CN110383199B - Multi-rocker control method, holder and system - Google Patents
Multi-rocker control method, holder and system Download PDFInfo
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- CN110383199B CN110383199B CN201880015940.4A CN201880015940A CN110383199B CN 110383199 B CN110383199 B CN 110383199B CN 201880015940 A CN201880015940 A CN 201880015940A CN 110383199 B CN110383199 B CN 110383199B
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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Abstract
A multi-rocker control method, a pan-tilt and a system, wherein the method (S300) comprises: reading rocker identification signals of one or more rockers, and judging the type of the rocker through the rocker identification signals (S310); detecting a rocker shift signal (S320); generating a corresponding first working instruction according to the rocker identification signal and the rocker offset signal (S330); reading the attitude information of the holder, adjusting the first working instruction according to the attitude information of the holder, and generating a second working instruction (S340); and sending the second working instruction to an actuator, wherein the actuator receives the second working instruction and makes a corresponding action, and then the holder is controlled (S350). This many rocker control system can judge the kind and the input command direction of the rocker of being connected with the cloud platform automatically, and the user need not to carry out complicated preset and can realize the synchronous change of rocker and cloud platform, and easy operation saves user's time, reduces the human cost, satisfies user automation, intelligent demand.
Description
Technical Field
The disclosure relates to the field of rocker control, in particular to a multi-rocker control method, a holder and a system.
Background
The rocker serves as an input device for providing direction or angle signals to a pan-tilt connected with the rocker. In general, a user changes the orientation of a camera lens mounted on a pan/tilt head through an input device such as a joystick.
In actual use, sometimes the holder is connected with one or more rocking bars so as to realize the quick and convenient control of the holder. For example, for holding the pan/tilt head, a rocker connected to the pan/tilt head handle and a rocker wirelessly connected to the pan/tilt head are disposed at the pan/tilt head handle. When the handheld cloud platform enters the mode of upside down, the rocker connected with the cloud platform handle can also be upside down together with the cloud platform, and the orientation of the rocker wirelessly connected with the cloud platform is not changed. At this time, if the types of the rockers are not distinguished and the user input instruction is judged, the moving direction of the holder may be inconsistent with the expected direction of the user, so that the shot video is inconsistent with the expected direction, and the difficulty of the user in controlling the holder is increased.
Disclosure of Invention
The embodiment of the disclosure provides a multi-rocker control method, a holder and a system, which can distinguish the types of rockers and judge user input instructions.
The embodiment provides a multi-rocker control method, which comprises the following steps:
reading rocker identification signals of one or more rockers, and judging the type of the rocker through the rocker identification signals;
detecting a rocker deviation signal, wherein the rocker deviation signal comprises rocker deviation direction information and rocker deviation information;
generating a first working instruction according to the rocker identification signal and the rocker offset signal;
reading the attitude information of the holder, adjusting the first working instruction according to the attitude information of the holder, and generating a second working instruction;
and sending the second working instruction to an actuator, and receiving the second working instruction by the actuator and making a corresponding action so as to control the holder.
Correspondingly, the embodiment of the disclosure also provides a multi-rocker control holder which can distinguish the types of the rockers and judge the user input instruction, and the holder is connected with one or more rockers. The cloud platform includes:
a memory, a processor, and an actuator;
the memory is used for storing program codes;
the processor, invoking the program code, when executed, is configured to:
reading rocker identification signals of one or more rockers and attitude information of the holder;
detecting a rocker deviation signal, wherein the rocker deviation signal comprises rocker deviation direction information and rocker deviation information;
receiving the rocker identification signal and the rocker offset signal, and generating a first working instruction according to the rocker identification signal and the rocker offset signal;
adjusting the first working instruction according to the attitude information of the holder to generate a second working instruction;
and the actuator is used for receiving and executing a second working instruction sent by the processor, and further controlling the holder.
Correspondingly, the embodiment of the disclosure further provides a multi-rocker control system, which comprises a multi-rocker control holder capable of distinguishing the types of rockers and judging user input instructions, and one or more rockers connected with the holder. Wherein the holder comprises a memory, a processor and an actuator; the memory is used for storing program codes; the processor, invoking the program code, when executed, is configured to:
reading rocker identification signals of one or more rockers and attitude information of the holder;
detecting a rocker deviation signal, wherein the rocker deviation signal comprises rocker deviation direction information and rocker deviation information;
receiving the rocker identification signal and the rocker offset signal, and generating a first working instruction according to the rocker identification signal and the rocker offset signal;
adjusting the first working instruction according to the attitude information of the holder to generate a second working instruction;
and the actuator is used for receiving and executing a second working instruction sent by the processor, and further controlling the holder.
The embodiment of the disclosure can distinguish the types of the rocking bars and judge the user input instruction so as to realize flexible control of the cradle head without increasing the difficulty of the user in controlling the cradle head. For example, for a cloud deck connected with one or more rockers, reading rocker identification signals of the one or more rockers, and judging the type of the rocker through the rocker identification signals; detecting a rocker offset signal; generating a corresponding first working instruction according to the rocker identification signal and the rocker offset signal; reading the attitude information of the holder, adjusting the first working instruction according to the attitude information of the holder, and generating a second working instruction; and sending the second working instruction to an actuator, and receiving the second working instruction by the actuator and making a corresponding action so as to control the holder. The embodiment of the disclosure can automatically judge the type and the input instruction direction of the rocker connected with the holder, and the user can realize the synchronous change of the rocker and the holder without carrying out complex presetting, so that the operation is simple, the user time is saved, the labor cost is reduced, and the requirements of user automation and intellectualization are met.
Drawings
To more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present disclosure, and it is obvious for those skilled in the art that other drawings can be obtained based on these drawings without inventive efforts.
Fig. 1 is a schematic block diagram of a multi-rocker control pan/tilt head according to an embodiment of the present disclosure.
Fig. 2 is a structural view of a pan/tilt head according to an embodiment of the present disclosure.
Fig. 3 is a schematic diagram of an arrangement of a multi-rocker control pan/tilt head and one or more rockers according to an embodiment of the disclosure.
Fig. 4 is yet another schematic diagram of an arrangement of a multi-rocker control pan/tilt head and one or more rockers according to an embodiment of the disclosure.
FIG. 5 is a schematic flow chart diagram of a multi-rocker control method according to an embodiment of the disclosure.
Detailed Description
The technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the drawings in the embodiments of the present disclosure, and it is obvious that the described embodiments are only a part of the embodiments of the present disclosure, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the disclosure without making any creative effort, shall fall within the protection scope of the disclosure.
It should be noted that when an element is "connected" or "connected" to another element or "fixed" to another element in the embodiments of the present application, it may be directly on the other element or intervening elements may also be present.
Unless otherwise defined, all technical and scientific terms used in the examples of this application have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the present application is for the purpose of describing particular embodiments only and is not intended to limit the scope of the present application. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
The pan/tilt head may carry a load (e.g., a camera) thereon for fixation of the load, changing the height, tilt angle, and/or direction of the load, or for stable holding of the load in a certain attitude. The holder of the embodiment of the present disclosure may also be used to carry other loads of a non-shooting device, for example, a spectrometer or a microwave antenna of a radar. The cradle head of the embodiment of the present disclosure may also have other names, for example, a load support frame, and the embodiment of the present disclosure is not limited to this specifically.
The embodiment of the disclosure provides a multi-rocker control method, a holder and a system capable of distinguishing rocker types and judging user input instructions, which can automatically judge the types and input instruction directions of rockers connected with the holder and generate control instructions consistent with a body coordinate system of the holder.
The embodiment of the disclosure provides a multi-rocker control system, which comprises a holder capable of controlling a plurality of rockers and one or more rockers connected with the holder. Fig. 1 is a schematic block diagram of a pan/tilt head 100 capable of controlling multiple rockers according to an embodiment of the present disclosure. In the embodiment of the present disclosure, the pan/tilt head 100 includes a memory 10, a processor 20, an actuator 30, and a rotation shaft frame 40. The memory 10 is used for storing program codes, the processor 20 calls the program codes, and the executor 30 is used for executing the program codes. Further, the actuator 30 includes at least one of a translation axis motor, a roll axis motor, and a pitch axis motor, and the rotation axis frame 40 includes at least one of a translation axis frame, a roll axis frame, and a pitch axis frame.
Further, fig. 2 is a structural diagram of the pan/tilt head 100 according to an embodiment of the present disclosure. As shown in fig. 2, the rotating shaft frame 40 of the pan/tilt head 100 includes a translation shaft frame 42, a roll shaft frame 44, and a pitch shaft frame 46, and the actuator 30 includes a translation shaft motor 32, a roll shaft motor 34, and a pitch shaft motor 36. The head 100 further includes a base 110 and a load support 140. The translation shaft motor 32 is installed on the base 110 for driving the translation shaft frame 42 to rotate, the traverse shaft motor 34 is installed on the traverse shaft frame 44 for driving the traverse shaft frame 44 to rotate, and the pitch shaft motor 36 is installed on the traverse shaft frame 44 for driving the pitch shaft frame 46 to rotate.
It is understood that the head 100 may include only one or two pivot frames. In addition, although it is shown in fig. 2 that the translation shaft frame 42 is connected to one end of the roll shaft frame 44, the other end of the roll shaft frame 44 is connected to the pitch shaft frame 46, and the load bracket 140 is directly connected to the pitch shaft frame 46, the disclosed embodiment is not limited thereto, and the translation shaft frame 42, the roll shaft frame 44, and the pitch shaft frame 46 may be connected in other order.
In one embodiment, the head 100 may be mounted to a mobile device (e.g., a handheld device) via a base 110. Further, the cradle head 100 can obtain power or transmit and receive electronic signals through the base 110, and the cradle head 100 can also transmit and receive wireless signals. In this embodiment, the processor 20 may be disposed in the base 110 of the pan/tilt head 100, or may be disposed at another suitable position, and is configured to receive and send a signal, perform operation processing on a working instruction input by the joystick, and the like. Load cradle 140 may be used to support load 199. The inertial measurement sensor may be disposed on the load support 140, or at any other suitable location, for reading attitude information of the pan/tilt head 100. The inertial measurement sensor includes at least one of an accelerometer or a gyroscope.
Furthermore, the system for controlling the multiple rocking bars further comprises one or more rocking bars connected with the holder. Referring to fig. 3 and 4, the pan/tilt head 100 may be coupled to one or more rockers. In the embodiment of the present disclosure, a mobile device is taken as an example of a handheld device. Further, the handheld device is a handle 200. The handle 200 is provided with a first rocking bar 220 fixedly connected with the handle 200, and a second rocking bar 240 wirelessly connected with the pan/tilt head 100. The load 199 is a camera.
In one embodiment, the holder 100 can be mounted on the bottom of the handle 200 through the base 110, as shown in fig. 2, the holder 100 is disposed on the bottom of the handle 200, and the body coordinate system directions of the first rocking bar 220 and the second rocking bar 240 are the same as the body coordinate system direction of the holder 100. When the head 100 enters the upside down mode, as shown in fig. 3, the head 100 is disposed on the upper portion of the handle 200. The first rocker 220 is fixedly connected with a handle of the holder 100, the first rocker 220 is inverted up and down along with the holder 100, and at the moment, the body coordinate system direction of the first rocker 220 and the body coordinate system direction of the holder 100 are changed together; the second rocking bar 240 is wirelessly connected with the holder 100, and after the holder 100 is tilted up and down, the body coordinate system direction of the second rocking bar 240 is not changed, while the body coordinate system direction of the holder 100 is changed, and the second rocking bar 240 is different from the body coordinate system direction of the holder 100. If the types of the rockers are not distinguished and the user input command is judged, the moving direction of the cradle head 100 may not be consistent with the expected direction of the user, so that the shot video is not consistent with the expected direction, and the difficulty of the user in controlling the cradle head 100 is increased.
The pan/tilt head 100 of the embodiment of the present disclosure includes a memory 10, and the memory 10 stores a program code of a multi-rocker control method. When the program code is executed, the multi-rocker control method may automatically determine the type and input command direction of the rocker connected to the pan/tilt 100, and then generate a control command consistent with the body coordinate system of the pan/tilt 100 according to the attitude information of the pan/tilt 100. FIG. 5 is a schematic flow chart diagram of a multi-rocker control method according to an embodiment of the disclosure. The multi-rocker control method S300 includes the steps of:
s310: and reading rocker identification signals of one or more rockers, and judging the type of the rocker through the rocker identification signals.
Before one or more rockers send a rocker offset signal to the pan/tilt head 100, a control link is established with the pan/tilt head 100, at this time, a processor 20 is arranged in the pan/tilt head 100, and the processor 20 can distinguish the types of the rockers according to the received control link information. In particular, the identification may be by a specific identification or field in the signal.
For example, in one embodiment, the first rocker 220 is fixedly coupled to the pan/tilt head 100, such as by a serial interface. For example, the first rocker 220 and the pan/tilt head 100 may be connected via a CAN bus. The first rocker identification signal is transmitted through a CAN bus. The second joystick 240 is connected to the pan/tilt head 100 via a wireless connection, such as a bluetooth connection, or via a wireless communication connection at 2.4GHz, 5GHz, or other suitable frequency band. The second rocker identification signal is wirelessly transmitted through electromagnetic waves. It is understood that the first rocker may be fixedly connected to the cradle head 100 by other means, and the second rocker may be wirelessly connected to the cradle head 100 by other means, which is not limited herein.
S320: detecting a rocker deviation signal, wherein the rocker deviation signal comprises rocker deviation direction information and rocker deviation information.
In the embodiment of the disclosure, displacement sensors are respectively arranged in one or more rocking bars, and the displacement sensors are used for measuring the offset direction and the offset of the one or more rocking bars. In one embodiment, the direction of the rocker offset is related to a change in rocker offset. For example, the direction of the rocker's offset is positively correlated to the change in rocker offset. Specifically, the rocker is shifted to the right and/or upwards, the rocker offset in the horizontal and/or vertical direction of the rocker is increased, and the output rocker offset signal direction is the right and/or upwards; the rocker is deviated leftwards and/or downwards, the offset of the rocker in the horizontal and/or vertical direction of the rocker is reduced, and the direction of the output rocker deviation signal is leftwards and/or downwards.
It will be appreciated that the direction of rocker deflection may be inversely related to the change in rocker deflection. For example, the rocker is shifted to the right and/or upwards, the rocker offset in the horizontal and/or vertical direction of the rocker is increased, and the output rocker offset signal direction is to the left and/or downwards; the rocker is deviated leftwards and/or downwards, the rocker deviation amount in the horizontal and/or vertical direction of the rocker is reduced, and the direction of the output rocker deviation signal is rightward and/or upward. Further, the rocker offset direction information of the rocker offset signal and the change of the rocker offset information can be combined in other reasonable ways, and are not repeated here for simplicity.
S330: and generating a first working instruction according to the rocker identification signal and the rocker offset signal.
The first operating instruction is the direction and speed of the user's desire for the pan/tilt head 100 to move. Specifically, the direction information output by the first working instruction is related to the offset direction information of the rocker offset signal, and the output size is related to the rocker offset. In one embodiment, the pan/tilt head 100 can control the translation axis frame 42 of the pan/tilt head 100 to move left and right at a certain speed according to the offset of the rocker in the left and right direction. For example, as the amount of rocker offset to the right increases, the more the pan/tilt head 100 moves to the right. The pan/tilt head 100 can also control the up/down movement of the tilt shaft frame 46 of the pan/tilt head 100 at a constant speed according to the amount of vertical offset of the rocker. It is understood that the cradle head 100 can also control the horizontal roller frame 44 of the cradle head 100 to rotate clockwise or counterclockwise according to the offset of the rocker in the left-right direction or up-down direction.
In the embodiment, the rocker is specified to deflect rightwards and/or upwards, the rocker offset in the horizontal and/or vertical direction of the rocker is increased, and the output rocker deflection signal direction is rightwards and/or upwards; the rocker is deviated leftwards and/or downwards, the offset of the rocker in the horizontal and/or vertical direction of the rocker is reduced, and the direction of the output rocker deviation signal is leftwards and/or downwards.
In an embodiment, when the rocker identification signal is the first rocker identification signal, it is determined that the rocker is the first rocker 220, and the first rocker 220 is fixedly connected to the pan/tilt head 100. The output direction of the first operating command is the same as or opposite to the rocker offset direction of the first rocker 220 offset signal, and the output magnitude is related to the rocker offset of the first rocker offset signal.
Specifically, when the attitude information of the pan/tilt head 100 is the first attitude, the pan/tilt head 100 is disposed at the bottom of the handle 200, and the first rocker 220 is also disposed at the bottom of the handle 200, as shown in fig. 2. At this time, the body coordinate system of the first joystick 220 is a world coordinate system, the output direction of the first work instruction is the same as the joystick offset direction of the joystick offset signal, and the output magnitude is related to the joystick offset. For example, when the first joystick 220 is shifted to the right and/or upward in the world coordinate system, the joystick shift amount in the horizontal and/or vertical direction of the first joystick 220 is increased, and the output joystick shift signal is shifted to the right and/or upward. At this time, the output direction of the first work command conforms to the user's desired direction in the world coordinate system, and therefore the output direction of the first work command is the same as the joystick offset direction of the first joystick 220 offset signal.
When the posture information of the cradle head 100 is the second posture, the cradle head 100 is disposed on the upper portion of the handle 200, and correspondingly, the first rocking bar 220 is also disposed on the upper portion of the handle 200, as shown in fig. 3. At this time, the first rocking bar 220 and the pan/tilt head 100 are turned upside down together, and the body coordinate system of the first rocking bar 220 is no longer the world coordinate system. For example, when the first joystick 220 is shifted to the right and/or upward in the world coordinate system, the joystick shift amount in the horizontal and/or vertical direction of the joystick is decreased, and the output joystick shift signal is shifted to the left and/or downward. In order to make the output direction of the first work command conform to the input habit of the user in the world coordinate system, the processor 20 disposed in the pan/tilt head 100 needs to perform a negation process on the rocker offset signal direction, so that the output direction of the first work command conforms to the user's desired direction in the world coordinate system, and therefore the output direction of the first work command is opposite to the rocker offset direction of the first rocker 220 offset signal.
In another embodiment, when the rocker identification signal is the second rocker identification signal, it is determined that the rocker is the second rocker 240, and the second rocker 240 is wirelessly connected to the cradle head 100. No matter the attitude information of the pan/tilt head 100 is the first attitude or the second attitude, the body coordinate system of the second rocking bar 240 is the world coordinate system, and the change of the body coordinate system of the pan/tilt head 100 does not affect the body coordinate system of the second rocking bar 240. For example, in the world coordinate system, no matter the attitude information of the pan/tilt head 100 is the first attitude or the second attitude, when the second joystick 240 is shifted to the right and/or upward, the joystick shift amount in the horizontal and/or vertical direction of the second joystick 240 is increased, and the output joystick shift signal is directed to the right and/or upward. At this time, the output direction of the first work command conforms to the user's desired direction in the world coordinate system, and therefore the output direction of the first work command is the same as the joystick offset direction of the second joystick 240 offset signal.
S340: and reading the attitude information of the holder 100, adjusting the first working instruction according to the attitude information of the holder 100, and generating a second working instruction.
Considering that the output direction of the first working instruction generated according to the rocker identification signal and the rocker offset signal in S330 is the user-expected direction in the world coordinate system, in order to move the cradle head 100 according to the user-expected manner, the first working instruction in the world coordinate system needs to be adjusted to the second working instruction in the body coordinate system of the cradle head 100 according to the attitude information of the cradle head 100, so that the actual moving direction of the cradle head 100 meets the user expectation. The adjustment of the first working instruction in the world coordinate to the second working instruction in the body coordinate system of the cradle head 100 can be realized by performing corresponding mathematical operation on the processor 20 arranged in the cradle head 100. For example, the method can be implemented by mathematical methods such as euler angles, cosine matrices, quaternions, and the like. In an embodiment, an adjustment matrix may be obtained based on the first work instruction and the attitude information of the pan/tilt head 100, and the adjustment matrix is used to adjust the control direction in the first work instruction, so that the second work instruction controls the pan/tilt head 100 to move according to the user's desired manner.
S350: the processor 20 of the pan/tilt head 100 sends the second working instruction to the actuator 30 in accordance with the body coordinate system of the pan/tilt head 100, and the actuator 30 receives the second working instruction and performs a corresponding action, so as to control the pan/tilt head 100. Specifically, after the translation axis motor 32, the roll axis motor 34, and the pitch axis motor 36 receive the second operation command, the corresponding translation axis frame 42, the roll axis frame 44, and the pitch axis frame 46 are controlled to move, so that the moving direction of the pan/tilt head 100 meets the user expectation, the user does not need to manually set the moving direction, the trouble degree of the user in controlling the rotation of the pan/tilt head 100 can be reduced as much as possible, and the problem of control error caused by the user can be avoided as much as possible.
The multi-rocker control system, the cradle head and the method disclosed by the embodiment of the disclosure can distinguish the types of the rockers and judge the user input instruction, so that the flexible control of the cradle head 100 is realized without increasing the difficulty of the user in controlling the cradle head 100. For example, for a pan/tilt head 100 connected with one or more rockers, the pan/tilt head 100 reads rocker identification signals of the one or more rockers, and determines the type of the rocker through the rocker identification signals; detecting a rocker deviation signal, and generating a corresponding first working instruction according to the rocker identification signal and the rocker deviation signal; finally, adjusting the first working instruction according to the attitude information of the holder 100 to generate a second working instruction; and sending the second working instruction to the actuator 20, and the actuator 20 receiving the second working instruction and making a corresponding action to further control the holder 100. The embodiment of the disclosure can automatically judge the type and the input instruction direction of the rocker connected with the holder, and the user can realize the synchronous change of the rocker and the holder without carrying out complex presetting, so that the operation is simple, the user time is saved, the labor cost is reduced, and the requirements of user automation and intellectualization are met.
The above description is only an embodiment of the present disclosure, and not intended to limit the scope of the present disclosure, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present disclosure and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present disclosure.
Claims (33)
1. A multi-rocker control method for controlling a head, the method comprising:
reading rocker identification signals of one or more rockers, and judging the type of the rocker through the rocker identification signals;
detecting a rocker deviation signal, wherein the rocker deviation signal comprises rocker deviation direction information and rocker deviation information;
generating a first working instruction according to the rocker identification signal and the rocker offset signal;
reading the attitude information of the holder, adjusting the first working instruction according to the attitude information of the holder, and generating a second working instruction;
and sending the second working instruction to an actuator, and receiving the second working instruction by the actuator and making a corresponding action so as to control the holder.
2. The multi-rocker control method of claim 1, wherein when the rocker identification signal is a first rocker identification signal, the rocker is determined to be a first rocker, the output direction information of the first operating command is the same as or opposite to the rocker offset direction information of the rocker offset signal, and the output magnitude information is related to the rocker offset information of the rocker offset signal.
3. The multi-rocker control method of claim 2, wherein when the attitude information of the pan/tilt head is a first attitude, the first operating command is the same as rocker offset direction information of the rocker offset signal, and output size information is related to the rocker offset information;
and when the attitude information of the holder is a second attitude, the first working instruction is opposite to rocker deviation direction information of the rocker deviation signal, and output size information is related to the rocker deviation information.
4. The multi-rocker control method of claim 3, wherein the first rocker is fixedly connected with the pan/tilt head, and the first rocker identification signal is transmitted through a wire.
5. The multi-rocker control method of claim 1, wherein when the rocker identification signal is a second rocker identification signal, the rocker is determined to be a second rocker, the output direction information of the first operating command is the same as the rocker offset direction information of the rocker offset signal, and the output magnitude information is related to the rocker offset information.
6. The multi-rocker control method of claim 5, wherein the second rocker is wirelessly connected to the pan/tilt head, and the second rocker identification signal is wirelessly transmitted.
7. The multi-rocker control method of any one of claims 1-6, wherein a displacement sensor is disposed within the rocker, the displacement sensor being configured to measure the direction and amount of deflection information of the rocker.
8. The multi-rocker control method of claim 7, wherein the output direction information of the first operating command is adjusted to the output direction information of the body coordinate system of the pan/tilt head according to the attitude information of the pan/tilt head to generate a second operating command.
9. The multi-rocker control method of claim 8, wherein an adjustment matrix is obtained based on the first work order and attitude information of the pan/tilt head, and the adjustment matrix is used to adjust control direction information in the first work order to adjust the second work order.
10. The multi-rocker control method of claim 9, wherein an inertial measurement sensor is disposed within the pan/tilt head, and attitude information of the pan/tilt head is detected by the inertial measurement sensor.
11. The multi-rocker control method of claim 1, wherein the pan/tilt head includes at least one rotating shaft frame, the actuator is at least one motor provided on the at least one rotating shaft frame, and the pan/tilt head is further equipped with a camera.
12. The utility model provides a cloud platform, cloud platform is connected with one or more rocker, its characterized in that includes:
a memory, a processor, and an actuator;
the memory is used for storing program codes;
the processor, invoking the program code, when executed, is configured to:
reading rocker identification signals of one or more rockers and attitude information of the holder;
detecting a rocker deviation signal, wherein the rocker deviation signal comprises rocker deviation direction information and rocker deviation information;
receiving the rocker identification signal and the rocker offset signal, and generating a first working instruction according to the rocker identification signal and the rocker offset signal;
adjusting the first working instruction according to the attitude information of the holder to generate a second working instruction;
and the actuator is used for receiving and executing a second working instruction sent by the processor, and further controlling the holder.
13. A holder according to claim 12, wherein when said rocker identification signal is a first rocker identification signal, it is determined that said rocker is a first rocker, and the output direction information of said first operating command is the same as or opposite to the rocker offset direction information of said rocker offset signal, and the output magnitude information is related to the rocker offset information of said rocker offset signal.
14. A head according to claim 13, wherein, when the attitude information of said head is a first attitude information, said first operating command is the same as the rocker offset direction information of said rocker offset signal, and the output size information is correlated with said rocker offset information;
and when the attitude information of the holder is a second attitude, the first working instruction is opposite to rocker deviation direction information of the rocker deviation signal, and output size information is related to the rocker deviation information.
15. A head according to claim 14, wherein said first rocker is fixedly connected to said head, said first rocker identification signal being transmitted by a wire.
16. A holder according to claim 12, wherein when said rocker identification signal is a second rocker identification signal, it is determined that said rocker is a second rocker, and the output direction information of said first operating command is the same as the rocker offset direction information of said rocker offset signal, and the output size information is related to said rocker offset information.
17. A head according to claim 16, wherein said second rocker is connected wirelessly to said head, said second rocker identification signal being transmitted wirelessly.
18. A head according to any one of claims 12 to 17, wherein said processor further comprises a displacement sensor disposed within the rocker arm, said displacement sensor being adapted to measure the direction and amount of deflection of said rocker arm.
19. A head according to claim 18, wherein the output direction information of said first operating command is adapted to the output direction information in the body coordinate system of said head, according to the attitude information of said head, so as to generate a second operating command.
20. A head according to claim 19, wherein an adjustment matrix is obtained on the basis of said first work order and of the attitude information of the head, and by means of said adjustment matrix the control direction information in said first work order is adjusted to adjust said second work order.
21. A head according to claim 20, wherein said processor further comprises an inertial measurement sensor disposed within the head, the attitude information of the head being detected by the inertial measurement sensor.
22. A head according to claim 12, wherein said head comprises at least one rotating-shaft frame, said actuator being at least one motor arranged on said at least one rotating-shaft frame, said head further carrying a camera device.
23. A multi-rocker control system is characterized by comprising a holder and one or more rockers connected with the holder; wherein the holder comprises a memory, a processor and an actuator; the memory is used for storing program codes; the processor, invoking the program code, when executed, is configured to:
reading rocker identification signals of one or more rockers and attitude information of the holder;
detecting a rocker deviation signal, wherein the rocker deviation signal comprises rocker deviation direction information and rocker deviation information;
receiving the rocker identification signal and the rocker offset signal, and generating a first working instruction according to the rocker identification signal and the rocker offset signal;
adjusting the first working instruction according to the attitude information of the holder to generate a second working instruction, wherein the rocker offset signal comprises rocker offset direction information and rocker offset information;
and the actuator is used for receiving and executing a second working instruction sent by the processor, and further controlling the holder.
24. The multi-rocker control system of claim 23, wherein when the rocker identification signal is a first rocker identification signal, the rocker is determined to be a first rocker, the output direction information of the first operating command is the same as or opposite to the rocker offset direction information of the rocker offset signal, and the output magnitude information is related to the rocker offset information of the rocker offset signal.
25. The multi-rocker control system of claim 24, wherein when the attitude information of the pan/tilt head is first attitude information, the first operating command is the same as rocker offset direction information of the rocker offset signal, and output size information is related to the rocker offset information;
and when the attitude information of the holder is a second attitude, the first working instruction is opposite to rocker deviation direction information of the rocker deviation signal, and output size information is related to the rocker deviation information.
26. The multi-rocker control system of claim 25, wherein the first rocker is fixedly coupled to the pan head, and the first rocker identification signal is transmitted via a wire.
27. The multi-rocker control system of claim 23, wherein when the rocker identification signal is a second rocker identification signal, the rocker is determined to be a second rocker, the output direction information of the first operating command is the same as the rocker offset direction information of the rocker offset signal, and the output magnitude information is related to the rocker offset information.
28. The multi-rocker control system of claim 27, wherein the second rocker is wirelessly connected to the pan/tilt head, the second rocker identification signal being transmitted wirelessly.
29. The multi-rocker control system of any one of claims 23-28, wherein the processor further comprises a displacement sensor disposed within the rocker, the displacement sensor configured to measure the direction of deflection information and the amount of deflection information of the rocker.
30. The multi-rocker control system of claim 29, wherein the output direction information of the first operating command is adjusted to the output direction information of the body coordinate system of the pan/tilt head according to the attitude information of the pan/tilt head to generate the second operating command.
31. The multi-rocker control system of claim 30, wherein an adjustment matrix is obtained based on the first work order and attitude information of the pan/tilt head, and the adjustment matrix is used to adjust the control direction in the first work order to adjust the second work order.
32. The multi-rocker control system of claim 31, wherein the processor further comprises an inertial measurement sensor disposed within the pan/tilt head, the attitude information of the pan/tilt head being detected by the inertial measurement sensor.
33. The multi-rocker control system of claim 23, wherein the pan head comprises at least one pivot frame, the actuator is at least one motor disposed on the at least one pivot frame, and the pan head further carries a camera.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2018/079789 WO2019178764A1 (en) | 2018-03-21 | 2018-03-21 | Multi-rocker control method, gimbal and system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110383199A CN110383199A (en) | 2019-10-25 |
| CN110383199B true CN110383199B (en) | 2021-11-23 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201880015940.4A Expired - Fee Related CN110383199B (en) | 2018-03-21 | 2018-03-21 | Multi-rocker control method, holder and system |
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| Country | Link |
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| CN (1) | CN110383199B (en) |
| WO (1) | WO2019178764A1 (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117687307B (en) * | 2024-02-02 | 2024-04-26 | 广东控银实业有限公司 | Multi-rocker control method, device, equipment and storage medium |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103926940A (en) * | 2014-04-30 | 2014-07-16 | 深圳市大疆创新科技有限公司 | Control device, pan tilt applied by control device and pan tilt controlling method |
| CN105929851A (en) * | 2016-04-07 | 2016-09-07 | 广州盈可视电子科技有限公司 | Method and device for controlling Pan-Tilt device by using rocking bar equipment |
| CN205692055U (en) * | 2015-12-26 | 2016-11-16 | 武汉智能鸟无人机有限公司 | A kind of rocking bar realizes the hand-held The Cloud Terrace of motor control |
| CN106292727A (en) * | 2015-05-22 | 2017-01-04 | 浙江大华技术股份有限公司 | A kind of method and device being controlled cloud platform rotation by keyboard of network rocking bar |
| CN206021084U (en) * | 2016-08-31 | 2017-03-15 | 深圳市大疆创新科技有限公司 | Manipulation device |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DK3139239T3 (en) * | 2014-04-30 | 2019-04-15 | Sz Dji Osmo Technology Co Ltd | Control unit, cradle head for use and cradle control method |
-
2018
- 2018-03-21 WO PCT/CN2018/079789 patent/WO2019178764A1/en active Application Filing
- 2018-03-21 CN CN201880015940.4A patent/CN110383199B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103926940A (en) * | 2014-04-30 | 2014-07-16 | 深圳市大疆创新科技有限公司 | Control device, pan tilt applied by control device and pan tilt controlling method |
| CN106292727A (en) * | 2015-05-22 | 2017-01-04 | 浙江大华技术股份有限公司 | A kind of method and device being controlled cloud platform rotation by keyboard of network rocking bar |
| CN205692055U (en) * | 2015-12-26 | 2016-11-16 | 武汉智能鸟无人机有限公司 | A kind of rocking bar realizes the hand-held The Cloud Terrace of motor control |
| CN105929851A (en) * | 2016-04-07 | 2016-09-07 | 广州盈可视电子科技有限公司 | Method and device for controlling Pan-Tilt device by using rocking bar equipment |
| CN206021084U (en) * | 2016-08-31 | 2017-03-15 | 深圳市大疆创新科技有限公司 | Manipulation device |
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| Publication number | Publication date |
|---|---|
| CN110383199A (en) | 2019-10-25 |
| WO2019178764A1 (en) | 2019-09-26 |
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