Gimbal control method and device, processing apparatus, storage medium and gimbal camera

Abstract

The application relates to a gimbal control method and device, a processing device, a storage medium and a gimbal camera. The method is applied to the gimbal monitoring device, and the method comprises the following steps: acquiring the number of motion control instructions which are not processed by the gimbal monitoring device, wherein the motion control instructions are used for controlling the motion of the gimbal monitoring device; and in the case that the number is greater than a preset number threshold, at least part of the motion control instructions are processed according to a preset time length, and the preset time length is greater than a preset time length threshold. The gimbal control method provided in the application can prevent the problem that the monitoring picture viewed by the user jumps when the gimbal rotates a large angle instantaneously in the case that the motion control instructions are accumulated.

Description

Technical Field

[0001] This application relates to the field of computer vision, and in particular to a gimbal control method, apparatus, processing device, storage medium, and gimbal camera. Background Technology

[0002] Video surveillance is an important component of security systems. With the rapid development of technologies such as computers, network communication, and image processing, video surveillance technology has also made significant progress. Currently, video surveillance technology is widely used in various fields due to its excellent timeliness, intuitiveness, and accuracy, especially in areas such as public safety and emergency command.

[0003] In existing technologies, users can send control commands through a client connected to a PTZ camera or backend monitoring equipment via a network. The control command parsing module in the PTZ camera then interprets the specific commands and adjusts the camera accordingly, such as adjusting the camera angle or other camera parameters. However, during the process of a user controlling the PTZ camera or backend monitoring equipment over the network, intermittent network congestion, delays, or other network anomalies may prevent the user's control commands from being received and processed in a timely manner. This can lead to the user repeatedly rotating the PTZ camera without being able to acquire the monitoring point or target of interest, resulting in the user missing crucial monitoring footage due to the inability to immediately locate the desired monitoring point.

[0004] Therefore, there is an urgent need for a highly accurate gimbal control method in related technologies. Summary of the Invention

[0005] Based on this, and in response to the aforementioned technical problems, this application provides a PTZ control method, apparatus, processing device, storage medium, and PTZ camera, which can solve the problem that users cannot obtain the monitoring footage of interest even after repeatedly rotating the PTZ when the network is abnormal.

[0006] In a first aspect, embodiments of this application provide a PTZ control method, which is applied in a PTZ monitoring device, and the method includes:

[0007] Obtain the number of unprocessed motion control commands for the PTZ monitoring device, wherein the motion control commands are used to control the motion of the PTZ monitoring device;

[0008] If the number is determined to be greater than a preset number threshold, at least a portion of the motion control commands are processed according to a preset duration, wherein the preset duration is greater than a preset duration threshold.

[0009] The PTZ control method provided in this application can select different motion control command processing methods based on the number of unprocessed motion control commands from the PTZ monitoring device. When the number exceeds a preset threshold, motion control commands can be identified as piling up. Subsequently, at least a portion of the motion control commands can be processed within a preset time period. This prevents the PTZ from rotating a large angle instantaneously, causing flickering in the monitoring screen viewed by the user, in the event of motion control command piling up.

[0010] Optionally, in one embodiment of this application, obtaining the number of unprocessed motion control commands for the PTZ monitoring device includes:

[0011] Obtain the sending and receiving times of the target motion control command: the target motion control command is any one of the unprocessed motion control commands;

[0012] If the time interval between the sending time and the receiving time is greater than a preset time interval, the number of unprocessed motion control commands for the PTZ monitoring device is obtained.

[0013] Optionally, in one embodiment of this application, the sending and receiving times of the target motion control command are determined according to the following method:

[0014] Acquire the first video frame captured by the PTZ monitoring device when sending the target motion control command, and the second video frame captured by the PTZ monitoring device when receiving the target motion control command;

[0015] The sending time is determined based on the first acquisition time of the first video frame, and the receiving time is determined based on the second acquisition time of the second video frame.

[0016] Optionally, in one embodiment of this application, processing at least a portion of the motion control commands according to a preset duration includes:

[0017] While processing the first motion control command according to the preset duration, target detection is performed on the video frames collected by the PTZ monitoring device;

[0018] If a target of interest and / or a location of interest are detected in the video frame, processing of at least a portion of the motion control commands following the first motion control command is stopped.

[0019] Optionally, in one embodiment of this application, processing at least a portion of the motion control commands according to a preset duration includes:

[0020] When processing the second motion control command according to a preset duration, the monitoring range of the PTZ monitoring device is determined;

[0021] If the monitoring range is greater than the preset monitoring range, stop processing at least a portion of the motion control commands that are in the same direction as the second motion control command after the second motion control command.

[0022] Optionally, in one embodiment of this application, the target of interest for monitoring is determined in the following manner:

[0023] Acquire the user's historical operation behavior and the historical video data collected by the PTZ monitoring device;

[0024] Based on the historical video data and the user's historical operational behavior, at least one target of interest for monitoring is identified.

[0025] Optionally, in one embodiment of this application, determining at least one target of interest based on the historical video data and the user's historical operational behavior includes:

[0026] Based on the historical video data, at least one monitoring target is identified;

[0027] A first influence coefficient is determined for each of the at least one monitored target, the first influence coefficient being determined based on the user's historical operational behavior;

[0028] Select at least one target of interest from the at least one target of interest whose first influence coefficient is greater than the first preset influence coefficient.

[0029] Optionally, in one embodiment of this application, the location of interest for monitoring is determined in the following manner:

[0030] Acquire historical video data collected by the PTZ monitoring device and historical motion data of the PTZ monitoring device;

[0031] Based on the historical video data and the historical motion data, at least one monitoring location of interest is obtained.

[0032] Optionally, in one embodiment of this application, obtaining at least one location of interest based on the historical video data and the historical motion data includes:

[0033] Based on the historical video data, at least one monitoring location is determined;

[0034] A second influence coefficient is determined for each of the at least one monitoring location, the second influence coefficient being determined based on the historical motion data;

[0035] Select at least one monitoring location of interest from the at least one monitoring location whose second influence coefficient is greater than the second preset influence coefficient threshold.

[0036] Optionally, in one embodiment of this application, the preset monitoring range is determined in the following manner:

[0037] Obtain the maximum monitoring range of the monitoring device;

[0038] The monitoring equipment is used to track the target object and determine the target monitoring range of the monitoring equipment.

[0039] The maximum monitoring range is adjusted according to the target monitoring range to determine the preset monitoring range.

[0040] Secondly, embodiments of this application also provide a pan-tilt-zoom (PTZ) rotation control device, which is applied in a PTZ monitoring device and includes:

[0041] The acquisition module is used to acquire the number of unprocessed motion control commands for the PTZ monitoring device, wherein the motion control commands are used to control the motion of the PTZ monitoring device.

[0042] A motion control command processing module is used to process at least a portion of the motion control commands according to a preset duration when the number is determined to be greater than a preset number threshold, wherein the preset duration is greater than a preset duration threshold.

[0043] Thirdly, embodiments of this application also provide a processing device, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps of the methods described in various embodiments of this application.

[0044] Fourthly, this application also provides a gimbal camera, including a gimbal, a camera device, a processor, and a memory. The camera device is mounted on the gimbal, and the gimbal is used to drive the camera device to rotate horizontally and / or vertically. The memory stores computer program instructions, and the processor executes the computer program instructions to implement the steps of the methods described in the various embodiments of this application.

[0045] Fifthly, embodiments of this application also provide a computer-readable storage medium having computer program instructions stored thereon, which, when executed by a processor, implement the steps of the methods described in various embodiments of this application.

[0046] Sixthly, embodiments of this application also provide a chip including at least one processor, the processor being configured to execute computer program instructions stored in a memory to perform the steps of the methods described in various embodiments of this application. Attached Figure Description

[0047] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0048] Figure 1 This is a schematic diagram of an application scenario provided by an embodiment of this application;

[0049] Figure 2 A flowchart of a gimbal control method provided in one embodiment of this application;

[0050] Figure 3 This is a schematic diagram of the module structure of the gimbal control device provided in the embodiments of this application;

[0051] Figure 4 This is a schematic diagram of the module structure of the processing device provided in the embodiments of this application. Detailed Implementation

[0052] To make the objectives, technical solutions, and advantages of this application clearer, the application is described and illustrated below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the application. All other embodiments obtained by those skilled in the art based on the embodiments provided in this application without inventive effort are within the scope of protection of this application. Furthermore, it is understood that although the efforts made in such a development process may be complex and lengthy, for those skilled in the art related to the content disclosed in this application, modifications to design, manufacturing, or production based on the technical content disclosed in this application are merely conventional technical means and should not be construed as insufficient disclosure of the content of this application.

[0053] In this application, the reference to "embodiment" means that a specific feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment that is mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described in this application may be combined with other embodiments without conflict.

[0054] Unless otherwise defined, the technical or scientific terms used in this application shall have the ordinary meaning understood by one of ordinary skill in the art to which this application pertains. The terms "a," "an," "a kind," "the," and similar words used in this application do not indicate quantity limitation and may indicate singular or plural. The terms "comprising," "including," "having," and any variations thereof used in this application are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or device that includes a series of steps or modules (units) is not limited to the listed steps or units, but may also include steps or units not listed, or may include other steps or units inherent to these processes, methods, products, or devices. The terms "connected," "linked," "coupled," and similar words used in this application are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "A plurality" used in this application means two or more. The terms "first," "second," "third," etc., used in this application are merely to distinguish similar objects and do not represent a specific ordering of objects.

[0055] Furthermore, to better illustrate this application, numerous specific details are provided in the following detailed description. Those skilled in the art should understand that this application can be implemented without certain specific details. In some instances, apparatus, means, elements, and circuits well known to those skilled in the art have not been described in detail in order to highlight the main points of this application.

[0056] To clearly illustrate the technical solutions of the various embodiments of this application, the following describes... Figure 1 One exemplary scenario of an embodiment of this application will be described.

[0057] Please see Figure 1 , Figure 1This is a schematic diagram of a gimbal control system provided in an embodiment of this application. The system may include a data acquisition device 101, a gimbal control device 103, and a client 105. The data acquisition device 101 may be an electronic device with data acquisition and data transmission / reception capabilities. The data acquisition device 101 may include an acquisition module and a gimbal module. The acquisition module may be an electronic device capable of acquiring image and / or video information of a target area, such as a camera or a lidar. The camera may include a bullet camera, infrared camera, binocular camera, depth camera, etc., and the lidar may include single-line radar, multi-line radar, etc. This application does not limit the form of the acquisition module. The gimbal module can be used to drive the acquisition module to rotate horizontally and / or vertically. The rotation of the gimbal can be achieved by two actuator motors. The client 105 and the gimbal control device 103 can communicate via a network. After receiving a motion control command input by the user, the client can send the motion control command to the gimbal control device 103. Upon receiving the motion control command, the gimbal control device 103 can control the acquisition device 101 using the gimbal control methods provided in various embodiments of this application. The client 105 can include smartphones, tablet computers, portable computers, desktop computers, personal digital assistants, etc. The gimbal control device 103 can be an electronic device with data processing and data transmission / reception capabilities. It can be a physical device such as a host or server, or a virtual device such as a virtual machine or virtual network card; this application does not impose any limitations. Besides electronic devices, the gimbal control device 103 can also include various forms such as non-volatile computer-readable storage media, computer program products, and chips. As a non-volatile computer-readable storage medium, computer program product, or chip, the gimbal control device 103 can be coupled internally to the acquisition device 101, enabling the acquisition device 101 to have gimbal control functionality.

[0058] The gimbal control method described in this application will be explained in detail below with reference to the accompanying drawings. Figure 2 This is a flowchart illustrating one embodiment of the gimbal control method provided in this application. Although this application provides method operation steps as shown in the following embodiments or figures, the method may include more or fewer operation steps based on conventional or non-inventive methods. For steps where there is no logically necessary causal relationship, the execution order of these steps is not limited to the execution order provided in the embodiments of this application. In actual gimbal control processes or when the method is executed, the method may be executed in the order shown in the embodiments or figures, or in parallel (e.g., in a parallel processor or multi-threaded processing environment).

[0059] Specifically, one embodiment of the gimbal control method provided in this application is as follows: Figure 2 As shown, the method is applied to a PTZ monitoring device, and the method may include:

[0060] S201: Obtain the number of unprocessed motion control commands for the PTZ monitoring device, the motion control commands being used to control the motion of the PTZ monitoring device.

[0061] In practical applications, during network anomalies such as intermittent network congestion or malfunctions of the PTZ monitoring equipment, commands to control the rotation of the PTZ often cannot be sent to the PTZ monitoring equipment or the PTZ in a timely manner. This may result in the PTZ monitoring equipment or the PTZ receiving multiple motion control commands simultaneously or within a short period of time, which generally cannot be processed promptly. In this embodiment, the PTZ monitoring equipment may include a PTZ and a monitoring device, and the movement of the PTZ monitoring equipment can be achieved by the PTZ. For example, the PTZ can drive the monitoring device to rotate horizontally and / or vertically. In one embodiment of this application, the motion control command can be sent by the client 105 to the PTZ control device 103 via a network. For example, the client 105 can interact with the PTZ control device 103 via network data based on network protocols such as HTTP, TCP / IP, or FTP, and a network communication module. The motion control command can control the movement of the PTZ monitoring equipment, such as controlling the PTZ monitoring equipment to move left and right, up and down, etc. In the event of network anomalies, such as network latency or congestion, multiple motion control commands will be cached in the TCP protocol stack buffer, resulting in multiple unprocessed motion control commands for the PTZ control device. Similarly, in the event of machine malfunction, such as a failure of the PTZ monitoring device, the PTZ monitoring device may be unable to process the received motion control commands in a timely manner, also resulting in multiple unprocessed motion control commands for the PTZ control device. In one embodiment of this application, the number of unprocessed motion control commands for the PTZ monitoring device can be obtained to provide a basis and reference for subsequent determination of whether motion control commands are piling up.

[0062] In one embodiment of this application, before determining the number of unprocessed motion control commands for the PTZ monitoring device, it can be determined in advance whether there is a delay in receiving the unprocessed motion control commands, so as to determine a more accurate result of command backlog. Specifically, obtaining the number of unprocessed motion control commands for the PTZ monitoring device may include:

[0063] S301: Obtain the sending time and receiving time of the target motion control command: the target motion control command is any one of the unprocessed motion control commands;

[0064] S303: If the time interval between the sending time and the receiving time is greater than a preset time interval, obtain the number of unprocessed motion control commands for the PTZ monitoring device.

[0065] In this embodiment, the presence of a reception delay in the motion control command can be determined based on the sending and receiving times of the target motion control command. The target motion control command is any one of the unprocessed motion control commands. For example, it could be unprocessed motion control command 1, unprocessed motion control command 2, etc. In one embodiment, when the client 105 sends the motion control command to the gimbal control device 103, it records the timestamp of the sending motion control command as the sending time. Based on this, the sending time of the target motion control command can be determined based on the timestamp. The receiving time can be the time when the gimbal control device 103 receives the target motion control command. In one embodiment, the timestamp of the motion control command, i.e., the sending time, can be determined based on the display time of the client 105 when the motion control command is generated, and the receiving time can be determined by the display time of the gimbal control device 103. Alternatively, the user can input the sending time simultaneously with the motion control command input on the client 105. In another embodiment of this application, to further improve the accuracy of determining whether the instruction reception is delayed, a unified comparison benchmark can be used to determine the sending time and the receiving time based on the acquisition time of the PTZ monitoring device. Specifically, the sending time and receiving time of the target motion control instruction are determined according to the following method:

[0066] S401: Acquire the first video frame captured by the PTZ monitoring device when sending the target motion control command, and the second video frame captured by the PTZ monitoring device when receiving the target motion control command;

[0067] S403: Determine the transmission time based on the first acquisition time of the first video frame, and determine the reception time based on the second acquisition time of the second video frame.

[0068] In this embodiment of the application, to further improve the accuracy of the transmission and reception times, the reception and transmission times can be determined based on the acquisition time of the PTZ monitoring device. Specifically, when the client 105 sends the target motion control command, the first video frame acquired by the PTZ monitoring device can be obtained, and the transmission time of the target motion control command can be determined based on the acquisition time of the first video frame. For example, in one example, if the acquisition time of the first video frame is 8:30 am, then the transmission time of the target control command is 8:30 am. In another embodiment of the application, when receiving the target motion control command, the second video frame acquired by the PTZ monitoring device can be obtained, and the transmission time of the target motion control command can be determined based on the acquisition time of the second video frame. For example, in one example, if the acquisition time of the second video frame is 8:30:22 am, then the transmission time of the target control command is 8:30:22 am.

[0069] Through the above embodiments, the data acquisition time of the PTZ monitoring device can be used as a benchmark, and the sending and receiving times determined by this method do not have the problem of time synchronization, thereby improving the accuracy of subsequent calculation of time intervals.

[0070] In this embodiment, after determining the receiving time and the sending time, the time interval between the sending time and the receiving time can be used to determine whether there is a delay in command reception due to network latency or machine failure, resulting in a backlog of motion control commands. If the time interval is determined to be greater than a preset time interval, the number of unprocessed motion control commands for the PTZ monitoring device can be obtained. The preset time interval can be set by the user according to the actual application scenario, for example, it can be set to 30s, 20s, 10s, etc.

[0071] S203: When it is determined that the number is greater than a preset number threshold, at least a portion of the motion control commands are processed according to a preset duration, wherein the preset duration is greater than a preset duration threshold.

[0072] In this embodiment, after obtaining the number of unprocessed motion control commands, the number can be compared with a preset number threshold to determine whether there is a backlog of motion control commands. Specifically, if the number is greater than the preset number threshold, it can be determined that there is a backlog of motion control commands. The preset number threshold can be set by the user according to actual application scenarios such as network latency, speed, and PTZ rotation accuracy; for example, it can be set to 50, 60, 80, etc. In practical applications, if a backlog of motion commands occurs, the PTZ monitoring device may receive many motion control commands simultaneously. If these motion control commands are processed according to the normal processing flow, the PTZ may rotate a large angle instantly, causing the monitoring screen viewed by the user to flicker. Moreover, the user may not be able to locate the monitoring screen of interest even after multiple forward and reverse rotations. Based on this, in one embodiment of this application, at least a portion of the motion control commands can be processed separately within a preset time period. For example, at least a portion of the motion control commands can be processed sequentially according to the order in which they are received within the preset time period. The preset time period is greater than a preset time threshold, which can be set by the user according to actual application needs. In one embodiment of this application, at least a portion of the motion control commands can be processed sequentially according to a set processing time interval within a preset duration. For example, at least a portion of the motion control commands can be processed sequentially according to a processing order at 2-second time intervals. The processing order can be determined based on the sending time of the motion control commands. For example, in one example, if the sending time of motion control command A is 9:30:00 am, the sending time of motion control command B is 9:30:05 am, and the sending time of motion control command C is 9:30:10 am, the processing order can be determined as follows: first process motion control command A, then process motion control command B, and finally process motion control command C. It should be noted that the set processing time intervals can be the same, meaning that the processing time interval between processing each motion control command and the previous motion control command is the same. Of course, the set processing time intervals can also be different. For example, the preset duration can be divided into multiple durations, each with a different set processing time interval. For example, in one example, the preset duration can be divided into duration A and duration B. The processing time interval for duration A can be set to 2 seconds, and the processing time interval for duration B can be set to 3 seconds.

[0073] The PTZ control method provided in this application can select different motion control command processing methods based on the number of unprocessed motion control commands from the PTZ monitoring device. When the number exceeds a preset threshold, motion control commands can be identified as piling up. Subsequently, at least a portion of the motion control commands can be processed within a preset time period. This prevents the PTZ from rotating a large angle instantaneously, causing flickering in the monitoring screen viewed by the user, in the event of motion control command piling up.

[0074] In one embodiment of this application, to ensure that the video data collected by the PTZ monitoring device meets the user's viewing needs, target detection can be performed on the video frames collected by the PTZ monitoring device after each motion control command is processed, thereby ensuring that the user can view the monitoring footage of interest. Specifically, processing at least a portion of the motion control commands according to a preset duration includes:

[0075] S501: When processing the first motion control command according to the preset duration, target detection is performed on the video frames collected by the PTZ monitoring device;

[0076] S503: If an object of interest and / or a location of interest are detected in the video frame, stop processing at least a portion of the motion control commands following the first motion control command.

[0077] In this embodiment, when processing the first motion control command according to a preset duration, video frames collected by the PTZ monitoring device can be acquired. The video frames may include images collected by the PTZ monitoring device targeting the area to be detected. The video frames may include any format such as BMP, JPEG, PNG, SVG, etc. After acquiring the video frames, target detection can be performed on the video frames, and the presence of a target of interest and / or a location of interest can be determined based on the detection results. The target of interest can be a target object that the user is interested in or needs to focus on, such as a person in the area to be detected. The location of interest can be location information that the user is interested in or needs to focus on, such as the central area within the area to be detected. In one embodiment of this application, target detection can be performed using a target detection model. The target detection model may include a model trained using machine learning. The model may include Convolutional Neural Networks (CNN), AlexNet, YOLO, ResNet, Hourglass, Inception, Xception, SENet, etc. Specifically, in one example, a target of interest detection model can be used to determine the target area of ​​interest in the video frame. The target of interest detection model may include a feature extraction network layer, a fully connected layer, etc. The feature extraction network layer can extract features from the video frame to obtain a feature map of the video frame. The feature map may include feature information such as the grayscale, edges, texture, color, and gradient histogram of the target object. Afterwards, the fully connected layer can classify and locate the feature map, and finally, the target of interest detection model can output the target of interest in the video frame. Through the above embodiments, a machine learning model can be used to identify the target of interest or the location of interest in the video frame. Since the machine learning model is learned based on a large number of samples, this identification method has high accuracy and efficiency. In one embodiment of this application, when a target of interest and / or a location of interest is detected in the video frame, it can be determined that the video frame collected by the PTZ monitoring device is a monitoring scene of interest to the user, and therefore, at least a portion of the motion control commands after the first motion control command can be stopped.

[0078] In one embodiment of this application, the target of interest can be determined based on historical monitoring data of the PTZ monitoring device. Specifically, the target of interest can be determined in the following manner:

[0079] S601: Obtain the user's historical operation behavior and the historical video data collected by the PTZ monitoring device;

[0080] S603: Based on the historical video data and the user's historical operation behavior, determine at least one target of interest for monitoring.

[0081] In this embodiment, the user's historical operation behavior may include operations performed by the user using the client 105. The historical video data may be collected by the PTZ monitoring device based on motion control commands generated by the user's historical operation behavior. In one embodiment, after determining the historical video data, target objects such as people, items, etc., contained in the historical video data can be obtained. Then, multiple target objects can be extracted as monitoring targets. In one embodiment, to determine the detection target of interest to the user, the user's operation behavior may include zooming in, replaying, tracking, etc. In one embodiment, the user's historical operation behavior can be analyzed and statistically analyzed to determine the statistical results. Specifically, the user's historical operation behavior for each monitoring target can be statistically analyzed. In one embodiment, after determining the statistical results, at least one monitoring target of interest can be determined based on the statistical results. Specifically, the monitoring target with the most historical operation behaviors of the user can be selected as the monitoring target of interest based on the statistical results. For example, in one scenario, user A zooms in on target A 3 times and rewinds it 2 times; user A zooms in on target B 1 time and rewinds it 1 time. Therefore, the target of interest can be identified as target A.

[0082] Through the above embodiments, the user's historical operation behavior and the historical video data of the PTZ monitoring device are used to determine the monitoring target that the user is interested in, which is more in line with the user's personalized needs. This provides a more accurate judgment condition for subsequent determination of whether to end the motion control command, thereby enabling the user to determine a more accurate monitoring screen.

[0083] In one embodiment of this application, to more clearly and accurately analyze and calculate the user's level of interest in each monitoring target, the influence coefficient of each monitoring target can be determined based on the user's operational behavior and historical video data. Then, the monitoring target of interest can be determined based on the influence coefficient of each monitoring target. Specifically, determining at least one monitoring target of interest based on the historical video data and the user's historical operational behavior may include:

[0084] S701: Based on the historical video data, identify at least one monitoring target;

[0085] S703: Determine the first influence coefficient of each of the at least one monitored target, wherein the first influence coefficient is determined based on the user's historical operational behavior;

[0086] S705: Select at least one target of interest from the at least one target of interest whose first influence coefficient is greater than the first preset influence coefficient.

[0087] In this embodiment, after determining the historical video data, target objects contained in the historical video data can be extracted. The target objects contained in the historical video data vary depending on the area monitored by the PTZ monitoring device. For example, in the case of a residential community entrance area, the target objects may include pedestrians, electric vehicles, pets, etc. After determining the target objects contained in the historical video data, these target objects can be used as monitoring targets, and a first influence coefficient for each monitoring target can be determined. In one embodiment of this application, the first influence coefficient can be used to characterize the user's level of interest in the monitoring target. For example, the larger the first influence coefficient, the higher the user's level of interest in the monitoring target. Since users generally zoom in or repeatedly replay a monitoring target when they are more concerned about it, the first influence coefficient can be determined based on the user's historical operational behavior. Furthermore, users may focus on different monitoring targets at different times. For example, users may be more concerned about pedestrians entering and leaving the community between 8:00 AM and 10:00 AM, and more concerned about whether pets are on leashes between 6:00 PM and 8:00 PM. Therefore, the first influence coefficient can also be optimized based on different times. In other words, the first influence coefficient of a monitoring target can be determined from different dimensions, and the influence coefficients of different dimensions can be determined by influence weight values ​​and decreasing weight values. The decreasing weight values ​​can be determined based on time; for example, the decreasing weight values ​​gradually decrease as time increases. For instance, in one example, the dimensions for calculating the first influence coefficient of the monitoring target are shown in Table 1 below.

[0088] Table 1. Calculation Dimensions of the First Influence Coefficient

[0089] Number of times zoomed in (n0) A0 D0 A0*n0-D0*T Number of replays (n1) A1 D1 A1*n1-D1*T Number of tracking and positioning attempts (n²) A2 D2 A2*n2-D2*T

[0090] As can be seen from the above, in one embodiment of this application, the first influence coefficient I of the monitored target can be determined according to the following formula:

[0091] I=A0*n0-D0*T+A1*n1-D1*T+A2*n2-D2*T

[0092] In this embodiment of the application, after determining the first influence coefficient of each monitoring target according to the above formula, the at least one monitoring target of interest can be determined based on the first influence coefficient of each monitoring target. Specifically, in one embodiment of this application, one or more monitoring targets with the largest first influence coefficient can be selected as the monitoring target of interest. Of course, one or more monitoring targets with a first influence coefficient greater than a first preset influence coefficient can also be selected as the monitoring target of interest. The first preset influence coefficient can be set by the user according to the actual application scenario.

[0093] It is understood that after determining the at least one target of interest according to the above embodiments, the at least one target of interest can be applied to the intelligent adjustment of the PTZ monitoring device in steps S201-S203 above, and the monitoring screen collected by the PTZ monitoring device can be acquired. If the user does not stay on the monitoring screen, but immediately operates the PTZ again to move to another monitoring screen, it can be determined that the target of interest is inaccurate, that is, the most accurate target of interest has not been determined. Therefore, the first influence coefficient of the target of interest can be reduced according to a set value, and the corrected first influence coefficient is:

[0094] I=A0*n0-D0*T+A1*n1-D1*T+A2*n2-D2*TF

[0095] Through the above embodiments, the first influence coefficient of each monitoring target can be determined from multiple dimensions, making the determination of the first influence coefficient more comprehensive and accurate, thereby making the determined monitoring targets of interest more in line with the user's needs.

[0096] In another embodiment of this application, the location of interest for monitoring is determined in the following manner:

[0097] S801: Obtain historical video data collected by the PTZ monitoring device and historical motion data of the PTZ monitoring device;

[0098] S803: Based on the historical video data and the historical motion data, obtain at least one monitoring location of interest.

[0099] Generally, when using the PTZ monitoring device, the user can rotate the device freely within its maximum monitoring range, allowing it to monitor any location within the detection area. For example, if the detection area is a factory area, the PTZ monitoring device can monitor the factory entrance and assembly line operations. Therefore, in this embodiment, at least one detection location of key interest or focus for the user can be determined based on the historical video data and historical motion data collected by the PTZ monitoring device. The historical motion data may include the historical rotation trajectory of the PTZ monitoring device, which may include the historical rotation angle and direction. In one embodiment, the historical motion data may further include the historical cruise path of the PTZ monitoring device. This cruise path can be formed by setting multiple cruise positions, which are then connected to form a cruise path. After forming the cruise path, the PTZ monitoring device can be configured to rotate and remain stationary according to the cruise path. Specifically, the monitoring location with a longer dwell time can be selected from the historical motion data as the monitoring location of interest, or the monitoring location with a higher number of dwell times can be selected from the historical motion data as the monitoring location of interest. This application does not impose any restrictions on this.

[0100] In one embodiment of this application, to more clearly and accurately analyze and calculate the user's degree of interest in each monitoring location, the influence coefficient of each monitoring location can be determined based on the historical motion data and historical video data of the PTZ monitoring device. Then, the monitoring location of interest can be determined based on the influence coefficient of each monitoring location. Specifically, obtaining at least one monitoring location of interest based on the historical video data and the historical motion data includes:

[0101] S901: Based on the historical motion data, determine at least one monitoring location;

[0102] S903: Determine the second influence coefficient of each of the at least one monitoring location, wherein the second influence coefficient is determined based on the historical motion data;

[0103] S905: Select at least one monitoring location of interest from the at least one monitoring location whose second influence coefficient is greater than the second preset influence coefficient threshold.

[0104] In this embodiment, after determining the historical video data, the target location contained in the historical video data can be extracted. The target location can be the position where the PTZ monitoring device stays, for example, it can be the patrol position in the historical patrol path. For example, when the PTZ monitoring device monitors the entrance of a factory area, the target location can be the gate position at the entrance of the factory area. After determining the target location contained in the historical video data, the target location can be used as the monitoring location, and a second influence coefficient for each monitoring location can be determined. The second influence coefficient can be determined based on the dwell time and number of times the PTZ monitoring device stays at each monitoring location. It is understood that the PTZ monitoring device can stay at each monitoring location according to the motion control command input by the user. Of course, the PTZ monitoring device can also stay at each monitoring location according to the movement of the target object in automatic tracking mode. The automatic tracking mode can include the PTZ monitoring device moving according to the movement trajectory of the moving target object without human intervention, and the lens of the PTZ monitoring device zooming and adjusting according to the imaging size of the target object. Specifically, the longer the dwell time or the more times the device stays at the monitoring location, the greater the second influence coefficient of that monitoring location. Therefore, in one embodiment of this application, the second influence coefficient of each monitored target can be determined based on the dimension of the pan-tilt-zoom (PTZ) monitoring target's movement according to the user-input motion control command and the dimension of its movement according to the target object's movement under automatic tracking. That is, the first influence coefficient of a monitoring location can be determined from different dimensions. The influence coefficients of different dimensions can be determined by influence weight values ​​and decreasing weight values. The decreasing weight value can be determined based on time; for example, the decreasing weight value gradually decreases with increasing time. For example, in one example, the calculation dimensions of the second influence coefficient of the monitoring location are shown in Table 2 below.

[0105] Table 2. Calculation Dimensions of the First Influence Coefficient

[0106] Rotational stay (n3) A3 D3 A3*n3-D3*T Automatic tracking of rotational stop (n4) A4 D4 A4*n4-D4*T

[0107] As can be seen from the above, in one embodiment of this application, the second influence coefficient S of the monitoring location can be determined according to the following formula:

[0108] S = A3*n3 - D3*T + A4*n4 - D4*T

[0109] In this embodiment of the application, after determining the second influence coefficient of each monitoring location according to the above formula, the at least one monitoring location of interest can be determined based on the second influence coefficient of each monitoring location. Specifically, in one embodiment of this application, one or more monitoring locations with the largest second influence coefficient can be selected as the monitoring locations of interest. Of course, one or more monitoring locations with a second influence coefficient greater than a first preset influence coefficient can also be selected as monitoring targets of interest. The second preset influence coefficient can be set by the user according to the actual application scenario.

[0110] It is understood that after determining the at least one monitoring location of interest according to the above embodiments, the at least one monitoring location of interest can be applied to the intelligent adjustment of the PTZ monitoring device in steps S201-S203 above, and the monitoring screen collected by the PTZ monitoring device can be acquired. If the user does not stay on the monitoring screen, but immediately operates the PTZ again to move to another monitoring screen, it can be determined that the monitoring location of interest is inaccurate, that is, the most accurate monitoring location of interest has not been determined. Therefore, the second influence coefficient of the monitoring location of interest can be reduced according to the set value, and the corrected second influence coefficient is:

[0111] I=A0*n0-D0*T+A1*n1-D1*T+A2*n2-D2*TF

[0112] Through the above embodiments, the second influence coefficient of each monitoring location can be determined from multiple dimensions, making the determination of the second influence coefficient more comprehensive and accurate, thereby making the determined monitoring location of interest more in line with the user's needs.

[0113] In one embodiment of this application, since the monitoring device has a certain monitoring range during rotation, during the intelligent adjustment of the PTZ monitoring device according to the above embodiment, the monitoring range of the PTZ monitoring device can be determined after processing each motion control command. Then, at least a portion of the motion control commands that need to be processed can be determined based on the monitoring range to ensure the effectiveness of the PTZ monitoring device's monitoring range, thereby ensuring that the user can view the monitoring footage of interest. Specifically, processing at least a portion of the motion control commands according to a preset duration may include:

[0114] S1001: When processing the second motion control command according to a preset duration, determine the monitoring range of the PTZ monitoring device;

[0115] S1003: If the monitoring range is greater than the preset monitoring range, stop processing at least a portion of the motion control commands that are in the same direction as the second motion control command after the second motion control command.

[0116] In this embodiment, the monitoring range of the PTZ monitoring device can be obtained when processing the second motion control command according to a preset duration. In one embodiment, different monitoring ranges can be set for different time periods. For example, the monitoring range is 0-180° during the period from 8:30 to 10:30 am, and 180-270° during the period from 11:30 to 13:30 am. In one embodiment, since the monitoring range is different during different time periods, the time period corresponding to the monitoring range can be determined first, and the preset monitoring range corresponding to that time period can be determined accordingly. Finally, the preset monitoring range and the monitoring range during that time period can be compared. If the monitoring range is greater than the preset monitoring range, processing of at least a portion of the motion control commands following the second motion control command that are in the same direction as the second motion control command is stopped. The same direction can include the same motion direction as the motion control command, and the motion direction can be the direction controlling the movement of the PTZ monitoring device, such as moving left and right, moving up and down, or moving 30° north.

[0117] In one embodiment of this application, the preset monitoring range can be obtained by adjusting the maximum monitoring range of the PTZ monitoring device. Specifically, the preset monitoring range can be determined in the following manner:

[0118] S1101: Obtain the maximum monitoring range of the monitoring device;

[0119] S1103: Use the monitoring equipment to track the target object and determine the target monitoring range of the monitoring equipment;

[0120] S1105: Adjust the maximum monitoring range according to the target monitoring range to determine the preset monitoring range.

[0121] In this embodiment, the maximum monitoring range can be set by the user based on the performance of the PTZ (pan-tilt-zoom) monitoring device during initialization. The maximum monitoring range can be set to different sizes depending on the time period; for example, the monitoring range is 0-180° from 8:30 AM to 10:30 AM, and 180-360° from 11:30 AM to 1:30 PM. In one embodiment, the PTZ monitoring device can be set to automatic tracking mode, allowing it to move along with the target object. The target object can be a moving pedestrian or object. During the movement of the PTZ monitoring device along with the target object, the target monitoring range can be acquired. If the target monitoring range is greater than the maximum monitoring range set for the corresponding time period, the maximum monitoring range set for that time period can be adjusted to match the target monitoring range. This matching can include being the same as or smaller than the target monitoring range. In one embodiment of this application, to improve the effectiveness of the monitoring range of the PTZ monitoring device, the monitoring range of the PTZ monitoring device can be checked. If a close-range monitoring object appears in the monitoring footage captured within the monitoring range during the movement of the PTZ monitoring device, the monitoring range of the PTZ monitoring device can be reduced. For example, in one example, the PTZ monitoring device is installed in a corner of a room. The initial monitoring range of the PTZ monitoring device is 0-360°. If, during the rotation of the PTZ monitoring device, part of the monitoring range captures a wall, and this wall is the aforementioned close-range monitoring object, then this part of the monitoring range is invalid and needs to be removed from the initial monitoring range.

[0122] The pan-tilt control method provided in this application has been described in detail above. The following section will refer to the appendix... Figure 3 The pan-tilt control device 103 provided in this application is described as follows: The pan-tilt control device 103 is applied in a pan-tilt monitoring device and may include:

[0123] The acquisition module 1031 is used to acquire the number of unprocessed motion control commands for the PTZ monitoring device, wherein the motion control commands are used to control the motion of the PTZ monitoring device.

[0124] The motion control command processing module 1033 is used to process at least a portion of the motion control commands according to a preset duration when it is determined that the number is greater than a preset number threshold, wherein the preset duration is greater than a preset duration threshold.

[0125] Optionally, in one embodiment of this application, obtaining the number of unprocessed motion control commands for the PTZ monitoring device includes:

[0126] Obtain the sending and receiving times of the target motion control command: the target motion control command is any one of the unprocessed motion control commands;

[0127] If the time interval between the sending time and the receiving time is greater than a preset time interval, the number of unprocessed motion control commands for the PTZ monitoring device is obtained.

[0128] Optionally, in one embodiment of this application, the sending and receiving times of the target motion control command are determined according to the following method:

[0129] Acquire the first video frame captured by the PTZ monitoring device when sending the target motion control command, and the second video frame captured by the PTZ monitoring device when receiving the target motion control command;

[0130] The sending time is determined based on the first acquisition time of the first video frame, and the receiving time is determined based on the second acquisition time of the second video frame.

[0131] Optionally, in one embodiment of this application, processing at least a portion of the motion control commands according to a preset duration includes:

[0132] While processing the first motion control command according to the preset duration, target detection is performed on the video frames collected by the PTZ monitoring device;

[0133] If a target of interest and / or a location of interest are detected in the video frame, processing of at least a portion of the motion control commands following the first motion control command is stopped.

[0134] Optionally, in one embodiment of this application, processing at least a portion of the motion control commands according to a preset duration includes:

[0135] When processing the second motion control command according to a preset duration, the monitoring range of the PTZ monitoring device is determined;

[0136] If the monitoring range is greater than the preset monitoring range, stop processing at least a portion of the motion control commands that are in the same direction as the second motion control command after the second motion control command.

[0137] Optionally, in one embodiment of this application, the target of interest for monitoring is determined in the following manner:

[0138] Acquire the user's historical operation behavior and the historical video data collected by the PTZ monitoring device;

[0139] Based on the historical video data and the user's historical operational behavior, at least one target of interest for monitoring is identified.

[0140] Optionally, in one embodiment of this application, determining at least one target of interest based on the historical video data and the user's historical operational behavior includes:

[0141] Based on the historical video data, at least one monitoring target is identified;

[0142] A first influence coefficient is determined for each of the at least one monitored target, the first influence coefficient being determined based on the user's historical operational behavior;

[0143] Select at least one target of interest from the at least one target of interest whose first influence coefficient is greater than the first preset influence coefficient.

[0144] Optionally, in one embodiment of this application, the location of interest for monitoring is determined in the following manner:

[0145] Acquire historical video data collected by the PTZ monitoring device and historical motion data of the PTZ monitoring device;

[0146] Based on the historical video data and the historical motion data, at least one monitoring location of interest is obtained.

[0147] Optionally, in one embodiment of this application, obtaining at least one location of interest based on the historical video data and the historical motion data includes:

[0148] Based on the historical video data, at least one monitoring location is determined;

[0149] A second influence coefficient is determined for each of the at least one monitoring location, the second influence coefficient being determined based on the historical motion data;

[0150] Select at least one monitoring location of interest from the at least one monitoring location whose second influence coefficient is greater than the second preset influence coefficient threshold.

[0151] Optionally, in one embodiment of this application, the preset monitoring range is determined in the following manner:

[0152] Obtain the maximum monitoring range of the monitoring device;

[0153] The monitoring equipment is used to track the target object and determine the target monitoring range of the monitoring equipment.

[0154] The maximum monitoring range is adjusted according to the target monitoring range to determine the preset monitoring range.

[0155] The gimbal control device 103 according to the embodiments of this application can be used to execute the methods described in the embodiments of this application. The above and other operations and / or functions of each module in the gimbal control device 103 are respectively for implementing the corresponding processes of the methods provided in the above embodiments. For the sake of brevity, they will not be described again here.

[0156] It should also be noted that the embodiments described above are merely illustrative. The modules described as separate components may or may not be physically separate, and the components shown as modules may or may not be physical modules; that is, they may be located in one place or distributed across multiple network modules. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. In addition, in the accompanying drawings of the device embodiments provided in this application, the connection relationship between modules indicates that they have a communication connection, which can be implemented as one or more communication buses or signal lines.

[0157] This application also provides a processing device, including a memory and a processor, wherein the memory stores computer program instructions, and the processor is configured to execute the computer program instructions to perform the methods described in the above embodiments.

[0158] The processing device can be a physical device or a cluster of physical devices, or it can be a virtualized cloud device, such as at least one cloud computing device in a cloud computing cluster. For ease of understanding, this application illustrates the structure of the processing device as an independent physical device.

[0159] like Figure 4 As shown, the processing device 400 includes a processor and a memory for storing computer program instructions for the processor; wherein the processor is configured to implement the above-described means when executing the computer program instructions. The processing device 400 includes a memory 401, a processor 403, a bus 405, and a communication interface 407. The memory 401, processor 403, and communication interface 407 communicate via the bus 405. The bus 405 may be a peripheral component interconnect (PCI) bus or an extended industry standard architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, Figure 4 The symbol is represented by only one thick line, but this does not indicate that there is only one bus or one type of bus. Communication interface 407 is used for communication with external devices.

[0160] The processor 403 can be a central processing unit (CPU). The memory 401 can include volatile memory, such as random access memory (RAM). The memory 401 can also include non-volatile memory, such as read-only memory (ROM), flash memory, HDD or SSD, etc.

[0161] Those skilled in the art will understand that Figure 4 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0162] This application also provides a chip including at least one processor, the processor being configured to execute computer program instructions stored in a memory to perform the steps of the methods described in the various embodiments above.

[0163] This application also provides a gimbal camera, which includes a gimbal, a camera device, a processor, and a memory. The camera device is mounted on the gimbal and is used to collect historical patrol data within a target area, which may include, for example, image and / or video information. The camera device may include a network camera, a charge-coupled device (CCD) camera, a complementary metal-oxide-semiconductor (CMOS) camera, etc. The gimbal is used to drive the camera device to rotate the gimbal horizontally and / or vertically. The rotation of the gimbal can be achieved by two actuator motors, which receive signals from a controller to precisely position themselves. Under the control signal, the camera on the gimbal can automatically scan the monitored area. The memory stores a computer program, and the processor executes the computer program to implement the methods described in the above embodiments.

[0164] This application also provides a computer-readable storage medium having computer program instructions stored thereon, which, when executed by a processor, implement the steps of the above-described method.

[0165] A computer-readable storage medium can be a tangible device capable of holding and storing instructions for use by an instruction execution device. A computer-readable storage medium can be, for example, but not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination thereof. More specific examples (a non-exhaustive list) of computer-readable storage media include: portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), electrically programmable read-only memory (EPROM or flash memory), static random-access memory (SRAM), compact disc read-only memory (CD-ROM), digital video disc (DVD), memory sticks, floppy disks, mechanical encoding devices, such as punch cards or recessed protrusions storing instructions thereon, and any suitable combination thereof.

[0166] The computer program instructions described herein can be downloaded from a computer-readable storage medium to various computing / processing devices, or downloaded via a network, such as the Internet, local area network, wide area network, and / or wireless network, to an external computer or external storage device. The network may include copper cables, fiber optic cables, wireless transmission, routers, firewalls, switches, gateway computers, and / or edge servers. A network adapter card or network interface in each computing / processing device receives the computer program instructions from the network and forwards them to a computer-readable storage medium within the respective computing / processing device.

[0167] The computer program instructions used to perform the operations of this application may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, status setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Smalltalk, C++, etc., and conventional procedural programming languages ​​such as "C" or similar languages. The computer program instructions may be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer may be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or may be connected to an external computer (e.g., via the Internet using an Internet service provider). In some embodiments, electronic circuits, such as programmable logic circuits, field-programmable gate arrays (FPGAs), or programmable logic arrays (PLAs), are personalized by utilizing state information from computer program instructions. These electronic circuits can execute computer program instructions to implement various aspects of this application.

[0168] Various aspects of this application are described herein with reference to flowchart illustrations and / or block diagrams of methods and apparatus according to embodiments of this application. It should be understood that each block of the flowchart illustrations and / or block diagrams, as well as combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions.

[0169] These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing apparatus to produce a machine such that, when executed by the processor of the computer or other programmable data processing apparatus, they create means for implementing the functions / actions specified in one or more blocks of the flowchart and / or block diagram. These computer program instructions can also be stored in a computer-readable storage medium that causes a computer, programmable data processing apparatus, and / or other device to operate in a particular manner; thus, the computer-readable medium storing the instructions comprises an article of manufacture that includes instructions for implementing aspects of the functions / actions specified in one or more blocks of the flowchart and / or block diagram.

[0170] Computer program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other equipment to cause a series of operational steps to be performed on the computer, other programmable data processing apparatus, or other equipment to produce a computer-implemented process, thereby causing the instructions executed on the computer, other programmable data processing apparatus, or other equipment to perform the functions / actions specified in one or more blocks of a flowchart and / or block diagram.

[0171] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of apparatuses, systems, and methods according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of an instruction containing one or more executable instructions for implementing a specified logical function. In some alternative implementations, the functions marked in the blocks may occur in a different order than those shown in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved.

[0172] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A gimbal control method, characterized in that, The method is applied to a PTZ monitoring device, and the method includes: Obtain the number of unprocessed motion control commands for the PTZ monitoring device, wherein the motion control commands are used to control the motion of the PTZ monitoring device; If the number is determined to be greater than a preset number threshold, at least a portion of the motion control commands are processed according to a preset duration, wherein the preset duration is greater than a preset duration threshold. The process of processing at least a portion of the motion control commands according to a preset duration includes: While processing the first motion control command according to the preset duration, target detection is performed on the video frames collected by the PTZ monitoring device; If an object of interest and / or a location of interest are detected in the video frame, processing of at least a portion of the motion control commands following the first motion control command shall be stopped. or, The process of processing at least a portion of the motion control commands according to a preset duration includes: When processing the second motion control command according to a preset duration, the monitoring range of the PTZ monitoring device is determined; If the monitoring range is greater than the preset monitoring range, stop processing at least a portion of the motion control commands that are in the same direction as the second motion control command after the second motion control command.

2. The method according to claim 1, characterized in that, The acquisition of the number of unprocessed motion control commands for the PTZ monitoring device includes: Obtain the sending and receiving times of the target motion control command: the target motion control command is any one of the unprocessed motion control commands; If the time interval between the sending time and the receiving time is greater than a preset time interval, the number of unprocessed motion control commands for the PTZ monitoring device is obtained.

3. The method according to claim 2, characterized in that, The transmission and reception times of the target motion control command are determined according to the following method: Acquire the first video frame captured by the PTZ monitoring device when sending the target motion control command, and the second video frame captured by the PTZ monitoring device when receiving the target motion control command; The sending time is determined based on the first acquisition time of the first video frame, and the receiving time is determined based on the second acquisition time of the second video frame.

4. The method according to claim 1, characterized in that, The target of interest for monitoring is determined in the following manner: Acquire the user's historical operation behavior and the historical video data collected by the PTZ monitoring device; Based on the historical video data and the user's historical operational behavior, at least one target of interest for monitoring is identified.

5. The method according to claim 4, characterized in that, Based on the historical video data and the user's historical operational behavior, at least one target of interest for monitoring is identified, including: Based on the historical video data, at least one monitoring target is identified; A first influence coefficient is determined for each of the at least one monitored target, the first influence coefficient being determined based on the user's historical operational behavior; Select at least one target of interest from the at least one target of interest whose first influence coefficient is greater than the first preset influence coefficient.

6. The method according to claim 1, characterized in that, The location of interest for monitoring is determined in the following manner: Acquire historical video data collected by the PTZ monitoring device and historical motion data of the PTZ monitoring device; Based on the historical video data and the historical motion data, at least one monitoring location of interest is obtained.

7. The method according to claim 6, characterized in that, The step of obtaining at least one monitoring location of interest based on the historical video data and the historical motion data includes: Based on the historical video data, at least one monitoring location is determined; A second influence coefficient is determined for each of the at least one monitoring location, the second influence coefficient being determined based on the historical motion data; Select at least one monitoring location of interest from the at least one monitoring location whose second influence coefficient is greater than the second preset influence coefficient threshold.

8. The method according to claim 1, characterized in that, The preset monitoring range is determined in the following manner: Obtain the maximum monitoring range of the monitoring device; The monitoring equipment is used to track the target object and determine the target monitoring range of the monitoring equipment. The maximum monitoring range is adjusted according to the target monitoring range to determine the preset monitoring range.

9. A gimbal rotation control device, characterized in that, The device is used in PTZ monitoring equipment and includes: The acquisition module is used to acquire the number of unprocessed motion control commands for the PTZ monitoring device, wherein the motion control commands are used to control the motion of the PTZ monitoring device. A motion control command processing module is used to process at least a portion of the motion control commands according to a preset duration when the number is determined to be greater than a preset number threshold, wherein the preset duration is greater than a preset duration threshold. The process of processing at least a portion of the motion control commands according to a preset duration includes: While processing the first motion control command according to the preset duration, target detection is performed on the video frames collected by the PTZ monitoring device; If an object of interest and / or a location of interest are detected in the video frame, processing of at least a portion of the motion control commands following the first motion control command shall be stopped. or, The process of processing at least a portion of the motion control commands according to a preset duration includes: When processing the second motion control command according to a preset duration, the monitoring range of the PTZ monitoring device is determined; If the monitoring range is greater than the preset monitoring range, stop processing at least a portion of the motion control commands that are in the same direction as the second motion control command after the second motion control command.

10. A processing device comprising a memory and a processor, the memory storing a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 8.

11. A gimbal camera, comprising a gimbal, a camera device, a processor, and a memory, characterized in that, The camera device is mounted on the pan-tilt unit, which is used to drive the camera device to rotate horizontally and / or vertically. The memory stores computer program instructions, and the processor executes the computer program instructions to implement the steps of the method according to any one of claims 1 to 8.

12. A computer-readable storage medium having computer program instructions stored thereon, characterized in that, When the computer program instructions are executed by a processor, they implement the steps of the method according to any one of claims 1 to 8.

13. A chip, characterized in that, It includes at least one processor, which is configured to execute computer program instructions stored in a memory to perform the steps of the method according to any one of claims 1 to 8.

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