Remote zoom method and system based on remote control and camera communication

Abstract

The application relates to a remote zooming method and system based on remote control and camera communication, comprising the following steps: in response to a remote zooming operation on a remote control, input target focal length value is acquired, and current focal length value of a camera configured in a camera device is acquired; a set of adjustment step lengths of a zooming driving motor in the camera device is acquired; an adjustment cost matrix is constructed according to the set of adjustment step lengths, the current focal length value of the camera and the target focal length value; the optimal step sequence of 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 camera zooming is generated according to the step length 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 the camera device controls the focal length value of the camera to be the target focal length value according to the adjustment path when the adjustment path is received by the wireless communication module of the camera device.

Description

TECHNICAL FIELD

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

[0002] With the continuous expansion of construction site scale and the increasing complexity of operation environment, real-time and clear monitoring of tower crane hooks and their surrounding environment has become a key factor to improve operation safety and efficiency. Traditionally, tower crane operators rely on direct line of sight or simple visual aids to control the hooks, but this approach cannot perform well when the line of sight is limited and when precise operation is required.

[0003] In order to overcome these limitations, in related scenarios, a camera device is integrated into the tower crane system to capture real-time images of the hooks and their operation environment, providing intuitive visual feedback for the operator. However, the fixed focal length of the camera often cannot meet the monitoring needs in different operation scenarios. For example, in close-range operation, a larger magnification is needed to clearly observe the details of the hooks; while in long-range operation, a smaller magnification is needed to obtain a wider field of view. Therefore, implementing remote zooming function of the camera becomes an important technical means to improve the flexibility and safety of tower crane operation.

[0004] Existing remote zooming methods usually rely on complex wiring systems or dedicated control systems, which not only increase the installation and maintenance costs of the system, but also limit the mobility of the operator. Especially on large construction sites, the operator needs to move frequently to adapt to different operation positions, and traditional wired control systems obviously cannot meet this demand. SUMMARY

[0005] The purpose of the present application is to provide a remote zooming method and system based on communication between a remote controller and a camera device, aiming to

[0006] In order to achieve the above-mentioned purpose, the first aspect of the present disclosure provides a remote zooming method based on communication between a remote controller and a camera device, which is applied to a portable and movable remote controller in a tower crane system, the tower crane system including the remote controller and a camera device arranged at a tower crane hook, the camera device and the remote controller are both configured with wireless communication modules, the camera device is configured with a camera and a zoom drive motor for driving zooming of the camera, the method comprising:

[0007] In response to a remote zooming operation on the camera on the remote controller, obtaining a target focal length value input on the remote controller and a current focal length value of the camera configured in the camera device through wireless communication connection with the wireless communication module of the camera device;

[0008] obtaining a set of adjustment step lengths of the zoom driving motor in the camera device, wherein the set of adjustment step lengths comprises a plurality of step amounts of the zoom driving motor;

[0009] constructing an adjustment cost matrix corresponding to a step cost based on an adjustment time cost, an adjustment energy consumption cost and an adjustment precision cost according to the set of adjustment step lengths, a current focal length value of the camera and the target focal length value;

[0010] determining an optimal step sequence from the current focal length value to the target focal length value of the camera according to the adjustment cost matrix, and generating an adjustment path for zooming of the camera according to a step amount in the optimal step sequence;

[0011] sending the adjustment path to a wireless communication module of the camera device through a 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 when the adjustment path is received by the wireless communication module of the camera device.

[0012] In a possible implementation, the determining of the optimal step sequence from the current focal length value to the target focal length value of the camera according to the adjustment cost matrix comprises:

[0013] determining a minimum value of the step cost in each row in the adjustment, and subtracting the minimum value of the step cost in the row from each step cost in the row to obtain a reconstructed row of each row in the adjustment cost matrix;

[0014] determining a minimum value of the step cost in each column in the adjustment, and subtracting the minimum value of the step cost in the column from each step cost in the column to obtain a reconstructed column of each column in the adjustment cost matrix;

[0015] covering all positions with values of zero in the adjustment cost matrix with the least horizontal lines and vertical lines;

[0016] if the number of covering lines is less than the dimension of the adjustment cost matrix, adjusting the adjustment cost matrix and performing the covering of all positions with values of zero in the adjustment cost matrix with the least horizontal lines and vertical lines until the number of covering lines is greater than or equal to the dimension of the adjustment cost matrix;

[0017] determining the optimal step sequence from the current focal length value to the target focal length value according to the optimal distribution scheme of covering zero elements.

[0018] In a possible implementation, the adjusting the adjustment cost matrix if the number of the covering lines is less than the dimension of the adjustment cost matrix comprises:

[0019] If the number of the covering lines is less than the dimension of the adjustment cost matrix, the current adjustment cost matrix is traversed to find all target elements not covered by the horizontal line or the vertical line;

[0020] A first operation of subtracting the element with the minimum value in the target element is performed on each target element, and a second operation of adding the element with the minimum value in the target element is performed on the element of the adjustment cost matrix covered by the horizontal line and the vertical line at the same time.

[0021] In a possible implementation, the adjustment cost matrix corresponding to the step cost based on the adjustment time cost, the adjustment energy consumption cost and the adjustment accuracy cost is constructed according to the set of adjustment steps, the current focal length value of the camera and the target focal length value, which comprises:

[0022] According to the current focal length value of the camera and the target focal length value, a plurality of step amounts are selected from the set of adjustment steps to be combined to obtain a plurality of combinations of adjustment steps to be used for adjusting from the current focal length value to the target focal length value;

[0023] According to the time cost weight, the energy consumption cost weight, the accuracy cost weight, the time required for each step in each combination of the adjustment steps to be used, the energy required and the corresponding accuracy, the adjustment cost matrix corresponding to the step cost based on the adjustment time cost, the adjustment energy consumption cost and the adjustment accuracy cost is constructed.

[0024] In a possible implementation, the adjustment cost matrix is constructed by the following formula:

[0025] C ij =w1×T ij +w2×E ij +w3×∣F j −F target ∣;

[0026] Wherein, F j represents the intermediate focal length value of one adjustment from the current focal length value, F target represents 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 for adjusting from the current focal length value to the intermediate focal length value, w1 is the time cost weight, E ijrepresents the energy required to adjust from the current focal length value to the intermediate focal length value, w2 is the energy cost weight, w3 is the precision cost weight, i represents the index of the step size selected from the set of adjustment step sizes, and j represents the index of the adjusted intermediate focal length value.

[0027] In one possible implementation, the method further includes:

[0028] generating, by the camera device, a device identifier when the camera device is in a pairing standby state;

[0029] generating, by the remote controller, a random pairing code and broadcasting a search signal carrying device information of the remote controller and the pairing code via a wireless communication module of the remote controller when the remote controller is in a search mode;

[0030] sending, by the camera device, 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 camera device searches for the broadcast signal via the wireless communication module configured in the camera device;

[0031] hashing, by the cab control device, an exchange digital certificate according to the device information and the device identifier and returning the exchange digital certificate to the camera device when the cab control device receives the exchange digital certificate acquisition request;

[0032] sending, by the camera device, 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 in 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;

[0033] verifying, by the remote controller, whether the pairing code in the pairing request is consistent with the pairing code generated by the remote controller, and sending, by the remote controller, a pairing response to the camera device to complete pairing between the remote controller and the camera device when the pairing code in the pairing request is consistent with the pairing code generated by the remote controller.

[0034] In a second aspect of the present disclosure, a remote zoom system based on communication between a remote controller and a camera device is provided, which is applied to a tower crane system including a portable and movable remote controller and a camera device arranged at a hook of the tower crane, the camera device and the remote controller are both configured with a wireless communication module, the camera device is configured with a camera and a zoom driving motor for driving zoom of the camera.

[0035] The remote controller is configured to, in response to a remote zoom operation on the remote controller for the camera, acquire a target focal length value input on the remote controller and acquire a current focal length value of the camera configured in the camera device through wireless communication connection with a wireless communication module of the camera device;

[0036] Acquire a set of adjustment step lengths of the zoom drive motor in the camera device, wherein the set of adjustment step lengths includes a plurality of step amounts of the zoom drive motor;

[0037] According to the set of adjustment step lengths, the current focal length value of the camera, and the target focal length value, construct an adjustment cost matrix corresponding to a step cost based on adjustment time cost, adjustment energy consumption cost, and adjustment precision cost;

[0038] According to the adjustment cost matrix, determine an optimal step sequence for the camera to zoom from the current focal length value to the target focal length value, and generate an adjustment path for the camera zoom according to the step amount in the optimal step sequence;

[0039] Send the adjustment path to the wireless communication module of the camera device through the wireless communication module of the remote controller;

[0040] The camera device 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.

[0041] In a possible implementation, the remote controller is specifically configured to:

[0042] For each row in the adjustment, determine the minimum value of the step cost in the row, and subtract the minimum value of the step cost corresponding to the row from each step cost in the row to obtain a reconstructed row for each row in the adjustment cost matrix;

[0043] For each column in the adjustment, determine the minimum value of the step cost in the column, and subtract the minimum value of the step cost corresponding to the column from each step cost in the column to obtain a reconstructed column for each column in the adjustment cost matrix;

[0044] Cover all element values of zero in the adjustment cost matrix with the least number of horizontal and vertical lines;

[0045] if the number of the covering lines is less than the dimension of the adjusted cost matrix, adjusting the adjusted cost matrix and performing the covering all elements with value zero in the adjusted cost matrix with least horizontal lines and vertical lines until the number of the covering lines is greater than or equal to the dimension of the adjusted cost matrix;

[0046] determining an optimal step sequence from the current focal length value to the target focal length value according to the optimal allocation scheme of covering zero elements.

[0047] In a possible implementation, the remote controller is specifically used for:

[0048] if the number of the covering lines is less than the dimension of the adjusted cost matrix, traversing the current adjusted cost matrix to find all target elements not covered by the horizontal lines or the vertical lines;

[0049] performing, for each of the target elements, a first operation of subtracting the element with the minimum value in the target element, and a second operation of adding the element with the minimum value in the target element to the elements of the adjusted cost matrix covered by both the horizontal lines and the vertical lines.

[0050] In a possible implementation, the system further includes a driver's cabin control device configured with the driver's cabin of the tower crane;

[0051] the camera device is further configured to generate a device identifier of the camera device when the camera device is in the pairing standby state;

[0052] the remote controller is further configured to generate a random pairing code and broadcast a search signal carrying device information of the remote controller and the pairing code through a wireless communication module of the remote controller when the remote controller is in the search mode;

[0053] the camera device is further configured to send, to the driver's cabin control device, an exchange digital certificate obtaining request carrying the device information and the device identifier according to the device information and the device identifier when the camera device searches for the broadcast signal through the wireless communication module configured by the camera device;

[0054] the driver's cabin control device is configured to obtain an exchange digital certificate according to the device information and the device identifier and return the exchange digital certificate to the camera device when the driver's cabin control device receives the exchange digital certificate obtaining request;

[0055] The camera device is further configured to, in a case where the camera device receives the exchange digital certificate returned by the cab control device in response to the exchange digital certificate acquisition request, send, by the wireless communication module of the camera device, a pairing request carrying the exchange digital certificate, the device identifier and the pairing code to the wireless communication module of the remote controller;

[0056] The remote controller is further configured to, in a case where the pairing request is received, verify whether the pairing code in the pairing request is consistent with the pairing code generated by the remote controller, and in a case where the pairing code in the pairing request is consistent with the pairing code generated by the remote controller, send, by the remote controller, a pairing response to the camera device, to complete the pairing between the remote controller and the camera device.

[0057] The present application provides a remote zooming method and system based on communication between a remote controller and a camera device.

[0058] Through the wireless communication modules of the remote controller and the camera device, the operator can perform remote zooming operation on the camera at any position away from the tower crane, greatly improving the flexibility and convenience of operation. By constructing an adjustment cost matrix, the time cost, energy cost and precision cost are comprehensively considered to ensure the accuracy of focal length adjustment. The generation of the optimal step sequence is based on intelligent algorithm, which reduces human error and improves adjustment accuracy. The optimal step sequence is determined by the optimization algorithm, which reduces invalid operation in the adjustment process and significantly shortens the adjustment time. The generation and transmission of the adjustment path realize automation, further improving the adjustment efficiency. Through remote control and intelligent adjustment, the focal length adjustment time is significantly shortened, and the overall efficiency of the tower crane operation is improved. By optimizing the adjustment path, the invalid operation of the zoom drive motor is reduced, and the energy consumption is reduced. Precise focal length adjustment and reliable communication transmission reduce the safety hazards caused by operation errors or communication interruptions. It can still operate stably in a high interference environment and adapt to complex working conditions in the tower crane operation site. By combining the wireless communication technology of the remote controller and the camera device and the intelligent adjustment algorithm, remote precise control of the focal length of the tower crane camera is realized. The convenience of operation, the accuracy of adjustment and the reliability of communication are significantly improved, and the costs of time, energy and precision are optimized.

[0059] Other features and advantages of the present disclosure will be described in detail in the following detailed description section. BRIEF DESCRIPTION OF DRAWINGS

[0060] The accompanying drawings are included to provide a further understanding of the present disclosure and constitute a part of the specification, and are used together with the following detailed description to explain the present disclosure, but do not constitute a limitation on the present disclosure. In the drawings:

[0061] Figure 1 is a flowchart illustrating a remote zooming method based on communication between a remote controller and a camera device according to an embodiment of the specification.

[0062] Figure 2 is a block diagram of a remote zooming system based on communication between a remote controller and a camera device according to an embodiment of the specification. DETAILED DESCRIPTION

[0063] In order to make the purposes, technical solutions and advantages of the present application clearer, the present application is further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and do not limit the present application.

[0064] The present application provides a remote zooming method based on communication between a remote controller and a camera device, which is applied to a portable and movable remote controller in a tower crane system, the tower crane system comprising the remote controller and a camera device arranged on a tower crane hook, the camera device and the remote controller both being configured with a wireless communication module, the camera device being configured with a camera and a zoom driving motor for driving zooming of the camera, wherein the portable and movable remote controller is used for remotely operating and controlling the camera device in the tower crane system. The camera device is a device arranged on the tower crane hook, comprising a camera and a zoom driving motor, and is used for capturing and transmitting real-time images of the hook and its surrounding environment. The zoom driving motor is a motor for driving zooming operation of the camera lens, and the focal length is changed by adjusting the position of the lens.

[0065] Figure 1 is a flowchart of a remote zooming method based on communication between a remote controller and a camera device according to an embodiment. The method comprises:

[0066] In step S11, in response to a remote zooming 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 the wireless communication module of the camera device.

[0067] Wherein, the target focal length value is the focal length value that the operator expects the camera to reach on the remote controller. The current focal length value is the actual focal length value of the camera.

[0068] In the implementation of the present disclosure, when the operator performs a remote zoom operation on the remote controller, the interface on the remote controller allows the operator to input or select a target focal length value, which represents the focal length that the operator wants the camera to reach. For example, zooming is performed by a joystick or a sliding bar, and at the same time, the remote controller 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. After 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 controller through the wireless communication module.

[0069] For example, the operator sees that the current camera image on the remote controller is blurry and wants to zoom in to see the details, so the operator inputs a larger target focal length value (such as from 10 mm to 13 mm) on the remote controller. The remote controller sends a request to the camera device, and the camera device returns the current focal length value as 10 mm.

[0070] In step S12, a set of adjustment steps of the zoom drive motor in the camera device is obtained, wherein the set of adjustment steps includes a plurality of step sizes of the zoom drive motor;

[0071] The set of adjustment steps is a set of a plurality of step sizes that the zoom drive motor can perform, and each step size represents a small distance that the motor moves the lens.

[0072] In the implementation of the present disclosure, the camera device internally stores a set of adjustment steps of the zoom drive motor, which includes a plurality of step sizes that the motor can perform. Each step size represents a small distance that the motor moves the lens, and these step sizes can be pre-set or dynamically adjusted according to the characteristics of the motor. When zooming is needed, the camera device selects an appropriate step size from the set to drive the motor to move the lens.

[0073] For example, the zoom drive motor in the camera device has a set of adjustment steps, such as {0.1 mm, 0.2 mm, 0.5 mm, 1 mm}. This means that the motor can move the lens by a distance of 0.1 mm, 0.2 mm, 0.5 mm, or 1 mm each time. During zooming, the camera device selects an appropriate step size to drive the motor as needed.

[0074] In step S13, an adjustment cost matrix corresponding to a step cost based on adjustment time cost, adjustment energy cost, and adjustment accuracy cost is constructed according to the set of adjustment steps, the current focal length value of the camera, and the target focal length value;

[0075] The adjustment cost matrix is used to represent the combination of adjustment time cost, adjustment energy cost, and adjustment accuracy cost required to zoom from the current focal length value to the target focal length value under different step sizes.

[0076] In the embodiments of the present disclosure, for each step size in the adjustment step size set, the time cost, energy cost and precision cost required to zoom from the current focal length value to the target focal length value are calculated.

[0077] Time cost: inversely proportional to the size of the step size, the larger the step size, the shorter the required time, but the accuracy may be sacrificed.

[0078] Energy cost: related to the size of the step size and the efficiency of the motor, the larger the step size, the higher the energy consumption may be.

[0079] Precision cost: related to the granularity of the step size, the smaller the step size, the higher the precision, but the time and energy costs may be increased.

[0080] Combining these costs, a cost vector is constructed for each step size. The cost vectors of all step sizes are combined into an adjustment cost matrix.

[0081] For example: assuming that the current focal length value is 10mm, the target focal length value is 13mm, and the adjustment step size set is {0.1mm, 0.5mm, 1mm}. For a step size of 0.1mm, the time cost is high, the energy cost is low, and the precision cost is low. For a step size of 0.5mm, the time cost is moderate, the energy cost is moderate, and the precision cost is moderate. For a step size of 1mm, the time cost is low, the energy cost is high, and the precision cost is high. These costs are combined into an adjustment cost matrix.

[0082] In step S14, according to the adjustment cost matrix, the optimal step size sequence for the camera to zoom from the current focal length value to the target focal length value is determined, and an adjustment path for the camera zoom is generated according to the step size in the optimal step size sequence;

[0083] The optimal step size sequence is the step size sequence in the adjustment cost matrix that minimizes the total adjustment cost (a combination of time cost, energy cost, and precision cost). The adjustment path is generated according to the optimal step size sequence, which guides the specific path of how the zoom drive motor adjusts the focal length of the camera step by step.

[0084] In the embodiments of the present disclosure, in the adjustment cost matrix, the step size sequence that minimizes the total adjustment cost, i.e. the optimal step size sequence, is found. According to the optimal step size sequence, a specific adjustment path is generated, including the step size and adjustment order of each step.

[0085] For example, in the adjustment cost matrix, it is found that the total cost is the lowest using the step size sequence of {0.5mm, 0.5mm, 1mm, 0.5mm, 0.5mm}. 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 reach the target focal length value of 13mm.

[0086] 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 controller, so that the camera device 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 in the case that the adjustment path is received by the wireless communication module of the camera device.

[0087] In the embodiments of the present disclosure, the remote controller sends the generated adjustment path to the wireless communication module of the camera device through its wireless communication module. After the camera device receives the adjustment path, it analyzes the step size and adjustment sequence in the path. The camera device controls the zoom drive motor to gradually adjust the focal length value of the camera according to the adjustment path until the target focal length value is reached.

[0088] For example, the remote controller sends the adjustment path {0.5mm, 0.5mm, 1mm, 0.5mm, 0.5mm} to the camera device. After the camera device receives the path, it controls the zoom drive motor to first move 0.5mm, then move 0.5mm, then move 1mm, then move 0.5mm, and finally move 0.5mm to make the focal length value of the camera reach 13mm.

[0089] The technical scheme above, through the wireless communication module of the remote controller and the camera device, the operator can perform remote zooming operation on the camera at any position away from the tower crane, greatly improving the flexibility and convenience of operation. By constructing the adjustment cost matrix, the time cost, energy consumption cost and precision cost are comprehensively considered to ensure the accuracy of the focal length adjustment. The generation of the optimal step sequence is based on intelligent algorithm, reducing human error and improving adjustment accuracy. The optimal step sequence is determined through the optimization algorithm, reducing invalid operation in the adjustment process and significantly shortening the adjustment time. The generation and transmission of the adjustment path realize automation, further improving the adjustment efficiency. Through remote control and intelligent adjustment, the focal length adjustment time is significantly shortened, and the overall efficiency of the tower crane operation is improved. By optimizing the adjustment path, the invalid operation of the zoom drive motor is reduced, and the energy consumption is reduced. Precise focal length adjustment and reliable communication transmission reduce the safety hazards caused by operation errors or communication interruptions. It can still operate stably in a high interference environment and adapt to complex working conditions in the tower crane operation site. By combining the wireless communication technology of the remote controller and the camera device and the intelligent adjustment algorithm, remote precise control of the focal length of the tower crane camera is realized. The convenience of operation, the accuracy of adjustment and the reliability of communication are significantly improved, and the costs such as time, energy consumption and precision are optimized.

[0090] In a possible implementation manner, in step 14, the optimal step sequence of the camera from the current focal length value to the target focal length value is determined according to the adjustment cost matrix, including:

[0091] In step 141, for each row in the adjustment, the minimum value of the step cost in the row is determined, and each step cost in the row of the adjustment cost matrix is subtracted by the minimum value of the step cost corresponding to the row to obtain a reconstructed row of each row.

[0092] In the embodiments of the present disclosure, for each row of the adjustment cost matrix, the minimum step cost in the row is found, and then each step cost in the row is subtracted by the minimum value. The purpose of this is to normalize each row so that the minimum cost of each row is 0. For example, a row of the adjustment cost matrix is [5, 3, 8], the minimum value is 3, and the reconstructed row is [2, 0, 5].

[0093] In step 142, for each column in the adjustment, the minimum value of the step cost in the column is determined, and each step cost in the column of the adjustment cost matrix is subtracted by the minimum value of the step cost corresponding to the column to obtain a reconstructed column of each column.

[0094] In the embodiments of the present disclosure, the minimum step cost in each column is found and each step cost in the column is subtracted by this minimum value. This step further ensures the normalization of the matrix in both row and column dimensions. For example, assuming that there is a column in the adjusted matrix as [2, 2, 6] and the minimum value is 2, the reconstructed column is [0, 0, 4].

[0095] In step 143, all positions with value of zero in the adjusted cost matrix are covered by the minimum number of horizontal and vertical lines;

[0096] In the embodiments of the present disclosure, all positions with value of zero in the matrix are covered by the minimum number of horizontal and vertical lines. For example, this is solved by the Hungarian algorithm or related graph theory algorithm.

[0097] In step 144, if the number of covering lines is less than the dimension of the adjusted cost matrix, the adjusted cost matrix is adjusted and the step of covering all positions with value of zero in the adjusted cost matrix by the minimum number of horizontal and vertical lines is performed until the number of covering lines is greater than or equal to the dimension of the adjusted cost matrix.

[0098] In step 144, if the number of covering lines is less than the dimension of the adjusted cost matrix, the adjusted cost matrix is adjusted and the step of covering all positions with value of zero in the adjusted cost matrix by the minimum number of horizontal and vertical lines is performed until the number of covering lines is greater than or equal to the dimension of the adjusted cost matrix.

[0099] In the embodiments of the present disclosure, if the number of covering lines is less than the dimension of the matrix (i.e. the number of rows or columns), it indicates that the matrix may need to be further adjusted. This may involve fine-tuning of the original cost matrix, and then repeating steps 141 to 143 until the number of covering lines is greater than or equal to the dimension of the matrix. For example, if a 3x3 matrix can only be covered by 2 lines initially, some elements in the matrix need to be adjusted until it can be covered by 3 or more lines.

[0100] In step 145, the optimal step sequence from the current focal length value to the target focal length value is determined according to the optimal allocation scheme of covering zero elements.

[0101] In the embodiments of the present disclosure, according to the optimal allocation scheme of covering zero elements (i.e. the minimum covering line scheme), the optimal step sequence from the current focal length value to the target focal length value is determined by backtracking to the original adjusted cost matrix. This usually involves tracking which rows and columns are covered and how these covering lines correspond to the adjustment steps of focal length. For example, if the optimal covering scheme indicates a series of specific steps (such as first increasing 2 steps, then decreasing 1 step, and finally increasing 3 steps) from the current focal length to the target focal length, these steps constitute the optimal step sequence.

[0102] The technical solution adjusts the cost matrix to reconstruct rows and columns, so that the minimum step cost of each row and each column is zero. This helps to highlight the relatively low cost path and further ensures the optimality of the selected path in terms of cost. By continuously adjusting and optimizing until the number of covering lines meets the condition, it is ensured that the final determined step sequence is the minimum in terms of total cost. Moreover, by matrix reconstruction and the minimum covering line algorithm, the complex focal length adjustment problem is converted into a solvable linear programming or graph theory problem, greatly improving the calculation efficiency, reducing trial and error and redundant calculation, and making the focal length adjustment process more efficient. By determining the optimal step sequence, a smooth zooming process of the camera from the current focal length to the target focal length can be realized, avoiding shaking and instability in the focal length adjustment process. The optimal step sequence determination problem in the camera focal length adjustment is effectively solved, realizing cost minimization, efficiency improvement, strong adaptability and smooth zooming effect.

[0103] In a possible implementation, 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, including:

[0104] In step 1441, if the number of covering lines is less than the dimension of the adjustment cost matrix, the current adjustment cost matrix is traversed to find all target elements not covered by horizontal lines or vertical lines.

[0105] In the embodiments of the present disclosure, the adjustment cost matrix is covered with the least horizontal lines and vertical lines. If the number of covering lines is less than the dimension of the matrix, it means that there are some non-zero elements in the matrix that are not covered. The current adjustment cost matrix is traversed to identify all elements not covered by horizontal lines or vertical lines.

[0106] In step 1442, a first operation of subtracting the element with the minimum value in the target element is performed on each target element, and a second operation of adding the element with the minimum value in the target element is performed on the element in the adjustment cost matrix that is covered by the horizontal line and the vertical line at the same time.

[0107] In the embodiments of the present disclosure, in order to increase the number of covering lines, the matrix is adjusted so that more elements become zero or are more likely to be covered. A first operation of subtracting the element with the minimum value in each uncovered target element is performed, and a second operation of adding this minimum value to the element covered by the horizontal line and the vertical line at the same time is performed. The purpose of this adjustment is to change the relative size of the elements in the matrix so that more elements may become zero, thereby increasing the chance of being covered.

[0108] For example, the minimum value in the uncovered elements is 2. Perform the first operation: subtract 2 from all uncovered elements to get a new matrix; perform the second operation: assume that (0, 2) (the original value is 0, and the assumed cover line covers it at the same time) needs to be added by 2.

[0109] The above technical solution can gradually optimize and adjust the cost matrix, so that all elements that need to be covered can be finally covered with the least cover line, thereby determining the optimal step sequence.

[0110] In a possible implementation, in step 13, the adjustment cost matrix corresponding to the step cost based on the adjustment time cost, the adjustment energy consumption cost and the adjustment accuracy cost is constructed according to the adjustment step set, the current focal length value of the camera and the target focal length value, including:

[0111] In step 131, a plurality of step amounts are selected from the adjustment step set and combined to obtain a plurality of to-be-used adjustment step combinations for adjusting from the current focal length value to the target focal length value according to the current focal length value of the camera and the target focal length value.

[0112] Wherein, the to-be-used adjustment step combination is a sequence composed of a plurality of step amounts selected from the adjustment step set, and each sequence can adjust the camera from the current focal length value to the target focal length value.

[0113] In the embodiment of the disclosure, a plurality of step amounts are selected from the adjustment step set and combined according to the current focal length value and the target focal length value of the camera. The goal is to generate a plurality of possible adjustment paths (i.e. to-be-used adjustment step combinations), each of which can adjust the camera from the current focal length value to the target focal length value. When selecting, the order, size and combination method of the step amount can be considered to generate diversified adjustment schemes.

[0114] In step 132, the adjustment cost matrix corresponding to the step cost based on the adjustment time cost, the adjustment energy consumption cost and the adjustment accuracy cost is constructed according to the time cost weight, the energy consumption cost weight, the accuracy cost weight, the time required for each step in each of the to-be-used adjustment step combinations, the energy required and the corresponding accuracy.

[0115] Wherein, the time cost weight: a weight coefficient for measuring the influence of adjustment time on the total cost. The energy consumption cost weight: a weight coefficient for measuring the influence of adjustment energy consumption on the total cost. The accuracy cost weight: a weight coefficient for measuring the influence of adjustment accuracy on the total cost.

[0116] In the embodiments of the present disclosure, for each combination of to-be-used adjustment step, its adjustment time cost, adjustment energy cost and adjustment accuracy cost are calculated. The time cost can be calculated according to the time required for each step, the energy cost can be calculated according to the energy required for each step, and the accuracy cost can be calculated according to the deviation of the focal length after the step from the target focal length. The total cost of each step path is obtained by weighting and summing the three costs using the time cost weight, the energy cost weight and the accuracy cost weight. The total costs of all combinations of to-be-used adjustment steps are filled into the adjustment cost matrix, 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 a step to another step.

[0117] The above technical solution realizes comprehensive and refined cost control by constructing an adjustment cost matrix based on multi-dimensional cost consideration, improves the efficiency and accuracy of focal length adjustment, and enhances the adaptability and flexibility of the system.

[0118] In a possible implementation, the adjustment cost matrix is constructed by the following formula:

[0119] C ij =w1×T ij +w2×E ij +w3×∣F j −F target ∣;

[0120] Wherein, F j represents the intermediate focal length value of one adjustment from the current focal length value, F target represents 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 for adjusting from the current focal length value to the intermediate focal length value, w1 is the time cost weight, E ij represents the energy required for adjusting from the current focal length value to the intermediate focal length value, w2 is the energy 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 intermediate focal length value after adjustment.

[0121] In a possible implementation, the method further comprises:

[0122] In step S21, the device identifier generated by the camera device in the case where the camera device is in a pairing state;

[0123] Wherein, the device identifier: is a code or string used by the camera device to uniquely identify itself, which is usually generated based on the hardware information (such as MAC address, serial number, etc.) of the device, and is used to identify the device in the pairing process.

[0124] In the embodiments of the present disclosure, when the camera is in the pairing state, the internal software or firmware of the camera generates a device identifier. The identifier can be based on the hardware characteristics of the camera (such as the MAC address of the network interface) or obtained by processing the hardware information through an algorithm (such as a hash algorithm). The generation of the device identifier is the first step of the pairing process, which is used for subsequent identity recognition and pairing with the remote controller.

[0125] In step S22, when the remote controller is in the search mode, the remote controller generates a random pairing code and broadcasts a search signal carrying the device information of the remote controller and the pairing code through the wireless communication module of the remote controller.

[0126] Wherein, the pairing code: is a random code generated by the remote controller in the search mode, which is used to verify the identity of the camera in the pairing process. The search signal: is the signal broadcast by the remote controller, which contains the device information of the remote controller and the pairing code, which is used to find and identify the camera that can be paired.

[0127] In the embodiments of the present disclosure, when the remote controller is in the search mode, the internal software or firmware of the remote controller generates a random pairing code. The remote controller broadcasts a search signal through its wireless communication module, which contains the device information of the remote controller and the generated pairing code. The broadcast of the search signal is the second step of the pairing process, which is used to enable the camera to receive and identify the presence of the remote controller.

[0128] In step S23, when the camera searches for the broadcast signal through the wireless communication module configured by itself, the camera 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.

[0129] Wherein, the exchange digital certificate: is a digital certificate used to establish secure communication between devices, usually issued by a trusted third party (such as the cab control device). The exchange digital certificate acquisition request: is a request sent by the camera to the cab control device, which is used to obtain the exchange digital certificate required for pairing with the remote controller.

[0130] Wherein, the camera can establish a communication connection between the camera and the cab control device through an industrial bus, for example, through a CAN (Controller Area Network) bus, Profibus (Process Field Bus).

[0131] When the camera device searches for the broadcast signal of the remote controller through the wireless communication module thereof, the camera device extracts the device information of the remote controller in the embodiment of the present disclosure. The camera device sends a digital certificate exchange request to the cab control device in combination with the device identifier generated by itself. The request contains the device information of the remote controller and the device identifier of the camera device, which are used by the cab control device to generate a corresponding digital certificate for exchange.

[0132] In step S24, when the cab control device receives the digital certificate exchange request, the cab control device generates a digital certificate for exchange according to the device information and the device identifier hash, and returns the digital certificate for exchange to the camera device.

[0133] When the cab control device receives the digital certificate exchange request of the camera device, the cab control device extracts the device information and the device identifier in the request in the embodiment of the present disclosure. The cab control device processes the device information and the device identifier using a hash algorithm to generate a digital certificate for exchange. The cab control device returns the generated digital certificate for exchange to the camera device, which is used in the pairing process of the remote controller and the camera device.

[0134] In step S25, when the camera device receives the digital certificate for exchange returned by the cab control device in response to the digital certificate exchange request, the camera device sends a pairing request carrying the digital certificate for exchange, the device identifier and the pairing code to the wireless communication module of the remote controller through the wireless communication module configured by itself.

[0135] The pairing request is a request sent by the camera device to the remote controller, which is used to start the pairing process and verify the pairing code.

[0136] When the camera device receives the digital certificate for exchange returned by the cab control device, the camera device sends a pairing request to the wireless communication module of the remote controller in combination with the device identifier generated by itself and the received pairing code in the embodiment of the present disclosure. The request contains the digital certificate for exchange, the device identifier and the pairing code, which are used by the remote controller to verify the identity of the camera device and the correctness of the pairing code.

[0137] In step S26, when the remote controller receives the pairing request, the remote controller verifies whether the pairing code in the pairing request is consistent with the pairing code generated by itself, and in the case that the pairing code in the pairing request is consistent with the pairing code generated by itself, the remote controller sends a pairing response to the camera device to complete the pairing of the remote controller and the camera device.

[0138] The pairing response is a response sent by the remote controller to the camera device after verifying the pairing code successfully, and is used to confirm the pairing process and complete the pairing.

[0139] In the embodiments of the present disclosure, when the remote controller receives the pairing request of the camera device, it extracts the pairing code in the request and compares it with the pairing code generated by itself. If the pairing codes are consistent, it means that the camera device is a legal pairing device, and the remote controller will send a pairing response to the camera device. This response marks the completion of the pairing process, and a secure communication connection can be established between the camera device and the remote controller.

[0140] The above technical solution generates a device identifier, a random pairing code, and exchanges digital certificates, which provides a multi-layer security verification mechanism for the pairing process between the camera device and the remote controller. The device identifier ensures the uniqueness of the device, the pairing code provides a random and one-time verification code, and the exchange of digital certificates further guarantees the data integrity and identity verification in the communication process, thereby greatly enhancing the security of the pairing process. When the remote controller is in the search mode, it broadcasts a search signal carrying device information and a pairing code, so that the camera device can actively search and identify the remote controller without manual intervention to initiate a pairing request. This mechanism improves the flexibility of pairing and makes the pairing between devices more convenient. The cab control device generates and returns the exchange digital certificate, which establishes a secure communication channel between the camera device and the remote controller. After successful pairing, both parties can use this channel for encrypted communication, effectively preventing data from being stolen or tampered with. The entire pairing process is automatically completed by the camera device and the remote controller, without the need for the user to manually input the pairing code or perform other complex operations. This simplified pairing process improves the user experience and makes device pairing easier and faster.

[0141] In summary, by introducing multiple security mechanisms such as device identifiers, random pairing codes, and exchange digital certificates, secure and convenient pairing between the camera device and the remote controller is achieved, and a secure communication channel is established.

[0142] The present disclosure also provides a remote zoom system based on communication between a remote controller and a camera device, which is applied to a tower crane system, as shown in Figure 2 The tower crane system 100 includes a portable and movable remote controller 110 and a camera device 120 arranged on the tower crane hook. Both the camera device 120 and the remote controller 110 are configured with a wireless communication module. The camera device is configured with a camera and a zoom drive motor for driving the zoom of the camera.

[0143] The remote controller 110 is configured to, in response to a remote zoom operation on the remote controller 110 for the camera, acquire a target focal length value input on the remote controller and acquire a current focal length value of the camera configured in the camera device through wireless communication connection with a wireless communication module of the camera device;

[0144] Acquire a set of adjustment step lengths of the zoom drive motor in the camera device 120, wherein the set of adjustment step lengths includes a plurality of step amounts of the zoom drive motor;

[0145] According to the set of adjustment step lengths, the current focal length value of the camera, and the target focal length value, construct an adjustment cost matrix corresponding to a step cost based on adjustment time cost, adjustment energy consumption cost, and adjustment precision cost;

[0146] According to the adjustment cost matrix, determine an optimal step sequence for the camera to zoom from the current focal length value to the target focal length value, and generate an adjustment path for the camera zoom according to the step amount in the optimal step sequence;

[0147] Send the adjustment path to the wireless communication module of the camera device through the wireless communication module of the remote controller;

[0148] 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.

[0149] In a possible implementation, the remote controller is specifically configured to:

[0150] For each row in the adjustment, determine the minimum value of the step cost in the row, and subtract the minimum value of the step cost corresponding to the row from each step cost in the row in the adjustment cost matrix to obtain a reconstructed row for each row;

[0151] For each column in the adjustment, determine the minimum value of the step cost in the column, and subtract the minimum value of the step cost corresponding to the column from each step cost in the column in the adjustment cost matrix to obtain a reconstructed column for each column;

[0152] Cover all element values of zero in the adjustment cost matrix with the least number of horizontal and vertical lines;

[0153] If the number of covering lines is less than the dimension of the adjusted cost matrix, the adjusted cost matrix is adjusted, and the covering all elements with zero value in the adjusted cost matrix with least horizontal lines and vertical lines is performed until the number of covering lines is greater than or equal to the dimension of the adjusted cost matrix.

[0154] According to the optimal allocation scheme of covering zero elements, the optimal step sequence from the current focal length value to the target focal length value is determined.

[0155] In a possible implementation, the remote controller is specifically used for:

[0156] If the number of covering lines is less than the dimension of the adjusted cost matrix, the current adjusted cost matrix is traversed to find all target elements not covered by horizontal lines or vertical lines;

[0157] For each target element, a first operation of subtracting the element with the minimum value in the target element is performed, and a second operation of adding the element with the minimum value in the target element is performed on the element of the adjusted cost matrix covered by the horizontal line and the vertical line at the same time.

[0158] In a possible implementation, continuing to refer to Figure 2 As shown, the system further comprises a driver's cabin control device 130 configured with the tower crane driver's cabin;

[0159] The camera device is further used to, in the case that the camera device is in the pairing standby state, the camera device generates a device identifier;

[0160] The remote controller is further used to, in the case that the remote controller is in the search mode, the remote controller generates a random pairing code, and broadcasts a search signal carrying device information of the remote controller and the pairing code through the wireless communication module of the remote controller;

[0161] The camera device is further used to, in the case that the camera device searches the broadcast signal through the wireless communication module configured by itself, according to the device information and the device identifier, sends an exchange digital certificate acquisition request carrying the device information and the device identifier to the driver's cabin control device;

[0162] The driver's cabin control device is used to, in the case that the driver's cabin control device receives the exchange digital certificate acquisition request, the driver's cabin control device hashes the exchange digital certificate according to the device information and the device identifier, and returns the exchange digital certificate to the camera device;

[0163] The camera device is further configured to, in a case where the camera device receives the exchange digital certificate returned by the cab control device in response to the exchange digital certificate acquisition request, send, by the wireless communication module configured by the camera device, a pairing request carrying the exchange digital certificate, the device identifier and the pairing code to the wireless communication module of the remote controller;

[0164] The remote controller is further configured to, in a case where the pairing request is received, verify whether the pairing code in the pairing request is consistent with the pairing code generated by the remote controller, and in a case where the pairing code in the pairing request is consistent with the pairing code generated by the remote controller, send, by the remote controller, a pairing response to the camera device, thereby completing the pairing between the remote controller and the camera device.

[0165] The preferred embodiments of the present disclosure are described in detail above with reference to the drawings, but the present disclosure is not limited to the specific details in the above-described embodiments. Within the technical concept of the present disclosure, various changes, modifications, replacements and variations can be made to the embodiments, and all the changes, modifications, replacements and variations shall fall within the protection scope of the present disclosure.

[0166] In addition, it should be noted that each specific technical feature described in the above specific embodiments can be combined in any appropriate manner without contradiction, and shall be considered as the disclosed content of the present disclosure. In order to avoid unnecessary repetition, the present disclosure will not further describe various possible combinations. The technical scope of the present application shall not be limited to the content in the specification, and must be determined according to 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, mobile remote control in a tower crane system. The tower crane system includes the remote control and a camera device mounted on the tower crane hook. Both the camera device and the remote control are equipped with wireless communication modules. The camera device includes a camera and a zoom drive motor for zooming the camera. The method includes: In response to a remote zoom operation on the camera via the remote controller, the target focal length value input on the remote controller is obtained, and the current focal length value of the camera configured in the camera device is obtained via a wireless communication connection with the wireless communication module of the camera device. Obtain the set of adjustment step sizes for the zoom drive motor in the camera device, wherein the set of adjustment step sizes includes multiple step sizes of the zoom drive motor; Based on the set of adjustment step sizes, the current focal length of the camera, and the target focal length, an adjustment cost matrix is ​​constructed corresponding to the step cost under the adjustment time cost, adjustment energy consumption cost, and adjustment accuracy cost. Based on the adjustment cost matrix, the optimal step sequence for zooming the camera from the current focal length value to the target focal length value is determined, and an adjustment path for zooming the camera is generated based on the step size in the optimal step sequence. The adjustment path is sent from the wireless communication module of the remote controller to the wireless communication module of the camera device, so that when the camera device receives the adjustment path through its wireless communication module, it controls the zoom drive motor to adjust the focal length of the camera to the target focal length value according to the adjustment path.

2. The method according to claim 1, characterized in that, Determining the optimal step sequence for zooming the camera from the current focal length value to the target focal length value based on the adjustment cost matrix includes: For each row in the adjustment, determine the minimum step cost in that row, and subtract the minimum step cost corresponding to that row from the step cost of each row in the adjustment cost matrix to obtain the reconstructed row for each row; For each column in the adjustment, determine the minimum step cost in that column, and subtract the minimum step cost corresponding to that column from each step cost in the adjustment cost matrix to obtain the reconstructed column for each column; Cover all positions in the adjustment cost matrix where all elements have a value of zero using the fewest possible 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 process of covering all positions in the adjustment cost matrix with zero values ​​using the fewest horizontal and vertical lines is performed until the number of covering lines is greater than or equal to the dimension of the adjustment cost matrix. Based on the optimal allocation scheme covering zero elements, determine the optimal step size sequence from the current focal length value to the target focal length value.

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, then adjusting the adjustment cost matrix includes: If the number of covering lines is less than the dimension of the adjustment cost matrix, then traverse the current adjustment cost matrix to find all target elements that are not covered by horizontal or vertical lines. For each of the target elements, a first operation is performed to subtract the element with the smallest value among the target elements, and a second operation is performed to add the element with the smallest value among the target elements to the elements of the adjustment cost matrix that are simultaneously covered by 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 based on the adjustment step size set, the current focal length value of the camera, and the target focal length value, corresponding to the step cost under adjustment time cost, adjustment energy consumption cost, and adjustment accuracy cost, includes: Based on the current focal length value of the camera and the target focal length value, multiple step sizes are selected from the set of adjustment step sizes and combined to obtain multiple combinations of unused adjustment step sizes that adjust from the current focal length value to the target focal length value. Based on the time cost weight, energy consumption cost weight, accuracy cost weight, the time and energy required for each step in each of the proposed adjustment step combinations, and the corresponding accuracy, an adjustment cost matrix is ​​constructed corresponding to the step cost under the adjustment time cost, adjustment energy consumption cost, and adjustment accuracy cost.

5. The method according to claim 4, characterized in that, 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 F represents the intermediate focal length value after one adjustment from the current focal length value. target C represents the target focal length value. ij T represents the step cost of adjusting from the current state to the intermediate focal length value. ij This represents the time required to adjust from the current focal length value to the intermediate focal length value, where w1 is the time cost weight, and E ij The value represents the energy required to adjust from the current focal length value to the intermediate focal length value, w2 is the energy cost weight, w3 is the accuracy cost weight, i represents the index of the step size in the set of adjustment step sizes, and j represents the index of the adjusted intermediate focal length value.

6. The method according to any one of claims 1-5, characterized in that, The method further includes: When the camera device is in a pairing-ready state, the device identifier generated by the camera device; When the remote control is in 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. When the camera device detects the broadcast signal through its own configured wireless communication module, the camera device sends a request to the cab control device to obtain an exchange digital certificate carrying the device information and the device identifier, based on the device information and the device identifier. When the cab control device receives the request to obtain the exchange digital certificate, 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; When the camera device receives the exchanged digital certificate returned by the cab control device in response to the exchanged digital certificate acquisition request, the camera device sends a pairing request carrying the exchanged digital certificate, the device identifier, and the pairing code to the wireless communication module of the remote controller through its own configured wireless communication module. When the remote controller receives the pairing request, it verifies whether the pairing code in the pairing request matches the pairing code it generated. If the pairing code in the pairing request matches the pairing code it generated, the remote controller sends a pairing response to the camera device to complete the pairing between the remote controller 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 remote controller and a camera device installed on the tower crane hook. Both the camera device and the remote controller 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 is used to, in response to a remote zoom operation on the camera via the remote controller, acquire a target focal length value input on the remote controller and acquire the current focal length value of the camera configured in the camera device via a wireless communication connection with the wireless communication module of the camera device. Obtain the set of adjustment step sizes for the zoom drive motor in the camera device, wherein the set of adjustment step sizes includes multiple step sizes of the zoom drive motor; Based on the set of adjustment step sizes, the current focal length of the camera, and the target focal length, an adjustment cost matrix is ​​constructed corresponding to the step cost under the adjustment time cost, adjustment energy consumption cost, and adjustment accuracy cost. Based on the adjustment cost matrix, the optimal step sequence for zooming the camera from the current focal length value to the target focal length value is determined, and an adjustment path for zooming the camera is generated based on the step size in the optimal step sequence. The adjustment path is sent from the wireless communication module of the remote control to the wireless communication module of the camera device; The camera device is used to receive the adjustment path sent from 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 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 control is specifically used for: For each row in the adjustment, determine the minimum step cost in that row, and subtract the minimum step cost corresponding to that row from the step cost of each row in the adjustment cost matrix to obtain the reconstructed row for each row; For each column in the adjustment, determine the minimum step cost in that column, and subtract the minimum step cost corresponding to that column from each step cost in the adjustment cost matrix to obtain the reconstructed column for each column; Cover all positions in the adjustment cost matrix where all elements have a value of zero using the fewest possible 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 process of covering all positions in the adjustment cost matrix with zero values ​​using the fewest horizontal and vertical lines is performed until the number of covering lines is greater than or equal to the dimension of the adjustment cost matrix. Based on the optimal allocation scheme covering zero elements, determine the optimal step size sequence from the current focal length value to the target focal length value.

9. The system according to claim 8, characterized in that, The remote control is specifically used for: If the number of covering lines is less than the dimension of the adjustment cost matrix, then traverse the current adjustment cost matrix to find all target elements that are not covered by horizontal or vertical lines. For each of the target elements, a first operation is performed to subtract the element with the smallest value among the target elements, and a second operation is performed to add the element with the smallest value among the target elements to the elements of the adjustment cost matrix that are simultaneously covered by the horizontal line and the vertical line.

10. The system according to any one of claims 7-9, characterized in that, The system also includes a cab control unit configured in the tower crane cab; The camera device is also used to generate a device identifier when the camera device is in a pairing state; The remote controller is also used to generate a random pairing code when the remote controller is in search mode, and broadcast a search signal carrying the device information of the remote controller and the pairing code through the wireless communication module of the remote controller; The camera device is also used to, when the camera device detects the broadcast signal through its own configured wireless communication module, send a request to the cab control device to obtain an exchange digital certificate carrying the device information and the device identifier, based on the device information and the device identifier. The cab control device is configured to, upon receiving the request to obtain the exchange digital certificate, obtain the exchange digital certificate based on the device information and the device identifier hash, and return the exchange digital certificate to the camera device. The camera device is also used 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 through its own configured wireless communication module. The remote control is also used to, upon receiving the pairing request, verify whether the pairing code in the pairing request is consistent with the pairing code it generates, and if the pairing code in the pairing request is consistent with the pairing code it generates, the remote control sends a pairing response to the camera device to complete the pairing of the remote control and the camera device.

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