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

Abstract

The present disclosure relates to the technical field of video monitoring, and provides a gimbal reset method and apparatus, a gimbal monitoring device, and a storage medium. The method comprises: when an inner-ring drive system and an outer-ring monitoring system are in an independent state and the outer-ring monitoring system remains stationary, respectively determining a first zero-point angle at which a first optocoupler corresponding to the inner-ring drive system is located and a second zero-point angle at which a second optocoupler corresponding to the outer-ring monitoring system is located; and when the inner-ring drive system and the outer-ring monitoring system are in a coaxial state, on the basis of the first zero-point angle and the second zero-point angle, controlling a gimbal monitoring device to reset.

Description

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

[0001] Cross-reference to Related Applications

[0002] This application claims priority to the Chinese patent application No. 2024109839788, filed on July 22, 2024, and entitled “Gimbal reset method and device, gimbal monitoring equipment and storage medium”, which is incorporated by reference herein in its entirety. TECHNICAL FIELD

[0003] The present disclosure relates to the technical field of video monitoring, and in particular, to a gimbal reset method and device, a gimbal monitoring equipment and a storage medium. BACKGROUND

[0004] The gimbal monitoring equipment is mostly applied in a large wind environment such as a coastal defense environment and a high-speed rail tower environment, and is used for cruising at a preset position, i.e., cruising monitoring at a fixed point. Compared with a conventional gun barrel dome camera, the gimbal monitoring equipment in a large wind environment needs to overcome wind resistance to rotate to the preset position in the large wind environment. When the gimbal monitoring equipment rotates against the wind, it is affected by the wind force, and the rotation is out of step, resulting in the rotation not reaching the position or being excessive, so that the rotation position of the motor in the gimbal monitoring equipment is different from the theoretical position. Therefore, the gimbal needs to be reset to determine that the zero position of the motor corresponds to the theoretical position.

[0005] In the related art, the zero position is determined by controlling the full stroke rotation of the gimbal, which causes the monitoring picture of the gimbal monitoring equipment to move out of the monitoring area required by the user, affecting the monitoring effect. SUMMARY

[0006] The present disclosure provides a gimbal reset method and device, a gimbal monitoring equipment and a storage medium to solve the defect that the monitoring picture of the gimbal monitoring equipment moves out of the monitoring area required by the user when the zero position is determined by controlling the full stroke rotation of the gimbal in the related art, and to realize the non-perception reset self-checking of the gimbal monitoring equipment while ensuring that the monitoring picture meets the requirements of the user.

[0007] The present disclosure provides a gimbal reset method applied to a gimbal monitoring equipment, the gimbal monitoring equipment comprising an outer ring monitoring system and an inner ring transmission system respectively arranged at both ends of a transmission shaft, and the method comprising:

[0008] determining a first zero angle at which a first optocoupler corresponding to the inner ring transmission system is located, and a second zero angle at which a second optocoupler corresponding to the outer ring monitoring system is located, respectively, in a case where the inner ring transmission system and the outer ring monitoring system are in an independent state and the outer ring monitoring system remains stationary;

[0009] The resetting module is configured to, in the coaxial state of the inner ring transmission system and the outer ring monitoring system, control the pan-tilt monitoring device to reset based on the first zero angle and the second zero angle.

[0010] The present disclosure further provides a pan-tilt resetting device applied to a pan-tilt monitoring device, wherein the pan-tilt monitoring device comprises an outer ring monitoring system and an inner ring transmission system respectively arranged at two ends of a transmission shaft.

[0011] The determining module is configured to, in the independent state of the inner ring transmission system and the outer ring monitoring system and the stationary state of the outer ring monitoring system, determine a first zero angle at which a first optocoupler corresponding to the inner ring transmission system is located and a second zero angle at which a second optocoupler corresponding to the outer ring monitoring system is located.

[0012] The resetting module is configured to, in the coaxial state of the inner ring transmission system and the outer ring monitoring system, control the pan-tilt monitoring device to reset based on the first zero angle and the second zero angle.

[0013] The present disclosure further provides a pan-tilt 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.

[0014] The outer ring monitoring system and the inner ring transmission system are respectively arranged at two ends of a transmission shaft, the locking device is arranged on the transmission shaft, and the outer ring monitoring system, the inner ring transmission system and the locking device are all connected to the processor, and the locking device is configured to adjust the connection state between the outer ring monitoring system and the inner ring transmission system.

[0015] The processor is configured to execute the pan-tilt resetting method according to any one of the above.

[0016] The present disclosure further provides a computer readable storage medium having a computer program stored thereon, wherein the computer program is executable on a processor to implement the pan-tilt resetting method according to any one of the above. BRIEF DESCRIPTION OF DRAWINGS

[0017] FIG. 1 is a schematic diagram of a pan-tilt monitoring device after losing synchronization according to the related art.

[0018] FIG. 2 is a flowchart of a pan-tilt resetting method according to an embodiment of the present disclosure.

[0019] FIG. 3 is a schematic diagram of the connection between an inner ring transmission system and an outer ring monitoring system in an independent state according to an embodiment of the present disclosure.

[0020] FIG. 4 is a schematic diagram of an inner ring transmission system and an outer ring monitoring system according to an embodiment of the present disclosure.

[0021] FIG. 5 is a structural schematic diagram of an inner ring transmission system according to an embodiment of the present disclosure.

[0022] FIG. 6 is a connection schematic diagram of the inner ring transmission system and the outer ring monitoring system in a coaxial state according to an embodiment of the present disclosure.

[0023] FIG. 7 is a structural schematic diagram of a gimbal resetting device according to an embodiment of the present disclosure.

[0024] FIG. 8 is a structural schematic diagram of a gimbal monitoring device according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0025] FIG. 1 is a schematic diagram of a gimbal monitoring device out of step according to the related art. Taking a medium-sized overhead gimbal monitoring device shown in FIG. 1 as an example, when the vertical gimbal in the gimbal monitoring device is turned downward, the vertical gimbal deviates out of step due to wind or vibration, but the picture monitoring function can still be realized. At this time, if the gimbal monitoring device needs to be reset, the vertical gimbal needs to be turned through a full stroke, that is, to be turned for self-checking in a turning range of -90 degrees to +90 degrees, while the user requires a monitoring range of -45 degrees to +45 degrees. If the vertical gimbal is turned to a range of -90 degrees to -45 degrees and a range of +45 degrees to +90 degrees, the monitoring picture will exceed the user's required monitoring range, and thus the user's client will lose the monitoring picture, affecting the monitoring effect.

[0026] To solve the above problems in the related art, the present disclosure provides a gimbal resetting method applied to a gimbal monitoring device, the gimbal monitoring device comprising an outer ring monitoring system and an inner ring transmission system respectively arranged at two ends of a transmission shaft, and FIG. 2 is a flowchart of the gimbal resetting method according to an embodiment of the present disclosure. As shown in FIG. 2, the method comprises the following steps 210 to 220.

[0027] In step 210, a first zero point angle of a first optocoupler corresponding to the inner ring transmission system and a second zero point angle of a 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 an independent state and the outer ring monitoring system remains stationary.

[0028] Specifically, to avoid the monitoring picture of the gimbal monitoring device moving out of the monitoring area required by the user, in the embodiments of the present disclosure, 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 gimbal monitoring device, the inner ring transmission system is the gimbal cavity part of the gimbal 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 gimbal monitoring system, and the outer ring monitoring system remains stationary, that is, the inner ring transmission system and the outer ring monitoring system can rotate independently and do not affect each other in the independent state, and the monitoring picture does not move, the first zero point angle at which the first optocoupler corresponding to the inner ring transmission system is located is determined to realize the positioning self-check of the inner ring transmission system, and the second zero point angle at which the second optocoupler corresponding to the outer ring monitoring system is located is determined to realize the positioning self-check of the outer ring monitoring system.

[0029] It should be noted that the transmission shaft includes a coaxially arranged outer ring transmission shaft and an inner ring transmission shaft, the outer ring transmission shaft is connected with the outer ring monitoring system, and the inner ring transmission shaft is connected with the inner ring transmission system. FIG. 3 is a connection diagram of the inner ring transmission system and the outer ring monitoring system in the independent state according to an embodiment of the present disclosure. As shown in FIG. 3, in the case that the outer ring transmission shaft and the inner ring transmission shaft are in a separated state, that is, in the case that the outer ring transmission shaft and the inner ring transmission shaft are not locked by the locking device, the inner ring transmission system can drive the inner ring transmission shaft to rotate independently, and the outer ring monitoring system can also drive the outer ring transmission shaft to rotate independently.

[0030] It should be noted that the inner ring transmission system includes a first optocoupler and a first transmission system, the first optocoupler is used to determine the initial angle of the inner ring transmission system, and the angle corresponding to the first optocoupler is fixed, that is, the angle corresponding to the first optocoupler does not change with the rotation of the inner ring transmission system. The inner ring transmission system rotates through the transmission components such as the motor and the belt included in the first transmission system. The outer ring monitoring system includes a second optocoupler, the second optocoupler is used to determine the current angle of the outer ring monitoring system, and the second optocoupler rotates with the rotation of the outer ring monitoring system, that is, the current angle corresponding to the second optocoupler dynamically changes with the rotation of the outer ring monitoring system.

[0031] It should be noted that the setting of the inner ring transmission system and the outer ring monitoring system is related to the rotation direction of the gimbal monitoring system. For example, FIG. 4 is an example diagram of the inner ring transmission system and the outer ring monitoring system according to an embodiment of the present disclosure. As shown in FIG. 4, the gimbal monitoring device includes a monitoring assembly A, a cavity B and a cavity C. When the gimbal monitoring device rotates in the vertical direction, the monitoring assembly A serves as the outer ring monitoring system in the gimbal monitoring device, and the cavity B and the cavity C jointly constitute the inner ring transmission system in the gimbal monitoring device. When the gimbal monitoring system rotates in the horizontal direction, the monitoring assembly A and the cavity B jointly constitute the outer ring monitoring system in the gimbal monitoring device, and the cavity C serves as the inner ring transmission system in the gimbal monitoring device.

[0032] Optionally, the locking device can lock the outer ring transmission shaft and the inner ring transmission shaft through a locking mode other than a brake mode.

[0033] Further, the determination of the first zero point angle of the first optical coupling corresponding to the inner ring transmission system comprises:

[0034] Controlling the full stroke rotation of the inner ring transmission system, the full stroke being used to represent the rotation angle range of the inner ring transmission system;

[0035] In the case that the first baffle shields the first optical coupling in the inner ring transmission system, the angle of the first baffle is determined as the first zero point angle of the first optical coupling.

[0036] Specifically, FIG. 5 is a structural schematic diagram of the inner ring transmission system provided by the embodiment of the present disclosure, as shown in FIG. 5, the inner ring transmission system further comprises a first baffle, the first baffle rotates with the rotation of the inner ring transmission system, that is, the angle corresponding to the first baffle changes with the rotation of the inner ring transmission system. In theory, the angle corresponding to the first optical coupling is fixed and unchangeable, but due to the out-of-step of the gimbal monitoring device caused by insufficient rotation or excessive rotation, the angle corresponding to the first optical coupling deviates, and the first zero point angle of the first optical coupling corresponding to the first optical coupling cannot be determined. Therefore, in the embodiment of the present disclosure, 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 full stroke for independent self-checking, that is, the inner ring transmission system is controlled to rotate from the minimum angle to the maximum angle in the corresponding rotation angle range, in this process, the first baffle rotates full stroke with the rotation of the inner ring transmission system, until the first baffle shields the first optical coupling, indicating that the first baffle is aligned with the first optical coupling, at this time, the angle of the first baffle is the first zero point angle of the first optical coupling, realizing the position repositioning of the first optical coupling.

[0037] In addition, after the first zero point angle of the first optical coupling is determined, the transmission coordinates can be constructed with the first zero point angle as the reference.

[0038] Further, the determination of the second zero point angle of the second optical coupling corresponding to the outer ring monitoring system comprises:

[0039] Controlling the rotation of the inner ring transmission system and the transmission shaft;

[0040] In the case that the second baffle on the transmission shaft shields the second optical coupling corresponding to the outer ring monitoring system, the second zero point angle of the second optical coupling is determined based on the first rotation angle of the second baffle.

[0041] Specifically, as shown in FIG. 5, a second baffle is arranged on the inner ring transmission shaft connected with the inner ring transmission system, one end of the second baffle is fixed to the outer surface of the inner ring transmission shaft, and the other end of the second baffle extends to the outer ring monitoring system, the second baffle rotates with the rotation of the inner ring transmission shaft, and the inner ring transmission shaft rotates with the rotation of the inner ring transmission system. On the basis of determining the first zero angle, and under the condition that the outer ring monitoring system remains stationary, the inner ring transmission system and the inner ring transmission shaft are controlled to continue to rotate and drive the second baffle to rotate until the second baffle blocks the second optical coupling, indicating that the second optical coupling corresponding to the outer ring monitoring system has lost synchronization with the pan-tilt monitoring device through the alignment of the second baffle. At this time, on the basis of determining the first zero angle, the first rotation angle of the second baffle is determined with the first zero angle as the starting point, and the sum of the first zero angle and the first rotation angle is calculated, which is the second zero angle of the second optical coupling, thereby realizing the positioning self-checking of the outer ring monitoring system after the pan-tilt monitoring device loses synchronization.

[0042] It should be noted that the length of the second baffle can be set according to experience, as long as the second baffle can block the second optical coupling when it rotates with the inner ring transmission shaft.

[0043] It should be noted that FIG. 6 is a schematic diagram of the connection between the inner ring transmission system and the outer ring monitoring system in the coaxial state according to an embodiment of the present disclosure. As shown in FIG. 6, the outer ring monitoring system and the inner ring transmission system can be in a coaxial state in addition to the independent state. In the case where the outer ring monitoring system and the inner ring transmission system are in a coaxial state, it means that the outer ring transmission shaft and the inner ring transmission shaft are in a coaxial connection state, i.e., the outer ring transmission shaft and the inner ring transmission shaft are locked by the 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, and the rotation angle and the rotation direction are the same during the coaxial rotation.

[0044] Step 220, in the case where the inner ring transmission system and the outer ring monitoring system are in a coaxial state, based on the first zero angle and the second zero angle, controlling the pan-tilt monitoring device to reset.

[0045] Specifically, after completing the respective positioning self-checking of the inner ring transmission system and the outer ring monitoring system, the connection state between the inner ring transmission system and the outer ring monitoring system is switched from the independent state to the coaxial state, the first zero angle and the second zero angle after self-checking are compared with the theoretical angle when the pan-tilt monitoring device is not out of synchronization, and then the pan-tilt monitoring device is controlled to reset according to the comparison result.

[0046] Further, the control of the pan-tilt monitoring device to reset based on the first zero angle and the second zero angle comprises:

[0047] determine a first angle difference based on the first zero point angle and the second zero point angle, the first angle difference representing an angle difference of the pan-tilt monitoring device after the pan-tilt monitoring device is out of step;

[0048] control the pan-tilt monitoring device to reset based on a second angle difference and the first angle difference, the second angle difference representing a theoretical angle difference of the pan-tilt monitoring device after the pan-tilt monitoring device is not out of step.

[0049] Specifically, after the first zero point angle and the second zero point angle are determined, a first angle difference between the first zero point angle and the second zero point angle is calculated, which is the angle difference of the pan-tilt monitoring device after the pan-tilt monitoring device is out of step due to over-rotation or under-rotation. In addition, a second angle difference between the first optocoupler and the second optocoupler after the pan-tilt monitoring device is not out of step is obtained. The second angle difference corresponding to the non-out-of-step state is compared with the first angle difference corresponding to the out-of-step state, and the outer ring monitoring system and the inner ring monitoring system are controlled to rotate coaxially so that the first angle difference is aligned with the second angle difference, thereby controlling the pan-tilt monitoring system to reset. When the pan-tilt monitoring system is reset coaxially, the rotation range of the outer ring monitoring system is reduced, which avoids the monitoring image moving out of the monitoring range required by the user, and thus the pan-tilt monitoring device is reset without feeling.

[0050] Further, the second angle difference is determined based on the following steps:

[0051] obtain a target angle of the pan-tilt monitoring device before the pan-tilt monitoring device is out of step, and a third angle difference between the first optocoupler and the second optocoupler before the pan-tilt monitoring device is out of step;

[0052] determine the second angle difference based on the third angle difference and the target angle.

[0053] Specifically, when the second angle difference is determined, the third angle difference between the first optocoupler and the second optocoupler before the pan-tilt monitoring device is out of step can be obtained, and the target angle of the pan-tilt monitoring device before the pan-tilt monitoring device is out of step can be obtained. The third angle difference can be understood as the angle difference between the first optocoupler and the second optocoupler when the pan-tilt monitoring device is not rotated after the target angle is determined. After the pan-tilt monitoring device is controlled to rotate coaxially with the target angle based on the third angle difference, if the pan-tilt monitoring device is not out of step, the second optocoupler in the outer ring monitoring system should theoretically rotate the target angle. In the case that the angle corresponding to the first optocoupler in the inner ring transmission system remains unchanged after rotation, the second angle difference between the second optocoupler and the first optocoupler after rotation should be the sum of the third angle difference and the target angle.

[0054] For example, the third angle difference between the first optical coupler and the second optical coupler before step loss is -45 degrees, the target angle of the pan-tilt monitoring device is 90 degrees, and the sum of the target angle and the third angle difference is 45 degrees after the second optical coupler rotates 90 degrees with the outer ring monitoring system. That is, if the pan-tilt monitoring device does not lose step, the angle difference between the first optical coupler and the second optical coupler is updated from -45 degrees to 45 degrees. In theory, the second angle difference of the pan-tilt monitoring device after step loss is 45 degrees.

[0055] It should be noted that the third angle difference between the first optical coupler and the second optical coupler before step loss can be determined according to the pan-tilt instruction of the pan-tilt monitoring device before step loss. For example, the angle difference between the first optical coupler and the second optical coupler carried in the last pan-tilt instruction before step loss of the pan-tilt monitoring device is determined as the third angle difference.

[0056] Further, the control of the pan-tilt monitoring device to reset based on the second angle difference and the first angle difference comprises:

[0057] determining a target angle difference between the first angle difference and the second angle difference;

[0058] determining a second rotation angle and a target rotation direction of the outer ring monitoring system based on the target angle difference;

[0059] controlling the outer ring monitoring system to rotate the second rotation angle in the target rotation direction, and controlling the pan-tilt monitoring device to reset.

[0060] Specifically, after determining the first angle difference after rotation step loss and the second angle difference after rotation without step loss, the target angle difference between the first angle difference and the second angle difference is calculated. The target angle difference is the angle difference caused by step loss. The reset of the pan-tilt monitoring device can be realized by adjusting the target angle difference to zero degrees. That is, taking the second angle difference as a reference, if the first angle difference is greater than the second angle difference, and the first zero point angle corresponding to the first optical coupler is fixed, the outer ring monitoring system can be controlled to drive the second optical coupler to rotate a second rotation angle to reduce the first angle difference until the first angle difference is reduced to the second angle difference. The second rotation angle is the absolute value of the target angle difference, and the target rotation direction of the outer ring monitoring system is the direction of reducing the first angle difference. If the first angle difference is less than the second angle difference, and the first zero point angle corresponding to the first optical coupler is fixed, the outer ring monitoring system can be controlled to drive the second optical coupler to rotate a second rotation angle to increase the first angle difference until the first angle difference is increased to the second angle difference. The second rotation angle is the absolute value of the target angle difference, and the target rotation direction of the outer ring monitoring system is the direction of increasing the first angle difference.

[0061] For example, taking the counterclockwise direction as the direction of increasing angle and the clockwise direction as the direction of decreasing angle, if the first angle difference is 45 degrees and the second angle difference is 60 degrees, the first angle difference is smaller than the second angle difference, and the target angle difference between the first angle difference and the second angle difference is -15 degrees. In the case that the first zero angle corresponding to the first optocoupler remains unchanged, the outer ring monitoring system can be controlled to drive the second optocoupler to rotate 15 degrees in the counterclockwise direction, so as to increase the first angle difference by 15 degrees, so that the increased first angle difference is equal to the second angle difference. If the first angle difference is 60 degrees and the second angle difference is 45 degrees, the first angle difference is greater than the second angle difference, and the target angle difference between the first angle difference and the second angle difference is 15 degrees. In the case that the first zero angle corresponding to the first optocoupler remains unchanged, the outer ring monitoring system can be controlled to drive the second optocoupler to rotate 15 degrees in the clockwise direction, so as to decrease the first angle difference by 15 degrees, so that the decreased first angle difference is equal to the second angle difference.

[0062] It should be noted that the target rotation direction can be determined according to the sign bit of the target angle difference, and the sign bit is used to represent the positive and negative of the target angle difference. For example, taking the counterclockwise direction as the direction of increasing angle and the clockwise direction as the direction of decreasing angle, in the case that the sign bit of the target angle difference is positive, the target rotation direction is determined to be the clockwise direction, and in the case that the sign bit of the target angle difference is negative, the target rotation direction is determined to be the counterclockwise direction.

[0063] The gimbal reset method provided by the embodiments of the present disclosure decouples the outer ring monitoring system and the inner ring transmission system in the gimbal monitoring system, and ensures that the monitoring picture does not move when the outer ring monitoring system remains stationary and the outer ring monitoring system and the inner ring transmission system are in an independent state. The first zero angle of the first optocoupler corresponding to the inner ring transmission system is determined to complete the positioning self-check of the inner ring transmission system after step loss, and the second zero angle of the second optocoupler corresponding to the outer ring monitoring system is determined to complete the positioning self-check of the outer ring monitoring system after step loss. In the case that the outer ring monitoring system and the inner ring transmission system are in a coaxial state, the angle difference between the rotation angle of the motor after step loss and the theoretical angle is determined according to the first zero angle and the second zero angle, and then the gimbal monitoring device is controlled to reset according to the angle difference, thereby reducing the movement range of the monitoring picture during the reset self-check of the gimbal monitoring device, and achieving the non-perception reset self-check of the gimbal monitoring device.

[0064] The gimbal reset device provided by the embodiments of the present disclosure is described below, and the gimbal reset device described below can be correspondingly referred to the gimbal reset method described above.

[0065] The cloud head reset device provided by the embodiment of the present disclosure comprises a determining module and a resetting module.

[0066] The determining module is configured to determine 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, in a case where the inner ring transmission system and the outer ring monitoring system are in an independent state and the outer ring monitoring system remains stationary.

[0067] The resetting module is configured to control the cloud head monitoring device to reset, in a case where the inner ring transmission system and the outer ring monitoring system are in a coaxial state, based on the first zero point angle and the second zero point angle.

[0068] The cloud head reset device provided by the embodiment of the present disclosure decouples the outer ring monitoring system and the inner ring transmission system in the cloud head monitoring system, determines the first zero point angle at which the first optocoupler corresponding to the inner ring transmission system is located in a case where the outer ring monitoring system and the inner ring transmission system are in an independent state and the outer ring monitoring system remains stationary, so as to complete the positioning self-check of the inner ring transmission system after step loss, determines the second zero point angle at which the second optocoupler corresponding to the outer ring monitoring system is located, so as to complete the positioning self-check of the outer ring monitoring system after step loss, and determines the angle difference between the rotation angle of the motor after step loss and the theoretical angle according to the first zero point angle and the second zero point angle in a case where the outer ring monitoring system and the inner ring transmission system are in a coaxial state, and then controls the cloud head monitoring device to reset according to the angle difference, so as to reduce the moving range of the monitoring picture during the reset self-check of the cloud head monitoring device, and realize the non-perception reset self-check of the cloud head monitoring device.

[0069] Optionally, the determining module 710 is specifically configured to:

[0070] control the inner ring transmission system to rotate through a full stroke, the full stroke being used to represent a rotation angle range of the inner ring transmission system.

[0071] In a case where a first baffle in the inner ring transmission system shields the first optocoupler, the angle at which the first baffle is located is determined as the first zero point angle at which the first optocoupler is located.

[0072] Optionally, the determining module 710 is specifically configured to:

[0073] control the inner ring transmission system and the transmission shaft to rotate.

[0074] In a case where the second blocking piece shields a second optical coupling corresponding to the outer ring monitoring system on the transmission shaft, a second zero point angle at which the second optical coupling is located is determined based on a first rotation angle of the second blocking piece.

[0075] Optionally, the reset module 720 is specifically configured to:

[0076] A first angle difference after the pan-tilt monitoring device is out of step is determined based on the first zero point angle and the second zero point angle.

[0077] The pan-tilt monitoring device is controlled to reset based on a second angle difference and the first angle difference, and the second angle difference is used to represent a theoretical angle difference value after the pan-tilt monitoring device is not out of step.

[0078] Optionally, the reset module 720 is specifically configured to:

[0079] A target angle at which the pan-tilt monitoring device rotates before being out of step and a third angle difference between the first optical coupling and the second optical coupling before being out of step are obtained.

[0080] The second angle difference is determined based on the third angle difference and the target angle.

[0081] Optionally, the reset module 720 is specifically configured to:

[0082] A target angle difference between the first angle difference and the second angle difference is determined.

[0083] The second rotation angle of the outer ring monitoring system and a target rotation direction are determined based on the target angle difference.

[0084] The outer ring monitoring system is controlled to rotate the second rotation angle along the target rotation direction, and the pan-tilt monitoring device is controlled to reset.

[0085] FIG. 8 is a structural schematic diagram of a pan-tilt monitoring device according to an embodiment of the present disclosure. As shown in FIG. 8, the pan-tilt monitoring device can include a processor 810, a communications interface 820, a memory 830, a communications bus 840, an outer ring monitoring system 850, an inner ring transmission system 860, and a locking device 870, wherein:

[0086] The outer ring monitoring system 850 and the inner ring transmission system 860 are respectively arranged at two ends of the transmission shaft, the locking device 870 is arranged on the transmission shaft, the outer ring monitoring system 850, the inner ring transmission system 860 and the locking device 870 are connected with the processor 810, and the locking device 870 is used for adjusting the connection state between the outer ring monitoring system 850 and the inner ring transmission system 860.

[0087] The processor 810, the communication interface 820 and the memory 830 complete mutual communication through the communication bus 840. The processor 810 can call the logical instructions in the memory 830 to execute the gimbal reset method, and the method comprises the following steps.

[0088] In the case that the inner ring transmission 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 at which the first optocoupler corresponding to the inner ring transmission system 860 is located and the second zero point angle at which the second optocoupler corresponding to the outer ring monitoring system 850 is located are determined respectively.

[0089] In the case that the inner ring transmission system 860 and the outer ring monitoring system 850 are in a coaxial state, the first zero point angle and the second zero point angle are used to control the gimbal monitoring device to reset.

[0090] In addition, the logical instructions in the memory 830 described above can be realized in the form of a software function unit and sold or used as an independent product, and can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the disclosure essentially or the parts that contribute to the related art or parts of the technical solutions can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in each embodiment of the disclosure. The foregoing storage medium includes a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk and various program code storage media.

[0091] On the other hand, the disclosure also provides a computer program product, the computer program product comprises a computer program, the computer program can be stored in a computer readable storage medium, when the computer program is executed by a processor, the computer can execute the gimbal reset method provided by the above method, and the method comprises the following steps.

[0092] Determine a first zero point angle at which a first optical coupler corresponding to the inner ring transmission system is located and a second zero point angle at which a second optical coupler corresponding to the outer ring monitoring system is located, respectively, in a state that the inner ring transmission system and the outer ring monitoring system are independent and the outer ring monitoring system remains stationary;

[0093] Control the gimbal monitoring device to reset based on the first zero point angle and the second zero point angle in a state that the inner ring transmission system and the outer ring monitoring system are coaxial.

[0094] In another aspect, the disclosure also provides a computer readable storage medium having stored thereon a computer program, which, when executed by a processor, implements the gimbal resetting method provided by the above method, and the method comprises:

[0095] Determine a first zero point angle at which a first optical coupler corresponding to the inner ring transmission system is located and a second zero point angle at which a second optical coupler corresponding to the outer ring monitoring system is located, respectively, in a state that the inner ring transmission system and the outer ring monitoring system are independent and the outer ring monitoring system remains stationary;

[0096] Control the gimbal monitoring device to reset based on the first zero point angle and the second zero point angle in a state that the inner ring transmission system and the outer ring monitoring system are coaxial.

[0097] The device embodiments described above are only schematic, wherein the units shown as separate components can or can not be physically separate, and the components shown as units can or can not be physical units, i.e., can be located in one place, or can be distributed on multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the embodiment. Those skilled in the art can understand and implement without creative labor.

[0098] From the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be realized by means of software plus a necessary general hardware platform, and of course can also be realized by hardware. Based on such understanding, the above technical solutions can be embodied in the form of a software product, which can be stored in a computer readable storage medium, such as a ROM / RAM, a magnetic disk, an optical disk, etc., and includes a number of instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) execute the methods described in each embodiment or some parts of the embodiments.

[0099] Finally, it should be noted that: the above examples are only used to illustrate the technical solutions of the present disclosure, but not to limit them; although the present disclosure has been described in detail with reference to the foregoing examples, those skilled in the art should understand that: it can still modify the technical solutions recorded in each of the foregoing examples, or make equivalent replacement for part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present disclosure.

Claims

1. A gimbal reset method applied to a gimbal monitoring device, the gimbal monitoring device comprising an outer ring monitoring system and an inner ring transmission system respectively arranged at two ends of a transmission shaft, the method comprising: 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, when the inner ring transmission system and the outer ring monitoring system are in an independent state and the outer ring monitoring system remains stationary; and controlling the gimbal 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. The determination of the first zero point angle at which the first optocoupler corresponding to the inner ring transmission system is located comprises: controlling the inner ring transmission system to rotate through a full stroke, the full stroke being used to represent a rotation angle range of the inner ring transmission system; 2. The gimbal reset method of claim 1, wherein, determining an angle at which a first stopper in the inner ring transmission system is located as the first zero point angle at which the first optocoupler is located, when the first stopper shields the first optocoupler. The determination of the second zero point angle at which the second optocoupler corresponding to the outer ring monitoring system is located comprises: controlling the inner ring transmission system and the transmission shaft to rotate; 3. The gimbal reset method of claim 1, wherein, determining the second zero point angle at which the second optocoupler is located based on a first rotation angle of a second stopper on the transmission shaft, when the second stopper shields the second optocoupler corresponding to the outer ring monitoring system. The control of the gimbal monitoring device to reset based on the first zero point angle and the second zero point angle comprises: determining a first angle difference of the gimbal monitoring device after losing synchronization based on the first zero point angle and the second zero point angle; 4. The gimbal reset method of any one of claims 1 to 3, wherein, controlling the gimbal monitoring device to reset based on a second angle difference and the first angle difference, the second angle difference being used to represent a theoretical angle difference value of the gimbal monitoring device after rotating without losing synchronization. The second angle difference is determined based on the following steps: obtaining a target angle of the gimbal monitoring device before losing synchronization and a third angle difference between the first optocoupler and the second optocoupler before losing synchronization; and 5. The gimbal reset method of claim 4, wherein, determining the second angle difference based on the third angle difference and the target angle. The control of the gimbal monitoring device to reset based on the second angle difference and the first angle difference comprises: determining a target angle difference between the first angle difference and the second angle difference; 6. The gimbal reset method of claim 4, wherein, determining a second rotation angle and a target rotation direction of the outer ring monitoring system based on the target angle difference; and controlling the outer ring monitoring system to rotate through the second rotation angle along the target rotation direction, so as to control the gimbal monitoring device to reset. 7.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 arranged at two ends of a transmission shaft, the device comprising: ​ ​ The determining module is configured to determine a first zero point angle at which a first optical coupler corresponding to the inner ring transmission system is located and a second zero point angle at which a second optical coupler corresponding to the outer ring monitoring system is located, respectively, when the inner ring transmission system and the outer ring monitoring system are in an independent state and the outer ring monitoring system remains stationary. The resetting module is configured 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.

8. The gimbal reset device of claim 7, wherein, The determining module is specifically configured to: control the inner ring transmission system to rotate through a full stroke, the full stroke being used to represent a rotation angle range of the inner ring transmission system; determine an angle at which a first blocking piece in the inner ring transmission system is located as the first zero point angle when the first blocking piece shields the first optical coupler.

9. The gimbal reset device of claim 7, wherein, The determining module is further configured to: control the inner ring transmission system and the transmission shaft to rotate; determine a second zero point angle at which a second optical coupler corresponding to the outer ring monitoring system is located based on a first rotation angle of a second blocking piece on the transmission shaft when the second blocking piece shields the second optical coupler.

10. The gimbal reset device of any one of claims 7 to 9, wherein, The resetting module is specifically configured to: determine a first angle difference after the pan-tilt monitoring device loses synchronization based on the first zero point angle and the second zero point angle; control the pan-tilt monitoring device to reset based on a second angle difference and the first angle difference, the second angle difference being used to represent a theoretical angle difference value after the pan-tilt monitoring device rotates without losing synchronization.

11. The gimbal reset device of claim 10, wherein, The resetting module is further configured to: obtain a target angle at which the pan-tilt monitoring device rotates before losing synchronization and a third angle difference between the first optical coupler and the second optical coupler before losing synchronization; determine the second angle difference based on the third angle difference and the target angle.

12. The gimbal reset device of claim 10, wherein, The resetting module is further configured to: determine a target angle difference between the first angle difference and the second angle difference; determine a second rotation angle and a target rotation direction of the outer ring monitoring system based on the target angle difference; control the outer ring monitoring system to rotate through the second rotation angle in the target rotation direction to control the pan-tilt monitoring device to reset.

13. A pan-tilt 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, the outer ring monitoring system and the inner ring transmission system are respectively arranged at two ends of a transmission shaft, the locking device is arranged on the transmission shaft, the outer ring monitoring system, the inner ring transmission system, and the locking device are all connected to the processor, and the locking device is used to adjust a connection state between the outer ring monitoring system and the inner ring transmission system. The processor is used to execute the pan-tilt resetting method according to any one of claims 1 to 6.

14. The gimbal monitoring device of claim 13, wherein, The transmission shaft comprises a coaxially arranged outer ring transmission shaft and an inner ring transmission shaft, the outer ring transmission shaft is connected to the outer ring monitoring system, and the inner ring transmission shaft is connected to the inner ring transmission system.

15. The gimbal monitoring device of claim 13, wherein, The inner ring transmission system comprises a first optical coupler for determining the initial angle of the inner ring transmission system, and the corresponding angle of the first optical coupler is fixed.

16. The gimbal monitoring device of claim 13, wherein, The inner ring transmission system further comprises a first blocking piece, which rotates with the rotation of the inner ring transmission system.

17. The gimbal monitoring device of claim 14, wherein, The inner ring transmission shaft is provided with a second blocking piece, one end of the second blocking piece is fixed to the outer surface of the inner ring transmission shaft, and the other end of the second blocking piece extends towards the outer ring monitoring system.

18. The gimbal monitoring device of claim 13, wherein, The outer ring transmission system comprises a second optical coupler, which rotates with the rotation of the outer ring transmission system.

19. A computer readable storage medium having stored thereon a computer program, the computer program being executed by a processor to implement the gimbal reset method according to any one of claims 1 to 6.

20. A computer program product comprising a computer program, the computer program being executed by a processor to implement the gimbal reset method according to any one of claims 1 to 6.

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