Ultrahigh-precision holder control method and control system

Abstract

The invention provides an ultrahigh-precision holder control method and system, relates to the technical field of holder control, is applied to an application terminal establishing network communication with a holder, and comprises the following steps: acquiring a target action of the holder; monitoring the network connection quality between the application end and the holder, and judging whether the network connection quality meets a preset condition or not; if not, acquiring the current state characteristic of the holder during the last successful communication; screening out a target preloading instruction from a preset preloading instruction set according to the target action; traversing each action instruction in the target pre-loading instruction, selecting the action instruction matched with the current state characteristic as an action starting point of the target pre-loading instruction according to the mismatching degree between each action instruction and the current state characteristic, and starting from the action starting point of the target pre-loading instruction; and executing the action instructions in the target preloading instruction one by one until the network connection quality meets a preset condition or the preloading instruction is executed, thereby realizing the preloading control of the holder.

Description

Technical Field

[0001] The present invention relates to the technical field of pan / tilt control, and in particular to an ultra-high precision pan / tilt control method and control system. Background Art

[0002] With the rapid development of science and technology, high-precision gimbals are increasingly used in aerial photography, surveillance, film and television production and other fields. These application scenarios place extremely high demands on the stability and control accuracy of the gimbal. However, in actual applications, due to the complexity and uncertainty of the network environment, the communication quality between the application end and the gimbal is often affected by various factors, such as network delay, packet loss, signal interference, etc. These problems directly affect the control accuracy and response speed of the gimbal.

[0003] Traditional PTZ control methods usually rely on real-time communication instructions. Once the network connection quality decreases, the control accuracy and stability of the PTZ will be seriously affected, and even lead to control instruction loss or execution errors. Therefore, how to maintain high-precision control of the PTZ in the case of poor network connection quality has become an urgent problem to be solved.

[0004] Therefore, it is necessary to provide an ultra-high precision pan / tilt control method and control system to solve the above technical problems. Summary of the invention

[0005] In order to solve the above technical problems, the present invention provides an ultra-high precision pan-tilt control method and control system. When the network connection quality does not meet the preset conditions, the preloading instruction set and current state feature matching technology are used to realize the preloading control of the pan-tilt, so that the target action can be executed quickly and accurately after the network is restored.

[0006] The present invention provides an ultra-high precision pan-tilt control method, which is applied to an application terminal that establishes network communication with the pan-tilt, and the control method comprises the following steps:

[0007] Initialize the application end and the pan / tilt, and obtain the target action of the pan / tilt;

[0008] Monitor the quality of the network connection between the application terminal and the PTZ in real time, and determine whether the quality of the network connection meets a preset condition;

[0009] If not, obtaining the current state characteristics of the gimbal when the application end and the gimbal communicated successfully for the last time, wherein the current state characteristics include the current position and the current posture;

[0010] Filtering a target preloading instruction from a preset preloading instruction set according to the target action;

[0011] Traversing each action instruction in the target preloaded instruction, calculating the mismatch between each action instruction and the current state feature, and selecting the action instruction matching the current state feature as the action starting point of the target preloaded instruction according to the mismatch, wherein the preloaded instruction set includes a plurality of preloaded instructions, each preloaded instruction is preset with an action instruction sequence, and each action instruction in the action instruction sequence includes a specified position and a specified posture corresponding to the gimbal,

[0012] Starting from the action starting point of the target preloading instruction, the action instructions in the target preloading instruction are executed one by one until the network connection quality meets the preset condition or the preloading instruction is executed.

[0013] Preferably, the target posture and the current posture both include a pitch angle, a yaw angle and a roll angle.

[0014] Preferably, the initializing the application end and the pan-tilt head and obtaining the target action of the pan-tilt head includes:

[0015] Initializing the communication connection between the application end and the gimbal, and obtaining the initial state of the gimbal, wherein the initial state includes the initial position and initial posture of the gimbal;

[0016] receiving the target action input by a user, wherein the target action includes a target position and a target posture of the gimbal;

[0017] According to the target action, generating an initial control instruction for controlling the pan / tilt platform to perform the target action;

[0018] The initial control instruction is sent to the gimbal, so that the gimbal is adjusted to the target position and target posture according to the initial control instruction.

[0019] Preferably, the real-time monitoring of the network connection quality between the application end and the pan / tilt head and judging whether the network connection quality meets a preset condition include:

[0020] Periodically sending a heartbeat signal to the pan / tilt and receiving a heartbeat response signal returned by the pan / tilt;

[0021] Calculating the delay between sending and receiving the heartbeat signal, and judging whether the network connection quality meets the preset conditions according to the delay;

[0022] If the delay exceeds a preset threshold, it is determined that the network connection quality does not meet a preset condition;

[0023] If the delay is within a preset threshold, it is determined that the network connection quality meets a preset condition.

[0024] Preferably, the obtaining of the current state characteristics of the gimbal when the application end and the gimbal communicated successfully for the last time includes:

[0025] Recording the status information of the pan-tilt platform each time the application terminal and the pan-tilt platform successfully communicate with each other;

[0026] When it is detected that the network connection quality does not meet the preset condition, extracting the state information of the PTZ at the time of the last successful communication from the recorded state information;

[0027] The state information includes the current position and current posture of the gimbal;

[0028] The current position includes the three-dimensional coordinates of the gimbal in the three-dimensional space.

[0029] Preferably, the step of filtering out a target preloading instruction from a preset preloading instruction set according to the target action includes:

[0030] Analyzing the target action to determine a target position and a target posture corresponding to the target action;

[0031] Traversing each preload instruction in the preload instruction set, and comparing the similarity between each preload instruction and the target action, wherein the similarity is calculated by comparing the matching degree of the action instruction sequence in the preload instruction and the target action;

[0032] The preload instruction with the highest similarity is selected as the target preload instruction.

[0033] Preferably, traversing each action instruction in the target preloading instruction, calculating the mismatch between each action instruction and the current state feature, and selecting the action instruction matching the current state feature as the action starting point of the target preloading instruction according to the mismatch, specifically:

[0034] According to the mismatch degree, an action instruction with the lowest mismatch degree is selected as the action starting point of the target preloading instruction, wherein the mismatch degree is calculated by comparing the deviation between the specified position and the specified posture in the action instruction and the current state feature, and the deviation includes the position deviation measured by the Euclidean distance and the posture deviation measured by the angle difference, and the final mismatch degree is obtained by combining the position deviation and the posture deviation.

[0035] The present invention provides an ultra-high precision pan-tilt control system, which is used to execute an ultra-high precision pan-tilt control method and is applied to an application end that establishes network communication with the pan-tilt. The control system includes:

[0036] A target action acquisition module, used to initialize the application end and the pan / tilt, and acquire the target action of the pan / tilt;

[0037] A quality judgment module, used to monitor the quality of the network connection between the application end and the pan / tilt station in real time, and to judge whether the quality of the network connection meets a preset condition;

[0038] a feature acquisition module, for, if not, acquiring the current state feature of the gimbal when the application end and the gimbal communicated successfully for the last time, wherein the current state feature includes the current position and the current posture;

[0039] An instruction screening module, used for screening out a target preloading instruction from a preset preloading instruction set according to the target action;

[0040] a starting point selection module, for traversing each action instruction in the target preloaded instruction, calculating the mismatch between each action instruction and the current state feature, and selecting the action instruction matching the current state feature as the action starting point of the target preloaded instruction according to the mismatch, wherein the preloaded instruction set includes a plurality of preloaded instructions, each preloaded instruction is preset with an action instruction sequence, each action instruction in the action instruction sequence includes a specified position and a specified posture corresponding to the gimbal,

[0041] The instruction execution module is used to execute the action instructions in the target preloading instruction one by one starting from the action starting point of the target preloading instruction until the network connection quality meets the preset condition or the preloading instruction is executed.

[0042] Compared with the related art, the ultra-high precision pan / tilt control method and control system provided by the present invention have the following beneficial effects:

[0043] The present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 A flow chart of an ultra-high precision pan / tilt control method provided by the present invention;

[0045] Figure 2 A module structure diagram of an ultra-high precision pan / tilt control system provided by the present invention. DETAILED DESCRIPTION

[0046] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only the parts related to the present invention, rather than all structures, are shown in the accompanying drawings. In addition, the embodiments of the present invention and the features in the embodiments may be combined with each other without conflict.

[0047] It should also be noted that, for ease of description, only the part relevant to the present invention but not all the content is shown in the accompanying drawings. It should be mentioned before discussing the exemplary embodiments in more detail that some exemplary embodiments are described as the processing or method described as a flow chart. Although the flow chart describes each operation (or step) as being processed sequentially, many operations therein can be implemented in parallel, concurrently or simultaneously. In addition, the order of each operation can be rearranged. When its operation is completed, the processing can be terminated, but it can also have additional steps not included in the accompanying drawings. The processing can correspond to a method, a function, a procedure, a subroutine, a subprogram, etc.

[0048] Embodiment 1

[0049] The present invention provides an ultra-high precision PTZ control method, which is applied to an application end that establishes network communication with the PTZ. Figure 1 As shown, the control method includes the following steps:

[0050] S1: Initialize the application and the gimbal, and obtain the target action of the gimbal.

[0051] Optionally, step S1 specifically includes the following steps:

[0052] S11: Initialize the communication connection between the application and the gimbal, and obtain the initial state of the gimbal, which includes the initial position and initial posture of the gimbal.

[0053] In any control process, the first step is usually to establish a communication connection and obtain the current state. This is because only when the current state is known can control instructions be issued accurately to ensure the correct execution of subsequent actions. In addition, obtaining the initial state also helps to compare states and correct errors in subsequent processes. The specific working process is as follows:

[0054] First, the application tries to establish a communication connection with the gimbal, which can be achieved in a variety of ways, including but not limited to Wi-Fi, Bluetooth, and wired connections. After the connection is established, both parties confirm to ensure that the data transmission channel is unobstructed.

[0055] Next, the application sends a request to the gimbal to obtain the current position and attitude information. After receiving the request, the gimbal obtains the current position and attitude data from its built-in sensors (such as gyroscopes, accelerometers, etc.) and sends it back to the application.

[0056] Finally, after receiving the data, the application records the initial position (x, y, z) and initial attitude (pitch angle, yaw angle, roll angle) of the gimbal.

[0057] S12: receiving a target action input by a user, where the target action includes a target position and a target posture of the gimbal.

[0058] In this embodiment, the target action input by the user is the basis for the subsequent action of the gimbal. By receiving the user input, the specific position and posture that the gimbal needs to reach can be clarified, thereby generating corresponding control instructions. The specific working process is as follows:

[0059] The application side provides a user interface (UI) that allows the user to specify the target position and target posture through a graphical tool or input box, wherein the user interface includes but is not limited to controls such as a three-dimensional coordinate input box and a posture adjustment button.

[0060] The user enters or selects the target position and target posture on the interface. After the input is completed, the user clicks the confirmation button to submit.

[0061] S13: According to the target action, an initial control instruction for controlling the PTZ to execute the target action is generated.

[0062] In this embodiment, the initial control instruction is generated to enable the gimbal to adjust according to the target position and posture specified by the user. The specific working process is as follows:

[0063] The application calculates a motion trajectory based on the initial state and target action.

[0064] According to the planned trajectory, a series of control instructions are generated, which will guide the gimbal to gradually adjust to the target position and posture. The control instructions include parameters such as moving direction, speed, and acceleration.

[0065] In addition, the generated control instructions need to be serialized into a format that the gimbal can recognize (such as a specific command string or binary data).

[0066] S14: Sending an initial control instruction to the gimbal, so that the gimbal adjusts to the target position and target attitude according to the initial control instruction.

[0067] In this embodiment, sending control instructions is a key step in converting theoretical path planning into actual operation. Through effective instruction transmission, it is ensured that the gimbal can perform actions as expected. The specific working process is as follows:

[0068] The application sends the initial control command to the gimbal through the established communication connection. After receiving the command, the gimbal decodes it and starts to adjust its position and posture according to the command content.

[0069] The PTZ continuously sends status feedback to the application during execution.

[0070] S2: Monitor the quality of the network connection between the application end and the gimbal in real time, and determine whether the quality of the network connection meets the preset conditions.

[0071] Optionally, step S2 specifically includes the following steps:

[0072] S21: Periodically send a heartbeat signal to the gimbal, and receive a heartbeat response signal returned by the gimbal.

[0073] In this embodiment, in network communication, a heartbeat signal is a commonly used mechanism for detecting the communication status of the two connected parties. The regular sending and receiving of the heartbeat signal can monitor the quality of the network connection in real time, and promptly discover and handle network problems. In the PTZ control system, the heartbeat signal can not only be used to detect the validity of the network connection, but also to evaluate the network delay, which is particularly important for real-time control applications.

[0074] The specific working process is:

[0075] Configure a fixed time interval (for example, every one or two seconds) on the application side to send heartbeat signals regularly. This period can be adjusted according to actual needs to balance real-time performance and system resource consumption.

[0076] At each heartbeat cycle, the application generates a heartbeat signal and sends it to the PTZ. The heartbeat signal is a simple data packet that contains some basic information, such as the sending timestamp.

[0077] After receiving the heartbeat signal, the gimbal immediately returns a heartbeat response signal to the application. The response signal also contains information such as the receiving timestamp for the application to calculate the delay.

[0078] After receiving the heartbeat response signal, the application records the sending time and receiving time in order to calculate the delay.

[0079] S22: Calculate the delay between sending and receiving the heartbeat signal, and determine whether the network connection quality meets the preset conditions based on the delay.

[0080] In real-time control applications, network latency is a key indicator. Too high a latency will result in control instructions not being delivered in time, thus affecting the control effect. Therefore, by calculating the latency between sending and receiving the heartbeat signal, the quality of the current network connection can be evaluated and corresponding decisions can be made accordingly.

[0081] The specific working process is:

[0082] The application calculates the time difference between the recorded heartbeat signal sending time and the received heartbeat response signal time, that is, the latency.

[0083] A delay threshold is pre-set to determine whether the network connection quality meets the preset conditions. This threshold can be set according to the requirements of the specific application scenario. Generally, a lower threshold means a higher real-time requirement.

[0084] If the calculated delay is less than or equal to the preset threshold, the network connection quality is considered to be good and meets the preset conditions.

[0085] If the calculated delay is greater than a preset threshold, it is considered that the network connection quality is poor and does not meet the preset conditions.

[0086] The application records the sending and receiving of each heartbeat signal, as well as the calculated delay. These records can be used for subsequent analysis and troubleshooting.

[0087] S3: If not, then obtain the current state characteristics of the gimbal when the application end and the gimbal communicated successfully for the last time, wherein the current state characteristics include the current position and the current posture.

[0088] Optionally, step S3 specifically includes the following steps:

[0089] S31: Record the status information of the PTZ each time the application terminal and the PTZ successfully communicate.

[0090] In this embodiment, in order to ensure that the PTZ can still operate normally when the network connection is unstable, it is necessary to record the status information of the PTZ at each successful communication. This information will be used to restore the latest status of the PTZ when there is a problem with the network connection, thereby reducing the control error caused by network interruption. The purpose of recording the status information is to quickly and accurately obtain the last successful status data when needed later, so that it can continue to operate normally after the network is restored.

[0091] The working process is:

[0092] Initialize a status record table on the application side to save the status information of the PTZ for each successful communication.

[0093] Each time a control command is successfully sent and the status feedback of the gimbal is received, the current position (3D coordinates) and current attitude (pitch angle, yaw angle, roll angle) of the gimbal are recorded in the status record table.

[0094] After each successful communication, the latest status information in the status record table is updated to ensure that the latest PTZ status is recorded.

[0095] The data in the status record table is stored persistently. It can be stored in the application's memory or written to the database or file system to prevent data loss due to system restart and other reasons.

[0096] S32: When it is detected that the network connection quality does not meet the preset condition, extract the state information of the PTZ during the last successful communication from the recorded state information.

[0097] Status information includes the current position and attitude of the gimbal;

[0098] The current position includes the three-dimensional coordinates of the gimbal in three-dimensional space;

[0099] The current attitude includes the pitch angle, yaw angle, and roll angle of the gimbal.

[0100] In this embodiment, when the network connection quality does not meet the preset conditions, it is necessary to identify the state information of the PTZ at the last successful communication, so that when the control command cannot be sent in real time, the preloaded command can still be executed based on the existing state information. The state information at the last successful communication is extracted in order to accurately select the action starting point of the preloaded command in the subsequent steps, thereby ensuring the continuity and accuracy of the PTZ action.

[0101] Working process:

[0102] When the network connection quality is monitored in real time, if it is found that the network connection quality does not meet the preset condition (ie, the delay of the heartbeat signal exceeds the preset threshold), the state information extraction step is entered.

[0103] Search the status record table for the record with the latest timestamp, that is, the status information of the last successful communication.

[0104] The current position (3D coordinates) and current posture (pitch angle, yaw angle, roll angle) of the gimbal in the record are extracted, and the extracted state information is used as the current state feature for the preload instruction selection and action starting point determination in the subsequent steps.

[0105] S4: Filter out a target preloading instruction from a preset preloading instruction set according to the target action.

[0106] Optionally, step S4 specifically includes the following steps:

[0107] S41: Analyze the target action and determine the target position and target posture corresponding to the target action.

[0108] In this embodiment, the user will input specific target actions through the application end to achieve precise control of the pan-tilt. These target actions include the target position and target posture that the pan-tilt needs to achieve. In order to achieve high-precision control, the user's input needs to be analyzed and converted into specific control instructions. Therefore, analyzing the target action and determining its corresponding target position and target posture is a very critical step.

[0109] Specific working process:

[0110] The application receives target action instructions input by the user, which may be provided through a graphical interface, command line, or other user interaction methods.

[0111] The application parses the target action command input by the user, extracts the target position (x, y, z) and target attitude (pitch angle, yaw angle, roll angle), and stores the parsed target position and target attitude as specific values ​​to prepare for the subsequent generation of control commands.

[0112] S42: traverse each preloading instruction in the preloading instruction set, and compare the similarity between each preloading instruction and the target action, wherein the similarity is calculated by comparing the matching degree between the action instruction sequence in the preloading instruction and the target action.

[0113] In this embodiment, the preload instruction set is a set of predefined action instructions, which is used to maintain the basic functions of the PTZ when the network is unstable. In order to select a matching preload instruction when a network quality problem is detected, the similarity between each preload instruction and the current target action needs to be compared. The higher the similarity, the more the preload instruction meets the current target action requirements.

[0114] The specific working process is:

[0115] Initialize the maximum similarity to negative infinity and the best preload instruction index to None.

[0116] Traverse each preload instruction in the preload instruction set.

[0117] For each preload instruction, calculate the similarity between its last action instruction and the target action. The similarity is calculated by comparing the difference between the target position and target posture of the last action instruction in the preload instruction and the target position and target posture in the target action.

[0118] Each instruction sequence in the preloaded instruction set is to achieve a specific task or action, and the last action instruction is usually the final state of the sequence. Therefore, by comparing the difference between the last action instruction in the preloaded instruction sequence and the target action, it can be ensured that after the selected preloaded instruction is executed, the state (position and posture) of the gimbal is closest to the target action.

[0119] The similarity between each preload instruction and the target action is recorded.

[0120] Among them, the similarity comprehensively considers the position difference and posture difference, among which,

[0121] The position difference is measured by calculating the distance between the target position of the last action instruction in the preload instruction and the target position in the target action. It can be calculated using the Euclidean distance formula.

[0122] The pose difference is measured by calculating the angular difference between the target pose of the last action instruction in the preload instruction and the target pose in the target action. The angular difference of each pose can be calculated using the absolute value.

[0123] Finally, the position difference and posture difference are combined to form a comprehensive difference index, and the weighted average is used to calculate the comprehensive difference. The weights are preset and can be adjusted according to actual needs.

[0124] S43: Select the preload instruction with the highest similarity as the target preload instruction.

[0125] In this embodiment, after comparing the similarities between all preload instructions and the target action, the system needs to select the preload instruction with the highest similarity as the target preload instruction. This target preload instruction will be used to continue to control the action of the PTZ when the network connection quality is poor.

[0126] The specific working process is:

[0127] According to the similarities recorded in step S42, the preload instruction with the highest similarity is determined, and the preload instruction with the highest similarity is used as the target preload instruction, and is ready to be used in the next step.

[0128] S5: traverse each action instruction in the target preloading instruction, calculate the mismatch between each action instruction and the current state feature, and select the action instruction that matches the current state feature as the action starting point of the target preloading instruction according to the mismatch, wherein the preloading instruction set includes multiple preloading instructions, each preloading instruction is preset with an action instruction sequence, and each action instruction in the action instruction sequence includes a specified position and a specified posture of the corresponding gimbal.

[0129] Optionally, step S5 specifically includes:

[0130] After selecting the preloaded instruction that best matches the target action, it is necessary to determine which action instruction to start with so that the gimbal's action can smoothly transition from the current state to the target state. To this end, it is necessary to calculate the mismatch between each action instruction and the current state feature, and select the action instruction with the lowest mismatch as the action starting point.

[0131] The specific working process is

[0132] The state information of the gimbal at the time of the last successful communication is extracted from the recorded state information, including the current position and current attitude.

[0133] Initialize the minimum mismatch to infinity and the best action instruction index to None.

[0134] Iterate over each action instruction in the target preload instruction.

[0135] For each action instruction, the deviation between its specified position and the current position in the current state feature is calculated, which can be measured using the Euclidean distance.

[0136] Calculate the deviation between its specified posture and the current posture in the current state feature, which can be measured by the angle difference.

[0137] The position deviation and posture deviation are combined to form a comprehensive mismatch, the mismatch of each action instruction is recorded, and the action instruction with the lowest mismatch is selected as the action starting point of the target preloading instruction.

[0138] S6: Starting from the action starting point of the target preloading instruction, the action instructions in the target preloading instruction are executed one by one until the network connection quality meets the preset condition or the preloading instruction is executed.

[0139] In this embodiment, after determining the action starting point of the preload instruction, it is necessary to execute the preload instruction from this action starting point until the network connection quality is restored or the preload instruction is executed. This can ensure the continuity and naturalness of the PTZ when executing the action and reduce the action interruption caused by network problems.

[0140] The specific working process is:

[0141] According to the calculation result of step S5, the action instruction that best matches the current state feature is determined as the action starting point, the execution state is initialized, and execution is ensured to start from the action starting point. Starting from the action starting point, the action instructions in the preloaded instructions are executed one by one.

[0142] Before executing each action instruction, check whether the network connection quality meets the preset conditions. If the network connection quality returns to the preset conditions, stop executing the preloaded instructions and resume real-time control.

[0143] If the network connection quality is still not restored, continue to execute the next action instruction.

[0144] After executing each action instruction, a check is made to see if the end of the preload instruction has been reached.

[0145] If the preloading instruction has been executed, the preloading instruction is stopped and the network connection quality is waited for to be restored. After the preloading instruction is executed, the network connection quality is continuously monitored until it is restored.

[0146] The working principle of an ultra-high precision pan / tilt control method provided by the present invention is as follows:

[0147] First, the communication connection between the application and the gimbal is initialized, and the initial state of the gimbal (including the initial position and initial attitude) is obtained. Then, the target action (including the target position and target attitude) input by the user is received, and the initial control command is generated and sent to the gimbal, so that the gimbal starts to adjust to the target position and target attitude.

[0148] Secondly, during the control process, the network connection quality between the application end and the PTZ is monitored in real time. By regularly sending heartbeat signals and receiving heartbeat response signals returned by the PTZ, the delay between sending and receiving the heartbeat signals is calculated to determine whether the network connection quality meets the preset conditions. If the delay exceeds the preset threshold, it is determined that the network connection quality does not meet the preset conditions.

[0149] Next, when the network connection quality does not meet the preset conditions, the current state characteristics (including current position and current posture) of the gimbal when the application end and the gimbal communicated successfully for the last time are obtained. Subsequently, the target preload instruction is filtered out from the preset preload instruction set according to the target action. This screening process is achieved by analyzing the similarity between the target action and each instruction in the preload instruction set, and the preload instruction with the highest similarity is selected as the target preload instruction.

[0150] Finally, traverse each action instruction in the target preload instruction and calculate the mismatch between each instruction and the current state feature. The mismatch is calculated by comparing the deviation between the specified position and the specified posture in the action instruction and the current state feature, and the deviation includes the position deviation (measured by Euclidean distance) and the posture deviation (measured by angle difference). The action instruction with the lowest mismatch is selected as the action starting point of the target preload instruction, and the action instructions are executed one by one from this starting point until the network connection quality is restored to meet the preset conditions or the preload instruction is executed.

[0151] In summary, the ultra-high precision PTZ control method of the present invention realizes the preload control of the PTZ by using the preload instruction set and the current state feature matching technology when the network connection quality is poor. This method not only improves the control accuracy and stability of the PTZ in a network fluctuation environment, but also reduces the risk of control instruction loss or execution error caused by network delay or packet loss, providing strong support for the application of high-precision PTZ.

[0152] Embodiment 2

[0153] The present invention provides an ultra-high precision pan-tilt control system for executing an ultra-high precision pan-tilt control method, which is applied to an application end that establishes network communication with the pan-tilt, referring to Figure 2 As shown, the control system includes:

[0154] The target action acquisition module 100 is used to initialize the application end and the PTZ and acquire the target action of the PTZ;

[0155] The quality judgment module 200 is used to monitor the quality of the network connection between the application end and the PTZ in real time, and to judge whether the quality of the network connection meets the preset conditions;

[0156] The feature acquisition module 300 is used to acquire the current state feature of the gimbal when the application end and the gimbal communicated successfully for the last time, wherein the current state feature includes the current position and the current posture;

[0157] The instruction screening module 400 is used to screen out a target preloading instruction from a preset preloading instruction set according to a target action;

[0158] The starting point selection module 500 is used to traverse each action instruction in the target preloaded instruction, calculate the mismatch between each action instruction and the current state feature, and select the action instruction matching the current state feature as the action starting point of the target preloaded instruction according to the mismatch, wherein the preloaded instruction set includes a plurality of preloaded instructions, each preloaded instruction is preset with an action instruction sequence, and each action instruction in the action instruction sequence includes a specified position and a specified posture of the corresponding gimbal,

[0159] The instruction execution module 600 is used to execute the action instructions in the target preloading instruction one by one starting from the action starting point of the target preloading instruction, until the network connection quality meets the preset condition or the preloading instruction is executed.

[0160] The present application is described with reference to flowcharts and / or block diagrams of methods, devices (systems) and computer program products according to embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0161] A person skilled in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by instructing related hardware through a program, and the program can be stored in a computer-readable storage medium, and the storage medium includes a read-only memory (ROM), a random access memory (RAM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), a one-time programmable read-only memory (OTPROM), an electronically erasable rewritable read-only memory (EEPROM), a compact disc (CD-ROM) or other optical disc storage, magnetic disk storage, magnetic tape storage, or any other computer-readable medium that can be used to carry or store data.

[0162] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

Claims

1. An ultra-high precision PTZ control method, applied to an application terminal that establishes network communication with the PTZ, characterized in that: The control method comprises the following steps: Initialize the application end and the pan / tilt, and obtain the target action of the pan / tilt; Monitor the quality of the network connection between the application terminal and the PTZ in real time, and determine whether the quality of the network connection meets a preset condition; If not, obtaining the current state characteristics of the gimbal when the application end and the gimbal communicated successfully for the last time, wherein the current state characteristics include the current position and the current posture; Filtering a target preloading instruction from a preset preloading instruction set according to the target action; Traversing each action instruction in the target preloaded instruction, calculating the mismatch between each action instruction and the current state feature, and selecting the action instruction matching the current state feature as the action starting point of the target preloaded instruction according to the mismatch, wherein the preloaded instruction set includes a plurality of preloaded instructions, each preloaded instruction is preset with an action instruction sequence, and each action instruction in the action instruction sequence includes a specified position and a specified posture corresponding to the gimbal, Starting from the action starting point of the target preloading instruction, the action instructions in the target preloading instruction are executed one by one until the network connection quality meets the preset condition or the preloading instruction is executed completely.

2. The ultra-high precision PTZ control method according to claim 1, characterized in that: The target attitude and the current attitude both include a pitch angle, a yaw angle, and a roll angle.

3. The ultra-high precision PTZ control method according to claim 2, characterized in that: The initializing the application end and the pan / tilt, and obtaining the target action of the pan / tilt, includes: Initializing the communication connection between the application end and the gimbal, and obtaining the initial state of the gimbal, wherein the initial state includes the initial position and initial posture of the gimbal; receiving the target action input by a user, wherein the target action includes a target position and a target posture of the gimbal; According to the target action, generating an initial control instruction for controlling the pan / tilt platform to perform the target action; The initial control instruction is sent to the gimbal, so that the gimbal is adjusted to the target position and target posture according to the initial control instruction.

4. The ultra-high precision PTZ control method according to claim 2, characterized in that: The real-time monitoring of the network connection quality between the application end and the pan / tilt station and determining whether the network connection quality meets a preset condition includes: Periodically sending a heartbeat signal to the pan / tilt platform, and receiving a heartbeat response signal returned by the pan / tilt platform; Calculating the delay between sending and receiving the heartbeat signal, and judging whether the network connection quality meets the preset conditions according to the delay; If the delay exceeds a preset threshold, it is determined that the network connection quality does not meet a preset condition; If the delay is within a preset threshold, it is determined that the network connection quality meets a preset condition.

5. The ultra-high precision PTZ control method according to claim 2, characterized in that: The obtaining of the current state characteristics of the gimbal when the application end and the gimbal communicated successfully for the last time includes: Recording the status information of the pan-tilt platform each time the application terminal successfully communicates with the pan-tilt platform; When it is detected that the network connection quality does not meet the preset condition, extracting the state information of the PTZ at the time of the last successful communication from the recorded state information; The state information includes the current position and current posture of the gimbal; The current position includes the three-dimensional coordinates of the gimbal in the three-dimensional space.

6. The ultra-high precision PTZ control method according to claim 2, characterized in that: The step of selecting a target preloading instruction from a preset preloading instruction set according to the target action includes: Analyzing the target action to determine a target position and a target posture corresponding to the target action; Traversing each preload instruction in the preload instruction set, and comparing the similarity between each preload instruction and the target action, wherein the similarity is calculated by comparing the matching degree of the action instruction sequence in the preload instruction and the target action; The preload instruction with the highest similarity is selected as the target preload instruction.

7. The ultra-high precision PTZ control method according to claim 2, characterized in that: The traversing each action instruction in the target preloading instruction, calculating the mismatch between each action instruction and the current state feature, and selecting the action instruction matching the current state feature as the action starting point of the target preloading instruction according to the mismatch, is specifically as follows: According to the mismatch degree, an action instruction with the lowest mismatch degree is selected as the action starting point of the target preloading instruction, wherein the mismatch degree is calculated by comparing the deviation between the specified position and the specified posture in the action instruction and the current state feature, and the deviation includes the position deviation measured by the Euclidean distance and the posture deviation measured by the angle difference, and the final mismatch degree is obtained by combining the position deviation and the posture deviation.

8. An ultra-high precision pan-tilt control system, used to execute an ultra-high precision pan-tilt control method as claimed in any one of claims 1 to 7, applied to an application terminal that establishes network communication with the pan-tilt, characterized in that: The control system comprises: A target action acquisition module, used to initialize the application end and the pan / tilt, and acquire the target action of the pan / tilt; A quality judgment module, used to monitor the quality of the network connection between the application end and the pan / tilt station in real time, and to judge whether the quality of the network connection meets a preset condition; a feature acquisition module, for, if not, acquiring the current state feature of the gimbal when the application end and the gimbal communicated successfully for the last time, wherein the current state feature includes the current position and the current posture; An instruction screening module, used for screening out a target preloading instruction from a preset preloading instruction set according to the target action; a starting point selection module, for traversing each action instruction in the target preloaded instruction, calculating the mismatch between each action instruction and the current state feature, and selecting the action instruction matching the current state feature as the action starting point of the target preloaded instruction according to the mismatch, wherein the preloaded instruction set includes a plurality of preloaded instructions, each preloaded instruction is preset with an action instruction sequence, each action instruction in the action instruction sequence includes a specified position and a specified posture corresponding to the gimbal, The instruction execution module is used to execute the action instructions in the target preloading instruction one by one starting from the action starting point of the target preloading instruction until the network connection quality meets the preset condition or the preloading instruction is executed.

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