Cruise Method, Device, Medium and Electronic Device for a Heavy-duty PTZ

Abstract

The embodiments of the present application disclose a cruising method, device, medium and electronic device for a heavy-duty pan-tilt head. The method includes: determining a starting preset position for preset position cruising in the current unit rotation stage of the heavy-duty pan-tilt head in the current pan-tilt head cruising cycle; one unit rotation stage corresponds to one full rotation; using the starting preset position as the starting point for staying, determining at least two staying preset positions of the heavy-duty pan-tilt head in the current unit rotation stage from the preset positions divided in advance; the adjacent two staying positions in the same unit rotation stage are separated by a preset number of preset positions; controlling the heavy-duty pan-tilt head to perform sequential rotation on at least two staying preset positions in the current unit rotation stage, and entering the next unit rotation stage of the current pan-tilt head cruising cycle for rotation after one sequential rotation. This technical solution provides a software-driven method, which can extend the service life of the motor and reduce the after-sales service cost. Moreover, it can ensure the preset position accuracy of the pan-tilt head and meet the usage requirements.

Description

Technical Field

[0001] The embodiments of the present application relate to the technical field of extending the service life of a pan-tilt, and in particular, to a cruising method, device, medium, and electronic device for a heavy-duty pan-tilt. Background Art

[0002] Currently, most heavy-duty pan-tilts are applied in large environments such as forests. To accurately monitor forest fire points, the operating speed of the pan-tilt is set very low. However, when this operating speed is lower than the minimum operating speed limit of the motor bearing, the motor bearing will be in a sliding friction state. Coupled with the excessive radial force in the horizontal direction of the heavy-duty pan-tilt, the oil film between the ball and the raceway surface is likely to rupture, resulting in insufficient local lubrication and dry grinding damage to the bearing, affecting the service life of the motor bearing.

[0003] The prior art uses grease with a higher viscosity to increase the ability to form the bearing oil film and extend the service life of the motor bearing, or reduces the belt tightness to reduce the load force of the motor and extend the service life of the motor.

[0004] Using grease with a higher viscosity will increase the cost of the motor bearing and cannot play a role in extending the motor life for the in-network devices. Reducing the belt tightness means that the preset position accuracy of the pan-tilt is reduced, unable to meet the product usage requirements. Summary of the Invention

[0005] The embodiments of the present application provide a cruising method, device, medium, and electronic device for a heavy-duty pan-tilt. Aiming at the problem of dry grinding damage caused by the low-speed operation of the motor bearing, a software-driven method is provided to extend the service life of the motor and reduce the after-sales service cost. And it can ensure the preset position accuracy of the pan-tilt and meet the usage requirements.

[0006] In a first aspect, the embodiments of the present application provide a cruising method for a heavy-duty pan-tilt, the method including:

[0007] Determine the starting preset position for preset position cruising in the current unit rotation stage of the heavy-duty pan-tilt in the current pan-tilt cruising cycle; one unit rotation stage corresponds to one full rotation;

[0008] Taking the starting preset position as the starting point for staying, determine at least two staying preset positions of the heavy-duty pan-tilt in the current unit rotation stage from the pre-divided preset positions; the adjacent two staying positions in the same unit rotation stage are separated by a preset number of preset positions;

[0009] Control the heavy-duty pan-tilt to rotate sequentially at at least two staying preset positions in the current unit rotation stage, and enter the next unit rotation stage of the current pan-tilt cruising cycle for rotation after one sequential rotation; wherein, the minimum operating speed of the heavy-duty pan-tilt rotating sequentially at at least two staying preset positions is greater than or equal to the minimum operating speed required for the formation of the motor bearing oil ink.

[0010] In a second aspect, an embodiment of the present application provides a cruise device for a heavy-duty pan-tilt, the device comprising:

[0011] A starting preset position determining module, configured to determine a starting preset position for the heavy-duty pan-tilt to perform preset position cruise in the current unit rotation stage of the current pan-tilt cruise cycle; one unit rotation stage corresponds to one full rotation;

[0012] A staying preset position determining module, configured to use the starting preset position as the staying starting point, and determine at least two staying preset positions for the heavy-duty pan-tilt in the current unit rotation stage from the preset positions pre-divided; the adjacent two staying positions in the same unit rotation stage are separated by a preset number of preset positions;

[0013] A rotation control module, configured to control the heavy-duty pan-tilt to perform sequential rotation on at least two staying preset positions in the current unit rotation stage, and enter the next unit rotation stage of the current pan-tilt cruise cycle for rotation after one sequential rotation; wherein, the minimum operating speed of the heavy-duty pan-tilt for performing sequential rotation on at least two staying preset positions is greater than or equal to the minimum operating speed required for the formation of the motor bearing ink.

[0014] In a third aspect, an embodiment of the present application provides a computer-readable medium, on which a computer program is stored, and when the program is executed by a processor, it implements the cruise method of the heavy-duty pan-tilt as described in the embodiment of the present application.

[0015] In a fourth aspect, an embodiment of the present application provides an electronic device, comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, and when the processor executes the computer program, it implements the cruise method of the heavy-duty pan-tilt as described in the embodiment of the present application.

[0016] The technical solution provided by the embodiment of the present application determines the starting preset position for the heavy-duty pan-tilt to perform preset position cruise in the current unit rotation stage of the current pan-tilt cruise cycle; and uses the starting preset position as the staying starting point to determine at least two staying preset positions for the heavy-duty pan-tilt in the current unit rotation stage from the preset positions pre-divided; controls the heavy-duty pan-tilt to perform sequential rotation on at least two staying preset positions in the current unit rotation stage, and enters the next unit rotation stage of the current pan-tilt cruise cycle for rotation after one sequential rotation. Among them, the minimum operating speed of the heavy-duty pan-tilt for performing sequential rotation on at least two staying preset positions is greater than or equal to the minimum operating speed required for the formation of the motor bearing ink. This technical solution provides a software-driven method, which can extend the service life of the motor and reduce the after-sales service cost. And it can ensure the preset position accuracy of the pan-tilt and meet the use requirements. Description of the Drawings

[0017] Figure 1It is a flowchart of the cruising method of the heavy-duty pan-tilt provided in the first embodiment of the present application;

[0018] Figure 2 It is a schematic structural diagram of the cruising shooting area division of the pan-tilt provided in the first embodiment of the present application

[0019] Figure 3 It is a schematic diagram of the sequential rotation of the heavy-duty pan-tilt in the current unit rotation stage provided in the first embodiment of the present application;

[0020] Figure 4 It is a schematic diagram of the sequential rotation of the heavy-duty pan-tilt in another current unit rotation stage provided in the first embodiment of the present application;

[0021] Figure 5 It is a schematic diagram of the sequential rotation of the heavy-duty pan-tilt in yet another current unit rotation stage provided in the first embodiment of the present application;

[0022] Figure 6 It is a schematic diagram of the cruising process of the heavy-duty pan-tilt provided in the second embodiment of the present application;

[0023] Figure 7 It is a schematic structural diagram of the cruising device of the heavy-duty pan-tilt provided in the third embodiment of the present application;

[0024] Figure 8 It is a schematic structural diagram of an electronic device provided in the fifth embodiment of the present application. Detailed implementation manners

[0025] The present application will be further described in detail below with reference to the accompanying drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the present application, rather than limiting the present application. Additionally, it should be noted that for the sake of description, only parts related to the present application rather than all structures are shown in the accompanying drawings.

[0026] Before discussing the exemplary embodiments in more detail, it should be mentioned that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although the flowcharts describe the steps as sequential processes, many of the steps can be implemented in parallel, concurrently, or simultaneously. In addition, the order of the steps can be rearranged. The process can be terminated when its operations are completed, but it can also have additional steps not included in the drawings. The process can correspond to a method, function, procedure, subroutine, subprogram, etc.

[0027] Embodiment 1

[0028] Figure 1The figure is a flowchart of the cruise method for a heavy-duty pan-tilt provided in the first embodiment of this application. This embodiment is applicable to the situation of extending the service life of a heavy-duty pan-tilt. This method can be executed by the cruise device of the heavy-duty pan-tilt provided in the embodiments of this application. The device can be implemented in software and / or hardware, and can be integrated into devices such as intelligent terminals for heavy-duty pan-tilt control.

[0029] As Figure 1 shown, the cruise method for the heavy-duty pan-tilt includes:

[0030] S110. Determine the starting preset position for preset position cruise during the current unit rotation stage of the heavy-duty pan-tilt in the current pan-tilt cruise cycle; one unit rotation stage corresponds to one full rotation.

[0031] In this solution, the pan-tilt cruise cycle may refer to the cycle of controlling the heavy-duty pan-tilt for cruise detection. One cruise cycle corresponds to all areas of the pan-tilt cruise shooting area. The current pan-tilt cruise cycle may refer to the cycle of the pan-tilt cruise at the current moment. Among them, the pan-tilt cruise shooting area may refer to the area where the heavy-duty pan-tilt conducts cruise detection. It can be a 360° area or a 180° area, etc.

[0032] Among them, the unit rotation stage may refer to the stage of controlling the heavy-duty pan-tilt to perform rotation detection in the pan-tilt cruise shooting area. One unit rotation stage corresponds to one full circle of detection in the pan-tilt cruise shooting area. The current rotation stage may refer to the stage of rotation detection being performed at the current moment.

[0033] In this solution, the current pan-tilt cruise cycle includes multiple unit rotation stages. Only when the detection of all unit rotation stages is completed, the detection of the current pan-tilt cruise cycle is completed.

[0034] In this embodiment, the current unit rotation stage is composed of multiple preset positions. One of the multiple preset positions can be used as the starting preset position according to the cruise detection requirements. For example, if the current unit rotation stage includes a first preset position, a second preset position, and a third preset position, the first preset position can be used as the starting preset position, or the third preset position can be used as the starting preset position. Among them, the starting preset position can be set in advance.

[0035] In this technical solution, optionally, the pan-tilt cruise shooting area of the heavy-duty pan-tilt is divided into multiple target areas. The size of each target area is configured by the running angle corresponding to one rotation of the heavy-duty pan-tilt, and at least two preset positions are sequentially set in each target area.

[0036] In this embodiment, the pan-tilt cruise shooting area can be evenly divided into multiple target areas according to the operating angle of the heavy-duty pan-tilt, and each target area is composed of at least two preset positions. For example, if the pan-tilt cruise shooting area is 360°, and the pan-tilt cruise shooting area is composed of 60 preset positions, then the pan-tilt cruise shooting area can be divided into 6 target areas according to the operating angle, and each target area contains 10 preset positions.

[0037] Exemplarily, Figure 2 is a schematic structural diagram of the division of the pan-tilt cruise shooting area provided in the first embodiment of the present application. As Figure 2 shown, N1-N6 represent target areas, and each small fan-shaped area represents the monitoring area during the operation of the pan-tilt, that is, the preset position. Each target area is composed of multiple preset positions, and the preset positions are sorted in sequence.

[0038] In this technical solution, optionally, determining the starting preset position for preset position cruise in the current unit rotation stage of the heavy-duty pan-tilt in the current pan-tilt cruise cycle includes:

[0039] If the current unit rotation stage is the first rotation stage of the current pan-tilt cruise cycle, then select the first preset position from at least two preset positions sequentially set in the target area as the starting preset position for preset position cruise in the current unit rotation stage;

[0040] If the current unit rotation stage is a non-first rotation stage of the current pan-tilt cruise cycle, then select the preset position after the starting preset position for preset position cruise in the previous unit rotation stage from at least two preset positions sequentially set in the target area as the starting preset position for preset position cruise in the current unit rotation stage.

[0041] In this solution, a pan-tilt cruise cycle is composed of multiple unit rotation stages, where one unit rotation stage is the first rotation stage, that is, the stage where cruise detection starts; the remaining unit rotation stages are non-first rotation stages.

[0042] In this embodiment, if the current unit rotation stage is the first rotation stage of the current pan-tilt cruise cycle, then determine the target area of the current unit rotation stage, and use the preset position selected within this target area as the first preset position. For example, if the current unit rotation stage is composed of target areas N1-N6, and each target area is composed of preset positions 1-preset position 10, the preset position 1 of target area N1 can be selected as the starting preset position for preset position cruise in the current unit rotation stage. Among them, the starting preset position for preset position cruise in the current unit rotation stage can be set in real time; it can also be set in advance and determined by looking up the directory.

[0043] In this solution, if the current unit rotation stage is not the first rotation stage of the current pan-tilt cruise cycle, determine which rotation stage of the current pan-tilt cruise cycle the current unit rotation stage is. According to the rotation stage, select the preset position after the starting preset position for preset position cruise in the previous unit rotation stage as the starting preset position for preset position cruise in the current unit rotation stage. For example, if the current unit rotation stage is the second rotation stage and the previous unit rotation stage is the first rotation stage, select preset position 1 in the N1 target area as the starting preset position for preset position cruise, or select preset position 2 in the N1 target area as the starting preset position for preset position cruise.

[0044] By determining the starting preset position of the current unit rotation stage, cruise detection of the pan-tilt cruise shooting area can be achieved.

[0045] In this technical solution, optionally, the process of determining the operating angle includes:

[0046] Obtain the motor rotation acceleration curve of the heavy-duty pan-tilt, and determine the rotation angle of the heavy-duty pan-tilt based on the motor rotation acceleration curve;

[0047] Determine the operating angle according to the rotation angle, the pan-tilt cruise shooting area, and the pan-tilt horizontal field of view angle.

[0048] In this solution, the rotation angle can refer to the rotation angle required for the operation and stop of the heavy-duty pan-tilt determined by the motor acceleration curve. That is, the rotation angle is the rotation angle required for the motor to accelerate from 0 to the minimum speed that can be formed by the ink on the motor bearing and then decrease to 0.

[0049] Among them, the pan-tilt horizontal field of view angle can refer to the range that the heavy-duty pan-tilt lens can cover.

[0050] In this embodiment, to ensure that the heavy-duty pan-tilt can operate at a preset operating speed, the operating angle needs to be greater than or equal to the rotation angle. In addition, to avoid repeated monitoring, the operating angle needs to be set as an integer multiple of the pan-tilt horizontal field of view angle and divisible by the pan-tilt cruise shooting area.

[0051] Determining the operating angle according to the rotation angle, the pan-tilt cruise shooting area, and the pan-tilt horizontal field of view angle improves the cruise speed, can ensure the formation of the motor bearing oil film, extends the service life of the motor, and can avoid repeated monitoring.

[0052] S120. Taking the starting preset position as the starting point for staying, determine at least two staying preset positions of the heavy-duty pan-tilt in the current unit rotation stage from the preset positions divided in advance; the adjacent two staying positions in the same unit rotation stage are separated by a preset number of preset positions;

[0053] In this solution, the preset positions of two adjacent stay intervals can be set according to the number of preset positions in the target area. For example, each target area contains 10 preset positions. Then, the interval between two adjacent stay positions in the same unit rotation stage can be set to 10 preset positions.

[0054] In this embodiment, the stay preset positions in the current unit rotation stage can be set according to the number of target areas. For example, if the current unit rotation stage includes 6 target areas, the stay preset positions in the current unit rotation stage can be 6, that is, one preset position is selected from each target area as the stay preset position, and the intervals between two adjacent stay positions are the same.

[0055] S130. Control the heavy-duty pan-tilt to rotate sequentially on at least two stay preset positions in the current unit rotation stage, and enter the next unit rotation stage of the current pan-tilt cruise cycle for rotation after one sequential rotation; wherein, the minimum running speed of the heavy-duty pan-tilt rotating sequentially on at least two stay preset positions is greater than or equal to the minimum running speed required for the formation of the motor bearing ink.

[0056] In this embodiment, each stay preset position corresponds to a target area. The number of stay preset positions and the interval of the stay preset positions can be determined according to the target areas in the current unit rotation stage. Control the heavy-duty pan-tilt to rotate sequentially in the current unit rotation stage in sequence to realize the detection of the pan-tilt cruise shooting area. When controlling the heavy-duty pan-tilt to rotate sequentially, the minimum running speed of the heavy-duty pan-tilt is greater than or equal to the minimum running speed required for the formation of the motor bearing ink, so as to extend the service life of the motor.

[0057] Exemplarily, Figure 3 is a schematic diagram of the sequential rotation of the heavy-duty pan-tilt in the current unit rotation stage provided by Embodiment 1 of the present application; Figure 4 is a schematic diagram of the sequential rotation of the heavy-duty pan-tilt in another current unit rotation stage provided by Embodiment 1 of the present application; Figure 5 is a schematic diagram of the sequential rotation of the heavy-duty pan-tilt in yet another current unit rotation stage provided by Embodiment 1 of the present application. The pan-tilt cruise shooting area is composed of N1-N6 target areas, and each target area is composed of 10 preset positions. The current pan-tilt cruise cycle includes 10 unit rotation stages. Among them, the shaded part represents the pan-tilt monitoring range under this preset position. The dashed line represents the running path of the heavy-duty pan-tilt; the solid line represents the last running path of the heavy-duty pan-tilt in the current unit rotation stage; the circle shows the starting preset position when the pan-tilt runs in the current unit rotation stage.

[0058] Such as Figure 3As shown, the current unit rotation stage is the first rotation stage, and the stop preset positions are respectively the preset position 1 of the N1 target area, the preset position 1 of the N2 target area, the preset position 1 of the N3 target area, the preset position 1 of the N4 target area, the preset position 1 of the N5 target area, and the preset position 1 of the N6 target area. The starting preset position is set as the preset position 1 of the N1 target area.

[0059] As Figure 4 shown, the current unit rotation stage is the second rotation stage, and the stop preset positions are respectively the preset position 2 of the N1 target area, the preset position 2 of the N2 target area, the preset position 2 of the N3 target area, the preset position 2 of the N4 target area, the preset position 2 of the N5 target area, and the preset position 2 of the N6 target area. According to the starting preset position of the first rotation stage, the starting preset position of the current unit rotation stage (the second rotation stage) is determined as the preset position 2 of the N1 target area.

[0060] As Figure 5 shown, the current unit rotation stage is the third rotation stage, and the stop preset positions are respectively the preset position 3 of the N1 target area, the preset position 3 of the N2 target area, the preset position 3 of the N3 target area, the preset position 3 of the N4 target area, the preset position 3 of the N5 target area, and the preset position 3 of the N6 target area. According to the starting preset position of the second rotation stage, the starting preset position of the current unit rotation stage (the third rotation stage) is determined as the preset position 3 of the N1 target area.

[0061] In the first rotation stage, control the heavy-duty pan-tilt to rotate sequentially from the preset position 1 of the N1 target area to the preset position 1 of the N6 target area. After the rotation ends, control the heavy-duty pan-tilt to enter the second rotation stage and rotate sequentially from the preset position 2 of the N1 target area to the preset position 2 of the N6 target area. After the rotation ends, control the heavy-duty pan-tilt to enter the third rotation stage and rotate sequentially from the preset position 3 of the N1 target area to the preset position 3 of the N6 target area. Until all 10 unit rotation stages of the current pan-tilt cruise cycle are completed for cruise detection.

[0062] The technical solution provided by the embodiment of the present application determines the starting preset position for the preset position cruise of the heavy-duty pan-tilt in the current unit rotation stage of the current pan-tilt cruise cycle; and uses the starting preset position as the stop starting point to determine at least two stop preset positions of the heavy-duty pan-tilt in the current unit rotation stage from the pre-divided preset positions; control the heavy-duty pan-tilt to rotate sequentially at at least two stop preset positions in the current unit rotation stage, and enter the next unit rotation stage of the current pan-tilt cruise cycle for rotation after one sequential rotation. By implementing this technical solution, a software-driven method is provided, which can extend the service life of the motor and reduce the after-sales service cost. And it can ensure the preset position accuracy of the pan-tilt and meet the usage requirements.

[0063] Embodiment 2

[0064] Figure 6 It is a schematic diagram of the cruising process of the heavy-duty pan-tilt provided in the second embodiment of the present application. The second embodiment is further optimized on the basis of the first embodiment. The specific optimization is as follows: Control the heavy-duty pan-tilt to sequentially rotate on at least two stay preset positions in the current unit rotation stage, including: Control the heavy-duty pan-tilt to sequentially rotate on the stay preset positions selected from each target area in the current unit rotation stage according to the preset running speed. Among them, the content not described in detail in this embodiment can be found in the first embodiment. As Figure 6 shown, the method includes the following steps:

[0065] S610. Determine the starting preset position for the preset position cruise in the current unit rotation stage of the heavy-duty pan-tilt in the current pan-tilt cruise cycle; One unit rotation stage corresponds to one full rotation;

[0066] S620. Take the starting preset position as the stay starting point, and determine at least two stay preset positions of the heavy-duty pan-tilt in the current unit rotation stage from the pre-divided preset positions; The adjacent two stay positions in the same unit rotation stage are separated by a preset number of preset positions;

[0067] S630. Control the heavy-duty pan-tilt to sequentially rotate on the stay preset positions selected from each target area in the current unit rotation stage according to the preset running speed.

[0068] Among them, the running speed can refer to the running speed of the heavy-duty pan-tilt during the cruise detection. Increasing the running speed of the heavy-duty pan-tilt can increase the formation of the motor bearing oil film and extend the service life of the motor. The minimum running speed at which the heavy-duty pan-tilt sequentially rotates on at least two stay preset positions is greater than or equal to the minimum running speed required for the formation of the motor bearing ink film.

[0069] In this solution, control the heavy-duty pan-tilt to sequentially rotate between the stay preset positions in each target area according to the preset running speed to achieve the detection of the cruise shooting area. Until the stay preset positions in the target area of the current unit rotation stage are all subjected to stay detection.

[0070] In this technical solution, optionally, the process of determining the running speed includes:

[0071] Determine the number of preset positions according to the pan-tilt cruise shooting area and the pan-tilt horizontal field of view angle;

[0072] Calculate the target cruise time through the number of preset positions, the preset position stay time and the running time determined in advance, and use the target cruise time to determine the running speed; among them, the running time includes the time for the heavy-duty pan-tilt to run in the pan-tilt cruise shooting area; the target cruise time includes the time for the heavy-duty pan-tilt to perform cruise detection in the pan-tilt working area.

[0073] In this solution, the number of preset positions can be determined by dividing the pan-tilt cruise shooting area by the horizontal field of view angle of the pan-tilt. For example, if the pan-tilt cruise shooting area is 360° and the horizontal field of view angle of the pan-tilt is 6°, then the number of preset positions is 60. That is, the pan-tilt cruise shooting area is composed of 60 preset positions.

[0074] In this embodiment, by multiplying the number of preset positions by the residence time of the preset position, the preset number cruise detection time can be obtained. Adding the preset position cruise detection time to the running time can obtain the target cruise time. If the target cruise time does not meet the detection requirements, the running speed of the heavy-duty pan-tilt can be adjusted according to the target cruise time. That is, the running speed can be increased to reduce the target cruise time; or the running speed can be decreased to increase the target cruise time. That is, the running speed of the heavy-duty pan-tilt can also be adjusted according to the target cruise time requirement. However, the minimum running speed of the heavy-duty pan-tilt needs to be greater than or equal to the minimum running speed required for the formation of the motor bearing ink.

[0075] By determining the running speed of the heavy-duty pan-tilt, the cruise speed can be increased, the formation of the motor bearing oil film can be increased, the service life of the motor can be extended, and the after-sales service cost can be reduced.

[0076] In this technical solution, optionally, controlling the heavy-duty pan-tilt to sequentially rotate on the residence preset positions selected from each target area in the current unit rotation stage includes:

[0077] Controlling the heavy-duty pan-tilt to move from the residence preset position selected from the current target area in the current unit rotation stage to the residence preset position selected from the next target area until the heavy-duty pan-tilt moves from the residence starting point of the target area to the residence ending point; where the residence ending point is used to represent the termination preset position of the current target area.

[0078] Among them, the residence starting point can refer to the first residence preset position in the target area; the residence ending point can refer to the last residence preset position in the target area.

[0079] In this solution, each target area contains a residence starting point and a residence ending point. During the process of controlling the heavy-duty pan-tilt to move from the residence starting point to the residence ending point of the target area, the moving order of the heavy-duty pan-tilt is to move from the residence starting point selected from the current target area in the current unit rotation stage to the residence starting point selected from the next target area. After rotating sequentially once, it enters the next unit rotation stage of the current pan-tilt cruise cycle for rotation until it moves from the residence ending point selected from the current target area to the residence ending point selected from the next target area.

[0080] The technical solution provided by the embodiments of the present application determines the starting preset position for the preset position cruise during the current unit rotation stage of the heavy-duty pan-tilt in the current pan-tilt cruise cycle; and uses the starting preset position as the stop starting point to determine at least two stop preset positions of the heavy-duty pan-tilt in the current unit rotation stage from the preset positions divided in advance; and controls the heavy-duty pan-tilt to sequentially rotate on the stop preset positions selected from each target area at a preset operating speed. By implementing this technical solution, a software-driven method is provided, which can extend the service life of the motor and reduce the after-sales service cost. And it can ensure the preset position accuracy of the pan-tilt and meet the usage requirements.

[0081] Embodiment III

[0082] Figure 7 It is a schematic structural diagram of the cruise device of the heavy-duty pan-tilt provided by Embodiment III of the present application. As Figure 7 shown, the cruise device of the heavy-duty pan-tilt includes:

[0083] A starting preset position determination module 710, configured to determine the starting preset position for the preset position cruise during the current unit rotation stage of the heavy-duty pan-tilt in the current pan-tilt cruise cycle; one unit rotation stage corresponds to one full rotation;

[0084] A stop preset position determination module 720, configured to use the starting preset position as the stop starting point to determine at least two stop preset positions of the heavy-duty pan-tilt in the current unit rotation stage from the preset positions divided in advance; the adjacent two stop positions in the same unit rotation stage are separated by a preset number of preset positions;

[0085] A rotation control module 730, configured to control the heavy-duty pan-tilt to sequentially rotate on at least two stop preset positions in the current unit rotation stage, and enter the next unit rotation stage of the current pan-tilt cruise cycle for rotation after one sequential rotation; wherein, the minimum operating speed at which the heavy-duty pan-tilt sequentially rotates on at least two stop preset positions is greater than or equal to the minimum operating speed required for the formation of the motor bearing ink.

[0086] In this technical solution, optionally, the pan-tilt cruise shooting area of the heavy-duty pan-tilt is divided into multiple target areas, the size of each target area is configured by the operating angle corresponding to one rotation of the heavy-duty pan-tilt, and at least two preset positions are sequentially set in each target area.

[0087] In this technical solution, optionally, the starting preset position determination module 710 is specifically configured to:

[0088] If the current unit rotation stage is the first rotation stage of the current pan-tilt cruise cycle, select the first preset position from at least two preset positions sequentially set in the target area as the starting preset position for the preset position cruise during the current unit rotation stage;

[0089] If the current unit rotation stage is not the first rotation stage of the current pan-tilt cruise cycle, then among at least two preset positions sequentially set in the target area, select the preset position after the starting preset position for preset position cruise in the previous unit rotation stage as the starting preset position for preset position cruise in the current unit rotation stage.

[0090] In this technical solution, optionally, the rotation control module 730 includes:

[0091] The target area control unit is configured to control the heavy pan-tilt to sequentially rotate on the stay preset positions selected from each target area in the current unit rotation stage at a preset running speed.

[0092] In this technical solution, optionally, the target area control unit includes:

[0093] The preset position number determination subunit is configured to determine the number of preset positions according to the pan-tilt cruise shooting area and the pan-tilt horizontal field of view angle;

[0094] The running speed determination subunit is configured to calculate the target cruise time through the number of preset positions, the preset position stay time and the running time determined in advance, and use the target cruise time to determine the running speed; wherein, the running time includes the time for the heavy pan-tilt to run in the pan-tilt cruise shooting area; the target cruise time includes the time for the heavy pan-tilt to perform cruise detection in the pan-tilt working area.

[0095] In this technical solution, optionally, the target area control unit further includes:

[0096] The current target area movement subunit is configured to control the heavy pan-tilt to move from the stay preset position selected from the current target area in the current unit rotation stage to the stay preset position selected from the next target area until the heavy pan-tilt moves from the stay starting point of the target area to the stay ending point; wherein, the stay ending point is used to represent the termination preset position of the current target area.

[0097] In this technical solution, optionally, the device further includes:

[0098] The rotation angle determination module is configured to obtain the motor rotation acceleration curve of the heavy pan-tilt and determine the rotation angle of the heavy pan-tilt based on the motor rotation acceleration curve;

[0099] The running angle determination module is configured to determine the running angle according to the rotation angle, the pan-tilt cruise shooting area and the pan-tilt horizontal field of view angle.

[0100] The above product can execute the method provided by the embodiments of the present application and has the corresponding functional modules and beneficial effects for executing the method.

[0101] Embodiment 4

[0102] The embodiment of the present application further provides a medium including computer-executable instructions, and the computer-executable instructions are used to execute a cruising method of a heavy-duty pan-tilt when executed by a computer processor. The method includes:

[0103] Determine the starting preset position for preset position cruising in the current unit rotation stage of the heavy-duty pan-tilt in the current pan-tilt cruising cycle; one unit rotation stage corresponds to one full rotation;

[0104] Taking the starting preset position as the stay starting point, determine at least two stay preset positions of the heavy-duty pan-tilt in the current unit rotation stage from the pre-divided preset positions; the adjacent two stay positions in the same unit rotation stage are separated by a preset number of preset positions;

[0105] Control the heavy-duty pan-tilt to perform sequential rotation on at least two stay preset positions in the current unit rotation stage, and enter the next unit rotation stage of the current pan-tilt cruising cycle for rotation after one sequential rotation; wherein, the minimum operating speed of the heavy-duty pan-tilt for sequential rotation on at least two stay preset positions is greater than or equal to the minimum operating speed required for the formation of the motor bearing ink.

[0106] Medium - Any of various types of memory devices or storage devices. The term "medium" is intended to include: installation media, such as CD-ROM, floppy disk or tape device; computer system memory or random access memory, such as DRAM, DDRRAM, SRAM, EDO RAM, Rambus RAM, etc.; non-volatile memory, such as flash memory, magnetic media (such as hard disk or optical storage); registers or other similar types of memory elements, etc. The medium may also include other types of memory or combinations thereof. Additionally, the medium may be located in the computer system in which the program is executed, or may be located in a different second computer system, and the second computer system is connected to the computer system through a network (such as the Internet). The second computer system may provide program instructions to the computer for execution. The term "medium" may include two or more media that may reside in different locations (such as in different computer systems connected through a network). The medium may store program instructions executable by one or more processors (such as specifically implemented as a computer program).

[0107] Of course, the computer-executable instructions of a medium provided by the embodiment of the present application are not limited to the cruising operation of the heavy-duty pan-tilt as described above, and may also execute related operations in the cruising method of the heavy-duty pan-tilt provided by any embodiment of the present application.

[0108] Embodiment 5

[0109] An embodiment of the present application provides an electronic device, in which a cruising device of a heavy-duty pan-tilt provided in the embodiment of the present application can be integrated. Figure 8 It is a schematic structural diagram of an electronic device provided in Embodiment 5 of the present application. As Figure 8 shown, the present embodiment provides an electronic device 800, which includes: one or more processors 820; a storage device 810 for storing one or more programs, and when the one or more programs are executed by the one or more processors 820, the one or more processors 820 implement the cruising method of the heavy-duty pan-tilt provided in the embodiment of the present application. The method includes:

[0110] Determine the starting preset position for preset position cruising in the current unit rotation stage of the heavy-duty pan-tilt in the current pan-tilt cruising cycle; one unit rotation stage corresponds to one full rotation;

[0111] Taking the starting preset position as the stay starting point, determine at least two stay preset positions of the heavy-duty pan-tilt in the current unit rotation stage from the preset positions divided in advance; the adjacent two stay positions in the same unit rotation stage are separated by a preset number of preset positions;

[0112] Control the heavy-duty pan-tilt to rotate sequentially at at least two stay preset positions in the current unit rotation stage, and enter the next unit rotation stage of the current pan-tilt cruising cycle for rotation after one sequential rotation; wherein, the minimum running speed of the heavy-duty pan-tilt rotating sequentially at at least two stay preset positions is greater than or equal to the minimum running speed required for the formation of the motor bearing ink.

[0113] Of course, those skilled in the art can understand that the processor 820 also implements the technical solution of the cruising method of the heavy-duty pan-tilt provided in any embodiment of the present application.

[0114] Figure 8 The displayed electronic device 800 is only an example, and should not bring any limitation to the functions and usage scope of the embodiments of the present application.

[0115] As Figure 8 shown, the electronic device 800 includes a processor 820, a storage device 810, an input device 830, and an output device 840; the number of processors 820 in the electronic device can be one or more, Figure 8 and one processor 820 is taken as an example here; the processor 820, the storage device 810, the input device 830, and the output device 840 in the electronic device can be connected through a bus or other means, Figure 8 and taking the connection through the bus 850 as an example here.

[0116] The storage device 810, being a computer-readable medium, can be used to store software programs, computer-executable programs, and module units, such as the program instructions corresponding to the cruising method of the heavy-duty pan-tilt in the embodiments of the present application.

[0117] The storage device 810 mainly includes a program storage area and a data storage area. Among them, the program storage area can store an operating system and application programs required for at least one function; the data storage area can store data created according to the use of the terminal, etc. In addition, the storage device 810 can include a high-speed random access memory, and can also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other non-volatile solid-state storage devices. In some instances, the storage device 810 can further include a memory remotely set relative to the processor 820, and these remote memories can be connected through a network. Examples of the above network include but are not limited to the Internet, an enterprise intranet, a local area network, a mobile communication network, and combinations thereof.

[0118] The input device 830 can be used to receive input digital, character information, or voice information, and generate key signal inputs related to the user settings and function controls of the electronic device. The output device 840 can include electronic devices such as a display screen and a speaker.

[0119] The electronic device provided by the embodiments of the present application can achieve the purpose of extending the service life of the heavy-duty pan-tilt motor and reducing the after-sales service cost.

[0120] The cruising device, medium, and electronic device of the heavy-duty pan-tilt provided in the above embodiments can execute the cruising method of the heavy-duty pan-tilt provided by any embodiment of the present application, and have the corresponding functional modules and beneficial effects for executing this method. For technical details not described in detail in the above embodiments, reference can be made to the cruising method of the heavy-duty pan-tilt provided by any embodiment of the present application.

[0121] Note that the above is only the preferred embodiment of the present application and the applied technical principle. Those skilled in the art will understand that the present application is not limited to the specific embodiments described here, and various obvious changes, re-adjustments, and substitutions can be made by those skilled in the art without departing from the protection scope of the present application. Therefore, although the present application has been described in more detail through the above embodiments, the present application is not limited to the above embodiments. Without departing from the concept of the present application, it can also include more other equivalent embodiments, and the scope of the present application is determined by the scope of the appended claims.

Claims

1. A cruising method for a heavy-duty pan-tilt, characterized in that, it includes: Determine the starting preset position for preset position cruising in the current unit rotation stage of the heavy-duty pan-tilt in the current pan-tilt cruising cycle; One unit rotation stage corresponds to one full rotation; Taking the starting preset position as the starting point for staying, determine at least two staying preset positions of the heavy-duty pan-tilt in the current unit rotation stage from the preset positions divided in advance; The adjacent two staying positions in the same unit rotation stage are separated by a preset number of preset positions; Control the heavy-duty pan-tilt to rotate sequentially on at least two staying preset positions in the current unit rotation stage, and enter the next unit rotation stage of the current pan-tilt cruising cycle for rotation after one sequential rotation; Among them, the minimum operating speed of the heavy-duty pan-tilt rotating sequentially on at least two staying preset positions is greater than or equal to the minimum operating speed required for the formation of the motor bearing ink.

2. The method according to claim 1, characterized in that, The pan-tilt cruising shooting area of the heavy-duty pan-tilt is divided into multiple target areas, the size of each target area is configured by the operating angle corresponding to one rotation of the heavy-duty pan-tilt, and at least two preset positions are sequentially set in each target area.

3. The method according to claim 2, characterized in that, Determining the starting preset position for preset position cruising in the current unit rotation stage of the heavy-duty pan-tilt includes: If the current unit rotation stage is the first rotation stage of the current pan-tilt cruising cycle, select the first preset position from at least two preset positions sequentially set in the target area as the starting preset position for preset position cruising in the current unit rotation stage; If the current unit rotation stage is a non-first rotation stage of the current pan-tilt cruising cycle, select the preset position after the starting preset position for preset position cruising in the previous unit rotation stage from at least two preset positions sequentially set in the target area as the starting preset position for preset position cruising in the current unit rotation stage.

4. The method according to claim 2, characterized in that, Controlling the heavy-duty pan-tilt to rotate sequentially on at least two staying preset positions in the current unit rotation stage includes: Controlling the heavy-duty pan-tilt to rotate sequentially on the staying preset positions selected from each target area in the current unit rotation stage at a preset operating speed.

5. The method according to claim 4, characterized in that, The determination process of the operating speed includes: Determine the number of preset positions according to the pan-tilt cruising shooting area and the pan-tilt horizontal field of view angle; Calculate the target cruising time through the number of preset positions, the preset position staying time and the running time determined in advance, and use the target cruising time to determine the operating speed; Among them, the running time includes the time for the heavy-duty pan-tilt to run in the pan-tilt cruising shooting area; The target cruising time includes the time for the heavy-duty pan-tilt to cruise and detect in the pan-tilt working area.

6. The method according to claim 4, characterized in that, Controlling the heavy-duty pan-tilt to rotate sequentially on the staying preset positions selected from each target area in the current unit rotation stage includes: Control the heavy-duty pan-tilt to move from the stay preset position selected in the current unit rotation stage in the current target area to the stay preset position selected in the next target area until the heavy-duty pan-tilt moves from the stay starting point in the target area to the stay ending point; wherein, the stay ending point is used to represent the termination preset position of the current target area.

7. The method according to claim 2, wherein, the determination process of the running angle includes: Obtain the motor rotation acceleration curve of the heavy-duty pan-tilt, and determine the rotation angle of the heavy-duty pan-tilt based on the motor rotation acceleration curve; Determine the running angle according to the rotation angle, the pan-tilt cruise shooting area, and the horizontal field of view angle of the pan-tilt.

8. A cruise device for a heavy-duty pan-tilt, wherein, comprising: A starting preset position determination module, configured to determine the starting preset position for preset position cruise of the heavy-duty pan-tilt in the current unit rotation stage of the current pan-tilt cruise cycle; one unit rotation stage corresponds to one full rotation; A stay preset position determination module, configured to use the starting preset position as the stay starting point, and determine at least two stay preset positions of the heavy-duty pan-tilt in the current unit rotation stage from the pre-divided preset positions; the adjacent two stay positions in the same unit rotation stage are separated by a preset number of preset positions; A rotation control module, configured to control the heavy-duty pan-tilt to perform sequential rotation on at least two stay preset positions in the current unit rotation stage, and enter the next unit rotation stage of the current pan-tilt cruise cycle for rotation after one sequential rotation; wherein, the minimum running speed of the heavy-duty pan-tilt performing sequential rotation on at least two stay preset positions is greater than or equal to the minimum running speed required for the formation of the motor bearing ink.

9. A computer-readable medium, on which a computer program is stored, wherein, when the program is executed by a processor, it implements the cruise method of the heavy-duty pan-tilt according to any one of claims 1-7.

10. An electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein, when the processor executes the computer program, it implements the cruise method of the heavy-duty pan-tilt according to any one of claims 1-7.

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