Control method and device of monitoring equipment and program product

Abstract

The invention discloses a control method and device of monitoring equipment and a program product. Relates to the field of video monitoring. The method comprises the steps that a recorded rotation angle of a target motor at the current moment is acquired, a first rotation angle is obtained, and the target motor is deployed in monitoring equipment and used for driving the monitoring equipment to rotate; collecting magnetic field data of the monitoring equipment to obtain target magnetic field data; based on the target magnetic field data, a second rotation angle is determined, and the second rotation angle comprises the actual rotation angle of the target motor at the current moment; and based on the first rotation angle and the second rotation angle, performing deviation correction control on the target motor. According to the invention, the technical problem of poor rectification effect of rectification of the spherical camera in the prior art is solved.

Description

Technical Field

[0001] The present application relates to the field of video surveillance, and more specifically, to a control method, device, and program product for monitoring equipment. Background Art

[0002] In the related art, the correction methods used by dome cameras (i.e., spherical cameras) with active correction functions are mainly pneumatic active correction, electro-hydraulic combination correction, intelligent video analysis, etc. However, the accuracy of pneumatic active correction and electro-hydraulic combination correction is generally low, the research and development cost of intelligent video analysis is too high, and there is frequent correction phenomenon, and the standby power consumption far exceeds that of ordinary threshold correction dome cameras.

[0003] Currently, no effective solution has been proposed to the problem of poor correction effect of spherical cameras. Summary of the Invention

[0004] The main purpose of this application is to provide a control method, device and program product for monitoring equipment to solve the problem of poor correction effect of spherical camera correction in related technologies.

[0005] To achieve the above-mentioned purpose, according to one aspect of the present application, a control method for a monitoring device is provided. The method comprises: obtaining a recorded rotation angle of a target motor at a current moment to obtain a first rotation angle, wherein the target motor is deployed in a monitoring device and is used to drive the monitoring device to rotate; collecting magnetic field data of the monitoring device to obtain target magnetic field data; determining a second rotation angle based on the target magnetic field data, wherein the second rotation angle includes the actual rotation angle of the target motor at the current moment; and performing deviation correction control on the target motor based on the first rotation angle and the second rotation angle.

[0006] Furthermore, the target magnetic field data includes: magnetic field data of the magnetic field generated by the magnetic induction encoder disk, wherein the magnetic induction encoder disk is deployed at the end of the rotating shaft of the target motor, and based on the target magnetic field data, determining the second rotation angle includes: obtaining a magnetic field angle mapping relationship, wherein the magnetic field angle mapping relationship includes: a mapping relationship between the magnetic field data of the magnetic induction encoder disk and the actual rotation angle of the target motor, and the magnetic field angle mapping relationship is calibrated once every preset time interval; based on the target magnetic field data and the magnetic field angle mapping relationship, determining the second rotation angle.

[0007] Furthermore, based on the first rotation angle and the second rotation angle, the target motor is subjected to correction control, including: calculating the difference between the first rotation angle and the second rotation angle to obtain the angle difference; comparing the angle difference with a preset difference threshold to obtain a comparison result, and determining whether the target motor is offset based on the comparison result; and in the event that the target motor is offset, performing correction control on the target motor.

[0008] Furthermore, the preset difference threshold is determined by: obtaining target parameters, wherein the target parameters include at least one of the following: environmental parameters of the environment in which the target motor is located, operating parameters of the target motor, and the operating parameters include at least one of the following: operating time, load weight; inputting the target parameters and the angle difference into a target model, and outputting the preset difference threshold, wherein the target model includes: a neural network model trained based on the correction records of the target motor in a historical time period.

[0009] Furthermore, in the case that the target motor is offset, the target motor is corrected and controlled, including: in the case that the target motor is offset, a reverse pulse sequence is generated based on the angle difference, wherein the reverse pulse sequence is used to drive the target motor to rotate; based on the reverse pulse sequence, the target motor is corrected and controlled.

[0010] Furthermore, after the target motor is corrected and controlled based on the reverse pulse sequence, it includes: obtaining the number of continuous correction times, wherein the continuous correction times include: the number of times the target motor is corrected and controlled continuously; comparing the continuous correction times with a preset number threshold; when the continuous correction times are greater than the preset number threshold, using a target correction mode to correct the target motor and generate fault prompt information, wherein the target correction mode includes: when the difference between the recorded rotation angle of the target motor and the actual rotation angle of the target motor is greater than the preset difference threshold, directly controlling the target motor to rotate.

[0011] To achieve the above-mentioned purpose, according to another aspect of the present application, a control device for a monitoring device is provided. The control device is used to execute the control method for the monitoring device, and the device includes: a target motor, which is used to drive the monitoring device to rotate; a magnetic induction encoder, which is deployed at the tail of the target motor and is used to collect magnetic field data of the monitoring device to obtain target magnetic field data; a target chip, which is connected to the magnetic induction encoder and is used to record a first rotation angle of the target motor, determine a second rotation angle based on the target magnetic field data, and perform deviation correction control on the target motor based on the first rotation angle and the second rotation angle, wherein the second rotation angle includes: the angle at which the target motor actually rotates at the current moment.

[0012] Furthermore, the magnetic induction encoder also includes: a magnetic induction encoding disk, which is deployed at the end of the rotating shaft of the target motor and generates different magnetic fields according to the rotation angle of the target motor; a magnetic induction chip, which is used to collect the target magnetic field data, wherein the target magnetic field data includes: magnetic field data of the magnetic field generated by the magnetic induction encoding disk at the current moment.

[0013] Furthermore, the monitoring device also includes: a driven shaft for controlling the rotation of the monitoring device; a gear set, including a first synchronous pulley and a second synchronous pulley, the first synchronous pulley is connected to the output shaft of the target motor, and the second synchronous pulley is connected to the driven shaft, and the material of the gear set is copper; a belt connecting the first synchronous pulley and the second synchronous pulley, used to drive the driven shaft to rotate based on the gear set and using the target motor to control the rotation of the monitoring device; a tensioning pulley for controlling the tension of the belt.

[0014] According to another aspect of the present application, a computer-readable storage medium is provided, wherein the computer-readable storage medium includes a stored executable program, wherein when the executable program runs, the device where the computer-readable storage medium is located is controlled to execute the control method of the monitoring device.

[0015] According to another aspect of the present application, an electronic device is provided, comprising: a memory storing an executable program; and a processor for running the program, wherein the control method of the monitoring device is executed when the program is running.

[0016] According to another aspect of the present application, a computer program product is provided, comprising computer instructions, which implement the steps of the control method of the monitoring device when executed by a processor.

[0017] In an embodiment of the present application, the recorded rotation angle of the target motor at the current moment is obtained to obtain a first rotation angle, wherein the target motor is deployed in a monitoring device for driving the monitoring device to rotate; the magnetic field data of the monitoring device is collected to obtain target magnetic field data; based on the target magnetic field data, a second rotation angle is determined, wherein the second rotation angle includes: the actual rotation angle of the target motor at the current moment; based on the first rotation angle and the second rotation angle, the target motor is corrected and controlled, thereby solving the technical problem of poor correction effect of the spherical camera in the related art. In the present application, the target motor in the monitoring device is corrected and controlled based on the magnetic field data, avoiding the low correction accuracy of the pneumatic active correction method and the electro-hydraulic combination correction method in the related art, thereby achieving the technical effect of improving the correction accuracy of the spherical camera. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The accompanying drawings, which constitute part of this application, are intended to provide a further understanding of this application. The exemplary embodiments and descriptions of this application are intended to explain this application and do not constitute an improper limitation on this application. In the accompanying drawings:

[0019] Figure 1 A hardware structure block diagram of a computer terminal for implementing a control method for a monitoring device is shown;

[0020] Figure 2 is a flowchart of a method for controlling a monitoring device according to an embodiment of the present application;

[0021] Figure 3 A schematic diagram of a control device for a monitoring device according to an embodiment of the present application is provided. Figure 1 ;

[0022] Figure 4 A schematic diagram of a control device for a monitoring device according to an embodiment of the present application is provided. Figure 2 ;

[0023] Figure 5 A schematic diagram of a control device for a monitoring device according to an embodiment of the present application is provided. Figure 3 ;

[0024] Figure 6 This is a structural block diagram of an electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0025] In order to enable those skilled in the art to better understand the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of this application.

[0026] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in a sequence other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0027] It should be noted that the collected information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for display and analysis, etc.) involved in this application are information and data authorized by the user or fully authorized by all parties, and the collection, storage, use, processing, transmission, provision, disclosure, and application of the relevant data comply with relevant laws, regulations, and standards, adopt necessary confidentiality measures, do not violate public order and good morals, and provide corresponding operation portals for users to choose to authorize or refuse. For example, an interface is set up between this system and relevant users or institutions, providing users with corresponding operation portals for users to choose to agree or refuse the automated decision results; if the user chooses to refuse, the expert decision-making process will be entered.

[0028] Example 1

[0029] According to an embodiment of the present application, a method embodiment of a control method for a monitoring device is also provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0030] The method embodiment provided in the first embodiment of the present application can be executed in a mobile terminal, a computer terminal or a similar computing device. Figure 1The hardware structure block diagram of a computer terminal (or mobile device) for implementing a control method for a monitoring device is shown. Figure 1 As shown, the computer terminal 10 (or mobile device) may include one or more processors 102 (illustrated as 102a, 102b, ..., 102n in the figure) (the processor 102 may include, but is not limited to, a microprocessor MCU or a programmable logic device FPGA, etc.), a memory 104 for storing data, and a transmission device 106 for communication functions. In addition, it may also include: a display, an input / output interface (I / O interface), a universal serial bus (USB) port (which may be included as one of the ports of the BUS bus), a network interface, a power supply, and / or a camera. Those skilled in the art will understand that Figure 1 The structure shown is only for illustration and does not limit the structure of the above electronic device. Figure 1 More or fewer components than shown, or with Figure 1 Different configurations shown.

[0031] It should be noted that the one or more processors 102 and / or other data processing circuits described above may generally be referred to herein as "data processing circuitry." This data processing circuitry may be embodied in whole or in part as software, hardware, firmware, or any other combination thereof. Furthermore, the data processing circuitry may be a single, independent processing module, or may be fully or partially integrated into any of the other components of the computer terminal 10 (or mobile device). As discussed in the embodiments of this application, this data processing circuitry functions as a processor control (e.g., selecting a variable resistor terminal path connected to an interface).

[0032] The memory 104 can be used to store software programs and modules of application software, such as the program instructions / data storage device corresponding to the control method of the monitoring device in the embodiment of the present application. The processor 102 executes various functional applications and data processing by running the software programs and modules stored in the memory 104, that is, implementing the control method of the monitoring device described above. The memory 104 may include a high-speed random access memory and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include a memory remotely located relative to the processor 102, and these remote memories may be connected to the computer terminal 10 via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0033] Transmission device 106 is configured to receive or transmit data via a network. A specific example of the aforementioned network may include a wireless network provided by the communications provider of computer terminal 10. In one embodiment, transmission device 106 includes a network interface controller (NIC), which can be connected to other network devices via a base station to enable communication with the Internet. In another embodiment, transmission device 106 may be a radio frequency (RF) module configured to communicate with the Internet wirelessly.

[0034] The display may be, for example, a touch screen liquid crystal display (LCD), which enables a user to interact with a user interface of the computer terminal 10 (or mobile device).

[0035] Under the above operating environment, this application provides Figure 2 The control method of the monitoring device shown. Figure 2 This is a flowchart of a control method for a monitoring device according to embodiment 1 of the present application.

[0036] Step S201 : Acquire the recorded rotation angle of the target motor at the current moment to obtain a first rotation angle, wherein the target motor is deployed in the monitoring device and is used to drive the monitoring device to rotate.

[0037] The target motor may be a stepper motor, the monitoring device may be a spherical camera (referred to as a dome camera), and the first rotation angle may be the rotation angle of the target motor at the current moment recorded by the monitoring device. For example, the main control chip in the monitoring device may record the theoretical number of steps of the target motor (for example, each pulse corresponds to a rotation angle of 0.01°), and the first rotation angle may be stored in the main control chip as a theoretical position value P1.

[0038] Step S202: Collect magnetic field data of the monitoring device to obtain target magnetic field data.

[0039] To avoid the poor correction effects of pneumatic active correction methods, electro-hydraulic combined correction methods, and intelligent video analysis, in this embodiment, a monitoring device can generate a magnetic field of varying strength as the target motor's angle changes. For example, a magnetic encoder disk can be built into the monitoring device, generating a magnetic field that varies with angular rotation. Magnetic field data from this magnetic encoder disk can be collected to obtain target magnetic field data, facilitating subsequent determination of the target motor's actual rotation angle. For example, the magnetic chip in the magnetic encoder can collect the magnetic field strength of the magnetic encoder disk (i.e., target magnetic field data) in real time, with a sampling frequency of 1 Hz.

[0040] Step S203 : determining a second rotation angle based on the target magnetic field data, wherein the second rotation angle includes: an actual rotation angle of the target motor at the current moment.

[0041] In this embodiment, the target magnetic field data can be converted into the actual rotation angle of the target motor through a magnetic field angle mapping relationship (for example, a preset magnetic field-angle mapping table (used for calibration data)), which can be recorded as the actual position value P2 (corresponding to the second rotation angle).

[0042] Step S204 : performing deviation correction control on the target motor based on the first rotation angle and the second rotation angle.

[0043] Based on the difference between the first rotation angle and the second rotation angle, it can be determined whether the target motor has an offset. If an offset exists, correction control can be performed on the target motor. If no offset exists, no correction control may be performed.

[0044] In this embodiment, through the above steps, the target motor in the monitoring device is corrected and controlled based on magnetic field data. This avoids the low correction accuracy of pneumatic active correction methods and electro-hydraulic combined correction methods in related technologies, thereby achieving the technical effect of improving the correction accuracy of the spherical camera. This further solves the technical problem of poor correction effect of spherical camera correction in related technologies.

[0045] Optionally, in the control method of the monitoring device provided in Example 1 of the present application, the target magnetic field data includes: magnetic field data of the magnetic field generated by the magnetic induction encoder disk, wherein the magnetic induction encoder disk is deployed at the end of the rotating shaft of the target motor, and based on the target magnetic field data, determining the second rotation angle includes: obtaining a magnetic field angle mapping relationship, wherein the magnetic field angle mapping relationship includes: a mapping relationship between the magnetic field data of the magnetic induction encoder disk and the actual rotation angle of the target motor, and the magnetic field angle mapping relationship is calibrated once every preset time interval; based on the target magnetic field data and the magnetic field angle mapping relationship, determining the second rotation angle.

[0046] In the monitoring device, magnetic fields of different intensities can be generated as the angle of the target motor changes. For example, a magnetic induction encoder disk can be built into the monitoring device. The magnetic induction encoder disk can be a special encoder. When it rotates on the shaft of the target motor, it will generate a specific magnetic field distribution. The magnetic field distribution has a direct correspondence with the rotation angle of the shaft, that is, different rotation angles correspond to different magnetic field data.

[0047] The magnetic field angle mapping relationship described above can be a table or function that corresponds to the magnetic field data from the magnetic encoder disk and the actual rotation angle of the target motor. During initialization or regular calibration, a series of magnetic field data can be collected and the corresponding motor rotation angles recorded to establish a mapping relationship between the magnetic field data and the actual angle. This relationship can be a data set obtained through experimentation or a function expression derived through mathematical modeling.

[0048] In this embodiment, the magnetic field angle mapping relationship can be obtained or updated, and the magnetic field angle mapping relationship can be calibrated when the monitoring device is started or according to a preset period of time (for example, every day, every week, etc.) to ensure that the mapping between the magnetic field data and the actual angle is up to date and can reflect any possible environmental changes (such as temperature, magnetic field interference, etc.). For example, a self-calibration process can be performed once every 24 hours, for example, the drive motor rotates 360° and records the magnetic field data of the entire circle (such as the magnetic field data of the magnetic induction encoder disk collected by the magnetic induction chip), and updates the magnetic field-angle mapping table (that is, the magnetic field angle mapping relationship).

[0049] In the magnetic field angle mapping relationship, the target magnetic field data can be converted into an actual rotation angle by searching or calculating to obtain a second rotation angle.

[0050] By combining magnetic field data with angle mapping, the actual rotation state of the target motor can be monitored in real time, thereby improving the angle control accuracy of monitoring equipment or other automated equipment.

[0051] Optionally, in the control method of the monitoring device provided in Example 1 of the present application, the target motor is corrected and controlled based on the first rotation angle and the second rotation angle, including: calculating the difference between the first rotation angle and the second rotation angle to obtain the angle difference; comparing the angle difference with a preset difference threshold to obtain a comparison result, and determining whether the target motor is offset based on the comparison result; if the target motor is offset, the target motor is corrected and controlled.

[0052] In this embodiment, the difference between the first rotation angle and the second rotation angle, i.e., the angle difference, can be calculated. The angle difference is the deviation between the actual position of the target motor and the recorded theoretical position, which is used to evaluate whether the motor has accurately reached the predetermined position, and then the angle difference can be compared with a preset difference threshold. The difference threshold can be an allowable deviation range, which is used to determine whether the offset of the motor is within an acceptable range. If the absolute value of the angle difference exceeds the preset difference threshold, it means that there is a significant deviation between the actual rotation angle of the target motor and the recorded theoretical rotation angle, and it can be determined that the target motor has an offset. If the absolute value of the angle difference is less than or equal to the preset difference threshold, it can be determined that the rotation angle of the target motor is within an acceptable deviation range, the target motor is operating normally, and no correction control is required.

[0053] For example, the position deviation △P can be obtained by calculating |P1-P2|. If △P>threshold (corresponding to a preset difference threshold) (for example, 0.2°), it is determined that the target motor is offset, and a correction instruction can be triggered to perform correction control on the target motor.

[0054] By automatically correcting and adjusting the target motor, precise control of the motor is ensured, thereby improving the stability and accuracy of the monitoring equipment.

[0055] Optionally, in the control method of the monitoring device provided in Example 1 of the present application, the preset difference threshold is determined by: obtaining target parameters, wherein the target parameters include at least one of the following: environmental parameters of the environment in which the target motor is located, operating parameters of the target motor, and the operating parameters include at least one of the following: operating time, load weight; inputting the target parameters and the angle difference into a target model, and outputting the preset difference threshold, wherein the target model includes: a neural network model trained based on the correction records of the target motor in a historical time period.

[0056] For example, the target parameters may include environmental parameters and operating parameters. Environmental parameters may include, but are not limited to, the temperature, humidity, air pressure, and electromagnetic interference of the target motor's environment. Operating parameters may include, but are not limited to, the target motor's operating time and load weight. The operating time may reflect motor wear, while the load weight may affect the motor's torque requirement and response speed. The target parameters may be obtained through sensors or system monitoring.

[0057] The preset difference threshold is used to determine whether the motor is misaligned. This can be determined and adaptively adjusted using a target model. For example, based on the ΔP values recorded for each correction and environmental parameters (temperature, load weight), a neural network model (corresponding to the target model) can be used to predict the deviation trend and adaptively adjust the threshold. The target model can be a neural network model trained based on the correction records of the target motor over a historical period. The target model can learn and predict the range of possible angle differences that the motor may produce under different environmental and operating parameters.

[0058] The historical correction records mentioned above can include angle difference data from past motor operations, as well as the corresponding environmental and operating parameters at the time. By collecting this historical data, a training dataset can be constructed. Using these historical correction records as training samples, a neural network model is trained. The model's inputs can be environmental and operating parameters, and its output can be a preset difference threshold. During the training process, the model learns the complex relationships between these parameters and angle differences, enabling accurate predictions even on unknown data.

[0059] Machine learning models (neural network models) are used to predict optimal preset difference thresholds, enabling more intelligent and efficient motor error correction control. Specifically, the application of deep learning technology in error correction algorithms can significantly improve the accuracy and performance of monitoring equipment. Machine learning models can learn and predict errors, enabling real-time adjustments and optimizations. This can also improve the accuracy and stability of error correction in the presence of complex environmental changes.

[0060] Optionally, in the control method of the monitoring device provided in Example 1 of the present application, when the target motor is offset, the target motor is corrected and controlled, including: when the target motor is offset, generating a reverse pulse sequence based on the angle difference, wherein the reverse pulse sequence is used to drive the target motor to rotate; based on the reverse pulse sequence, the target motor is corrected and controlled.

[0061] In this embodiment, if a difference is determined between the first rotation angle (the recorded theoretical rotation angle) and the second rotation angle (the actual measured rotation angle), and if the target motor is confirmed to be offset, that is, the angle difference exceeds a preset difference threshold, a reverse pulse sequence can be generated based on the magnitude and direction of the angle difference. For example, the main control chip (i.e., the target chip) generates a reverse pulse sequence to drive the stepper motor to rotate △P / 0.01° steps (for example, when △P = 0.6°, 60 steps are driven in the reverse direction). At the same time, the actual rotation angle is verified using a magnetic induction encoder. For example, the actual rotation angle of the target motor can be determined based on the magnetic field data before and after the rotation of the target motor, as well as the magnetic field angle mapping relationship. It should be noted that the "reverse" in this pulse sequence refers to the direction opposite to the current direction of motion of the motor. The purpose is to correct the offset by driving the motor to rotate in the opposite direction.

[0062] The aforementioned reverse pulse sequence can be generated based on the control characteristics of a stepper motor. A stepper motor achieves precise rotation by receiving a certain number and sequence of pulse signals, with each pulse signal representing a specific step angle. Therefore, to correct the angular deviation, the required number of pulses and the order in which they should be sent can be calculated to drive the motor to the correct angle and eliminate the deviation. Based on the reverse pulse sequence, a control signal is sent to the target motor, driving it to rotate the corresponding number of steps in the opposite direction. The rotation angle equals the calculated angular deviation, fully correcting the angular deviation. While the motor is performing the deviation correction, the change in the second rotation angle can be continuously monitored to verify that the motor has correctly rotated to the desired position. This can involve using a feedback device such as a magnetic encoder to measure the actual rotation angle in real time. Once the motor has returned to the correct position, meaning the angular deviation has been eliminated, the deviation correction control process is complete. At this point, the motor's operating state should return to normal, meeting the expected accuracy requirements.

[0063] By automatically identifying the offset of the target motor and adopting precise control strategies to adjust it, the ideal rotation angle can be achieved, which can effectively improve the reliability and operating efficiency of the monitoring equipment.

[0064] Optionally, in the control method of the monitoring device provided in Example 1 of the present application, after the target motor is corrected and controlled based on the reverse pulse sequence, it includes: obtaining the number of continuous correction times, wherein the number of continuous correction times includes: the number of times the target motor is corrected and controlled continuously; comparing the number of continuous correction times with a preset number threshold; when the number of continuous correction times is greater than the preset number threshold, using a target correction mode to correct the target motor and generate fault prompt information, wherein the target correction mode includes: when the difference between the recorded rotation angle of the target motor and the actual rotation angle of the target motor is greater than the preset difference threshold, directly controlling the target motor to rotate.

[0065] The above-mentioned continuous deviation correction times can be the number of consecutive times that deviation of the target motor is detected and correction control is performed. If deviation is frequently detected during operation of the target motor and correction operations have to be performed repeatedly, it can be determined that there is a serious fault or instability in the motor or related components.

[0066] The threshold value can be a pre-set value used to determine whether the number of consecutive corrections has reached a level that requires further action. If the number of consecutive corrections exceeds this threshold, it can be determined that the target motor's offset problem is likely not accidental but caused by a persistent factor, requiring more forceful action.

[0067] After each corrective control based on the reverse pulse sequence, a check is performed to see if the number of consecutive corrective actions exceeds a preset threshold. If the threshold is not exceeded, the previous corrective actions are deemed sufficient, and the target motor can continue to operate in normal mode, awaiting the next angle detection and corrective control. If the threshold is exceeded, the system enters the exception handling process, employing the target corrective mode for more urgent and immediate corrective control, and generates a fault message to notify maintenance personnel.

[0068] In the target correction mode, if the difference between the recorded target motor rotation angle and the actual rotation angle is still greater than the preset difference threshold, there is no need to determine whether the target motor is offset again. Instead, the target motor angle difference △P is obtained. When △P>threshold In the event of a continuous deviation, the system can directly perform corrections to eliminate the angle difference as quickly as possible. At the same time, a fault prompt message can be generated and sent to the monitoring center or the user's terminal device via a communication protocol, reminding relevant personnel to check the motor and its related components, find the root cause of the continuous deviation, and perform necessary repairs or replacements.

[0069] For example, if △P still exceeds the threshold after three consecutive corrections (corresponding to the preset number threshold), it can be switched to the target correction mode, directly using the magnetic encoder feedback signal to control the motor and send a fault code to the monitoring platform.

[0070] Target Correction Mode ensures timely action to ensure equipment safety and operational continuity when abnormal motor operation occurs. It also effectively reports potential faults to the maintenance team, facilitating rapid diagnosis and repair, thus preventing the equipment from being in an unstable state for a long time, which could affect overall performance and service life.

[0071] In this embodiment, the target motor and transmission system solution can reduce friction by optimizing the design structure and materials. In this embodiment, the dimensions of various high-precision components involved in the control method of the monitoring device can be precisely matched, thereby improving the rigidity of the monitoring device's control device and reducing inertia and friction.

[0072] The control method for the monitoring device provided in this embodiment can achieve high-precision deviation correction performance at a low cost.

[0073] Example 2

[0074] The present embodiment also provides a control device for a monitoring device. It should be noted that the control device for a monitoring device in the present embodiment can be used to execute the control method for a monitoring device provided in the first embodiment of the present invention. The following describes the control device for a monitoring device provided in the second embodiment of the present invention.

[0075] According to an embodiment of the present application, a device for implementing the control method of the monitoring device of the present application is also provided. Figure 3 A schematic diagram of a control device for a monitoring device according to an embodiment of the present application is provided. Figure 1 ,like Figure 3 As shown, the device includes: a target motor 31 , a magnetic induction encoder 32 and a target chip 33 .

[0076] Among them, the target motor 31 is used to drive the monitoring device to rotate; the magnetic induction encoder 32 is deployed at the tail of the target motor, and is used to collect the magnetic field data of the monitoring device to obtain target magnetic field data; the target chip 33 is connected to the magnetic induction encoder, and is used to record the first rotation angle of the target motor, determine the second rotation angle based on the target magnetic field data, and perform correction control on the target motor based on the first rotation angle and the second rotation angle, wherein the second rotation angle includes: the actual rotation angle of the target motor at the current moment.

[0077] The target motor mentioned above may be a stepper motor, for example, Figure 4A schematic diagram of a control device for a monitoring device according to an embodiment of the present application is provided. Figure 2 ,like Figure 4 As shown, the target motor in the monitoring device can include a horizontally mounted stepper motor (horizontal motor) and a vertically mounted stepper motor (vertical motor), which are used to control the horizontal and vertical rotation of the monitoring device. The target motor can also be a servo motor, which can serve as the main power source of the monitoring device, responsible for driving the pan / tilt head or other components of the monitoring device to rotate. For example, the target motor can precisely control the rotation angle based on the received control signal to adjust the monitoring viewing angle.

[0078] The above-mentioned magnetic induction encoder can be deployed at the tail of the target motor and may include a magnetic field encoding disk and a magnetic induction chip. The magnetic field chip can collect the magnetic field data of the magnetic field encoding disk to obtain the target magnetic field data, that is, the magnetic induction encoder can indirectly measure the actual rotation angle of the target motor shaft by monitoring the magnetic field changes of the magnetic induction encoding disk fixed on the target motor shaft.

[0079] The target chip is closely connected to the magnetic encoder and is responsible for processing rotation angle information and generating information for corrective control of the target motor. The target chip can be a microcontroller. The target chip receives the magnetic field strength signal (magnetic field data) sent by the magnetic chip and the position feedback signal from the magnetic encoder. It drives the stepper motor using PWM (Pulse Width Modulation) chopping. The target chip can be powered by a -48V DC power supply.

[0080] In this embodiment, the first rotation angle recorded by the target chip, i.e., the theoretical rotation angle that the target motor should achieve, can be collected and stored. This first rotation angle can typically be determined and stored based on control instructions sent from the target chip. The target chip can receive magnetic field data from the magnetic encoder and calculate the actual rotation angle of the motor, i.e., the second rotation angle, using a built-in algorithm or a pre-established magnetic field angle mapping relationship.

[0081] The target chip can compare the first rotation angle (theoretical angle) with the second rotation angle (actual angle). If a significant difference (angle difference) is found between the two, and this difference exceeds a preset difference threshold, it is determined that the motor has offset. At this time, the target chip will generate a specific control signal, such as a reverse pulse sequence, to drive the target motor to rotate to correct this offset, thereby achieving precise steering control.

[0082] In this embodiment, a magnetic encoder is built into the monitoring device to achieve the purpose of correcting the deviation of the target motor in the monitoring device based on magnetic field data. This avoids the low accuracy of pneumatic active correction methods and electro-hydraulic combined correction methods in related technologies, thereby achieving the technical effect of improving the correction accuracy of the spherical camera. This further solves the technical problem of poor correction effect of spherical camera correction in related technologies.

[0083] Optionally, in the control device of the monitoring equipment provided in Example 2 of the present application, the magnetic induction encoder also includes: a magnetic induction encoding disk, which is deployed at the end of the rotating shaft of the target motor and generates different magnetic fields according to the rotation angle of the target motor; and a magnetic induction chip, which is used to collect target magnetic field data, wherein the target magnetic field data includes: magnetic field data of the magnetic field generated by the magnetic induction encoding disk at the current moment.

[0084] The magnetic encoder disk described above can be part of a magnetic encoder, deployed at the end of the target motor's shaft. It rotates with the shaft, generating varying magnetic field strengths. Optionally, the disk can include a pre-designed magnetic pattern that changes as the motor shaft rotates, generating varying magnetic field distributions. These magnetic field variations are directly correlated to the motor's rotation angle, enabling indirect measurement of the motor's rotation angle by monitoring the magnetic field changes. Magnetic encoder disks can be highly precise, providing high-resolution angular measurement. For example, a magnetic encoder disk mounted at the end of a shaft (with a resolution of 4000 lines per turn) generates a magnetic field that varies with the motor's angular rotation. With a resolution of up to 4000 lines per turn, a magnetic encoder disk can distinguish very subtle angular variations in the motor's shaft.

[0085] The magnetic sensor chip can be fixed to the rear housing of the target motor, perpendicular to the motor axis, to collect magnetic field data generated by the magnetic encoder disk (i.e., target magnetic field data). The magnetic sensor chip can sense and monitor the rotation angle of the magnetic encoder disk via a non-contact method. The signal output of the magnetic sensor chip can be connected to the main control chip (target chip) via an SPI (Serial Peripheral Interface) interface, ensuring the encoder's long-term reliability and low wear. The magnetic sensor chip can be a magnetic sensor with an 18-bit resolution. It has high-resolution magnetic field detection capabilities, capable of capturing tiny magnetic field changes, so that the magnetic field data can be accurately converted into the target motor's rotation angle information.

[0086] The magnetic induction chip and the magnetic induction encoder disk are used in combination to obtain the actual position of the motor. The combination of the two can be called a magnetic encoder.

[0087] Magnetic encoders use changes in magnetic fields to measure angles, making them more advantageous than optical encoders in some environments. For example, in dusty and humid environments, magnetic encoders can provide stable measurement results and are not easily affected by changes in the external environment.

[0088] Optionally, in the control device of the monitoring device provided in Example 2 of the present application, the monitoring device also includes: a driven shaft for controlling the rotation of the monitoring device; a gear set, including a first synchronous pulley and a second synchronous pulley, the first synchronous pulley is connected to the output shaft of the target motor, and the second synchronous pulley is connected to the driven shaft, and the material of the gear set is copper; a belt, connecting the first synchronous pulley and the second synchronous pulley, and used to drive the driven shaft to rotate based on the gear set and using the target motor to control the rotation of the monitoring device; a tensioning pulley, used to control the tension of the belt.

[0089] The driven shaft can be a shaft used to directly control the rotation of a pan / tilt head (PTZ) or other rotating components within the monitoring device. It is typically connected to the output shaft of the target motor via a transmission system (e.g., a gear train or belt), thereby converting the target motor's rotational power into rotational control of the monitoring device.

[0090] The gear set consists of a first and a second synchronous pulley, connected by a belt. The first synchronous pulley is connected to the output shaft of the target motor. For example, the output shaft of the target motor can be connected to the first synchronous pulley (also known as the motor's main synchronous pulley) via a metal shaft to transmit the motor's rotational power to the belt. The second synchronous pulley (also known as the slave synchronous pulley) can be connected to the driven shaft to convert the belt's motion into rotational motion. Copper can be used as the material for the gear set due to its excellent wear resistance and low noise. The master synchronous pulley (i.e., the first synchronous pulley) and the slave synchronous pulley (i.e., the second synchronous pulley) can form a 7:1 reduction ratio, increasing torque output and reducing the step angle resolution to 0.005° / step. Therefore, in monitoring equipment, copper gears can provide smooth, low-friction rotation, reduce energy loss and mechanical noise during transmission, and thus improve the positioning accuracy and operational stability of the monitoring equipment.

[0091] The aforementioned belt is a transmission medium that connects a first synchronous pulley (i.e., the motor's master synchronous pulley) and a second synchronous pulley (i.e., the slave synchronous pulley) to transmit the rotational force of the target motor to the driven shaft. In this embodiment, the belt and synchronous pulleys together form a transmission system. The belt's tension ensures power transmission between the motor and the driven shaft. The use of the belt reduces the noise and wear common in direct gear meshing. Furthermore, proper tensioning prevents belt slippage during transmission, ensuring efficient and accurate transmission.

[0092] The aforementioned tensioner is a component used to adjust belt tension. In a belt drive system, belt tension directly affects the transmission effect. If the belt is too loose, transmission efficiency will decrease and even slip; if the belt is too tight, friction and wear in the transmission system will increase, reducing the service life of the monitoring equipment. Therefore, the tensioner can be used to dynamically adjust the belt tension to avoid slipping and ensure that the belt operates in optimal conditions. For example, the position of the tensioner can be automatically adjusted according to changes in motor speed and load, thereby maintaining the appropriate belt tension state, neither too loose nor too tight, ensuring the efficiency and stability of the transmission system.

[0093] In this embodiment, a magnetic encoder is built into the monitoring device to achieve the purpose of correcting the deviation of the target motor in the monitoring device based on magnetic field data. This avoids the low accuracy of pneumatic active correction methods and electro-hydraulic combined correction methods in related technologies, thereby achieving the technical effect of improving the correction accuracy of the spherical camera. This further solves the technical problem of poor correction effect of spherical camera correction in related technologies.

[0094] Example 3

[0095] The present application also provides a control device for a monitoring device. It should be noted that the control device for a monitoring device in the present application can be used to execute the control method for a monitoring device provided in Example 1 of the present application. The following describes the control device for a monitoring device provided in the present application.

[0096] According to an embodiment of the present application, a device for implementing the control method of the above monitoring device is also provided, such as Figure 5 As shown, the device includes: an acquisition unit 51, a collection unit 52, a determination unit 53 and a correction unit 54.

[0097] The acquiring unit 51 is configured to acquire a recorded rotation angle of a target motor at a current moment to obtain a first rotation angle, wherein the target motor is deployed in the monitoring device and is configured to drive the monitoring device to rotate;

[0098] The acquisition unit 52 is used to acquire magnetic field data of the monitoring device to obtain target magnetic field data;

[0099] The determining unit 53 is configured to determine a second rotation angle based on the target magnetic field data, wherein the second rotation angle includes: an actual rotation angle of the target motor at a current moment;

[0100] The deviation correction unit 54 is configured to perform deviation correction control on the target motor based on the first rotation angle and the second rotation angle.

[0101] In the control device of the monitoring device provided in the third embodiment of the present application, the rotation angle of the target motor recorded at the current moment can be obtained by the acquisition unit 51 to obtain a first rotation angle, wherein the target motor is deployed in the monitoring device and is used to drive the monitoring device to rotate, and the magnetic field data of the monitoring device is collected by the acquisition unit 52 to obtain target magnetic field data, and the second rotation angle is determined based on the target magnetic field data by the determination unit 53, wherein the second rotation angle includes: the actual rotation angle of the target motor at the current moment, and the correction unit 54 is used to perform correction control on the target motor based on the first rotation angle and the second rotation angle. In this embodiment, correction control is performed on the target motor in the monitoring device based on the magnetic field data, thereby avoiding the low accuracy of the pneumatic active correction method and the electro-hydraulic combination correction method in the related art, thereby achieving the technical effect of improving the correction accuracy of the spherical camera. This solves the technical problem of poor correction effect of the spherical camera in the related art.

[0102] Optionally, in the control device of the monitoring equipment provided in Example 3 of the present application, the target magnetic field data includes: magnetic field data of the magnetic field generated by the magnetic induction encoder disk, wherein the magnetic induction encoder disk is deployed at the end of the rotating shaft of the target motor, and the determination unit includes: an acquisition subunit for acquiring a magnetic field angle mapping relationship, wherein the magnetic field angle mapping relationship includes: a mapping relationship between the magnetic field data of the magnetic induction encoder disk and the actual rotation angle of the target motor, and the magnetic field angle mapping relationship is calibrated once every preset time interval; a determination subunit for determining the second rotation angle based on the target magnetic field data and the magnetic field angle mapping relationship.

[0103] Optionally, in the control device of the monitoring equipment provided in Example 3 of the present application, the correction unit includes: a calculation subunit, used to calculate the difference between the first rotation angle and the second rotation angle to obtain the angle difference; a comparison subunit, used to compare the angle difference with a preset difference threshold to obtain a comparison result, and determine whether the target motor is offset based on the comparison result; and a correction subunit, used to perform correction control on the target motor when the target motor is offset.

[0104] Optionally, in the control device of the monitoring equipment provided in Example 3 of the present application, the preset difference threshold is determined by the following modules: a first acquisition module, used to obtain target parameters, wherein the target parameters include at least one of the following: environmental parameters of the environment in which the target motor is located, operating parameters of the target motor, and the operating parameters include at least one of the following: operating time, load weight; a first processing module, used to input the target parameters and the angle difference into a target model, and output the preset difference threshold, wherein the target model includes: a neural network model trained based on the correction records of the target motor in a historical time period.

[0105] Optionally, in the control device of the monitoring equipment provided in Example 3 of the present application, the correction sub-unit includes: a generation module for generating a reverse pulse sequence based on the angle difference when the target motor is offset, wherein the reverse pulse sequence is used to drive the target motor to rotate; and a correction module for performing correction control on the target motor based on the reverse pulse sequence.

[0106] Optionally, in the control device of the monitoring equipment provided in Example 3 of the present application, the correction sub-unit also includes: a second acquisition module, used to obtain the number of continuous corrections after the target motor is corrected based on the reverse pulse sequence, wherein the number of continuous corrections includes: the number of times the target motor is corrected continuously; a comparison module, used to compare the number of continuous corrections with a preset number threshold; a second processing module, used to perform correction control on the target motor using a target correction mode and generate fault prompt information when the number of continuous corrections is greater than the preset number threshold, wherein the target correction mode includes: directly controlling the target motor to rotate when the difference between the recorded rotation angle of the target motor and the actual rotation angle of the target motor is greater than the preset difference threshold.

[0107] It should be noted that the acquisition unit 51, acquisition unit 52, determination unit 53, and correction unit 54 described above correspond to steps S201 to S204 in the first embodiment. The examples and application scenarios implemented by each unit and the corresponding steps are the same, but are not limited to the contents disclosed in the first embodiment. It should be noted that the above modules or units may be hardware components or software components stored in a memory (e.g., memory 104) and processed by one or more processors (e.g., processors 102a, 102b, ..., 102n). The above modules may also be part of a device and run in the computer terminal 10 provided in the first embodiment.

[0108] Example 4

[0109] An embodiment of the present application may provide an electronic device, Figure 6 This is a structural block diagram of an electronic device according to an embodiment of the present application. Figure 6 As shown, the electronic device may include: one or more ( Figure 6 Only one is shown) processor 602, memory 604, storage controller, and peripheral interface, wherein the peripheral interface is connected to the radio frequency module, audio module and display.

[0110] Among them, the memory can be used to store software programs and modules, such as program instructions / modules corresponding to the methods and devices in the embodiments of the present application. The processor executes various functional applications and data processing by running the software programs and modules stored in the memory, that is, implementing the above-mentioned method. The memory may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory may further include a memory remotely arranged relative to the processor, and these remote memories may be connected to the terminal via a network. Examples of the above-mentioned network include but are not limited to the Internet, an intranet, a local area network, a mobile communication network and a combination thereof.

[0111] The processor can also call the information and application stored in the memory through the transmission device to perform the following steps: obtain the recorded rotation angle of the target motor at the current moment to obtain a first rotation angle, wherein the target motor is deployed in the monitoring device to drive the monitoring device to rotate; collect the magnetic field data of the monitoring device to obtain target magnetic field data; determine the second rotation angle based on the target magnetic field data, wherein the second rotation angle includes: the actual rotation angle of the target motor at the current moment; based on the first rotation angle and the second rotation angle, perform correction control on the target motor.

[0112] The processor can also call the information and application stored in the memory through the transmission device to perform the following steps: the target magnetic field data includes: the magnetic field data of the magnetic field generated by the magnetic induction encoder disk, wherein the magnetic induction encoder disk is deployed at the end of the rotating shaft of the target motor, and based on the target magnetic field data, determining the second rotation angle, including: obtaining the magnetic field angle mapping relationship, wherein the magnetic field angle mapping relationship includes: the mapping relationship between the magnetic field data of the magnetic induction encoder disk and the actual rotation angle of the target motor, and the magnetic field angle mapping relationship is calibrated once every preset time interval; based on the target magnetic field data and the magnetic field angle mapping relationship, determining the second rotation angle.

[0113] The processor can also call the information and application stored in the memory through the transmission device to perform the following steps: based on the first rotation angle and the second rotation angle, perform correction control on the target motor, including: calculating the difference between the first rotation angle and the second rotation angle to obtain the angle difference; comparing the angle difference with the preset difference threshold to obtain a comparison result, and determining whether the target motor is offset based on the comparison result; if the target motor is offset, perform correction control on the target motor.

[0114] The processor can also call the information and application stored in the memory through the transmission device to perform the following steps: the preset difference threshold is determined by: obtaining the target parameters, wherein the target parameters include at least one of the following: environmental parameters of the environment in which the target motor is located, operating parameters of the target motor, and the operating parameters include at least one of the following: operating time, load weight; inputting the target parameters and the angle difference into the target model, and outputting the preset difference threshold, wherein the target model includes: a neural network model trained based on the correction records of the target motor in the historical time period.

[0115] The processor can also call the information and application stored in the memory through the transmission device to perform the following steps: when the target motor is offset, the target motor is corrected and controlled, including: when the target motor is offset, a reverse pulse sequence is generated based on the angle difference, wherein the reverse pulse sequence is used to drive the target motor to rotate; based on the reverse pulse sequence, the target motor is corrected and controlled.

[0116] The processor can also call the information and application stored in the memory through the transmission device to perform the following steps: after the target motor is corrected and controlled based on the reverse pulse sequence, including: obtaining the number of continuous correction times, wherein the continuous correction times include: the number of times the target motor is corrected and controlled continuously; comparing the continuous correction times with a preset number threshold; when the continuous correction times are greater than the preset number threshold, using the target correction mode to correct the target motor and generate a fault prompt message, wherein the target correction mode includes: when the difference between the recorded rotation angle of the target motor and the actual rotation angle of the target motor is greater than the preset difference threshold, directly controlling the target motor to rotate.

[0117] The embodiments of the present application utilize magnetic field data to perform corrective control on a target motor within a monitoring device, thereby avoiding the low accuracy of pneumatic active correction methods and electro-hydraulic combined correction methods in related technologies. This improves the correction accuracy of a spherical camera and addresses the poor correction effect of related technologies for spherical cameras.

[0118] It can be understood by those skilled in the art that Figure 6 The structure shown is for illustration only, and the electronic device may also be a terminal device such as a smart phone, a tablet computer, a PDA, a mobile Internet device (MID), or a PAD. Figure 6 It does not limit the structure of the above electronic device. For example, the electronic device may also include Figure 6 More or fewer components (such as network interfaces, display devices, etc.) shown in, or with Figure 6Different configurations shown.

[0119] A person skilled in the art will understand that all or part of the steps in the various methods of the above embodiments can be completed by instructing the hardware related to the terminal device through a program, and the program can be stored in a computer-readable storage medium, which may include: a flash drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0120] Example 5

[0121] The embodiment of the present application further provides a storage medium. Optionally, in this embodiment, the storage medium can be used to store the program code executed by the control method of the monitoring device provided in the first embodiment.

[0122] Optionally, in this embodiment, the storage medium may be located in any computer terminal in a computer terminal group in a computer network, or in any mobile terminal in a mobile terminal group.

[0123] The present application also provides a computer program product, which, when executed on a data processing device, is suitable for executing the program steps of the control method of the monitoring device.

[0124] The serial numbers of the above-mentioned embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0125] In the above embodiments of the present application, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, please refer to the relevant description of other embodiments.

[0126] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0127] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0128] In addition, the functional units in the various embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0129] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the existing technology, or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a number of instructions for enabling a computer device (which can be a personal computer, server or network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk, etc. Various media that can store program code.

[0130] The above is only a preferred embodiment 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 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 control method for a monitoring device, characterized in that: include: Acquiring a recorded rotation angle of a target motor at a current moment to obtain a first rotation angle, wherein the target motor is deployed in a monitoring device and is used to drive the monitoring device to rotate; Collecting magnetic field data of the monitoring device to obtain target magnetic field data; determining a second rotation angle based on the target magnetic field data, wherein the second rotation angle comprises: an actual rotation angle of the target motor at the current moment; Based on the first rotation angle and the second rotation angle, the target motor is subjected to correction control.

2. The control method according to claim 1, characterized in that: The target magnetic field data includes magnetic field data of a magnetic field generated by a magnetic induction encoder disk, wherein the magnetic induction encoder disk is disposed at an end of a rotating shaft of the target motor. Determining the second rotation angle based on the target magnetic field data includes: Obtaining a magnetic field angle mapping relationship, wherein the magnetic field angle mapping relationship includes: a mapping relationship between the magnetic field data of the magnetic induction encoder disk and the actual rotation angle of the target motor, and the magnetic field angle mapping relationship is calibrated once every preset time interval; The second rotation angle is determined based on the target magnetic field data and the magnetic field angle mapping relationship.

3. The control method according to claim 1, wherein: Based on the first rotation angle and the second rotation angle, the target motor is subjected to correction control, including: Calculating a difference between the first rotation angle and the second rotation angle to obtain an angle difference; Comparing the angle difference with a preset difference threshold to obtain a comparison result, and determining whether the target motor is offset based on the comparison result; In the case that the target motor is offset, a deviation correction control is performed on the target motor.

4. The control method according to claim 3, characterized in that: The preset difference threshold is determined by: Acquiring target parameters, wherein the target parameters include at least one of the following: environmental parameters of the environment in which the target motor is located, and operating parameters of the target motor, wherein the operating parameters include at least one of the following: operating time and load weight; The target parameter and the angle difference are input into a target model, and the preset difference threshold is output, wherein the target model includes: a neural network model trained based on the correction record of the target motor in a historical time period.

5. The control method according to claim 3, characterized in that: When the target motor is offset, performing deviation correction control on the target motor includes: generating a reverse pulse sequence based on the angle difference when the target motor is offset, wherein the reverse pulse sequence is used to drive the target motor to rotate; Based on the reverse pulse sequence, the target motor is subjected to deviation correction control.

6. The control method according to claim 5, characterized in that: After performing deviation correction control on the target motor based on the reverse pulse sequence, the method includes: Acquire the number of continuous deviation corrections, wherein the number of continuous deviation corrections includes: the number of times the deviation correction control is continuously performed on the target motor; Comparing the number of consecutive corrections with a preset number threshold; When the number of continuous corrections is greater than the preset number threshold, the target correction mode is adopted to perform correction control on the target motor and generate fault prompt information, wherein the target correction mode includes: when the difference between the recorded rotation angle of the target motor and the actual rotation angle of the target motor is greater than the preset difference threshold, directly controlling the target motor to rotate.

7. A control device for a monitoring device, characterized in that: The control device is used to execute the control method of the monitoring device according to any one of claims 1 to 6, comprising: A target motor, used to drive the monitoring device to rotate; A magnetic induction encoder is deployed at the tail of the target motor and is used to collect magnetic field data of the monitoring device to obtain target magnetic field data; A target chip is connected to the magnetic induction encoder, and is used to record the first rotation angle of the target motor, determine the second rotation angle based on the target magnetic field data, and perform correction control on the target motor based on the first rotation angle and the second rotation angle, wherein the second rotation angle includes: the angle at which the target motor actually rotates at the current moment.

8. The control device according to claim 7, characterized in that: The magnetic induction encoder further comprises: A magnetic encoder disk is disposed at the end of the rotating shaft of the target motor and generates a different magnetic field according to the rotation angle of the target motor; The magnetic induction chip is used to collect the target magnetic field data, wherein the target magnetic field data includes: magnetic field data of the magnetic field generated by the magnetic induction encoder disk at the current moment.

9. The control device according to claim 7, characterized in that: The monitoring device also includes: A driven shaft, used to control the rotation of the monitoring device; a gear set comprising a first synchronous pulley and a second synchronous pulley, wherein the first synchronous pulley is connected to the output shaft of the target motor, and the second synchronous pulley is connected to the driven shaft, and the gear set is made of copper; a belt connecting the first synchronous pulley and the second synchronous pulley, and configured to drive the driven shaft to rotate using the target motor based on the gear set to control the rotation of the monitoring device; The tensioning pulley is used to control the tension of the belt.

10. A computer program product comprising computer instructions, characterized in that When the computer instructions are executed by a processor, the steps of the control method of the monitoring device according to any one of claims 1 to 6 are implemented.

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