Remote zooming method and system based on communication between remote controller and camera device

Abstract

The invention relates to a remote zooming method and system based on communication between a remote controller and a camera device, and the method comprises the steps: obtaining an input target focal length value in response to a remote zooming operation on the remote controller, and obtaining a current focal length value of a camera configured in the camera device; obtaining an adjustment step length set of a zoom driving motor in the camera device; constructing an adjustment cost matrix according to the adjustment step length set, the current focal length value of the camera and the target focal length value; according to the adjustment cost matrix, determining an optimal step length sequence of zooming of the camera from the current focal length value to the target focal length value, and according to a step length amount in the optimal step length sequence, generating an adjustment path for zooming of the camera; and sending the adjustment path to the wireless communication module of the camera device through the wireless communication module of the remote controller, so that the camera device controls the zoom driving motor to adjust the focal length value of the camera to the target focal length value according to the adjustment path under the condition that the camera device receives the adjustment path through the wireless communication module of the camera device.

Description

Technical Field

[0001] The present application relates to the technical field of tower cranes, and in particular to a remote zoom method and system based on communication between a remote controller and a camera device. Background Art

[0002] As construction sites continue to expand and operating environments become increasingly complex, real-time, clear monitoring of tower crane hooks and their surroundings has become a key factor in improving operational safety and efficiency. Traditionally, tower crane operators have relied on direct line of sight or simple visual aids to control the hook, but this approach is not effective when visibility is limited or when precise operation is required.

[0003] To overcome these limitations, tower crane systems incorporate cameras in relevant scenarios. These cameras capture real-time images of the hook and its operating environment, providing intuitive visual feedback to the operator. However, a fixed camera focal length often fails to meet the monitoring requirements of diverse operating scenarios. For example, close-range operations require a higher magnification to clearly observe hook details, while longer-range operations require a lower magnification to obtain a wider field of view. Therefore, implementing remote camera zoom functionality has become a crucial technical tool for enhancing the flexibility and safety of tower crane operations.

[0004] Existing remote zoom methods typically rely on complex wiring systems or dedicated control systems, which not only increases system installation and maintenance costs but also limits operator mobility. This is especially true on large construction sites, where operators need to move frequently to adapt to different work positions, and traditional wired control systems clearly cannot meet this demand. Summary of the Invention

[0005] The purpose of the present invention is to provide a remote zoom method and system based on communication between a remote controller and a camera device, To achieve the above objectives, the present disclosure provides, in a first aspect, a remote zoom method based on communication between a remote controller and a camera device. The method is applied to a portable and movable remote controller in a tower crane system. The tower crane system includes the remote controller and a camera device disposed on a tower crane hook. The camera device and the remote controller are both equipped with a wireless communication module. The camera device is equipped with a camera and a zoom drive motor for driving the camera to zoom. The method includes: In response to a remote zoom operation on the camera on the remote controller, obtaining a target focal length value input on the remote controller and obtaining a current focal length value of the camera configured in the camera device through a wireless communication connection with a wireless communication module of the camera device; Acquire an adjustment step set of the zoom drive motor in the camera device, wherein the adjustment step set includes a plurality of step amounts of the zoom drive motor; Constructing an adjustment cost matrix corresponding to step costs under adjustment time cost, adjustment energy consumption cost, and adjustment accuracy cost according to the adjustment step size set, the current focal length value of the camera, and the target focal length value; Determining, based on the adjustment cost matrix, an optimal step sequence for zooming the camera from the current focal length value to the target focal length value, and generating an adjustment path for zooming the camera based on the step amounts in the optimal step sequence; The adjustment path is sent to the wireless communication module of the camera device through the wireless communication module of the remote control, so that when the camera device receives the adjustment path through the wireless communication module of the camera device, it controls the zoom drive motor to adjust the focal length value of the camera to the target focal length value according to the adjustment path.

[0006] In a possible implementation, determining, based on the adjustment cost matrix, an optimal step sequence for zooming the camera from the current focal length value to the target focal length value includes: For each row in the adjustment, determining a minimum value of the step cost in the row, and subtracting the minimum value of the step cost corresponding to the row from each step cost in the adjustment cost matrix to obtain a reconstructed row for each row; For each column in the adjustment, determining a minimum value of the step cost in the column, and subtracting the minimum value of the step cost corresponding to the column from each step cost of the column in the adjustment cost matrix to obtain a reconstructed column for each column; Covering all locations where the elements of the adjusted cost matrix have a value of zero with a minimum number of horizontal and vertical lines; If the number of covering lines is less than the dimension of the adjustment cost matrix, the adjustment cost matrix is ​​adjusted, and the method of covering positions where all elements in the adjustment cost matrix have a value of zero with the minimum number of horizontal lines and vertical lines is performed until the number of covering lines is greater than or equal to the dimension of the adjustment cost matrix; An optimal step sequence from the current focal length value to the target focal length value is determined according to an optimal allocation scheme covering zero elements.

[0007] In a possible implementation, if the number of coverage lines is less than the dimension of the adjustment cost matrix, adjusting the adjustment cost matrix includes: If the number of covered lines is less than the dimension of the adjustment cost matrix, traverse the current adjustment cost matrix to find all target elements that are not covered by horizontal lines or vertical lines; A first operation of subtracting the element with the smallest value among the target elements is performed on each of the target elements, and a second operation of adding the element with the smallest value among the target elements is performed on the elements of the adjusted cost matrix that are covered by both the horizontal line and the vertical line.

[0008] In one possible implementation, constructing an adjustment cost matrix corresponding to the step cost under adjustment time cost, adjustment energy cost, and adjustment accuracy cost according to the adjustment step size set, the current focal length value of the camera, and the target focal length value includes: According to the current focal length value of the camera and the target focal length value, multiple step amounts are selected from the adjustment step set for combination to obtain multiple standby adjustment step amount combinations for adjusting from the current focal length value to the target focal length value; According to the time cost weight, energy consumption cost weight, precision cost weight, the time required for each step in each of the standby adjustment step amount combinations, the required energy and the corresponding precision, an adjustment cost matrix corresponding to the step cost under the adjustment time cost, adjustment energy consumption cost and adjustment precision cost is constructed.

[0009] In a possible implementation, the adjustment cost matrix is ​​constructed using the following formula: C ij =w1×T ij +w2×E ij +w3×|F j −F target ∣; Among them, F j Indicates the intermediate focal length value after adjusting from the current focal length value, F target Indicates the target focal length value, C ij represents the step cost of adjusting from the current state to the intermediate focal length value, T ij represents the time required to adjust from the current focal length value to the intermediate focal length value, w1 is the time cost weight, E ij represents the energy required to adjust from the current focal length value to the intermediate focal length value, w2 is the energy consumption cost weight, w3 is the accuracy cost weight, i represents the index of the step size in the adjustment step set, and j represents the index of the adjusted intermediate focal length value.

[0010] In a possible implementation, the method further includes: When the camera is in a waiting-for-pairing state, a device identifier generated by the camera; When the remote control is in search mode, the remote control generates a random pairing code and broadcasts a search signal carrying device information of the remote control and the pairing code through the wireless communication module of the remote control; When the camera device searches for the broadcast signal through the wireless communication module configured therein, the camera device sends an exchange digital certificate acquisition request carrying the device information and the device identifier to the cab control device according to the device information and the device identifier; When the cab control device receives the exchange digital certificate acquisition request, the cab control device obtains the exchange digital certificate according to the device information and the device identifier hash, and returns the exchange digital certificate to the camera device; When the camera device receives the exchange digital certificate returned by the cab control device in response to the exchange digital certificate acquisition request, the camera device sends a pairing request carrying the exchange digital certificate, the device identifier, and the pairing code to the wireless communication module of the remote controller through the wireless communication module configured therein; When the remote control receives the pairing request, the remote control verifies whether the pairing code in the pairing request is consistent with the pairing code generated by itself, and if the pairing code in the pairing request is consistent with the pairing code generated by itself, the remote control sends a pairing response to the camera device to complete the pairing of the remote control and the camera device.

[0011] A second aspect of the present disclosure provides a remote zoom system based on communication between a remote controller and a camera device, the system being applied to a tower crane system. The tower crane system includes a portable, movable remote controller and a camera device mounted on a tower crane hook. The camera device and the remote controller are both equipped with wireless communication modules. The camera device includes a camera and a zoom drive motor for driving the camera to zoom. The remote controller is configured to, in response to a remote zoom operation on the camera on the remote controller, obtain a target focal length value input on the remote controller and obtain a current focal length value of the camera configured in the camera device through a wireless communication connection with a wireless communication module of the camera device; Acquire an adjustment step set of the zoom drive motor in the camera device, wherein the adjustment step set includes a plurality of step amounts of the zoom drive motor; Constructing an adjustment cost matrix corresponding to step costs under adjustment time cost, adjustment energy consumption cost, and adjustment accuracy cost according to the adjustment step size set, the current focal length value of the camera, and the target focal length value; Determining, based on the adjustment cost matrix, an optimal step sequence for zooming the camera from the current focal length value to the target focal length value, and generating an adjustment path for zooming the camera based on the step amounts in the optimal step sequence; sending the adjustment path to the wireless communication module of the camera device through the wireless communication module of the remote controller; The camera device is used to receive the adjustment path sent by the wireless communication module of the remote controller to the wireless communication module of the camera device, and control the zoom drive motor to adjust the focal length value of the camera to the target focal length value according to the adjustment path.

[0012] In one possible implementation, the remote controller is specifically configured to: For each row in the adjustment, determining a minimum value of the step cost in the row, and subtracting the minimum value of the step cost corresponding to the row from each step cost in the adjustment cost matrix to obtain a reconstructed row for each row; For each column in the adjustment, determining a minimum value of the step cost in the column, and subtracting the minimum value of the step cost corresponding to the column from each step cost of the column in the adjustment cost matrix to obtain a reconstructed column for each column; Covering all locations where the elements of the adjusted cost matrix have a value of zero with a minimum number of horizontal and vertical lines; If the number of covering lines is less than the dimension of the adjustment cost matrix, the adjustment cost matrix is ​​adjusted, and the method of covering positions where all elements in the adjustment cost matrix have a value of zero with the minimum number of horizontal lines and vertical lines is performed until the number of covering lines is greater than or equal to the dimension of the adjustment cost matrix; An optimal step sequence from the current focal length value to the target focal length value is determined according to an optimal allocation scheme covering zero elements.

[0013] In one possible implementation, the remote controller is specifically configured to: If the number of covered lines is less than the dimension of the adjustment cost matrix, traverse the current adjustment cost matrix to find all target elements that are not covered by horizontal lines or vertical lines; A first operation of subtracting the element with the smallest value among the target elements is performed on each of the target elements, and a second operation of adding the element with the smallest value among the target elements is performed on the elements of the adjusted cost matrix that are covered by both the horizontal line and the vertical line.

[0014] In a possible implementation, the system further includes a cab control device configured with the tower crane cab; The camera device is further configured to generate a device identifier when the camera device is in a waiting-for-pairing state; The remote control is further configured to, when the remote control is in a search mode, generate a random pairing code and broadcast a search signal carrying device information of the remote control and the pairing code through the wireless communication module of the remote control; The camera device is further configured to, when the camera device searches for the broadcast signal through the wireless communication module configured therein, send an exchange digital certificate acquisition request carrying the device information and the device identifier to the cab control device based on the device information and the device identifier; The cab control device is configured to, when the cab control device receives the exchange digital certificate acquisition request, obtain the exchange digital certificate according to the device information and the device identifier hash, and return the exchange digital certificate to the camera device; The camera device is further configured to, upon receiving the exchange digital certificate returned by the cab control device in response to the exchange digital certificate acquisition request, send a pairing request carrying the exchange digital certificate, the device identifier, and the pairing code to the wireless communication module of the remote controller via the wireless communication module configured therein; The remote control is further configured to, upon receiving the pairing request, verify whether the pairing code in the pairing request is consistent with the pairing code generated by the remote control itself, and, if the pairing code in the pairing request is consistent with the pairing code generated by the remote control itself, send a pairing response to the camera device to complete the pairing of the remote control and the camera device.

[0015] The present invention provides a remote zoom method and system based on communication between a remote controller and a camera device. Compared with the prior art, it has the following advantages: Through the wireless communication module between the remote control and the camera unit, the operator can remotely adjust the camera's focus from any location away from the tower crane, greatly improving operational flexibility and convenience. By constructing an adjustment cost matrix that comprehensively considers time, energy, and accuracy costs, the operator ensures accurate focus adjustment. The generation of the optimal step sequence, based on an intelligent algorithm, reduces human error and improves adjustment accuracy. Determining the optimal step sequence through an optimization algorithm reduces ineffective adjustments and significantly shortens adjustment time. Automated generation and transmission of the adjustment path further enhances adjustment efficiency. Remote control and intelligent adjustment significantly shorten focus adjustment time, improving overall crane operation efficiency. Optimizing the adjustment path reduces ineffective operation of the zoom drive motor and reduces energy consumption. Precise focus adjustment and reliable communication transmission mitigate safety hazards caused by operator errors or communication interruptions. Stable operation is achieved even in high-interference environments, adapting to the complex working conditions of tower crane operations. By combining wireless communication technology between the remote control and the camera unit and an intelligent adjustment algorithm, precise remote control of the tower crane camera's focus is achieved. It significantly improves the convenience of operation, the accuracy of adjustment and the reliability of communication, while optimizing multiple costs such as time, energy consumption and accuracy.

[0016] Other features and advantages of the present disclosure will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The accompanying drawings are used to provide a further understanding of the present disclosure and constitute a part of the specification. Together with the following detailed description, they are used to explain the present disclosure but do not constitute a limitation of the present disclosure. In the accompanying drawings: Figure 1 The present invention is a flowchart illustrating a remote zoom method based on communication between a remote controller and a camera device according to an embodiment of the specification.

[0018] Figure 2 A block diagram of a remote zoom system based on communication between a remote controller and a camera device is shown according to an embodiment of the specification. DETAILED DESCRIPTION

[0019] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0020] The present application provides a remote zoom method based on communication between a remote control and a camera device. The method is applied to a portable, movable remote control in a tower crane system. The tower crane system includes the remote control and a camera device mounted on a tower crane hook. The camera device and the remote control are both equipped with wireless communication modules. The camera device is equipped with a camera and a zoom drive motor for driving the camera to zoom. The portable, movable remote control is used to remotely operate and control the camera device in the tower crane system. The camera device is a device mounted on the tower crane hook and includes a camera and a zoom drive motor for capturing and transmitting real-time images of the hook and its surroundings. The zoom drive motor is a motor for driving the camera lens to perform zoom operations, changing the focal length by adjusting the position of the lens.

[0021] Figure 1 This is a flow chart illustrating a remote zoom method based on communication between a remote controller and a camera device according to an embodiment. The method includes: In step S11, in response to a remote zoom operation on the camera on the remote controller, a target focal length value input on the remote controller is obtained, and a current focal length value of the camera configured in the camera device is obtained through a wireless communication connection with a wireless communication module of the camera device; The target focal length is the focal length that the operator sets on the remote control and the current focal length is the actual focal length of the camera.

[0022] In the disclosed embodiment, when an operator performs a remote zoom operation on a remote control, the interface on the remote control allows the operator to enter or select a target focal length value, which represents the focal length the operator desires for the camera. For example, when zooming using a joystick or a slider, the remote control simultaneously establishes a connection with the wireless communication module of the camera device through its wireless communication module and sends a request to obtain the current focal length value of the camera. Upon receiving the request, the camera device obtains the current focal length value of the camera through its internal sensor or control system and sends it back to the remote control via the wireless communication module.

[0023] For example, if the operator sees a blurry camera image on the remote control and wants to zoom in for more detail, they enter a larger target focal length (e.g., from 10mm to 13mm). The remote control sends a request to the camera, which responds with the current focal length of 10mm.

[0024] In step S12, an adjustment step set of the zoom drive motor in the camera device is obtained, wherein the adjustment step set includes a plurality of step amounts of the zoom drive motor; The adjustment step set is a set of multiple step amounts that can be executed by the zoom drive motor, and each step amount represents a small distance that the motor moves the lens.

[0025] In the disclosed embodiment, the camera device internally stores a set of adjustment steps for the zoom drive motor. This set contains multiple step sizes that the motor can perform. Each step size represents a small distance the motor moves the lens. These step sizes can be pre-set or dynamically adjusted based on the motor's characteristics. When zooming is required, the camera device selects the appropriate step size from this set to drive the motor to move the lens.

[0026] For example, the zoom drive motor in a camera has a set of adjustment steps, such as {0.1mm, 0.2mm, 0.5mm, 1mm}. This means the motor can move the lens by 0.1mm, 0.2mm, 0.5mm, or 1mm at a time. During zooming, the camera selects the appropriate step size to drive the motor based on the needs.

[0027] In step S13, an adjustment cost matrix corresponding to the step cost under the adjustment time cost, the adjustment energy consumption cost and the adjustment accuracy cost is constructed according to the adjustment step size set, the current focal length value of the camera and the target focal length value; The adjustment cost matrix is ​​used to represent the combination of the adjustment time cost, adjustment energy consumption cost, and adjustment accuracy cost required to zoom from the current focal length value to the target focal length value at different step sizes.

[0028] In the embodiment of the present disclosure, for each step size in the adjustment step size set, the time cost, energy consumption cost, and accuracy cost required for zooming from the current focal length value to the target focal length value are calculated.

[0029] Time cost: Inversely proportional to the size of the step. The larger the step, the shorter the time required, but the accuracy may be sacrificed.

[0030] Energy consumption cost: It is related to the size of the step and the efficiency of the motor. The larger the step, the higher the energy consumption may be.

[0031] Accuracy cost: This is related to the granularity of the step size. The smaller the step size, the higher the accuracy, but it may increase time and energy consumption costs.

[0032] Combine these costs to construct a cost vector for each step size. Combine the cost vectors for all step sizes into an adjustment cost matrix.

[0033] For example, assume the current focal length is 10mm, the target focal length is 13mm, and the adjustment step size set is {0.1mm, 0.5mm, 1mm}. For a 0.1mm step size, the calculated time cost is high, the energy cost is low, and the accuracy cost is low. For a 0.5mm step size, the calculated time cost, energy cost, and accuracy cost are moderate. For a 1mm step size, the calculated time cost is low, the energy cost is high, and the accuracy cost is high. These costs are combined into an adjustment cost matrix.

[0034] In step S14, an optimal step sequence for zooming the camera from the current focal length value to the target focal length value is determined according to the adjustment cost matrix, and an adjustment path for zooming the camera is generated according to the step lengths in the optimal step sequence; The optimal step sequence is the sequence of steps within the adjustment cost matrix that minimizes the total adjustment cost (a combination of time, energy, and accuracy). The adjustment path is generated based on this optimal step sequence and guides the zoom drive motor along its specific path for gradually adjusting the camera's focal length.

[0035] In the embodiment of the present disclosure, the step size sequence that minimizes the total adjustment cost, i.e., the optimal step size sequence, is found in the adjustment cost matrix. Based on the optimal step size sequence, a specific adjustment path is generated, including the step size and adjustment order of each step.

[0036] For example, in the adjustment cost matrix, the step size sequence of {0.5mm, 0.5mm, 1mm, 0.5mm, 0.5mm} is found to have the lowest total cost. Therefore, the adjustment path is generated: first adjust 0.5mm, then adjust 0.5mm, then adjust 1mm, then adjust 0.5mm, and finally adjust 0.5mm to achieve the target focal length value of 13mm.

[0037] In step S15, the adjustment path is sent to the wireless communication module of the camera device through the wireless communication module of the remote control, so that when the camera device receives the adjustment path through the wireless communication module of the camera device, it controls the zoom drive motor to adjust the focal length value of the camera to the target focal length value according to the adjustment path.

[0038] In the disclosed embodiment, the remote control transmits the generated adjustment path to the wireless communication module of the camera device via its wireless communication module. After receiving the adjustment path, the camera device interprets the step size and adjustment sequence contained in the path. The camera device controls the zoom drive motor to gradually adjust the camera's focal length according to the adjustment path until the target focal length is reached.

[0039] For example, the remote control sends an adjustment path {0.5mm, 0.5mm, 1mm, 0.5mm, 0.5mm} to the camera. After receiving the path, the camera controls the zoom drive motor to move 0.5mm, then 0.5mm, then 1mm, then 0.5mm, and finally 0.5mm, bringing the camera's focal length to 13mm.

[0040] This technical solution, through the wireless communication module between the remote control and the camera unit, allows the operator to remotely adjust the camera's focus from any location away from the tower crane, greatly improving operational flexibility and convenience. By constructing an adjustment cost matrix that comprehensively considers time, energy, and accuracy costs, the system ensures accurate focus adjustment. The generation of the optimal step sequence, based on an intelligent algorithm, reduces human error and improves adjustment accuracy. Determining the optimal step sequence through an optimization algorithm reduces ineffective adjustments and significantly shortens adjustment time. Automating the generation and transmission of the adjustment path further improves adjustment efficiency. Remote control and intelligent adjustment significantly shorten focus adjustment time, improving overall crane operation efficiency. Optimizing the adjustment path reduces ineffective operation of the zoom drive motor and reduces energy consumption. Precise focus adjustment and reliable communication transmission mitigate safety hazards caused by operator errors or communication interruptions. The system maintains stable operation even in high-interference environments, adapting to the complex working conditions of tower crane operations. By combining wireless communication technology between the remote control and the camera unit and an intelligent adjustment algorithm, precise remote control of the tower crane camera's focus is achieved. It significantly improves the convenience of operation, the accuracy of adjustment and the reliability of communication, while optimizing multiple costs such as time, energy consumption and accuracy.

[0041] In a possible implementation, in step 14, determining, based on the adjustment cost matrix, an optimal step sequence for zooming the camera from the current focal length value to the target focal length value includes: In step 141, for each row in the adjustment, the minimum value of the step cost in the row is determined, and the minimum value of the step cost corresponding to the row is subtracted from each step cost of the row in the adjustment cost matrix to obtain a reconstructed row for each row; In this embodiment, for each row of the adjusted cost matrix, the minimum step cost in that row is found, and then the minimum value is subtracted from each step cost in that row. This is done to normalize each row so that the minimum cost is 0. For example, if a row in the adjusted cost matrix is ​​[5, 3, 8] and the minimum value is 3, the reconstructed row is [2, 0, 5].

[0042] In step 142, for each column in the adjustment, the minimum value of the step cost in the column is determined, and the minimum value of the step cost corresponding to the column is subtracted from each step cost of the column in the adjustment cost matrix to obtain a reconstructed column for each column; In this disclosed embodiment, the minimum step cost in each column is found and this minimum value is subtracted from each step cost in that column. This step further ensures that the matrix is ​​normalized in both row and column dimensions. For example, if a column in the adjusted matrix is ​​[2, 2, 6] and the minimum value is 2, the reconstructed column will be [0, 0, 4].

[0043] In step 143, all positions where the elements in the adjustment cost matrix are zero are covered with a minimum number of horizontal and vertical lines; In the embodiment of the present disclosure, a minimum number of horizontal and vertical lines are used to cover all positions in the matrix where the value is 0. For example, the problem is solved by using the Hungarian algorithm or a related graph theory algorithm.

[0044] In step 144, if the number of covering lines is less than the dimension of the adjustment cost matrix, the adjustment cost matrix is ​​adjusted, and the process of covering all positions of the elements in the adjustment cost matrix with the minimum number of horizontal and vertical lines at which the values ​​are zero is performed until the number of covering lines is greater than or equal to the dimension of the adjustment cost matrix. The covering line is used to determine the combination of the minimum horizontal and vertical lines that cover all zero elements in the adjusted cost matrix.

[0045] In the disclosed embodiment, if the number of covered lines is less than the matrix dimensions (i.e., the number of rows or columns), the matrix may need further adjustment. This may involve fine-tuning the original cost matrix and then repeating steps 141 to 143 until the number of covered lines is greater than or equal to the matrix dimensions. For example, if a 3x3 matrix can initially be covered by only 2 lines, then some elements in the matrix may need to be adjusted until it can be covered by 3 or more lines.

[0046] In step 145 , an optimal step sequence from the current focal length value to the target focal length value is determined according to the optimal allocation scheme for covering zero elements.

[0047] In the disclosed embodiments, based on the optimal allocation scheme for covering zero elements (i.e., the scheme with the fewest coverage lines), the original adjustment cost matrix is ​​backtracked to determine the optimal sequence of steps from the current focal length value to the target focal length value. This typically involves tracking which rows and columns are covered and how these coverage lines correspond to the focal length adjustment steps. For example, if the optimal coverage scheme indicates a specific sequence of steps from the current focal length to the target focal length (e.g., first increasing by 2 steps, then decreasing by 1 step, and finally increasing by 3 steps), then these steps constitute the optimal step sequence.

[0048] The above technical solution restructures the adjustment cost matrix by rows and columns, returning the minimum step cost of each row and column to zero. This helps highlight relatively low-cost paths and further ensures the optimality of the selected path in terms of cost. By continuously adjusting and optimizing until the number of covered lines meets the requirements, the final step sequence is guaranteed to have the minimum total cost. Furthermore, through matrix reconstruction and the minimum covered line algorithm, the complex focal length adjustment problem is transformed into a solvable linear programming or graph theory problem, greatly improving computational efficiency, reducing trial and error and redundant calculations, and making the focal length adjustment process more efficient. By determining the optimal step sequence, a smooth zoom process from the current focal length to the target focal length of the camera can be achieved, avoiding jitter and instability during the focal length adjustment process. This effectively solves the problem of determining the optimal step sequence in camera focal length adjustment, achieving cost minimization, efficiency improvement, strong adaptability, and smooth zooming.

[0049] In a possible implementation, in step 144, if the number of coverage lines is less than the dimension of the adjustment cost matrix, adjusting the adjustment cost matrix includes: In step 1441 , if the number of covered lines is less than the dimension of the adjustment cost matrix, the current adjustment cost matrix is ​​traversed to find all target elements that are not covered by horizontal lines or vertical lines; In the disclosed embodiment, all zero elements in the adjusted cost matrix are covered with a minimum number of horizontal and vertical lines. If the number of covered lines is less than the matrix dimension, it indicates that some uncovered non-zero elements still exist in the matrix. The current adjusted cost matrix is ​​traversed to identify all elements not covered by horizontal or vertical lines.

[0050] In step 1442, a first operation of subtracting the element with the smallest value among the target elements is performed on each of the target elements, and a second operation of adding the element with the smallest value among the target elements is performed on the elements of the adjusted cost matrix that are covered by both the horizontal line and the vertical line.

[0051] In the disclosed embodiment, to increase the number of covered lines, the matrix is ​​adjusted so that more elements become zero or are more likely to be covered. A first operation is performed on each uncovered target element, subtracting the smallest element from it. A second operation is performed on elements covered by both horizontal and vertical lines, adding this smallest value. This adjustment aims to increase the chances of covering elements by changing the relative sizes of the matrix elements so that more elements become zero, thereby increasing their chances of being covered.

[0052] For example, among the uncovered elements, the minimum value is 2. Execute the first operation: subtract 2 from all uncovered elements to obtain a new matrix; perform the second operation: assume that (0,2) (the original value is 0 and is covered by the assumed covering line) needs to be added with 2.

[0053] The above technical solution can gradually optimize and adjust the cost matrix so that all elements that need to be covered can be covered with the least number of covering lines, thereby determining the optimal step sequence.

[0054] In one possible implementation, in step 13, constructing an adjustment cost matrix corresponding to the step cost under the adjustment time cost, the adjustment energy cost, and the adjustment accuracy cost according to the adjustment step size set, the current focal length value of the camera, and the target focal length value includes: In step 131, a plurality of step sizes are selected from the adjustment step set according to the current focal length value of the camera and the target focal length value, and the steps are combined to obtain a plurality of standby adjustment step size combinations for adjusting from the current focal length value to the target focal length value; The standby adjustment step amount combination is a sequence composed of multiple step amount combinations selected from the adjustment step size set, and each sequence can adjust the camera from the current focal length value to the target focal length value.

[0055] In the disclosed embodiments, multiple step sizes are selected from a set of adjustment step sizes and combined based on the camera's current focal length and target focal length. The goal is to generate multiple possible adjustment paths (i.e., combinations of available adjustment step sizes), each capable of adjusting the camera from its current focal length to its target focal length. The order, size, and combination of the step sizes can be considered during selection to generate diverse adjustment solutions.

[0056] In step 132, based on the time cost weight, energy consumption cost weight, accuracy cost weight, the time required for each step in each of the standby adjustment step amount combinations, the required energy and the corresponding accuracy, an adjustment cost matrix corresponding to the step cost under the adjustment time cost, the adjustment energy consumption cost and the adjustment accuracy cost is constructed.

[0057] Among them, the time cost weight is used to measure the impact of adjustment time on the total cost. The energy cost weight is used to measure the impact of adjustment energy consumption on the total cost. The accuracy cost weight is used to measure the impact of adjustment accuracy on the total cost.

[0058] In the embodiment of the present disclosure, for each combination of adjustment steps to be used, its adjustment time cost, adjustment energy consumption cost and adjustment accuracy cost are calculated. The time cost can be calculated based on the time required for each step, the energy consumption cost can be calculated based on the energy required for each step, and the accuracy cost can be calculated based on the deviation between the focal length after the step and the target focal length. Using the time cost weight, energy consumption cost weight and accuracy cost weight, these three costs are weighted and summed to obtain the total cost of each step path. The total cost of all the combinations of adjustment steps to be used is filled in the adjustment cost matrix, where the rows and columns of the matrix correspond to different starting steps and ending steps (or step numbers), respectively, and each element in the matrix represents the comprehensive adjustment cost from one step to another.

[0059] The above technical solution achieves comprehensive and refined cost control by constructing an adjustment cost matrix based on multi-dimensional cost considerations, improves the efficiency and accuracy of focal length adjustment, and enhances the adaptability and flexibility of the system.

[0060] In a possible implementation, the adjustment cost matrix is ​​constructed using the following formula: C ij =w1×T ij +w2×E ij +w3×|F j −F target ∣; Among them, F j Indicates the intermediate focal length value after adjusting from the current focal length value, F target Indicates the target focal length value, C ij represents the step cost of adjusting from the current state to the intermediate focal length value, T ij represents the time required to adjust from the current focal length value to the intermediate focal length value, w1 is the time cost weight, E ij represents the energy required to adjust from the current focal length value to the intermediate focal length value, w2 is the energy consumption cost weight, w3 is the accuracy cost weight, i represents the index of the step size in the adjustment step set, and j represents the index of the adjusted intermediate focal length value.

[0061] In a possible implementation, the method further includes: In step S21, when the camera device is in a waiting-for-pairing state, the camera device generates a device identifier; Among them, the device identifier is a code or string used by the camera to uniquely identify itself. It is usually generated based on the device's hardware information (such as MAC address, serial number, etc.) and is used to identify the device during the pairing process.

[0062] In the disclosed embodiments, when the camera is in the pairing state, its internal software or firmware generates a device identifier. This identifier may be based on the camera's hardware characteristics (such as the MAC address of the network interface) or processed using an algorithm (such as a hash algorithm) to determine the hardware information. Generating a device identifier is the first step in the pairing process and is used for subsequent identification and pairing with the remote control.

[0063] In step S22, when the remote control is in the search mode, the remote control generates a random pairing code and broadcasts a search signal carrying the device information of the remote control and the pairing code through the wireless communication module of the remote control; The pairing code is a randomly generated code by the remote control in search mode, used to verify the identity of the camera during the pairing process. The search signal is a signal broadcast by the remote control, containing the remote control's device information and pairing code, used to find and identify a pairing camera.

[0064] In the disclosed embodiment, when the remote control is in search mode, its internal software or firmware generates a random pairing code. The remote control then broadcasts a search signal through its wireless communication module. This signal contains the remote control's device information and the generated pairing code. Broadcasting the search signal is the second step in the pairing process, allowing the camera to receive and identify the remote control.

[0065] In step S23, when the camera device searches for the broadcast signal through the wireless communication module configured therein, the camera device sends an exchange digital certificate acquisition request carrying the device information and the device identifier to the cab control device based on the device information and the device identifier; The exchange digital certificate is a digital credential used to establish secure communication between devices, typically issued by a trusted third party (such as the in-cabin control unit). The exchange digital certificate acquisition request is a request sent by the camera to the in-cabin control unit to obtain the exchange digital certificate required for pairing with the remote control.

[0066] The camera device may establish a communication connection with the cab control device via an industrial bus, for example, a CAN (Controller Area Network) bus or a Profibus (Process Field Bus).

[0067] In this embodiment, when the camera detects a remote control's broadcast signal via its wireless communication module, it extracts the remote control's device information. The camera, combined with its self-generated device identifier, sends a request to the cab control unit for an exchange digital certificate. This request includes the remote control's device information and the camera's device identifier, enabling the cab control unit to generate a corresponding exchange digital certificate.

[0068] In step S24, when the cab control device receives the exchange digital certificate acquisition request, the cab control device obtains the exchange digital certificate based on the device information and the device identifier hash, and returns the exchange digital certificate to the camera device; In this disclosed embodiment, when the cab control device receives a request from the camera device for an exchange digital certificate, it extracts the device information and device identifier from the request. The cab control device then processes the device information and device identifier using a hash algorithm to generate an exchange digital certificate. The cab control device then returns the generated exchange digital certificate to the camera device for use in the pairing process between the remote control and the camera device.

[0069] In step S25, when the camera device receives the exchange digital certificate returned by the cab control device in response to the exchange digital certificate acquisition request, the camera device sends a pairing request carrying the exchange digital certificate, the device identifier, and the pairing code to the wireless communication module of the remote controller via the wireless communication module configured therein; Among them, pairing request: is a request sent by the camera device to the remote control to start the pairing process and verify the pairing code.

[0070] In this disclosed embodiment, when the camera receives the exchange digital certificate returned by the cab control unit, it combines its self-generated device identifier with the received pairing code and sends a pairing request to the remote control's wireless communication module. This request includes the exchange digital certificate, device identifier, and pairing code, allowing the remote control to verify the identity of the camera and the correctness of the pairing code.

[0071] In step S26, when the remote control receives the pairing request, the remote control verifies whether the pairing code in the pairing request is consistent with the pairing code generated by itself, and when the pairing code in the pairing request is consistent with the pairing code generated by itself, the remote control sends a pairing response to the camera device to complete the pairing of the remote control and the camera device.

[0072] Among them, the pairing response is the response sent by the remote control to the camera device after successfully verifying the pairing code, which is used to confirm the pairing process and complete the pairing.

[0073] In this disclosed embodiment, when the remote control receives a pairing request from a camera, it extracts the pairing code from the request and compares it with a self-generated pairing code. If the codes match, the camera is a legitimate device, and the remote control sends a pairing response to the camera. This response completes the pairing process, establishing a secure communication connection between the camera and the remote control.

[0074] The above technical solution provides a multi-layered security verification mechanism for the pairing process between the camera and remote control by generating a device identifier, a random pairing code, and exchanging digital certificates. The device identifier ensures device uniqueness, the pairing code provides a random, one-time verification code, and the exchanged digital certificate further ensures data integrity and identity verification during communication, significantly enhancing the security of the pairing process. When the remote control is in search mode, it broadcasts a search signal carrying device information and the pairing code, enabling the camera to proactively search for and identify the remote control, initiating a pairing request without manual intervention. This mechanism increases pairing flexibility and makes pairing between devices more convenient. By generating and exchanging digital certificates through the in-cab control unit, this technology establishes a secure communication channel between the camera and remote control. After successful pairing, both parties can use this channel for encrypted communication, effectively preventing data theft or tampering. The entire pairing process is completed automatically by the camera and remote control, eliminating the need for the user to manually enter a pairing code or perform other complex operations. This streamlined pairing process improves the user experience and makes device pairing easier and faster.

[0075] In summary, by introducing multiple security mechanisms such as device identifiers, random pairing codes, and exchange of digital certificates, safe and convenient pairing between the camera device and the remote control is achieved, and a secure communication channel is established.

[0076] The present disclosure also provides a remote zoom system based on communication between a remote controller and a camera device, the system is applied to a tower crane system, see Figure 2 As shown, the tower crane system 100 includes a portable and movable remote controller 110 and a camera device 120 provided on a tower crane hook. Both the camera device 120 and the remote controller 110 are equipped with wireless communication modules. The camera device is equipped with a camera and a zoom drive motor for zooming the camera. The remote controller 110 is configured to, in response to a remote zoom operation on the camera on the remote controller 110, obtain a target focal length value input on the remote controller and obtain a current focal length value of the camera configured in the camera device through a wireless communication connection with a wireless communication module of the camera device; Acquire an adjustment step set of the zoom drive motor in the camera device 120, wherein the adjustment step set includes a plurality of step amounts of the zoom drive motor; Constructing an adjustment cost matrix corresponding to step costs under adjustment time cost, adjustment energy consumption cost, and adjustment accuracy cost according to the adjustment step size set, the current focal length value of the camera, and the target focal length value; Determining, based on the adjustment cost matrix, an optimal step sequence for zooming the camera from the current focal length value to the target focal length value, and generating an adjustment path for zooming the camera based on the step amounts in the optimal step sequence; sending the adjustment path to the wireless communication module of the camera device through the wireless communication module of the remote controller; The camera device 120 is configured to receive the adjustment path sent by the wireless communication module of the remote controller to the wireless communication module of the camera device, and control the zoom drive motor to adjust the focal length value of the camera to the target focal length value according to the adjustment path.

[0077] In one possible implementation, the remote controller is specifically configured to: For each row in the adjustment, determining a minimum value of the step cost in the row, and subtracting the minimum value of the step cost corresponding to the row from each step cost in the adjustment cost matrix to obtain a reconstructed row for each row; For each column in the adjustment, determining a minimum value of the step cost in the column, and subtracting the minimum value of the step cost corresponding to the column from each step cost of the column in the adjustment cost matrix to obtain a reconstructed column for each column; Covering all locations where the elements of the adjusted cost matrix have a value of zero with a minimum number of horizontal and vertical lines; If the number of covering lines is less than the dimension of the adjustment cost matrix, the adjustment cost matrix is ​​adjusted, and the method of covering positions where all elements in the adjustment cost matrix have a value of zero with the minimum number of horizontal lines and vertical lines is performed until the number of covering lines is greater than or equal to the dimension of the adjustment cost matrix; An optimal step sequence from the current focal length value to the target focal length value is determined according to an optimal allocation scheme covering zero elements.

[0078] In one possible implementation, the remote controller is specifically configured to: If the number of covered lines is less than the dimension of the adjustment cost matrix, traverse the current adjustment cost matrix to find all target elements that are not covered by horizontal lines or vertical lines; A first operation of subtracting the element with the smallest value among the target elements is performed on each of the target elements, and a second operation of adding the element with the smallest value among the target elements is performed on the elements of the adjusted cost matrix that are covered by both the horizontal line and the vertical line.

[0079] In one possible implementation, see Figure 2 As shown, the system further includes a cab control device 130 configured with the tower crane cab; The camera device is further configured to generate a device identifier when the camera device is in a waiting-for-pairing state; The remote control is further configured to, when the remote control is in a search mode, generate a random pairing code and broadcast a search signal carrying device information of the remote control and the pairing code through the wireless communication module of the remote control; The camera device is further configured to, when the camera device searches for the broadcast signal through the wireless communication module configured therein, send an exchange digital certificate acquisition request carrying the device information and the device identifier to the cab control device based on the device information and the device identifier; The cab control device is configured to, when the cab control device receives the exchange digital certificate acquisition request, obtain the exchange digital certificate according to the device information and the device identifier hash, and return the exchange digital certificate to the camera device; The camera device is further configured to, upon receiving the exchange digital certificate returned by the cab control device in response to the exchange digital certificate acquisition request, send a pairing request carrying the exchange digital certificate, the device identifier, and the pairing code to the wireless communication module of the remote controller via the wireless communication module configured therein; The remote control is further configured to, upon receiving the pairing request, verify whether the pairing code in the pairing request is consistent with the pairing code generated by the remote control itself, and, if the pairing code in the pairing request is consistent with the pairing code generated by the remote control itself, send a pairing response to the camera device to complete the pairing of the remote control and the camera device.

[0080] The preferred embodiments of the present disclosure are described in detail above in conjunction with the accompanying drawings. However, the present disclosure is not limited to the specific details in the above embodiments. Within the technical concept of the present disclosure, various changes, modifications, replacements and variations can be made to these embodiments, and these changes, modifications, replacements and variations all fall within the scope of protection of the present disclosure.

[0081] It should also be noted that the various specific technical features described in the above specific embodiments may be combined in any suitable manner, unless there is any contradiction, and these combinations shall also be considered as the contents disclosed in this disclosure. To avoid unnecessary repetition, this disclosure will not further describe various possible combinations. The technical scope of this application is not limited to the contents of the specification and must be determined based on the scope of the claims.

Claims

1. A remote zoom method based on communication between a remote controller and a camera device, characterized in that: The method is applied to a portable and movable remote controller in a tower crane system, wherein the tower crane system includes the remote controller and a camera device disposed on a tower crane hook, wherein both the camera device and the remote controller are equipped with a wireless communication module, and the camera device is equipped with a camera and a zoom drive motor for zooming the camera. The method includes: In response to a remote zoom operation on the camera on the remote controller, obtaining a target focal length value input on the remote controller and obtaining a current focal length value of the camera configured in the camera device through a wireless communication connection with a wireless communication module of the camera device; Acquire an adjustment step set of the zoom drive motor in the camera device, wherein the adjustment step set includes a plurality of step amounts of the zoom drive motor; Constructing an adjustment cost matrix corresponding to step costs under adjustment time cost, adjustment energy consumption cost, and adjustment accuracy cost according to the adjustment step size set, the current focal length value of the camera, and the target focal length value; Determining, based on the adjustment cost matrix, an optimal step sequence for zooming the camera from the current focal length value to the target focal length value, and generating an adjustment path for zooming the camera based on the step amounts in the optimal step sequence; The adjustment path is sent to the wireless communication module of the camera device through the wireless communication module of the remote control, so that when the camera device receives the adjustment path through the wireless communication module of the camera device, it controls the zoom drive motor to adjust the focal length value of the camera to the target focal length value according to the adjustment path.

2. The method according to claim 1, characterized in that The determining, based on the adjustment cost matrix, an optimal step sequence for zooming the camera from the current focal length value to the target focal length value comprises: For each row in the adjustment, determining a minimum value of the step cost in the row, and subtracting the minimum value of the step cost corresponding to the row from each step cost in the adjustment cost matrix to obtain a reconstructed row for each row; For each column in the adjustment, determining a minimum value of the step cost in the column, and subtracting the minimum value of the step cost corresponding to the column from each step cost of the column in the adjustment cost matrix to obtain a reconstructed column for each column; Covering all locations where the elements of the adjusted cost matrix have a value of zero with a minimum number of horizontal and vertical lines; If the number of covering lines is less than the dimension of the adjustment cost matrix, the adjustment cost matrix is ​​adjusted, and the method of covering positions where all elements in the adjustment cost matrix have a value of zero with the minimum number of horizontal lines and vertical lines is performed until the number of covering lines is greater than or equal to the dimension of the adjustment cost matrix; An optimal step sequence from the current focal length value to the target focal length value is determined according to an optimal allocation scheme covering zero elements.

3. The method according to claim 2, characterized in that If the number of coverage lines is less than the dimension of the adjustment cost matrix, adjusting the adjustment cost matrix includes: If the number of covered lines is less than the dimension of the adjustment cost matrix, traverse the current adjustment cost matrix to find all target elements that are not covered by horizontal lines or vertical lines; A first operation of subtracting the element with the smallest value among the target elements is performed on each of the target elements, and a second operation of adding the element with the smallest value among the target elements is performed on the elements of the adjusted cost matrix that are covered by both the horizontal line and the vertical line.

4. The method according to claim 1, characterized in that The step of constructing an adjustment cost matrix corresponding to the step cost under the adjustment time cost, the adjustment energy consumption cost, and the adjustment accuracy cost according to the adjustment step size set, the current focal length value of the camera, and the target focal length value includes: According to the current focal length value of the camera and the target focal length value, multiple step amounts are selected from the adjustment step set for combination to obtain multiple standby adjustment step amount combinations for adjusting from the current focal length value to the target focal length value; According to the time cost weight, energy consumption cost weight, precision cost weight, the time required for each step in each of the standby adjustment step amount combinations, the required energy and the corresponding precision, an adjustment cost matrix corresponding to the step cost under the adjustment time cost, adjustment energy consumption cost and adjustment precision cost is constructed.

5. The method according to claim 4, characterized in that: The adjustment cost matrix is ​​constructed by the following formula: Among them, F j Indicates the intermediate focal length value after adjusting from the current focal length value, F target Indicates the target focal length value, C ij represents the step cost of adjusting from the current state to the intermediate focal length value, T ij represents the time required to adjust from the current focal length value to the intermediate focal length value, w1 is the time cost weight, E ij represents the energy required to adjust from the current focal length value to the intermediate focal length value, w2 is the energy consumption cost weight, w3 is the accuracy cost weight, i represents the index of the step size in the adjustment step set, and j represents the index of the adjusted intermediate focal length value.

6. The method according to any one of claims 1 to 5, characterized in that The method further comprises: When the camera is in a waiting-for-pairing state, a device identifier generated by the camera; When the remote control is in search mode, the remote control generates a random pairing code and broadcasts a search signal carrying device information of the remote control and the pairing code through the wireless communication module of the remote control; When the camera device searches for the broadcast signal through the wireless communication module configured therein, the camera device sends an exchange digital certificate acquisition request carrying the device information and the device identifier to the cab control device according to the device information and the device identifier; When the cab control device receives the exchange digital certificate acquisition request, the cab control device obtains the exchange digital certificate according to the device information and the device identifier hash, and returns the exchange digital certificate to the camera device; When the camera device receives the exchange digital certificate returned by the cab control device in response to the exchange digital certificate acquisition request, the camera device sends a pairing request carrying the exchange digital certificate, the device identifier, and the pairing code to the wireless communication module of the remote controller through the wireless communication module configured therein; When the remote control receives the pairing request, the remote control verifies whether the pairing code in the pairing request is consistent with the pairing code generated by itself, and if the pairing code in the pairing request is consistent with the pairing code generated by itself, the remote control sends a pairing response to the camera device to complete the pairing of the remote control and the camera device.

7. A remote zoom system based on communication between a remote controller and a camera device, characterized in that: The system is applied to a tower crane system, which includes a portable and movable remote controller and a camera device provided on a tower crane hook. The camera device and the remote controller are both equipped with wireless communication modules. The camera device is equipped with a camera and a zoom drive motor for zooming the camera. The remote controller is configured to, in response to a remote zoom operation on the camera on the remote controller, obtain a target focal length value input on the remote controller and obtain a current focal length value of the camera configured in the camera device through a wireless communication connection with a wireless communication module of the camera device; Acquire an adjustment step set of the zoom drive motor in the camera device, wherein the adjustment step set includes a plurality of step amounts of the zoom drive motor; Constructing an adjustment cost matrix corresponding to step costs under adjustment time cost, adjustment energy consumption cost, and adjustment accuracy cost according to the adjustment step size set, the current focal length value of the camera, and the target focal length value; Determining, based on the adjustment cost matrix, an optimal step sequence for zooming the camera from the current focal length value to the target focal length value, and generating an adjustment path for zooming the camera based on the step amounts in the optimal step sequence; sending the adjustment path to the wireless communication module of the camera device through the wireless communication module of the remote controller; The camera device is used to receive the adjustment path sent by the wireless communication module of the remote controller to the wireless communication module of the camera device, and control the zoom drive motor to adjust the focal length value of the camera to the target focal length value according to the adjustment path.

8. The system according to claim 7, characterized in that: The remote controller is specifically used for: For each row in the adjustment, determining a minimum value of the step cost in the row, and subtracting the minimum value of the step cost corresponding to the row from each step cost in the adjustment cost matrix to obtain a reconstructed row for each row; For each column in the adjustment, determining a minimum value of the step cost in the column, and subtracting the minimum value of the step cost corresponding to the column from each step cost of the column in the adjustment cost matrix to obtain a reconstructed column for each column; Covering all locations where the elements of the adjusted cost matrix have a value of zero with a minimum number of horizontal and vertical lines; If the number of covering lines is less than the dimension of the adjustment cost matrix, the adjustment cost matrix is ​​adjusted, and the method of covering positions where all elements in the adjustment cost matrix have a value of zero with the minimum number of horizontal lines and vertical lines is performed until the number of covering lines is greater than or equal to the dimension of the adjustment cost matrix; An optimal step sequence from the current focal length value to the target focal length value is determined according to an optimal allocation scheme covering zero elements.

9. The system according to claim 8, characterized in that The remote controller is specifically used for: If the number of covered lines is less than the dimension of the adjustment cost matrix, traverse the current adjustment cost matrix to find all target elements that are not covered by horizontal lines or vertical lines; A first operation of subtracting the element with the smallest value among the target elements is performed on each of the target elements, and a second operation of adding the element with the smallest value among the target elements is performed on the elements of the adjusted cost matrix that are covered by both the horizontal line and the vertical line.

10. The system according to any one of claims 7 to 9, characterized in that: The system also includes a cab control device configured with the tower crane cab; The camera device is further configured to generate a device identifier when the camera device is in a waiting-for-pairing state; The remote control is further configured to, when the remote control is in a search mode, generate a random pairing code and broadcast a search signal carrying device information of the remote control and the pairing code through the wireless communication module of the remote control; The camera device is further configured to, when the camera device searches for the broadcast signal through the wireless communication module configured therein, send an exchange digital certificate acquisition request carrying the device information and the device identifier to the cab control device based on the device information and the device identifier; The cab control device is configured to, when the cab control device receives the exchange digital certificate acquisition request, obtain the exchange digital certificate according to the device information and the device identifier hash, and return the exchange digital certificate to the camera device; The camera device is further configured to, upon receiving the exchange digital certificate returned by the cab control device in response to the exchange digital certificate acquisition request, send a pairing request carrying the exchange digital certificate, the device identifier, and the pairing code to the wireless communication module of the remote controller via the wireless communication module configured therein; The remote control is further configured to, upon receiving the pairing request, verify whether the pairing code in the pairing request is consistent with the pairing code generated by the remote control itself, and, if the pairing code in the pairing request is consistent with the pairing code generated by the remote control itself, send a pairing response to the camera device to complete the pairing of the remote control and the camera device.

Images