CN111246094A - Holder, holder offset compensation correction method, computer storage medium and equipment - Google Patents
Holder, holder offset compensation correction method, computer storage medium and equipment Download PDFInfo
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- 230000033001 locomotion Effects 0.000 claims abstract description 56
- 230000015654 memory Effects 0.000 claims description 32
- 239000003550 marker Substances 0.000 claims description 6
- 238000009825 accumulation Methods 0.000 abstract description 5
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/62—Control of parameters via user interfaces
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- G06T7/20—Analysis of motion
- G06T7/246—Analysis of motion using feature-based methods, e.g. the tracking of corners or segments
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Abstract
The invention provides a cradle head offset compensation correction method, a cradle head, a computer storage medium and electronic equipment, wherein the method comprises the following steps: s1, respectively acquiring return errors R, L, U and D of the holder in a first direction, a second direction, a third direction and a fourth direction; s2, receiving a first command, and obtaining a preset movement direction and a preset movement distance of the holder according to the first command; and S3, judging whether the preset movement direction is the same as the previous movement direction of the cradle head in the corresponding horizontal direction or vertical direction, if so, not performing offset correction compensation, moving according to the preset movement distance, and if not, overlapping the return stroke error in the preset movement direction by the movement step number of the cradle head in the preset movement direction as the preset movement distance. According to the cradle head offset compensation correction method provided by the embodiment of the invention, the accumulation of return errors can be reduced, the method is simple and feasible, and compared with a mode of improving the precision through a mechanical structure, the cost is effectively controlled.
Description
Technical Field
The present invention relates to the field of pan-tilt correction, and more particularly, to a pan-tilt offset compensation correction method, a pan-tilt using the pan-tilt offset compensation correction method, a computer storage medium, and an electronic device.
Background
At present, most of the new-generation intelligent monitoring cameras have functions of a preset point and an augmented reality label, and the functions are that after the camera is installed and fixed, a tripod head structure of the camera is controlled to move to a certain position at a monitoring terminal, and a camera lens is adjusted to a proper magnification factor for adding; when the preset point or the augmented reality label is set, the coordinate point and the magnification factor of the motion of the horizontal motor and the vertical motor are recorded, and when the preset point or the augmented reality label is called, the set recording area can be observed only by calling the corresponding coordinate point and the magnification factor.
For the explosion-proof electric holder, because the explosion-proof electric holder is made of high-hardness materials, the whole weight of the explosion-proof electric holder is far greater than that of a common holder and is influenced by a mechanical transmission structure and the weight of the explosion-proof electric holder, larger return errors can exist in the process of reciprocating the explosion-proof electric holder, and obvious errors can be generated under the condition of long-time stacking accumulation.
The existing method can only reduce the generation of errors by improving the precision of a mechanical structure, but cannot completely eliminate the errors caused by the mechanical structure. When the mechanical precision reaches a certain degree, the cost is increased in geometric multiples by continuously improving the mechanical structure.
Disclosure of Invention
In view of this, the present invention provides a method for compensating and correcting a tilt head offset, a tilt head using the method, a computer storage medium and an electronic device, which can effectively adjust a return error of the tilt head and control a cost.
In order to solve the above technical problem, in one aspect, the present invention provides a method for compensating and correcting a tilt head offset, where the tilt head is movable in a horizontal direction along a first direction and a second direction, and movable in a vertical direction along a third direction and a fourth direction, the method including the steps of: s1, respectively acquiring return errors R, L, U and D of the tripod head in the first direction, the second direction, the third direction and the fourth direction; s2, receiving a first command, and obtaining a preset movement direction and a preset movement distance of the holder according to the first command; and S3, judging whether the preset movement direction is the same as the previous movement direction of the cradle head in the corresponding horizontal direction or vertical direction, if so, not performing offset correction compensation, moving according to the preset movement distance, and if not, the movement step number of the cradle head in the preset movement direction is the return error of the preset movement distance superposed on the preset movement direction.
According to the method for compensating and correcting the offset of the holder, return errors of the holder in all movement directions are obtained, and the moving distance of the holder is controlled by combining the return errors in all directions in the moving process of the holder, so that compensation can be performed quickly after the movement direction of the holder is changed every time, the accumulation of the return errors is reduced, the method is simple and feasible, and compared with a mode of improving the precision through a mechanical structure, the cost is effectively controlled.
According to some embodiments of the invention, the first direction is opposite to the second direction, and the third direction is opposite to the fourth direction.
According to some embodiments of the invention, step S1 includes:
s11, selecting a point at a height equal to the level of the camera on the holder as a mark point in a preset range;
s12, adjusting the shooting multiple of the camera to the maximum, and adjusting the position of the camera to enable the mark point to be positioned at the center of a screen picture shot by the camera;
s13, controlling the holder to move at a first speed for a first distance along the first direction, stopping moving along the second direction while keeping the speed unchanged until the marking point is positioned at the center of the screen in the step S11, marking the point with an image, and recording the current position of the holder as x1, wherein the first speed is one eighth of the lowest speed or the highest speed;
s14, controlling the holder to continue moving for a second distance along the second direction and then stop, and recording the current position of the holder as x 2;
s15, controlling the holder to move along the first direction until the image mark is matched with the real object mark, recording the current position of the holder as x3, and the return error L of the holder moving towards the second direction is the absolute value of x3-x 1;
s16, controlling the holder to move a third distance along the first direction and then stop;
and S17, controlling the holder to move along the second direction until the image mark is matched with the real object mark, recording the current position of the holder as x4, and the return error R of the holder moving towards the first direction is the absolute value of x4-x 3.
According to some embodiments of the invention, step S1 includes:
s11', selecting a point at a height equal to the level of the camera on the holder as a mark point in a preset range;
s12', adjusting the shooting multiple of the camera to the maximum, and adjusting the position of the camera to enable the mark point to be positioned at the center of the screen shot by the camera;
s13 ', controlling the pan/tilt head to move at a first speed for a first distance along the third direction, then stop, keeping the speed unchanged, moving along the fourth direction until the marking point is located at the center of the screen in step S11', image-marking the point, and recording the current position of the pan/tilt head as x1, wherein the first speed is one eighth of the lowest speed or the highest speed;
s14', controlling the holder to continue moving for a second distance along the fourth direction and then stopping, and recording the current position of the holder as x 2;
s15', controlling the tripod head to move along the third direction until the image mark is matched with the real object mark, recording the current position of the tripod head as x3, and the return error D of the movement of the tripod head to the fourth direction is the absolute value of x3-x 1;
s16', controlling the holder to move a third distance along the third direction and then stop;
s17', controlling the tripod head to move along the fourth direction until the image mark is matched with the real object mark, recording the current position of the tripod head as x4, and the return error U of the movement of the tripod head towards the third direction is the absolute value of x4-x 3.
According to some embodiments of the invention, the predetermined distance is between 20 meters and 30 meters.
According to some embodiments of the present invention, the first distance is a distance from a current position of the marker point on the image to a right side of the screen image, the second distance is a distance from the current position of the marker point on the image to a left side of the screen image, and the third distance is a distance from the current position of the marker point on the image to the right side of the screen image.
According to some embodiments of the invention, the physical object is tagged with tagging information.
In a third aspect, an embodiment of the present invention provides a pan/tilt head, where the pan/tilt head is corrected by using the above-mentioned pan/tilt head offset compensation correction method.
In a third aspect, an embodiment of the present invention provides a computer storage medium including one or more computer instructions, which when executed implement the method according to the above embodiment.
An electronic device according to a fourth aspect of the present invention comprises a memory for storing one or more computer instructions and a processor; the processor is configured to invoke and execute the one or more computer instructions to implement the method according to any of the embodiments described above.
Drawings
Fig. 1 is a flowchart of a pan-tilt offset compensation correction method according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a mark point and a motion direction in the pan/tilt compensation correction method according to the embodiment of the present invention;
FIG. 3 is a schematic diagram of an image mark in the pan/tilt compensation correction method according to an embodiment of the present invention;
fig. 4 is a schematic diagram of a first distance in the pan/tilt compensation correction method according to the embodiment of the present invention;
fig. 5 is a schematic diagram of an electronic device according to an embodiment of the invention.
Reference numerals:
an electronic device 300;
a memory 310; an operating system 311; an application 312;
a processor 320; a network interface 330; an input device 340; a hard disk 350; a display device 360.
Detailed Description
The following detailed description of embodiments of the present invention will be made with reference to the accompanying drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
First, a cradle head offset compensation correction method according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings.
The holder is movable in a horizontal direction along a first direction and a second direction, and movable in a vertical direction along a third direction and a fourth direction. As shown in fig. 1, the pan-tilt offset compensation correction method according to the embodiment of the present invention includes the following steps:
s1, respectively acquiring return errors R, L, U and D of the holder in the first direction, the second direction, the third direction and the fourth direction.
And S2, receiving a first command, and obtaining the preset movement direction and the preset movement distance of the holder according to the first command.
And S3, judging whether the preset movement direction is the same as the previous movement direction of the cradle head in the corresponding horizontal direction or vertical direction, if so, not performing offset correction compensation, moving according to the preset movement distance, and if not, the movement step number of the cradle head in the preset movement direction is the return error of the preset movement distance superposed on the preset movement direction.
It should be noted that, the pan/tilt head according to the embodiment of the present invention is movable in the horizontal direction and the vertical direction, and specifically, the pan/tilt head is movable in the horizontal direction in a reciprocating manner along a first direction and a second direction, i.e., the first direction and the second direction are opposite directions, e.g., a left-right direction, and in the vertical direction along a third direction and a fourth direction, i.e., the third direction and the fourth direction are opposite directions, e.g., an up-down direction. In a camera tripod head, particularly an explosion-proof electric tripod head, when a return error is caused by a mechanical structure in a reciprocating motion, the method for correcting the offset compensation of the tripod head according to the embodiment of the invention can be used for correcting.
According to the method for correcting the offset compensation of the tripod head, when the tripod head is corrected, firstly, return errors of the tripod head in all directions are obtained, then, when the tripod head receives a command each time, the moving direction of the current time is compared with the moving direction of the previous time, and if the moving direction of the current time of the tripod head is opposite to the moving direction of the previous time, the return errors of the tripod head in the direction need to be superposed on the basis of the preset moving distance in the preset moving direction of the current time of movement. For example, the last movement direction of the pan/tilt head is from the first direction, the current movement is 1000 steps towards the second direction, and the movement should actually be 1000+ L steps after compensation.
Therefore, according to the method for compensating and correcting the offset of the holder, return errors of the holder in all movement directions are obtained, and the moving distance of the holder is controlled by combining the return errors in all directions in the moving process of the holder, so that the compensation can be rapidly carried out after each movement direction of the holder is changed, the accumulation of the return errors is reduced, the method is simple and feasible, and compared with a mode of improving the precision through a mechanical structure, the cost is effectively controlled.
The following describes in detail the detailed steps of acquiring the return stroke error of the pan/tilt head in each direction in the pan/tilt head offset compensation correction method according to the embodiment of the present invention.
Taking the first direction and the second direction as an example, step S1 includes:
s11, selecting a point at a position horizontally equal to the camera on the pan/tilt head as a mark point within a predetermined range, where the mark point and the pan/tilt head movement direction are as shown in fig. 2, where a central circle in fig. 2 is the mark point, a right arrow in the figure is a first direction, a left arrow in the figure is a second direction, a downward arrow is a third direction, and an upward arrow is a fourth direction;
s12, adjusting the shooting multiple of the camera to the maximum, and adjusting the position of the camera to enable the mark point to be positioned at the center of a screen picture shot by the camera;
s13, controlling the pan/tilt head to move at a first speed for a first distance along the first direction, then stop, keeping the speed unchanged, and move along the second direction until the marking point is located at the center of the screen in step S11, image-marking the point, and recording the current position of the pan/tilt head as x1, where the image-marking means adding a circle on the shot picture in an image overlapping manner, the circle storing the current horizontal angle and pitch angle of the pan/tilt head, as shown in fig. 3, adding a new test label on the basis of shooting fig. 2, the test label generating two circles, a small circle with a smaller diameter for image marking being located in the circle indicated in fig. 2, and a large circle with a larger diameter being used for position marking, where the first speed is one eighth of the lowest speed or the highest speed;
s14, controlling the holder to continue moving for a second distance along the second direction and then stop, and recording the current position of the holder as x 2;
s15, controlling the holder to move along the first direction until the image mark is matched with the real object mark, recording the current position of the holder as x3, and the return error L of the holder moving towards the second direction is the absolute value of x3-x 1;
s16, controlling the holder to move a third distance along the first direction and then stop;
and S17, controlling the holder to move along the second direction until the image mark is matched with the real object mark, recording the current position of the holder as x4, and the return error R of the holder moving towards the first direction is the absolute value of x4-x 3.
In some embodiments of the present invention, the predetermined distance is 20 meters to 30 meters, optionally, the first distance is a distance from a current position of the mark point on the image to a right side of the screen image, the second distance is a distance from the current position of the mark point on the image to a left side of the screen image, and the third distance is a distance from the current position of the mark point on the image to the right side of the screen image, where the third distance is the same as the first distance measurement, but the distances are different due to a backhaul difference.
That is, the first distance, the second distance and the third distance are only required to be the distance from the image mark to the inside of the screen when the pan/tilt head moves, and fig. 4 is a schematic diagram of the first distance.
Preferably, the physical object is marked as a label with marking information.
Therefore, the return stroke error of the reciprocating motion of the holder in the horizontal direction can be obtained through the method.
On the basis of the above method, by a similar method, the return stroke error of the reciprocating motion of the pan/tilt head in the vertical direction can be obtained. The specific method can be as follows:
s11', selecting a point at a height equal to the level of the camera on the holder as a mark point in a preset range;
s12', adjusting the shooting multiple of the camera to the maximum, and adjusting the position of the camera to enable the mark point to be positioned at the center of the screen shot by the camera;
s13 ', controlling the pan/tilt head to move at a first speed for a first distance along the third direction, then stop, keeping the speed unchanged, moving along the fourth direction until the marking point is located at the center of the screen in step S11', image-marking the point, and recording the current position of the pan/tilt head as x1, wherein the first speed is one eighth of the lowest speed or the highest speed;
s14', controlling the holder to continue moving for a second distance along the fourth direction and then stopping, and recording the current position of the holder as x 2;
s15', controlling the tripod head to move along the third direction until the image mark is matched with the real object mark, recording the current position of the tripod head as x3, and the return error D of the movement of the tripod head to the fourth direction is the absolute value of x3-x 1;
s16', controlling the holder to move a third distance along the third direction and then stop;
s17', controlling the tripod head to move along the fourth direction until the image mark is matched with the real object mark, recording the current position of the tripod head as x4, and the return error U of the movement of the tripod head towards the third direction is the absolute value of x4-x 3.
This method is similar to the above-described method of obtaining the return stroke error of the pan/tilt head in the horizontal direction, and therefore will not be described in detail.
The cradle head according to the embodiment of the invention adopts the cradle head offset compensation correction method described in the embodiment to correct. Because the cradle head offset compensation and correction method according to the above embodiment of the present invention has the above technical effects, the cradle head according to the embodiment of the present invention also has the corresponding technical effects, that is, the method for adjusting the return stroke error is simple and feasible, can quickly perform compensation after the movement direction is changed each time, reduces the accumulation of the return stroke error, and has low cost.
In addition, the present invention also provides a computer storage medium, which includes one or more computer instructions, and when executed, the one or more computer instructions implement any of the above-mentioned pan-tilt offset compensation correction methods.
That is, the computer storage medium stores a computer program that, when executed by a processor, causes the processor to execute any one of the pan/tilt/offset compensation correction methods described above.
As shown in fig. 5, an embodiment of the present invention provides an electronic device 300, which includes a memory 310 and a processor 320, where the memory 310 is configured to store one or more computer instructions, and the processor 320 is configured to call and execute the one or more computer instructions, so as to implement any one of the methods described above.
That is, the electronic device 300 includes: a processor 320 and a memory 310, in which memory 310 computer program instructions are stored, wherein the computer program instructions, when executed by the processor, cause the processor 320 to perform any of the methods described above.
Further, as shown in fig. 5, the electronic device 300 further includes a network interface 330, an input device 340, a hard disk 350, and a display device 360.
The various interfaces and devices described above may be interconnected by a bus architecture. A bus architecture may be any architecture that may include any number of interconnected buses and bridges. Various circuits of one or more Central Processing Units (CPUs), represented in particular by processor 320, and one or more memories, represented by memory 310, are coupled together. The bus architecture may also connect various other circuits such as peripherals, voltage regulators, power management circuits, and the like. It will be appreciated that a bus architecture is used to enable communications among the components. The bus architecture includes a power bus, a control bus, and a status signal bus, in addition to a data bus, all of which are well known in the art and therefore will not be described in detail herein.
The network interface 330 may be connected to a network (e.g., the internet, a local area network, etc.), and may obtain relevant data from the network and store the relevant data in the hard disk 350.
The input device 340 may receive various commands input by an operator and send the commands to the processor 320 for execution. The input device 340 may include a keyboard or a pointing device (e.g., a mouse, a trackball, a touch pad, a touch screen, or the like).
The display device 360 may display the result of the instructions executed by the processor 320.
The memory 310 is used for storing programs and data necessary for operating the operating system, and data such as intermediate results in the calculation process of the processor 320.
It will be appreciated that memory 310 in embodiments of the invention may be either volatile memory or nonvolatile memory, or may include both volatile and nonvolatile memory. The nonvolatile memory may be a Read Only Memory (ROM), a Programmable Read Only Memory (PROM), an Erasable Programmable Read Only Memory (EPROM), an Electrically Erasable Programmable Read Only Memory (EEPROM), or a flash memory. Volatile memory can be Random Access Memory (RAM), which acts as external cache memory. The memory 310 of the apparatus and methods described herein is intended to comprise, without being limited to, these and any other suitable types of memory.
In some embodiments, memory 310 stores the following elements, executable modules or data structures, or a subset thereof, or an expanded set thereof: an operating system 311 and application programs 312.
The operating system 311 includes various system programs, such as a framework layer, a core library layer, a driver layer, and the like, and is used for implementing various basic services and processing hardware-based tasks. The application programs 312 include various application programs, such as a Browser (Browser), and are used for implementing various application services. A program implementing methods of embodiments of the present invention may be included in application 312.
The method disclosed by the above embodiment of the present invention can be applied to the processor 320, or implemented by the processor 320. Processor 320 may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware or instructions in the form of software in the processor 320. The processor 320 may be a general purpose processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof, and may implement or perform the methods, steps, and logic blocks disclosed in the embodiments of the present invention. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present invention may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software module may be located in ram, flash memory, rom, prom, or eprom, registers, etc. storage media as is well known in the art. The storage medium is located in the memory 310, and the processor 320 reads the information in the memory 310 and completes the steps of the method in combination with the hardware.
It is to be understood that the embodiments described herein may be implemented in hardware, software, firmware, middleware, microcode, or any combination thereof. For a hardware implementation, the processing units may be implemented within one or more Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), Digital Signal Processing Devices (DSPDs), Programmable Logic Devices (PLDs), Field Programmable Gate Arrays (FPGAs), general purpose processors, controllers, micro-controllers, microprocessors, other electronic units designed to perform the functions described herein, or a combination thereof.
For a software implementation, the techniques described herein may be implemented with modules (e.g., procedures, functions, and so on) that perform the functions described herein. The software codes may be stored in a memory and executed by a processor. The memory may be implemented within the processor or external to the processor.
In particular, the processor 320 is also configured to read the computer program and execute any of the methods described above.
In the several embodiments provided in the present application, it should be understood that the disclosed method and apparatus may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may be physically included alone, or two or more units may be integrated into one unit. The integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.
The integrated unit implemented in the form of a software functional unit may be stored in a computer readable storage medium. The software functional unit is stored in a storage medium and includes several instructions to enable a computer device (which may be a personal computer, a server, or a network device) to execute some steps of the transceiving method according to various embodiments of the present invention. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (10)
1. A method for compensating and correcting a tilt head offset, wherein the tilt head is movable in a horizontal direction in a first direction and a second direction and in a vertical direction in a third direction and a fourth direction, the method comprising the steps of:
s1, respectively acquiring return errors R, L, U and D of the tripod head in the first direction, the second direction, the third direction and the fourth direction;
s2, receiving a first command, and obtaining a preset movement direction and a preset movement distance of the holder according to the first command;
and S3, judging whether the preset movement direction is the same as the previous movement direction of the cradle head in the corresponding horizontal direction or vertical direction, if so, not performing offset correction compensation, moving according to the preset movement distance, and if not, the movement step number of the cradle head in the preset movement direction is the return error of the preset movement distance superposed on the preset movement direction.
2. The method of claim 1, wherein the first direction is opposite the second direction and the third direction is opposite the fourth direction.
3. The method according to claim 2, wherein step S1 includes:
s11, selecting a point at a height equal to the level of the camera on the holder as a mark point in a preset range;
s12, adjusting the shooting multiple of the camera to the maximum, and adjusting the position of the camera to enable the mark point to be positioned at the center of a screen picture shot by the camera;
s13, controlling the holder to move at a first speed for a first distance along the first direction and then stop, keeping the speed unchanged, moving along the second direction until the marking point is positioned at the center position of the screen picture in the step S11, carrying out image marking on the point, and recording the current position of the holder as x 1;
s14, controlling the holder to continue moving for a second distance along the second direction and then stop, and recording the current position of the holder as x 2;
s15, controlling the holder to move along the first direction until the image mark is matched with the real object mark, recording the current position of the holder as x3, and the return error L of the holder moving towards the second direction is the absolute value of x3-x 1;
s16, controlling the holder to move a third distance along the first direction and then stop;
and S17, controlling the holder to move along the second direction until the image mark is matched with the real object mark, recording the current position of the holder as x4, and the return error R of the holder moving towards the first direction is the absolute value of x4-x 3.
4. The method according to claim 2, wherein step S1 includes:
s11', selecting a point at a height equal to the level of the camera on the holder as a mark point in a preset range;
s12', adjusting the shooting multiple of the camera to the maximum, and adjusting the position of the camera to enable the mark point to be positioned at the center of the screen shot by the camera;
s13 ', controlling the tripod head to move at a first speed for a first distance along the third direction and then stop, keeping the speed unchanged, moving along the fourth direction until the marking point is positioned at the center position of the screen picture in the step S11', carrying out image marking on the point, and recording the current position of the tripod head as x 1;
s14', controlling the holder to continue moving for a second distance along the fourth direction and then stopping, and recording the current position of the holder as x 2;
s15', controlling the tripod head to move along the third direction until the image mark is matched with the real object mark, recording the current position of the tripod head as x3, and the return error D of the movement of the tripod head to the fourth direction is the absolute value of x3-x 1;
s16', controlling the holder to move a third distance along the third direction and then stop;
s17', controlling the tripod head to move along the fourth direction until the image mark is matched with the real object mark, recording the current position of the tripod head as x4, and the return error U of the movement of the tripod head towards the third direction is the absolute value of x4-x 3.
5. A method according to claim 3 or 4, wherein the predetermined distance is 20-30 meters.
6. The method according to claim 3 or 4, wherein the first distance is a distance from a current position of the marker point on the image to a right side of the screen image, the second distance is a distance from the current position of the marker point on the image to a left side of the screen image, and the third distance is a distance from the current position of the marker point on the image to the right side of the screen image.
7. The method of claim 2, wherein the physical object is tagged with tagging information.
8. A head, characterized in that it is calibrated using the head offset compensation calibration method according to any one of claims 1 to 7.
9. A computer storage medium comprising one or more computer instructions which, when executed, implement the method of any one of claims 1-7.
10. An electronic device comprising a memory and a processor, wherein,
the memory is to store one or more computer instructions;
the processor is configured to invoke and execute the one or more computer instructions to implement the method of any one of claims 1-7.
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