A rotation control method and device of a camera, an electronic device, and a storage medium

Abstract

This disclosure provides a rotation control method, apparatus, electronic device, and storage medium for a camera device. The method includes: acquiring a current pressure on the camera device at a current rotation angle; acquiring spatial memory information of the camera device, the spatial memory information representing the historical state of the camera device in multiple rotation angle intervals; wherein the historical state represents the historical collision situation of the camera device in a corresponding rotation angle interval; determining a rotation control strategy for the pan-tilt unit of the camera device based on the current pressure, the current rotation angle, and the spatial memory information; and controlling the pan-tilt unit to operate according to the rotation control strategy to drive the camera device to rotate.

Description

Technical Field

[0001] This disclosure relates to the field of intelligent monitoring equipment control technology, and more specifically, to a rotation control method, apparatus, electronic device, and storage medium for a camera device. Background Technology

[0002] With the development of intelligent monitoring technology, rotatable camera devices have been widely used in homes, buildings, and industrial settings, achieving multi-angle monitoring coverage through pan-tilt rotation. However, during rotation, these cameras are prone to collisions with obstacles such as walls, furniture, and equipment casings. This can cause minor issues like pan-tilt jamming and lens wear, or more serious problems like motor damage and equipment failure, affecting system stability and lifespan.

[0003] Currently, most collision avoidance solutions rely on mechanical limiters, motor current overload detection, or fixed-angle obstacle avoidance. Mechanical limiters can only limit the maximum rotation range and cannot adapt to different installation environments; current detection is a passive response, often triggering protection only after a collision occurs, which can easily cause irreversible impacts; fixed obstacle avoidance angles are difficult to adapt to environmental changes, have a high false alarm rate, and poor flexibility.

[0004] In addition, existing technologies lack real-time perception of pressure information during the rotation of the camera device, and also lack the recording and learning of historical collision situations at different rotation angles. They cannot form risk memory associated with angles, making it difficult to achieve predictive collision avoidance control, resulting in low control accuracy and weak adaptive capability.

[0005] Therefore, there is an urgent need for a camera device rotation control scheme that can combine real-time pressure detection and angle history state learning to achieve early identification, active avoidance and adaptive adjustment of collision risks, thereby improving the safety and reliability of equipment operation. Summary of the Invention

[0006] One objective of this disclosure is to provide a new technical solution for the rotation control of a camera device.

[0007] According to a first aspect of the present disclosure, a rotation control method for a camera device is provided, comprising: Obtain the current pressure exerted on the camera device at the current rotation angle; The spatial memory information of the camera device is obtained, which represents the historical state of the camera device in multiple rotation angle ranges; wherein, the historical state represents the historical collision situation of the camera device in the corresponding rotation angle range. Based on the current pressure, the current rotation angle, and the spatial memory information, determine the rotation control strategy of the camera device's gimbal; The gimbal is controlled to operate according to the rotation control strategy to drive the camera device to rotate.

[0008] Optionally, acquiring the spatial memory information of the camera device includes: The historical pressure and corresponding rotation angle acquired by the camera device during the historical statistical period are obtained. For each rotation angle, pressure characteristics are obtained based on the corresponding historical pressure; wherein, the pressure characteristics include at least one of the following: average pressure value, maximum pressure value, pressure change trend, and contact occurrence frequency; Based on the pressure characteristics of each rotation angle, the historical state of the corresponding rotation angle is determined, and the spatial memory information is obtained.

[0009] Optionally, the method further includes: The spatial memory information is updated based on the current pressure using a sliding window or time decay mechanism.

[0010] Optionally, determining the rotation control strategy of the camera device's gimbal based on the current pressure, the current rotation angle, and the spatial memory information includes: Determine the historical state of the camera device in the spatial memory information within the current rotation angle range where the current rotation angle is located, and use it as the actual historical state; The historical state of the camera device in the next rotation angle interval of the current rotation angle interval is determined in the spatial memory information and used as the predicted historical state; The rotation control strategy of the camera device is determined based on the current pressure, the actual historical state, and the predicted historical state.

[0011] Optionally, determining the rotation control strategy of the camera device's gimbal based on the current pressure, the current rotation angle, and the spatial memory information includes: Determine the rate of pressure change based on the current pressure; If the current pressure is greater than or equal to a first threshold, it is determined that the camera device has come into contact with the obstacle; If the pressure change rate is greater than or equal to the second threshold, it is determined that the camera device has a collision tendency; If it is determined that the camera device has come into contact with an obstacle and / or that the camera device has a collision tendency, a trigger event signal is generated; The rotation control strategy is determined based on the trigger event signal, the current rotation angle, and the spatial memory information.

[0012] Optionally, obtaining the current pressure exerted on the camera device at the current rotation angle includes: The analog voltage signals output by the multiple pressure sensors mounted on the surface of the camera device are acquired. The analog voltage signal is subjected to analog-to-digital conversion and noise filtering to obtain a digital voltage signal; The current pressure is obtained by fusing the digital voltage signals corresponding to multiple pressure sensors.

[0013] Optionally, the plurality of pressure sensors are disposed on the housing of the camera device and arranged circumferentially, and / or disposed in the boundary area of ​​the rotation path of the camera device's pan-tilt head, and / or disposed at a protruding position on the camera device.

[0014] According to a second aspect of this disclosure, a rotation control device for a camera apparatus is provided, comprising: The pressure data acquisition module is used to acquire and represent the current pressure exerted on the camera device at the current rotation angle; The historical pressure learning module is used to acquire the spatial memory information of the camera device, which represents the historical state of the camera device in multiple rotation angle ranges; wherein, the historical state represents the historical collision situation of the camera device in the corresponding rotation angle range. The control module is used to determine the rotation control strategy of the pan-tilt unit of the camera device based on the current pressure, the current rotation angle, and the spatial memory information. The drive module is used to control the pan-tilt unit to operate according to the rotation control strategy, so as to drive the camera device to rotate.

[0015] According to a third aspect of this disclosure, an electronic device is provided, including a processor and a memory, the memory being used to store a computer program, and the processor being used to execute the method as described in the first aspect of this disclosure under the control of the computer program.

[0016] According to a fourth aspect of this disclosure, a computer-readable storage medium is provided having a computer program stored thereon that, when executed by a processor, implements the method described in the first aspect of this disclosure.

[0017] Through the embodiments of this disclosure, the current pressure at the current rotation angle of the camera device is collected in real time, and spatial memory information recording historical collision situations at each rotation angle is retrieved. By combining real-time pressure perception with historical risk memory, the collision risk at the current position and surrounding area can be accurately identified. Based on this, the rotation speed can be dynamically adjusted, timely deceleration warnings can be issued, or high-risk areas can be actively avoided, effectively preventing collisions and reducing equipment impact damage. At the same time, it can adapt to complex and ever-changing actual installation environments, greatly improving the safety, predictability, adaptability, and long-term operational stability of the camera device's rotation control.

[0018] Other features and advantages of the invention will become clear from the following detailed description of exemplary embodiments of the invention with reference to the accompanying drawings. Attached Figure Description

[0019] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments of the invention and, together with their description, serve to explain the principles of the invention.

[0020] Figure 1 This is a block diagram illustrating the hardware configuration of an electronic device that can implement embodiments of the present disclosure; Figure 2 This is a flowchart of a rotation control method for a camera device according to an embodiment of the present disclosure; Figure 3 This is a block diagram of a rotation control device for a camera apparatus according to an embodiment of the present disclosure; Figure 4 This is a block diagram of an electronic device according to an embodiment of the present disclosure. Detailed Implementation

[0021] Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that, unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the invention.

[0022] The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the invention or its application or use.

[0023] Techniques, methods, and apparatus known to those skilled in the art in the relevant field may not be discussed in detail, but where appropriate, such techniques, methods, and apparatus should be considered part of the specification.

[0024] In all the examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values.

[0025] It should be noted that similar labels and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be discussed further in subsequent figures.

[0026] <Hardware Configuration> Figure 1 This is a block diagram illustrating the hardware configuration of an electronic device 1000 that can implement embodiments of the present disclosure.

[0027] Electronic device 1000 can be an electronic product with gimbal rotation capability and camera function. For example... Figure 1As shown, the electronic device 1000 may include a processor 1100, a memory 1200, an interface device 1300, a communication device 1400, a display device 1500, an input device 1600, a speaker 1700, a microphone 1800, etc. The processor 1100 may be a CPU, a microprocessor (MCU), etc. The memory 1200 may include, for example, ROM (Read-Only Memory), RAM (Random Access Memory), or non-volatile memory such as a hard disk. The interface device 1300 may include, for example, a USB interface, a headphone jack, etc. The communication device 1400 may be capable of wired or wireless communication, specifically including Wi-Fi communication, Bluetooth communication, 2G / 3G / 4G / 5G communication, etc. The display device 1500 may be, for example, an LCD screen, a touch screen, etc. The input device 1600 may include, for example, a touch screen, a keyboard, motion input, etc. The user can input voice information through the speaker 1700. The camera device 1800 can capture images at a set frame rate.

[0028] Figure 1 The electronic devices shown are merely illustrative and in no way intended to limit this disclosure, its application, or use. In embodiments applied to this disclosure, the memory 1200 of the electronic device 1000 is used to store instructions for controlling the processor 1100 to operate to perform any of the methods provided in the embodiments of this disclosure. Those skilled in the art will understand that, although... Figure 1 The electronic device 1000 is shown with multiple devices shown; however, this disclosure may relate only to some of these devices. For example, electronic device 1000 may only relate to processor 1100 and memory 1200. Those skilled in the art can design instructions based on the schemes disclosed herein. How the instructions control the processor to operate is well known in the art and will not be described in detail here.

[0029] <Method Implementation> This disclosure provides a rotation control method for a camera device, which can be implemented by an electronic device. Specifically, the rotation control method for the camera device can be implemented by, for example... Figure 1 The electronic device 1000 shown is implemented.

[0030] In this embodiment, Figure 2 This is a flowchart of a rotation control method for a camera device according to an embodiment of the present disclosure.

[0031] like Figure 2 As shown, the method includes the following steps S2100 to S2400: Step S2100: Obtain the current pressure on the camera device at the current rotation angle.

[0032] In this embodiment, the camera device is mounted on a gimbal, which drives multi-angle rotation adjustment, including horizontal and vertical movements. Multiple pressure sensors can be arranged on the camera device and / or its gimbal. These pressure sensors can be piezoelectric, resistance strain gauge, or capacitive sensors, used to detect the pressure experienced by the camera device when it comes into contact with or approaches an external object during rotation.

[0033] In some embodiments, a plurality of pressure sensors are disposed on the housing of the camera device and arranged circumferentially, and / or disposed in the boundary region of the rotation path of the camera device's pan-tilt head, and / or disposed at a protruding position on the camera device.

[0034] In an embodiment where multiple pressure sensors are mounted on the housing of the camera device and arranged circumferentially, the pressure sensors are installed at the circumferential edges of the housing, and all pressure sensors are spaced apart circumferentially along the circumference of the housing. Since the entire camera device rotates 360° synchronously with the pan-tilt unit, the circumferentially arranged pressure sensors can surround the camera device, covering the detection range in all horizontal directions. This allows for accurate identification of direct contact or scraping between the camera device housing and external obstacles at any circumferential position, achieving full-circumferential pressure signal acquisition.

[0035] In an embodiment where multiple pressure sensors are positioned within the rotation path boundary region of the camera device's gimbal, the gimbal, acting as the actuator driving the camera device's rotation, forms a fixed rotational sweep range during its rotation. The limiting profile of this sweep range is the rotation path boundary. Placing pressure sensors within this boundary region allows for early detection of interference between obstacles and the camera device's trajectory, predicting potential collision risks during rotation. This overcomes the limitation of the outer casing sensors, which can only detect direct contact, thus enabling proactive collision warning.

[0036] In embodiments where multiple pressure sensors are positioned at protruding locations on the camera device, protruding structures such as the corners of the camera device housing, the outer edge of the lens, and external mounting bosses are high-frequency, easily accessible areas. These protruding locations are more likely to come into contact with surrounding obstacles than the flat surface of the housing. Targeting these easily accessible protruding locations with pressure sensors can significantly enhance the detection sensitivity in high-risk collision areas and improve the reliability of collision avoidance detection under extreme conditions.

[0037] In actual implementation, any of the above deployment methods can be used alone, or at least two deployment methods can be combined, depending on the product model and usage scenario. Through multi-area collaborative detection, both direct contact detection and predictive collision detection are taken into account. Combined with subsequent pressure threshold and pressure change rate judgment logic, the main control module is assisted in controlling the gimbal to perform actions such as deceleration, hovering, and reverse avoidance, effectively avoiding structural damage caused by collisions during the rotation of the camera device and gimbal.

[0038] When the camera device is working normally, the pan-tilt unit rotates horizontally and / or vertically according to preset instructions; during the rotation, the pressure sensor collects and represents the pressure on the surface of the outer shell in real time.

[0039] The original signal output by the pressure sensor is an analog voltage signal. The signal processing circuit inside the camera device performs analog-to-digital conversion and noise filtering on the analog voltage signals output by each sensor to filter out noise interference caused by vibration and temperature drift, and obtain a digital voltage signal.

[0040] Subsequently, the digital voltage signals from multiple pressure sensors are fused and calculated to obtain the comprehensive pressure value at the current rotation angle, as well as the pressure distribution information in each direction. This comprehensive pressure value is the current pressure, used to characterize the actual contact pressure experienced by the camera device at the current rotation angle, providing a basis for subsequent collision risk assessment and rotation control.

[0041] Step S2200: Obtain the spatial memory information of the camera device; wherein, the spatial memory information represents the historical state of the camera device in multiple rotation angle intervals, and the historical state represents the historical collision situation of the camera device in the corresponding rotation angle interval.

[0042] During operation, the camera device associates and stores historical pressures experienced at different rotation angles, forming spatial memory information based on the historical pressure corresponding to each rotation angle. This spatial memory information is divided according to discrete rotation angles, with each rotation angle corresponding to a recorded historical state, determined by the corresponding historical pressure. For example, historical states may include: high-risk state, medium-risk state, and safe state.

[0043] Among them, the high-risk state indicates that the camera device has collided multiple times at the corresponding rotation angle within the historical statistical period, the medium-risk state indicates that the camera device has collided occasionally at the corresponding rotation angle within the historical statistical period, and the safe state indicates that the camera device has not collided at the corresponding rotation angle within the historical statistical period.

[0044] In some embodiments, obtaining spatial memory information of a camera device includes: obtaining historical pressure and corresponding rotation angle acquired by the camera device during a historical statistical period; obtaining pressure characteristics based on the corresponding historical pressure for each rotation angle; determining the historical state of the corresponding rotation angle based on the pressure characteristics of each rotation angle to obtain spatial memory information.

[0045] In this embodiment, the historical statistical period can be preset according to the application scenario or specific needs. For example, the historical statistical period can be the most recent 30 minutes, one hour, or one day.

[0046] During daily operation, the camera continuously records historical pressure and corresponding rotation angles within a historical statistical period (e.g., the most recent week, the most recent 100 rotation cycles, or a custom sliding window). The historical pressure is obtained in real time by pressure sensors located on the camera housing or gimbal, and then filtered and fused.

[0047] All data within the historical statistical period are organized and categorized by rotation angle, that is, historical pressure data at the same or similar angles are grouped together. For each rotation angle, pressure characteristics are calculated from the collected historical pressure data.

[0048] In some embodiments, the pressure characteristics include at least one of the following: average pressure value, maximum pressure value, pressure change trend, and contact occurrence frequency.

[0049] The average pressure value is the arithmetic mean of pressures collected multiple times at the same rotation angle within a historical statistical period. It is used to characterize the overall level of contact pressure at that angle; a higher value indicates more frequent contact or greater force.

[0050] The maximum pressure value is the highest pressure collected at the same rotation angle within a historical statistical period. It reflects the most severe contact or impact that has occurred at that angle and can be directly correlated with the risk of equipment damage.

[0051] Pressure change trend is the pattern of change obtained by time-series analysis of continuously collected pressure data at the same rotation angle, such as a continuous rise in pressure, stable fluctuations, or a sudden surge. It is used to predict whether there is a dynamic trend indicating an impending collision near the current angle.

[0052] Contact frequency is the proportion of times the pressure value exceeds a preset contact threshold at the same rotation angle within a historical statistical period, out of the total number of samples taken. It is used to characterize the frequency of contact events with obstacles at that angle; the higher the frequency, the higher the risk level.

[0053] Based on the pressure characteristics corresponding to each rotation angle, the historical state of each rotation angle is determined. For example: if the average pressure value is higher than a first threshold and / or the frequency of contact occurrence is greater than or equal to a first preset number of times, the historical state of the corresponding rotation angle is determined to be a high-risk state; if the average pressure value is between a second threshold and a first threshold and / or the frequency of contact occurrence is less than the first preset number of times but greater than or equal to the second preset number of times, the historical state of the corresponding rotation angle is determined to be a medium-risk state; if the average pressure value is lower than the second threshold and the frequency of contact occurrence is less than the preset number of times, the historical state of the corresponding rotation angle is determined to be a safe state. Here, the first threshold is greater than the second threshold, and the first preset number of times is greater than the second preset number of times.

[0054] All rotation angles and their corresponding historical states are summarized to form spatial memory information, which is then stored in the storage module of the camera device for quick querying of the risk status of each angle during subsequent rotation control.

[0055] This embodiment collects historical pressure corresponding to each rotation angle within a historical statistical period and extracts pressure features. Based on this, the historical state of each rotation angle is determined to construct spatial memory information. This achieves accurate correlation modeling between the rotation angle of the camera device and the collision risk, providing a quantitative and traceable spatial risk basis for subsequent real-time pressure perception and historical risk memory fusion control. This significantly improves the accuracy, predictability, and adaptability of collision avoidance control.

[0056] In some embodiments, the method further includes updating spatial memory information based on the current pressure.

[0057] In this embodiment, the spatial memory information established by the camera device can be updated immediately upon receiving the current pressure. Alternatively, the spatial memory information can be updated according to a set update frequency.

[0058] After the camera device completes pressure acquisition at the current rotation angle, it can retrieve the historical pressure corresponding to the current rotation angle that has been stored. The newly acquired current pressure is used as the latest sample, and the pressure characteristics are recalculated with the historical pressure at the same rotation angle. After the recalculation is completed, the historical state of the current rotation angle is updated according to the new pressure characteristics, thus completing the update of the spatial memory information.

[0059] This embodiment utilizes current pressure data to dynamically update spatial memory information, enabling real-time adaptation to environmental changes, continuous optimization of risk assessment accuracy at each rotation angle, and improvement of the adaptive capability and long-term reliability of anti-collision control.

[0060] In some embodiments, updating spatial memory information based on current pressure includes: updating spatial memory information based on a sliding window or time decay mechanism.

[0061] In an embodiment that uses a sliding time window mechanism to update spatial memory information, a fixed-length statistical window is first set, for example, a window duration of 30 minutes, retaining only valid sample data from the most recent 30 minutes. Whenever the camera device obtains the current pressure at the current rotation angle, it adds this current pressure as the latest sample to the tail of the sample queue corresponding to the current rotation angle. Simultaneously, the timestamp of the oldest sample in the queue is checked; if it exceeds the sliding window duration, the expired sample is automatically removed. Subsequently, based on all remaining valid samples within the time window, at least one pressure feature of the current rotation angle is recalculated, and the historical state of the current rotation angle is redefined according to the pressure feature, then overwritten and updated in the spatial memory information, ensuring that the spatial memory only reflects the recent stable environmental state.

[0062] In the embodiment that uses a time decay mechanism to update spatial memory information, a fixed window length is not required. Instead, old data is weakened and new data is strengthened through dynamic weighting. Each time the current pressure is obtained, a corresponding weight is determined based on the timestamp, and then the pressure characteristics of the current rotation angle are recalculated based on the corresponding weight. Finally, the historical state of the current rotation angle is determined based on the new pressure characteristics. This allows spatial memory information to naturally forget outdated information and gradually absorb the latest environmental features over time, achieving smooth iteration of memory.

[0063] This embodiment employs a sliding time window or time decay update mechanism to flexibly adapt to the timeliness and stability requirements of memory in different scenarios. It can eliminate expired and invalid data and avoid historical information aging, while smoothly integrating new and old data and preventing memory mutations caused by single anomalies. This ensures that spatial memory information continuously and accurately reflects the latest collision patterns at each rotation angle, significantly improving the robustness and environmental adaptability of adaptive rotation control.

[0064] Step S2300: Determine the rotation control strategy of the camera device's gimbal based on the current pressure, current rotation angle, and spatial memory information.

[0065] In this embodiment, the rotation control strategy includes rotation direction and rotation speed.

[0066] In some embodiments, determining a rotation control strategy for the camera device based on current pressure, current rotation angle, and spatial memory information includes: determining the actual historical state of the camera device at the current rotation angle based on the current rotation angle and spatial memory information; and determining the rotation control strategy for the camera device based on the current pressure and the actual historical state.

[0067] In this embodiment, an adaptive control strategy that includes rotation direction and rotation speed is dynamically generated by combining the current real-time pressure with historical experience.

[0068] When the camera device's rotation control device is running, it queries the spatial memory information based on the current rotation angle and matches it with the corresponding actual historical state, such as high risk, medium risk, or safe state. Then, it fuses and analyzes the real-time collected current pressure data with the actual historical state to dynamically generate the corresponding rotation control strategy.

[0069] In one embodiment, the rotation control strategy of the camera device can be obtained by processing the current pressure and the actual historical state based on a pre-trained strategy generation model.

[0070] For example, when the actual historical state is safe and the current pressure is below the second pressure threshold, the control strategy is to maintain the preset normal rotation speed and continue rotating; when the actual historical state is medium risk or the current pressure is greater than or equal to the second pressure threshold but less than the first pressure threshold, the control strategy is to reduce the rotation speed and slowly pass through that rotation angle; when the actual historical state is high risk or the current pressure is greater than or equal to the first pressure threshold, the control strategy is to immediately stop rotating and control the gimbal to make a reverse fine adjustment of the preset angle to disengage from contact, and adjust the subsequent rotation path if necessary to avoid the high-risk zone. Here, the first pressure threshold is greater than the second pressure threshold.

[0071] This embodiment combines the current rotation angle with the actual historical state obtained from spatial memory information and integrates it with the current pressure to generate a rotation control strategy. This achieves dual verification of real-time pressure perception and historical risk memory, enabling graded responses to different risk levels. It can avoid collisions in time, protect equipment safety, reduce unnecessary downtime, and ensure monitoring continuity, significantly improving the accuracy, reliability, and environmental adaptability of the camera device's rotation control.

[0072] In some embodiments, determining a rotation control strategy for a camera device based on current pressure, current rotation angle, and spatial memory information includes: determining the historical state of the camera device in the current rotation angle interval as the actual historical state; determining the historical state of the camera device in the next rotation angle interval as the predicted historical state; and generating a rotation control strategy for the camera device based on the current pressure, the actual historical state, and the predicted historical state.

[0073] During the rotation of the camera device, the control module first queries spatial memory information based on the current rotation angle, matches the corresponding angle interval, and determines the actual historical state of the current position. Simultaneously, based on the rotation direction, it calculates the predicted historical state of the next unreached angle interval ahead, predicting the collision risk of the area to be entered. Subsequently, the real-time collected current pressure, actual historical state, and predicted historical state are comprehensively evaluated to generate a corresponding rotation control strategy.

[0074] In this embodiment, the current real-time state, historical experience, and prediction results are used to dynamically generate an adaptive control strategy that includes rotation direction and rotation speed.

[0075] In one embodiment, the rotation control strategy of the camera device can be obtained by processing the current pressure, actual historical state, and predicted historical state based on a pre-trained strategy generation model.

[0076] For example, when the current pressure is normal, the actual historical state is safe, and the predicted historical state is safe, the rotation control strategy can be to rotate at a normal speed; when the current pressure is normal, the actual historical state is safe, and the predicted historical state is high-risk, the rotation control strategy can be to decelerate in advance and smoothly transition to a safe area where no collision will occur; when the current pressure is high, the actual historical state is high-risk, or the predicted historical state is high-risk, the rotation control strategy can be to immediately decelerate or even stop rotating, and if necessary, make reverse adjustments or detour to avoid collisions with obstacles.

[0077] This embodiment integrates current pressure, actual historical status, and predicted historical status to determine a control strategy that includes rotation direction and rotation speed. This enables refined and dynamic control under risk classification, allowing for rapid response to real-time contact pressure and advance adjustment of motion parameters based on historical and predicted risks. This effectively avoids collisions, reduces equipment damage, balances operational safety and monitoring efficiency, and improves control accuracy, predictive ability, and environmental adaptability.

[0078] In some embodiments, determining a rotation control strategy based on current pressure, current rotation angle, and spatial memory information includes: determining a pressure change rate based on current pressure; determining that the camera device has come into contact with an obstacle when the current pressure is greater than or equal to a first threshold; determining that the camera device has a collision tendency when the pressure change rate is greater than or equal to a second threshold; generating a trigger event signal when it is determined that the camera device has come into contact with an obstacle and / or that the camera device has a collision tendency; and determining a rotation control strategy based on the trigger event signal, current rotation angle, and spatial memory information.

[0079] In this embodiment, time-series calculations are performed based on multiple continuously acquired current pressures to accurately calculate the pressure change rate. This pressure change rate can reflect the speed and impact trend of the camera device contacting external obstacles, and can effectively predict the risk of instantaneous collision.

[0080] The first and second thresholds can be pre-calibrated according to the equipment model, usage scenario, and protection accuracy requirements, and are used to determine the static contact state and dynamic collision trend, respectively.

[0081] When the current pressure is greater than or equal to the first threshold, it can be determined that the camera device has made substantial physical contact or compression contact with the external obstacle; when the calculated rate of pressure change is greater than or equal to the second threshold, it can be determined that the current rotation trajectory of the camera device is rapidly approaching the obstacle, indicating an imminent collision tendency. These two determination conditions can be triggered independently or simultaneously.

[0082] When it is determined that the camera device has made physical contact and / or has a tendency to collide, a corresponding trigger event signal is immediately generated. After receiving the trigger event signal, the camera device's rotation control device combines the camera device's current rotation angle and spatial memory information to generate a rotation control strategy adapted to the current operating condition.

[0083] Specifically, the rotation control strategy includes multi-level protective actions that can be adaptively matched according to the risk level: if only a collision trend is detected and no substantial contact occurs, the deceleration operation strategy is prioritized to reduce the rotation speed of the gimbal and reserve avoidance buffer time; if slight physical contact is detected, the immediate hovering strategy is executed to immediately stop the gimbal rotation and avoid continuous compression that could damage the equipment; if high-intensity pressure contact or a high-speed collision trend is detected, the gimbal is controlled to rotate in the opposite direction and deviate to avoid the obstacle by combining the obstacle position records in the spatial memory information, thus moving it away from the risk area.

[0084] This embodiment combines static pressure value determination with dynamic prediction of pressure change rate, and formulates a rotation control strategy by combining real-time angle and spatial memory data. It can simultaneously identify existing contact risks and impending collision hazards, making the control logic more comprehensive and the prediction accuracy higher. It can effectively avoid problems such as scratches, collisions, and squeezing damage to the gimbal and camera device during multi-angle rotation operations.

[0085] In some embodiments, determining a rotation control strategy based on a trigger event signal, a current rotation angle, and spatial memory information includes: determining the actual historical state of the camera device at the current rotation angle based on the current rotation angle and spatial memory information; and determining the rotation control strategy of the camera device based on the trigger event signal and the actual historical state.

[0086] In some embodiments, determining a rotation control strategy based on a trigger event signal, the current rotation angle, and spatial memory information includes: determining the historical state of the camera device in the current rotation angle interval as the actual historical state; determining the historical state of the camera device in the next rotation angle interval as the predicted historical state; and generating a rotation control strategy for the camera device based on the trigger event signal, the actual historical state, and the predicted historical state.

[0087] In step S2400, the pan-tilt unit is controlled to operate according to the rotation control strategy to drive the camera device to rotate.

[0088] After determining the rotation control strategy, the rotation control strategy, which includes parameters such as rotation direction and rotation speed, is sent to the drive unit of the camera device. The drive unit precisely controls the pan-tilt unit to drive the camera device to rotate according to the rotation control strategy, thus completing adaptive cruise control.

[0089] Through the embodiments of this disclosure, the current pressure at the current rotation angle of the camera device is collected in real time, and spatial memory information recording historical collision situations at each rotation angle is retrieved. By combining real-time pressure perception with historical risk memory, the collision risk at the current position and surrounding area can be accurately identified. Based on this, the rotation speed can be dynamically adjusted, timely deceleration warnings can be issued, or high-risk areas can be actively avoided, effectively preventing collisions and reducing equipment impact damage. At the same time, it can adapt to complex and ever-changing actual installation environments, greatly improving the safety, predictability, adaptability, and long-term operational stability of the camera device's rotation control.

[0090] <Device Embodiment> This embodiment provides a rotation control device for a camera device, such as... Figure 3 As shown, the rotation control device 3000 may include a pressure data acquisition module 3100, a historical pressure learning module 3200, a control module 3300, and a drive module 3400.

[0091] The pressure data acquisition module 3100 is used to acquire the current pressure exerted on the camera device at the current rotation angle.

[0092] The historical pressure learning module 3200 is used to acquire the spatial memory information of the camera device, which represents the historical state of the camera device in multiple rotation angle ranges; wherein, the historical state represents the historical collision situation of the camera device in the corresponding rotation angle range.

[0093] The control module 3300 is used to determine the rotation control strategy of the pan-tilt unit of the camera device based on the current pressure, the current rotation angle and the spatial memory information.

[0094] The drive module 3400 is used to control the pan-tilt unit to operate according to the rotation control strategy, so as to drive the camera device to rotate.

[0095] In some embodiments, acquiring the spatial memory information of the camera device includes: The historical pressure and corresponding rotation angle acquired by the camera device during the historical statistical period are obtained. For each rotation angle, pressure characteristics are obtained based on the corresponding historical pressure; wherein, the pressure characteristics include at least one of the following: average pressure value, maximum pressure value, pressure change trend, and contact occurrence frequency; Based on the pressure characteristics of each rotation angle, the historical state of the corresponding rotation angle is determined, and the spatial memory information is obtained.

[0096] In some embodiments, the rotation control device further includes: A module for updating the spatial memory information based on the current pressure, using a sliding window or time decay mechanism.

[0097] In some embodiments, determining the rotation control strategy of the camera device's gimbal based on the current pressure, the current rotation angle, and the spatial memory information includes: Determine the historical state of the camera device in the spatial memory information within the current rotation angle range where the current rotation angle is located, and use it as the actual historical state; The historical state of the camera device in the next rotation angle interval of the current rotation angle interval is determined in the spatial memory information and used as the predicted historical state; The rotation control strategy is determined based on the current pressure, the actual historical state, and the predicted historical state.

[0098] In some embodiments, determining the rotation control strategy of the camera device's gimbal based on the current pressure, the current rotation angle, and the spatial memory information includes: Determine the rate of pressure change based on the current pressure; If the current pressure is greater than or equal to a first threshold, it is determined that the camera device has come into contact with the obstacle; If the pressure change rate is greater than or equal to the second threshold, it is determined that the camera device has a collision tendency; If it is determined that the camera device has come into contact with an obstacle and / or that the camera device has a collision tendency, a trigger event signal is generated; The rotation control strategy is determined based on the trigger event signal, the current rotation angle, and the spatial memory information.

[0099] In some embodiments, obtaining the current pressure exerted on the camera device at the current rotation angle includes: The analog voltage signals output by the multiple pressure sensors mounted on the surface of the camera device are acquired. The analog voltage signal is subjected to analog-to-digital conversion and noise filtering to obtain a digital voltage signal; The current pressure is obtained by fusing the digital voltage signals corresponding to multiple pressure sensors.

[0100] In some embodiments, the plurality of pressure sensors are arranged circumferentially on the housing of the camera device, and / or are located in the boundary region of the rotation path of the pan-tilt unit of the camera device, and / or are located at a protruding position on the camera device.

[0101] <Electronic Device Examples> This embodiment provides an electronic device, which in one aspect may include the aforementioned rotation control device 3000.

[0102] On the other hand, such as Figure 4 As shown, the electronic device 4000 may include a processor 4100 and a memory 4200. The memory 4200 is used to store computer programs, and the processor 4100 is used to control the electronic device to execute the methods of any embodiment of this disclosure under the control of the computer programs.

[0103] <Example of a readable storage medium> This embodiment provides a computer-readable storage medium storing a computer program that, when executed by a processor, performs the methods described in any of the method embodiments of this disclosure.

[0104] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0105] This disclosure may be a system, method, and / or computer program product. A computer program product may include a computer-readable storage medium having computer-readable program instructions loaded thereon for causing a processor to implement any of the methods in the foregoing embodiments of this disclosure.

[0106] Computer-readable storage media can be tangible devices capable of holding and storing instructions for use by an instruction execution device. Computer-readable storage media may include, for example, electrical storage devices, magnetic storage devices, optical storage devices, electromagnetic storage devices, semiconductor storage devices, or any suitable combination thereof. More specific examples (a non-exhaustive list) of computer-readable storage media include: portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), static random access memory (SRAM), compact disc-read-only memory (CD-ROM), digital versatile disc (DVD), memory sticks, floppy disks, mechanical encoding devices, such as punch cards or recessed protrusions storing instructions thereon, and any combination thereof. The computer-readable storage medium used herein is not to be interpreted as a transient signal itself, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through waveguides or other transmission media (e.g., light pulses through fiber optic cables), or electrical signals transmitted through wires.

[0107] The computer-readable program instructions described herein can be downloaded from computer-readable storage media to various computing / processing devices, or downloaded via a network, such as the Internet, local area network, wide area network, and / or wireless network, to an external computer or external storage device. The network may include one or more of copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers, and edge servers. A network adapter card or network interface in each computing / processing device receives the computer-readable program instructions from the network and forwards them to computer-readable storage media in the respective computing / processing device.

[0108] The computer program instructions used to perform the operations of this disclosure may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, state setting data, or source or object programs written in any combination of one or more programming languages, including object-oriented programming languages ​​(such as Smalltalk, C++, etc.) and conventional procedural programming languages ​​(such as the "C" language or similar programming languages). The computer-readable program instructions may be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer via any type of network (e.g., a local area network or a wide area network), or it may be connected to an external computer (e.g., via the Internet using an Internet service provider). In some embodiments, electronic circuitry, such as programmable logic circuitry, field-programmable gate arrays, or programmable logic arrays, can execute computer-readable program instructions to implement various aspects of the embodiments of this disclosure by utilizing state information from the computer-readable program instructions.

[0109] Various aspects of this disclosure are described herein with reference to flowchart illustrations and / or block diagrams of methods, apparatus, and computer program products according to embodiments of this disclosure. It should be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer-readable program instructions.

[0110] These computer-readable program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing apparatus to produce a machine such that, when executed by the processor of the computer or other programmable data processing apparatus, they create means for implementing the functions / actions specified in one or more blocks of the flowchart and / or block diagram. These computer-readable program instructions can also be stored in a computer-readable storage medium that causes a computer, programmable data processing apparatus, and / or other device to operate in a particular manner; thus, the computer-readable medium storing the instructions comprises an article of manufacture that includes instructions for implementing aspects of the functions / actions specified in one or more blocks of the flowchart and / or block diagram.

[0111] Computer-readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other device to cause a series of operational steps to be performed on the computer, other programmable data processing apparatus, or other device to produce a computer-implemented process, thereby causing the instructions that execute on the computer, other programmable data processing apparatus, or other device to perform the functions / actions specified in one or more boxes of a flowchart and / or block diagram.

[0112] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of the present disclosure. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of an instruction containing one or more executable instructions for implementing a specified logical function. In some alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions. It should be noted that implementation in hardware, implementation in software, and implementation using a combination of software and hardware are all equivalent.

[0113] The various embodiments of this disclosure have been described above. These descriptions are exemplary and not exhaustive, and are not limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles, practical application, or improvement of the technology in the market, or to enable others skilled in the art to understand the embodiments disclosed herein. The scope of this disclosure is defined by the appended claims.

Claims

1. A rotation control method for a camera device, characterized in that, include: Obtain the current pressure exerted on the camera device at the current rotation angle; The spatial memory information of the camera device is obtained, which represents the historical state of the camera device in multiple rotation angle ranges; wherein, the historical state represents the historical collision situation of the camera device in the corresponding rotation angle range. Based on the current pressure, the current rotation angle, and the spatial memory information, determine the rotation control strategy of the camera device's gimbal; The gimbal is controlled to operate according to the rotation control strategy to drive the camera device to rotate.

2. The method according to claim 1, characterized in that, The step of acquiring the spatial memory information of the camera device includes: The historical pressure and corresponding rotation angle acquired by the camera device during the historical statistical period are obtained. For each rotation angle, pressure characteristics are obtained based on the corresponding historical pressure; wherein, the pressure characteristics include at least one of the following: average pressure value, maximum pressure value, pressure change trend, and contact occurrence frequency; Based on the pressure characteristics of each rotation angle, the historical state of the corresponding rotation angle is determined, and the spatial memory information is obtained.

3. The method according to claim 1, characterized in that, The method further includes: The spatial memory information is updated based on the current pressure using a sliding window or time decay mechanism.

4. The method according to claim 1, characterized in that, The step of determining the rotation control strategy of the camera device's gimbal based on the current pressure, the current rotation angle, and the spatial memory information includes: Determine the historical state of the camera device in the spatial memory information within the current rotation angle range where the current rotation angle is located, and use it as the actual historical state; The historical state of the camera device in the next rotation angle interval of the current rotation angle interval is determined in the spatial memory information and used as the predicted historical state; The rotation control strategy of the camera device is determined based on the current pressure, the actual historical state, and the predicted historical state.

5. The method according to claim 1, characterized in that, The step of determining the rotation control strategy of the camera device's gimbal based on the current pressure, the current rotation angle, and the spatial memory information includes: Determine the rate of pressure change based on the current pressure; If the current pressure is greater than or equal to a first threshold, it is determined that the camera device has come into contact with the obstacle; If the pressure change rate is greater than or equal to the second threshold, it is determined that the camera device has a collision tendency; If it is determined that the camera device has come into contact with an obstacle and / or that the camera device has a collision tendency, a trigger event signal is generated; The rotation control strategy is determined based on the trigger event signal, the current rotation angle, and the spatial memory information.

6. The method according to claim 1, characterized in that, The acquisition of the current pressure exerted on the camera device at the current rotation angle includes: The analog voltage signals output by the multiple pressure sensors mounted on the surface of the camera device are acquired. The analog voltage signal is subjected to analog-to-digital conversion and noise filtering to obtain a digital voltage signal; The current pressure is obtained by fusing the digital voltage signals corresponding to multiple pressure sensors.

7. The method according to claim 6, characterized in that, The plurality of pressure sensors are arranged circumferentially on the housing of the camera device, and / or are located in the boundary area of ​​the rotation path of the pan-tilt unit of the camera device, and / or are located at a protruding position on the camera device.

8. A rotation control device for a camera, characterized in that, include: The pressure data acquisition module is used to acquire and represent the current pressure exerted on the camera device at the current rotation angle; The historical pressure learning module is used to acquire the spatial memory information of the camera device, which represents the historical state of the camera device in multiple rotation angle ranges; wherein, the historical state represents the historical collision situation of the camera device in the corresponding rotation angle range. The control module is used to determine the rotation control strategy of the pan-tilt unit of the camera device based on the current pressure, the current rotation angle, and the spatial memory information. The camera device drive module is used to control the pan-tilt unit to operate according to the rotation control strategy, so as to drive the camera device to rotate.

9. An electronic device, characterized in that, It includes a processor and a memory, the memory being used to store a computer program, and the processor being used, under the control of the computer program, to execute the method as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, It stores a computer program that, when executed by a processor, implements the method as described in any one of claims 1 to 7.

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