Cradle head low-temperature starting method and device, electronic device and storage medium

Abstract

The invention relates to a low-temperature starting method and device of a holder, an electronic device and a storage medium, and the method comprises the steps: obtaining the temperature of an environment where the holder is located; according to a comparison result of the environment temperature and a preset multi-gear temperature threshold value, a corresponding starting strategy is selected and executed to start the holder; after the cradle head is started, according to an optocoupler position of a motor in the cradle head and a pulse of a driving motor, self-checking the two-way precision of the cradle head to obtain a self-checking result; the optocoupler position is used for indicating the zero position of the motor. Through the method and the device, the problems that ultralow-temperature starting of the equipment cannot be accurately controlled, the motion precision cannot be determined and the equipment damage risk exists in the prior art are solved, the cradle head is automatically started by adopting the starting strategy matched with the environment temperature, the precision of the started cradle head can be detected, and the damage risk is reduced.

Description

Technical Field

[0001] The present application relates to the technical field of communication control equipment, and in particular to a low-temperature startup method, device, electronic device and storage medium for a pan / tilt platform. Background Art

[0002] The gimbal can operate normally in a low temperature environment (above -20 degrees Celsius), but there is currently no effective solution for operating the device in an ultra-low temperature environment. Therefore, the general applicable temperature of the gimbal is above -20 degrees Celsius. Even if the device can operate normally in an ultra-low temperature, the motion accuracy cannot be guaranteed.

[0003] The current solution for starting at ultra-low temperatures is to heat the ball machine in the device by manually placing a heating device, thereby achieving ultra-low temperature starting. The disadvantages of this solution are that the ultra-low temperature starting of the device cannot be accurately controlled, and the movement accuracy cannot be determined, which poses a risk of equipment damage.

[0004] Currently, there is no effective solution to the problem that the ultra-low temperature startup of the equipment cannot be accurately controlled in related technologies, and the movement accuracy cannot be determined, which poses a risk of equipment damage. Summary of the invention

[0005] In this embodiment, a low-temperature startup method, device, electronic device and storage medium of a gimbal are provided to at least solve the problem in the related art that the ultra-low temperature startup of the device cannot be accurately controlled, the movement accuracy cannot be determined, and there is a risk of equipment damage.

[0006] In a first aspect, a low-temperature startup method of a gimbal is provided in this embodiment, comprising:

[0007] Obtaining the ambient temperature of the gimbal;

[0008] According to the comparison result between the ambient temperature and the preset multi-level temperature thresholds, a corresponding startup strategy is selected and executed to start the gimbal;

[0009] After the pan / tilt platform is started, the bidirectional accuracy of the pan / tilt platform is self-checked according to the optical coupling position of the motor in the pan / tilt platform and the pulse driving the motor to obtain a self-check result; the optical coupling position is used to indicate the zero position of the motor.

[0010] In some of the embodiments, according to the comparison result between the ambient temperature and the preset multi-level temperature thresholds, a corresponding startup strategy is selected and executed to start the gimbal, including:

[0011] Comparing the ambient temperature with preset multiple temperature thresholds;

[0012] If the ambient temperature meets the first temperature threshold, the gimbal is started according to a preset first starting current, a first rotation speed and a first angular acceleration;

[0013] If the ambient temperature meets the second temperature threshold, increasing the first starting current to a second starting current, and reducing the first rotation speed and the first angular acceleration to start the gimbal;

[0014] If the ambient temperature meets the third temperature threshold, the gimbal is heated according to a preset heating time; the first starting current is increased to a third starting current, and the first rotation speed and the first angular acceleration are reduced to start the gimbal.

[0015] In some embodiments, the first temperature threshold is greater than or equal to -20°C; the second temperature threshold is less than -20°C and greater than or equal to -30°C; and the third temperature threshold is less than -30°C.

[0016] In some embodiments, heating the gimbal for a preset heating time; increasing the first starting current to a third starting current, and reducing the first rotation speed and the first angular acceleration to start the gimbal include:

[0017] Heating the transmission mechanism of the pan / tilt head and the motor according to a preset heating time;

[0018] increasing the first starting current to a third starting current, and reducing the first rotational speed and the first angular acceleration;

[0019] The gimbal is started cyclically according to the third starting current, the reduced first rotation speed and the first angular acceleration to reach a preset number of cycles.

[0020] In some of the embodiments, the bidirectional accuracy of the pan / tilt is self-checked according to the optical coupling position of the motor in the pan / tilt and the pulse driving the motor, and the self-check result is obtained, including:

[0021] When the optical coupler of the motor in the pan / tilt head detects a first sensing signal, a first number of pulses are sent in a forward direction; in a normal state, the motor executes the first number of pulses to complete a stroke;

[0022] After the motor completes the first number of pulses in the forward direction, determining whether the optical coupler detects a second sensing signal;

[0023] If a second sensing signal is detected, sending the first number of pulses in reverse direction;

[0024] After the motor completes the first number of pulses in reverse execution, determining whether the optical coupler detects a third sensing signal;

[0025] If the third sensing signal is detected, the bidirectional accuracy of the pan / tilt platform meets the accuracy requirement;

[0026] If the third sensing signal is not detected, the forward accuracy of the gimbal meets the accuracy requirement, and the reverse accuracy of the gimbal does not meet the accuracy requirement.

[0027] In some embodiments, after determining whether the optical coupler detects the second sensing signal, the method further includes:

[0028] If the second sensing signal is not detected, the motor is controlled to return to the optical coupling position, and the first number of pulses are sent in reverse;

[0029] After the motor completes the first number of pulses in reverse execution, determining whether the optical coupler detects a fourth sensing signal;

[0030] If the fourth sensing signal is detected, the reverse accuracy of the gimbal meets the accuracy requirement, and the forward accuracy of the gimbal does not meet the accuracy requirement;

[0031] If the fourth sensing signal is not detected, the bidirectional accuracy of the gimbal does not meet the accuracy requirement.

[0032] In some embodiments, obtaining the ambient temperature of the gimbal includes:

[0033] The ambient temperature of the pan / tilt platform is obtained by a temperature sensor arranged on the surface of the pan / tilt platform.

[0034] In a second aspect, a low-temperature starting device for a pan / tilt platform is provided in this embodiment, comprising: an acquisition module, a processing module, and a self-checking module;

[0035] The acquisition module is used to acquire the ambient temperature of the pan / tilt platform;

[0036] The processing module is used to select and execute a corresponding startup strategy to start the PTZ according to a comparison result between the ambient temperature and the preset multi-level temperature thresholds;

[0037] The self-test module is used to perform a self-test on the bidirectional accuracy of the pan-tilt platform after the pan-tilt platform is started, according to the optical coupling position of the motor in the pan-tilt platform and the pulse driving the motor, to obtain a self-test result; the optical coupling position is used to indicate the zero position of the motor.

[0038] In a third aspect, a computer device is provided in this embodiment, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the low-temperature startup method of the gimbal described in the first aspect is implemented.

[0039] In a fourth aspect, in this embodiment, a storage medium is provided, on which a computer program is stored, and when the program is executed by a processor, the low-temperature startup method of the gimbal described in the first aspect is implemented.

[0040] Compared with the related art, the low-temperature startup method, device, electronic device and storage medium of the gimbal provided in this embodiment obtain the ambient temperature of the gimbal; select and execute the corresponding startup strategy to start the gimbal according to the comparison result of the ambient temperature and the preset multi-level temperature thresholds; after the gimbal is started, the bidirectional accuracy of the gimbal is self-checked according to the optocoupler position of the motor in the gimbal and the pulse of the driving motor to obtain the self-check result; the optocoupler position is used to indicate the zero position of the motor, which solves the problem that the ultra-low temperature startup of the device cannot be accurately controlled in the related art, and the movement accuracy cannot be determined, and there is a risk of equipment damage. A startup strategy matching the ambient temperature is adopted to realize automatic startup of the gimbal, and the accuracy of the gimbal after startup can be detected to reduce the risk of damage.

[0041] Details of one or more embodiments of the present application are set forth in the following drawings and description to make other features, objects, and advantages of the present application more readily apparent. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0043] Figure 1 This is a hardware structure block diagram of a terminal device of a low-temperature startup method of a pan / tilt platform provided in an embodiment of the present application;

[0044] Figure 2 is a flow chart of a low temperature start method of a gimbal provided in an embodiment of the present application;

[0045] Figure 3 is a flowchart of step S220;

[0046] Figure 4 is a flowchart of a self-check provided by an embodiment of the present application;

[0047] Figure 5 This is a structural block diagram of a low-temperature starting device for a pan / tilt platform provided in one embodiment of the present application.

[0048] In the figure: 102, processor; 104, memory; 106, transmission device; 108, input and output device; 210, acquisition module; 220, processing module; 230, self-test module. DETAILED DESCRIPTION

[0049] In order to more clearly understand the purpose, technical solutions and advantages of the present application, the present application is described and illustrated below in conjunction with the accompanying drawings and embodiments.

[0050] Unless otherwise defined, the technical terms or scientific terms involved in this application shall have the general meaning understood by people with ordinary skills in the technical field to which this application belongs. The words "one", "a", "a", "the", "these" and the like in this application do not represent quantitative restrictions, and they can be singular or plural. The terms "include", "comprise", "have" and any variants thereof involved in this application are intended to cover non-exclusive inclusions; for example, a process, method and system, product or device comprising a series of steps or modules (units) is not limited to the listed steps or modules (units), but may include unlisted steps or modules (units), or may include other steps or modules (units) inherent to these processes, methods, products or devices. The words "connect", "connected", "coupled" and the like involved in this application are not limited to physical or mechanical connections, but may include electrical connections, whether directly or indirectly. The "multiple" involved in this application refers to two or more. "And / or" describes the association relationship of associated objects, indicating that there can be three relationships. For example, "A and / or B" can mean: A exists alone, A and B exist at the same time, and B exists alone. Usually, the character " / " indicates that the objects associated with each other are in an "or" relationship. The terms "first", "second", "third", etc. involved in this application are only used to distinguish similar objects and do not represent a specific ordering of the objects.

[0051] The method embodiment provided in this embodiment can be executed in a terminal, a computer or a similar computing device. For example, running on a terminal, Figure 1 FIG. 1 is a hardware structure diagram of a terminal of the low temperature startup method of the pan / tilt platform of this embodiment. Figure 1 As shown, the terminal may include one or more ( Figure 1 Only one is shown in the figure) processor 102 and memory 104 for storing data, wherein processor 102 may include but is not limited to a processing device such as a microprocessor MCU or a programmable logic device FPGA. The above terminal may also include a transmission device 106 and an input and output device 108 for communication functions. It can be understood by those skilled in the art that Figure 1 The structure shown is only for illustration and does not limit the structure of the above terminal. Figure 1 More or fewer components as shown, or with Figure 1 Different configurations shown.

[0052] The memory 104 can be used to store computer programs, for example, software programs and modules of application software, such as the computer program corresponding to the low-temperature startup method of the pan / tilt in this embodiment. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, that is, to implement the above method. The memory 104 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include a memory remotely arranged relative to the processor 102, and these remote memories may be connected to the terminal via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0053] The transmission device 106 is used to receive or send data via a network. The above network includes a wireless network provided by the communication provider of the terminal. In one example, the transmission device 106 includes a network adapter (Network Interface Controller, referred to as NIC), which can be connected to other network devices through a base station so as to communicate with the Internet. In one example, the transmission device 106 can be a radio frequency (Radio Frequency, referred to as RF) module, which is used to communicate with the Internet wirelessly.

[0054] In this embodiment, a low temperature starting method of a pan / tilt is provided. Figure 2 : is a flow chart of the low temperature start method of the pan / tilt platform of this embodiment, such as Figure 2 As shown, the process includes the following steps:

[0055] Step S210, obtaining the ambient temperature of the PTZ;

[0056] Step S220, selecting and executing a corresponding startup strategy to start the PTZ according to a comparison result between the ambient temperature and the preset multi-level temperature thresholds;

[0057] Step S230, after the pan / tilt is started, the bidirectional accuracy of the pan / tilt is self-checked according to the optical coupling position of the motor in the pan / tilt and the pulse of the driving motor to obtain a self-check result; the optical coupling position is used to indicate the zero position of the motor.

[0058] Specifically, the pan / tilt refers to a pan / tilt network camera device, which can be considered as a camera device with a pan / tilt. The camera device is installed on the pan / tilt, and the motor of the pan / tilt drives the transmission mechanism to move, so that the camera device can shoot from multiple angles. For the synchronous belt made of silicone rubber, the conventional operating temperature is -30℃~80℃. The lower the temperature, the greater the hardness of the synchronous belt. The increase in hardness will cause its elasticity to deteriorate, and this change will cause an increase in internal stress. Therefore, general pan / tilts are used above normal temperatures (-20℃). If it is at ultra-low temperatures, it is necessary to manually place a heating device to heat the ball camera in the device to achieve ultra-low temperature startup; there is a problem that the ultra-low temperature startup of the device cannot be accurately controlled, and the motion accuracy cannot be determined, and there is a risk of equipment damage. However, this embodiment uses a startup strategy corresponding to different ambient temperatures to start the pan / tilt, reduce the risk of equipment damage, and combined with precision self-test, it can allow users to know the accuracy of the device after startup in a timely manner, thereby improving user experience.

[0059] The ambient temperature of the gimbal can be obtained in many ways, such as obtaining it through a set temperature sensor, or obtaining the ambient temperature of the gimbal from the network, etc., and there is no restriction on this. The temperature threshold is divided into multiple levels, and each level of temperature threshold is pre-configured with a corresponding startup strategy; then the corresponding startup strategy can be directly selected based on the comparison result between the ambient temperature and the preset multiple levels of temperature threshold, and then the selected startup strategy is executed to accurately and quickly start the gimbal. Since the startup parameters (starting current, speed, angular acceleration, heating, etc.) selected by the startup strategy are different, different startup parameters can be adapted to start the gimbal at different ambient temperatures to ensure the smooth startup of the gimbal and reduce the risk of damage.

[0060] In this embodiment, the gimbal also has a self-test of bidirectional accuracy. Among them, the optocoupler is used to indicate the zero position of the motor; that is, when the motor passes through the optocoupler during operation, the optocoupler detects a sensing signal, and the motor is considered to be at zero position at this time. When the motor is in a normal state, the number of pulses in a stroke is fixed, and the motor can be considered to be at zero. Under the first number of pulses, it returns to zero after running a circle, and the accuracy is considered to meet the accuracy requirements; otherwise, it does not meet the accuracy requirements. Therefore, after the gimbal is started, the forward and reverse accuracy of the gimbal is self-checked according to the optocoupler of the motor in the gimbal and the pulse of the driving motor, and the self-test result is obtained, which allows the user to obtain the accuracy of the gimbal after driving, which is convenient for the subsequent precise control of the gimbal and improves the user experience.

[0061] Through the above steps, the ambient temperature of the gimbal is obtained; according to the comparison result of the ambient temperature and the preset multi-level temperature thresholds, the corresponding startup strategy is selected and executed to start the gimbal; after the gimbal is started, the bidirectional accuracy of the gimbal is self-checked according to the optocoupler position of the motor in the gimbal and the pulse of the drive motor to obtain the self-check result; the optocoupler position is used to indicate the zero position of the motor, which solves the problem that the ultra-low temperature startup of the device cannot be accurately controlled in the related technology, the movement accuracy cannot be determined, and there is a risk of equipment damage. A startup strategy matching the ambient temperature is used to realize automatic startup of the gimbal, and the accuracy of the gimbal after startup can be detected to reduce the risk of damage.

[0062] The following is a detailed description of each of the above steps:

[0063] In some of the embodiments, Figure 3 As shown, in step S220, according to the comparison result between the ambient temperature and the preset multi-level temperature thresholds, a corresponding startup strategy is selected and executed to start the PTZ, which includes the following steps:

[0064] Step S221, comparing the ambient temperature with the preset multi-level temperature thresholds;

[0065] Step S222, if the ambient temperature meets the first temperature threshold, the gimbal is started according to the preset first starting current, first speed and first angular acceleration;

[0066] Step S223, if the ambient temperature meets the second temperature threshold, the first starting current is increased to the second starting current, and the first rotation speed and the first angular acceleration are reduced to start the gimbal;

[0067] Step S224, if the ambient temperature meets the third temperature threshold, the gimbal is heated according to the preset heating time; the first starting current is increased to the third starting current, and the first rotation speed and the first angular acceleration are reduced to start the gimbal.

[0068] Specifically, the multi-level temperature thresholds can be divided by the different temperatures applicable to the gimbal, which can be divided into a first-level temperature threshold, a second-level temperature threshold, and a third-level temperature threshold. Among them, the first-level temperature threshold is the temperature range in which the gimbal can start normally; the second-level temperature threshold is the temperature range in which the relevant mechanism (such as the transmission mechanism) in the gimbal is slightly frozen, resulting in the inability to start normally; the third-level temperature threshold is the temperature range in which the relevant mechanism (such as the transmission mechanism) in the gimbal is completely frozen, resulting in the inability to start normally. The temperature threshold can be adjusted to match different gimbals, and there is no restriction on this.

[0069] Among them, the ambient temperature is compared with the temperature threshold of multiple gears, which can be considered as the temperature threshold for determining which gear the ambient temperature meets; if the ambient temperature meets the temperature threshold of the first gear, it is considered that the gimbal can be started normally, and the gimbal is started according to the first starting current, the first speed and the first angular acceleration. Among them, the first starting current, the first speed and the first angular acceleration are all pre-set and are the starting parameters for the gimbal to start under normal conditions. If the ambient temperature meets the temperature threshold of the second gear, it is considered that the relevant mechanism in the gimbal is slightly frozen and cannot be started normally with the original starting parameters, then the first starting current is increased to the second starting current, and the first speed and the first angular acceleration are reduced, and the gimbal is started with a short-term overload of the output torque, so that ice can be broken in a short time, and the waiting time is short. If the ambient temperature meets the temperature threshold of the third gear, it is considered that the relevant mechanism in the gimbal is completely frozen, and it cannot be started normally with the original or modified starting parameters, and an auxiliary means of heating is required, then the gimbal is heated according to the preset heating time; the first starting current is increased to the third starting current, and the first speed and the first angular acceleration are reduced to increase the output torque to the threshold to start the gimbal.

[0070] Through this embodiment, the comparison result between the ambient temperature and the multi-level temperature thresholds is utilized to select a startup strategy that matches the ambient temperature, so as to stably start the gimbal to prevent the gimbal from being overloaded and burning.

[0071] In some embodiments, the first temperature threshold is greater than or equal to -20°C; the second temperature threshold is less than -20°C and greater than or equal to -30°C; and the third temperature threshold is less than -30°C.

[0072] In this embodiment, the material of the synchronous belt in the gimbal is silicone rubber, which has an applicable temperature of -30°C to 80°C; and the applicable temperature of the gimbal is generally above -20°C. Therefore, the first temperature threshold is set to be greater than or equal to -20°C. The second temperature threshold is less than -20°C and greater than or equal to -30°C. Below -30°C, the internal stress of the synchronous belt will increase, so the third temperature threshold is less than -30°C.

[0073] Through this embodiment, the temperature thresholds of different gears can be accurately divided, thereby improving the success rate of high-precision startup of the gimbal without damaging the gimbal.

[0074] In some embodiments, the step S224 of heating the gimbal according to a preset heating time; increasing the first starting current to a third starting current, and reducing the first rotation speed and the first angular acceleration to start the gimbal includes the following steps:

[0075] Heat the transmission mechanism and motor of the gimbal according to the preset heating time;

[0076] increasing the first starting current to a third starting current, and reducing the first rotation speed and the first angular acceleration;

[0077] According to the third starting current, the reduced first rotation speed and the first angular acceleration, the gimbal is started cyclically to reach a preset number of cycles.

[0078] Specifically, the heating step and the step of changing the starting parameters to start (increasing the torque) are separated; this is to take into account the overall power limitation of the gimbal to prevent the gimbal from being overloaded.

[0079] In this embodiment, the heating step is performed first: that is, the transmission mechanism and motor of the pan-tilt are heated according to the preset heating time. In order to improve the effect, the objects that can be heated can also include key components such as worm gears, and the heating time can be more than 2 minutes to reduce the surface hardness of the synchronous belt and eliminate its own internal stress. It should be noted that sudden heating should be avoided, which will cause the synchronous belt to crack and accelerate aging. After the heating step is completed, the starting step of increasing the torque is performed; that is, the first starting current is increased to the third starting current, and the first speed and the first angular acceleration are reduced; according to the third starting current, the reduced first speed and the first angular acceleration, the pan-tilt is started cyclically to reach the preset number of cycles. Among them, the third starting current is the rated current value of the motor; at the time of starting, the moment of inertia is constant, and reducing the first speed and the first angular acceleration can reduce the starting torque (stop torque). Among them, the first speed and the first angular acceleration only need to be reduced so that the motor can break the ice with less force; there is no restriction on the specific reduced values.

[0080] Through this embodiment, effective ice-breaking starting under extremely low temperatures is achieved through heating combined with increasing torque and reducing starting torque.

[0081] Reference below Figure 4 Explanation of the self-test:

[0082] In some embodiments, the step S230 performs a self-test on the bidirectional accuracy of the pan / tilt according to the optical coupling position of the motor in the pan / tilt and the pulse of the driving motor to obtain the self-test result, including the following steps:

[0083] Step S231, when the optical coupler of the motor in the gimbal detects the first sensing signal, a first number of pulses are sent in the forward direction; in a normal state, the motor executes the first number of pulses to complete a stroke;

[0084] Step S232, after the motor completes the first number of pulses in the forward direction, determining whether the optical coupler detects a second sensing signal;

[0085] Step S233, if the second sensing signal is detected, sending the first number of pulses in the reverse direction;

[0086] Step S234, after the motor completes the first number of pulses in reverse execution, determining whether the optical coupler detects a third sensing signal;

[0087] Step S235: if the third sensing signal is detected, the bidirectional accuracy of the gimbal meets the accuracy requirement;

[0088] Step S236: If the third sensing signal is not detected, the forward accuracy of the gimbal meets the accuracy requirement, and the reverse accuracy of the gimbal does not meet the accuracy requirement.

[0089] Specifically, the motor rotates under the pulse; the motor executes a first number of pulses to complete a stroke in a normal state; a stroke refers to the motor rotating from zero position to zero position as a stroke. The first number can be obtained through testing or motor parameters. The optocoupler position indicates the zero position of the motor, which can be achieved by setting the position of the optocoupler. When the motor rotates to the optocoupler position, a sensing signal can be detected, indicating that the motor returns to zero position.

[0090] Before executing the above steps, you can first control the motor to return to zero position by generating pulses, so that the optocoupler can detect the first sensing signal. If it cannot return to zero position, the self-test fails and ends directly. Send the first number of pulses in the forward direction, so that the motor rotates clockwise starting from the zero position. Since the first number is the pulse for one rotation of the motor, if the optocoupler detects the second sensing signal, it means that the forward accuracy of the gimbal meets the accuracy requirements; on this basis, send the first number of pulses in the reverse direction, so that the motor rotates counterclockwise starting from the zero position. If the optocoupler detects the third sensing signal, it means that the bidirectional accuracy of the gimbal meets the accuracy requirements; if the third sensing signal is not detected, it means that the forward accuracy of the gimbal meets the accuracy requirements, and the reverse accuracy of the gimbal does not meet the accuracy requirements.

[0091] Through this embodiment, the number of pulses generated is used to limit the number of rotations of the motor, thereby preventing misjudgment caused by failure of the transmission mechanism (slippage of the synchronous belt) and improving the accuracy of self-test.

[0092] In some embodiments, after determining whether the optical coupler detects the second sensing signal in step S232, the method further includes the following steps:

[0093] Step S237, if the second sensing signal is not detected, the motor is controlled to return to the optical coupling position and the first number of pulses are sent in the reverse direction;

[0094] Step S238, after the motor completes the first number of pulses in reverse execution, determining whether the optical coupler detects a fourth sensing signal;

[0095] Step S239: if the fourth sensing signal is detected, the reverse accuracy of the gimbal meets the accuracy requirement, and the forward accuracy of the gimbal does not meet the accuracy requirement;

[0096] Step S241: If the fourth sensing signal is not detected, the bidirectional accuracy of the gimbal does not meet the accuracy requirement.

[0097] Specifically, after step S232, if the second sensing signal is not detected, the control controls the motor to return to the optocoupler position by generating a pulse, and then sends the first number of pulses in the reverse direction, so that the motor rotates counterclockwise with the zero position as the starting point. Since the first number is the pulse for one rotation of the motor, if the optocoupler detects the fourth sensing signal, it means that the reverse accuracy of the gimbal meets the accuracy requirements; if the optocoupler does not detect the fourth sensing signal, it means that the bidirectional accuracy of the gimbal does not meet the accuracy requirements.

[0098] At this point, the self-test results can be output. The self-test results include self-test failure, both bidirectional accuracy do not meet the accuracy requirements, reverse accuracy meets the accuracy requirements, forward accuracy does not meet the accuracy requirements, forward accuracy meets the accuracy requirements, reverse accuracy does not meet the accuracy requirements, and both bidirectional accuracy meet the accuracy requirements. The self-test results allow users to know the accuracy of the gimbal, facilitate subsequent use, and improve user experience.

[0099] Through this embodiment, the number of pulses generated is used to limit the number of rotations of the motor, thereby preventing misjudgment caused by failure of the transmission mechanism (slippage of the synchronous belt) and improving the accuracy of self-test.

[0100] In some embodiments, obtaining the ambient temperature of the PTZ in step S210 includes the following steps:

[0101] The temperature of the environment in which the gimbal is located is obtained by setting a temperature sensor on the surface of the gimbal.

[0102] Specifically, the temperature sensor is disposed on the surface of the gimbal, so as to accurately obtain the ambient temperature of the gimbal. The specific form of the temperature sensor is not limited.

[0103] It should be noted that the steps shown in the above process or the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0104] In this embodiment, a low-temperature starting device for a pan / tilt is also provided, which is used to implement the above-mentioned embodiments and preferred implementation modes, and will not be repeated hereafter. The terms "module", "unit", "subunit", etc. used below may be a combination of software and / or hardware that implements a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceivable.

[0105] Figure 5 : is a structural block diagram of the low temperature starting device of the pan / tilt platform of this embodiment, such as Figure 5 As shown, the device includes: an acquisition module 210, a processing module 220 and a self-checking module 230;

[0106] The acquisition module 210 is used to obtain the ambient temperature of the PTZ;

[0107] The processing module 220 is used to select and execute a corresponding startup strategy to start the PTZ according to the comparison result between the ambient temperature and the preset multi-level temperature thresholds;

[0108] The self-test module 230 is used to perform a self-test on the bidirectional accuracy of the pan-tilt after the pan-tilt is started, based on the optical coupling position of the motor in the pan-tilt and the pulse of the driving motor, to obtain a self-test result; the optical coupling position is used to indicate the zero position of the motor.

[0109] The above device is used to solve the problem in related technologies that the ultra-low temperature startup of the equipment cannot be accurately controlled, the movement accuracy cannot be determined, and there is a risk of equipment damage. A startup strategy that matches the ambient temperature is used to automatically start the gimbal, and the accuracy of the gimbal after startup can be detected to reduce the risk of damage.

[0110] In some of the embodiments, the processing module 220 is further used to compare the ambient temperature with the preset multiple temperature thresholds;

[0111] If the ambient temperature meets the first temperature threshold, the gimbal is started according to the preset first starting current, first speed and first angular acceleration;

[0112] If the ambient temperature meets the second temperature threshold, the first starting current is increased to the second starting current, and the first rotation speed and the first angular acceleration are reduced to start the gimbal;

[0113] If the ambient temperature meets the third temperature threshold, the gimbal is heated according to the preset heating time; the first starting current is increased to the third starting current, and the first rotation speed and the first angular acceleration are reduced to start the gimbal.

[0114] In some embodiments, the first temperature threshold is greater than or equal to -20°C; the second temperature threshold is less than -20°C and greater than or equal to -30°C; and the third temperature threshold is less than -30°C.

[0115] In some of the embodiments, the processing module 220 is further used to heat the transmission mechanism and the motor of the gimbal according to a preset heating time;

[0116] increasing the first starting current to a third starting current, and reducing the first rotation speed and the first angular acceleration;

[0117] According to the third starting current, the reduced first rotation speed and the first angular acceleration, the gimbal is started cyclically to reach a preset number of cycles.

[0118] In some of the embodiments, the self-test module 230 is further used to send a first number of pulses in a forward direction when the optical coupler of the motor in the gimbal detects a first sensing signal; the motor executes the first number of pulses to complete a stroke in a normal state;

[0119] After the motor completes the first number of pulses in the forward direction, determining whether the optical coupler detects a second sensing signal;

[0120] If the second sensing signal is detected, sending the first number of pulses in the reverse direction;

[0121] After the motor completes the first number of pulses in reverse execution, determining whether the optical coupler detects a third sensing signal;

[0122] If the third sensing signal is detected, the bidirectional accuracy of the gimbal meets the accuracy requirements;

[0123] If the third sensing signal is not detected, the forward accuracy of the gimbal meets the accuracy requirement, and the reverse accuracy of the gimbal does not meet the accuracy requirement.

[0124] In some of the embodiments, the self-check module 230 is further used to control the motor to return to the optical coupling position and send the first number of pulses in the reverse direction if the second sensing signal is not detected;

[0125] After the motor completes the first number of pulses in reverse execution, determining whether the optical coupler detects a fourth sensing signal;

[0126] If the fourth sensing signal is detected, the reverse accuracy of the gimbal meets the accuracy requirement, and the forward accuracy of the gimbal does not meet the accuracy requirement;

[0127] If the fourth sensing signal is not detected, the bidirectional accuracy of the gimbal does not meet the accuracy requirement.

[0128] In some of the embodiments, the acquisition module 210 is further configured to acquire the ambient temperature of the gimbal through a temperature sensor disposed on the surface of the gimbal.

[0129] It should be noted that the above modules can be functional modules or program modules, and can be implemented by software or hardware. For modules implemented by hardware, the above modules can be located in the same processor; or the above modules can be located in different processors in any combination.

[0130] In this embodiment, a computer device is further provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor is configured to run the computer program to execute the steps in any one of the above method embodiments.

[0131] Optionally, the computer device may further include a transmission device and an input / output device, wherein the transmission device is connected to the processor, and the input / output device is connected to the processor.

[0132] Optionally, in this embodiment, the processor may be configured to perform the following steps through a computer program:

[0133] S1, obtain the ambient temperature of the gimbal;

[0134] S2, selecting and executing a corresponding startup strategy to start the PTZ according to a comparison result between the ambient temperature and the preset multi-level temperature thresholds;

[0135] S3, after the gimbal is started, the bidirectional accuracy of the gimbal is self-checked according to the optocoupler position of the motor in the gimbal and the pulse of the driving motor to obtain the self-check result; the optocoupler position is used to indicate the zero position of the motor.

[0136] It should be noted that the specific examples in this embodiment can refer to the examples described in the above embodiments and optional implementation modes, and will not be repeated in this embodiment.

[0137] In addition, in combination with the low-temperature startup method of the pan / tilt provided in the above embodiments, a storage medium can also be provided in this embodiment to implement the method. The storage medium stores a computer program; when the computer program is executed by the processor, any of the low-temperature startup methods of the pan / tilt provided in the above embodiments is implemented.

[0138] It should be noted that the information and data involved in this application are all authorized by the user or fully authorized by all parties and will be used legally.

[0139] It should be understood that the specific embodiments described herein are only used to explain the application, rather than to limit it. Based on the embodiments provided in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the protection scope of this application.

[0140] Obviously, the drawings are only some examples or embodiments of the present application. For ordinary technicians in the field, the present application can also be applied to other similar situations based on these drawings without creative work. In addition, it is understandable that although the work done in this development process may be complicated and lengthy, for ordinary technicians in the field, certain changes in design, manufacturing or production based on the technical content disclosed in this application are only conventional technical means and should not be regarded as insufficient content disclosed in this application.

[0141] The term "embodiment" in this application refers to a specific feature, structure or characteristic described in conjunction with the embodiment that can be included in at least one embodiment of the present application. The appearance of this phrase in various locations in the specification does not necessarily mean the same embodiment, nor does it mean that it is mutually exclusive with other embodiments and is independent or optional. It is clearly or implicitly understood by those of ordinary skill in the art that the embodiments described in this application can be combined with other embodiments without conflict.

[0142] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of patent protection. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the scope of protection of the present application. Therefore, the scope of protection of the present application shall be subject to the attached claims.

Claims

1. A low temperature start method for a pan / tilt platform, characterized in that: include: Obtaining the ambient temperature of the gimbal; According to the comparison result between the ambient temperature and the preset multi-level temperature thresholds, a corresponding startup strategy is selected and executed to start the gimbal; After the pan / tilt platform is started, the bidirectional accuracy of the pan / tilt platform is self-checked according to the optical coupling position of the motor in the pan / tilt platform and the pulse driving the motor to obtain a self-check result; the optical coupling position is used to indicate the zero position of the motor.

2. The low temperature starting method of the pan / tilt platform according to claim 1, characterized in that: According to the comparison result between the ambient temperature and the preset multi-level temperature thresholds, a corresponding startup strategy is selected and executed to start the gimbal, including: Comparing the ambient temperature with preset multiple temperature thresholds; If the ambient temperature meets the first temperature threshold, the gimbal is started according to a preset first starting current, a first rotation speed and a first angular acceleration; If the ambient temperature meets the second temperature threshold, increasing the first starting current to a second starting current, and reducing the first rotation speed and the first angular acceleration to start the gimbal; If the ambient temperature meets the third temperature threshold, the gimbal is heated according to a preset heating time; the first starting current is increased to a third starting current, and the first rotation speed and the first angular acceleration are reduced to start the gimbal.

3. The low temperature starting method of the pan / tilt platform according to claim 2, characterized in that: The first temperature threshold is greater than or equal to -20°C; the second temperature threshold is less than -20°C and greater than or equal to -30°C; the third temperature threshold is less than -30°C.

4. The low temperature starting method of the pan / tilt platform according to claim 2, characterized in that: Heating the pan / tilt platform according to a preset heating time; Increasing the first starting current to a third starting current and reducing the first rotation speed and the first angular acceleration to start the gimbal includes: Heating the transmission mechanism of the pan / tilt head and the motor according to a preset heating time; increasing the first starting current to a third starting current, and reducing the first rotational speed and the first angular acceleration; The gimbal is started cyclically according to the third starting current, the reduced first rotation speed and the first angular acceleration to reach a preset number of cycles.

5. The low temperature starting method of the pan / tilt platform according to claim 1, characterized in that: According to the optical coupling position of the motor in the pan / tilt and the pulse driving the motor, the bidirectional accuracy of the pan / tilt is self-checked to obtain the self-check result, including: When the optical coupler of the motor in the pan / tilt head detects a first sensing signal, a first number of pulses are sent in a forward direction; in a normal state, the motor executes the first number of pulses to complete a stroke; After the motor completes the first number of pulses in the forward direction, determining whether the optical coupler detects a second sensing signal; If a second sensing signal is detected, sending the first number of pulses in reverse direction; After the motor completes the first number of pulses in reverse execution, determining whether the optical coupler detects a third sensing signal; If the third sensing signal is detected, the bidirectional accuracy of the pan / tilt platform meets the accuracy requirement; If the third sensing signal is not detected, the forward accuracy of the gimbal meets the accuracy requirement, and the reverse accuracy of the gimbal does not meet the accuracy requirement.

6. The low temperature starting method of the pan / tilt platform according to claim 5, characterized in that: After determining whether the optical coupler detects the second sensing signal, the method further includes: If the second sensing signal is not detected, the motor is controlled to return to the optical coupling position, and the first number of pulses are sent in reverse; After the motor completes the first number of pulses in reverse execution, determining whether the optical coupler detects a fourth sensing signal; If the fourth sensing signal is detected, the reverse accuracy of the gimbal meets the accuracy requirement, and the forward accuracy of the gimbal does not meet the accuracy requirement; If the fourth sensing signal is not detected, the bidirectional accuracy of the gimbal does not meet the accuracy requirement.

7. The low temperature start method of the pan / tilt platform according to claim 1, characterized in that: Obtaining the ambient temperature of the gimbal, including: The ambient temperature of the pan / tilt platform is obtained by a temperature sensor arranged on the surface of the pan / tilt platform.

8. A low temperature starting device for a pan / tilt head, characterized in that: include: Acquisition module, processing module and self-checking module; The acquisition module is used to acquire the ambient temperature of the pan / tilt platform; The processing module is used to select and execute a corresponding startup strategy to start the PTZ according to a comparison result between the ambient temperature and the preset multi-level temperature thresholds; The self-test module is used to perform a self-test on the bidirectional accuracy of the pan-tilt platform after the pan-tilt platform is started, according to the optical coupling position of the motor in the pan-tilt platform and the pulse driving the motor, to obtain a self-test result; the optical coupling position is used to indicate the zero position of the motor.

9. A computer device comprising a memory and a processor, characterized in that: A computer program is stored in the memory, and the processor is configured to run the computer program to execute the steps of the low-temperature startup method of the pan / tilt platform according to any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the low-temperature startup method of the pan / tilt platform according to any one of claims 1 to 7 are implemented.

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