CN103246290A - PTZ control method and system - Google Patents
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- CN103246290A CN103246290A CN2012100222277A CN201210022227A CN103246290A CN 103246290 A CN103246290 A CN 103246290A CN 2012100222277 A CN2012100222277 A CN 2012100222277A CN 201210022227 A CN201210022227 A CN 201210022227A CN 103246290 A CN103246290 A CN 103246290A
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- 230000006399 behavior Effects 0.000 description 11
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Abstract
The invention discloses a PTZ control method and system. The control method comprises the following steps: detecting the motion state of a mobile terminal; inquiring a mapping table of motion state and PTZ control commands according to the motion state so as to obtain corresponding PTZ control commands; and controlling the PTZ according to the PTZ control commands. According to the invention, when the camera PTZ is required to control by the user, the control for the PTZ can be realized only through operating the mobile terminal in a hand, which greatly simplifies the PTZ operation, and also brings excellent operation experience.
Description
Technical field
The present invention relates to technical field of video monitoring, in particular to a kind of cloud platform control method and system thereof.
Background technology
At present, along with the increase of people to the video monitoring demand, video monitoring system is also used the application that turns to portable terminal gradually from traditional fixed network.And, along with portable terminal such as mobile phone and radio network technique are constantly full-fledged in recent years, people only have been not content with can see video on portable terminal, and for the function of mobile video more requirement has been arranged, for example when watching video by portable terminal, can also be by the The Cloud Terrace of portable terminal control carrying video camera, the picture of being concerned about to see.
In the prior art, mode at portable terminal control camera pan-tilt mainly is the mode of controlling by the button on keyboard, the interface, touch-screen or employing voice command, when using voice command control The Cloud Terrace, because problems such as people's language difference, accent difference, cause the identification of voice relatively more difficult, thereby be difficult to realize; When carrying out cradle head control by keyboard, may press the wrong button because keyboard is too little, thereby mistake is controlled The Cloud Terrace; When adopting touch-screen to carry out cradle head control, because finger is done in on-screen options, therefore can make finger block monitored picture, therefore, adopt above-mentioned three kinds of methods to carry out cradle head control and all have certain defective, barely satisfactory aspect user's operating experience.
Summary of the invention
The purpose of the embodiment of the invention is to provide a kind of cloud platform control method and system thereof, use the present invention, when the user need control camera pan-tilt, the user only needs the portable terminal in the operator, just can realize the control to The Cloud Terrace, so not only simplify the operation of The Cloud Terrace widely, also brought extraordinary operating experience simultaneously.
In order to reach purpose of the present invention, the present invention realizes by the following technical solutions:
A kind of cloud platform control method comprises:
Detect the motion state of portable terminal;
According to described motion state inquiry motion state and cradle head control command mapping table, obtain corresponding cradle head control order;
According to described cradle head control order control The Cloud Terrace.
Preferably, described motion state is upset or translation.
Preferably, the step of the motion state information of detection portable terminal comprises:
Detect portable terminal motion state parameters on each coordinate axis in three-dimensional system of coordinate periodically;
Described motion state parameters is compared with corresponding discrimination threshold respectively, if the absolute value of at least one described motion state parameters then carries out next step greater than corresponding discrimination threshold.
Preferably, after described motion state parameters is compared with corresponding discrimination threshold respectively, and the absolute value of at least one described motion state parameters is during greater than corresponding discrimination threshold, and described cloud platform control method also comprises the steps:
Described motion state parameters is filtered process of fitting treatment obtain the match motion state parameters, wherein, described filtration process of fitting treatment mathematical expression is:
C
Match=C*R-(C
v* R+C* (1-R));
Wherein, described C
MatchRefer to the match motion state parameters, described C refers to the motion state parameters on the corresponding coordinate axle in the three-dimensional system of coordinate that obtains, and described R refers to the filtration match factor that sets in advance, described C
vRefer to the instant motion state parameters on the corresponding coordinate axle in the three-dimensional system of coordinate;
According to described match motion state parameters inquiry motion state and cradle head control command mapping table, to obtain corresponding cradle head control order.
Preferably, inquiring about motion state and cradle head control command mapping table according to described motion state, obtain after the corresponding cradle head control order, detect at interval the motion state of portable terminal behind the delay time that sets in advance again, or a delay time that sets in advance at interval in not according to described motion state inquiry motion state and cradle head control command mapping table to obtain corresponding cradle head control order.
A kind of cloud platform control system comprises:
Portable terminal for detection of the motion state of portable terminal, and according to described motion state inquiry motion state and cradle head control command mapping table, obtains corresponding cradle head control order and sends it to server;
Server is used for according to described cradle head control order control The Cloud Terrace.
Preferably, described motion state is upset or translation.
Preferably, described portable terminal comprises motion state detecting sensor and processing module, wherein,
The motion state detecting sensor is used for detecting periodically portable terminal motion state parameters on each coordinate axis in three-dimensional system of coordinate;
Processing module, be used for described motion state parameters is compared with corresponding discrimination threshold respectively, if the absolute value of at least one described motion state parameters is greater than corresponding discrimination threshold, then according to this motion state parameters inquiry motion state and cradle head control command mapping table, obtain corresponding cradle head control order.
More preferably, described processing module is after comparing described motion state parameters respectively with corresponding discrimination threshold, and the absolute value of at least one described motion state parameters is during greater than corresponding discrimination threshold, and described processing module is also carried out following processing:
Described motion state parameters is filtered process of fitting treatment obtain the match motion state parameters, wherein, described filtration process of fitting treatment mathematical expression is:
C
Match=C*R-(C
v* R+C* (1-R));
Wherein, described C
MatchRefer to the match motion state parameters, described C refers to the motion state parameters on the corresponding coordinate axle in the three-dimensional system of coordinate that obtains, and described R refers to the filtration match factor that sets in advance, described C
vRefer to the instant motion state parameters on the corresponding coordinate axle in the three-dimensional system of coordinate;
According to described match motion state parameters inquiry motion state and cradle head control command mapping table, to obtain corresponding cradle head control order.
Preferably, described portable terminal is being inquired about motion state and cradle head control command mapping table according to described motion state, obtain after the corresponding cradle head control order, detect at interval the motion state of portable terminal behind the delay time that sets in advance again, or a delay time that sets in advance at interval in not according to described motion state inquiry motion state and cradle head control command mapping table to obtain corresponding cradle head control order.
Technical scheme by the invention described above as can be seen, at the relatively poor problem of cradle head control user's operating experience that occurs in the prior art, along with present accelerometer, gyroscope, sensors such as magnetometer are at portable terminal (mobile phone, panel computer etc.) widespread use on, the present inventor expects, the user can use these sensors to obtain the motion state of this portable terminal easily, and finally control camera pan-tilt according to the motion state of portable terminal, the present invention is exactly the gravity accelerometer of utilizing in the portable terminal, gyroscope, motion state detecting sensors such as magnetometer, obtain the motion state of portable terminal, motion state with portable terminal is converted into corresponding cradle head control order then, and then controls camera pan-tilt.Use this mode, when the user need control camera pan-tilt, the user only needed the equipment in the mobile hand, just can realize the control to The Cloud Terrace, had so not only simplified the operation of The Cloud Terrace widely, had also brought extraordinary operating experience simultaneously.
Description of drawings
Fig. 1 is cloud platform control method schematic flow sheet provided by the invention;
Fig. 2 is cloud platform control system structural representation provided by the invention;
Fig. 3 is the cloud platform control system workflow synoptic diagram that one embodiment of the invention provides.
The realization of the object of the invention, functional characteristics and excellent effect are described further below in conjunction with specific embodiment and accompanying drawing.
Embodiment
Below in conjunction with the drawings and specific embodiments technical scheme of the present invention is described in further detail, can be implemented so that those skilled in the art can better understand the present invention also, but illustrated embodiment is not as a limitation of the invention.
As shown in Figure 1, a kind of cloud platform control method provided by the invention comprises following performing step:
The motion state of S10, detection portable terminal;
S20, the described motion state inquiry motion state of foundation and cradle head control command mapping table obtain corresponding cradle head control order;
S30, the described cradle head control order control of foundation The Cloud Terrace.
During concrete enforcement, in described step S10, described motion state is upset or translation, for example described upset for corresponding portable terminal is carried out left, to the right, forward or backward upset, the form of expression in three-dimensional system of coordinate is: portable terminal a certain coordinate axis or certain several coordinate axis in the three-dimensional system of coordinate are rotated.For described translation, namely refer to described portable terminal in three-dimensional system of coordinate, make progress, downwards, forward, backward, left, displacement to the right.Wherein, described portable terminal can obtain the motion state of described portable terminal by internal or external motion state detecting sensor, and for example, described motion state detecting sensor can be gravity accelerometer, gyroscope, magnetometer.
In portable terminal, by the combination of motion state detecting sensor or sensor is set, can obtain the motion state parameters of portable terminal each coordinate axis in three-dimensional system of coordinate in real time, such as the stressed size of portable terminal on each coordinate axis, angular velocity or magnetic force etc., in order to distinguish the motion state parameters (for example direction of motion) of portable terminal on certain coordinate axis, portable terminal has some rules to represent these motion state parameterses, for example use positive and negative value representation method, as the motion state parameters P that gets access on certain coordinate axis, when P＞0, the expression portable terminal is the positive direction of principal axis motion toward this coordinate axis; When P＜0, the expression portable terminal is toward negative direction of principal axis motion, when P=0, represents that then portable terminal is not moving in this coordinate axis.When the application of reality, we correspond to the motion of portable terminal in three-dimensional system of coordinate the direction in the reality scene again, such as the motion about corresponding to the x axle in the reality, when portable terminal when the kinematic parameter of x axle is negative value, the definition portable terminal be to left movement; For on the occasion of the time, the definition portable terminal for moving right.
Under the preferred implementation, in described step S10, the step that detects the motion state information of portable terminal comprises:
S101, detect portable terminal motion state parameters on each coordinate axis in three-dimensional system of coordinate periodically;
S102, described motion state parameters is compared with corresponding discrimination threshold respectively, if the absolute value of at least one described motion state parameters then carries out next step S20 greater than corresponding discrimination threshold.
In actual application, portable terminal motion state parameters on each coordinate axis in three-dimensional system of coordinate can reflect that portable terminal is along direction and angular velocity size or direction and the anglec of rotation size of coordinate axis rotation, in addition, can also reflect that portable terminal is along direction and velocity magnitude or direction and the displacement size of coordinate axis translation, in the specific implementation, described direction can be represented with "+", "-", for example on the X coordinate axis in three-dimensional system of coordinate, "+" represents to right translation.
Pass through above-mentioned steps, when the user need control The Cloud Terrace by portable terminal, portable terminal provided by the invention will obtain the motion state parameters of portable terminal in three-dimensional system of coordinate periodically with a fixing frequency f from the motion state detecting sensor, and whether the absolute value of judging each parameter is greater than each self-corresponding differentiation threshold values V, if greater than, think that then the movement of this portable terminal is the behavior that the user controls The Cloud Terrace, at this moment obtain corresponding cradle head control order in conjunction with concrete motion state parameters and motion state and cradle head control command mapping table again, thereby carry out the control of The Cloud Terrace.
During concrete enforcement, in order to control the sensitivity of the present invention when the cradle head control, the user can oneself define frequency f and differentiate threshold values V, simultaneously bring the extra resource consumption of portable terminal for fear of the value that reads the motion state detecting sensor continually, the user can take to select to close or open motion state detecting sensor control The Cloud Terrace in the present invention.
In described step S102, after described motion state parameters is compared with corresponding discrimination threshold respectively, and the absolute value of at least one described motion state parameters is during greater than corresponding discrimination threshold, and described cloud platform control method also comprises the steps:
S103, described motion state parameters is filtered process of fitting treatment obtain the match motion state parameters, wherein, described filtration process of fitting treatment mathematical expression is:
C
Match=C*R-(C
v* R+C* (1-R));
Wherein, described C
MatchRefer to the match motion state parameters, described C refers to the motion state parameters on the corresponding coordinate axle in the three-dimensional system of coordinate that obtains, and described R refers to the filtration match factor that sets in advance, described C
vRefer to the instant motion state parameters on the corresponding coordinate axle in the three-dimensional system of coordinate;
S102, the described match motion state parameters inquiry motion state of foundation and cradle head control command mapping table, to obtain corresponding cradle head control order, wherein, described match motion state parameters has namely reflected the motion state in three-dimensional system of coordinate of portable terminal, just reflected that thus the user controls the behavior that portable terminal carries out cradle head control, by searching motion state and cradle head control command mapping table just can generate corresponding cradle head control order.
When operating mobile terminal carries out cradle head control, bring false judgment to the motion of mobile terminals behavior for fear of portable terminal in kinematic parameter acute variation sometime, in the present invention, adopt filter algorithm to stabilize the composition of the parameter of these acute variation, filtration is achieved in that the motion state parameters on certain coordinate axis of hypothesis is C, and the instant motion state parameters of the current portable terminal that gets access in real time on this coordinate axis is C
v, and by preestablishing a filtration match factor R, after getting access to the motion state parameters C of portable terminal, be C by filtering the match factor R and working as inferior instant motion state parameters at every turn
vCalculate the match motion state parameters C of portable terminal on this coordinate axis
Match, the C that gets access to like this
MatchCan be more stable, work as C
MatchThe absolute value of value during greater than predefined differentiation threshold values V, just think that portable terminal has motion in this coordinate axis.
In described step S20, described motion state and cradle head control command mapping table record the corresponding relation of motion state and cradle head control order, for example, in video monitoring system, motion state and cradle head control command mapping table can be following form:
| Motion state | The cradle head control order |
| Be moved to the left or be tilted to the left | The Cloud Terrace is turned left |
| Move right or be tilted to the right | The Cloud Terrace is turned right |
| Move up or be inclined upwardly | The Cloud Terrace upwards changes |
| Move down or downward-sloping | The Cloud Terrace changes downwards |
| The equipment double swerve | Open rain brush |
Need to prove that last table is an embodiment just, it is not in order to limit all motion states that the present invention can relate to and the corresponding relation between the cradle head control order.The user can change corresponding relation between motion state and the cradle head control order according to the custom of oneself, and for example the user can be moved to the left portable terminal or be tilted to the left and carry out corresponding with the right-handed cradle head control order of The Cloud Terrace.
Preferably, in described step S20, inquiring about motion state and cradle head control command mapping table according to described motion state, obtain after the corresponding cradle head control order, detect at interval the motion state of portable terminal behind the delay time that sets in advance again, or a delay time that sets in advance at interval in not according to described motion state inquiry motion state and cradle head control command mapping table to obtain corresponding cradle head control order.
Carry out in the process of cradle head control at operating mobile terminal, after identifying a motor behavior of portable terminal, portable terminal will be ignored all motion state behaviors in the delay time I that sets in advance, after having crossed this delay time I, just begin to identify the motion state behavior of portable terminal, after such processing, can prevent user's mobile device and cause the short time internal trigger to produce a large amount of cradle head control orders constantly to a great extent, after the user controls The Cloud Terrace by the portable terminal in the mobile hand simultaneously, can utilize this delay time at interval this portable terminal to be moved back into original position.
In addition, according to another preferred implementation of the present invention, when each portable terminal moved, the record portable terminal began the mobile time in each coordinate axis, and hypothetical record is respectively T to portable terminal time of setting in motion on x-axis, y-axis and z-axis
x, T
yAnd T
z, when finding that portable terminal has motion on three coordinate axis, again by relatively finding out T
x, T
yAnd T
zMinimum value T
m, T
mCorresponding coordinate axis is the direction that this portable terminal moves, in the time of so just can solving portable terminal and on a plurality of directions, simultaneously motion arranged, can't judge which direction the user is sick for to move, thereby can't accurately obtain the problem of the cradle head control order that the user wants.
In described step S30, some rudimentary knowledge that described implementation by cradle head control order control The Cloud Terrace can reference video monitoring field realize, here it are not given unnecessary details in detail.
As shown in Figure 2, the invention provides a kind of cloud platform control system, comprising:
Wherein, described portable terminal 10 can for example be smart mobile phone, panel computer etc. for having disposed the equipment of motion state detecting sensor.Described cloud platform control system can be wireless video monitoring system, and the portable terminal of handing by the user 10 is handled The Cloud Terraces 30, catches picture in the monitoring scene thereby control video camera.
During concrete enforcement, described motion state is upset or translation, be that the user can carry out the control of The Cloud Terrace 30 by upset portable terminal 10 or translation portable terminal 10, described portable terminal 10 generates corresponding cradle head control order and is sent to server 20 by the motion state information that detects portable terminal 10, thereby make server 20 to move accordingly according to this cradle head control order control The Cloud Terrace 30, for example turn right, turn left, open actions such as rain brush.
Continuation is with reference to Fig. 2, and when specifically implementing, described portable terminal 10 comprises motion state detecting sensor and processing module, wherein,
Motion state detecting sensor 101 is used for detecting periodically portable terminal 10 motion state parameters on each coordinate axis in three-dimensional system of coordinate; Wherein, the described cycle can set up on their own by the user, and described motion state detecting sensor 101 can be arranged on the portable terminal 10 by the form of combination;
In the preferred implementation process, described processing module 102 is after comparing described motion state parameters respectively with corresponding discrimination threshold, and the absolute value of at least one described motion state parameters is during greater than corresponding discrimination threshold, and described processing module 102 is also carried out following processing:
(1) described motion state parameters is filtered process of fitting treatment and obtain the match motion state parameters, wherein, described filtration process of fitting treatment mathematical expression is:
C
Match=C*R-(C
v* R+C* (1-R));
Wherein, described C
MatchRefer to the match motion state parameters, described C refers to the motion state parameters on the corresponding coordinate axle in the three-dimensional system of coordinate that obtains, and described R refers to the filtration match factor that sets in advance, described C
vRefer to the instant motion state parameters on the corresponding coordinate axle in the three-dimensional system of coordinate;
(2) according to described match motion state parameters inquiry motion state and cradle head control command mapping table, to obtain corresponding cradle head control order.
Bring false judgment to portable terminal 10 motor behaviors for fear of portable terminal 10 in kinematic parameter acute variation sometime, in the present invention, adopt above-mentioned filter algorithm to stabilize the composition of the parameter of these acute variation, filtration is achieved in that the motion state parameters on certain coordinate axis of hypothesis is C, and the instant motion state parameters of the current portable terminal that gets access in real time 10 on this coordinate axis is C
v, and by preestablishing a filtration match factor R, after getting access to the motion state parameters C of portable terminal 10, be C by filtering the match factor R and working as inferior instant motion state parameters at every turn
vCalculate the match motion state parameters C of portable terminal 10 on this coordinate axis
Match, the C that gets access to like this
MatchCan be more stable, work as C
MatchThe absolute value of value during greater than predefined differentiation threshold values V, just think that portable terminal 10 has motion in this coordinate axis.
More preferably under the embodiment, described portable terminal 10 is being inquired about motion state and cradle head control command mapping table according to described motion state, obtain after the corresponding cradle head control order, detect at interval the motion state of portable terminal 10 behind the delay time that sets in advance again, or a delay time that sets in advance at interval in not according to described motion state inquiry motion state and cradle head control command mapping table to obtain corresponding cradle head control order.
Carry out in the process of The Cloud Terrace 30 controls at operating mobile terminal 10, after identifying a motor behavior of portable terminal 10, portable terminal 10 will be ignored all motion state behaviors in the delay time I that sets in advance, after having crossed this delay time I, just begin to identify the motion state behavior of portable terminal 10, after such processing, can prevent user's mobile device and cause the short time internal trigger to produce a large amount of cradle head control orders constantly to a great extent, after the user controls The Cloud Terraces 30 by the portable terminal 10 in the mobile hand simultaneously, can utilize this delay time at interval this portable terminal 10 to be moved back into original position.
In order to further specify technical scheme of the present invention, below in conjunction with Fig. 3 the workflow of cloud platform control system provided by the invention is described.
In step S01, utilize motion state detecting sensor 101 in the portable terminal to obtain the motion state parameters of portable terminal.
In step S02, after portable terminal stopped to move, the motion state parameters that obtains among the beginning analytical procedure S01 calculated portable terminal mobile distance of each dimension (coordinate axis) in the three-dimensional coordinate system.
In step S03, the result of step S02 is filtered, for example ignore the trickle movement of portable terminal, if the movement of this portable terminal is effective movement, then enter step S04; If not process ends then.
In step S04, the motion state behavior of obtaining portable terminal according to the result of step S03 is to be moved to the left, to move up or to right rotation etc. such as portable terminal.
In step S05, obtain the cradle head control order according to the result of step S04, such as device left move corresponding The Cloud Terrace turn left to change on order, the corresponding The Cloud Terrace that moves up order, to the order etc. of cruising of the corresponding The Cloud Terrace clockwise direction of right rotation.
In step S06, judge whether The Cloud Terrace supports user's cradle head control order, if support, then enter S07; If do not support then process ends.
In step S07, the cradle head control order is sent to server, server is transmitted to The Cloud Terrace equipment with it after receiving this order, so that The Cloud Terrace can respond this cradle head control order.
The above only is the preferred embodiments of the present invention; be not so limit claim of the present invention; every equivalent structure or equivalent flow process conversion that utilizes instructions of the present invention and accompanying drawing content to do; or directly or indirectly be used in other relevant technical fields, all in like manner be included in the scope of patent protection of the present invention.
Claims (10)
1. a cloud platform control method is characterized in that, comprising:
Detect the motion state of portable terminal;
According to described motion state inquiry motion state and cradle head control command mapping table, obtain corresponding cradle head control order;
According to described cradle head control order control The Cloud Terrace.
2. cloud platform control method as claimed in claim 1 is characterized in that, described motion state is upset or translation.
3. cloud platform control method as claimed in claim 1 or 2 is characterized in that, the step that detects the motion state information of portable terminal comprises:
Detect portable terminal motion state parameters on each coordinate axis in three-dimensional system of coordinate periodically;
Described motion state parameters is compared with corresponding discrimination threshold respectively, if the absolute value of at least one described motion state parameters then carries out next step greater than corresponding discrimination threshold.
4. cloud platform control method as claimed in claim 3, it is characterized in that, after described motion state parameters is compared with corresponding discrimination threshold respectively, and the absolute value of at least one described motion state parameters is during greater than corresponding discrimination threshold, and described cloud platform control method also comprises the steps:
Described motion state parameters is filtered process of fitting treatment obtain the match motion state parameters, wherein, described filtration process of fitting treatment mathematical expression is:
C
Match=C*R-(C
v* R+C* (1-R));
Wherein, described C
MatchRefer to the match motion state parameters, described C refers to the motion state parameters on the corresponding coordinate axle in the three-dimensional system of coordinate that obtains, and described R refers to the filtration match factor that sets in advance, described C
vRefer to the instant motion state parameters on the corresponding coordinate axle in the three-dimensional system of coordinate;
According to described match motion state parameters inquiry motion state and cradle head control command mapping table, to obtain corresponding cradle head control order.
5. cloud platform control method as claimed in claim 1, it is characterized in that, inquiring about motion state and cradle head control command mapping table according to described motion state, obtain after the corresponding cradle head control order, detect at interval the motion state of portable terminal behind the delay time that sets in advance again, or a delay time that sets in advance at interval in not according to described motion state inquiry motion state and cradle head control command mapping table to obtain corresponding cradle head control order.
6. a cloud platform control system is characterized in that, comprising:
Portable terminal for detection of the motion state of portable terminal, and according to described motion state inquiry motion state and cradle head control command mapping table, obtains corresponding cradle head control order and sends it to server;
Server is used for according to described cradle head control order control The Cloud Terrace.
7. cloud platform control system as claimed in claim 6 is characterized in that, described motion state is upset or translation.
8. as claim 6 or 7 described cloud platform control systems, it is characterized in that described portable terminal comprises motion state detecting sensor and processing module, wherein,
The motion state detecting sensor is used for detecting periodically portable terminal motion state parameters on each coordinate axis in three-dimensional system of coordinate;
Processing module, be used for described motion state parameters is compared with corresponding discrimination threshold respectively, if the absolute value of at least one described motion state parameters is greater than corresponding discrimination threshold, then according to this motion state parameters inquiry motion state and cradle head control command mapping table, obtain corresponding cradle head control order.
9. cloud platform control system as claimed in claim 8, it is characterized in that, described processing module is after comparing described motion state parameters respectively with corresponding discrimination threshold, and the absolute value of at least one described motion state parameters is during greater than corresponding discrimination threshold, and described processing module is also carried out following processing:
Described motion state parameters is filtered process of fitting treatment obtain the match motion state parameters, wherein, described filtration process of fitting treatment mathematical expression is:
C
Match=C*R-(C
v* R+C* (1-R));
Wherein, described C
MatchRefer to the match motion state parameters, described C refers to the motion state parameters on the corresponding coordinate axle in the three-dimensional system of coordinate that obtains, and described R refers to the filtration match factor that sets in advance, described C
vRefer to the instant motion state parameters on the corresponding coordinate axle in the three-dimensional system of coordinate;
According to described match motion state parameters inquiry motion state and cradle head control command mapping table, to obtain corresponding cradle head control order.
10. cloud platform control system as claimed in claim 6, it is characterized in that, described portable terminal is being inquired about motion state and cradle head control command mapping table according to described motion state, obtain after the corresponding cradle head control order, detect at interval the motion state of portable terminal behind the delay time that sets in advance again, or a delay time that sets in advance at interval in not according to described motion state inquiry motion state and cradle head control command mapping table to obtain corresponding cradle head control order.
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| CN103986878A (en) * | 2014-06-04 | 2014-08-13 | 浙江宇视科技有限公司 | A remote control device and method for operating a pan-tilt camera |
| WO2015135206A1 (en) * | 2014-03-14 | 2015-09-17 | 深圳市大疆创新科技有限公司 | Control method for pan tilt and control system of pan tilt |
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| CN107223220A (en) * | 2016-12-30 | 2017-09-29 | 深圳市大疆灵眸科技有限公司 | Cloud platform control method, device and cloud platform |
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