Remote control adaptive camera focusing adjustment optimization control method

Abstract

The invention discloses a remote control self-adaptive camera focusing adjustment optimization control method, which comprises the steps that a holder control panel receives an instruction issued by a cloud platform, and the content of the instruction comprises horizontal angle adjustment, base leveling, camera thickness focusing and windscreen wiper starting and stopping; and the pan-tilt control panel controls the operation, start and stop of the pan-tilt based on the received instruction. According to the invention, remote control is carried out on the holder based on the cloud platform, and control can be carried out at an ultra-long distance of dozens of kilometers or even hundreds of kilometers. The angle of the camera in the horizontal direction and the angle of the camera in the vertical direction can be controlled based on the method; the vertical position of the camera can be leveled; the angle position of the camera can be obtained in real time; rain, snow, dust, stains and the like on the camera shell glass can be wiped off; focusing of the camera can be adjusted in an ultra-remote mode according to requirements, so that time cost and travel cost generated in the maintenance process of maintenance personnel are reduced, and maintenance efficiency is improved.

Description

Technical Field

[0001] The present application relates to the field of Internet of Things application technology, and in particular to a remote-controlled adaptive camera focus adjustment optimization control method. Background Art

[0002] Most of the current visual products have requirements for camera zoom and focus. After the visual products meet the requirements and are installed, we need to perform remote maintenance for abnormal changes in the position of the equipment during the normal operation of the equipment. Especially for products with long geographical distances during operation - when the camera equipment is performing the work corresponding to the application, there are camera deviations caused by environmental factors or human factors, such as road settlement caused by the long-term passing of trucks; when a person carries things past the camera and touches the camera, the camera is offset; the installer does not tighten the screws when installing the camera, resulting in slight displacement of the camera position after long-term operation or mechanical wear after long-term operation; the influence of factors such as rain, snow, and strong winds, because these cause the camera focus position to shift, the camera has problems such as the target target is not in the image and the focus fails after zooming and capturing, and the data output by the camera's working program has errors. At this time, we need to adjust the position, angle, and focus of the camera, but if the geographical distance of multiple cameras in a project program is too far, that is, the distance between cameras is far; the distance between cameras and maintenance personnel is far, resulting in excessive travel costs and time costs for maintaining equipment. At this time, we need an adaptive camera focus adjustment and optimization device that can be remotely controlled. Summary of the invention

[0003] The purpose of this application is to provide a remote-controlled adaptive camera focus adjustment optimization control method to solve one or more technical problems existing in the prior art and at least provide a beneficial choice or create conditions.

[0004] This application adopts the following technical solutions to achieve the above invention objectives:

[0005] The present application provides a remotely controlled adaptive camera focus adjustment optimization control method, comprising:

[0006] The gimbal control panel receives commands from the cloud platform, including adjusting the horizontal angle, leveling the base, focusing the camera, and starting and stopping the wiper.

[0007] The PTZ control board controls the operation and start and stop of the PTZ based on the received commands.

[0008] Further, when the content of the instruction is an instruction to adjust the horizontal angle, the pan / tilt control panel controls the operation and start / stop of the pan / tilt based on the received instruction, including:

[0009] The PTZ control panel receives instructions for adjusting the horizontal angle;

[0010] Control the turntable stepper motor to start, driving the belt drive structure to adjust the horizontal angle of the pan / tilt;

[0011] The PTZ control board receives the current horizontal angle value of the PTZ transmitted by the angle encoder;

[0012] The PTZ control panel sends the current horizontal angle value to the cloud platform, so that the cloud platform displays the current horizontal angle value in real time;

[0013] When the horizontal angle of the turntable is adjusted to the target position, the pan-tilt control board receives the command to stop adjustment from the cloud platform, controls the turntable stepper motor to stop, and stops adjusting the horizontal angle of the pan-tilt.

[0014] Furthermore, the PTZ control board sends the current horizontal angle value to the cloud platform, including:

[0015] The PTZ control board sends the current horizontal angle value to the cloud platform command receiving board via RS485;

[0016] The cloud platform command receiving board sends the current horizontal angle value of the gimbal to the cloud platform through the 4G module.

[0017] Furthermore, when the content of the instruction is a base leveling instruction, the pan / tilt control panel controls the operation and start / stop of the pan / tilt based on the received instruction, including:

[0018] The gimbal control panel receives the leveling command from the gimbal base;

[0019] Obtain the angle data of the attitude gyroscope, and adjust the camera base position from three positions through cascade PID control of three base leveling motors according to the angle data of the attitude gyroscope;

[0020] When the attitude gyro detects that the current base has been leveled, the gimbal control board controls the base leveling motor to stop and stops leveling the base.

[0021] Furthermore, the angle data of the attitude gyroscope includes rotation angle, roll angle and pitch angle.

[0022] Furthermore, when the content of the instruction is a camera coarse and fine focus instruction, the gimbal control board controls the operation and start and stop of the gimbal based on the received instruction, including:

[0023] The gimbal control panel receives the camera's coarse and fine focus instructions;

[0024] Control the coarse focus stepper motor and the fine focus stepper motor to start, and drive the coarse focus belt and the fine focus belt to adjust the focal length of the camera lens;

[0025] When the camera lens is focused to the target focal length, the gimbal control board receives a command from the cloud platform to stop adjustment, and controls the coarse focus stepper motor and the fine focus stepper motor to stop running, so that the focal length of the camera lens remains at the current focal length state.

[0026] Furthermore, it also includes:

[0027] If the coarse focusing belt and the fine focusing belt touch the micro switch during the focusing process, the coarse focusing stepper motor and the fine focusing stepper motor will automatically stop running.

[0028] Further, when the content of the instruction is a wiper start / stop instruction, the PTZ control panel controls the operation and start / stop of the PTZ based on the received instruction, including:

[0029] The PTZ control panel receives commands to start and stop the wipers;

[0030] When the PTZ control board receives the command to start the PTZ wiper, it controls the wiper stepper motor to start, driving the wiper at the end of the wiper shaft to rotate;

[0031] When the objects to be cleaned on the lens of the pan / tilt housing are cleared, the pan / tilt control board receives a command from the pan / tilt to stop adjusting, and controls the wiper stepper motor to stop.

[0032] Furthermore, it also includes:

[0033] When the PTZ control board detects the snap on the wiper coupling, it changes the direction of the wiper;

[0034] When the PTZ control board receives the instruction to stop adjustment, the wiper stepper motor is controlled to stop when the PTZ control board detects the buckle on the wiper coupling next time.

[0035] Furthermore, the pan / tilt control panel detects the buckle on the wiper coupling through a photoelectric switch thereon.

[0036] The beneficial effects of this application are as follows:

[0037] This application is based on the cloud platform to remotely control the gimbal, and can be controlled at ultra-long distances of tens or even hundreds of kilometers. Based on this method, the horizontal and vertical angles of the camera can be controlled; the vertical position of the camera can be leveled; the angle position of the camera can be obtained in real time; rain, snow, dust, stains, etc. on the camera housing glass can be wiped off; the focus of the camera can be adjusted ultra-long distance according to needs, thereby reducing the time cost and travel cost of maintenance personnel during the maintenance process and improving maintenance efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 A flowchart of a remote-controlled adaptive camera focus adjustment optimization control method provided according to an embodiment of the present application;

[0039] Figure 2 A schematic diagram of a control panel in a remote-controlled adaptive camera focus adjustment optimization control method provided according to an embodiment of the present application;

[0040] Figure 3 A control flow in a remotely controlled adaptive camera focus adjustment optimization control method provided according to an embodiment of the present application Figure 1 ;

[0041] Figure 4 A control flow in a remotely controlled adaptive camera focus adjustment optimization control method provided according to an embodiment of the present application Figure 2 ;

[0042] Figure 5 A communication flow chart of a remotely controlled adaptive camera focus adjustment optimization control method provided according to an embodiment of the present application;

[0043] Figure 6 A schematic diagram of the overall structure of a gimbal in a remotely controlled adaptive camera focus adjustment optimization control method provided according to an embodiment of the present application;

[0044] Figure 7 A schematic diagram of the local structure of a gimbal in a remotely controlled adaptive camera focus adjustment optimization control method provided in accordance with an embodiment of the present application Figure 1 ;

[0045] Figure 8 A schematic diagram of the local structure of a gimbal in a remotely controlled adaptive camera focus adjustment optimization control method provided in accordance with an embodiment of the present application Figure 2 ;

[0046] Fig. 9 A schematic diagram of the local structure of a gimbal in a remotely controlled adaptive camera focus adjustment optimization control method provided in accordance with an embodiment of the present application Figure 3 ;

[0047] Fig.10 A schematic diagram of the local structure of a gimbal in a remotely controlled adaptive camera focus adjustment optimization control method provided in accordance with an embodiment of the present application Figure 4 ;

[0048] Fig.11 A schematic diagram of the local structure of a gimbal in a remotely controlled adaptive camera focus adjustment optimization control method provided in accordance with an embodiment of the present application Figure 5 ;

[0049] Fig.12 A schematic diagram of the local structure of a gimbal in a remotely controlled adaptive camera focus adjustment optimization control method provided in accordance with an embodiment of the present application Figure 6 ;

[0050] Fig.13 A schematic diagram of the local structure of a gimbal in a remotely controlled adaptive camera focus adjustment optimization control method provided in accordance with an embodiment of the present application Figure 7 ;

[0051] Fig.14 A schematic diagram of the local structure of a gimbal in a remotely controlled adaptive camera focus adjustment optimization control method provided in accordance with an embodiment of the present application Figure 8 ;

[0052] Fig.15 A schematic diagram of the local structure of a gimbal in a remotely controlled adaptive camera focus adjustment optimization control method provided in accordance with an embodiment of the present application Figure 9 .

[0053] Reference numerals:

[0054] 1. Turntable stepper motor; 2. Belt drive structure; 3. Angular encoder; 4. PTZ control board; 5. Cloud platform command receiving board; 6. Protrusion; 7. Attitude gyroscope; 8. Base leveling motor; 9. Base; 10. Coarse focus stepper motor; 11. Fine focus stepper motor; 12. Coarse focus belt; 13. Fine focus belt; 14. Lens; 15. Wiper; 16. Wiper coupling; 17. Wiper stepper motor; 18. Micro switch; 19. Turntable; 20. Rod; 21. Fixed table; 22. Camera. DETAILED DESCRIPTION

[0055] The present application relates to a remote-controlled adaptive camera focus adjustment optimization control method. In this control method, the method of ultra-long-distance control is: use the cloud platform to issue instructions, and the 4G module controls the gimbal after receiving the instructions from the cloud platform. The cloud platform and the 4G module communicate using the MQTT protocol or HTTP protocol, and the communication messages can be packaged and sent in formats such as Json, XML, protobuf, MessagePack, BSON, ApacheAvro, etc. The gimbal then performs corresponding control based on the instructions from the cloud platform.

[0056] However, due to the need for ultra-remote control, most of the application equipment scenarios have low power consumption requirements, so the 4G module can be separated from the PTZ control board. The PTZ command receiving board where the 4G module is located controls the opening and closing of the PTZ control board according to the instructions from the cloud platform. The PTZ control board and the cloud platform command receiving board can communicate with each other using serial ports, RS232, and RS485. The cloud platform command receiving board sends the received instructions from the cloud platform to the PTZ control board to control the operation and start and stop of the PTZ. This can achieve the demand for reducing power consumption.

[0057] like Figures 1 to 15 As shown, the present application provides a remote-controlled adaptive camera focus adjustment optimization control method, which specifically includes the following steps:

[0058] S100, the gimbal control panel receives instructions sent by the cloud platform, wherein the instructions include adjusting the horizontal angle, leveling the base, coarse and fine focusing of the camera, and starting and stopping the wiper.

[0059] S200, the PTZ control board controls the operation and start and stop of the PTZ based on the received instructions.

[0060] In S100, the control of the gimbal control panel is mainly divided into five parts, namely adjusting the horizontal angle; leveling the base; coarse and fine focusing of the camera; and starting and stopping the wiper.

[0061] In S200, when the content of the instruction is an instruction to adjust the horizontal angle, the turntable stepper motor 1 is first controlled to start, driving the belt drive structure 2 to adjust the horizontal angle of the turntable, and the angle encoder 3 returns the current horizontal angle value of the pan / tilt to the pan / tilt control board 4 in real time. The pan / tilt control board 4 sends the angle value to the cloud platform instruction receiving board 5 via RS485. The cloud platform instruction receiving board 5 sends the angle of the current horizontal position of the pan / tilt, i.e., the current angle of the angle encoder 3, to the cloud platform through the 4G module, and the cloud platform displays the current angle value in real time. When the angle of the turntable 19 is adjusted to the target position, the cloud platform sends an instruction to stop adjusting. When the pan / tilt control board 4 receives the instruction, it controls the turntable stepper motor 6 to stop, and the pan / tilt stops adjusting the horizontal angle at this time, and the pan / tilt remains at the current adjusted position.

[0062] In S200, when the content of the instruction is a base leveling instruction, the data of the attitude gyroscope 7 is first obtained, and the angle data of the attitude gyroscope 7 obtained are the angles of rotation angle, roll angle and pitch angle respectively. The leveling of the gimbal is mainly based on the current pitch angle and roll angle data of the attitude gyroscope 7. The three base leveling motors 8 are controlled by cascade PID to adjust the position of the camera base from three positions to achieve the leveling effect. When the attitude gyroscope 7 detects that the current base 9 has been leveled (that is, the angle values ​​of the pitch angle and the roll angle are 0), the current state of the three base leveling motors 8 is maintained, thereby maintaining the current leveling state of the base 9.

[0063] Specifically, the base 9 is rotatably connected to the turntable 19; multiple base leveling motors 8 and the base 9 form multiple adjustment points that can rise and fall, so that the base 9 and the turntable 19 are adjusted to a preset horizontal position. Here, the base leveling motor 8 uses an electric push rod, and the base leveling motor 8 is installed in the base 9. The setting of multiple base leveling motors 8 can quickly adjust the turntable 19 to a preset horizontal position.

[0064] Specifically, the base 9 is fixed with an insertion rod 20, and a slot for inserting the insertion rod 20 is formed on the turntable 19; the turntable stepper motor 1 is connected to the insertion rod 20 through a belt transmission structure 2; a fixed platform 21 is arranged below the base 9, and the fixed platform 21 is anti-rotationally matched with the base 9, so that the rotation of the turntable 1 is realized.

[0065] Specifically, a protrusion 6 is formed on the turntable 19, and the protrusion 6 forms a slot; a thrust bearing is arranged on the base 9, and after the insertion rod 20 is inserted into the slot, the protrusion 6 abuts against the thrust bearing, and the thrust bearing is used to support the turntable 19, thereby ensuring that the turntable 19 rotates more smoothly, and the pulley of the belt transmission structure 2 is fixed to the insertion rod 20.

[0066] More specifically, the base leveling motor 8 is used to connect the fixed platform 21 with the base 9, and the connection point rises and falls relative to the fixed platform 21. The connection point is the position where the base leveling motor 8 is connected to the turntable 19. The output end of the base leveling motor 8 is hinged to the fixed platform 21. Then, when the output end of the base leveling motor 8 is extended and shortened, the turntable 1 can be raised and lowered. Multiple base leveling motors 8 are raised and lowered by different distances, which can adjust the horizontal degree of the turntable 1, thereby adjusting the turntable 1 to a preset horizontal position.

[0067] In S200, when the content of the instruction is a camera coarse and fine focusing instruction, the coarse focusing stepper motor 10 and the fine focusing stepper motor 11 are first controlled to start, driving the coarse focusing belt 12 and the fine focusing belt 13 to adjust the focal length of the camera lens. When the camera lens is focused to the target focal length, the cloud platform sends an instruction to stop adjusting. When the pan / tilt control board 4 receives the instruction, it controls the coarse focusing stepper motor 10 and the fine focusing stepper motor 11 to stop running, so that the focal length of the camera lens remains in the current focal length state. If the coarse focusing belt 12 and the fine focusing belt 13 touch the micro switch 18 during the focusing process, it means that the focus has been adjusted to the limit position, and the coarse focusing stepper motor 10 and the fine focusing stepper motor 11 automatically stop running.

[0068] Specifically, the coarse focus stepper motor 10 is connected to one of the micro switches 18 through the coarse focus belt 12, and the fine focus belt 13 is connected to another micro switch 18 through the fine focus belt 13. The micro switch 18 is a part of the camera 22. The camera 22 will be zoomed in or out after the micro switch 18 is turned or rotated at a certain angle. Therefore, the micro switch 18 is rotated at a certain angle by the coarse focus stepper motor 10 and the fine focus stepper motor 11.

[0069] In S200, when the content of the instruction is an instruction to start or stop the wiper, that is, when there are water stains or dirt (including rain, snow, dust, etc.) on the lens 14 of the pan / tilt housing, the imaging effect of the camera 22 is not good. At this time, it is necessary to start the wiper 15 to remove the dirt on the lens 14 of the pan / tilt housing. When the pan / tilt control board 4 receives the instruction to start the wiper 15, it starts the wiper stepper motor 17, and then controls the rotation of the wiper shaft to control the wiper 15. When the photoelectric switch on the pan / tilt control board detects the buckle on the wiper coupling 16, the direction of the wiper 15 is changed. When the dirt on the lens 14 of the pan / tilt housing is removed, that is, the imaging of the camera 22 is not affected by the dirt, rain or snow, the cloud platform sends an instruction to stop adjustment. When the gimbal control board 4 receives the instruction to stop the wiper, the wiper stepper motor 17 is stopped the next time the photoelectric switch on the gimbal control board 4 detects the buckle on the wiper coupling 16. At this time, the wiper 15 stops running, thus avoiding the wiper 15 blocking the camera 22 from taking pictures due to direct control of the wiper 15 to stop.

[0070] The above is only a preferred implementation of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A remote controlled adaptive camera focus adjustment optimization control method, characterized in that: include: The gimbal control panel receives commands from the cloud platform, including adjusting the horizontal angle, leveling the base, focusing the camera, and starting and stopping the wiper. The PTZ control board controls the operation and start and stop of the PTZ based on the received commands.

2. The remote-controlled adaptive camera focus adjustment optimization control method according to claim 1, characterized in that: When the content of the instruction is an instruction to adjust the horizontal angle, the PTZ control panel controls the operation and start and stop of the PTZ based on the received instruction, including: The PTZ control panel receives instructions for adjusting the horizontal angle; Control the turntable stepper motor to start, driving the belt drive structure to adjust the horizontal angle of the pan / tilt; The PTZ control board receives the current horizontal angle value of the PTZ transmitted by the angle encoder; The PTZ control panel sends the current horizontal angle value to the cloud platform, so that the cloud platform displays the current horizontal angle value in real time; When the horizontal angle of the turntable is adjusted to the target position, the pan-tilt control board receives the command to stop adjustment from the cloud platform, controls the turntable stepper motor to stop, and stops adjusting the horizontal angle of the pan-tilt.

3. The remote-controlled adaptive camera focus adjustment optimization control method according to claim 2, characterized in that: The PTZ control board sends the current horizontal angle value to the cloud platform, including: The PTZ control board sends the current horizontal angle value to the cloud platform command receiving board via RS485; The cloud platform command receiving board sends the current horizontal angle value of the gimbal to the cloud platform through the 4G module.

4. The remote-controlled adaptive camera focus adjustment optimization control method according to claim 1, characterized in that: When the content of the instruction is a base leveling instruction, the gimbal control board controls the operation and start and stop of the gimbal based on the received instruction, including: The gimbal control panel receives the leveling command from the gimbal base; Obtain the angle data of the attitude gyroscope, and adjust the camera base position from three positions through cascade PID control of three base leveling motors according to the angle data of the attitude gyroscope; When the attitude gyro detects that the current base has been leveled, the gimbal control board controls the base leveling motor to stop and stops leveling the base.

5. The remote-controlled adaptive camera focus adjustment optimization control method according to claim 4, characterized in that: The angle data of the attitude gyroscope includes the angles of rotation, roll and pitch.

6. The remote-controlled adaptive camera focus adjustment optimization control method according to claim 1, characterized in that: When the content of the instruction is a camera coarse and fine focus instruction, the gimbal control board controls the operation and start and stop of the gimbal based on the received instruction, including: The gimbal control panel receives the camera's coarse and fine focus instructions; Control the coarse focus stepper motor and the fine focus stepper motor to start, and drive the coarse focus belt and the fine focus belt to adjust the focal length of the camera lens; When the camera lens is focused to the target focal length, the gimbal control board receives a command from the cloud platform to stop adjustment, and controls the coarse focus stepper motor and the fine focus stepper motor to stop running, so that the focal length of the camera lens remains at the current focal length state.

7. A remote controlled adaptive camera focus adjustment optimization control method according to claim 6, characterized in that: Also includes: If the coarse focusing belt and the fine focusing belt touch the micro switch during the focusing process, the coarse focusing stepper motor and the fine focusing stepper motor will automatically stop running.

8. The remote controlled adaptive camera focus adjustment optimization control method according to claim 1, characterized in that: When the content of the instruction is a wiper start / stop instruction, the PTZ control panel controls the operation and start / stop of the PTZ based on the received instruction, including: The PTZ control panel receives commands to start and stop the wipers; When the PTZ control board receives the command to start the PTZ wiper, it controls the wiper stepper motor to start, driving the wiper at the end of the wiper shaft to rotate; When the objects to be cleaned on the lens of the pan / tilt housing are cleared, the pan / tilt control board receives a command from the pan / tilt to stop adjusting, and controls the wiper stepper motor to stop.

9. The remote-controlled adaptive camera focus adjustment optimization control method according to claim 8, characterized in that: Also includes: When the PTZ control board detects the snap on the wiper coupling, it changes the direction of the wiper; When the PTZ control board receives the instruction to stop adjustment, the wiper stepper motor is controlled to stop when the PTZ control board detects the buckle on the wiper coupling next time.

10. The remote controlled adaptive camera focus adjustment optimization control method according to claim 9, characterized in that: The pan / tilt control panel detects the buckle on the wiper coupling through the photoelectric switch thereon.

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