值用于表征云台摄像机累计经过云台中预设的位置点的总次数；
控制所述云台摄像机按照所述当前转动路径，从所述当前预置位转动到所述目标预置位。
本申请实施例提供了一种云台摄像机控制装置，所述装置包括：
第一路径确定模块，设置为确定云台摄像机从当前预置位转到目标预置位的顺时针路径和逆时针路径；
第二路径确定模块，设置为根据所述顺时针路径需要途径的至少两个第一位置点的寿命负载值，以及所述逆时针路径需要途径的至少两个第二位置点的寿命负载值，从所述顺时针路径和所述逆时针路径中选择当前转动路径，其中，所述寿命负载值用于表征云台摄像机累计经过云台中预设的位置点的总次数；
转动控制模块，设置为控制所述云台摄像机按照所述当前转动路径，从所述当前预置位转动到所述目标预置位。
本申请实施例还提供了一种云台摄像机，包括：
至少一个处理器；
存储装置，设置为存储至少一个程序，
当所述至少一个程序被所述至少一个处理器执行，使得所述至少一个处理 器实现如本申请任一实施例所述的云台摄像机控制方法。
本申请实施例还提供了一种计算机可读存储介质，存储有计算机程序，该程序被处理器执行时实现如本申请任一实施例所述的云台摄像机控制方法。
附图说明
图1a为本申请实施例一中的云台摄像机控制方法的流程图；
图1b为本申请实施例一中的云台摄像机转动的示意图；
图2为本申请实施例二中的云台摄像机控制方法的流程图；
图3是本申请实施例三中的云台摄像机控制装置的结构示意图；
图4是本申请实施例四中的云台摄像机的结构示意图。
具体实施方式
下面结合附图和实施例对本申请进行说明。此处所描述的实施例仅仅用于解释本申请，而非对本申请的限定。另外，为了便于描述，附图中仅示出了与本申请相关的部分而非全部结构。
实施例一
图1a为本申请实施例一提供的云台摄像机控制方法的流程图，本实施例可适用提升云台摄像机使用寿命的情况，该方法可以由云台摄像机控制装置来执行，该装置可以采用软件和/或硬件的方式实现，并可集成在云台摄像机上。
如图1a所示，云台摄像机控制方法包括如下流程：
S1010、确定云台摄像机从当前预置位转到目标预置位的顺时针路径和逆时针路径。
在一实施例中，预置位用于表征被监视的重点区域以及云台摄像机的运行状况。云台摄像机通常会预先设置多个预置位，并按照预设路线在多个预置位 之间转动。在一个实施例中，在云台摄像机实际转动过程中，设置的转动路线可以有多个，例如云台摄像机设置有A、B、C、D四个预置位，设置的转动路线示例性的包括路线1：按照A→B→C→D的路线循环转动；路线2：按照A→C→D→B的路线循环转动；路线3：按照B→A→C→D的路线循环转动。如此在上述设定转动路线的基础上，在第一设定时间段内，云台摄像机按照线路1进行循环转动，在第二设定时间段内，云台摄像机按照线路2进行循环转动。而云台摄像机转动过程中，在从当前预置位转动到目标预置位之前，需要确定云台摄像机从当前预置位转到目标预置位的顺时针路径和逆时针路径，例如，针对路线1，当前预置位为B，目标预置位为C，从B到C的顺时针路径为B→C，而从B到C的逆时针路径为B→A→D→C。而确定云台摄像机从当前预置位转到目标预置位的顺时针路径和逆时针路径的目的是，保证后续从顺时针路径和逆时针路径中选择一种作为当前转动路径，使得云台摄像机按照该当前转动路径转动后，能保证云台摄像机的滑环环道和线缆的转动寿命最大。
S1020、根据所述顺时针路径需要途径的至少两个第一位置点的寿命负载值，以及所述逆时针路径需要途径的至少两个第二位置点的寿命负载值，从所述顺时针路径和所述逆时针路径中选择当前转动路径。
可选的，根据云台摄像机在历史转动过程中，累计经过云台中预设的位置点的总次数，确定预设的位置点的寿命负载值。例如，直接将累计经过一个位置点的总次数作为该位置点的寿命负载值。在一个实施例中，在获取云台摄像机历史转动过程中累计经过所述顺时针路径和所述逆时针路径中每个位置点的次数后，如果经过一位置点的次数越多(即该位置点的寿命负载值越大)，表明云台摄像机经常按照该位置点所在的转动路径转动，使得该位置点路径对应的滑环环道和线缆的一固定区域的磨损大于其他区域，即滑环和线缆多个位置 磨损不均衡，不利于最大化利用滑环和线缆的寿命。因此，可根据所述顺时针路径需要途径的至少两个第一位置点的寿命负载值，以及所述逆时针路径需要途径的至少两个第二位置点的寿命负载值，从所述顺时针路径和所述逆时针路径中确定当前转动路径，使得云台摄像机过程中经过每个位置点的次数均衡。
本申请实施例中，为了快速获取云台中每个预设的位置点的寿命负载值，即获取云台摄像机历史过程中累计经过所述顺时针路径和所述逆时针路径中每个位置点的次数。可选的，针对云台摄像机水平转动的情况，预先建立水平360°每个位置点的转动寿命统计坐标(X，Y)，建立(X，Y)数据库。在一实施例中，横坐标X是水平方位的角度值，取值范围为[0，359]的整数，Y的出厂默认初始值都为零。由此，云台摄像机的出厂默认的每个位置点的转动寿命统计坐标为(0，0)，(1，0)...(358，0)，(359，0)。在一实施例中，如果对云台转动的精度要求高，可以对水平方位的角度值再细分，例如X的取值范围为[0，3599]，由此得到3600组数据。纵坐标Y值是动态变化的，用于统计在云台摄像机转动的情况下经过该位置点的次数。在一实施例中，每次云台摄像机转动后，云台摄像机经过的每个位置点的纵坐标Y值都增加一个预设值(例如增加1)，示例性的，云台摄像机水平从10°顺时针转到70°，(11，Y)，(12，Y)...(68，Y)，(69，Y)中的Y都+1；从10°逆时针转到70°，(9，Y)，(8，Y)...(72，Y)，(71，Y)中的Y都+1。即所述每个位置点的纵坐标值表征了在云台摄像机转动的情况下累计经过该位置点的次数。因此，只要得到所述顺时针路径和所述逆时针路径中每个位置点的纵坐标的值，即可得到云台摄像机历史过程中累计经过顺时针路径和逆时针路径中每个位置点的次数，由此可快速确定每个位置点的寿命负载值。在一实施例中，可按如下操作进行：获取所述顺时针路径中的每个位置点坐标，以及所述逆时针路径中的每个位置点坐标。根据所述顺时针路径中 的每个位置点坐标的纵坐标值和所述逆时针路径中的每个位置点坐标的纵坐标值，确定云台摄像机历史过程中经过顺时针路径和逆时针路径中每个位置点的次数，即确定每个位置点的寿命负载值。针对云台摄像机垂直转动的情况，与水平转动的原理相同，同样可以建立垂直平面的每个位置点的转动寿命统计坐标(X'，Y')，并建立(X'，Y')数据库。X'表示垂直平面上每个位置点的角度值，Y'表示云台摄像机垂直转动过程中，累计经过每个位置点的次数，即每个位置点的寿命负载值。
在一个实施例中，为了使云台摄像机的滑环环道和线缆的转动寿命最大，需要保证滑环和线缆多个区域均衡磨损，即需要动态调整云台摄像机的转动路径，使得云台摄像机经过多个位置点的寿命负载值均衡。由此，根据所述顺时针路径需要途径的至少两个第一位置点的寿命负载值，以及所述逆时针路径需要途径的至少两个第二位置点的寿命负载值，从所述顺时针路径和所述逆时针路径中选择当前转动路径的操作包括如下步骤：
S110、根据所述顺时针路径需要途径的至少两个第一位置点的寿命负载值，以及所述逆时针路径需要途径的至少两个第二位置点的寿命负载值，分别确定所述顺时针路径的寿命负载值和所述逆时针路径的寿命负载值。
在一种可选的实施方式中，将所述顺时针路径需要途径的至少两个第一位置点的寿命负载值中的最大寿命负载值，作为所述顺时针路径的寿命负载值；将所述逆时针路径需要途径的至少两个第二位置点的寿命负载值中的最大寿命负载值，作为所述逆时针路径的寿命负载值。
在另一种可选的实施方式中，将所述顺时针路径需要途径的至少两个第一位置点的寿命负载值的平均寿命负载值，作为所述顺时针路径的寿命负载值，例如，将顺时针路径需要途径的所有第一位置点的寿命负载值的平均寿命负载 值，作为顺时针路径的寿命负载值；将所述逆时针路径需要途径的至少两个第二位置点的寿命负载值的平均寿命负载值，作为所述逆时针路径的寿命负载值，例如，将所述逆时针路径需要途径的所有第二位置点的寿命负载值的平均寿命负载值，作为所述逆时针路径的寿命负载值。将至少两个第一位置点的寿命负载值的平均寿命负载值和至少两个第二位置点的平均寿命负载值的平均寿命负载值，分别作为顺时针路径的寿命负载值和逆时针路径的寿命负载值，可以保证后续确定当前转动路径并转动后，滑环环道和线缆的整体磨损整体处于最均匀的状态。
S210、比较所述顺时针路径的寿命负载值和所述逆时针路径的寿命负载值，并根据比较结果从所述顺时针路径和所述逆时针路径中选择当前转动路径。
可选的，在所述顺时针路径的寿命负载值等于所述逆时针路径的寿命负载值的情况下，将所述顺时针路径和所述逆时针路径中较短的路径作为所述当前转动路径。在顺时针路径的寿命负载值等于逆时针路径的寿命负载值的情况下，表明此时云台摄像机的滑环和线缆磨损均匀，为了提升转动的效率，所以选择顺时针路径和逆时针路径中较短的路径作为当前转动路径。示例性的，参见图1b，其示出了云台摄像机转动的示意图，其中A、B是两个预置位，云台摄像机按照顺时针路径从A点转动到B点一段时间后，在需要从B点转动到A点的情况下，确定顺时针路径的寿命负载值等于逆时针路径的寿命负载值，为了提升云台摄像机转动的效率，可按照逆时针路径从B点转动到A点。
可选的，在所述顺时针路径的寿命负载值不等于所述逆时针路径的寿命负载值的情况下，将所述顺时针路径和所述逆时针路径中寿命负载值小的路径作为所述当前转动路径。例如，如果所述顺时针路径的寿命负载值大于所述逆时针路径的寿命负载值，即顺时针路径对应的滑环和线缆区域的磨损大于逆时针 路径对应的滑环和线缆区域的磨损，因此确定所述当前转动路径为逆时针路径；如果所述顺时针路径的寿命负载值小于所述逆时针路径的寿命负载值，即顺时针路径对应的滑环和线缆区域的磨损小于逆时针路径对应的滑环和线缆区域的磨损，因此确定所述当前转动路径为顺时针路径。
S1030、控制所述云台摄像机按照所述当前转动路径，从所述当前预置位转动到所述目标预置位。
在确定转动路径的基础上，只需控制云台摄像机按照指定转动路径从所述当前预置位转动到所述目标预置位，即可保证云台摄像机的滑环和线缆多个位置点磨损均衡，可保证最大化利用滑环和线缆的寿命。
在一实施例中，在所述云台摄像机根据所述当前转动路径从所述当前预置位转动到所述目标预置位后，将所述转动路径上每个位置点的寿命负载值增加一个预设值，使得每个位置点的寿命负载值可以准确的统计云台摄像机转动过程中，累计经过该位置点的次数。
本申请实施例中，根据云台摄像机历史转动过程中经过顺时针路径和逆时针路径中的位置点的寿命负载值，确定当前转动路径，使得按照当前转动路径转动后，云台摄像机经过的多个位置点的寿命负载值均衡，进而保证云台摄像机的滑环环道和线缆磨损均匀，可实现在不增加云台摄像机硬件成本的情况下，提升云台摄像机转动寿命。
实施例二
图2为本申请实施例二提供的云台摄像机控制方法的流程图，本实施例是在上述实施例的基础上进行说明，参见图2，该方法包括：
S2010、确定云台中所有预设的位置点的寿命负载值中的最大寿命负载值。
在上述实施例的基础上，可根据预设的位置点的纵坐标值，确定每个位置 点的寿命负载值，通过比对确定多个位置点的寿命负载值中的最大寿命负载值。
S2020、判断最大寿命负载值是否等于或大于云台的转动寿命阈值，在最大寿命负载值等于或大于云台的转动寿命阈值的情况下，执行S2030-S2050。
本实施例中，首先获取在云台摄像机按最短路径转动的情况下的总转动寿命，该总转动寿命对应了滑环环道和线缆多个位置区域的摩擦寿命。而转动寿命阈值是根据总转动寿命预先设定的，例如，将总转动寿命的一半作为转动寿命阈值。为保证云台摄像机监控的效率，在转动寿命充足的情况下，即在最大寿命负载值小于云台的转动寿命阈值的情况下，云台摄像机按照最短路径转动，例如，确定云台摄像机从当前预置位转到目标预置位的顺时针路径和逆时针路径，将所述顺时针路径和所述逆时针路径中寿命负载值小的路径(即最短路径)作为当前转动路径。在最大寿命负载值等于或大于云台的转动寿命阈值的情况下，表明云台摄像机的转动寿命已不足，需要按照S2030-S2050的方式确定转动路径，并按照该转动路径进行转动，使得云台摄像机转动后多个位置点的寿命负载值均衡。
在一实施例中，总转动寿命可通过对多台云台摄像机进行测试得到，例如测试多台云台摄像机的总转动寿命，并将多台云台摄像机的总转动寿命中的最小总转动寿命作为云台摄像机的总转动寿命。
S2030、确定云台摄像机从当前预置位转到目标预置位的顺时针路径和逆时针路径。
S2040、根据所述顺时针路径需要途径的至少两个第一位置点的寿命负载值，以及所述逆时针路径需要途径的至少两个第二位置点的寿命负载值，从所述顺时针路径和所述逆时针路径中选择当前转动路径。
S2050、控制所述云台摄像机按照所述当前转动路径，从所述当前预置位转 动到所述目标预置位。
本申请实施例中，云台摄像机在转动寿命足够的情况下，按最短路径策略转动，由此可以保证转动效率以及用户体验，当出现转动寿命不够的情况下，启用负载均衡的方式确定转动路径，能够保证最大化利用滑环和线缆的寿命。
实施例三
图3是本申请实施例三中的云台摄像机控制装置的结构示意图，本实施例可适用提升云台摄像机使用寿命的情况，参见图3，所述装置包括：第一路径确定模块301，设置为确定云台摄像机从当前预置位转到目标预置位的顺时针路径和逆时针路径；第二路径确定模块302，设置为根据所述顺时针路径需要途径的至少两个第一位置点的寿命负载值，以及所述逆时针路径需要途径的至少两个第二位置点的寿命负载值，从所述顺时针路径和所述逆时针路径中选择当前转动路径；转动控制模块303，设置为控制所述云台摄像机按照所述当前转动路径，从所述当前预置位转动到所述目标预置位。
可选的，所述装置还包括：寿命负载值确定模块，设置为根据云台摄像机在历史转动过程中，累计经过云台中预设的位置点的总次数，确定所述预设的位置点的寿命负载值。
可选的，第二路径确定模块，包括：路径寿命负载值确定单元，设置为根据所述顺时针路径需要途径的至少两个第一位置点的寿命负载值，以及所述逆时针路径需要途径的至少两个第二位置点的寿命负载值，分别确定所述顺时针路径的寿命负载值和所述逆时针路径的寿命负载值；路径确定单元，设置为比较所述顺时针路径的寿命负载值和所述逆时针路径的寿命负载值，并根据比较结果从所述顺时针路径和所述逆时针路径中选择当前转动路径。
可选的，路径寿命负载值确定单元是设置为：将所述顺时针路径需要途径 的至少两个第一位置点的寿命负载值中的最大寿命负载值，作为所述顺时针路径的寿命负载值；将所述逆时针路径需要途径的至少两个第二位置点的寿命负载值中的最大寿命负载值，作为所述逆时针路径的寿命负载值。
可选的，路径寿命负载值确定单元是设置为：将所述顺时针路径需要途径的至少两个第一位置点的寿命负载值的平均寿命负载值，作为所述顺时针路径的寿命负载值；将所述逆时针路径需要途径的至少两个第二位置点的寿命负载值的平均寿命负载值，作为所述逆时针路径的寿命负载值。
可选的，路径确定单元是设置为：在所述顺时针路径的寿命负载值等于所述逆时针路径的寿命负载值的情况下，将所述顺时针路径和所述逆时针路径中较短的路径作为所述当前转动路径；在所述顺时针路径的寿命负载值不等于所述逆时针路径的寿命负载值的情况下，将所述顺时针路径和所述逆时针路径中寿命负载值小的路径作为所述当前转动路径。
可选的，所述装置还包括：最大寿命负载值确定模块，设置为确定云台中所有预设的位置点寿命负载值中的最大寿命负载值；路径确认触发模块，设置为在所述最大寿命负载值等于或大于云台的转动寿命阈值的情况下，通知第一路径确定模块301执行确定云台摄像机从当前预置位转到目标预置位的顺时针路径和逆时针路径。
本申请实施例所提供的云台摄像机控制装置可执行本申请任意实施例所提供的云台摄像机控制方法，具备执行方法相应的功能模块。
实施例四
图4为本申请实施例四提供的一种云台摄像机的结构示意图。图4示出了适于用来实现本申请实施方式的示例性云台摄像机12的框图。图4显示的云台摄像机12仅仅是一个示例，不应对本申请实施例的功能和使用范围带来任何限 制。
如图4所示，云台摄像机12以通用计算设备的形式表现。云台摄像机12的组件可以包括但不限于：一个或者多个处理器或者处理单元16，系统存储器28，连接不同系统组件(包括系统存储器28和处理单元16)的总线18。
总线18表示几类总线结构中的一种或多种，包括存储器总线或者存储器控制器，外围总线，图形加速端口，处理器或者使用多种总线结构中的任意总线结构的局域总线。举例来说，这些体系结构包括但不限于工业标准体系结构(Industrial Standard Architecture，ISA)总线，微通道体系结构(Micro Channel Architecture，MAC)总线，增强型ISA总线、视频电子标准协会(Video Electronics Standards Association，VESA)局域总线以及外围组件互连(Peripheral Component Interconnect，PCI)总线。
一实施例中，云台摄像机12包括多种计算机系统可读介质。这些介质可以是任何能够被云台摄像机12访问的可用介质，包括易失性和非易失性介质，可移动的和不可移动的介质。
系统存储器28可以包括易失性存储器形式的计算机系统可读介质，例如随机存取存储器(Random Access Memory，RAM)30和/或高速缓存存储器32。云台摄像机12可以进一步包括其它可移动/不可移动的、易失性/非易失性计算机系统存储介质。仅作为举例，存储系统34可以设置为读写不可移动的、非易失性磁介质(图4未显示，通常称为“硬盘驱动器”)。尽管图4中未示出，存储系统34可以提供用于对可移动非易失性磁盘(例如“软盘”)读写的磁盘驱动器，以及对可移动非易失性光盘(例如便携式紧凑磁盘只读存储器(Compact Disc Read-Only Memory，CD-ROM)，数字多功能影音光盘(Digital Video Disc Read-Only Memory，DVD-ROM)或者其它光介质)读写的光盘驱动器。在这些 情况下，每个驱动器可以通过一个或者多个数据介质接口与总线18相连。存储器28可以包括至少一个程序产品，该程序产品具有一组(例如至少一个)程序模块，这些程序模块被配置以执行本申请每个实施例的功能。
具有一组(至少一个)程序模块42的程序/实用工具40，可以存储在例如存储器28中，这样的程序模块42包括但不限于操作系统、一个或者多个应用程序、其它程序模块以及程序数据，这些示例中的每一个或某种组合中可能包括网络环境的实现。程序模块42通常执行本申请所描述的实施例中的功能和/或方法。
云台摄像机12也可以与一个或多个外部设备14(例如键盘、指向设备、显示器24等)通信，还可与一个或者多个使得用户能与该云台摄像机12交互的设备通信，和/或与使得该云台摄像机12能与一个或多个其它计算设备进行通信的任何设备(例如网卡，调制解调器等等)通信。这种通信可以通过输入/输出(I/O)接口22进行。并且，云台摄像机12还可以通过网络适配器20与一个或者多个网络(例如局域网(Local Area Network，LAN)，广域网(Wide Area Network，WAN)和/或公共网络，例如因特网)通信。如图所示，网络适配器20通过总线18与云台摄像机12的其它模块通信。尽管图中未示出，可以结合云台摄像机12使用其它硬件和/或软件模块，包括但不限于：微代码、设备驱动器、冗余处理单元、外部磁盘驱动阵列、磁盘阵列(Redundant Arrays of Independent Disks，RAID)系统、磁带驱动器以及数据备份存储系统等。
处理单元16通过运行存储在存储器28中的程序，从而执行多种功能应用以及数据处理，例如实现本申请实施例所提供的云台摄像机控制方法，所述方法包括：确定云台摄像机从当前预置位转到目标预置位的顺时针路径和逆时针路径；根据所述顺时针路径需要途径的至少两个第一位置点的寿命负载值，以 及所述逆时针路径需要途径的至少两个第二位置点的寿命负载值，从所述顺时针路径和所述逆时针路径中选择当前转动路径；控制所述云台摄像机按照所述当前转动路径，从所述当前预置位转动到所述目标预置位。
实施例五
本申请实施例五还提供了一种计算机可读存储介质，存储有计算机程序，该程序被处理器执行时实现如本申请实施例所提供的云台摄像机控制方法，所述方法包括：确定云台摄像机从当前预置位转到目标预置位的顺时针路径和逆时针路径；根据所述顺时针路径需要途径的至少两个第一位置点的寿命负载值，以及所述逆时针路径需要途径的至少两个第二位置点的寿命负载值，从所述顺时针路径和所述逆时针路径中选择当前转动路径；控制所述云台摄像机按照所述当前转动路径，从所述当前预置位转动到所述目标预置位。
本申请实施例的计算机存储介质，可以采用一个或多个计算机可读的介质的任意组合。计算机可读介质可以是计算机可读信号介质或者计算机可读存储介质。计算机可读存储介质例如可以是但不限于电、磁、光、电磁、红外线、或半导体的系统、装置或器件，或者任意以上的组合。计算机可读存储介质的例子(非穷举的列表)包括：具有一个或多个导线的电连接、便携式计算机磁盘、硬盘、RAM、只读存储器(Read-Only Memory，ROM)、可擦式可编程只读存储器((Erasable Programmable Read-Only Memory，EPROM)或闪存)、光纤、CD-ROM、光存储器件、磁存储器件、或者上述的任意合适的组合。在本文件中，计算机可读存储介质可以是任何包含或存储程序的有形介质，该程序可以被指令执行系统、装置或者器件使用或者与其结合使用。
计算机可读的信号介质可以包括在基带中或者作为载波一部分传播的数据信号，承载了计算机可读的程序代码。这种传播的数据信号可以采用多种形式， 包括但不限于电磁信号、光信号或上述的任意合适的组合。计算机可读的信号介质还可以是计算机可读存储介质以外的任何计算机可读介质，该计算机可读介质可以发送、传播或者传输用于由指令执行系统、装置或者器件使用或者与其结合使用的程序。
计算机可读介质上包含的程序代码可以用任何适当的介质传输，包括但不限于无线、电线、光缆、射频(Radio Frequency，RF)等等，或者上述的任意合适的组合。
可以以一种或多种程序设计语言或其组合来编写用于执行本申请操作的计算机程序代码，所述程序设计语言包括面向对象的程序设计语言—诸如Java、Smalltalk、C++，还包括常规的过程式程序设计语言—诸如”C”语言或类似的程序设计语言。程序代码可以完全地在用户计算机上执行、部分地在用户计算机上执行、作为一个独立的软件包执行、部分在用户计算机上部分在远程计算机上执行、或者完全在远程计算机或服务器上执行。在涉及远程计算机的情形中，远程计算机可以通过任意种类的网络——包括局域网(LAN)-或广域网(WAN)—连接到用户计算机，或者，可以连接到外部计算机(例如利用因特网服务提供商来通过因特网连接)。

Claims (10)

  1. 一种云台摄像机控制方法，包括：
    确定云台摄像机从当前预置位转到目标预置位的顺时针路径和逆时针路径；
    根据所述顺时针路径需要途径的至少两个第一位置点的寿命负载值，以及所述逆时针路径需要途径的至少两个第二位置点的寿命负载值，从所述顺时针路径和所述逆时针路径中选择当前转动路径，其中，所述寿命负载值用于表征云台摄像机累计经过云台中预设的位置点的总次数；
    控制所述云台摄像机按照所述当前转动路径，从所述当前预置位转动到所述目标预置位。
  2. 根据权利要求1所述的方法，从所述顺时针路径和所述逆时针路径中选择当前转动路径之前，还包括：
    根据云台摄像机在历史转动过程中，累计经过云台中预设的位置点的总次数，确定所述位置点的寿命负载值。
  3. 根据权利要求1或2所述的方法，其中，根据所述顺时针路径需要途径的至少两个第一位置点的寿命负载值，以及所述逆时针路径需要途径的至少两个第二位置点的寿命负载值，从所述顺时针路径和所述逆时针路径中选择当前转动路径，包括：
    根据所述顺时针路径需要途径的至少两个第一位置点的寿命负载值，以及所述逆时针路径需要途径的至少两个第二位置点的寿命负载值，分别确定所述顺时针路径的寿命负载值和所述逆时针路径的寿命负载值；
    比较所述顺时针路径的寿命负载值和所述逆时针路径的寿命负载值，并根据比较结果从所述顺时针路径和所述逆时针路径中选择当前转动路径。
  4. 根据权利要求3所述的方法，其中，根据所述顺时针路径需要途径的至 少两个第一位置点的寿命负载值，以及所述逆时针路径需要途径的至少两个第二位置点的寿命负载值，分别确定所述顺时针路径的寿命负载值和所述逆时针路径的寿命负载值，包括：
    将所述顺时针路径需要途径的至少两个第一位置点的寿命负载值中的最大寿命负载值，作为所述顺时针路径的寿命负载值；
    将所述逆时针路径需要途径的至少两个第二位置点的寿命负载值中的最大寿命负载值，作为所述逆时针路径的寿命负载值。
  5. 根据权利要求3所述的方法，其中，根据所述顺时针路径需要途径的至少两个第一位置点的寿命负载值，以及所述逆时针路径需要途径的至少两个第二位置点的寿命负载值，分别确定所述顺时针路径的寿命负载值和所述逆时针路径的寿命负载值，包括：
    将所述顺时针路径需要途径的至少两个第一位置点的寿命负载值的平均寿命负载值，作为所述顺时针路径的寿命负载值；
    将所述逆时针路径需要途径的至少两个第二位置点的寿命负载值的平均寿命负载值，作为所述逆时针路径的寿命负载值。
  6. 根据权利要求3所述的方法，其中，根据比较结果从所述顺时针路径和所述逆时针路径中选择当前转动路径，包括：
    在所述顺时针路径的寿命负载值等于所述逆时针路径的寿命负载值的情况下，将所述顺时针路径和所述逆时针路径中较短的路径作为所述当前转动路径；
    在所述顺时针路径的寿命负载值不等于所述逆时针路径的寿命负载值的情况下，将所述顺时针路径和所述逆时针路径中寿命负载值小的路径作为所述当前转动路径。
  7. 根据权利要求1或2所述的方法，还包括：
    确定云台中所有预设的位置点寿命负载值中的最大寿命负载值；
    在所述最大寿命负载值等于或大于云台的转动寿命阈值的情况下，执行所述确定云台摄像机从当前预置位转到目标预置位的顺时针路径和逆时针路径。
  8. 一种云台摄像机控制装置，包括：
    第一路径确定模块，设置为确定云台摄像机从当前预置位转到目标预置位的顺时针路径和逆时针路径；
    第二路径确定模块，设置为根据所述顺时针路径需要途径的至少两个第一位置点的寿命负载值，以及所述逆时针路径需要途径的至少两个第二位置点的寿命负载值，从所述顺时针路径和所述逆时针路径中选择当前转动路径，其中，所述寿命负载值用于表征云台摄像机累计经过云台中预设的位置点的总次数；
    转动控制模块，设置为控制所述云台摄像机按照所述当前转动路径，从所述当前预置位转动到所述目标预置位。
  9. 一种云台摄像机，包括：
    至少一个处理器；
    存储装置，设置为存储至少一个程序，
    当所述至少一个程序被所述至少一个处理器执行，使得所述至少一个处理器实现如权利要求1-7中任一所述的云台摄像机控制方法。
  10. 一种计算机可读存储介质，存储有计算机程序，该程序被处理器执行时实现如权利要求1-7中任一所述的云台摄像机控制方法。
PCT/CN2020/087186 2020-03-16 2020-04-27 云台摄像机控制方法、装置、云台摄像机和存储介质 WO2021184495A1 (zh)

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