WO2017045308A1 - 控制摄像设备定位的方法、装置及设备 - Google Patents

控制摄像设备定位的方法、装置及设备 Download PDF

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Publication number
WO2017045308A1
WO2017045308A1 PCT/CN2015/099688 CN2015099688W WO2017045308A1 WO 2017045308 A1 WO2017045308 A1 WO 2017045308A1 CN 2015099688 W CN2015099688 W CN 2015099688W WO 2017045308 A1 WO2017045308 A1 WO 2017045308A1
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WO
WIPO (PCT)
Prior art keywords
center position
horizontal
move
vertical
motor
Prior art date
Application number
PCT/CN2015/099688
Other languages
English (en)
French (fr)
Inventor
傅强
郝思涵
侯恩星
Original Assignee
小米科技有限责任公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 小米科技有限责任公司 filed Critical 小米科技有限责任公司
Priority to MX2017012838A priority Critical patent/MX2017012838A/es
Priority to JP2016564337A priority patent/JP6529517B2/ja
Priority to RU2017102500A priority patent/RU2671245C2/ru
Priority to KR1020177017949A priority patent/KR101862294B1/ko
Publication of WO2017045308A1 publication Critical patent/WO2017045308A1/zh

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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
    • 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
    • H04N23/66—Remote control of cameras or camera parts, e.g. by remote control devices
    • H04N23/661—Transmitting camera control signals through networks, e.g. control via the Internet
    • 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
    • H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source

Definitions

  • the present disclosure relates to the field of smart home technology, and in particular, to a method, device and device for controlling positioning of an imaging device.
  • the security camera has a narrow monitoring field of view due to its own structure.
  • a rotatable pan/tilt is added to the security camera, so that the user can adjust the area monitored by the camera by controlling the motor in the pan/tilt, thereby greatly expanding the scope of the camera monitoring.
  • the present disclosure provides a method, device and device for controlling positioning of an imaging device, which can realize positioning control of the imaging device.
  • a method of controlling positioning of an imaging apparatus comprising:
  • the motor connected to the image pickup apparatus is controlled to move in the vertical direction, and the vertical center position is determined according to the extreme position on both sides of the vertical direction movement, and the image pickup apparatus is moved to the vertical center position.
  • the method further includes:
  • the image pickup apparatus is moved according to the acquired movement instruction, and coordinate positions of the horizontal direction and the vertical direction moved by the image pickup apparatus after reaching the horizontal center position and the vertical center position are recorded.
  • the method further includes:
  • the imaging device is controlled to first move to the horizontal center position and the vertical center position, and then to the recorded horizontal position of the record and the coordinate position of the vertical direction.
  • the motor that controls the camera device is moved in a horizontal direction, and the horizontal center position is determined according to the two extreme positions that are moved in the horizontal direction, and moving the imaging device to the horizontal center position includes:
  • record the number of motor rotations move in the opposite direction, and record the cumulative motor rotation when moving to the reverse limit position.
  • the motor is moved in the opposite direction by half of the cumulative motor rotation to move the imaging device to the horizontal center position.
  • the motor that controls the camera device is vertically moved, and the vertical center position is determined according to the extreme position of the two sides moving in the vertical direction, and moving the camera device to the vertical center position includes:
  • record the number of motor rotations move in the opposite direction, and record the cumulative motor rotation when moving to the reverse limit position.
  • the motor is moved in the opposite direction by half of the cumulative motor rotation to move the imaging device to the vertical center position.
  • the moving the imaging device according to the acquired movement instruction, and recording the coordinate positions of the horizontal direction and the vertical direction that the imaging device moves after reaching the horizontal center position and the vertical center position include:
  • the coordinate positions of the horizontal and vertical directions of the movement are recorded by recording the number of motor rotations and the direction of rotation in the horizontal direction and the vertical direction.
  • the acquiring the mobile instruction from the mobile terminal or the remote controller includes:
  • an apparatus for controlling positioning of an imaging apparatus comprising:
  • a horizontal homing module configured to control a motor connected to the camera device to move in a horizontal direction, determine a horizontal center position according to the extreme position of the two sides moving in the horizontal direction, and move the imaging device to the horizontal center position;
  • a vertical homing module for controlling a vertical movement of the motor connected to the imaging device, determining a vertical center position according to the extreme position of the two sides moving in the vertical direction, and moving the imaging device to the vertical center position.
  • the device further includes:
  • an instruction processing module configured to move the imaging device according to the acquired movement instruction, and record a coordinate position of the horizontal direction and the vertical direction that the imaging device moves after reaching the horizontal center position and the vertical center position.
  • the device further includes:
  • a reset module configured to control the camera device to move to the horizontal center position and the vertical center position after detecting that the camera device is toggled, restarted, or reached a set time period, and then move to the instruction The coordinate position of the moved horizontal and vertical directions recorded by the processing module.
  • the horizontal homing module includes:
  • a first processing sub-module configured to control a motor connected to the imaging device to move horizontally to the left or to the right, and move Record the number of motor rotations when moving to the limit position, move in the opposite direction, and record the cumulative motor rotation number when moving to the reverse limit position;
  • the second processing sub-module is configured to move the imaging device to the horizontal center position by moving the motor in reverse by half of the cumulative motor rotation.
  • the vertical homing module includes:
  • a first processing sub-module for controlling a vertical or downward movement of the motor connected to the imaging device, recording the number of motor rotations when moving to the limit position, moving in the opposite direction, and moving to the reverse limit position Record the cumulative number of motor revolutions;
  • the second processing sub-module is configured to move the imaging device to the vertical center position by moving the motor in reverse by half of the cumulative motor rotation.
  • an image pickup apparatus including:
  • a cloud platform for setting a motor to drive the camera device to move
  • a micro control module configured to control the movement of the motor in a horizontal direction, determine a horizontal center position according to the extreme position of the two sides moving in the horizontal direction, move the imaging device to the horizontal center position; and control the motor to perform a vertical direction Moving, determining the vertical center position based on the extreme position of both sides moving in the vertical direction, moving the image pickup apparatus to the vertical center position.
  • the micro control module includes:
  • a horizontal homing module configured to control the movement of the motor in a horizontal direction, determine a horizontal center position according to the extreme position of the two sides moving in the horizontal direction, and move the imaging device to the horizontal center position;
  • a vertical homing module for controlling movement of the motor in a vertical direction, determining a vertical center position according to two extreme positions of movement in a vertical direction, and moving the imaging device to the vertical center position;
  • an instruction processing module configured to move the imaging device according to the acquired movement instruction, and record a coordinate position of the horizontal direction and the vertical direction that the imaging device moves after reaching the horizontal center position and the vertical center position.
  • micro control module further includes:
  • a reset module configured to control the camera device to move to the horizontal center position and the vertical center position after detecting that the camera device is toggled, restarted, or reached a set time period, and then move to the instruction The coordinate position of the moved horizontal and vertical directions recorded by the processing module.
  • a terminal device including:
  • processor executable instructions a processor and a memory for storing processor executable instructions
  • processor is configured to:
  • the motor connected to the image pickup apparatus is controlled to move in the vertical direction, and the vertical center position is determined according to the extreme position on both sides of the vertical direction movement, and the image pickup apparatus is moved to the vertical center position.
  • the present disclosure controls the movement of the motor connected to the image pickup apparatus in the horizontal direction and the vertical direction, respectively, so that the horizontal center position and the vertical center position can be determined according to the limit positions on both sides of the horizontal direction and the vertical direction, and finally the camera can be taken.
  • the device moves to the horizontal center position and the vertical center position, thereby realizing the accurate positioning of the camera device to the center position, and ensuring the accuracy of the camera device monitoring.
  • the disclosure may further move the imaging device to the target position according to the acquired instruction, and record the coordinate position of the moving horizontal direction and the vertical direction, and after detecting that the imaging device is toggled, restarted, or reaches a set time period, Determining the triggering automatic reset processing, so that the camera device can be controlled to move to the horizontal center position and the vertical center position, and then moved to the recorded horizontal position of the moving horizontal direction and the vertical direction to achieve accurate use during the use of the camera. Positioning.
  • the present disclosure can determine that the position moved by half of the cumulative motor rotation number is the center position in the horizontal direction or the vertical direction based on the recorded number of turns of the accumulated motor rotation, thereby accurately positioning the center position.
  • the camera device of the present disclosure and the mobile terminal or remote controller can be connected in various ways such as Wifi, Bluetooth or infrared.
  • FIG. 1 is a flowchart of a method of controlling positioning of an imaging apparatus, according to an exemplary embodiment of the present disclosure.
  • FIG. 2 is a flowchart of another method of controlling positioning of an imaging apparatus according to an exemplary embodiment of the present disclosure.
  • FIG. 3 is a flow chart showing another method of controlling positioning of an image pickup apparatus according to an exemplary embodiment of the present disclosure.
  • FIG. 4 is a block diagram of an apparatus for controlling positioning of an image pickup apparatus according to an exemplary embodiment of the present disclosure.
  • FIG. 5 is a block diagram of another apparatus for controlling positioning of an image pickup apparatus according to an exemplary embodiment of the present disclosure.
  • FIG. 6 is a block diagram of an image pickup apparatus according to an exemplary embodiment of the present disclosure.
  • FIG. 7 is a block diagram of a terminal device according to an exemplary embodiment of the present disclosure.
  • FIG. 8 is a block diagram showing a structure of an apparatus according to an exemplary embodiment of the present disclosure.
  • first, second, third, etc. may be used in the present disclosure to describe various information, such information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other.
  • first information may also be referred to as second information without departing from the scope of the present disclosure.
  • second information may also be referred to as first information.
  • word "if” as used herein may be interpreted as "when” or “when” or “in response to a determination.”
  • FIG. 1 is a flowchart of a method for controlling positioning of an imaging apparatus according to an exemplary embodiment of the present disclosure. The method may be used in an imaging apparatus, including the following steps:
  • step 101 the motor connected to the image pickup apparatus is controlled to move in the horizontal direction, and the horizontal center position is determined based on the both extreme limit positions moved in the horizontal direction, and the image pickup apparatus is moved to the horizontal center position.
  • the motor connected to the imaging device is controlled to move horizontally to the left or to the right direction, and when the movement to the extreme position is recorded, the number of motor rotations is recorded, and the reverse direction is moved, and when the movement to the reverse limit position is recorded, the cumulative motor rotation is recorded.
  • the number of turns causes the imaging device to move to the horizontal center position by moving the motor in reverse by half of the cumulative number of motor revolutions.
  • step 102 the motor connected to the image pickup apparatus is controlled to move in the vertical direction, and the vertical center position is determined according to the limit position on both sides of the vertical direction movement, and the image pickup apparatus is moved to the vertical center position.
  • the motor connected to the image pickup apparatus is controlled to move vertically upward or downward, and when the movement to the limit position is recorded, the number of motor rotation turns is recorded, and the reverse direction is moved, and when the shift to the reverse limit position, the cumulative motor rotation is recorded.
  • the number of turns causes the imaging device to move to the vertical center position by moving the motor in reverse by half the cumulative number of motor revolutions.
  • steps 101 and 102 have no necessary order relationship, whether it is moved to the horizontal center position or moved to the vertical center position first, as long as the camera can be moved to the center position.
  • the present disclosure determines the horizontal center position and the vertical center by controlling the movement of the motor connected to the image pickup apparatus in the horizontal direction and the vertical direction, respectively, so as to be movable according to the horizontal direction and the vertical direction.
  • the camera device can be moved to the horizontal center position and the vertical center position, thereby realizing the accurate positioning of the camera device to the center position, and ensuring the accuracy of the camera device monitoring.
  • FIG. 2 is a flowchart of another method of controlling positioning of an imaging apparatus according to an exemplary embodiment of the present disclosure.
  • the method can be used in an imaging device, including the following steps:
  • step 201 the motor connected to the image pickup apparatus is controlled to move in the horizontal direction, and the horizontal center position is determined according to the limit position on both sides of the horizontal direction movement, and the image pickup apparatus is moved to the horizontal center position.
  • step 101 For the step, refer to the description of step 101, and details are not described herein again.
  • step 202 the motor connected to the image pickup apparatus is controlled to move in the vertical direction, and the vertical center position is determined according to the limit position on both sides of the vertical direction movement, and the image pickup apparatus is moved to the vertical center position.
  • step 102 For the step, refer to the description of step 102, and details are not described herein again.
  • step 203 the imaging apparatus is moved according to the acquired movement instruction, and the coordinate positions of the horizontal direction and the vertical direction moved by the imaging apparatus after reaching the horizontal center position and the vertical center position are recorded.
  • the obtaining the mobile instruction from the mobile terminal or the remote controller includes: acquiring a mobile instruction transmitted by the mobile terminal or the remote controller through a Wifi, Bluetooth or infrared connection.
  • step 204 after detecting that the imaging device is toggled, restarted, or reaches a set time period, the camera device is controlled to move to the horizontal center position and the vertical center position, and then move to the record.
  • the coordinate position of the horizontal and vertical directions of the movement is controlled to move to the horizontal center position and the vertical center position, and then move to the record.
  • the set time period of this step can be set by day or hour, such as every few days or every few hours.
  • the camera device can be moved to the target position according to the acquired instruction, and the coordinate positions of the horizontal direction and the vertical direction of the movement are recorded. And after detecting that the imaging device is toggled, restarted, or reaches a set time period, determining to trigger an automatic reset process, thereby controlling the camera device to first move to a horizontal center position and a vertical center position, and then move to The recorded horizontal position of the moving direction and the coordinate position of the vertical direction enable precise positioning during use of the camera.
  • FIG. 3 is a flow chart showing another method of controlling positioning of an image pickup apparatus according to an exemplary embodiment of the present disclosure.
  • the method can be used in an image capturing device, and the camera device can be a smart camera equipped with a pan/tilt to adjust its monitoring position through a mobile phone APP, wherein the pan/tilt is provided with motors for controlling horizontal and vertical movements respectively.
  • the method includes the following steps:
  • step 301 the camera of the control camera is moved to a center position in the horizontal direction.
  • the MCU Micro Controller Unit
  • the MCU controls the horizontal motor to move from right to left.
  • the limit switch of the pan/tilt is triggered, notifying the MCU that it is no longer able to move to the left.
  • the MCU controls the motor to rotate to the right and counts the number of turns of the motor.
  • the MCU records the number of turns N(x) at which the accumulated motor has been rotated.
  • the MCU controls the motor to move from right to left N (x). After stopping the horizontal direction after 2 laps, the camera of the camera is at the center of the horizontal direction.
  • step 302 the camera controlling the camera is moved to a central position in the vertical direction.
  • the MCU positions the camera of the camera to the center position in the vertical direction in a manner similar to step 301.
  • This step includes:
  • the MCU controls the horizontal direction of the motor to move from bottom to top first.
  • the limit switch of the pan/tilt is triggered, notifying the MCU that it is unable to continue moving upward.
  • the MCU controls the motor to rotate downward and count the number of turns of the motor.
  • the MCU records the number of turns N(x) at which the accumulated motor has been rotated.
  • the MCU controls the motor to move from top to bottom N ( After the x)/2 number of turns, the vertical movement is stopped, and the camera of the camera is at the center of the vertical direction.
  • steps 301 and 302 are first moved to the center position in the horizontal direction, and then moved to the center position in the vertical direction, but are not limited thereto, and may be moved to the vertical direction first. At the center position, move to the center position in the horizontal direction as long as the camera can be moved to the center position.
  • step 303 the receiving command controls the camera to move in a horizontal or vertical direction, and records the number of turns and the direction of rotation that the motor is currently turning as the coordinate position of the movement.
  • the camera can receive the user's movement through a mobile terminal such as a mobile phone or another remote control.
  • a mobile terminal such as a mobile phone or another remote control.
  • a chip or module supporting Wifi, Bluetooth or infrared connection is set in the camera, and the mobile terminal or remote controller can establish a connection through a Wifi, Bluetooth or infrared connection camera and transmit a movement instruction.
  • the MCU controls the camera to move in the horizontal or vertical direction according to the received command, it records the number of turns and the direction of rotation of the motor that controls the horizontal motion and the motor that controls the vertical motion.
  • the user sets the camera of the camera to move from point A to point B through the APP of the mobile phone.
  • the MCU controls the camera to move from the point A to the point B, and records the horizontal motion motor. And the number of turns and the direction of rotation of the motor that is moving vertically and transmits the data to the mobile APP.
  • the data can be further transmitted to the server, and the server sets a storage area for storing the surveillance video captured by the camera, and can send the storage address to the mobile phone, so that the surveillance video is viewed on the mobile phone according to the storage address.
  • the above records the number of turns and the direction of rotation of the motor.
  • the number of turns and the direction are taken as coordinates, the coordinates at the center position are 0, the coordinates to the left and down are negative, and the coordinates to the right and up are rotated. It is positive.
  • step 304 after detecting that the camera is toggled, restarted, or reached a set time period, the control camera performs an automatic reset, and drives the motor to perform position adjustment according to the recorded coordinate position.
  • the camera restarts, or reaches a set period of time, the camera is triggered to perform a reset process.
  • the MCU control camera first performs the automatic position reset process in steps 301 and 302, and then drives the motor to perform position adjustment according to the movement position recorded in step 303.
  • the automatic position reset process refer to the description of steps 301 and 302, and details are not described herein again.
  • the camera will be triggered to perform reset processing and restore the original monitoring position and status. After the camera is restarted for various reasons, it is generally necessary to restore to the original monitoring position and state, and thus the camera is also triggered to perform a reset process. In addition, it is also possible to set a periodic reset process, for example, triggering the execution of the reset process every few days, etc., and the present disclosure is not limited.
  • the present disclosure provides a processing method for automatically positioning to a center position when the camera is started, and an automatic reset calibration processing method during use. Then, during the use of the smart camera, when the user twists the camera of the camera and causes the camera to judge the angle error, for example, the loop monitoring of the point A to point B is originally set, and the angle of the camera is twisted to cause the monitored area to be no longer accurate.
  • the present disclosure solves the problem by automatic calibration of the camera. Once the user is detected to manually move the camera, the reset process is triggered, and the camera is accurately positioned by automatically positioning to the center position and then moving to the recorded position in two stages, thereby improving the camera monitoring and care screen. The accuracy.
  • the present disclosure also provides an apparatus for controlling positioning of an imaging apparatus and an embodiment of a corresponding terminal.
  • FIG. 4 is a block diagram of an apparatus for controlling positioning of an image pickup apparatus according to an exemplary embodiment of the present disclosure.
  • the device for controlling the positioning of the imaging device includes a horizontal homing module 401 and a vertical homing module 402.
  • a horizontal homing module 401 configured to control a motor connected to the imaging device to move in a horizontal direction, according to a horizontal
  • a horizontal center position is determined to the extreme position of the two sides of the movement, and the imaging apparatus is moved to the horizontal center position.
  • a vertical homing module 402 configured to control a vertical movement of the motor connected to the imaging device, determine a vertical center position according to the extreme position of the two sides moving in the vertical direction, and move the imaging device to the vertical center position .
  • the present disclosure performs horizontal and vertical movements of the motor connected to the image pickup apparatus, respectively, so that the horizontal center position and the vertical center position can be determined according to the limit positions on both sides of the horizontal direction and the vertical direction.
  • the camera device can be moved to the horizontal center position and the vertical center position, thereby realizing the accurate positioning of the camera device to the center position, and ensuring the accuracy of the camera device monitoring.
  • FIG. 5 is a block diagram of another apparatus for controlling positioning of an imaging apparatus according to an exemplary embodiment of the present disclosure.
  • the device for controlling the positioning of the imaging device includes: a horizontal homing module 401, a vertical homing module 402, an instruction processing module 403, and a reset module 404.
  • the instruction processing module 403 is configured to move the imaging device according to the acquired movement instruction, and record a coordinate position of the horizontal direction and the vertical direction that the imaging device moves after reaching the horizontal center position and the vertical center position.
  • a reset module 404 configured to control the camera device to move to the horizontal center position and the vertical center position after detecting that the image capturing device is toggled, restarted, or reached a set time period, and then move to the The moved coordinate position of the horizontal direction and the vertical direction recorded by the instruction processing module 403.
  • the horizontal homing module 401 includes: a first processing submodule 4011 and a second processing submodule 4012.
  • the first processing sub-module 4011 is configured to control the movement of the motor connected to the imaging device to move horizontally to the left or right direction, record the number of rotations of the motor when moving to the limit position, and move in the opposite direction to move to the reverse limit position. The cumulative number of motor revolutions is recorded.
  • the second processing sub-module 4012 is configured to move the imaging device to the horizontal center position by moving the motor in reverse by half of the cumulative motor rotation.
  • the vertical homing module 402 includes: a first processing sub-module 4021 and a second processing sub-module 4022.
  • the first processing sub-module 4021 is configured to control the vertical or downward movement of the motor connected to the imaging device, record the number of motor rotations when moving to the limit position, move in the opposite direction, and move to the reverse limit position. The cumulative number of motor revolutions is recorded.
  • the second processing sub-module 4022 is configured to move the imaging device to the vertical center position by moving the motor in reverse by half of the cumulative motor rotation.
  • the instruction processing module 403 includes an instruction acquisition submodule 4031, an execution movement submodule 4032, and a recording movement submodule 4033.
  • An instruction acquisition submodule 4031 configured to acquire a move instruction from a mobile terminal or a remote controller, wherein the movement The instructions include the target location of the move.
  • the instruction acquisition sub-module 4031 is to acquire a mobile instruction transmitted by the mobile terminal or the remote controller through a Wifi, Bluetooth or infrared connection.
  • the moving submodule 4032 is configured to acquire the target position acquired by the submodule 4031 according to the instruction, and move the imaging device to the target position from the horizontal center position and the vertical center position.
  • the recording movement sub-module 4033 is configured to record the coordinate positions of the horizontal direction and the vertical direction of the image pickup apparatus to which the moving sub-module 4032 is moved by recording the number of motor rotations and the direction of rotation in the horizontal direction and the vertical direction.
  • the camera device can be moved to the target position according to the acquired instruction, and the coordinate positions of the horizontal direction and the vertical direction of the movement are recorded. And after detecting that the imaging device is toggled, restarted, or reaches a set time period, determining to trigger an automatic reset process, thereby controlling the camera device to first move to a horizontal center position and a vertical center position, and then move to The recorded horizontal position of the moving direction and the coordinate position of the vertical direction enable precise positioning during use of the camera.
  • FIG. 6 is a block diagram of an image pickup apparatus according to an exemplary embodiment of the present disclosure.
  • the imaging apparatus includes: a cloud platform 601 and a micro control module 602.
  • PTZ 601 is used to set the motor to drive the camera device to move.
  • a micro control module 602 configured to control movement of the motor in a horizontal direction, determine a horizontal center position according to two extreme position positions moving in a horizontal direction, move the imaging device to the horizontal center position; and control the motor to perform a vertical direction The movement, the vertical position on both sides of the movement in the vertical direction determines the vertical center position, and moves the image pickup apparatus to the vertical center position.
  • the structure of the micro control module 602 can be referred to the description of FIG. 5, including: a horizontal homing module, a vertical homing module, an instruction processing module, and a reset module (not shown in FIG. 6).
  • the horizontal homing module is configured to control the movement of the motor in a horizontal direction, determine a horizontal center position according to the extreme position of the two sides moving in the horizontal direction, and move the imaging device to the horizontal center position.
  • a vertical homing module for controlling the movement of the motor in a vertical direction, determining a vertical center position according to the extreme position of the two sides moving in the vertical direction, and moving the imaging device to the vertical center position.
  • an instruction processing module configured to move the imaging device according to the acquired movement instruction, and record a coordinate position of the horizontal direction and the vertical direction that the imaging device moves after reaching the horizontal center position and the vertical center position.
  • a reset module configured to control the camera device to move to the horizontal center position and the vertical center position after detecting that the camera device is toggled, restarted, or reached a set time period, and then move to the instruction The coordinate position of the moved horizontal and vertical directions recorded by the processing module.
  • the present disclosure controls the movement of the motor connected to the image pickup apparatus in the horizontal direction and the vertical direction, respectively, so that the horizontal center position and the vertical position can be determined according to the limit positions on both sides of the horizontal direction and the vertical direction.
  • the camera device In the straight center position, the camera device can be finally moved to the horizontal center position and the vertical center position, thereby realizing the accurate positioning of the camera device to the center position, and ensuring the accuracy of the camera device monitoring.
  • the device embodiment since it basically corresponds to the method embodiment, reference may be made to the partial description of the method embodiment.
  • the device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separate, and the components displayed as units may or may not be physical units, ie may be located A place, or it can be distributed to multiple network units. Some or all of the modules may be selected according to actual needs to achieve the objectives of the present disclosure. Those of ordinary skill in the art can understand and implement without any creative effort.
  • the present disclosure also provides a terminal.
  • FIG. 7 is a block diagram of a terminal device according to an exemplary embodiment of the present disclosure.
  • the terminal device includes: a processor 701 and a memory 702 for storing processor-executable instructions;
  • the processor 701 is configured to:
  • the motor connected to the image pickup apparatus is controlled to move in the vertical direction, and the vertical center position is determined according to the extreme position on both sides of the vertical direction movement, and the image pickup apparatus is moved to the vertical center position.
  • the processor 701 is further configured to execute other programs stored in the memory 702.
  • FIG. 8 is a structural block diagram of an apparatus according to an exemplary embodiment of the present disclosure.
  • device 800 can be a mobile phone, a computer, a digital broadcast terminal, a messaging device, a gaming console, a tablet device, a medical device, a fitness device, a personal digital assistant, and the like.
  • device 800 can include one or more of the following components: processing component 802, memory 804, power component 806, multimedia component 808, audio component 810, input/output (I/O) interface 88, sensor component 814, And a communication component 816.
  • Processing component 802 typically controls the overall operation of device 800, such as operations associated with display, telephone calls, data communications, camera operations, and recording operations.
  • Processing component 802 can include one or more processors 820 to execute instructions to perform all or part of the steps of the above described methods.
  • processing component 802 can include one or more modules to facilitate interaction between component 802 and other components.
  • processing component 802 can include a multimedia module to facilitate interaction between multimedia component 808 and processing component 802.
  • Memory 804 is configured to store various types of data to support operation at device 800. Examples of such data include instructions for any application or method operating on device 800, contact data, phone book data, messages, pictures, videos, and the like.
  • the memory 804 can be implemented by any type of volatile or non-volatile storage device, or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read only memory (EEPROM), erasable.
  • SRAM static random access memory
  • EEPROM electrically erasable programmable read only memory
  • EPROM Electrically erasable programmable read only memory
  • PROM Programmable Read Only Memory
  • ROM Read Only Memory
  • Magnetic Memory Flash Memory
  • Disk Disk or Optical Disk.
  • Power component 806 provides power to various components of device 800.
  • Power component 806 can include a power management system, one or more power sources, and other components associated with generating, managing, and distributing power for device 800.
  • the multimedia component 808 includes a screen between the device 800 and the user that provides an output interface.
  • the screen can include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen can be implemented as a touch screen to receive input signals from the user.
  • the touch panel includes one or more touch sensors to sense touches, slides, and gestures on the touch panel. The touch sensor may sense not only the boundary of the touch or sliding action, but also the duration and pressure associated with the touch or slide operation.
  • the multimedia component 808 includes a front camera and/or a rear camera. When the device 800 is in an operation mode, such as a shooting mode or a video mode, the front camera and/or the rear camera can receive external multimedia data. Each front and rear camera can be a fixed optical lens system or have focal length and optical zoom capabilities.
  • the audio component 810 is configured to output and/or input an audio signal.
  • the audio component 810 includes a microphone (MIC) that is configured to receive an external audio signal when the device 800 is in an operational mode, such as a call mode, a recording mode, and a voice recognition mode.
  • the received audio signal may be further stored in memory 804 or transmitted via communication component 816.
  • the audio component 810 also includes a speaker for outputting an audio signal.
  • the I/O interface 88 provides an interface between the processing component 802 and the peripheral interface module, which may be a keyboard, a click wheel, a button, or the like. These buttons may include, but are not limited to, a home button, a volume button, a start button, and a lock button.
  • Sensor assembly 814 includes one or more sensors for providing device 800 with a status assessment of various aspects.
  • sensor component 814 can detect an open/closed state of device 800, a relative positioning of components, such as the display and keypad of device 800, and sensor component 814 can also detect a change in position of one component of device 800 or device 800. The presence or absence of user contact with device 800, device 800 orientation or acceleration/deceleration, and temperature variation of device 800.
  • Sensor assembly 814 can include a proximity sensor configured to detect the presence of nearby objects without any physical contact.
  • Sensor component 814 can also include a light sensor, such as CMOS Or CCD image sensor for use in imaging applications.
  • the sensor assembly 814 can also include an acceleration sensor, a gyro sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.
  • Communication component 816 is configured to facilitate wired or wireless communication between device 800 and other devices.
  • Device 800 can access a wireless network based on a communication standard, such as WiFi, 2G or 3G, or a combination thereof.
  • communication component 816 receives broadcast signals or broadcast associated information from an external broadcast management system via a broadcast channel.
  • the communication component 816 also includes a near field communication (NFC) module to facilitate short range communication.
  • NFC near field communication
  • the NFC module can be implemented based on radio frequency identification (RFID) technology, infrared data association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology, and other technologies.
  • RFID radio frequency identification
  • IrDA infrared data association
  • UWB ultra-wideband
  • Bluetooth Bluetooth
  • device 800 may be implemented by one or more application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable A gate array (FPGA), controller, microcontroller, microprocessor, or other electronic component implementation for performing the above methods.
  • ASICs application specific integrated circuits
  • DSPs digital signal processors
  • DSPDs digital signal processing devices
  • PLDs programmable logic devices
  • FPGA field programmable A gate array
  • controller microcontroller, microprocessor, or other electronic component implementation for performing the above methods.
  • non-transitory computer readable storage medium comprising instructions, such as a memory 804 comprising instructions executable by processor 820 of device 800 to perform the above method.
  • the non-transitory computer readable storage medium may be a ROM, a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, and an optical data storage device.
  • a non-transitory computer readable storage medium when instructions in the storage medium are executed by a processor of a terminal, enabling a terminal to perform a method of controlling positioning of an imaging device, the method comprising:
  • the motor connected to the image pickup apparatus is controlled to move in the vertical direction, and the vertical center position is determined according to the extreme position on both sides of the vertical direction movement, and the image pickup apparatus is moved to the vertical center position.

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  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Human Computer Interaction (AREA)
  • Studio Devices (AREA)
  • Combined Controls Of Internal Combustion Engines (AREA)
  • Telephone Function (AREA)
  • Selective Calling Equipment (AREA)

Abstract

本公开是一种关于控制摄像设备定位的方法、装置及设备。所述方法包括：控制与摄像设备连接的马达进行水平方向的移动，根据水平方向移动的两侧极限位置确定水平中心位置，将摄像设备移动到所述水平中心位置；控制与摄像设备连接的马达进行竖直方向的移动，根据竖直方向移动的两侧极限位置确定竖直中心位置，将摄像设备移动到所述竖直中心位置。应用本公开实施例，能实现对摄像设备的定位控制。

Description

控制摄像设备定位的方法、装置及设备
相关申请的交叉引用
本申请基于申请号为201510595608.8、申请日为2015年09月17日的中国专利申请提出，并要求该中国专利申请的优先权，该中国专利申请的全部内容在此引入本申请作为参考。
技术领域
本公开涉及智能家居技术领域，尤其涉及控制摄像设备定位的方法、装置及设备。
背景技术
目前市场上有各种各样的摄像设备，用于实现摄像和监控。安防摄像机作为摄像设备中的一种，由于自身结构的原因，监控视野范围比较窄。相关技术中为安防摄像机增加了可转动的云台，使得用户可以通过控制云台中的马达来调整摄像机监控的区域，进而大大拓展了摄像机监控的范围。
发明内容
本公开提供了控制摄像设备定位的方法、装置及设备，能实现对摄像设备的定位控制。
根据本公开实施例的第一方面，提供一种控制摄像设备定位的方法，所述方法包括：
控制与摄像设备连接的马达进行水平方向的移动，根据水平方向移动的两侧极限位置确定水平中心位置，将摄像设备移动到所述水平中心位置；
控制与摄像设备连接的马达进行竖直方向的移动，根据竖直方向移动的两侧极限位置确定竖直中心位置，将摄像设备移动到所述竖直中心位置。
可选的，所述方法还包括：
根据获取的移动指令移动所述摄像设备，并记录所述摄像设备在到达所述水平中心位置和竖直中心位置后所移动的水平方向和竖直方向的坐标位置。
可选的，所述方法还包括：
在检测到所述摄像设备被拨动、重启或到达设定时间周期后，
控制所述摄像设备先移动到所述水平中心位置和竖直中心位置，再移动到所述记录的所移动的水平方向和竖直方向的坐标位置。
可选的，所述控制与摄像设备连接的马达进行水平方向的移动，根据水平方向移动的两侧极限位置确定水平中心位置，将摄像设备移动到所述水平中心位置包括：
控制与摄像设备连接的马达进行水平向左或向右方向的移动，移动到极限位置时记录马达转动圈数，进行反方向移动，移动到反向的极限位置时记录累计马达转动圈数，通过将所述马达按累计马达转动圈数的一半再进行反向移动而使摄像设备移动到达水平中心位置。
可选的，所述控制与摄像设备连接的马达进行竖直方向的移动，根据竖直方向移动的两侧极限位置确定竖直中心位置，将摄像设备移动到所述竖直中心位置包括：
控制与摄像设备连接的马达进行竖直向上或向下方向的移动，移动到极限位置时记录马达转动圈数，进行反方向移动，移动到反向的极限位置时记录累计马达转动圈数，通过将所述马达按累计马达转动圈数的一半再进行反向移动而使摄像设备移动到达竖直中心位置。
可选的，所述根据获取的移动指令移动所述摄像设备，并记录所述摄像设备在到达所述水平中心位置和竖直中心位置后所移动的水平方向和竖直方向的坐标位置包括：
获取来自移动终端或遥控器的移动指令，其中所述移动指令包括移动的目标位置；
根据所述目标位置，从所述水平中心位置和竖直中心位置移动所述摄像设备到目标位置；
通过记录水平方向和竖直方向的马达转动圈数和转动的方向来记录所移动的水平方向和竖直方向的坐标位置。
可选的，所述获取来自移动终端或遥控器的移动指令包括：
获取来自移动终端或遥控器通过Wifi、蓝牙或红外连接所传输的移动指令。
根据本公开实施例的第二方面，提供一种控制摄像设备定位的装置，所述装置包括：
水平归位模块，用于控制与摄像设备连接的马达进行水平方向的移动，根据水平方向移动的两侧极限位置确定水平中心位置，将摄像设备移动到所述水平中心位置；
竖直归位模块，用于控制与摄像设备连接的马达进行竖直方向的移动，根据竖直方向移动的两侧极限位置确定竖直中心位置，将摄像设备移动到所述竖直中心位置。
可选的，所述装置还包括：
指令处理模块，用于根据获取的移动指令移动所述摄像设备，并记录所述摄像设备在到达所述水平中心位置和竖直中心位置后所移动的水平方向和竖直方向的坐标位置。
可选的，所述装置还包括：
复位模块，用于在检测到所述摄像设备被拨动、重启或到达设定时间周期后，控制所述摄像设备先移动到所述水平中心位置和竖直中心位置，再移动到所述指令处理模块所记录的所移动的水平方向和竖直方向的坐标位置。
可选的，所述水平归位模块包括：
第一处理子模块，用于控制与摄像设备连接的马达进行水平向左或向右方向的移动，移 动到极限位置时记录马达转动圈数，进行反方向移动，移动到反向的极限位置时记录累计马达转动圈数；
第二处理子模块，用于通过将所述马达按累计马达转动圈数的一半再进行反向移动而使摄像设备移动到达水平中心位置。
可选的，所述竖直归位模块包括：
第一处理子模块，用于控制与摄像设备连接的马达进行竖直向上或向下方向的移动，移动到极限位置时记录马达转动圈数，进行反方向移动，移动到反向的极限位置时记录累计马达转动圈数；
第二处理子模块，用于通过将所述马达按累计马达转动圈数的一半再进行反向移动而使摄像设备移动到达竖直中心位置。
根据本公开实施例的第三方面，提供一种摄像设备，包括：
云台，用于设置马达带动摄像设备进行移动；
微控制模块，用于控制所述马达进行水平方向的移动，根据水平方向移动的两侧极限位置确定水平中心位置，将摄像设备移动到所述水平中心位置；控制所述马达进行竖直方向的移动，根据竖直方向移动的两侧极限位置确定竖直中心位置，将摄像设备移动到所述竖直中心位置。
可选的，所述微控制模块包括：
水平归位模块，用于控制所述马达进行水平方向的移动，根据水平方向移动的两侧极限位置确定水平中心位置，将摄像设备移动到所述水平中心位置；
竖直归位模块，用于控制所述马达进行竖直方向的移动，根据竖直方向移动的两侧极限位置确定竖直中心位置，将摄像设备移动到所述竖直中心位置；
指令处理模块，用于根据获取的移动指令移动所述摄像设备，并记录所述摄像设备在到达所述水平中心位置和竖直中心位置后所移动的水平方向和竖直方向的坐标位置。
可选的，所述微控制模块还包括：
复位模块，用于在检测到所述摄像设备被拨动、重启或到达设定时间周期后，控制所述摄像设备先移动到所述水平中心位置和竖直中心位置，再移动到所述指令处理模块所记录的所移动的水平方向和竖直方向的坐标位置。
根据本公开实施例的第四方面，提供一种终端设备，包括：
处理器和用于存储处理器可执行指令的存储器；
其中，所述处理器被配置为：
控制与摄像设备连接的马达进行水平方向的移动，根据水平方向移动的两侧极限位置确 定水平中心位置，将摄像设备移动到所述水平中心位置；
控制与摄像设备连接的马达进行竖直方向的移动，根据竖直方向移动的两侧极限位置确定竖直中心位置，将摄像设备移动到所述竖直中心位置。
本公开的实施例提供的技术方案可以包括以下有益效果：
本公开通过控制与摄像设备连接的马达分别进行水平方向和竖直方向的移动，从而可根据水平方向和竖直方向移动的两侧极限位置确定水平中心位置和竖直中心位置，最后可将摄像设备移动到水平中心位置和竖直中心位置，从而实现控制摄像设备准确定位到中心位置，保证摄像设备监控的准确性。
本公开还可以根据获取的指令移动摄像设备到目标位置，并记录移动的水平方向和竖直方向的坐标位置，而在检测到所述摄像设备被拨动、重启或到达设定时间周期后，确定触发自动复位处理，从而可控制所述摄像设备先移动到水平中心位置和竖直中心位置，再移动到记录的所移动的水平方向和竖直方向的坐标位置，实现摄像机使用过程中的精确定位。
本公开可以根据记录的累计马达已转动的圈数，确定按累计马达转动圈数的一半所移动的位置是水平方向或竖直方向的中心位置，从而精确定位中心位置。
本公开的摄像设备与移动终端或遥控器可以通过Wifi、蓝牙或红外等多种方式连接。
应当理解的是，以上的一般描述和后文的细节描述仅是示例性和解释性的，并不能限制本公开。
附图说明
此处的附图被并入说明书中并构成本说明书的一部分，示出了符合本公开的实施例，并与说明书一起用于解释本公开的原理。
图1是本公开根据一示例性实施例示出的控制摄像设备定位的方法的流程图。
图2是本公开根据一示例性实施例示出的另一种控制摄像设备定位的方法的流程图。
图3是本公开根据一示例性实施例示出的另一种控制摄像设备定位的方法的流程图。
图4是本公开根据一示例性实施例示出的一种控制摄像设备定位的装置的框图。
图5是本公开根据一示例性实施例示出的另一种控制摄像设备定位的装置的框图。
图6是本公开根据一示例性实施例示出的一种摄像设备的框图。
图7是本公开根据一示例性实施例示出的一种终端设备的框图。
图8是本公开根据一示例性实施例示出的一种设备的一结构的框图。
具体实施方式
这里将详细地对示例性实施例进行说明，其示例表示在附图中。下面的描述涉及附图时，除非另有表示，不同附图中的相同数字表示相同或相似的要素。以下示例性实施例中所描述的实施方式并不代表与本公开相一致的所有实施方式。相反，它们仅是与如所附权利要求书中所详述的、本公开的一些方面相一致的装置和方法的例子。
在本公开使用的术语是仅仅出于描述特定实施例的目的，而非旨在限制本公开。在本公开和所附权利要求书中所使用的单数形式的“一种”、“所述”和“该”也旨在包括多数形式，除非上下文清楚地表示其他含义。还应当理解，本文中使用的术语“和/或”是指并包含一个或多个相关联的列出项目的任何或所有可能组合。
应当理解，尽管在本公开可能采用术语第一、第二、第三等来描述各种信息，但这些信息不应限于这些术语。这些术语仅用来将同一类型的信息彼此区分开。例如，在不脱离本公开范围的情况下，第一信息也可以被称为第二信息，类似地，第二信息也可以被称为第一信息。取决于语境，如在此所使用的词语“如果”可以被解释成为“在……时”或“当……时”或“响应于确定”。
图1是本公开根据一示例性实施例示出的一种控制摄像设备定位的方法的流程图，该方法可以用于摄像设备中，包括以下步骤：
在步骤101中，控制与摄像设备连接的马达进行水平方向的移动，根据水平方向移动的两侧极限位置确定水平中心位置，将摄像设备移动到所述水平中心位置。
该步骤中，控制与摄像设备连接的马达进行水平向左或向右方向的移动，移动到极限位置时记录马达转动圈数，进行反方向移动，移动到反向的极限位置时记录累计马达转动圈数，通过将所述马达按累计马达转动圈数的一半再进行反向移动而使摄像设备移动到达水平中心位置。
在步骤102中，控制与摄像设备连接的马达进行竖直方向的移动，根据竖直方向移动的两侧极限位置确定竖直中心位置，将摄像设备移动到所述竖直中心位置。
该步骤中，控制与摄像设备连接的马达进行竖直向上或向下方向的移动，移动到极限位置时记录马达转动圈数，进行反方向移动，移动到反向的极限位置时记录累计马达转动圈数，通过将所述马达按累计马达转动圈数的一半再进行反向移动而使摄像设备移动到达竖直中心位置。
需说明的是，上述步骤101和102没有必然的顺序关系，无论是先移动到水平中心位置还是先移动到竖直中心位置都可以，只要能实现摄像机移动到中心位置处即可。
由该实施例可见，本公开通过控制与摄像设备连接的马达分别进行水平方向和竖直方向的移动，从而可根据水平方向和竖直方向移动的两侧极限位置确定水平中心位置和竖直中心 位置，最后可将摄像设备移动到水平中心位置和竖直中心位置，从而实现控制摄像设备准确定位到中心位置，保证摄像设备监控的准确性。
图2是本公开根据一示例性实施例示出的另一种控制摄像设备定位的方法的流程图。
该方法可以用于摄像设备中，包括以下步骤：
在步骤201中，控制与摄像设备连接的马达进行水平方向的移动，根据水平方向移动的两侧极限位置确定水平中心位置，将摄像设备移动到所述水平中心位置。
该步骤可参见步骤101的描述，此处不再赘述。
在步骤202中，控制与摄像设备连接的马达进行竖直方向的移动，根据竖直方向移动的两侧极限位置确定竖直中心位置，将摄像设备移动到所述竖直中心位置。
该步骤可参见步骤102的描述，此处不再赘述。
在步骤203中，根据获取的移动指令移动所述摄像设备，并记录所述摄像设备在到达所述水平中心位置和竖直中心位置后所移动的水平方向和竖直方向的坐标位置。
该步骤中，获取来自移动终端或遥控器的移动指令，其中所述移动指令包括移动的目标位置；根据所述目标位置，从所述水平中心位置和竖直中心位置移动所述摄像设备到目标位置；通过记录水平方向和竖直方向的马达转动圈数和转动的方向来记录所移动的水平方向和竖直方向的坐标位置。
其中获取来自移动终端或遥控器的移动指令包括：获取来自移动终端或遥控器通过Wifi、蓝牙或红外连接所传输的移动指令。
在步骤204中，在检测到所述摄像设备被拨动、重启或到达设定时间周期后，控制所述摄像设备先移动到所述水平中心位置和竖直中心位置，再移动到所述记录的所移动的水平方向和竖直方向的坐标位置。
该步骤的设定时间周期，可以按天或小时进行设置，例如每隔多少天或每隔多少小时。
由该实施例可见，本公开通过马达控制摄像设备到达水平方向和竖直方向的中心位置后，可根据获取的指令移动摄像设备到目标位置，并记录移动的水平方向和竖直方向的坐标位置，而在检测到所述摄像设备被拨动、重启或到达设定时间周期后，确定触发自动复位处理，从而可控制所述摄像设备先移动到水平中心位置和竖直中心位置，再移动到记录的所移动的水平方向和竖直方向的坐标位置，实现摄像机使用过程中的精确定位。
图3是本公开根据一示例性实施例示出的另一种控制摄像设备定位的方法的流程图。
该方法可以用于摄像设备中，摄像设备可以是一款配置了云台的可通过手机APP调节其监控位置的智能摄像机，其中云台中设置了分别控制水平和竖直两个方向运动的马达。
该方法包括以下步骤：
在步骤301中，控制摄像机的摄像头移动到处于水平方向的中心位置处。
摄像机在启动时，摄像机中的MCU(Micro controller Unit，微控制模块)控制水平方向的马达首先自右至左运动。当马达转动至左侧极限位置处，云台的限位开关被触发，通知MCU已无法继续向左移动。收到通知后，MCU控制马达向右转动并统计马达转动的圈数。当马达运动到最右侧极限位置触发限位开关后，MCU记下此时累计的马达已转动的圈数N(x)。根据记录的累计马达已转动的圈数N(x)，可以知道转动N(x)/2圈数所移动的位置是水平方向的中心位置，因此MCU再控制马达从右至左运动N(x)/2圈数后停止水平方向的运动，此刻摄像机的摄像头处于水平方向的中心位置处。
需说明的是，上述是以控制水平方向的马达首先自右至左运动举例说明，也可以是控制水平方向的马达首先自左至右运动，原理是类似的。
在步骤302中，控制摄像机的摄像头移动到处于竖直方向的中心位置处。
该步骤中，MCU按照类似步骤301的方法将摄像机的摄像头定位至竖直方向的中心位置处。该步骤包括：
MCU控制水平方向的马达首先自下至上运动。当马达转动至上侧极限位置处，云台的限位开关被触发，通知MCU已无法继续向上移动。收到通知后，MCU控制马达向下转动并统计马达转动的圈数。当马达运动到最下侧极限位置触发限位开关后，MCU记下此时累计的马达已转动的圈数N(x)。根据记录的累计马达已转动的圈数N(x)，可以知道转动N(x)/2圈数所移动的位置是竖直方向的中心位置，因此MCU再控制马达从上至下运动N(x)/2圈数后停止竖直方向的运动，此刻摄像机的摄像头处于竖直方向的中心位置处。
需说明的是，上述是以控制水平方向的马达首先自下至上运动举例说明，也可以是控制水平方向的马达首先自上至下运动，原理是类似的。
还需说明的是，上述步骤301和302是以先移动到水平方向的中心位置处，再移动到竖直方向的中心位置处举例说明但不局限于此，也可以先移动到竖直方向的中心位置处，再移动到水平方向的中心位置处，只要能实现摄像机移动到中心位置处即可。
在步骤303中，接收指令控制摄像机在水平或者竖直方向移动，并记录马达当前转过的圈数和转动的方向作为移动的坐标位置。
该步骤中，摄像机可接收用户通过移动终端例如手机或者别的遥控器发出的指令进行移动。在摄像机中设置支持Wifi、蓝牙或红外连接的芯片或模块，移动终端或遥控器可通过Wifi、蓝牙或红外连接方式摄像机建立连接，并传输移动指令。
MCU根据接收的指令控制摄像机在水平或者竖直方向移动时，都会记录下控制水平运动的马达和控制竖直运动的马达当前转过的圈数和转动的方向。
例如，用户通过手机的APP设置摄像机的摄像头从A点移动到B点的位置，MCU获取从手机APP传输的指令后，通过马达控制摄像机从A点移动到B点的位置，记录水平运动的马达和竖直运动的马达当前转过的圈数和转动的方向，并将这些数据传输给手机APP。这些数据也可进一步传输给服务器，服务器会设置存储区用于存储摄像机拍摄的监控录像，并可将存储地址发送给手机，使得在手机上根据存储地址查看监控录像。
上述记录了马达转动的圈数和转动的方向，其实就是将圈数和方向作为坐标，中心位置处的坐标为0，向左和向下转的坐标是负的，向右和向上转的坐标就是正的。
在步骤304中，在检测到所述摄像机被拨动、重启或到达设定时间周期后，控制摄像机执行自动复位，并根据记录的坐标位置驱动马达进行位置调整。
该步骤中，当用户用手转动了摄像机、摄像机重启或者到达设定的时间周期后，触发摄像机执行复位处理。
MCU控制摄像机首先执行步骤301和302中的自动位置复位过程，然后再根据步骤303所记录的移动位置，驱动马达进行位置调整。自动位置复位过程参见步骤301和302的描述，此处不再赘述。
因为监控过程中，一旦摄像机被拨动，会导致监控位置和区域发生变化，不符合原来设置的监控需求，因此将会触发摄像机执行复位处理，重新恢复到原来的监控位置和状态。而摄像机由于各种原因重启后，一般也是需要恢复到原来的监控位置和状态，因此也会触发摄像机执行复位处理。另外，也是可以设置周期性的复位处理，例如每隔几天触发执行复位处理等，本公开不加以限定。
综上所述，本公开提供了摄像机启动时自动定位至中心位置的处理方式及使用过程中的自动复位校准处理方式。那么在智能摄像机的使用过程中，当用户扭动摄像机的摄像头导致摄像机判断角度失误时，例如原先设置了A点到B点的循环监控，被扭动摄像头角度以后会导致监控的区域不再准确，此时本公开则通过摄像机的自动校准解决该问题。一旦检测到用户用手拨动摄像头时，触发执行复位处理，通过先自动定位至中心位置然后移动到记录的位置的两个阶段的校准，实现了摄像机的精确定位，从而提高摄像机监控和看护画面的准确性。
与前述应用功能实现方法实施例相对应，本公开还提供了控制摄像设备定位的装置及相应的终端的实施例。
图4是本公开根据一示例性实施例示出的一种控制摄像设备定位的装置的框图。
如图4所示，控制摄像设备定位的装置包括：水平归位模块401、竖直归位模块402。
水平归位模块401，用于控制与摄像设备连接的马达进行水平方向的移动，根据水平方 向移动的两侧极限位置确定水平中心位置，将摄像设备移动到所述水平中心位置。
竖直归位模块402，用于控制与摄像设备连接的马达进行竖直方向的移动，根据竖直方向移动的两侧极限位置确定竖直中心位置，将摄像设备移动到所述竖直中心位置。
该实施例中，本公开通过控制与摄像设备连接的马达分别进行水平方向和竖直方向的移动，从而可根据水平方向和竖直方向移动的两侧极限位置确定水平中心位置和竖直中心位置，最后可将摄像设备移动到水平中心位置和竖直中心位置，从而实现控制摄像设备准确定位到中心位置，保证摄像设备监控的准确性。
图5是本公开根据一示例性实施例示出的另一种控制摄像设备定位的装置框图。
如图5所示，控制摄像设备定位的装置包括：水平归位模块401、竖直归位模块402、指令处理模块403、复位模块404。
水平归位模块401、竖直归位模块402的功能可参见图4中的描述。
指令处理模块403，用于根据获取的移动指令移动所述摄像设备，并记录所述摄像设备在到达所述水平中心位置和竖直中心位置后所移动的水平方向和竖直方向的坐标位置。
复位模块404，用于在检测到所述摄像设备被拨动、重启或到达设定时间周期后，控制所述摄像设备先移动到所述水平中心位置和竖直中心位置，再移动到所述指令处理模块403所记录的所移动的水平方向和竖直方向的坐标位置。
水平归位模块401包括：第一处理子模块4011、第二处理子模块4012。
第一处理子模块4011，用于控制与摄像设备连接的马达进行水平向左或向右方向的移动，移动到极限位置时记录马达转动圈数，进行反方向移动，移动到反向的极限位置时记录累计马达转动圈数。
第二处理子模块4012，用于通过将所述马达按累计马达转动圈数的一半再进行反向移动而使摄像设备移动到达水平中心位置。
竖直归位模块402包括：第一处理子模块4021、第二处理子模块4022。
第一处理子模块4021，用于控制与摄像设备连接的马达进行竖直向上或向下方向的移动，移动到极限位置时记录马达转动圈数，进行反方向移动，移动到反向的极限位置时记录累计马达转动圈数。
第二处理子模块4022，用于通过将所述马达按累计马达转动圈数的一半再进行反向移动而使摄像设备移动到达竖直中心位置。
指令处理模块403包括：指令获取子模块4031、执行移动子模块4032、记录移动子模块4033。
指令获取子模块4031，用于获取来自移动终端或遥控器的移动指令，其中所述移动 指令包括移动的目标位置。其中，指令获取子模块4031是获取来自移动终端或遥控器通过Wifi、蓝牙或红外连接所传输的移动指令。
执行移动子模块4032，用于根据所述指令获取子模块4031获取的目标位置，从所述水平中心位置和竖直中心位置移动所述摄像设备到目标位置。
记录移动子模块4033，用于通过记录水平方向和竖直方向的马达转动圈数和转动的方向来记录执行移动子模块4032所移动摄像设备的水平方向和竖直方向的坐标位置。
由该实施例可见，本公开通过马达控制摄像设备到达水平方向和竖直方向的中心位置后，可根据获取的指令移动摄像设备到目标位置，并记录移动的水平方向和竖直方向的坐标位置，而在检测到所述摄像设备被拨动、重启或到达设定时间周期后，确定触发自动复位处理，从而可控制所述摄像设备先移动到水平中心位置和竖直中心位置，再移动到记录的所移动的水平方向和竖直方向的坐标位置，实现摄像机使用过程中的精确定位。
图6是本公开根据一示例性实施例示出的一种摄像设备的框图。
如图6所示，摄像设备包括：云台601和微控制模块602。
云台601，用于设置马达带动摄像设备进行移动。
微控制模块602，用于控制所述马达进行水平方向的移动，根据水平方向移动的两侧极限位置确定水平中心位置，将摄像设备移动到所述水平中心位置；控制所述马达进行竖直方向的移动，根据竖直方向移动的两侧极限位置确定竖直中心位置，将摄像设备移动到所述竖直中心位置。
微控制模块602的结构可参见图5的描述，包括：水平归位模块、竖直归位模块、指令处理模块、复位模块(图6中未示出)。
水平归位模块，用于控制所述马达进行水平方向的移动，根据水平方向移动的两侧极限位置确定水平中心位置，将摄像设备移动到所述水平中心位置。
竖直归位模块，用于控制所述马达进行竖直方向的移动，根据竖直方向移动的两侧极限位置确定竖直中心位置，将摄像设备移动到所述竖直中心位置。
指令处理模块，用于根据获取的移动指令移动所述摄像设备，并记录所述摄像设备在到达所述水平中心位置和竖直中心位置后所移动的水平方向和竖直方向的坐标位置。
复位模块，用于在检测到所述摄像设备被拨动、重启或到达设定时间周期后，控制所述摄像设备先移动到所述水平中心位置和竖直中心位置，再移动到所述指令处理模块所记录的所移动的水平方向和竖直方向的坐标位置。
由该实施例可见，本公开通过控制与摄像设备连接的马达分别进行水平方向和竖直方向的移动，从而可根据水平方向和竖直方向移动的两侧极限位置确定水平中心位置和竖 直中心位置，最后可将摄像设备移动到水平中心位置和竖直中心位置，从而实现控制摄像设备准确定位到中心位置，保证摄像设备监控的准确性。
上述装置中各个单元的功能和作用的实现过程具体详见上述方法中对应步骤的实现过程，在此不再赘述。
对于装置实施例而言，由于其基本对应于方法实施例，所以相关之处参见方法实施例的部分说明即可。以上所描述的装置实施例仅仅是示意性的，其中所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部模块来实现本公开方案的目的。本领域普通技术人员在不付出创造性劳动的情况下，即可以理解并实施。
相应的，本公开还提供一种终端。
图7是本公开根据一示例性实施例示出的一种终端设备框图。
如图7所示，终端设备包括：处理器701和用于存储处理器可执行指令的存储器702；
其中，所述处理器701被配置为：
控制与摄像设备连接的马达进行水平方向的移动，根据水平方向移动的两侧极限位置确定水平中心位置，将摄像设备移动到所述水平中心位置；
控制与摄像设备连接的马达进行竖直方向的移动，根据竖直方向移动的两侧极限位置确定竖直中心位置，将摄像设备移动到所述竖直中心位置。
需说明的是，存储器702存储的其他程序，具体参见前面方法流程中的描述，此处不再赘述，处理器701还用于执行存储器702存储的其他程序。
图8是本公开根据一示例性实施例示出的一种设备的一结构框图。
例如，设备800可以是移动电话，计算机，数字广播终端，消息收发设备，游戏控制台，平板设备，医疗设备，健身设备，个人数字助理等。
参照图8，设备800可以包括以下一个或多个组件：处理组件802，存储器804，电源组件806，多媒体组件808，音频组件810，输入/输出(I/O)的接口88，传感器组件814，以及通信组件816。
处理组件802通常控制设备800的整体操作，诸如与显示，电话呼叫，数据通信，相机操作和记录操作相关联的操作。处理组件802可以包括一个或多个处理器820来执行指令，以完成上述的方法的全部或部分步骤。此外，处理组件802可以包括一个或多个模块，便于处理组件802和其他组件之间的交互。例如，处理组件802可以包括多媒体模块，以方便多媒体组件808和处理组件802之间的交互。
存储器804被配置为存储各种类型的数据以支持在设备800的操作。这些数据的示例包括用于在设备800上操作的任何应用程序或方法的指令，联系人数据，电话簿数据，消息，图片，视频等。存储器804可以由任何类型的易失性或非易失性存储设备或者它们的组合实现，如静态随机存取存储器(SRAM)，电可擦除可编程只读存储器(EEPROM)，可擦除可编程只读存储器(EPROM)，可编程只读存储器(PROM)，只读存储器(ROM)，磁存储器，快闪存储器，磁盘或光盘。
电源组件806为设备800的各种组件提供电力。电源组件806可以包括电源管理***，一个或多个电源，及其他与为设备800生成、管理和分配电力相关联的组件。
多媒体组件808包括在所述设备800和用户之间的提供一个输出接口的屏幕。在一些实施例中，屏幕可以包括液晶显示器(LCD)和触摸面板(TP)。如果屏幕包括触摸面板，屏幕可以被实现为触摸屏，以接收来自用户的输入信号。触摸面板包括一个或多个触摸传感器以感测触摸、滑动和触摸面板上的手势。所述触摸传感器可以不仅感测触摸或滑动动作的边界，而且还检测与所述触摸或滑动操作相关的持续时间和压力。在一些实施例中，多媒体组件808包括一个前置摄像头和/或后置摄像头。当设备800处于操作模式，如拍摄模式或视频模式时，前置摄像头和/或后置摄像头可以接收外部的多媒体数据。每个前置摄像头和后置摄像头可以是一个固定的光学透镜***或具有焦距和光学变焦能力。
音频组件810被配置为输出和/或输入音频信号。例如，音频组件810包括一个麦克风(MIC)，当设备800处于操作模式，如呼叫模式、记录模式和语音识别模式时，麦克风被配置为接收外部音频信号。所接收的音频信号可以被进一步存储在存储器804或经由通信组件816发送。在一些实施例中，音频组件810还包括一个扬声器，用于输出音频信号。
I/O接口88为处理组件802和***接口模块之间提供接口，上述***接口模块可以是键盘，点击轮，按钮等。这些按钮可包括但不限于：主页按钮、音量按钮、启动按钮和锁定按钮。
传感器组件814包括一个或多个传感器，用于为设备800提供各个方面的状态评估。例如，传感器组件814可以检测到设备800的打开/关闭状态，组件的相对定位，例如所述组件为设备800的显示器和小键盘，传感器组件814还可以检测设备800或设备800一个组件的位置改变，用户与设备800接触的存在或不存在，设备800方位或加速/减速和设备800的温度变化。传感器组件814可以包括接近传感器，被配置用来在没有任何的物理接触时检测附近物体的存在。传感器组件814还可以包括光传感器，如CMOS 或CCD图像传感器，用于在成像应用中使用。在一些实施例中，该传感器组件814还可以包括加速度传感器，陀螺仪传感器，磁传感器，压力传感器或温度传感器。
通信组件816被配置为便于设备800和其他设备之间有线或无线方式的通信。设备800可以接入基于通信标准的无线网络，如WiFi，2G或3G，或它们的组合。在一个示例性实施例中，通信组件816经由广播信道接收来自外部广播管理***的广播信号或广播相关信息。在一个示例性实施例中，所述通信组件816还包括近场通信(NFC)模块，以促进短程通信。例如，在NFC模块可基于射频识别(RFID)技术，红外数据协会(IrDA)技术，超宽带(UWB)技术，蓝牙(BT)技术和其他技术来实现。
在示例性实施例中，设备800可以被一个或多个应用专用集成电路(ASIC)、数字信号处理器(DSP)、数字信号处理设备(DSPD)、可编程逻辑器件(PLD)、现场可编程门阵列(FPGA)、控制器、微控制器、微处理器或其他电子元件实现，用于执行上述方法。
在示例性实施例中，还提供了一种包括指令的非临时性计算机可读存储介质，例如包括指令的存储器804，上述指令可由设备800的处理器820执行以完成上述方法。例如，所述非临时性计算机可读存储介质可以是ROM、随机存取存储器(RAM)、CD-ROM、磁带、软盘和光数据存储设备等。
一种非临时性计算机可读存储介质，当所述存储介质中的指令由终端的处理器执行时，使得终端能够执行控制摄像设备定位的方法，所述方法包括：
控制与摄像设备连接的马达进行水平方向的移动，根据水平方向移动的两侧极限位置确定水平中心位置，将摄像设备移动到所述水平中心位置；
控制与摄像设备连接的马达进行竖直方向的移动，根据竖直方向移动的两侧极限位置确定竖直中心位置，将摄像设备移动到所述竖直中心位置。
本领域技术人员在考虑说明书及实践这里公开的发明后，将容易想到本公开的其它实施方案。本公开旨在涵盖本公开的任何变型、用途或者适应性变化，这些变型、用途或者适应性变化遵循本公开的一般性原理并包括本公开未公开的本技术领域中的公知常识或惯用技术手段。说明书和实施例仅被视为示例性的，本公开的真正范围和精神由下面的权利要求指出。
应当理解的是，本公开并不局限于上面已经描述并在附图中示出的精确结构，并且可以在不脱离其范围进行各种修改和改变。本公开的范围仅由所附的权利要求来限制。

Claims (16)

  1. 一种控制摄像设备定位的方法，其特征在于，包括：
    控制与摄像设备连接的马达进行水平方向的移动，根据水平方向移动的两侧极限位置确定水平中心位置，将摄像设备移动到所述水平中心位置；
    控制与摄像设备连接的马达进行竖直方向的移动，根据竖直方向移动的两侧极限位置确定竖直中心位置，将摄像设备移动到所述竖直中心位置。
  2. 根据权利要求1所述的方法，其特征在于，所述方法还包括：
    根据获取的移动指令移动所述摄像设备，并记录所述摄像设备在到达所述水平中心位置和竖直中心位置后所移动的水平方向和竖直方向的坐标位置。
  3. 根据权利要求2所述的方法，其特征在于，所述方法还包括：
    在检测到所述摄像设备被拨动、重启或到达设定时间周期后，
    控制所述摄像设备先移动到所述水平中心位置和竖直中心位置，再移动到所述记录的所移动的水平方向和竖直方向的坐标位置。
  4. 根据权利要求1所述的方法，其特征在于，所述控制与摄像设备连接的马达进行水平方向的移动，根据水平方向移动的两侧极限位置确定水平中心位置，将摄像设备移动到所述水平中心位置包括：
    控制与摄像设备连接的马达进行水平向左或向右方向的移动，移动到极限位置时记录马达转动圈数，进行反方向移动，移动到反向的极限位置时记录累计马达转动圈数，通过将所述马达按累计马达转动圈数的一半再进行反向移动而使摄像设备移动到达水平中心位置。
  5. 根据权利要求1所述的方法，其特征在于，所述控制与摄像设备连接的马达进行竖直方向的移动，根据竖直方向移动的两侧极限位置确定竖直中心位置，将摄像设备移动到所述竖直中心位置包括：
    控制与摄像设备连接的马达进行竖直向上或向下方向的移动，移动到极限位置时记录马达转动圈数，进行反方向移动，移动到反向的极限位置时记录累计马达转动圈数，通过将所述马达按累计马达转动圈数的一半再进行反向移动而使摄像设备移动到达竖直中心位置。
  6. 根据权利要求2至5任一项所述的方法，其特征在于，所述根据获取的移动指令移动所述摄像设备，并记录所述摄像设备在到达所述水平中心位置和竖直中心位置后所移动的水平方向和竖直方向的坐标位置包括：
    获取来自移动终端或遥控器的移动指令，其中所述移动指令包括移动的目标位置；
    根据所述目标位置，从所述水平中心位置和竖直中心位置移动所述摄像设备到目标位 置；
    通过记录水平方向和竖直方向的马达转动圈数和转动的方向来记录所移动的水平方向和竖直方向的坐标位置。
  7. 根据权利要求6所述的方法，其特征在于，所述获取来自移动终端或遥控器的移动指令包括：
    获取来自移动终端或遥控器通过Wifi、蓝牙或红外连接所传输的移动指令。
  8. 一种控制摄像设备定位的装置，其特征在于，包括：
    水平归位模块，用于控制与摄像设备连接的马达进行水平方向的移动，根据水平方向移动的两侧极限位置确定水平中心位置，将摄像设备移动到所述水平中心位置；
    竖直归位模块，用于控制与摄像设备连接的马达进行竖直方向的移动，根据竖直方向移动的两侧极限位置确定竖直中心位置，将摄像设备移动到所述竖直中心位置。
  9. 根据权利要求8所述的装置，其特征在于，还包括：
    指令处理模块，用于根据获取的移动指令移动所述摄像设备，并记录所述摄像设备在到达所述水平中心位置和竖直中心位置后所移动的水平方向和竖直方向的坐标位置。
  10. 根据权利要求9所述的装置，其特征在于，还包括：
    复位模块，用于在检测到所述摄像设备被拨动、重启或到达设定时间周期后，控制所述摄像设备先移动到所述水平中心位置和竖直中心位置，再移动到所述指令处理模块所记录的所移动的水平方向和竖直方向的坐标位置。
  11. 根据权利要求8至10任一项所述的装置，其特征在于，所述水平归位模块包括：
    第一处理子模块，用于控制与摄像设备连接的马达进行水平向左或向右方向的移动，移动到极限位置时记录马达转动圈数，进行反方向移动，移动到反向的极限位置时记录累计马达转动圈数；
    第二处理子模块，用于通过将所述马达按累计马达转动圈数的一半再进行反向移动而使摄像设备移动到达水平中心位置。
  12. 根据权利要求8至10任一项所述的装置，其特征在于，所述竖直归位模块包括：
    第一处理子模块，用于控制与摄像设备连接的马达进行竖直向上或向下方向的移动，移动到极限位置时记录马达转动圈数，进行反方向移动，移动到反向的极限位置时记录累计马达转动圈数；
    第二处理子模块，用于通过将所述马达按累计马达转动圈数的一半再进行反向移动而使摄像设备移动到达竖直中心位置。
  13. 一种摄像设备，其特征在于，包括：
    云台，用于设置马达带动摄像设备进行移动；
    微控制模块，用于控制所述马达进行水平方向的移动，根据水平方向移动的两侧极限位置确定水平中心位置，将摄像设备移动到所述水平中心位置；控制所述马达进行竖直方向的移动，根据竖直方向移动的两侧极限位置确定竖直中心位置，将摄像设备移动到所述竖直中心位置。
  14. 根据权利要求13所述的设备，其特征在于，所述微控制模块包括：
    水平归位模块，用于控制所述马达进行水平方向的移动，根据水平方向移动的两侧极限位置确定水平中心位置，将摄像设备移动到所述水平中心位置；
    竖直归位模块，用于控制所述马达进行竖直方向的移动，根据竖直方向移动的两侧极限位置确定竖直中心位置，将摄像设备移动到所述竖直中心位置；
    指令处理模块，用于根据获取的移动指令移动所述摄像设备，并记录所述摄像设备在到达所述水平中心位置和竖直中心位置后所移动的水平方向和竖直方向的坐标位置。
  15. 根据权利要求14所述的设备，其特征在于，所述微控制模块还包括：
    复位模块，用于在检测到所述摄像设备被拨动、重启或到达设定时间周期后，控制所述摄像设备先移动到所述水平中心位置和竖直中心位置，再移动到所述指令处理模块所记录的所移动的水平方向和竖直方向的坐标位置。
  16. 一种终端设备，其特征在于，包括：
    处理器和用于存储处理器可执行指令的存储器；
    其中，所述处理器被配置为：
    控制与摄像设备连接的马达进行水平方向的移动，根据水平方向移动的两侧极限位置确定水平中心位置，将摄像设备移动到所述水平中心位置；
    控制与摄像设备连接的马达进行竖直方向的移动，根据竖直方向移动的两侧极限位置确定竖直中心位置，将摄像设备移动到所述竖直中心位置。
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