Gimbal reset method and device, gimbal monitoring device and storage medium

Abstract

The application provides a gimbal reset method and device, a gimbal monitoring device and a storage medium, and relates to the technical field of video monitoring. The method comprises the following steps: in the case that the inner ring transmission system and the outer ring monitoring system are in an independent state and the outer ring monitoring system remains stationary, determining a first zero point angle at which a first optocoupler corresponding to the inner ring transmission system is located, and a second zero point angle at which a second optocoupler corresponding to the outer ring monitoring system is located; and in the case that the inner ring transmission system and the outer ring monitoring system are in a coaxial state, controlling the gimbal monitoring device to reset based on the first zero point angle and the second zero point angle. The application can realize non-perception reset self-checking of the gimbal monitoring device while ensuring that the monitoring picture meets the requirements of a user.

Description

Technical Field

[0001] This invention relates to the field of video surveillance technology, and in particular to a pan-tilt-zoom (PTZ) reset method, device, PTZ monitoring equipment, and storage medium. Background Technology

[0002] Pan-tilt-zoom (PTZ) monitoring equipment is mostly used in windy environments such as border and coastal defense zones and high-speed rail towers for patrolling preset positions, i.e., monitoring fixed locations. Compared to conventional dome-shaped IPCs (IP Cameras, network cameras), PTZ monitoring equipment in windy environments needs to overcome wind resistance to rotate to the preset position. When the PTZ monitoring equipment rotates against the wind, it is affected by the wind force, resulting in incomplete or excessive rotation due to loss of synchronization. This causes a difference between the rotation position of the motor in the PTZ monitoring equipment and the theoretical position. Therefore, it is necessary to reset the PTZ and re-determine the zero-point position of the motor to correspond to the theoretical position.

[0003] In existing technologies, the zero point position is determined by controlling the full-stroke rotation of the PTZ (pan-tilt-zoom) unit. However, this causes the monitoring screen of the PTZ monitoring device to move out of the monitoring area required by the user, affecting the monitoring effect. Summary of the Invention

[0004] This invention provides a pan-tilt reset method, device, pan-tilt monitoring equipment, and storage medium to solve the defect in the prior art where controlling the full-stroke rotation of the pan-tilt to determine the zero point position causes the monitoring screen of the pan-tilt monitoring equipment to move out of the monitoring area required by the user, affecting the monitoring effect. This invention achieves a seamless reset and self-test of the pan-tilt monitoring equipment while ensuring that the monitoring screen meets the user's requirements.

[0005] This invention provides a pan-tilt-zoom (PTZ) reset method, applied to a PTZ monitoring device. The PTZ monitoring device includes an outer ring monitoring system and an inner ring transmission system respectively disposed at both ends of a drive shaft. The method includes: When the inner ring drive system and the outer ring monitoring system are in an independent state, and the outer ring monitoring system remains stationary, the first zero-point angle of the first optocoupler corresponding to the inner ring drive system and the second zero-point angle of the second optocoupler corresponding to the outer ring monitoring system are determined respectively. When the inner ring transmission system and the outer ring monitoring system are in a coaxial state, the pan-tilt monitoring device is controlled to reset based on the first zero-point angle and the second zero-point angle.

[0006] According to the gimbal reset method provided by the present invention, determining the first zero-point angle of the first optocoupler corresponding to the inner ring transmission system includes: Control the inner ring transmission system to rotate throughout its full stroke, where the full stroke characterizes the rotation angle range of the inner ring transmission system; When the first baffle in the inner ring transmission system blocks the first optocoupler, the angle of the first baffle is determined as the first zero-point angle of the first optocoupler.

[0007] According to the gimbal reset method provided by the present invention, determining the second zero-point angle of the second optocoupler corresponding to the outer ring monitoring system includes: Control the rotation of the inner ring transmission system and the transmission shaft; When the second baffle on the drive shaft blocks the second optocoupler corresponding to the outer ring monitoring system, the second zero-point angle of the second optocoupler is determined based on the first rotation angle of the second baffle.

[0008] According to the PTZ reset method provided by the present invention, controlling the PTZ monitoring device to reset based on the first zero-point angle and the second zero-point angle includes: Based on the first zero-point angle and the second zero-point angle, determine the first angle difference after the PTZ monitoring device loses synchronization; Based on the second angle difference and the first angle difference, the PTZ monitoring device is controlled to reset; the second angle difference is used to characterize the theoretical angle difference value after the PTZ monitoring device has not lost its step rotation.

[0009] According to the gimbal reset method provided by the present invention, the second angle difference is determined based on the following steps: Obtain the target angle of rotation of the specified PTZ monitoring device before the loss of synchronization, and the third angle difference between the first optical coupler and the second optical coupler before the loss of synchronization; The second angle difference is determined based on the third angle difference and the target angle.

[0010] According to the PTZ reset method provided by the present invention, the step of controlling the PTZ monitoring device to reset based on the second angle difference and the first angle difference includes: Determine the target angle difference between the first angle difference and the second angle difference; Based on the target angle difference, the second rotation angle and target rotation direction of the outer ring monitoring system are determined; Control the outer ring monitoring system to rotate the second rotation angle along the target rotation direction, and control the pan-tilt monitoring device to reset.

[0011] The present invention also provides a gimbal reset device, applied to a gimbal monitoring device, the gimbal monitoring device comprising an outer ring monitoring system and an inner ring transmission system respectively disposed at both ends of a drive shaft, the device comprising: The determining module is used to determine the first zero-point angle of the first optocoupler corresponding to the inner ring drive system and the second zero-point angle of the second optocoupler corresponding to the outer ring monitoring system when the inner ring drive system and the outer ring monitoring system are in an independent state and the outer ring monitoring system remains stationary. The reset module is used to control the pan-tilt monitoring device to reset based on the first zero-point angle and the second zero-point angle when the inner ring transmission system and the outer ring monitoring system are in a coaxial state.

[0012] The present invention also provides a PTZ monitoring device, including an outer ring monitoring system, an inner ring transmission system, a locking device, a memory, a processor, and a computer program stored in the memory and executable on the processor.

[0013] The outer ring monitoring system and the inner ring transmission system are respectively located at both ends of the transmission shaft. The locking device is located on the transmission shaft. The outer ring monitoring system, the inner ring transmission system, and the locking device are all connected to the processor. The locking device is used to adjust the connection status between the outer ring monitoring system and the inner ring transmission system. The processor is used to execute the gimbal reset method as described in any of the above descriptions.

[0014] The present invention also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the gimbal reset method as described above.

[0015] The present invention also provides a computer program product, including a computer program that, when executed by a processor, implements the gimbal reset method as described above.

[0016] The gimbal reset method, device, monitoring equipment, and storage medium provided by this invention decouple the outer ring monitoring system and the inner ring transmission system in the gimbal monitoring system. With the outer ring monitoring system and the inner ring transmission system in an independent state, and the outer ring monitoring system remaining stationary to ensure the monitoring screen does not move, the positioning self-test of the inner ring transmission system after step loss is completed by determining the first zero-point angle of the first optocoupler corresponding to the inner ring transmission system. Similarly, the positioning self-test of the outer ring monitoring system after step loss is completed by determining the second zero-point angle of the second optocoupler corresponding to the outer ring monitoring system. With the outer ring monitoring system and the inner ring transmission system in a coaxial state, the angular difference between the rotation angle of the motor after step loss and the theoretical angle is determined based on the first and second zero-point angles. This angular difference is then used to control the reset of the gimbal monitoring equipment, reducing the movement of the monitoring screen during the gimbal monitoring equipment's reset self-test, thus achieving a seamless reset self-test of the gimbal monitoring equipment. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of a PTZ monitoring device that has lost synchronization using existing technology.

[0019] Figure 2 This is a flowchart illustrating the gimbal reset method provided in an embodiment of the present invention.

[0020] Figure 3 This is a schematic diagram of the connection between the inner ring drive system and the outer ring monitoring system in an independent state, provided by an embodiment of the present invention.

[0021] Figure 4 This is an example schematic diagram of the inner ring transmission system and the outer ring monitoring system provided in an embodiment of the present invention.

[0022] Figure 5 This is a schematic diagram of the inner ring transmission system provided in an embodiment of the present invention.

[0023] Figure 6 This is a schematic diagram of the connection between the inner ring transmission system and the outer ring monitoring system in a coaxial state provided in an embodiment of the present invention.

[0024] Figure 7 This is a schematic diagram of the gimbal reset device provided in an embodiment of the present invention.

[0025] Figure 8 This is a schematic diagram of the structure of the PTZ monitoring device provided in an embodiment of the present invention. Detailed Implementation

[0026] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0027] Figure 1 This is a schematic diagram of a PTZ monitoring device losing synchronization, provided by existing technology, using the PTZ monitoring device as an example. Figure 1Taking the medium-sized top-mounted PTZ monitoring equipment shown as an example, when the vertical PTZ in the monitoring equipment rotates downwards, it may deviate and lose synchronization due to wind or vibration, but it can still perform the function of image monitoring. At this time, if the PTZ monitoring equipment needs to be reset, the vertical PTZ needs to rotate its full range, that is, perform rotation self-check within the rotation range of -90 degrees to +90 degrees. However, the monitoring range required by the user is -45 degrees to +45 degrees. If the vertical PTZ rotates to the range of -90 degrees to -45 degrees or +45 degrees to +90 degrees, the monitoring screen will exceed the monitoring range required by the user, thus causing the user's corresponding client to lose the monitoring screen and affecting the monitoring effect.

[0028] To address the aforementioned problems in the prior art, embodiments of the present invention provide a gimbal reset method, applied to a gimbal monitoring device. The gimbal monitoring device includes an outer ring monitoring system and an inner ring transmission system respectively disposed at both ends of a drive shaft. Figure 2 This is a flowchart illustrating the gimbal reset method provided in an embodiment of the present invention, as shown below. Figure 2 As shown, the method includes the following steps 210 to 220.

[0029] Step 210: When the inner ring drive system and the outer ring monitoring system are in an independent state, and the outer ring monitoring system remains stationary, determine the first zero-point angle of the first optocoupler corresponding to the inner ring drive system and the second zero-point angle of the second optocoupler corresponding to the outer ring monitoring system.

[0030] Specifically, to prevent the monitoring screen of the PTZ monitoring device from moving out of the monitoring area requested by the user, in this embodiment of the invention, the monitoring system is decoupled into an outer ring monitoring system and an inner ring transmission system. The outer ring monitoring system is the monitoring part of the PTZ monitoring device, and the inner ring transmission system is the PTZ cavity part of the PTZ monitoring device. The connection state between the inner ring transmission system and the outer ring monitoring system is adjusted to an independent state by the locking device in the PTZ monitoring system, and the outer ring monitoring system remains stationary. That is, in the independent state, the inner ring transmission system and the outer ring monitoring system can rotate independently without affecting each other, and the monitoring screen does not move. By determining the first zero-point angle of the first optocoupler corresponding to the inner ring transmission system, the positioning self-test of the inner ring transmission system is realized. By determining the second zero-point angle of the second optocoupler corresponding to the outer ring monitoring system, the positioning self-test of the outer ring monitoring system is realized.

[0031] It should be noted that the drive shaft includes an outer drive shaft and an inner drive shaft that are coaxially arranged. The outer drive shaft is connected to the outer monitoring system, and the inner drive shaft is connected to the inner drive system. Figure 3 This is a schematic diagram of the connection between the inner ring drive system and the outer ring monitoring system in an independent state, as provided in an embodiment of the present invention. Figure 3As shown, when the outer ring drive shaft and the inner ring drive shaft are in a separated state, that is, when the outer ring drive shaft and the inner ring drive shaft are not locked by the locking device, the inner ring drive system can drive the inner ring drive shaft to rotate independently, and the outer ring monitoring system can also drive the outer ring drive shaft to rotate independently.

[0032] It should be noted that the inner ring drive system includes a first optocoupler and a first drive system. The first optocoupler is used to determine the initial angle of the inner ring drive system, and the angle corresponding to the first optocoupler is fixed, meaning that the angle corresponding to the first optocoupler does not change with the rotation of the inner ring drive system. The inner ring drive system rotates through transmission components such as a motor and belt included in the first drive system. The outer ring monitoring system includes a second optocoupler, which is used to determine the current angle of the outer ring monitoring system. The second optocoupler rotates with the rotation of the outer ring monitoring system; that is, the current angle corresponding to the second optocoupler changes dynamically with the rotation of the outer ring monitoring system.

[0033] It should be noted that the settings of the inner ring drive system and the outer ring monitoring system are related to the rotation direction of the pan-tilt monitoring system. For example, Figure 4 This is an example schematic diagram of the inner ring transmission system and the outer ring monitoring system provided in an embodiment of the present invention, as shown below. Figure 4 As shown, the PTZ monitoring equipment includes monitoring component A, cavity B, and cavity C. When the PTZ monitoring equipment rotates vertically, monitoring component A serves as the outer ring monitoring system, while cavity B and cavity C together constitute the inner ring transmission system. When the PTZ monitoring system rotates horizontally, monitoring component A and cavity B together constitute the outer ring monitoring system, while cavity C serves as the inner ring transmission system.

[0034] Optionally, the locking device can lock the outer drive shaft and the inner drive shaft by means of a locking method not limited to braking.

[0035] Further, determining the first zero-point angle of the first optocoupler corresponding to the inner ring transmission system includes: Control the inner ring transmission system to rotate throughout its full stroke, where the full stroke characterizes the rotation angle range of the inner ring transmission system; When the first baffle in the inner ring transmission system blocks the first optocoupler, the angle of the first baffle is determined as the first zero-point angle of the first optocoupler.

[0036] Specifically, Figure 5 This is a schematic diagram of the inner ring transmission system provided in an embodiment of the present invention, as shown below. Figure 5As shown, the inner ring transmission system also includes a first baffle plate, which rotates with the rotation of the inner ring transmission system. That is, the angle corresponding to the first baffle plate changes with the rotation of the inner ring transmission system. Theoretically, the angle corresponding to the first optocoupler is fixed. However, due to the pan-tilt monitoring device losing synchronization due to incomplete or excessive rotation, the angle corresponding to the first optocoupler shifts, making it impossible to determine the first zero-point angle of the first optocoupler after losing synchronization. Therefore, in this embodiment of the invention, after the inner ring transmission system and the outer ring monitoring system are in an independent state, the inner ring transmission system is controlled to rotate through its entire stroke for independent self-checking. That is, the inner ring transmission system is controlled to rotate from the minimum angle to the maximum angle within the corresponding rotation angle range. During this process, the first baffle plate rotates through its entire stroke with the rotation of the inner ring transmission system until the first baffle plate blocks the first optocoupler, indicating that the first baffle plate is aligned with the first optocoupler. At this point, the angle of the first baffle plate is the first zero-point angle of the first optocoupler, thus achieving the repositioning of the first optocoupler.

[0037] Furthermore, after determining the first zero-point angle of the first optocoupler, the transmission coordinates can be constructed based on the first zero-point angle.

[0038] Further, determining the second zero-point angle of the second optocoupler corresponding to the outer ring monitoring system includes: Control the rotation of the inner ring transmission system and the transmission shaft; When the second baffle on the drive shaft blocks the second optocoupler corresponding to the outer ring monitoring system, the second zero-point angle of the second optocoupler is determined based on the first rotation angle of the second baffle.

[0039] Specifically, such as Figure 5 As shown, a second baffle is provided on the inner ring drive shaft connected to the inner ring drive system. One end of the second baffle is fixed to the outer surface of the inner ring drive shaft, and the other end extends towards the outer ring monitoring system. The second baffle rotates with the rotation of the inner ring drive shaft, which in turn rotates with the rotation of the inner ring drive system. Based on the determined first zero-point angle, and with the outer ring monitoring system remaining stationary, the inner ring drive system and inner ring drive shaft are controlled to continue rotating, driving the second baffle to rotate until it blocks the second optocoupler. This indicates that the second optocoupler corresponding to the outer ring monitoring system after the PTZ monitoring equipment loses synchronization has been aligned via the second baffle. At this point, with the first zero-point angle determined, the first rotation angle of the second baffle is determined starting from the first zero-point angle, and the sum of the first zero-point angle and the first rotation angle is calculated. This sum is the second zero-point angle where the second optocoupler is located, achieving a self-check of the outer ring monitoring system's positioning after the PTZ monitoring equipment loses synchronization.

[0040] It should be noted that the length of the second baffle can be set based on experience. This embodiment of the invention does not limit this, as long as the second baffle can block the second optocoupler when it rotates with the inner ring drive shaft.

[0041] It should be noted that, Figure 6 This is a schematic diagram of the connection between the inner ring transmission system and the outer ring monitoring system in a coaxial state provided by an embodiment of the present invention, as shown below. Figure 6 As shown, the outer ring monitoring system and the inner ring transmission system can be in a coaxial state, in addition to being independent. When the outer ring monitoring system and the inner ring transmission system are coaxial, it means that the outer ring transmission shaft and the inner ring transmission shaft are coaxially connected; that is, the outer ring transmission shaft and the inner ring transmission shaft are locked by a locking device. In this case, the coaxial rotation of the outer ring transmission shaft and the inner ring transmission shaft can drive the inner ring transmission system and the outer ring monitoring system to rotate coaxially, with the rotation angle and direction being the same.

[0042] Step 220: When the inner ring transmission system and the outer ring monitoring system are in a coaxial state, control the pan-tilt monitoring device to reset based on the first zero-point angle and the second zero-point angle.

[0043] Specifically, after completing the positioning self-tests of the inner ring drive system and the outer ring monitoring system, the connection state between the inner ring drive system and the outer ring monitoring system is switched from an independent state to a coaxial state. The first zero-point angle and the second zero-point angle after the self-test are compared with the theoretical angle when the PTZ monitoring device is not out of step, and then the PTZ monitoring device is controlled to reset based on the comparison result.

[0044] Furthermore, controlling the PTZ monitoring device to reset based on the first zero-point angle and the second zero-point angle includes: Based on the first zero-point angle and the second zero-point angle, determine the first angle difference after the PTZ monitoring device loses synchronization; Based on the second angle difference and the first angle difference, the PTZ monitoring device is controlled to reset; the second angle difference is used to characterize the theoretical angle difference value after the PTZ monitoring device has not lost its step rotation.

[0045] Specifically, after determining the first zero-point angle and the second zero-point angle, the first angle difference between the first zero-point angle and the second zero-point angle is calculated. This first angle difference is the angle difference after the PTZ monitoring device loses synchronization due to excessive or insufficient rotation. In addition, the second angle difference between the first and second optocouplers after the PTZ monitoring device rotates without losing synchronization is obtained. The second angle difference corresponding to the non-synchronization is compared with the first angle difference after the synchronization is lost. The outer ring monitoring system and the inner ring monitoring system are controlled to rotate coaxially to align the first angle difference with the second angle difference, thereby controlling the PTZ monitoring system to reset. During the coaxial rotation reset, the rotation amplitude of the outer ring monitoring system is reduced, preventing the monitoring screen from moving out of the monitoring range required by the user, thus achieving a seamless reset of the PTZ monitoring device.

[0046] Furthermore, the second angular difference is determined based on the following steps: Obtain the target angle of rotation of the specified PTZ monitoring device before the loss of synchronization, and the third angle difference between the first optical coupler and the second optical coupler before the loss of synchronization; The second angle difference is determined based on the third angle difference and the target angle.

[0047] Specifically, when determining the second angle difference, the third angle difference between the first and second optocouplers before the loss of synchronization can be obtained, as well as the target angle of rotation of the PTZ monitoring device before the loss of synchronization. This third angle difference can be understood as the angle difference between the first and second optocouplers when the PTZ monitoring device has not rotated after the target angle is determined. Based on the third angle difference, after the PTZ monitoring device controls the outer ring monitoring system and the inner ring transmission system to rotate coaxially to the target angle, if the PTZ monitoring device does not lose synchronization, the second optocoupler in the outer ring monitoring system should theoretically rotate to the target angle. With the angle corresponding to the first optocoupler in the inner ring transmission system remaining unchanged, the second angle difference between the second and first optocouplers after rotation should be the sum of the third angle difference and the target angle.

[0048] For example, before the PTZ monitoring device loses synchronization, the third angle difference between the first and second optocouplers is -45 degrees. If the target angle of rotation of the PTZ monitoring device is specified as 90 degrees, then after the second optocoupler rotates 90 degrees with the outer ring monitoring system, the sum of the target angle and the third angle difference is 45 degrees. That is, if the PTZ monitoring device does not lose synchronization, the angle difference between the first and second optocouplers is updated from -45 degrees to 45 degrees. In other words, theoretically, the second angle difference after the PTZ monitoring device rotates without losing synchronization is 45 degrees.

[0049] It should be noted that the third angle difference between the first and second optical couplers before the PTZ monitoring device lost synchronization can be determined based on the PTZ command before the synchronization loss. For example, the angle difference between the first and second optical couplers carried in the previous PTZ command before the synchronization loss can be determined as the third angle difference.

[0050] Further, controlling the PTZ monitoring device to reset based on the second angle difference and the first angle difference includes: Determine the target angle difference between the first angle difference and the second angle difference; Based on the target angle difference, the second rotation angle and target rotation direction of the outer ring monitoring system are determined; Control the outer ring monitoring system to rotate the second rotation angle along the target rotation direction, and control the pan-tilt monitoring device to reset.

[0051] Specifically, after determining the first angular difference after a step loss and the second angular difference before a step loss, a target angular difference between the first and second angular differences is calculated. This target angular difference represents the angular difference caused by incomplete or excessive rotation due to step loss. By adjusting the target angular difference to zero degrees, the PTZ monitoring device can be reset. That is, using the second angular difference as a reference, if the first angular difference is greater than the second angular difference, and since the first zero-point angle corresponding to the first optocoupler remains fixed, the outer ring monitoring system can be controlled to rotate the second optocoupler by a second rotation angle to reduce the first angular difference until it is reduced to the second angular difference. Here, the second rotation angle is the absolute value of the target angular difference, and the target rotation direction of the outer ring monitoring system is the direction of reducing the first angular difference. If the first angular difference is less than the second angular difference, and since the first zero-point angle corresponding to the first optocoupler remains fixed, the outer ring monitoring system can be controlled to rotate the second optocoupler by a second rotation angle to increase the first angular difference until it is increased to the second angular difference. Here, the second rotation angle is the absolute value of the target angular difference, and the target rotation direction of the outer ring monitoring system is the direction of increasing the first angular difference.

[0052] For example, let's take counter-clockwise as the direction of increasing the angle and clockwise as the direction of decreasing the angle. If the first angle difference is 45 degrees and the second angle difference is 60 degrees, and the first angle difference is less than the second angle difference, then the target angle difference between the first and second angle differences can be calculated to be -15 degrees. With the first zero-point angle corresponding to the first optocoupler remaining unchanged, the outer monitoring system can be controlled to rotate the second optocoupler counter-clockwise by 15 degrees to increase the first angle difference by 15 degrees, making the increased first angle difference equal to the second angle difference. If the first angle difference is 60 degrees and the second angle difference is 45 degrees, and the first angle difference is greater than the second angle difference, then the target angle difference between the first and second angle differences can be calculated to be 15 degrees. With the first zero-point angle corresponding to the first optocoupler remaining unchanged, the outer monitoring system can be controlled to rotate the second optocoupler clockwise by 15 degrees to decrease the first angle difference by 15 degrees, making the decreased first angle difference equal to the second angle difference.

[0053] It should be noted that the target's rotation direction can be determined based on the sign of the target angle difference, which indicates whether the angle difference is positive or negative. For example, taking counterclockwise as the direction of increasing angle and clockwise as the direction of decreasing angle, if the sign of the target angle difference is positive, the target's rotation direction is determined to be clockwise; if the sign of the target angle difference is negative, the target's rotation direction is determined to be counterclockwise.

[0054] The PTZ reset method provided in this invention decouples the outer ring monitoring system and the inner ring transmission system in the PTZ monitoring system. With the outer ring monitoring system and the inner ring transmission system in an independent state, and the outer ring monitoring system remaining stationary to ensure the monitoring screen does not move, the method completes a positioning self-check of the inner ring transmission system after step loss by determining the first zero-point angle of the first optocoupler corresponding to the inner ring transmission system. Similarly, it completes a positioning self-check of the outer ring monitoring system after step loss by determining the second zero-point angle of the second optocoupler corresponding to the outer ring monitoring system. With the outer ring monitoring system and the inner ring transmission system in a coaxial state, the method determines the angle difference between the rotation angle of the motor after step loss and the theoretical angle based on the first and second zero-point angles. This angle difference is then used to control the PTZ monitoring device to reset, reducing the movement of the monitoring screen during the PTZ monitoring device's reset self-check and achieving a seamless reset self-check of the PTZ monitoring device.

[0055] The gimbal reset device provided by the present invention is described below. The gimbal reset device described below can be referred to in correspondence with the gimbal reset method described above.

[0056] This invention also provides a gimbal reset device, applied to a gimbal monitoring device, the gimbal monitoring device including an outer ring monitoring system and an inner ring transmission system respectively disposed at both ends of a drive shaft. Figure 7 This is a schematic diagram of the gimbal reset device provided in an embodiment of the present invention, as shown below. Figure 7 As shown, the gimbal reset device 700 includes: a determination module 710 and a reset module 720.

[0057] The determining module 710 is used to determine the first zero-point angle of the first optocoupler corresponding to the inner ring drive system and the second zero-point angle of the second optocoupler corresponding to the outer ring monitoring system when the inner ring drive system and the outer ring monitoring system are in an independent state and the outer ring monitoring system remains stationary. The reset module 720 is used to control the pan-tilt monitoring device to reset based on the first zero-point angle and the second zero-point angle when the inner ring transmission system and the outer ring monitoring system are in a coaxial state.

[0058] The PTZ reset device provided in this embodiment of the invention decouples the outer ring monitoring system and the inner ring transmission system in the PTZ monitoring system. With the outer ring monitoring system and the inner ring transmission system in an independent state, and the outer ring monitoring system remaining stationary to ensure the monitoring screen does not move, the device performs a positioning self-check of the inner ring transmission system after step loss by determining the first zero-point angle of the first optocoupler corresponding to the inner ring transmission system. Similarly, it performs a positioning self-check of the outer ring monitoring system after step loss by determining the second zero-point angle of the second optocoupler corresponding to the outer ring monitoring system. When the outer ring monitoring system and the inner ring transmission system are coaxial, the device determines the angle difference between the rotation angle of the motor after step loss and the theoretical angle based on the first and second zero-point angles. This angle difference is then used to control the PTZ monitoring device to reset, reducing the movement of the monitoring screen during the PTZ monitoring device's reset self-check and achieving a seamless reset self-check of the PTZ monitoring device.

[0059] Optionally, module 710 is specifically used for: Control the inner ring transmission system to rotate throughout its full stroke, where the full stroke characterizes the rotation angle range of the inner ring transmission system; When the first baffle in the inner ring transmission system blocks the first optocoupler, the angle of the first baffle is determined as the first zero-point angle of the first optocoupler.

[0060] Optionally, module 710 is specifically used for: Control the rotation of the inner ring transmission system and the transmission shaft; When the second baffle on the drive shaft blocks the second optocoupler corresponding to the outer ring monitoring system, the second zero-point angle of the second optocoupler is determined based on the first rotation angle of the second baffle.

[0061] Optionally, the reset module 720 is specifically used for: Based on the first zero-point angle and the second zero-point angle, determine the first angle difference after the PTZ monitoring device loses synchronization; Based on the second angle difference and the first angle difference, the PTZ monitoring device is controlled to reset; the second angle difference is used to characterize the theoretical angle difference value after the PTZ monitoring device has not lost its step rotation.

[0062] Optionally, the reset module 720 is specifically used for: Obtain the target angle of rotation of the specified PTZ monitoring device before the loss of synchronization, and the third angle difference between the first optical coupler and the second optical coupler before the loss of synchronization; The second angle difference is determined based on the third angle difference and the target angle.

[0063] Optionally, the reset module 720 is specifically used for: Determine the target angle difference between the first angle difference and the second angle difference; Based on the target angle difference, the second rotation angle and target rotation direction of the outer ring monitoring system are determined; Control the outer ring monitoring system to rotate the second rotation angle along the target rotation direction, and control the pan-tilt monitoring device to reset.

[0064] Figure 8 This is a schematic diagram of the structure of the PTZ monitoring device provided in an embodiment of the present invention, as shown below. Figure 8 As shown, the PTZ monitoring device may include: a processor 810, a communication interface 820, a memory 830, a communication bus 840, an outer ring monitoring system 850, an inner ring transmission system 860, and a locking device 870, wherein: The outer ring monitoring system 850 and the inner ring transmission system 860 are respectively disposed at both ends of the transmission shaft. The locking device 870 is disposed on the transmission shaft. The outer ring monitoring system 850, the inner ring transmission system 860 and the locking device 870 are all connected to the processor 810. The locking device 870 is used to adjust the connection state between the outer ring monitoring system 850 and the inner ring transmission system 860.

[0065] The processor 810, communication interface 820, and memory 830 communicate with each other via communication bus 840. The processor 810 can call logic instructions from memory 830 to execute a gimbal reset method, which includes: When the inner ring drive system 860 and the outer ring monitoring system 850 are in an independent state, and the outer ring monitoring system 850 remains stationary, the first zero-point angle of the first optocoupler corresponding to the inner ring drive system 860 and the second zero-point angle of the second optocoupler corresponding to the outer ring monitoring system 850 are determined respectively. When the inner ring transmission system 860 and the outer ring monitoring system 850 are in a coaxial state, the pan-tilt monitoring device is controlled to reset based on the first zero-point angle and the second zero-point angle.

[0066] Furthermore, the logical instructions in the aforementioned memory 830 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0067] On the other hand, the present invention also provides a computer program product, the computer program product comprising a computer program that can be stored on a computer-readable storage medium, wherein when the computer program is executed by a processor, the computer is able to execute the gimbal reset method provided by the above methods, the method comprising: When the inner ring drive system and the outer ring monitoring system are in an independent state, and the outer ring monitoring system remains stationary, the first zero-point angle of the first optocoupler corresponding to the inner ring drive system and the second zero-point angle of the second optocoupler corresponding to the outer ring monitoring system are determined respectively. When the inner ring transmission system and the outer ring monitoring system are in a coaxial state, the pan-tilt monitoring device is controlled to reset based on the first zero-point angle and the second zero-point angle.

[0068] In another aspect, the present invention also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, is implemented to perform the gimbal reset method provided by the methods described above, the method comprising: When the inner ring drive system and the outer ring monitoring system are in an independent state, and the outer ring monitoring system remains stationary, the first zero-point angle of the first optocoupler corresponding to the inner ring drive system and the second zero-point angle of the second optocoupler corresponding to the outer ring monitoring system are determined respectively. When the inner ring transmission system and the outer ring monitoring system are in a coaxial state, the pan-tilt monitoring device is controlled to reset based on the first zero-point angle and the second zero-point angle.

[0069] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0070] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0071] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for resetting a gimbal, characterized in that, The method is applied to a PTZ (pan-tilt-zoom) monitoring device, which includes an outer ring monitoring system and an inner ring transmission system respectively disposed at both ends of a drive shaft. When the inner ring drive system and the outer ring monitoring system are in an independent state, and the outer ring monitoring system remains stationary, the inner ring drive system is controlled to rotate throughout its full stroke, where the full stroke characterizes the rotation angle range of the inner ring drive system. When the first baffle in the inner ring drive system blocks the first optocoupler, the angle at which the first baffle is located is determined as the first zero-point angle of the first optocoupler corresponding to the inner ring drive system. The inner ring drive system and the drive shaft are controlled to rotate. When the second baffle on the drive shaft blocks the second optocoupler corresponding to the outer ring monitoring system, the second zero-point angle of the second optocoupler corresponding to the outer ring monitoring system is determined based on the first rotation angle of the second baffle. When the inner ring transmission system and the outer ring monitoring system are in a coaxial state, the pan-tilt monitoring device is controlled to reset based on the first zero-point angle and the second zero-point angle.

2. The gimbal reset method according to claim 1, characterized in that, The step of controlling the pan-tilt monitoring device to reset based on the first zero-point angle and the second zero-point angle includes: Based on the first zero-point angle and the second zero-point angle, determine the first angle difference after the PTZ monitoring device loses synchronization; Based on the second angle difference and the first angle difference, the PTZ monitoring device is controlled to reset; the second angle difference is used to characterize the theoretical angle difference value after the PTZ monitoring device has not lost its step rotation.

3. The gimbal reset method according to claim 2, characterized in that, The second angle difference is determined based on the following steps: Obtain the target angle of rotation of the specified PTZ monitoring device before the loss of synchronization, and the third angle difference between the first optical coupler and the second optical coupler before the loss of synchronization; The second angle difference is determined based on the third angle difference and the target angle.

4. The gimbal reset method according to claim 2, characterized in that, The step of controlling the PTZ monitoring device to reset based on the second angle difference and the first angle difference includes: Determine the target angle difference between the first angle difference and the second angle difference; Based on the target angle difference, the second rotation angle and target rotation direction of the outer ring monitoring system are determined; Control the outer ring monitoring system to rotate the second rotation angle along the target rotation direction, and control the pan-tilt monitoring device to reset.

5. A gimbal reset device, characterized in that, An application in PTZ (pan-tilt-zoom) monitoring equipment, the PTZ monitoring equipment comprising an outer ring monitoring system and an inner ring transmission system respectively disposed at both ends of a drive shaft, the device comprising: The determining module is configured to: control the inner ring drive system to rotate throughout its full stroke when the inner ring drive system and the outer ring monitoring system are in an independent state and the outer ring monitoring system remains stationary; control the rotation angle range of the inner ring drive system when a first baffle in the inner ring drive system blocks a first optocoupler; determine the angle of the first baffle as the first zero-point angle of the first optocoupler corresponding to the inner ring drive system; control the rotation of the inner ring drive system and the drive shaft; and determine the second zero-point angle of the second optocoupler corresponding to the outer ring monitoring system based on the first rotation angle of the second baffle when a second baffle on the drive shaft blocks a second optocoupler corresponding to the outer ring monitoring system. The reset module is used to control the pan-tilt monitoring device to reset based on the first zero-point angle and the second zero-point angle when the inner ring transmission system and the outer ring monitoring system are in a coaxial state.

6. A PTZ monitoring device, comprising an outer ring monitoring system, an inner ring transmission system, a locking device, a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, The outer ring monitoring system and the inner ring transmission system are respectively located at both ends of the transmission shaft. The locking device is located on the transmission shaft. The outer ring monitoring system, the inner ring transmission system, and the locking device are all connected to the processor. The locking device is used to adjust the connection status between the outer ring monitoring system and the inner ring transmission system. The processor is used to execute the gimbal reset method as described in any one of claims 1-4.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the gimbal reset method as described in any one of claims 1-4.

8. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the gimbal reset method as described in any one of claims 1-4.

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