CN108803669B - Cloud deck steering control method and device, electronic equipment and storage medium - Google Patents
Cloud deck steering control method and device, electronic equipment and storage medium Download PDFInfo
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- CN108803669B CN108803669B CN201810730791.1A CN201810730791A CN108803669B CN 108803669 B CN108803669 B CN 108803669B CN 201810730791 A CN201810730791 A CN 201810730791A CN 108803669 B CN108803669 B CN 108803669B
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Abstract
The embodiment of the invention relates to the technical field of human-computer interaction, and provides a holder steering control method, a holder steering control device, electronic equipment and a storage medium, wherein the method comprises the following steps: responding to a first click operation in the interaction area to obtain a first position of the first click operation; responding to a second click operation which is discontinuous from the first click operation in the interaction area to obtain a second position of the second click operation, wherein the first click operation and the second click operation respectively act on different positions of the interaction area; calculating a first displacement vector between the first location and the second location; and generating a first steering control command and sending the first steering control command to the holder equipment according to the first displacement vector so that the holder equipment steers according to the first steering control command. Compared with the prior art, the user only needs to execute two times of discontinuous click operation in the interaction area to realize the steering control of the holder equipment, the operation process is simple and visual, and the user experience is improved.
Description
Technical Field
The embodiment of the invention relates to the technical field of human-computer interaction, in particular to a holder steering control method, a holder steering control device, electronic equipment and a storage medium.
Background
The pan-tilt is a device for supporting and bearing the camera to rotate in the horizontal direction and the vertical direction, and the camera is driven to shoot at different angles through rotation of the pan-tilt. When a user views the video image returned by the camera in real time by using the human-computer interaction interface of the software client, the user can obtain a better camera view angle by remotely controlling the pan-tilt to steer. Currently, a virtual key for controlling the rotation of the pan/tilt head is usually arranged in a user interface of a software client, the virtual key is usually a virtual direction key in four directions or eight directions, and a user adjusts the horizontal rotation angle and the pitch angle of the pan/tilt head by operating a mouse to click the corresponding virtual direction key. However, when a user operates the mouse to click the virtual direction key, the mouse needs to accurately click the position of the virtual direction key to trigger the formation of the steering control command, so that the operation process is complicated and is not simple and intuitive.
Disclosure of Invention
An embodiment of the present invention provides a pan/tilt/zoom control method, device, electronic device, and storage medium, so as to solve the above problem.
In order to achieve the above purpose, the embodiment of the present invention adopts the following technical solutions:
in a first aspect, an embodiment of the present invention provides a pan/tilt head steering control method, which is applied to an electronic device, where the electronic device is in communication connection with a pan/tilt head device, and an interaction area is preset in the electronic device, and the method includes: responding to a first click operation in the interaction area to acquire a first position of the first click operation; responding to a second click operation which is discontinuous from the first click operation in the interaction area to obtain a second position of the second click operation, wherein the first click operation and the second click operation respectively act on different positions of the interaction area; calculating a first displacement vector between the first location and the second location; and generating a first steering control command according to the first displacement vector, and sending the first steering control command to the holder equipment so that the holder equipment steers according to the first steering control command.
In a second aspect, an embodiment of the present invention further provides a pan/tilt/zoom control apparatus, which is applied to an electronic device, where the electronic device is in communication connection with the pan/tilt/zoom device, and the electronic device is preset with an interaction area, and the apparatus includes a first obtaining module, a second obtaining module, a computing module, and a control module. The first obtaining module is used for responding to a first click operation in the interaction area to obtain a first position of the first click operation; the second obtaining module is used for responding to a second click operation which is discontinuous with the first click operation in the interaction area to obtain a second position of the second click operation, wherein the first click operation and the second click operation respectively act on different positions of the interaction area; the first calculation module is used for calculating a first displacement vector between the first position and the second position; the first control module is used for generating a first steering control instruction of the holder equipment according to the first displacement vector and sending the first steering control instruction to the holder equipment so that the holder equipment can steer according to the first steering control instruction.
In a third aspect, an embodiment of the present invention further provides an electronic device, where the electronic device is in communication connection with a pan/tilt apparatus, and is preset with an interaction area, and the electronic device further includes: one or more processors; a memory for storing one or more programs that, when executed by the one or more processors, cause the one or more processors to implement the pan/tilt/steering control method described above.
In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the pan-tilt steering control method described above.
Compared with the prior art, the embodiment of the invention provides a pan-tilt steering control method, a pan-tilt steering control device, electronic equipment and a storage medium, wherein the electronic equipment is provided with an interaction area in advance, and firstly, a first click operation in the interaction area is responded to obtain a first position of the first click operation; then, responding to a second click operation which is discontinuous with the first click operation in the interaction area to obtain a second position, different from the first position, of the second click operation; and finally, calculating a displacement vector between the first position and the second position, and generating a steering control instruction according to the displacement vector to control the holder equipment to steer. Compared with the prior art, the embodiment of the invention has the advantages that the user can realize the steering control of the holder equipment only by performing two times of discontinuous clicking operations in the interaction area, the operation process is simple and visual, and the user experience is improved.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a schematic diagram illustrating a first application scenario in which an electronic device interacts with a pan/tilt apparatus according to an embodiment of the present invention.
Fig. 2 is a schematic block diagram illustrating a second application scenario in which the electronic device interacts with the pan/tilt head device according to the embodiment of the present invention.
Fig. 3 is a block diagram illustrating a third application scenario in which the electronic device interacts with the pan/tilt head device according to the embodiment of the present invention.
Fig. 4 shows a block schematic diagram of an electronic device provided by an embodiment of the present invention.
Fig. 5 shows a flow chart of a pan-tilt steering control method provided by the embodiment of the invention.
Fig. 6 shows a first exemplary diagram provided by an embodiment of the present invention.
Fig. 7 shows a second exemplary diagram provided by an embodiment of the present invention.
Fig. 8 is a block schematic diagram illustrating a pan-tilt steering control apparatus according to an embodiment of the present invention.
Icon: 10-an electronic device; 20-a pan-tilt device; 30-a network; 40-a server; 50-an audio-video processor; 101-a memory; 102-a memory controller; 103-a processor; 104 — an internal interface; 105-a display module; 200-a pan-tilt steering control device; 201-a first acquisition module; 202-a second obtaining module; 203-a first calculation module; 204-a first control module; 205-a third acquisition module; 206-a second calculation module; 207-second control module.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Meanwhile, in the description of the present invention, the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.
Referring to fig. 1, fig. 1 is a block diagram illustrating a first application scenario in which an electronic device 10 interacts with at least one pan/tilt apparatus 20 according to an embodiment of the present invention. The electronic device 10 communicates with the pan/tilt apparatus 20 through a control cable based on a preset communication protocol to implement pan/tilt steering control of the pan/tilt apparatus 20. The predetermined communication protocol may be, but is not limited to, a serial bus protocol, a network protocol of RJ45 port, a USB protocol, etc. The electronic device 10 may be, but is not limited to, a smart phone, a tablet computer, a desktop computer, a notebook computer, etc., the operating system of the electronic device 10 may be, but is not limited to, an Android (Android) system, an ios (internet operating system) system, a Windows phone system, a Windows system, etc., and the pan-tilt device 20 may be a horizontal pan-tilt, a vertical pan-tilt, and an omni-directional pan-tilt.
Referring to fig. 2, fig. 2 is a block schematic diagram illustrating a second application scenario in which the electronic device 10 interacts with at least one pan/tilt apparatus 20 according to an embodiment of the present invention. The electronic device 10 may communicate with the server 40 through the network 30, and the server 40 may communicate with the pan/tilt apparatus 20 through the network 30 to implement pan/tilt steering control of the pan/tilt apparatus 20. Specifically, the electronic device 10 encodes a steering control instruction for controlling the pan/tilt apparatus 20 to steer, and transmits the encoded steering control instruction to the server 40 through the network 30, the server 40 decodes the steering control instruction to obtain target address information carried in the steering control instruction, and transmits the steering control instruction to the pan/tilt apparatus 20 corresponding to the target address information through the network 30, where the target address information may include, but is not limited to, an IP address, a port, network card information, and the like of the pan/tilt apparatus 20. The network 30 may be, but is not limited to, a network switch, a wired router, a wireless router, bluetooth, RS485 bus, etc.
Referring to fig. 3, fig. 3 is a block schematic diagram illustrating a third application scenario in which the electronic device 10 interacts with at least one pan/tilt apparatus 20 according to an embodiment of the present invention. The electronic device 10 may communicate with the server 40 through the network 30, the server 40 may communicate with at least one audio/video processor 50 through the network 30, and each audio/video processor 50 controls one pan/tilt apparatus 20 through one control unit, so as to realize pan/tilt steering control of the pan/tilt apparatus 20. Specifically, the electronic device 10 encodes a steering control instruction for controlling the pan/tilt apparatus 20 to steer, and transmits the encoded steering control instruction to the server 40 through the network 30, the server 40 decodes the steering control instruction to obtain target address information carried in the steering control instruction, and transmits the steering control instruction to the audio/video processor 50 corresponding to the target address information through the network 30, the audio/video processor 50 controls the pan/tilt apparatus 20 through the control unit, and the target address information may include, but is not limited to, an IP address, a port, network card information, and the like of the audio/video processor 50. The control unit may be integrated in the audio/video processor 50 in the form of a board card, or may be a signal forwarding device independent of the audio/video processor 50. The av processor 50 may be, but is not limited to, a processor having at least one of a splicing function, a matrix function, and a KVM function.
In the embodiment of the present invention, the pan/tilt head device 20 is fixedly provided with a camera, the camera can transmit the acquired video image to the electronic device 10 for displaying, and the user can perform steering control on the pan/tilt head device 20 provided with the camera according to the video image displayed on the electronic device 10 to obtain a better camera viewing angle.
Referring to fig. 4, the electronic device 10 includes a pan/tilt control apparatus 200, a memory 101, a storage controller 102, a processor 103, an internal interface 104, and a display module 105. The memory 101, the memory controller 102, the processor 103, the internal interface 104 and the display module 105 are electrically connected to each other directly or indirectly to realize data transmission or interaction. For example, the components may be electrically connected to each other via one or more communication buses or signal lines. The pan/tilt control device 200 includes at least one software functional module, which may be stored in the memory 101 in the form of software or firmware (firmware) or solidified in the operating system of the electronic device 10. The processor 103 is configured to execute an executable module stored in the memory 101, such as a software functional module or a computer program included in the pan/tilt/head steering control apparatus 200.
The Memory 101 may be, but is not limited to, a Random Access Memory (RAM), a Read Only Memory (ROM), a Programmable Read-Only Memory (PROM), an Erasable Read-Only Memory (EPROM), an electrically Erasable Read-Only Memory (EEPROM), and the like.
The processor 103 may be an integrated circuit chip having signal processing capabilities. The Processor 103 may be a general-purpose Processor, and includes a Central Processing Unit (CPU), a Network Processor (NP), a voice Processor, a video Processor, and the like; but may also be a digital signal processor, an application specific integrated circuit, a field programmable gate array or other programmable logic device, discrete gate or transistor logic, discrete hardware components. The various methods, steps and logic blocks disclosed in the embodiments of the present invention may be implemented or performed. A general purpose processor may be a microprocessor or the processor 103 may be any conventional processor or the like.
The internal interface 104 is used to couple various input/output devices to the processor 103 as well as the memory 101. In some embodiments, the internal interface 104, the processor 103, and the memory controller 102 may be implemented in a single chip. In other examples, they may be implemented separately from the individual chips.
The display module 105 is configured to display a video image captured by a camera fixedly mounted on the pan/tilt apparatus 20 in real time, and implement interaction between the interactive apparatus and the electronic apparatus 10. The display module 105 may be a display screen, a touch screen, etc., and the interaction device may be a mouse, a stylus, a gesture operation, etc.
First embodiment
Referring to fig. 5, fig. 5 shows a flowchart of a pan-tilt steering control method according to an embodiment of the present invention. The pan-tilt steering control method comprises the following steps:
and step S101, responding to the first click operation in the interaction area to acquire a first position of the first click operation.
In the embodiment of the present invention, an interaction area is preset in a human-computer interaction interface of the electronic device 10, where the interaction area may identify an operation of the interaction device, and the interaction area may be set in a display area that displays a video image acquired by a camera in the human-computer interaction interface, or may be set in another display area that is independent of the display area that displays the video image acquired by the camera.
In the embodiment of the present invention, the first click operation may be generated by a user clicking a certain coordinate point in the interaction area by using the interaction device, and the first position may be an action position of the first click operation. The electronic device 10 may have a display screen, and after the display screen displays the video image collected by the camera, if the user needs to perform steering control on the pan/tilt head device 20, the user may click a certain coordinate point in the interaction area with a mouse to generate a first click operation. The electronic device 10 may have a touch screen, and after the touch screen displays the video image captured by the camera, if the user needs to perform steering control on the pan/tilt head device 20, the user may click a certain coordinate point in the interaction area by using a stylus or a gesture operation to generate a first click operation.
And step S102, responding to a second click operation which is discontinuous from the first click operation in the interactive area to obtain a second position of the second click operation, wherein the first click operation and the second click operation respectively act on different positions of the interactive area.
In the embodiment of the present invention, the second click operation may be generated by clicking a coordinate point in the interaction area again after the user uses the interaction device to click a first click operation, and the second position may be an action position of the second click operation. The second click operation and the first click operation are discontinuous and discontinuous, and the first click operation and the second click operation respectively act on different positions of the interaction area.
In the embodiment of the present invention, the electronic device 10 may have a display screen, after a user clicks a certain coordinate point in the interaction area with a mouse to generate a first click operation, the user operates the mouse to generate a displacement in the interaction area, and then clicks again at an end point of the displacement of the mouse in the interaction area to generate a second click operation, where the first click operation and the second click operation respectively act on different positions of the interaction area.
The electronic device 10 may have a touch screen, and after a user clicks a coordinate point in the interaction region by using a stylus or gesture operation to generate a first click operation, the user clicks again in the interaction region to generate a second click operation, and the first click operation and the second click operation respectively act on different positions of the interaction region.
Step S103, a first displacement vector between the first position and the second position is calculated.
Referring to fig. 6, in the two-dimensional coordinate system, with the first position of the first click operation as the origin, a first displacement vector between the first position of the first click operation and the second position of the second click operation is calculated, where the first displacement vector includes a displacement amount and a displacement direction, for example, the first position is (0,1), the second position is (3,5), the displacement amount of the first displacement vector is 5, and the direction cosine is
And step S104, generating a first steering control command according to the first displacement vector, and sending the first steering control command to the holder equipment so that the holder equipment can steer according to the first steering control command.
In an embodiment of the present invention, the first steering control command may include a first target direction and a first steering magnitude, that is, the method of generating the first steering control command according to the first displacement vector may include:
first, the horizontal and vertical components of the first displacement vector are calculated, e.g., the displacement of the first displacement vector is 5, direction cosine
The horizontal vector of the first displacement vector can be calculated to be 3 and the vertical component to be 4.
Then, a first target direction of the pan/tilt head apparatus 20 is determined from the directions of the horizontal component and the vertical component. The direction of the horizontal component may be set to correspond to the horizontal rotation direction of the pan/tilt apparatus 20, and the direction of the vertical component corresponds to the pitch rotation direction of the pan/tilt apparatus 20, specifically, the direction of the horizontal component is defined as a positive direction to the right, and corresponds to the pan/tilt apparatus 20 rotating in a clockwise direction; the direction of the horizontal component is defined as a negative direction to the left, and the corresponding pan/tilt head device 20 rotates in the counterclockwise direction; the direction of the vertical component is defined upward as a positive direction, and the corresponding pan/tilt head device 20 rotates in the upward viewing direction; the direction of the vertical component is defined downward as a negative direction, corresponding to the rotation of the pan and tilt head apparatus 20 in the downward direction. And combining the directions of the horizontal component and the vertical component to obtain the target direction of the rotation of the holder, wherein the target direction can be clockwise rotation, anticlockwise rotation, upward rotation, downward rotation, clockwise rotation combined with upward rotation, clockwise rotation combined with downward rotation, anticlockwise rotation combined with upward rotation, and anticlockwise rotation combined with downward rotation.
Accordingly, the process of determining the first target direction of the pan/tilt head apparatus 20 may include: a first step of setting a direction of the horizontal component as a horizontal rotation direction of the pan/tilt head device 20; secondly, setting the direction of the vertical component as the pitch rotation direction of the pan/tilt apparatus 20; third, the first target direction of the pan/tilt unit 20 can be obtained by combining the horizontal rotation direction and the pitch rotation direction, and by combining the example shown in fig. 6, the direction of the horizontal component is rightward, and the direction of the vertical component is upward, so that the horizontal rotation direction of the pan/tilt unit 20 is clockwise rotation, the pitch rotation direction is upward rotation, and the first target direction of the pan/tilt unit 20 is clockwise rotation combined with upward rotation.
Finally, according to the displacement amounts of the horizontal component and the vertical component, a first steering range of the pan/tilt apparatus 20 is calculated, where the first steering range may be a rotation angle of the pan/tilt apparatus 20 in the horizontal direction and the vertical direction, respectively. Specifically, first, the horizontal rotation angle of the pan/tilt head device 20 is calculated according to the displacement amount of the horizontal component and a preset rotation angle, where the preset rotation angle may be a rotation angle corresponding to a unit displacement amount, for example, the preset rotation angle is 5 °, and in combination with the example shown in fig. 6, when the displacement amount of the horizontal component is 3, the horizontal rotation angle of the pan/tilt head device 20 is 15 °; then, the vertical rotation angle of the pan/tilt head device 20 is calculated according to the displacement amount of the vertical component and the preset rotation angle, and when the displacement amount of the vertical component is 4 and the vertical rotation angle of the pan/tilt head device 20 is 20 ° in combination with the example shown in fig. 6; the horizontal rotation direction and the vertical rotation direction are combined to obtain a first steering range of the pan/tilt apparatus 20, for example, the first steering range of the pan/tilt apparatus 20 is 15 ° of horizontal rotation and 20 ° of vertical rotation, that is, the first steering control command is 15 ° of clockwise rotation and 20 ° of looking up direction.
In the embodiment of the present invention, after the coordinates of the first position and the second position in the interaction area are collected and the first steering control command is generated, if a third click operation, which is interrupted by the second click operation, of the user in the interaction area is received again, continuous steering needs to be performed on the basis of the execution result of the first steering control command.
And step S105, responding to a third click operation which is interrupted with the second click operation in the interaction area to obtain a third position of the third click operation, wherein the second click operation and the third click operation respectively act on different positions of the interaction area.
In the embodiment of the present invention, the third click operation may be generated by clicking the interaction area again after the user uses the interaction device to click the interaction area to generate the second click operation, and the third position may be an action position of the third click operation. The third click operation and the second click operation are discontinuous and discontinuous, the second click operation and the third click operation respectively act on different positions of the interaction area, and the third position can be any position in the interaction area different from the first position and the second position, or can be on a connecting line of the first position and the second position, or an extension line of the first position or the second position.
Step S106, a second displacement vector between the second position and the third position is calculated.
Referring to fig. 7, in the two-dimensional coordinate system, the second position of the second click operation is taken as the origin, and a second displacement vector between the second position of the second click operation and a third position of the third click operation is calculated, for example, the second position is (3,5), the third position is (-1,8), the displacement of the second displacement vector is 5, and the direction cosine is
And S107, generating a second steering control instruction according to the second displacement vector, and sending the second steering control instruction to the holder equipment so that the holder equipment steers according to the second steering control instruction.
In the embodiment of the present invention, the second steering control command may include the second target direction and the second steering magnitude, and specifically, first, the horizontal component and the vertical component of the second displacement vector are calculated, for example, the horizontal vector of the second displacement vector is 4 and the vertical component is 3.
Then, a second target direction of the pan/tilt apparatus 20 is determined according to the directions of the horizontal component and the vertical component of the second displacement vector, for example, the horizontal rotation direction of the pan/tilt apparatus 20 is a counterclockwise rotation, the pitch rotation direction is a pitch rotation direction, and the second target direction of the pan/tilt apparatus 20 is a counterclockwise rotation combined with the pitch rotation direction.
Finally, a second steering range of the pan/tilt apparatus 20 is calculated according to the displacement amounts of the horizontal component and the vertical component, for example, the second steering range of the pan/tilt apparatus 20 is rotated horizontally by 20 ° and rotated vertically by 15 °, that is, a second steering control command is obtained by rotating counterclockwise by 20 ° in combination with rotating upward by 15 °.
It should be noted that the number of times of performing steering control on the pan/tilt apparatus 20 is not limited to two, that is, the pan/tilt apparatus 20 may be continuously steered for multiple times, and only the displacement vectors of two click operations need to be calculated according to the methods in the above steps S101 to S107, and then the steering control instruction is calculated and sent to the pan/tilt apparatus 20, so that multiple steering control on the pan/tilt apparatus 20 is realized.
In the embodiment of the present invention, when an interaction device (e.g., a mouse, a stylus, a gesture operation, etc.) acts on an interaction area of the electronic device 10, a click operation of the interaction device is collected, an intention of a user is analyzed according to two intermittent click operations, thereby further implementing steering control on the pan/tilt apparatus 20, and the operation process is simple and intuitive, and improves user experience.
Second embodiment
Referring to fig. 8, fig. 8 is a block schematic diagram illustrating a pan/tilt control apparatus 200 according to an embodiment of the present invention. The pan/tilt control apparatus 200 includes a first obtaining module 201, a second obtaining module 202, a first calculating module 203, a first control module 204, a third obtaining module 205, a second calculating module 206, and a second control module 207.
The first obtaining module 201 is configured to obtain a first position of a first click operation in response to the first click operation in the interaction area.
The second obtaining module 202 is configured to obtain a second position of a second click operation in response to a second click operation interrupted by the first click operation in the interaction area, where the first click operation and the second click operation respectively act on different positions of the interaction area.
A first calculating module 203 for calculating a first displacement vector between the first position and the second position.
The first control module 204 is configured to generate a first steering control instruction according to the first displacement vector, and send the first steering control instruction to the pan/tilt apparatus, so that the pan/tilt apparatus steers according to the first steering control instruction.
In this embodiment of the present invention, the first steering control command includes a first target direction and a first steering amplitude, and the first control module 204 is specifically configured to calculate a horizontal component and a vertical component of the first displacement vector; determining a first target direction of the holder equipment according to the directions of the horizontal component and the vertical component; and calculating the first steering amplitude of the holder equipment according to the displacement of the horizontal component and the vertical component.
In this embodiment of the present invention, the manner in which the first control module 204 determines the first target direction of the pan/tilt apparatus according to the directions of the horizontal component and the vertical component includes: setting the direction of the horizontal component as the horizontal rotation direction of the holder equipment; setting the direction of the vertical component as the pitching rotation direction of the holder equipment; and combining the horizontal rotation direction and the pitching rotation direction to obtain a first target direction of the holder equipment.
In the embodiment of the present invention, the manner in which the first control module 204 calculates the first steering amplitude of the pan/tilt head device according to the displacement amounts of the horizontal component and the vertical component includes: calculating the horizontal rotation angle of the holder equipment according to the displacement of the horizontal component and the preset rotation angle; calculating the vertical rotation angle of the holder equipment according to the displacement of the vertical component and the preset rotation angle; and combining the horizontal rotation direction and the vertical rotation direction to obtain a first steering amplitude of the holder equipment.
A third obtaining module 205, configured to obtain a third position of a third click operation in response to a third click operation interrupted by the second click operation in the interaction area, where the second click operation and the third click operation respectively act on different positions of the interaction area.
A second calculating module 206, configured to calculate a second displacement vector between the second position and the third position.
And the second control module 207 is configured to generate a second steering control instruction according to the second displacement vector, and send the second steering control instruction to the pan/tilt apparatus, so that the pan/tilt apparatus steers according to the second steering control instruction.
The embodiment of the present invention also discloses a computer readable storage medium, on which a computer program is stored, and the computer program, when executed by the processor 103, implements the pan-tilt steering control method disclosed in the foregoing embodiment of the present invention.
In summary, embodiments of the present invention provide a pan/tilt/zoom control method, apparatus, electronic device, and storage medium, where the electronic device is in communication connection with a pan/tilt device and is preset with an interaction area, and the method includes: responding to a first click operation in the interaction area to obtain a first position of the first click operation; responding to a second click operation which is discontinuous from the first click operation in the interaction area to obtain a second position of the second click operation, wherein the first click operation and the second click operation respectively act on different positions of the interaction area; calculating a first displacement vector between the first location and the second location; and generating a first steering control command and sending the first steering control command to the holder equipment according to the first displacement vector so that the holder equipment steers according to the first steering control command. Compared with the prior art, the embodiment of the invention can realize the steering control of the pan-tilt-zoom.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method can be implemented in other ways. The apparatus embodiments described above are merely illustrative, and for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, the functional modules in the embodiments of the present invention may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes. It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
Claims (10)
1. The cloud deck steering control method is applied to electronic equipment, the electronic equipment is in communication connection with cloud deck equipment, an interaction area is preset on the electronic equipment, and the method comprises the following steps:
responding to a first click operation in the interaction area to acquire a first position of the first click operation, wherein the first click operation is generated by clicking a certain coordinate point in the interaction area by a user through an interaction device;
responding to a second click operation which is discontinuous from the first click operation in the interaction area to obtain a second position of the second click operation, wherein the first click operation and the second click operation respectively act on different positions of the interaction area, and the second click operation is generated by clicking one coordinate point in the interaction area again after a user uses an interaction device to click the first click operation, and then clicking another coordinate point in the interaction area;
calculating a first displacement vector between the first location and the second location;
and generating a first steering control command according to the first displacement vector, and sending the first steering control command to the holder equipment so that the holder equipment steers according to the first steering control command.
2. The method of claim 1, wherein the first steering control command includes a first target direction and a first steering magnitude, and wherein generating the first steering control command based on the first displacement vector comprises:
calculating a horizontal component and a vertical component of the first displacement vector;
determining a first target direction of the holder equipment according to the directions of the horizontal component and the vertical component;
and calculating the first steering amplitude of the holder equipment according to the displacement of the horizontal component and the vertical component.
3. The method of claim 2, wherein said step of determining a first target orientation of said pan and tilt apparatus based on the orientation of said horizontal and vertical components comprises:
setting the direction of the horizontal component as the horizontal rotation direction of the pan-tilt device;
setting the direction of the vertical component as a pitch rotation direction of the pan and tilt apparatus;
and combining the horizontal rotation direction and the pitching rotation direction to obtain a first target direction of the holder equipment.
4. The method according to claim 2, wherein said step of calculating a first steering amplitude of said head device as a function of the displacement of said horizontal and vertical components comprises:
calculating the horizontal rotation angle of the holder equipment according to the displacement of the horizontal component and a preset rotation angle;
calculating the vertical rotation angle of the holder equipment according to the displacement of the vertical component and a preset rotation angle;
and combining the horizontal rotation angle and the vertical rotation angle to obtain a first steering amplitude of the holder equipment.
5. The method of claim 1, wherein the method further comprises:
responding to a third click operation which is interrupted with the second click operation in the interaction area to obtain a third position of the third click operation, wherein the second click operation and the third click operation respectively act on different positions of the interaction area;
calculating a second displacement vector between the second location and the third location;
and generating a second steering control instruction according to the second displacement vector, and sending the second steering control instruction to the holder equipment so that the holder equipment steers according to the second steering control instruction.
6. The method of claim 1, wherein the first click operation and the second click operation are each generated by a mouse, a stylus, or a gesture operation.
7. The utility model provides a cloud platform steering control device which characterized in that is applied to electronic equipment, electronic equipment and cloud platform equipment communication connection, electronic equipment has set up interactive area in advance, the device includes:
the first acquisition module is used for responding to a first click operation in the interaction area to acquire a first position of the first click operation, wherein the first click operation is generated by clicking a certain coordinate point in the interaction area by using an interaction device;
a second obtaining module, configured to obtain a second position of a second click operation in response to a second click operation interrupted by the first click operation in the interaction area, where the first click operation and the second click operation respectively act on different positions of the interaction area, and the second click operation is generated by a user clicking a coordinate point in the interaction area with an interaction device to generate the first click operation and then clicking another coordinate point in the interaction area again;
a first calculation module for calculating a first displacement vector between the first location and the second location;
and the first control module is used for generating a first steering control command of the holder equipment according to the first displacement vector and sending the first steering control command to the holder equipment so as to enable the holder equipment to steer according to the first steering control command.
8. The apparatus of claim 7, wherein the first steering control command comprises a first target direction and a first steering magnitude, and wherein the calculation module is specifically configured to:
calculating a horizontal component and a vertical component of the displacement vector;
determining a first target direction of the holder equipment according to the directions of the horizontal component and the vertical component;
and calculating the first steering amplitude of the holder equipment according to the displacement of the horizontal component and the vertical component.
9. The utility model provides an electronic equipment, its characterized in that, electronic equipment and cloud platform equipment communication connection, and preset has interactive area, electronic equipment still includes:
one or more processors;
memory storing one or more programs that, when executed by the one or more processors, cause the one or more processors to implement the method of any of claims 1-6.
10. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1-6.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| EP3889729A4 (en) * | 2018-11-28 | 2022-07-13 | SZ DJI Technology Co., Ltd. | Control method for gimbal, gimbal, mobile platform, and computer readable storage medium |
| CN110139040B (en) * | 2019-06-17 | 2020-11-13 | 广东安居宝数码科技股份有限公司 | Pan-tilt camera positioning method and device, pan-tilt camera, equipment and medium |
| CN113110736B (en) * | 2021-03-26 | 2023-08-18 | 联想(北京)有限公司 | Control method, device, equipment and computer readable storage medium |
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