Wind-resistant rotation method, device and equipment of holder monitoring equipment and storage medium

Abstract

The invention provides a wind-resistant rotation method, device and equipment of cradle head monitoring equipment and a storage medium, and relates to the technical field of video surveillance, and the method comprises the steps: obtaining the wind speed data collected by each wind speed sensor, and determining the wind resistance moment borne by the orientation of each wind speed sensor based on each wind speed data; under the condition that the wind resistance torque in the preset cruising direction is larger than or equal to the first preset wind resistance torque, the target position where the target wind resistance torque in the target direction is located is determined; the preset cruise direction is determined based on the cruise preset position and the current position of the holder; the first preset wind-resistant torque is the maximum wind-resistant torque corresponding to a first motor for driving the holder to rotate in the preset cruising direction; the target direction is perpendicular to the preset cruising direction; and based on the cruise preset position and the target position, determining a wind-resistant rotation signal corresponding to the holder. According to the invention, on the basis of the existing motor driving capability of the pan-tilt monitoring equipment, cruising rotation of the pan-tilt monitoring equipment under higher wind resistance can be realized.

Description

Technical Field

[0001] The present invention relates to the technical field of video surveillance, and in particular, to a wind-resistant rotation method, device, equipment, and storage medium for a pan-tilt surveillance device. Background Art

[0002] Currently, most pan-tilt surveillance devices such as IP cameras (network cameras) and dome cameras are installed in border defense and coastal environments, high-speed rail tower environments, etc., to perform cruise surveillance on preset positions in fixed directions. Different from the surveillance of fixed directions by conventional barrel-shaped dome IP cameras, pan-tilt surveillance devices in border defense and coastal environments and high-speed rail tower environments need to overcome wind resistance to rotate to reach the preset position in a strong wind environment. Therefore, how to improve the wind resistance of pan-tilt surveillance devices is an urgent problem to be solved.

[0003] In the prior art, only by improving the driving ability of the motor can the wind resistance of the pan-tilt surveillance device be improved, that is, by replacing the motor with a larger one in the pan-tilt surveillance device to improve the wind resistance of the pan-tilt surveillance device. However, the space in the pan-tilt surveillance device is limited, and the wind resistance that can be improved by replacing the motor is limited, and it cannot effectively cope with greater wind resistance. Summary of the Invention

[0004] The present invention provides a wind-resistant rotation method, device, equipment, and storage medium for a pan-tilt surveillance device, which is used to solve the defect that the improvement of the wind resistance of the pan-tilt surveillance device in the prior art is limited, and on the basis of the existing motor driving ability of the pan-tilt surveillance device, realize the cruise rotation of the pan-tilt surveillance device under greater wind resistance.

[0005] The present invention provides a wind-resistant rotation method for a pan-tilt surveillance device, which is applied to the pan-tilt surveillance device. A plurality of wind speed sensors are arranged outside the pan-tilt of the pan-tilt surveillance device. The method includes:

[0006] Obtain the wind speed data collected by each of the wind speed sensors, and based on each of the wind speed data, determine the wind resistance moment received by the azimuth where each of the wind speed sensors is located;

[0007] When the wind resistance moment in the preset cruise direction is greater than or equal to the first preset wind-resistant torque, determine the target position where the target wind resistance moment in the target direction is located; the preset cruise direction is determined based on the cruise preset position and the current position of the pan-tilt; the first preset wind-resistant torque is the maximum wind-resistant torque of the first motor that drives the pan-tilt to rotate in the preset cruise direction; the target direction is perpendicular to the preset cruise direction;

[0008] Based on the cruise preset position and the target position, determine the wind-resistant rotation signal corresponding to the pan-tilt.

[0009] According to the wind-resistant rotation method of the pan-tilt monitoring device provided by the present invention, when the wind resistance torque in the preset cruise direction is greater than or equal to the first preset wind-resistant torque, determining the target position where the target wind resistance torque in the target direction is located includes:

[0010] When the wind resistance torque in the preset cruise direction is greater than or equal to the first preset wind-resistant torque, determining at least two first wind resistance torques in the target direction;

[0011] Based on each of the first wind resistance torques and the second preset wind-resistant torque in the target direction, determining the target wind resistance torque, and determining the azimuth of the wind speed sensor corresponding to the target wind resistance torque as the target position; the second preset wind-resistant torque is the maximum wind-resistant torque corresponding to the second motor that drives the pan-tilt to rotate in the target direction.

[0012] According to the wind-resistant rotation method of the pan-tilt monitoring device provided by the present invention, the determining the target wind resistance torque based on each of the first wind resistance torques and the second preset wind-resistant torque in the target direction includes:

[0013] Comparing each of the first wind resistance torques with the second preset wind-resistant torque in the target direction, and determining at least one second wind resistance torque that is less than the second preset wind-resistant torque;

[0014] When the number of the second wind resistance torques is equal to 1, determining the second wind resistance torque as the target wind resistance torque;

[0015] When the number of the second wind resistance torques is greater than 1, determining the minimum second wind resistance torque, or the second wind resistance torque corresponding to the minimum included angle as the target wind resistance torque; the included angle is formed based on the azimuth of the wind speed sensor corresponding to each of the second wind resistance torques and the current position of the pan-tilt.

[0016] According to the wind-resistant rotation method of the pan-tilt monitoring device provided by the present invention, the wind-resistant rotation signal includes a first rotation signal, a second rotation signal, and a third rotation signal;

[0017] The determining the wind-resistant rotation signal corresponding to the pan-tilt based on the cruise preset position and the target position includes:

[0018] Based on the target position, determining the first rotation signal corresponding to the pan-tilt, where the first rotation signal is used to instruct the second motor to drive the pan-tilt to rotate in the first direction;

[0019] Based on the cruise preset position, determining the second rotation signal corresponding to the pan-tilt, where the second rotation signal is used to instruct the first motor to drive the pan-tilt to rotate in the preset cruise direction, and the preset cruise direction is perpendicular to the first direction;

[0020] Based on the first rotation signal, determine a third rotation signal corresponding to the pan-tilt, where the third rotation signal is used to instruct the second motor to drive the pan-tilt to rotate in a second direction, and the second direction is the opposite direction of the first direction.

[0021] According to the anti-wind rotation method of the pan-tilt monitoring device provided by the present invention, the first rotation signal includes a first rotation direction and a first number of mechanical steps corresponding to the second motor;

[0022] The determining the first rotation signal corresponding to the pan-tilt based on the target position includes:

[0023] Based on the angle between the current position and the target position of the pan-tilt, determine a first direction corresponding to the pan-tilt and a first rotation angle of the pan-tilt rotating along the first direction;

[0024] Based on the first direction, determine a first rotation direction of the second motor;

[0025] Based on the corresponding relationship between the number of mechanical steps and the rotation angle of the second motor, determine a first number of mechanical steps corresponding to the first rotation angle.

[0026] According to the anti-wind rotation method of the pan-tilt monitoring device provided by the present invention, the third rotation signal includes a second rotation direction and a second number of mechanical steps corresponding to the second motor;

[0027] The determining the third rotation signal corresponding to the pan-tilt based on the first rotation signal includes:

[0028] Based on the number of pulses corresponding to the first rotation signal, determine a second number of mechanical steps corresponding to the second motor;

[0029] Determine the opposite direction of the first rotation direction in the first rotation signal as the second rotation direction corresponding to the second motor.

[0030] According to the anti-wind rotation method of the pan-tilt monitoring device provided by the present invention, the method further includes:

[0031] In the case where each of the first wind resistance torques is greater than or equal to the second preset anti-wind torque, generate a warning message and send the warning message to a visual interface.

[0032] The present invention also provides an anti-wind rotation device for a pan-tilt monitoring device, which is applied to a pan-tilt monitoring device. A plurality of wind speed sensors are arranged outside the pan-tilt of the pan-tilt monitoring device. The device includes:

[0033] An acquisition module, configured to acquire wind speed data collected by each of the wind speed sensors, and determine the wind resistance torque received by each azimuth where the wind speed sensors are located based on each of the wind speed data;

[0034] A first determination module, configured to determine a target position where a target wind resistance torque in a target direction is located when the wind resistance torque in a preset cruise direction is greater than or equal to a first preset wind resistance torque; the preset cruise direction is determined based on a cruise preset position and the current position of the pan-tilt; the first preset wind resistance torque is the maximum wind resistance torque corresponding to a first motor that drives the pan-tilt to rotate in the preset cruise direction; the target direction is perpendicular to the preset cruise direction;

[0035] A second determination module, configured to determine an anti-wind rotation signal corresponding to the pan-tilt based on the cruise preset position and the target position.

[0036] The present invention further provides a pan-tilt monitoring device, including a wind speed sensor, a memory, a processor, and a computer program stored on the memory and executable on the processor. The wind speed sensor is communicatively connected to the processor, and the wind speed sensor is configured to collect wind speed data in different directions of the pan-tilt monitoring device. When the processor executes the program, the anti-wind rotation method of the pan-tilt monitoring device as described in any one of the above is implemented.

[0037] The present invention further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the anti-wind rotation method of the pan-tilt monitoring device as described in any one of the above is implemented.

[0038] The anti-wind rotation method, device, equipment, and storage medium of the pan-tilt monitoring device provided by the present invention obtain wind speed data outside the pan-tilt through a wind speed sensor, and determine the wind resistance torque of each azimuth outside the pan-tilt according to each wind speed data. When the wind resistance torque in the preset cruise direction determined based on the cruise preset position is greater than or equal to the first preset wind resistance torque, a smaller target wind resistance torque and a target position in a target direction perpendicular to the preset cruise direction are determined, and an anti-wind rotation signal is generated to drive the pan-tilt to first rotate to the target position in the target direction and then rotate to the cruise preset position. In the case where the motor driving ability inside the existing pan-tilt monitoring device is fixed, the anti-wind rotation of the pan-tilt monitoring device under a greater wind resistance is realized. Description of the Drawings

[0039] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0040] Figure 1 is one of the schematic flowcharts of the wind-resistant rotation method of the pan-tilt monitoring device provided by an embodiment of the present invention;

[0041] Figure 2 is the schematic installation orientation diagram of the wind speed sensor provided by an embodiment of the present invention;

[0042] Figure 3 is the second of the schematic flowcharts of the wind-resistant rotation method of the pan-tilt monitoring device provided by an embodiment of the present invention;

[0043] Figure 4 is the schematic structural diagram of the wind-resistant rotation device of the pan-tilt monitoring device provided by an embodiment of the present invention;

[0044] Figure 5 is the schematic structural diagram of the pan-tilt monitoring device provided by an embodiment of the present invention. Detailed implementation manners

[0045] To make the objectives, technical solutions and advantages of the present invention clearer, the technical solutions in the present invention will be clearly and completely described below with reference to the accompanying drawings in the present invention. Apparently, the described embodiments are some but not all of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present invention without creative efforts shall fall within the protection scope of the present invention.

[0046] Aiming at the problem that the improvement of the wind resistance of the pan-tilt monitoring device in the prior art is limited, an embodiment of the present invention provides a wind-resistant rotation method for a pan-tilt monitoring device, which is applied to the pan-tilt monitoring device. A plurality of wind speed sensors are arranged outside the pan of the pan-tilt monitoring device. Figure 1 is one of the schematic flowcharts of the wind-resistant rotation method of the pan-tilt monitoring device provided by an embodiment of the present invention. As Figure 1 shown, the method includes:

[0047] Step 110, obtaining the wind speed data collected by each of the wind speed sensors, and determining the wind resistance moment received by the orientation where each of the wind speed sensors is located based on each of the wind speed data.

[0048] Optionally, based on the installation orientation of the existing pan-tilt monitoring device, in a strong wind environment, due to different wind directions, the wind speed conditions felt by each orientation outside the pan are different. Therefore, to improve the wind resistance of the pan-tilt monitoring device, first, a plurality of wind speed sensors need to be arranged outside the pan of the pan-tilt monitoring device to determine the wind speed conditions around the pan. When the pan rotates to any orientation, the wind speed conditions around the pan can be measured. By way of example, taking the pan-tilt monitoring device as a traditional medium-sized top-mounted pan-tilt as an example, Figure 2 is the schematic installation orientation diagram of the wind speed sensor provided by an embodiment of the present invention. AsFigure 2 As shown, the shape of the pan-tilt is close to a hexahedron. The wind speed sensors can be arranged outside each face of the pan-tilt, and at least one wind speed sensor can be arranged on each face of the pan-tilt. The wind speed sensors at the top and bottom of the pan-tilt can measure the wind speed data in the vertical direction to determine whether the pan-tilt can rotate in the vertical direction in a strong wind environment, that is, to determine whether the wind resistance torque of the pan-tilt in the vertical direction is less than the preset wind resistance torque corresponding to the vertical motor. The wind speed sensors around the pan-tilt can measure the wind speed data in the horizontal direction to determine whether the pan-tilt can rotate in the horizontal direction in a strong wind environment, that is, to determine whether the wind resistance torque of the pan-tilt in the horizontal direction is less than the preset wind resistance torque corresponding to the horizontal motor, so as to avoid the phenomenon of motor out-of-step when the pan-tilt rotates in the vertical direction or the horizontal direction in a strong wind environment. This motor out-of-step phenomenon can be understood as that the wind resistance torque is greater than the output torque of the motor in the corresponding direction in the pan-tilt, causing the motor in the corresponding direction to lose its stepping ability, resulting in obvious phenomena such as noise, vibration and heating, and even damaging the motor in the corresponding direction.

[0049] Optionally, the wind speed sensor can include an ultrasonic wind speed sensor or an optical wind speed sensor. Among them, the ultrasonic wind speed sensor measures the wind speed data by using the relationship between the speed of ultrasonic wave propagation in the air and the wind speed, and the optical wind speed sensor measures the wind speed data by using the optical principle.

[0050] It should be noted that the types of wind speed sensors arranged outside the same pan-tilt can be the same or different. If the types of wind speed sensors arranged outside the same pan-tilt are different, the corresponding wind speed data can be calculated respectively based on the measurement signals of each wind speed sensor, and the standard wind speed data can be obtained through the unit conversion relationship.

[0051] Optionally, after measuring the wind speed data corresponding to each azimuth outside the pan-tilt, the preset wind resistance torque corresponding to the azimuth can be calculated by using formula (1). Formula (1) is:

[0052]

[0053] Wherein, T represents the target torque, that is, the torque required when the pan-tilt monitoring device rotates to different angles; k represents the coefficient factor; J represents the moment of inertia corresponding to the rotating body; α represents the angular acceleration of rotation; m represents the mass of the rotating body; g represents the gravitational constant; L1 represents the first lever arm, that is, the projection distance between the centroid of the rotating body and the target rotating shaft, and the target rotating shaft is a horizontal rotating shaft or a vertical rotating shaft; η represents the transmission efficiency; i represents the reduction ratio; M 阻 represents other torques that affect the rotation of the pan-tilt monitoring device, and the other torques can include friction torque, vibration torque, wind resistance torque, etc. When M 阻 represents the wind resistance torque, it can be obtained by multiplying the wind resistance by the second lever arm, that is, M 风阻 =F 风阻×L2, where M 风阻 represents the wind resistance moment, and F 风阻 represents the wind resistance, L2 represents the second force arm, which can be understood as the distance between the point of action of the wind force and the target rotation axis. The magnitude of the second force arm will change with the wind direction and wind speed. To determine this wind resistance moment, the wind resistance can be calculated using Equation (2), and Equation (2) is:

[0054]

[0055] where ρ represents the air density, and C x represents the wind resistance coefficient of the pan-tilt, V represents the wind speed data measured on the corresponding surface, and V 2 represents the wind speed level measured on the corresponding surface, and S represents the windward area, that is, the area of the corresponding surface of the pan-tilt.

[0056] Step 120: When the wind resistance moment in the preset cruise direction is greater than or equal to the first preset wind resistance torque, determine the target position where the target wind resistance moment in the target direction is located; the preset cruise direction is determined based on the cruise preset position and the current position of the pan-tilt; the first preset wind resistance torque is the maximum wind resistance torque corresponding to the first motor that drives the pan-tilt to rotate in the preset cruise direction; the target direction is perpendicular to the preset cruise direction.

[0057] Specifically, Figure 3 is the second flow chart of the wind-resistant rotation method of the pan-tilt monitoring device provided by the embodiments of the present invention. As Figure 3As shown in the figure, after calculating the wind resistance moments corresponding to each azimuth of the pan-tilt, first, the preset cruise positions to be cruised and the current position of the pan-tilt are determined by the pan-tilt monitoring device to obtain the preset cruise direction, which includes the horizontal direction or the vertical direction. After determining the preset cruise direction, the wind resistance moments corresponding to each wind speed sensor in the preset cruise direction and the first preset anti-wind torque of the first motor corresponding to the preset cruise direction can be further determined, and each wind resistance moment is compared with the first preset anti-wind torque. When each wind resistance moment is greater than or equal to the first preset anti-wind torque, the target wind resistance moment in the target direction perpendicular to the preset cruise direction can be determined, and the target position where the target wind resistance moment is located can be further determined. For example, when the preset cruise direction is the vertical direction, the wind resistance moments at the top and bottom of the pan-tilt can be respectively compared with the maximum anti-wind torque corresponding to the vertical direction. When each wind resistance moment is greater than or equal to the maximum anti-wind torque corresponding to the vertical direction, the target wind resistance moment is determined from the wind resistance moments in the horizontal direction, and then the target position corresponding to the target wind resistance moment is determined. When the preset cruise direction is the horizontal direction, the wind resistance moments of the pan-tilt except at the top and bottom can be respectively compared with the maximum anti-wind torque corresponding to the horizontal direction. When each wind resistance moment is greater than or equal to the maximum anti-wind torque corresponding to the horizontal direction, the target wind resistance moment is determined from the wind resistance moments in the vertical direction, and then the target position corresponding to the target wind resistance moment is determined.

[0058] It should be noted that the first preset anti-wind torque can be calculated according to Equations (1) and (2), and the first preset anti-wind torque is a dynamic anti-wind torque, that is, when the pan-tilt rotates in the direction of resisting the wind force, it can still rotate to the preset cruise position, and the maximum anti-wind torque when there is no motor out-of-step phenomenon.

[0059] Optionally, when the horizontal coordinates of the preset cruise position and the current position of the pan-tilt are the same, and the height of the preset cruise position is higher than or lower than the current position of the pan-tilt, the preset cruise direction of the pan-tilt can be determined as the vertical direction. When the preset cruise position and the current position of the pan-tilt are at the same height and the horizontal coordinates of the preset cruise position and the current position of the pan-tilt are different, the preset cruise direction of the pan-tilt can be determined as the horizontal direction. When the horizontal coordinates and heights of the preset cruise position and the current position of the pan-tilt are both different, the anti-wind rotation of the pan-tilt can be divided into two stages: rotation along the horizontal direction and rotation along the vertical direction, and the preset cruise direction corresponding to each stage can be determined respectively.

[0060] Further, as Figure 3 shown, when the wind resistance moment in the preset cruise direction is greater than or equal to the first preset anti-wind torque, determining the target position where the target wind resistance moment is located includes:

[0061] When the wind resistance torque in the preset cruise direction is greater than or equal to the first preset wind resistance torque, determine at least two first wind resistance torques in the target direction;

[0062] Based on each of the first wind resistance torques and the second preset wind resistance torque in the target direction, determine the target wind resistance torque, and determine the azimuth where the wind speed sensor corresponding to the target wind resistance torque is located as the target position; the second preset wind resistance torque is the maximum wind resistance torque corresponding to the second motor that drives the pan-tilt to rotate in the target direction.

[0063] Specifically, when the preset cruise direction is the vertical direction, the horizontal direction can be determined as the target direction; when the preset cruise direction is the horizontal direction, the vertical direction can be determined as the target direction. If the wind resistance torques in the preset cruise direction are all greater than or equal to the first preset wind resistance torque in the preset cruise direction, at least two first wind resistance torques corresponding to the respective wind speed sensors in the target direction can be further determined, and each first wind resistance torque is compared with the second preset wind resistance torque in the target direction, the target wind resistance torque is determined from the first wind resistance torques, and the target position is determined according to the azimuth where the wind speed sensor corresponding to the target wind resistance torque is located, so as to control the pan-tilt to first rotate to the target position with a smaller wind speed in a strong wind environment, and then rotate to the cruise preset position, thereby realizing cruise rotation under a greater wind resistance on the basis of the existing motor driving ability of the pan-tilt monitoring device.

[0064] Further, after determining the target wind resistance torque, an azimuth coordinate system can be constructed based on the plane where the target direction is located to determine the azimuth angles corresponding to the respective wind speed sensors. After determining the target wind resistance torque, according to the azimuth angle of the wind speed sensor corresponding to the target wind resistance torque, determine the target position corresponding to the target wind resistance torque.

[0065] Further, as Figure 3 shown, the determining the target wind resistance torque based on each of the first wind resistance torques and the second preset wind resistance torque in the target direction includes:

[0066] Compare each of the first wind resistance torques with the second preset wind resistance torque in the target direction, and determine at least one second wind resistance torque that is less than the second preset wind resistance torque;

[0067] When the number of the second wind resistance torques is equal to 1, determine the second wind resistance torque as the target wind resistance torque;

[0068] When the number of the second wind resistance torques is greater than 1, determine the minimum second wind resistance torque, or the second wind resistance torque corresponding to the minimum included angle as the target wind resistance torque; the included angle is formed based on the azimuths where the wind speed sensors corresponding to the second wind resistance torques are located and the azimuth of the current position of the pan-tilt.

[0069] Specifically, after determining the first wind resistance torques in the target direction, compare each first wind resistance torque with a second preset wind resistance torque respectively, and determine at least one second wind resistance torque smaller than the second preset wind resistance torque from the first wind resistance torques. If the number of second wind resistance torques is 1, determine this second wind resistance torque as the target wind resistance torque. If the number of second wind resistance torques is greater than 1, the minimum second wind resistance torque can be determined as the target wind resistance torque, that is, determine the target wind resistance torque corresponding to the minimum wind speed to ensure that it is more labor-saving for the pan-tilt to rotate along the preset cruise direction after rotating to the target position. Or, determine the angles formed by each second wind resistance torque and the current position of the pan-tilt respectively, and determine the second wind resistance torque corresponding to the minimum angle as the target wind resistance torque to ensure that the rotation amplitude of the pan-tilt in the target direction is the smallest, so as to improve the anti-wind rotation efficiency.

[0070] Step 130: Based on the cruise preset position and the target position, determine the anti-wind rotation signal corresponding to the pan-tilt.

[0071] Specifically, as Figure 3 shown, after determining the target position, the anti-wind rotation signal corresponding to the pan-tilt can be determined, that is, first rotate the pan-tilt to the target position, and then rotate to the cruise preset position to achieve cruise rotation under greater wind resistance.

[0072] Further, as Figure 3 shown, the anti-wind rotation signal includes a first rotation signal, a second rotation signal, and a third rotation signal;

[0073] The determining the anti-wind rotation signal corresponding to the pan-tilt based on the cruise preset position and the target position includes:

[0074] Based on the target position, determine the first rotation signal corresponding to the pan-tilt, and the first rotation signal is used to instruct the second motor to drive the pan-tilt to rotate in a first direction;

[0075] Based on the cruise preset position, determine the second rotation signal corresponding to the pan-tilt, and the second rotation signal is used to instruct the first motor to drive the pan-tilt to rotate along the preset cruise direction, and the preset cruise direction is perpendicular to the first direction;

[0076] Based on the first rotation signal, determine the third rotation signal corresponding to the pan-tilt, and the third rotation signal is used to instruct the second motor to drive the pan-tilt to rotate in a second direction, and the second direction is the opposite direction of the first direction.

[0077] Exemplarily, taking the preset cruise direction as the vertical direction and the target direction as the horizontal direction as an example, when the target direction is the horizontal direction, the second motor is a horizontal motor. After determining the target position, a first rotation signal can be generated first to control the horizontal motor in the pan-tilt to drive the pan-tilt to rotate horizontally to the target position first. Then, according to the height of the cruise preset position, a second rotation signal is generated to control the vertical motor of the pan-tilt to drive the pan-tilt to rotate vertically to the first coordinate point at the same height as the cruise preset position. Finally, according to the first rotation signal, a third rotation signal is generated to control the horizontal motor in the pan-tilt to drive the pan-tilt to rotate horizontally from the first coordinate point to the cruise preset position, but the rotation direction this time is opposite to the rotation direction corresponding to the first rotation signal.

[0078] Exemplarily, taking the preset cruise direction as the horizontal direction and the target direction as the vertical direction as an example, when the target direction is the vertical direction, the second motor is a vertical motor. After determining the target position, a first rotation signal can be generated first to control the vertical motor in the pan-tilt to drive the pan-tilt to rotate vertically to the target position first. Then, according to the horizontal coordinate of the cruise preset position, a second rotation signal is generated to control the horizontal motor of the pan-tilt to drive the pan-tilt to rotate horizontally to the second coordinate point at the same horizontal coordinate as the cruise preset position. Finally, according to the first rotation signal, a third rotation signal is generated to control the vertical motor in the pan-tilt to drive the pan-tilt to rotate vertically from the second coordinate point to the cruise preset position, but the rotation direction this time is opposite to the rotation direction corresponding to the first rotation signal.

[0079] Furthermore, the first rotation signal includes a first rotation direction corresponding to the second motor and a first number of mechanical steps.

[0080] Determining the first rotation signal corresponding to the pan-tilt based on the target position includes:

[0081] Based on the angle between the current position of the pan-tilt and the target position, determining a first direction corresponding to the pan-tilt and a first rotation angle of the pan-tilt rotating along the first direction;

[0082] Based on the first direction, determining a first rotation direction of the second motor;

[0083] Based on the corresponding relationship between the mechanical steps of the second motor and the rotation angle, determining a first number of mechanical steps corresponding to the first rotation angle.

[0084] Specifically, after determining the target position, the first direction corresponding to the pan-tilt can be determined according to the comparison result between the angle between the current position and the target position of the pan-tilt and 180°. After determining the first direction, the angle corresponding to the first direction can be determined as the first rotation angle. For example, when the angle is greater than 180°, the direction corresponding to (360° - angle) can be determined as the first direction, and (360° - angle) can be determined as the first rotation angle for rotation along the first direction. When the angle is less than 180°, the direction corresponding to the angle can be determined as the first direction, and the angle can be determined as the first rotation angle for rotation along the first direction. When the angle is equal to 180°, any direction can be determined as the first direction, and 180° can be determined as the first rotation angle for rotation along the first direction. After determining the first direction, the energization directions of each phase corresponding to the second motor can be determined according to the first direction, and then the first rotation direction of the second motor can be determined. After determining the first rotation angle, according to the corresponding relationship between the mechanical steps and the rotation angle, the first mechanical steps corresponding to the first rotation angle can be converted, and then the first mechanical steps can be determined as the number of pulses corresponding to the first rotation signal. According to the first rotation direction and the number of pulses, the first rotation signal can be determined.

[0085] Similarly, after controlling the pan-tilt to rotate from the current position to the target position according to the first rotation signal, the angle of rotation along the preset cruise direction can be determined according to the vertical difference or the horizontal coordinate difference between the target position and the cruise preset position, and the second rotation signal can be determined according to the angle. The determination method of the second rotation signal is the same as the determination method of the first rotation signal described above, and will not be elaborated in the embodiments of the present invention.

[0086] Further, the third rotation signal includes the second rotation direction and the second mechanical steps corresponding to the second motor;

[0087] Determining the third rotation signal corresponding to the pan-tilt based on the first rotation signal includes:

[0088] Determining the second mechanical steps corresponding to the second motor based on the number of pulses corresponding to the first rotation signal;

[0089] Determining the reverse direction of the first rotation direction in the first rotation signal as the second rotation direction corresponding to the second motor.

[0090] Specifically, after controlling the pan-tilt to rotate from the target position to the first coordinate point along the preset cruise direction according to the second rotation signal, the number of pulses in the third rotation signal, that is, the number of mechanical steps corresponding to the second motor, can be further determined according to the number of pulses in the first rotation signal, and the reverse direction of the first rotation direction is determined as the second rotation direction. When the height or horizontal coordinate of the cruise preset position is the same as that of the current position of the pan-tilt, it can be ensured that the rotation amplitude from the first coordinate point to the cruise preset position is the same as the rotation amplitude from the current position of the pan-tilt to the target position, that is, the anti-wind rotation from the current position of the pan-tilt to the cruise preset position is realized.

[0091] Further, the method further includes:

[0092] When each of the first wind resistance torques is greater than or equal to the second preset anti-wind torque, a warning message is generated and the warning message is sent to the visual interface.

[0093] Specifically, if the wind resistance torques in the preset cruise direction are all greater than the first preset anti-wind torque of the first motor, and the first wind resistance torques in each target direction are all greater than or equal to the second preset anti-wind torque of the second motor, it indicates that the wind speeds in all directions of the pan-tilt in a strong wind environment are relatively high, exceeding the maximum anti-wind torques corresponding to the first motor and the second motor in the pan-tilt respectively. That is, the motor will experience out-of-step phenomena when the pan-tilt rotates in any direction. At this time, a warning message can be generated and sent to the visual interface to remind the user to pause the cruise of the cruise preset position and avoid phenomena such as out-of-step of the pan-tilt.

[0094] The anti-wind rotation method of the pan-tilt monitoring device provided by the embodiment of the present invention obtains the wind speed conditions outside the pan-tilt through a wind speed sensor, and determines the wind resistance torques in each direction outside the pan-tilt according to each wind speed condition. When the wind resistance torque in the preset cruise direction determined based on the cruise preset position is greater than or equal to the first preset anti-wind torque, a smaller target wind resistance torque and a target position are determined in the target direction perpendicular to the preset cruise direction, and an anti-wind rotation signal is generated to drive the pan-tilt to first rotate to the target position along the target direction and then rotate to the cruise preset position. In the case where the motor driving ability inside the existing pan-tilt monitoring device is fixed, the anti-wind rotation of the pan-tilt monitoring device under a greater wind resistance is realized.

[0095] Next, the anti-wind rotation device of the pan-tilt monitoring device provided by the present invention is described. The anti-wind rotation device of the pan-tilt monitoring device described below can be correspondingly referred to the anti-wind rotation method of the pan-tilt monitoring device described above.

[0096] The embodiment of the present invention further provides an anti-wind rotation device of a pan-tilt monitoring device, which is applied to the pan-tilt monitoring device. A plurality of wind speed sensors are arranged outside the pan-tilt of the pan-tilt monitoring device. Figure 4is a schematic structural diagram of the wind-resistant rotation device of the pan-tilt monitoring device provided by an embodiment of the present invention. As Figure 4 shown, the wind-resistant rotation device 400 of the pan-tilt monitoring device includes: an acquisition module 410, a first determination module 420, and a second determination module 430, where:

[0097] The acquisition module 410 is configured to acquire the wind speed data collected by each of the wind speed sensors, and based on each of the wind speed data, determine the wind resistance torque received by the orientation where each of the wind speed sensors is located;

[0098] The first determination module 420 is configured to determine the target position where the target wind resistance torque in the target direction is located when the wind resistance torque in the preset cruise direction is greater than or equal to the first preset wind-resistant torque; the preset cruise direction is determined based on the cruise preset position and the current position of the pan-tilt; the first preset wind-resistant torque is the maximum wind-resistant torque corresponding to the first motor that drives the pan-tilt to rotate along the preset cruise direction; the target direction is perpendicular to the preset cruise direction;

[0099] The second determination module 430 is configured to determine the wind-resistant rotation signal corresponding to the pan-tilt based on the cruise preset position and the target position.

[0100] The wind-resistant rotation device of the pan-tilt monitoring device provided by the embodiment of the present invention acquires the wind speed condition outside the pan-tilt through the wind speed sensor, determines the wind resistance torque of each orientation outside the pan-tilt according to each wind speed condition, and when the wind resistance torque in the preset cruise direction determined based on the cruise preset position is greater than or equal to the first preset wind-resistant torque, determines a smaller target wind resistance torque and a target position in the target direction perpendicular to the preset cruise direction, and generates a wind-resistant rotation signal to drive the pan-tilt to first rotate to the target position along the target direction and then rotate to the cruise preset position, so as to realize the wind-resistant rotation of the pan-tilt monitoring device under a greater wind resistance when the driving ability of the motor inside the existing pan-tilt monitoring device is fixed.

[0101] Optionally, the first determination module 420 is specifically configured to:

[0102] When the wind resistance torque in the preset cruise direction is greater than or equal to the first preset wind-resistant torque, determine at least two first wind resistance torques in the target direction;

[0103] Based on each of the first wind resistance torques and the second preset wind-resistant torque in the target direction, determine the target wind resistance torque, and determine the orientation where the wind speed sensor corresponding to the target wind resistance torque is located as the target position; the second preset wind-resistant torque is the maximum wind-resistant torque corresponding to the second motor that drives the pan-tilt to rotate along the target direction.

[0104] Optionally, the first determination module 420 is specifically configured to:

[0105] Compare each of the first wind resistance torques with a second preset wind resistance torque in the target direction to determine at least one second wind resistance torque that is less than the second preset wind resistance torque;

[0106] When the number of the second wind resistance torques is equal to 1, determine the second wind resistance torque as the target wind resistance torque;

[0107] When the number of the second wind resistance torques is greater than 1, determine the minimum second wind resistance torque, or the second wind resistance torque corresponding to the minimum included angle as the target wind resistance torque; the included angle is formed based on the azimuths of the wind speed sensors corresponding to the second wind resistance torques and the current position of the pan-tilt.

[0108] Optionally, the wind resistance rotation signal includes a first rotation signal, a second rotation signal, and a third rotation signal.

[0109] Optionally, the second determination module 430 is specifically configured to:

[0110] Based on the target position, determine the first rotation signal corresponding to the pan-tilt, where the first rotation signal is used to instruct the second motor to drive the pan-tilt to rotate in a first direction;

[0111] Based on the cruise preset position, determine the second rotation signal corresponding to the pan-tilt, where the second rotation signal is used to instruct the first motor to drive the pan-tilt to rotate in the preset cruise direction, and the preset cruise direction is perpendicular to the first direction;

[0112] Based on the first rotation signal, determine the third rotation signal corresponding to the pan-tilt, where the third rotation signal is used to instruct the second motor to drive the pan-tilt to rotate in a second direction, and the second direction is the opposite direction of the first direction.

[0113] Optionally, the first rotation signal includes a first rotation direction and a first number of mechanical steps corresponding to the second motor.

[0114] Optionally, the second determination module 430 is specifically configured to:

[0115] Based on the included angle between the current position and the target position of the pan-tilt, determine the first direction corresponding to the pan-tilt and the first rotation angle of the pan-tilt rotating along the first direction;

[0116] Based on the first direction, determine the first rotation direction of the second motor;

[0117] Based on the correspondence between the number of mechanical steps and the rotation angle corresponding to the second motor, determine the first number of mechanical steps corresponding to the first rotation angle.

[0118] Optionally, the third rotation signal includes a second rotation direction and a second number of mechanical steps corresponding to the second motor.

[0119] Optionally, the second determination module 430 is specifically configured to:

[0120] Determine the second number of mechanical steps corresponding to the second motor based on the number of pulses corresponding to the first rotation signal;

[0121] Determine the reverse direction of the first rotation direction in the first rotation signal as the second rotation direction corresponding to the second motor.

[0122] Optionally, the wind-resistant rotation device 400 of the pan-tilt monitoring device further includes a warning module, and the warning module is specifically configured to:

[0123] Generate a warning message and send the warning message to the visual interface when each of the first wind resistance torques is greater than or equal to the second preset wind-resistant torque.

[0124] Figure 5 is a schematic structural diagram of the pan-tilt monitoring device provided by an embodiment of the present invention. As Figure 5 shown, the pan-tilt monitoring device may include: a processor 510, a communication interface 520, a memory 530, a communication bus 540, and a wind speed sensor 550. Among them, the processor 510, the communication interface 520, and the memory 530 communicate with each other through the communication bus 540. The processor 510 may call logical instructions in the memory 530 to execute the wind-resistant rotation method of the pan-tilt monitoring device, and the method includes:

[0125] Obtain the wind speed data collected by each of the wind speed sensors 550, and determine the wind resistance torque received by the azimuth where each of the wind speed sensors 550 is located based on each of the wind speed data;

[0126] When the wind resistance torque in the preset cruise direction is greater than or equal to the first preset wind-resistant torque, determine the target position where the target wind resistance torque in the target direction is located; the preset cruise direction is determined based on the cruise preset position and the current position of the pan-tilt; the first preset wind-resistant torque is the maximum wind-resistant torque of the first motor that drives the pan-tilt to rotate in the preset cruise direction; the target direction is perpendicular to the preset cruise direction;

[0127] Determine the wind-resistant rotation signal corresponding to the pan-tilt based on the cruise preset position and the target position.

[0128] In addition, when the logical instructions in the above-mentioned memory 530 can be implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present invention. The aforementioned storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (ROMs), random access memories (RAMs), magnetic disks, or optical discs that can store program codes.

[0129] On the other hand, the present invention also provides a computer program product. The computer program product includes a computer program that can be stored on a computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the anti-wind rotation method of the pan-tilt monitoring device provided by the above-mentioned various methods. The method includes:

[0130] Obtain the wind speed data collected by each of the wind speed sensors 550, and based on each of the wind speed data, determine the wind resistance torque received by the orientation where each of the wind speed sensors 550 is located;

[0131] In the case where the wind resistance torque in the preset cruise direction is greater than or equal to the first preset anti-wind torque, determine the target position where the target wind resistance torque in the target direction is located; the preset cruise direction is determined based on the cruise preset position and the current position of the pan-tilt; the first preset anti-wind torque is the maximum anti-wind torque corresponding to the first motor that drives the pan-tilt to rotate in the preset cruise direction; the target direction is perpendicular to the preset cruise direction;

[0132] Based on the cruise preset position and the target position, determine the anti-wind rotation signal corresponding to the pan-tilt.

[0133] On another aspect, the present invention also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, it is implemented to execute the anti-wind rotation method of the pan-tilt monitoring device provided by the above-mentioned various methods. The method includes:

[0134] Obtain the wind speed data collected by each of the wind speed sensors 550, and based on each of the wind speed data, determine the wind resistance torque received by the orientation where each of the wind speed sensors 550 is located;

[0135] When the wind resistance torque in the preset cruise direction is greater than or equal to the first preset wind resistance torque, determine the target position where the target wind resistance torque in the target direction is located; the preset cruise direction is determined based on the cruise preset position and the current position of the pan-tilt; the first preset wind resistance torque is the maximum wind resistance torque corresponding to the first motor that drives the pan-tilt to rotate in the preset cruise direction; the target direction is perpendicular to the preset cruise direction;

[0136] Based on the cruise preset position and the target position, determine the wind resistance rotation signal corresponding to the pan-tilt.

[0137] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art can understand and implement it without creative work.

[0138] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. The computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0139] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A wind-resistant rotation method for a pan-tilt monitoring device, characterized in that, Applied to a pan-tilt monitoring device, where multiple wind speed sensors are externally arranged on the pan-tilt of the pan-tilt monitoring device, the method includes: Obtain the wind speed data collected by each of the wind speed sensors, and based on each of the wind speed data, determine the wind resistance torque on the azimuth where each of the wind speed sensors is located; When the wind resistance torque in the preset cruise direction is greater than or equal to the first preset anti-wind torque, determine the target position where the target wind resistance torque in the target direction is located; the preset cruise direction is determined based on the cruise preset position and the current position of the pan-tilt; the first preset anti-wind torque is the maximum anti-wind torque corresponding to the first motor that drives the pan-tilt to rotate in the preset cruise direction; the target direction is perpendicular to the preset cruise direction; Based on the cruise preset position and the target position, determine the anti-wind rotation signal corresponding to the pan-tilt.

2. The wind-resistant rotation method for a pan-tilt monitoring device according to claim 1, characterized in that, The step of, when the wind resistance torque in the preset cruise direction is greater than or equal to the first preset anti-wind torque, determining the target position where the target wind resistance torque in the target direction is located, includes: Determine at least two first wind resistance torques in the target direction; Based on each of the first wind resistance torques and the second preset anti-wind torque in the target direction, determine the target wind resistance torque, and determine the azimuth where the wind speed sensor corresponding to the target wind resistance torque is located as the target position; the second preset anti-wind torque is the maximum anti-wind torque corresponding to the second motor that drives the pan-tilt to rotate in the target direction.

3. The wind-resistant rotation method for a pan-tilt monitoring device according to claim 2, characterized in that, The step of, based on each of the first wind resistance torques and the second preset anti-wind torque in the target direction, determining the target wind resistance torque, includes: Compare each of the first wind resistance torques with the second preset anti-wind torque in the target direction, and determine at least one second wind resistance torque that is less than the second preset anti-wind torque; When the number of the second wind resistance torques is equal to 1, determine the second wind resistance torque as the target wind resistance torque; When the number of the second wind resistance torques is greater than 1, determine the minimum second wind resistance torque, or the second wind resistance torque corresponding to the minimum included angle as the target wind resistance torque; the included angle is formed based on the azimuth where the wind speed sensor corresponding to each of the second wind resistance torques is located and the current position of the pan-tilt.

4. The wind-resistant rotation method for a pan-tilt monitoring device according to claim 3, characterized in that, The anti-wind rotation signal includes a first rotation signal, a second rotation signal, and a third rotation signal; The step of, based on the cruise preset position and the target position, determining the anti-wind rotation signal corresponding to the pan-tilt, includes: Based on the target position, determine the first rotation signal corresponding to the pan-tilt, and the first rotation signal is used to instruct the second motor to drive the pan-tilt to rotate in the first direction; Based on the cruise preset position, determine the second rotation signal corresponding to the pan-tilt, and the second rotation signal is used to instruct the first motor to drive the pan-tilt to rotate in the preset cruise direction, and the preset cruise direction is perpendicular to the first direction; Based on the first rotation signal, determine the third rotation signal corresponding to the pan-tilt, and the third rotation signal is used to instruct the second motor to drive the pan-tilt to rotate in the second direction, and the second direction is the reverse direction of the first direction.

5. The wind-resistant rotation method for a pan-tilt monitoring device according to claim 4, characterized in that, The first rotation signal includes a first rotation direction and a first number of mechanical steps corresponding to the second motor; Determining the first rotation signal corresponding to the pan-tilt based on the target position includes: Based on the angle between the current position of the pan-tilt and the target position, determining a first direction corresponding to the pan-tilt and a first rotation angle by which the pan-tilt rotates along the first direction; Based on the first direction, determining a first rotation direction of the second motor; Based on the correspondence between the mechanical steps and the rotation angle corresponding to the second motor, determining a first number of mechanical steps corresponding to the first rotation angle.

6. The wind-resistant rotation method for a pan-tilt monitoring device according to claim 4, characterized in that, The third rotation signal includes a second rotation direction and a second number of mechanical steps corresponding to the second motor; Determining the third rotation signal corresponding to the pan-tilt based on the first rotation signal includes: Based on the number of pulses corresponding to the first rotation signal, determining a second number of mechanical steps corresponding to the second motor; Determining the reverse direction of the first rotation direction in the first rotation signal as the second rotation direction corresponding to the second motor.

7. The wind-resistant rotation method for a pan-tilt monitoring device according to any one of claims 3-5, characterized in that, The method further includes: When each of the first wind resistance torques is greater than or equal to the second preset wind resistance torque, generating a warning message and sending the warning message to the visual interface.

8. A wind-resistant rotation device for a pan-tilt monitoring device, characterized in that, Applied to a pan-tilt monitoring device, multiple wind speed sensors are externally provided on the pan-tilt of the pan-tilt monitoring device. The device includes: An acquisition module, configured to acquire wind speed data collected by each of the wind speed sensors, and based on each of the wind speed data, determine the wind resistance torque received by the orientation where each of the wind speed sensors is located; A first determination module, configured to determine a target position where a target wind resistance torque in a target direction is located when the wind resistance torque in a preset cruise direction is greater than or equal to a first preset wind resistance torque; the preset cruise direction is determined based on a cruise preset position and the current position of the pan-tilt; the first preset wind resistance torque is the maximum wind resistance torque corresponding to a first motor for driving the pan-tilt to rotate along the preset cruise direction; the target direction is perpendicular to the preset cruise direction; A second determination module, configured to determine an anti-wind rotation signal corresponding to the pan-tilt based on the cruise preset position and the target position.

9. A pan-tilt monitoring device, comprising an anemometer, a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein, The wind speed sensors are communicatively connected to the processor, and the wind speed sensors are configured to collect wind speed data in different directions of the pan-tilt monitoring device. When the processor executes the program, the anti-wind rotation method of the pan-tilt monitoring device according to any one of claims 1-7 is implemented.

10. A computer-readable storage medium, having a computer program stored thereon, wherein, When the computer program is executed by the processor, the anti-wind rotation method of the pan-tilt monitoring device according to any one of claims 1-7 is implemented.

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