WO2017088122A1

WO2017088122A1 - Follow focus control method and device, and systems

Info

Publication number: WO2017088122A1
Application number: PCT/CN2015/095525
Authority: WO
Inventors: 王岩; 耶方明
Original assignee: 深圳市大疆灵眸科技有限公司
Priority date: 2015-11-25
Filing date: 2015-11-25
Publication date: 2017-06-01
Also published as: CN107431749B; CN113473020A; CN107431749A

Abstract

A follow focus control method and device (300), a follow focus system (630), and a pan-tilt system (100, 400, 600, 700), for use in providing a more flexible and convenient follow focus control means and reducing the operating difficulty of the systems. The follow focus control method comprises: a pan-tilt receiver (4401, 6401, 7401) receives a first motor control signal sent by a pan-tilt attitude remote control (4501, 6501, 750), and sends the first motor control signal to a follow focus receiver (4402, 6402, 7402) by means of a data line; the follow focus receiver (4402, 6402, 7402) receives the first motor control signal, and sends the first motor control signal to a motor module (4301, 6301, 7301) by means of a data line; the motor module (4301, 6301, 7301) receives the first motor control signal and manipulates a lens of an imaging device (120, 420, 620, 720) according to the first motor control signal.

Description

一种跟焦器控制方法和装置及***Focus control method and device and system

技术领域Technical field

本发明涉及跟焦器技术领域，具体涉及一种跟焦器控制方法和装置及***。The invention relates to the technical field of a follower, and in particular to a method and device and system for controlling a follower.

背景技术Background technique

在航拍、影视制作等领域，常利用云台和跟焦器等作为成像装置的辅助设备。In the fields of aerial photography, film production, etc., the pan/tilt and the follower are often used as auxiliary devices for the imaging device.

云台是安装、固定成像装置的支撑设备，电动云台是其中较常用的一种，电动云台一般包括两个电机，分别负责云台的上下和左右方向的转动，可以利用电机控制器对两个电机进行控制实现精确的云台姿态定位。The cloud platform is the supporting device for installing and fixing the imaging device. The electric cloud platform is one of the more common ones. The electric cloud platform generally includes two motors, which are responsible for the rotation of the pan/tilt in the up and down and left and right directions. Two motors are controlled to achieve accurate pan/tilt attitude positioning.

跟焦器主要用于对成像装置的镜头进行控制，在进行影视拍摄时使镜头焦点时刻处于被拍摄对象上，以提供清晰画面。跟焦器在硬件上主要由跟焦器遥控器、跟焦器接收机、带标准齿轮的电机模块以及相关紧固件等组成。通常，电机模块和镜头上的齿轮啮合以驱动镜头运转对焦。遥控员可利用跟焦器专用遥控器对跟焦器的电机模块进行控制，除了进行对焦控制，一些跟焦器还支持调节镜头变焦、调节光圈等控制功能。The follower is mainly used to control the lens of the imaging device, and the focus of the lens is placed on the subject during filming to provide a clear picture. The follower is mainly composed of a follower remote controller, a follower receiver, a motor module with standard gears, and related fasteners. Usually, the motor module and the gears on the lens mesh to drive the lens to operate in focus. The remote controller can control the motor module of the follower with the special remote controller of the focus machine. In addition to the focus control, some of the focus units also support the control functions such as adjusting the lens zoom and adjusting the aperture.

在单人操作云台***(即，包括云台和跟焦器的***)时，既要配置云台遥控器以便用于操作云台姿态，又要配置跟焦器专用遥控器以便用于操作跟焦器电机模块。实践发现，多种遥控器同时配置于云台***，不仅增加了云台***的重量，更重要的是增加了操作复杂度，使得云台***的操作难度增大了。In the case of a single-person operation of the pan/tilt system (ie, a system including a pan/tilt and a follower), it is necessary to configure the pan/tilt remote control for operating the pan/tilt attitude, and to configure a dedicated remote controller for operation. Follower motor module. Practice has found that a variety of remote controllers are simultaneously deployed in the PTZ system, which not only increases the weight of the PTZ system, but more importantly increases the operational complexity, making the operation of the PTZ system more difficult.

发明内容Summary of the invention

本发明实施例提供一种跟焦器控制方法和装置及***，以提供一种灵活简便的跟焦器控制手段，降低***操作难度。Embodiments of the present invention provide a follower control method and apparatus and system to provide a flexible and simple follower control method, which reduces system operation difficulty.

本发明第一方面提供一种跟焦器控制方法，用于控制包括云台和跟焦器的云台***，所述云台***用于承载一成像装置，并用于控制所述成像装置的姿态，所述跟焦器包括电机模块，所述***还包括接收机和遥控器，所述接收机包括通过数据线相互连接的云台接收机和跟焦器接收机，所述跟焦器接收机通过数据线与所述电机模块连接，所述遥控器包括云台姿态遥控器；所述方法包括：所述云台接收机接收所述云台姿态遥控器发送的一第一电机控制信号，并通过数据线向所述跟焦器接收机发送所述第一电机控制信号；所述跟焦器接收机接收所述第一电机控制信号，并通过数据线向所述电机模块发送所述第一电机控制信号；所述电机模块接收所述第一电机控制信号，根据所述第一电机控制信号对所述成像装置进行镜头操控。A first aspect of the present invention provides a follower control method for controlling a pan/tilt system including a pan/tilt and a follower, the pan-tilt system for carrying an imaging device and for controlling the posture of the imaging device The follower includes a motor module, the system further comprising a receiver and a remote controller, the receiver including a pan-tilt receiver and a follower receiver connected to each other through a data line, the follower receiver Connected to the motor module through a data line, the remote controller includes a pan/tilt attitude remote controller; the method package The pan/tilt receiver receives a first motor control signal sent by the pan/tilt attitude remote controller, and sends the first motor control signal to the follower receiver through a data line; Receiver receives the first motor control signal and transmits the first motor control signal to the motor module through a data line; the motor module receives the first motor control signal, according to the first motor control A signal is applied to the imaging device for lens manipulation.

本发明第二方面提供一种跟焦器控制装置，用于控制包括云台和跟焦器的云台***，所述云台***用于承载一成像装置，并用于控制所述成像装置的姿态，所述跟焦器包括电机模块，所述***还包括接收机和遥控器，所述接收机包括通过数据线相互连接的云台接收机和跟焦器接收机，所述跟焦器接收机通过数据线与所述电机模块连接，所述遥控器包括云台姿态遥控器；所述跟焦器控制装置包括：第一收发单元，设置于所述云台接收机，用于使所述云台接收机接收所述云台姿态遥控器发送的一第一电机控制信号，并通过数据线向所述跟焦器接收机发送所述第一电机控制信号；第二收发单元，设置于所述跟焦器接收机，用于使所述跟焦器接收机接收所述第一电机控制信号，并通过数据线向所述电机模块发送所述第一电机控制信号；控制单元，设置于所述电机模块，用于使所述电机模块接收所述第一电机控制信号，根据所述第一电机控制信号对所述成像装置进行镜头操控。A second aspect of the present invention provides a follower control apparatus for controlling a pan/tilt head system including a pan/tilt head and a follower, the pan head stage system for carrying an image forming apparatus, and for controlling a posture of the image forming apparatus The follower includes a motor module, the system further comprising a receiver and a remote controller, the receiver including a pan-tilt receiver and a follower receiver connected to each other through a data line, the follower receiver Connecting to the motor module through a data line, the remote controller includes a pan/tilt attitude remote controller; the focus controller control device includes: a first transceiver unit disposed at the cloud platform receiver for enabling the cloud Receiving, by the receiver, a first motor control signal sent by the pan/tilt attitude remote controller, and transmitting the first motor control signal to the follower receiver through a data line; the second transceiver unit is disposed in the a follower receiver for causing the follower receiver to receive the first motor control signal and transmitting the first motor control signal to the motor module through a data line; the control unit is disposed at the Motor module, the machine module for receiving said first motor control signal, a control signal according to the first motor to control the imaging lens device.

本发明第三方面提供一种云台***，其包括云台和跟焦器，所述云台***用于承载一成像装置，并用于控制所述成像装置的姿态，所述跟焦器包括电机模块，所述云台***还包括接收机和遥控器，所述接收机包括通过数据线相互连接的云台接收机和跟焦器接收机，所述跟焦器接收机通过数据线与所述电机模块连接，所述遥控器包括云台姿态遥控器；其中，所述云台接收机接收所述云台姿态遥控器发送的一第一电机控制信号，并通过数据线向所述跟焦器接收机发送所述第一电机控制信号；所述跟焦器接收机，用于接收所述第一电机控制信号，并通过数据线向所述电机模块发送所述第一电机控制信号；所述电机模块，用于接收所述第一电机控制信号，根据所述第一电机控制信号对所述成像装置进行镜头操控。A third aspect of the present invention provides a pan/tilt system including a pan/tilt head and a follower for carrying an imaging device for controlling an attitude of the imaging device, the follower comprising a motor a module, the pan/tilt system further comprising a receiver and a remote controller, the receiver comprising a pan-tilt receiver and a follower receiver connected to each other by a data line, the follower receiver passing the data line and the a motor module is connected, the remote controller includes a pan/tilt attitude remote controller; wherein the pan/tilt receiver receives a first motor control signal sent by the pan/tilt attitude remote controller, and passes the data line to the follower Receiving, by the receiver, the first motor control signal; the follower receiver for receiving the first motor control signal and transmitting the first motor control signal to the motor module through a data line; And a motor module, configured to receive the first motor control signal, and perform lens manipulation on the imaging device according to the first motor control signal.

本发明第四方面提供一种跟焦器控制方法，用于控制包括云台和跟焦器的云台***，所述云台***用于承载一成像装置，并用于控制所述成像装置的姿态，所述跟焦器包括电机模块，所述云台***还包括接收机和遥控器，所述接收机通过数据线与所述电机模块连接，所述遥控器包括云台姿态遥控器、跟焦器专用遥控器和电位器拨轮遥控器中的至少一种；所述方法包括：所述电机模块通过所述接收机接收至少一种遥控器发送的至少一种电机控制信号；所述电机模块根据优先级策略确定所述至少一种电机控制信号各自的优先级，根据优先级最高的电机控制信号对所述成像装置进行镜头操控。A fourth aspect of the present invention provides a follower control method for controlling a pan/tilt and a follower a pan/tilt system for carrying an imaging device and for controlling a posture of the imaging device, the follower comprising a motor module, the pan/tilt system further comprising a receiver and a remote controller, The receiver is connected to the motor module through a data line, the remote controller including at least one of a pan/tilt attitude remote controller, a focus-specific remote controller, and a potentiometer dial remote controller; the method comprising: the motor Receiving, by the receiver, at least one motor control signal sent by at least one remote controller; the motor module determining a priority of each of the at least one motor control signal according to a priority policy, according to a motor with the highest priority A signal is applied to the imaging device for lens manipulation.

本发明第五方面提供一种云台***，其包括云台和跟焦器，所述云台用于承载一成像装置，并用于控制所述成像装置的姿态，所述跟焦器包括电机模块，所述***还包括接收机和遥控器，所述接收机通过数据线与所述电机模块连接，所述遥控器包括云台姿态遥控器、跟焦器专用遥控器和通用遥控器中的至少一种；其中，所述电机模块，用于通过所述接收机接收至少一种遥控器发送的至少一种电机控制信号；所述电机模块，用于根据优先级策略确定所述至少一种电机控制信号各自的优先级，根据优先级最高的电机控制信号对所述成像装置进行镜头操控。A fifth aspect of the present invention provides a pan/tilt system including a pan/tilt and a follower for carrying an imaging device for controlling an attitude of the imaging device, the follower comprising a motor module The system further includes a receiver and a remote controller, the receiver being coupled to the motor module via a data line, the remote controller including at least a pan-tilt attitude remote controller, a focus-specific remote controller, and a universal remote controller The motor module is configured to receive, by the receiver, at least one motor control signal sent by at least one remote controller; the motor module, configured to determine the at least one motor according to a priority policy The respective priorities of the control signals are subjected to lens manipulation of the imaging device according to the highest priority motor control signal.

本发明第六方面提供一种云台***，其包括云台和跟焦器，所述云台***用于承载一成像装置，并用于控制所述成像装置的姿态，所述跟焦器包括电机模块，所述云台包括电机控制器，所述云台***还包括接收机和遥控器，所述接收机包括：设置于云台的云台接收机和设置在所述电机模块上的跟焦器接收机，所述云台接收机通过数据线与所述跟焦器接收机连接；其中，所述跟焦器接收机，用于接收至少一个所述遥控器发送的两路控制信号；所述跟焦器接收机，还用于将所述两路控制信号中的一路作为电机控制信号发送给所述电机模块，所述电机控制信号被用于控制所述成像装置的镜头；所述跟焦器接收机，还用于将所述两路控制信号中的一路作为云台控制信号发送给所述云台接收机，所述云台控制信号被用于控制所述云台的姿态。A sixth aspect of the present invention provides a pan/tilt system including a pan/tilt head and a follower for carrying an imaging device for controlling an attitude of the imaging device, the follower comprising a motor a module, the pan/tilt head comprising a motor controller, the pan/tilt head system further comprising a receiver and a remote controller, the receiver comprising: a pan-tilt receiver disposed on the pan-tilt head and a focus set on the motor module Receiver, the PTZ receiver is connected to the follower receiver via a data line; wherein the follower receiver is configured to receive at least one two control signals sent by the remote controller; The follower receiver is further configured to send one of the two control signals as a motor control signal to the motor module, the motor control signal being used to control a lens of the imaging device; The focus receiver is further configured to send one of the two control signals to the PTZ receiver as a PTZ control signal, and the PTZ control signal is used to control the posture of the PTZ.

本发明第七方面提供一种跟焦器***，用于云台，所述云台用于承载一成像装置，并用于控制所述成像装置的姿态，所述跟焦器***包括电机模块，所述跟焦器***还包括跟焦器接收机和遥控器，所述跟焦器接收机通过数据线与所述电机模块连接，所述遥控器包括云台姿态遥控器、跟焦器专用遥控器和通用遥控器中的至少一种；其中，所述跟焦器接收机，用于接收至少一种遥控器发送的至少一种电机控制信号；所述电机模块，用于根据优先级策略确定所述至少一种电机控制信号各自的优先级，根据优先级最高的电机控制信号对所述成像装置进行镜头操控。A seventh aspect of the present invention provides a follower system for a pan/tilt head for carrying an imaging device and for controlling a posture of the imaging device, the follower system comprising a motor module, The follower system further includes a follower receiver and a remote controller, wherein the follower receiver is connected to the motor module through a data line, and the remote controller includes a pan/tilt attitude remote controller and a dedicated focus controller And pass At least one of a remote controller; wherein the follower receiver is configured to receive at least one motor control signal transmitted by at least one remote controller; the motor module configured to determine the according to a priority policy The respective priorities of the at least one motor control signal are lensed to the imaging device according to the highest priority motor control signal.

由上可见，在本发明的一些可行的实施方式中，使云台姿态遥控器也可以用来对跟焦器进行控制，实现了一个遥控器既用于控制云台又用于控制跟焦器，从而精简了设备，降低了***重量，更重要的是简化了操作复杂度，降低了***的操作难度，提供一种灵活简便的跟焦器控制手段，使得单人操作云台***的情况下也能够灵活方便的进行云台和跟焦器控制。并且，由于云台接收机直接接收控制信号的效率远大于跟焦器接收机的效率，这样可以实现更远距离的控制，可以解决，远距离控制例如当飞机飞远的情况下，只可以控制云台而不能控制跟焦器的情况。It can be seen from the above that in some feasible embodiments of the present invention, the pan/tilt attitude remote controller can also be used to control the follower, and a remote controller is used for controlling the pan/tilt and controlling the follower. Therefore, the equipment is simplified, the weight of the system is reduced, and more importantly, the operation complexity is simplified, the operation difficulty of the system is reduced, and a flexible and simple follower control method is provided, so that the single person operates the pan/tilt system. It is also flexible and convenient for pan/tilt and follower control. Moreover, since the efficiency of the gimbal receiver directly receiving the control signal is much greater than the efficiency of the follower receiver, this can achieve longer distance control, which can be solved, and the remote control can only be controlled, for example, when the aircraft is far away. The gimbal cannot control the condition of the follower.

在本发明的另一些可行的实施方式中，支持采用多个遥控器对跟焦器进行遥控，使得多种控制方式同时存在，当其中某个方式存在盲区或因事实的客观条件不适宜使用时，可以提供应急补救途径；事实上，提供了更加灵活简便的跟焦器遥控手段。In another feasible implementation manner of the present invention, the remote control is used to remotely control the follower, so that multiple control modes exist simultaneously, when one of the modes has a blind spot or is unsuitable for use due to objective conditions of facts. It can provide an emergency remedy; in fact, it provides a more flexible and convenient remote control method.

附图说明DRAWINGS

为了更清楚地说明本发明实施例技术方案，下面将对实施例和现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其它的附图。In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the embodiments and the prior art description will be briefly described below. Obviously, the drawings in the following description are only some implementations of the present invention. For example, other drawings may be obtained from those skilled in the art without any inventive effort.

图1是云台***的示意图；Figure 1 is a schematic diagram of a pan/tilt system;

图2是本发明一个实施例提供的跟焦器控制方法的流程示意图；2 is a schematic flow chart of a follower control method according to an embodiment of the present invention;

图3是本发明一个实施例提供的跟焦器控制装置的结构示意图；3 is a schematic structural diagram of a follower control device according to an embodiment of the present invention;

图4是本发明一个实施例提供的云台***的结构示意图；4 is a schematic structural diagram of a pan/tilt head system according to an embodiment of the present invention;

图5是本发明一个实施例提供的跟焦器控制方法的流程示意图；；5 is a schematic flow chart of a method for controlling a follower according to an embodiment of the present invention;

图6是本发明一个实施例提供的云台***的结构示意图；6 is a schematic structural diagram of a pan/tilt head system according to an embodiment of the present invention;

图7是本发明一个实施例提供的云台***的结构示意图。 FIG. 7 is a schematic structural diagram of a pan/tilt head system according to an embodiment of the present invention.

具体实施方式detailed description

为了使本技术领域的人员更好地理解本发明方案，下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分的实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都应当属于本发明保护的范围。The technical solutions in the embodiments of the present invention are clearly and completely described in the following with reference to the accompanying drawings in the embodiments of the present invention. It is an embodiment of the invention, but not all of the embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts shall fall within the scope of the present invention.

下面结合附图，对本发明的一些实施方式作详细说明。在不冲突的情况下，下述的实施例及实施例中的特征可以相互组合。Some embodiments of the present invention are described in detail below with reference to the accompanying drawings. The features of the embodiments and examples described below can be combined with each other without conflict.

本发明实施例技术方案，应用于包括云台和跟焦器的***(后文简称为云台***)。所述云台***用于承载一成像装置，并用于控制所述成像装置的姿态，如图1所示，是一种云台***100的示意图，包括云台130和跟焦器110。该云台***100用于承载一成像装置120。The technical solution of the embodiment of the present invention is applied to a system including a pan/tilt and a follower (hereinafter referred to as a pan/tilt system). The pan/tilt system is used to carry an imaging device and is used to control the posture of the imaging device. As shown in FIG. 1, it is a schematic diagram of a pan-tilt system 100, including a pan-tilt 130 and a follower 110. The pan-tilt system 100 is used to carry an imaging device 120.

其中，云台130可以是电动云台，一般可包括三个电机，分别负责成像装置120在俯仰、横滚、和航向三个方向上的转动。所述云台130还可包括电机控制器，用于控制所述三个电机，还可包括云台接收机与云台遥控器。用户可利用云台遥控器以无线方式发出云台控制信号给云台接收机，云台接收机将收到的云台控制信号转发给电机控制器，对电机进行控制，实现对云台的姿态调整。云台接收机和电机控制器以及电机等可通过信号线例如CAN(Controller Area Network，控制器局域网络)总线连接。The pan/tilt head 130 may be an electric pan/tilt head, and generally may include three motors, which are respectively responsible for the rotation of the imaging device 120 in three directions of pitch, roll, and heading. The pan/tilt head 130 may further include a motor controller for controlling the three motors, and may further include a pan/tilt receiver and a pan/tilt remote controller. The user can use the PTZ remote control to wirelessly send the PTZ control signal to the PTZ receiver. The PTZ receiver forwards the received PTZ control signal to the motor controller to control the motor to achieve the attitude of the PTZ. Adjustment. The pan-tilt receiver and the motor controller and the motor can be connected via a signal line such as a CAN (Controller Area Network) bus.

跟焦器110一般可包括跟焦器专用遥控器、跟焦器接收机、电机模块以及相关紧固件等。所述电机模块和跟焦器接收机可通过相关紧固件固定于云台和/或成像装置上，通常，电机模块和成像装置的镜头上的齿轮啮合以驱动镜头运转对焦。跟焦器接收机和电机模块可通过信号线例如CAN总线连接。跟焦器专用遥控器可以无线方式与跟焦器接收机通信。需要说明的是，电机模块一般可包括电机与电机控制器，电机控制器根据收到的电机控制信号控制电机对镜头进行操控。跟焦器接收机和云台接收机之间也通过信号线例如CAN总线连接。The follower 110 can generally include a dedicated remote control for the focus, a follower receiver, a motor module, and associated fasteners. The motor module and the follower receiver may be secured to the pan/tilt and/or imaging device by associated fasteners. Typically, the motor module and the gears on the lens of the imaging device engage to drive the lens to operate in focus. The follower receiver and motor module can be connected via a signal line such as a CAN bus. The focus-specific remote control can communicate wirelessly with the follower receiver. It should be noted that the motor module generally includes a motor and a motor controller, and the motor controller controls the motor to control the lens according to the received motor control signal. The follower receiver and the pan/tilt receiver are also connected via a signal line such as a CAN bus.

成像装置120可以是常用的各种类型的成像装置，例如摄像机。 The imaging device 120 may be various types of imaging devices commonly used, such as a video camera.

本文中，所述云台可以以手持云台为例，所述手持云台可以配置有云台姿态遥控器，该云台姿态遥控器例如可以是一种拇指遥控器(thumb controller，又称为无线拇指摇杆控制器)。In this context, the cloud platform may be a handheld cloud platform. The handheld cloud platform may be configured with a pan/tilt attitude remote controller, and the pan/tilt attitude remote controller may be, for example, a thumb controller (also referred to as a thumb controller). Wireless thumb rocker controller).

其中，云台姿态遥控器一般采用压力-速度控制方式，其具有一个遥杆和压力传感器，遥杆用来接受用户施加的压力，压力传感器将遥杆的压力转换为电信号，所受的压力的大小反映在云台姿态遥控发出的控制信号中，用于指示操作幅度的大小，压力越大，操作幅度越大。通常，云台姿态遥控器只能用来对云台姿态进行遥控。Among them, the pan/tilt attitude remote control generally adopts a pressure-speed control mode, which has a joystick and a pressure sensor. The joystick is used to receive the pressure applied by the user, and the pressure sensor converts the pressure of the joystick into an electrical signal, and the pressure is received. The size is reflected in the control signal sent by the PTZ attitude remote control to indicate the magnitude of the operation. The greater the pressure, the larger the operation range. Usually, the PTZ attitude remote control can only be used to remotely control the attitude of the gimbal.

跟焦器配置的跟焦器专用遥控器一般采用角度-速度控制方式，其具有一个旋钮，用户可旋转该旋钮，旋钮被旋转的角度的大小反映在跟焦器专用遥控器发出的控制信号中，用于指示操作幅度的大小，旋转的角度越大，操作幅度越大。跟焦器专用遥控器一般由无线通讯模块和角度传感器组成，角度传感器联动于一个便于跟焦员调整的旋钮上，旋钮上可以做物理标记。跟焦器专用遥控器将旋钮的角度信号无线发送给跟焦器接收机，进而控制电机运动。旋钮旋转的角度越大，电机运动幅度越大。跟焦器专用遥控器尺寸较大，重量较重。The focus-specific speed control device of the follower is generally equipped with an angle-speed control method, which has a knob, and the user can rotate the knob, and the angle of the rotation of the knob is reflected in the control signal sent by the special remote controller of the focus controller. Used to indicate the magnitude of the operation amplitude. The larger the angle of rotation, the larger the operation range. The special remote control for the focus is generally composed of a wireless communication module and an angle sensor. The angle sensor is linked to a knob that is convenient for the focus adjuster, and the knob can be physically marked. The focus remote control sends the angle signal of the knob wirelessly to the follower receiver to control the motor motion. The greater the angle of rotation of the knob, the greater the motor's motion. The special remote control for the follower is larger in size and heavier in weight.

在单人操作云台***的场景中，某些时候也可以采用一种通用遥控器对跟焦器进行遥控。该通用遥控器例如可以是一种具有电位器拨轮(Fingerwheel)的遥控器(本文中称为电位器拨轮遥控器)。相对于跟焦器专用遥控器，电位器拨轮遥控器尺寸较小，重量较轻。In the scenario of a single-handed pan/tilt system, a universal remote control can also be used to remotely control the focus. The universal remote control can be, for example, a remote control having a potentiometer wheel (referred to herein as a potentiometer dial remote control). The potentiometer dial remote control is smaller in size and lighter in weight than the dedicated remote control for the follower.

电位器拨轮遥控器具有一个电位器拨轮，电位器拨轮偏离中位的位移量反映在电位器拨轮遥控器发出的控制信号中，用于指示操作幅度的大小，位移量越大，操作幅度越大。大致与前述遥控器角度传感器与旋钮的作用相同，注重轻量化、小型化，以便于挂在云台握把附近供云台手操作使用。The potentiometer dial remote control has a potentiometer dial, and the displacement amount of the potentiometer dial from the neutral position is reflected in the control signal sent by the potentiometer dial remote controller for indicating the magnitude of the operation amplitude, and the displacement amount is larger. The greater the range of operation. It is roughly the same as the above-mentioned remote controller angle sensor and knob, focusing on lightweight and miniaturization, so as to be hung in the vicinity of the gimbal grip for the pan/tilt to operate.

但是，无论是采用跟焦器专用遥控器和通用遥控器中的哪一种遥控器来遥控跟焦器，在单人操作云台***时，还需要采用云台姿态遥控器来遥控云台，这样，就需要在云台上配置两个遥控器，一个用来遥控云台，一个用来遥控跟焦器，导致云台***重量增加，操作复杂。However, no matter which one of the special remote control and the universal remote control is used to remotely control the follower, when the single-person operation of the PTZ system, the PTZ attitude remote control is required to remotely control the PTZ. In this way, it is necessary to configure two remote controllers on the pan/tilt, one for remote control of the pan/tilt and one for remote control of the focus, which results in an increase in the weight of the pan/tilt system and complicated operation.

为了解决在单人操作云台***时，多个遥控器导致的重量增加，操作复杂等问题，本发明实例提供了一种跟焦器控制方法，如下所述。In order to solve the weight increase caused by multiple remote controllers when operating a single-person pan/tilt system, the operation is complicated. As an example, the present invention provides a follower control method as described below.

请参考图2，本发明一个实施例提供一种跟焦器控制方法。Referring to FIG. 2, an embodiment of the present invention provides a follower control method.

该方法用于控制如图1所示的、包括云台和跟焦器的云台***，所述云台***用于承载一成像装置，并用于控制所述成像装置的姿态，其中，所述跟焦器包括电机模块，所述***还包括接收机和遥控器，所述接收机包括通过数据线相互连接的云台接收机和跟焦器接收机，所述跟焦器接收机通过数据线与所述电机模块连接，所述遥控器包括云台姿态遥控器。本实施例中，所述数据线可以为CAN总线。The method is for controlling a pan-tilt system including a pan/tilt and a follower as shown in FIG. 1, the pan-tilt system for carrying an imaging device and for controlling a posture of the imaging device, wherein The follower includes a motor module, the system further comprising a receiver and a remote controller, the receiver comprising a pan-tilt receiver and a follower receiver connected to each other by a data line, the follower receiver passing the data line Connected to the motor module, the remote controller includes a pan/tilt attitude remote controller. In this embodiment, the data line may be a CAN bus.

请参考图2，本实施例方法包括：Referring to FIG. 2, the method of this embodiment includes:

201、所述云台接收机接收所述云台姿态遥控器发送的一第一电机控制信号，并通过数据线向所述跟焦器接收机发送所述第一电机控制信号；201. The pan/tilt receiver receives a first motor control signal sent by the pan/tilt attitude remote controller, and sends the first motor control signal to the follower receiver through a data line.

本发明实施例技术方案的一个目的，在于用云台姿态遥控器同时控制云台和跟焦器，以替代电位器拨轮遥控器和跟焦器专用遥控器，从而精简云台***中设备的数量，达到减轻***重量，降低操作复杂度的效果。An object of the technical solution of the embodiment of the present invention is to simultaneously control the pan/tilt and the follower with a pan/tilt attitude remote control, instead of the potentiometer dial remote controller and the dedicated remote controller of the follower, thereby simplifying the equipment in the pan/tilt system. The quantity can reduce the weight of the system and reduce the complexity of operation.

为实现该目的，本发明实施例中，云台姿态遥控器应为改进后的遥控器，至少包括对遥控器软件的改进，例如云台姿态遥控器可以提供云台控制模式和跟焦器控制模式，以具有云台姿态与跟焦器***两类遥控功能，以便于操作员或者说遥控员在两种模式之间进行切换。该云台姿态遥控器在两种模式下发出的信号应具有不同的标识或字段，以便云台接收机能够根据该标识或字段识别出云台姿态遥控器所发出的信号是云台控制信号，或者是跟焦器控制信号。In order to achieve the object, in the embodiment of the present invention, the pan/tilt attitude remote controller should be an improved remote controller, including at least an improvement on the remote controller software, for example, the pan/tilt attitude remote controller can provide the pan/tilt control mode and the follower control. Mode, with two types of remote control functions: pan/tilt attitude and follower system, so that the operator or remote controller can switch between the two modes. The signal sent by the PTZ attitude remote controller in the two modes should have different identifiers or fields, so that the PTZ receiver can recognize that the signal sent by the PTZ attitude remote controller is a PTZ control signal according to the identifier or the field. Or it is the follower control signal.

云台姿态遥控器可以在云台控制模式下，向云台接收机发送压力-速度控制方式的云台控制信号，在这里，所述压力-速度控制方式是指所述云台姿态遥控器接受的压力的大小对应于云台姿态调整的转动速度的大小。The pan/tilt attitude remote controller can transmit a pressure-speed control mode pan/tilt control signal to the pan-tilt receiver in the pan-tilt control mode, where the pressure-speed control mode refers to the pan-tilt attitude remote control accepting The magnitude of the pressure corresponds to the magnitude of the rotational speed of the attitude adjustment of the gimbal.

本发明实施例中，云台姿态遥控器也可以在跟焦器控制模式下，向所述云台接收机发送压力-速度控制方式的电机控制信号，在这里，所述压力-速度控制方式是指所述云台姿态遥控器接受的压力的大小对应于跟焦器电机转动速度的大小；为便于与其它遥控器发出的电机控制信号进行区别，本文中将云台姿态遥控器发出的电机控制信号称为第一电机控制信号。In the embodiment of the present invention, the pan/tilt attitude remote controller may also send a motor control signal of a pressure-speed control mode to the pan-tilt receiver in a follower control mode, where the pressure-speed control mode is Refers to the pressure received by the pan/tilt attitude remote controller corresponding to the rotation speed of the follower motor; in order to facilitate the difference with the motor control signals issued by other remote controllers, The motor control signal from the attitude remote control is called the first motor control signal.

云台***中的接收机可以包括设置于云台的云台接收机或设置在跟焦器电机模块上的跟焦器接收机。本步骤中云台姿态遥控器优选向云台接收机发送第一电机控制信号。但需要说明的是，经过配置的跟焦器接收机也可以用来接收云台姿态遥控器发送的信号。The receiver in the pan/tilt system may include a pan-tilt receiver disposed on the pan-tilt or a follower receiver disposed on the follower motor module. In this step, the PTZ attitude remote controller preferably transmits the first motor control signal to the PTZ receiver. However, it should be noted that the configured follower receiver can also be used to receive signals transmitted by the PTZ attitude remote control.

云台姿态遥控器发出的第一电机控制信号可以被云台接收机接收到，云台接收机通常安装在云台上。本发明实施例中，云台接收机除了与云台的电机控制器通过数据线连接，还通过数据线与跟焦器接收机连接。所说的数据线例如可以采用CAN总线。The first motor control signal from the PTZ attitude remote control can be received by the PTZ receiver, and the PTZ receiver is usually installed on the PTZ. In the embodiment of the present invention, the PTZ receiver is connected to the motor receiver of the PTZ through a data line, and is also connected to the follower receiver through a data line. The data line can be, for example, a CAN bus.

云台接收机接收到云台姿态遥控器发出的信号后，首先判断该信号是电机控制信号还是云台控制信号，具体可以通过信号中的特定的标识或字段进行识别。如果是云台控制信号，则转发给云台的电机控制机，用于控制云台的电机进行云台姿态调整。如果收到的是云台姿态遥控器发出的第一电机控制信号，则将第一电机控制信号通过数据线转发给跟焦器接收机。After receiving the signal from the PTZ attitude remote controller, the PTZ receiver first determines whether the signal is a motor control signal or a PTZ control signal, which can be identified by a specific identifier or field in the signal. If it is a PTZ control signal, the motor control machine forwarded to the PTZ will be used to control the PTZ motor to perform the PTZ attitude adjustment. If the first motor control signal from the pan/tilt attitude remote control is received, the first motor control signal is forwarded through the data line to the follower receiver.

可选的，一些场景中，在信号格式不统一的情况下，云台接收机可以将收到的第一电机控制信号转换成跟焦器的电机模块能够识别的格式，将格式转换后的第一电机控制信号发送给跟焦器的电机模块。Optionally, in some scenarios, when the signal format is not uniform, the PTZ receiver may convert the received first motor control signal into a format recognizable by the motor module of the follower, and convert the format A motor control signal is sent to the motor module of the follower.

202、所述跟焦器接收机接收所述第一电机控制信号，并通过数据线向所述电机模块发送所述第一电机控制信号。202. The follower receiver receives the first motor control signal, and sends the first motor control signal to the motor module through a data line.

跟焦器接收机可以起到转发作用，用于将收到的第一电机控制信号转发给所述电机模块。The follower receiver can function as a forwarding for forwarding the received first motor control signal to the motor module.

需要说明的，一些情景中，跟焦器接收机也可以直接接收云台姿态遥控器发送的第一电机控制信号。当采用跟焦器接收机来接收和转发第一电机控制信号时，具体流程与云台接收机相同为：云台姿态遥控器发出的第一电机控制信号可以被跟焦器接收机接收到，跟焦器接收机通常安装在跟焦器上，跟焦器接收机接收到云台姿态遥控器发出的信号后，首先判断该第一电机控制信号是电机控制信号还是云台控制信号，具体可以通过信号中的特定的标识或字段进行识别。如果是云台控制信号，则通过数据线转发给云台接收机以控制云台的电机进行云台姿态调整。如果收到的是云台姿态遥控器发出的电机控制信号，则将该电机控制信号转发给跟焦器的电机模块。It should be noted that in some scenarios, the follower receiver can also directly receive the first motor control signal sent by the pan/tilt attitude remote controller. When the follower receiver is used to receive and forward the first motor control signal, the specific process is the same as the pan/tilt receiver: the first motor control signal sent by the pan/tilt attitude remote controller can be received by the follower receiver. The follower receiver is usually installed on the follower. After the receiver receives the signal from the PTZ attitude remote control, it first determines whether the first motor control signal is a motor control signal or a PTZ control signal. Identify by a specific identifier or field in the signal. If it is a PTZ control signal, it is forwarded to the PTZ receiver through the data line to control the power of the PTZ. The machine performs the attitude adjustment of the gimbal. If a motor control signal from the PTZ attitude remote control is received, the motor control signal is forwarded to the motor module of the follower.

203、所述电机模块接收所述第一电机控制信号，根据所述第一电机控制信号对所述成像装置进行镜头操控。203. The motor module receives the first motor control signal, and performs lens manipulation on the imaging device according to the first motor control signal.

跟焦器的电机模块通过接收机收到云台姿态遥控器发出的第一电机控制信号后，根据第一电机控制信号对成像装置进行镜头操控。容易理解，遥控员进行遥控操作时，施加的压力越大，则电机模块的转动速度越大，对镜头调整的幅度就越大。依此实现压力-速度控制方式的镜头调整，相较于小型简易电位器拨轮遥控器的遥控操作，利用云台姿态遥控器的遥控操作更有利于低速精细调整。After receiving the first motor control signal from the pan/tilt attitude remote controller through the receiver, the motor module of the follower performs lens manipulation on the imaging device according to the first motor control signal. It is easy to understand that the greater the pressure applied by the remote controller during remote operation, the greater the rotational speed of the motor module and the greater the adjustment to the lens. In this way, the lens adjustment of the pressure-speed control mode is realized. Compared with the remote operation of the small simple potentiometer dial remote control, the remote operation using the pan/tilt attitude remote control is more advantageous for low-speed fine adjustment.

可见，利用云台姿态遥控器的特性对跟焦器进行遥控，可以替代电位器拨轮遥控器和跟焦器专用遥控器等，精简云台***的遥控器数量，降低重量，降低复杂度，在单人操作云台***时尤其方便，尤其适用于对跟焦实时性要求不高的场景。并且，由于云台接收机直接接收控制信号的效率远大于跟焦器接收机的效率，这样可以实现更远距离的控制。可以解决，在远距离遥控的情景例如当飞机飞远的情况下，只可以控制云台而不能控制跟焦器的情况。It can be seen that using the characteristics of the PTZ attitude remote control to remotely control the focus, it can replace the potentiometer dial remote control and the dedicated remote control of the focus, etc., to reduce the number of remote controls of the PTZ system, reduce weight and reduce complexity. It is especially convenient when operating a pan/tilt system for a single person, especially for scenes where the real-time performance of the focus is not high. Moreover, since the efficiency of the gimbal receiver directly receiving the control signal is much greater than that of the follower receiver, this allows for longer distance control. It can be solved that in the case of long-distance remote control, for example, when the aircraft is far away, only the pan/tilt can be controlled and the follower can not be controlled.

为了适应更复杂的操作场景，本发明实施例技术方案中还支持利用多个遥控器对跟焦器进行遥控操作。In order to adapt to a more complicated operation scenario, the technical solution of the embodiment of the present invention further supports remote operation of the follower by using a plurality of remote controllers.

一些实施例中，所述遥控器还包括跟焦器专用遥控器和通用遥控器中的至少一种；所述方法还包括：In some embodiments, the remote controller further includes at least one of a focus-specific remote controller and a universal remote controller; the method further includes:

B1、所述电机模块通过所述接收机，接收所述通用遥控器发送的第二电机控制信号，或者，接收所述跟焦器专用遥控器发送第三电机控制信号。B1. The motor module receives the second motor control signal sent by the universal remote controller through the receiver, or receives the third remote motor control signal by the dedicated focus controller.

例如，在多人操作云台***的场景，不同的操作员可能利用不同的遥控器向云台***的跟焦器发出电机控制信号，包括：云台姿态遥控器发送的第一电机控制信号，通用遥控器发送的第二电机控制信号，跟焦器专用遥控器发送第三电机控制信号，等。本文中以三种遥控器发出三种电机控制信号为例，但需要说明，并不限于本文的示例，采用更多的遥控器发出更多种电机控制信号的情况也应包含在本发明技术方案之内。 For example, in a scenario where a multi-person operates a pan/tilt system, different operators may use different remote controls to issue motor control signals to the focus of the pan/tilt system, including: the first motor control signal sent by the pan/tilt attitude remote control, The second motor control signal sent by the universal remote controller, the third motor control signal sent by the dedicated remote controller, and the like. In this paper, three kinds of motor control signals are issued by three kinds of remote controllers as an example, but need to be explained, and it is not limited to the example herein. The case where more remote controllers are used to issue more kinds of motor control signals should also be included in the technical solution of the present invention. within.

优选的，所述电机模块可以通过所述云台接收机接收所述通用遥控器发送的第二电机控制信号，或者，可以通过所述跟焦器接收机接收所述跟焦器专用遥控器发送第三电机控制信号。Preferably, the motor module may receive the second motor control signal sent by the universal remote controller through the pan/tilt receiver, or may receive the focus controller-specific remote controller through the focus receiver receiver. The third motor control signal.

但需要说明的是，通过哪一种接收机来接收哪一种电机控制信号是可以根据需要实际选择配置的，具体的，电机模块可以通过云台接收机接收上述第一、第二和第三电机控制信号中的任一种，电机模块也可以通过跟焦器接收机接收上述第一、第二和第三电机控制信号中的任一种，本文对此不予限制。However, it should be noted that which type of motor control signal is received by which receiver can be actually selected according to the needs. Specifically, the motor module can receive the first, second and third through the pan-tilt receiver. Any one of the motor control signals, the motor module may also receive any one of the first, second, and third motor control signals through the follower receiver, which is not limited herein.

B2、所述电机模块根据优先级策略确定接收到的第一或第二或第三电机控制信号各自的优先级，根据优先级最高的电机控制信号对所述成像装置进行镜头操控。B2. The motor module determines a priority of each of the received first or second or third motor control signals according to a priority policy, and performs lens manipulation on the imaging device according to the highest priority motor control signal.

本发明实施例预先在跟焦器的电机模块中配置优先级策略，给不同遥控器发出的电机控制信号设置不同的优先级，例如，给云台姿态遥控器发出的第一电机控制信号设置最高优先级。当电机模块收到两种或多种电机控制信号时，就可以根据优先级策略确定接收到的第一或第二或第三电机控制信号各自的优先级，然后，按照最高优先级的电机控制信号对所述成像装置进行镜头操控。The embodiment of the invention pre-configures a priority policy in the motor module of the follower, and sets different priorities for the motor control signals sent by different remote controllers, for example, setting the highest motor control signal to the pan/tilt attitude remote controller. priority. When the motor module receives two or more motor control signals, it can determine the priority of each of the received first or second or third motor control signals according to the priority policy, and then, according to the highest priority motor control A signal is applied to the imaging device for lens manipulation.

该技术方案中，通过设置优先级策略支持采用多个遥控器对跟焦器进行遥控，使得多种控制方式同时存在，当其中某个方式存在盲区或因事实的客观条件不适宜使用时，可以提供应急补救途径。事实上，提供了更加灵活简便的跟焦器遥控手段。In the technical solution, the priority control strategy is adopted to support remote control of the focus device by using multiple remote controllers, so that multiple control modes exist at the same time, and when one of the modes has a blind zone or is unsuitable for use due to objective conditions of fact, Provide emergency remedies. In fact, it provides a more flexible and convenient remote control method.

进一步的，所述通用遥控器具体可以是电位器拨轮遥控器，上述电机模块接收第二或第三电机信号的步骤之前，所述方法还可以包括：Further, the universal remote controller may be specifically a potentiometer dial remote controller, and the method may further include: before the step of the motor module receiving the second or third motor signal, the method further includes:

A1、所述电位器拨轮遥控器向所述云台接收机发送位移-速度控制方式的所述第二电机控制信号，所述位移-速度控制方式是指所述电位器拨轮遥控器的拨轮偏移中位的位移量的大小对应于电机转动速度的大小；所述云台接收机接收所述第二电机控制信号，并通过数据线向所述电机模块发送所述第二电机控制信号。其中，在有必要时，云台接收机可以将接收到的第二电机控制信号转换为跟焦器的电机模块能够识别的格式后再向电机模块发送。A1, the potentiometer dial remote controller sends the second motor control signal of the displacement-speed control mode to the pan-tilt receiver, wherein the displacement-speed control mode refers to the potentiometer dial remote controller The magnitude of the displacement amount of the neutral of the dial offset corresponds to the magnitude of the rotational speed of the motor; the pan-tilt receiver receives the second motor control signal and transmits the second motor control to the motor module through a data line signal. Wherein, if necessary, the PTZ receiver can convert the received second motor control signal into a format recognizable by the motor module of the follower and then transmit to the motor module.

与云台姿态遥控器类似，电位器拨轮遥控器优选与云台接收机无线通信，由云台接收机将其发送的信号发送给跟焦器的电机模块；当然，电位器拨轮遥控器也可以与跟焦器接收机无线通信，由跟焦器接收机将其发送的信号发送给跟焦器的电机模块。Similar to the PTZ attitude remote control, the potentiometer dial remote control preferably communicates wirelessly with the PTZ receiver. The signal sent by the PTZ receiver is sent to the motor module of the follower; of course, the potentiometer dial remote can also communicate wirelessly with the follower receiver, and the signal sent by the follower receiver is sent. Give the motor module of the follower.

进一步的，上述电机模块接收第二或第三电机信号的步骤之前，所述方法还可以包括：Further, before the step of the motor module receiving the second or third motor signal, the method may further include:

A2、所述跟焦器专用遥控器向所述跟焦器接收机发送角度-速度控制方式的所述第三电机控制信号，所述角度-速度控制方式是指所述跟焦器专用遥控器的旋钮的旋转角度的大小对应于电机转动速度的大小；所述跟焦器接收机接收所述第三电机控制信号，并通过数据线向所述电机模块发送所述第三电机控制信号。A2. The special remote controller for the follower sends the third motor control signal of the angle-speed control mode to the follower receiver, and the angle-speed control mode refers to the special remote controller for the follower The magnitude of the rotation angle of the knob corresponds to the magnitude of the rotational speed of the motor; the follower receiver receives the third motor control signal and transmits the third motor control signal to the motor module through a data line.

其中，优选跟焦器专用遥控器直接与跟焦器接收机无线通信，将电机控制信号发送给跟焦器的电机模块；当然，跟焦器专用遥控器也可以与云台接收机无线通信，由云台接收机将其发送的信号发送给跟焦器的电机模块。Preferably, the dedicated remote controller of the follower directly communicates with the follower receiver wirelessly, and sends the motor control signal to the motor module of the follower; of course, the dedicated remote controller of the focus can also communicate wirelessly with the cloud receiver. The signal sent by the PTZ receiver is sent to the motor module of the follower.

由上可见，本发明一些可行的实施方式中，公开了一种跟焦器控制方法。It can be seen from the above that in some feasible embodiments of the present invention, a follower control method is disclosed.

该技术方案中，使云台姿态遥控器也可以用来对跟焦器进行控制，实现了一个遥控器既用于控制云台又用于控制跟焦器，从而精简了设备，降低了***重量，更重要的是简化了操作复杂度，降低了***的操作难度，使得单人操作云台***的情况下也能够灵活方便的进行云台和跟焦器控制。In the technical solution, the pan/tilt attitude remote controller can also be used to control the follower, and a remote controller is used for controlling the pan/tilt and controlling the follower, thereby simplifying the device and reducing the weight of the system. More importantly, it simplifies the operation complexity and reduces the operation difficulty of the system, so that the single-person operation of the pan/tilt system can also flexibly and conveniently control the pan/tilt and the follower.

为了更好的实施本发明实施例的上述方案，下面还提供用于配合实施上述方案的相关装置。In order to better implement the above solution of the embodiments of the present invention, related devices for cooperating to implement the above solutions are also provided below.

请参考图3，本发明一个实施例提供一种跟焦器控制装置300，用于控制包括云台和跟焦器的云台***，所述云台***用于承载一成像装置，并用于控制所述成像装置的姿态，其中，所述跟焦器包括电机模块，所述云台***还包括接收机和遥控器，所述接收机包括通过数据线相互连接的云台接收机和跟焦器接收机，所述跟焦器接收机通过数据线与所述电机模块连接，所述遥控器包括云台姿态遥控器；所述跟焦器控制装置300可包括：Referring to FIG. 3, an embodiment of the present invention provides a follower control device 300 for controlling a pan/tilt system including a pan/tilt and a follower, the pan-tilt system for carrying an imaging device and for controlling The attitude of the imaging device, wherein the follower includes a motor module, the pan/tilt system further comprising a receiver and a remote controller, the receiver including a pan-tilt receiver and a follower connected to each other through a data line a receiver, the follower receiver is connected to the motor module through a data line, the remote controller includes a pan/tilt attitude remote controller; and the follower control device 300 may include:

第一收发单元301，设置于所述云台接收机，用于使所述云台接收机接收所述云台姿态遥控器发送的一第一电机控制信号，并通过数据线向所述跟焦器接收机发送所述第一电机控制信号；a first transceiver unit 301, configured to receive, by the cloud station receiver, the cloud station receiver Transmitting, by the pan/tilt attitude remote controller, a first motor control signal, and transmitting the first motor control signal to the follower receiver through a data line;

第二收发单元302，设置于所述跟焦器接收机，用于使所述跟焦器接收机接收所述第一电机控制信号，并通过数据线向所述电机模块发送所述第一电机控制信号；a second transceiver unit 302, disposed at the follower receiver, configured to receive the first motor control signal by the follower receiver, and send the first motor to the motor module through a data line control signal;

控制单元303，设置于所述电机模块，用于使所述电机模块接收所述第一电机控制信号，根据所述第一电机控制信号对所述成像装置进行镜头操控。The control unit 303 is disposed in the motor module, configured to: the motor module receives the first motor control signal, and performs lens manipulation on the imaging device according to the first motor control signal.

一些实施例中，所述遥控器还包括跟焦器专用遥控器和电位器拨轮遥控器中的至少一种；In some embodiments, the remote controller further includes at least one of a focus-specific remote controller and a potentiometer dial remote controller;

所述控制单元303，还用于使所述电机模块通过所述接收机，接收所述电位器拨轮遥控器发送的第二电机控制信号，或者，接收所述跟焦器专用遥控器发送第三电机控制信号；以及，使所述电机模块根据优先级策略确定接收到的第一或第二或第三电机控制信号各自的优先级，根据优先级最高的电机控制信号对所述成像装置进行镜头操控。The control unit 303 is further configured to: receive, by the receiver, the second motor control signal sent by the potentiometer dial remote controller through the receiver, or receive the special remote controller sent by the follower a three-motor control signal; and causing the motor module to determine a priority of each of the received first or second or third motor control signals according to a priority policy, and performing the imaging device according to the highest priority motor control signal Lens manipulation.

一些实施例中，所述跟焦器控制装置300，还包括：In some embodiments, the focus control device 300 further includes:

第一发送单元304，设置于所述云台姿态遥控器，用于使所述云台姿态遥控器向所述云台接收机发送一压力-速度控制方式的第一电机控制信号，所述压力-速度控制方式是指所述云台姿态遥控器接受的压力的大小对应于电机转动速度的大小。The first sending unit 304 is disposed on the pan/tilt attitude remote controller, configured to send the pan/tilt attitude remote controller to the pan-tilt receiver to transmit a first motor control signal in a pressure-speed control manner, the pressure The speed control mode means that the magnitude of the pressure received by the pan/tilt attitude remote controller corresponds to the magnitude of the motor rotation speed.

一些实施例中，所述控制单元303，具体还用于使所述电机模块通过所述云台接收机接收所述通用遥控器发送的第二电机控制信号，或者，通过所述跟焦器接收机接收所述跟焦器专用遥控器发送第三电机控制信号。In some embodiments, the control unit 303 is further configured to: receive, by the pan/tilt receiver, the second motor control signal sent by the universal remote controller, or receive by the focus receiver The machine receives the special remote controller of the focus device to send a third motor control signal.

一些实施例中，所述通过遥控器为电位器拨轮遥控器，所述装置还包括：In some embodiments, the remote controller is a potentiometer dial remote controller, and the device further includes:

第二发送单元305，设置于所述电位器拨轮遥控器，用于使所述电位器拨轮遥控器向所述云台接收机发送位移-速度控制方式的所述第二电机控制信号，所述位移-速度控制方式是指所述电位器拨轮遥控器的拨轮偏移中位的位移量的大小对应于电机转动速度的大小；a second sending unit 305, configured to the potentiometer dial remote controller, configured to send the second motor control signal of the displacement-speed control mode to the pan-tilt receiver by the potentiometer dial remote controller, The displacement-speed control mode refers to a magnitude of a displacement amount of a dial offset of the potentiometer dial remote controller corresponding to a rotation speed of the motor;

第一收发单元301，还用于使所述云台接收机接收所述第二电机控制信号，并通过数据线向所述电机模块发送所述第二电机控制信号。 The first transceiver unit 301 is further configured to: the PTZ receiver receive the second motor control signal, and send the second motor control signal to the motor module through a data line.

一些实施例中，所述装置还包括：In some embodiments, the apparatus further includes:

第三发送单元306，设置于所述跟焦器专用遥控器，用于使所述跟焦器专用遥控器向所述跟焦器接收机发送角度-速度控制方式的所述第三电机控制信号，所述角度-速度控制方式是指所述跟焦器专用遥控器的旋钮的旋转角度的大小对应于电机转动速度的大小；a third transmitting unit 306, configured to be configured by the dedicated remote controller for transmitting the third motor control signal of the angle-speed control mode to the follower receiver The angle-speed control mode refers to that the rotation angle of the knob of the special remote controller of the follower corresponds to the rotation speed of the motor;

第二收发单元302，还用于使所述跟焦器接收机接收所述第三电机控制信号，并通过数据线向所述电机模块发送所述第三电机控制信号。The second transceiver unit 302 is further configured to: receive the third motor control signal by the follower receiver, and send the third motor control signal to the motor module through a data line.

可以理解，本发明实施例的跟焦器控制装置的各个功能模块的功能可根据上述方法实施例中的方法具体实现，其具体实现过程可参照上述方法实施例中的相关描述，此处不再赘述。It is to be understood that the functions of the various function modules of the follower control device of the embodiment of the present invention may be specifically implemented according to the method in the foregoing method embodiment. For the specific implementation process, reference may be made to the related description in the foregoing method embodiment, and Narration.

由上可见，在本发明的一些可行的实施方式中，公开了一种跟焦器控制装置，该技术方案中，使云台姿态遥控器也可以用来对跟焦器进行控制，实现了一个遥控器既用于控制云台又用于控制跟焦器，从而精简了设备，降低了***重量，更重要的是简化了操作复杂度，降低了***的操作难度，使得单人操作云台***的情况下也能够灵活方便的进行云台和跟焦器控制。并且，由于云台接收机直接接收控制信号的效率远大于跟焦器接收机的效率，这样可以实现更远距离的控制。可以解决，在远距离遥控的情景例如当飞机飞远的情况下，只可以控制云台而不能控制跟焦器的情况。It can be seen from the above that in some feasible embodiments of the present invention, a follower control device is disclosed. In this technical solution, the pan/tilt attitude remote controller can also be used to control the follower, thereby realizing a The remote control is used to control the pan/tilt and control the follower, thereby simplifying the equipment, reducing the weight of the system, and more importantly, simplifying the operation complexity, reducing the operational difficulty of the system, and enabling the single-person operation of the pan/tilt system. In the case of the cloud platform and the follower control, it is also flexible and convenient. Moreover, since the efficiency of the gimbal receiver directly receiving the control signal is much greater than that of the follower receiver, this allows for longer distance control. It can be solved that in the case of long-distance remote control, for example, when the aircraft is far away, only the pan/tilt can be controlled and the follower can not be controlled.

请参考图4，本发明一个实施例提供一种云台***400，其包括云台410和跟焦器430，所述云台***用于承载一成像装置420例如摄像机，并用于控制所述成像装置的姿态；其中，所述跟焦器430包括电机模块4301，所述***400还包括接收机440和遥控器，所述接收机包括通过数据线相互连接的云台接收机4401和跟焦器接收机4402，所述跟焦器接收机通过数据线与所述电机模块4301连接，所述遥控器包括云台姿态遥控器4501；其中，Referring to FIG. 4, an embodiment of the present invention provides a pan-tilt system 400 including a pan-tilt 410 and a follower 430 for carrying an imaging device 420 such as a camera and for controlling the imaging. The attitude of the device; wherein the follower 430 includes a motor module 4301, the system 400 further includes a receiver 440 and a remote controller, the receiver including a pan-tilt receiver 4401 and a follower connected to each other through a data line a receiver 4402, the follower receiver is connected to the motor module 4301 via a data line, the remote controller includes a pan/tilt attitude remote controller 4501;

所述云台接收机4401接收所述云台姿态遥控器4501发送的一第一电机控制信号；The PTZ receiver 4401 receives a first motor control signal sent by the PTZ attitude remote controller 4501;

所述跟焦器接收机4402，用于接收所述第一电机控制信号，并通过数据线向所述电机模块发送所述第一电机控制信号；The follower receiver 4402 is configured to receive the first motor control signal and pass the data line Transmitting the first motor control signal to the motor module;

所述电机模块4301，用于接收所述第一电机控制信号，根据所述第一电机控制信号对所述成像装置进行镜头操控。The motor module 4301 is configured to receive the first motor control signal, and perform lens manipulation on the imaging device according to the first motor control signal.

其中，云台接收机4401设置于云台410，跟焦器接收机4402设置在电极模块4301上。The pan/tilt receiver 4401 is disposed on the pan/tilt head 410, and the follower receiver 4402 is disposed on the electrode module 4301.

一些实施例中，所述遥控器还包括跟焦器专用遥控器4502和通用遥控器4503中的至少一种；In some embodiments, the remote controller further includes at least one of a focus-specific remote controller 4502 and a universal remote controller 4503;

所述电机模块4301，还用于通过所述接收机440，接收所述通用遥控器4503发送的第二电机控制信号，或者，接收所述跟焦器专用遥控器4502发送第三电机控制信号；The motor module 4301 is further configured to receive, by the receiver 440, a second motor control signal sent by the universal remote controller 4503, or receive the third-machine control signal sent by the focus-specific remote controller 4502;

所述电机模块4301，还用于根据优先级策略确定接收到的第一或第二或第三电机控制信号各自的优先级，根据优先级最高的电机控制信号对所述成像装置进行镜头操控。The motor module 4301 is further configured to determine a priority of each of the received first or second or third motor control signals according to a priority policy, and perform lens manipulation on the imaging device according to the highest priority motor control signal.

一些实施例中，所述云台姿态遥控器4501，用于向所述云台接收机发送一压力-速度控制方式的第一电机控制信号，所述压力-速度控制方式是指所述云台姿态遥控器接受的压力的大小对应于电机转动速度的大小。In some embodiments, the pan/tilt attitude remote controller 4501 is configured to send a first motor control signal of a pressure-speed control mode to the pan-tilt receiver, where the pressure-speed control mode refers to the pan/tilt head The magnitude of the pressure received by the attitude remote control corresponds to the rotational speed of the motor.

一些实施例中，所述电机模块4301，具体用于通过所述云台接收机接收所述通用遥控器发送的第二电机控制信号，或者，通过所述跟焦器接收机接收所述跟焦器专用遥控器发送第三电机控制信号。In some embodiments, the motor module 4301 is configured to receive, by the pan-tilt receiver, a second motor control signal sent by the universal remote controller, or receive the focus by the focus receiver receiver. The dedicated remote control sends a third motor control signal.

进一步的，所述通用遥控器4503可以为电位器拨轮遥控器；Further, the universal remote controller 4503 may be a potentiometer dial remote controller;

所述电位器拨轮遥控器4503，用于向所述云台接收机发送位移-速度控制方式的所述第二电机控制信号，所述位移-速度控制方式是指所述电位器拨轮遥控器的拨轮偏移中位的位移量的大小对应于电机转动速度的大小；The potentiometer dial remote controller 4503 is configured to send the second motor control signal of the displacement-speed control mode to the pan-tilt receiver, wherein the displacement-speed control mode refers to the potentiometer dial remote control The displacement amount of the neutral shift of the dial of the device corresponds to the magnitude of the rotational speed of the motor;

所述云台接收机4401，还用于接收所述第二电机控制信号，并通过数据线向所述电机模块发送所述第二电机控制信号。The pan/tilt receiver 4401 is further configured to receive the second motor control signal, and send the second motor control signal to the motor module through a data line.

进一步的，further,

所述跟焦器专用遥控器4502，用于向所述跟焦器接收机发送角度-速度控制方式的所述第三电机控制信号，所述角度-速度控制方式是指所述跟焦器专用遥控器的旋钮的旋转角度的大小对应于电机转动速度的大小；The follower dedicated remote controller 4502 is configured to send the third motor control signal of an angle-speed control mode to the follower receiver, wherein the angle-speed control mode refers to the follower The rotation angle of the knob of the remote controller corresponds to the rotation speed of the motor;

所述跟焦器接收机4402，还用于接收所述第三电机控制信号，并通过数据线向所述电机模块发送所述第三电机控制信号。The follower receiver 4402 is further configured to receive the third motor control signal and send the third motor control signal to the motor module through a data line.

由上可见，在本发明的一些可行的实施方式中，公开了一种云台***，使云台姿态遥控器也可以用来对跟焦器进行控制，实现了一个遥控器既用于控制云台又用于控制跟焦器，从而精简了设备，降低了***重量，更重要的是简化了操作复杂度，降低了***的操作难度，使得单人操作云台***的情况下也能够灵活方便的进行云台和跟焦器控制。并且，由于云台接收机直接接收控制信号的效率远大于跟焦器接收机的效率，这样可以实现更远距离的控制。可以解决，在远距离遥控的情景例如当飞机飞远的情况下，只可以控制云台而不能控制跟焦器的情况。It can be seen from the above that in some feasible embodiments of the present invention, a pan/tilt system is disclosed, which can also be used to control the follower, and realize a remote controller for controlling the cloud. The platform is also used to control the follower, thereby simplifying the equipment, reducing the weight of the system, and more importantly, simplifying the operation complexity and reducing the operation difficulty of the system, so that the single-hand operation of the pan/tilt system can also be flexible and convenient. Carry out pan/tilt and follower control. Moreover, since the efficiency of the gimbal receiver directly receiving the control signal is much greater than that of the follower receiver, this allows for longer distance control. It can be solved that in the case of long-distance remote control, for example, when the aircraft is far away, only the pan/tilt can be controlled and the follower can not be controlled.

请参考图5，本发明实施例还提供一种跟焦器控制方法，用于控制如图1所示的包括云台和跟焦器的云台***，所述云台***用于承载一成像装置，并用于控制所述成像装置的姿态，其中，所述跟焦器包括电机模块，所述云台***还包括接收机和遥控器，所述接收机通过数据线与所述电机模块连接，所述遥控器包括云台姿态遥控器、跟焦器专用遥控器和电位器拨轮遥控器中的至少一种；所述方法包括：Referring to FIG. 5, an embodiment of the present invention further provides a follower control method for controlling a pan/tilt system including a pan/tilt and a follower as shown in FIG. 1, the pan/tilt system for carrying an image. And a device for controlling the attitude of the imaging device, wherein the follower includes a motor module, the pan/tilt system further comprising a receiver and a remote controller, the receiver being coupled to the motor module via a data line, The remote controller includes at least one of a pan/tilt attitude remote controller, a focus-specific remote controller, and a potentiometer dial remote controller; the method includes:

501、所述电机模块通过所述接收机接收至少一种遥控器发送的至少一种电机控制信号；501. The motor module receives, by the receiver, at least one motor control signal sent by at least one remote controller;

502、所述电机模块根据优先级策略确定所述至少一种电机控制信号各自的优先级，根据优先级最高的电机控制信号对所述成像装置进行镜头操控。502. The motor module determines a priority of each of the at least one motor control signal according to a priority policy, and performs lens manipulation on the imaging device according to the highest priority motor control signal.

一些实施例中，所述接收机包括设置于云台的云台接收机和设置在所述电机模块上的跟焦器接收机，所述云台接收机和跟焦器接收机通过数据线连接。In some embodiments, the receiver includes a pan-tilt receiver disposed on the pan-tilt and a follower receiver disposed on the motor module, the pan-tilt receiver and the follow-up receiver being connected by a data line .

所述电机模块通过所述接收机接收至少一种遥控器发送的至少一种电机控制信号可以包括：Receiving, by the receiver, the at least one motor control signal sent by the at least one remote controller by the receiver may include:

所述电机模块通过所述云台接收机接收所述云台姿态遥控器发送的所述第一电机控制信号，或者，通过所述云台接收机接收所述通用遥控器发送的第二电机控制信号，或者，通过所述跟焦器接收机接收所述跟焦器专用遥控器发送第三电机控制信号。Receiving, by the pan-tilt receiver, the first motor control signal sent by the pan-tilt attitude remote controller, or receiving, by the pan-tilt receiver, a second motor control sent by the universal remote controller Signaling, or receiving, by the follower receiver, the dedicated remote controller of the follower Send a third motor control signal.

通常，跟焦器接收机与跟焦器的电机模块通过数据线之间连接，因此，跟焦器接收机接收到的控制信号可以直接发送给电机模块。对于云台接收机，如果云台接收机仅通过数据线与跟焦器接收机连接，则云台接收机接收到的控制信号可以发送给跟焦器接收机，通过跟焦器接收机转发给跟焦器的电机模块；如果云台接收机也通过数据线直接与跟焦器连接，则云台接收机接收到的控制信号可以直接发送给跟焦器的电机模块。Usually, the motor module of the follower receiver and the follower is connected through the data line, so the control signal received by the follower receiver can be directly sent to the motor module. For a PTZ receiver, if the PTZ receiver is only connected to the follower receiver via the data line, the control signal received by the PTZ receiver can be sent to the follower receiver and forwarded to the focus receiver. The motor module of the follower; if the PTZ receiver is also directly connected to the follower via the data line, the control signal received by the PTZ receiver can be directly sent to the motor module of the follower.

一些实施例中，所述电机模块通过所述接收机接收至少一种遥控器发送的至少一种电机控制信号之前，还包括：In some embodiments, before the receiving, by the receiver, the at least one motor control signal sent by the at least one remote controller, the motor module further includes:

a1、所述云台姿态遥控器向所述云台接收机发送压力-速度控制方式的第一电机控制信号，所述压力-速度控制方式是指所述云台姿态遥控器接受的压力的大小对应于电机转动速度的大小；A1, the pan/tilt attitude remote controller sends a first motor control signal of a pressure-speed control mode to the pan-tilt receiver, and the pressure-speed control mode refers to a pressure received by the pan-tilt attitude remote controller Corresponding to the magnitude of the motor's rotational speed;

a2、所述云台接收机接收所述第一电机控制信号，并通过数据线向所述电机模块发送所述第一电机控制信号。A2. The PTZ receiver receives the first motor control signal and transmits the first motor control signal to the motor module through a data line.

一些实施例中，所述通用遥控器为电位器拨轮遥控器，所述电机模块通过所述接收机接收至少一种遥控器发送的至少一种电机控制信号之前，还包括：In some embodiments, the universal remote controller is a potentiometer dial remote controller. Before the motor module receives the at least one motor control signal sent by the at least one remote controller, the motor module further includes:

b1、所述电位器拨轮遥控器向所述云台接收机发送位移-速度控制方式的第二电机控制信号，所述位移-速度控制方式是指所述电位器拨轮遥控器的拨轮偏移中位的位移量的大小对应于电机转动速度的大小；B1, the potentiometer dial remote controller sends a second motor control signal of a displacement-speed control mode to the pan-tilt receiver, wherein the displacement-speed control mode refers to a dial of the potentiometer dial remote controller The magnitude of the displacement of the offset mid-position corresponds to the magnitude of the rotational speed of the motor;

b2、所述云台接收机接收所述第二电机控制信号，并通过数据线向所述电机模块发送所述第二电机控制信号。B2. The PTZ receiver receives the second motor control signal and sends the second motor control signal to the motor module through a data line.

c1、所述跟焦器专用遥控器向所述跟焦器接收机发送角度-速度控制方式的第三电机控制信号，所述角度-速度控制方式是指所述跟焦器专用遥控器的旋钮的旋转角度的大小对应于电机转动速度的大小；C1, the dedicated remote controller of the focus device sends a third motor control signal of an angle-speed control mode to the follower receiver, wherein the angle-speed control mode refers to the special remote controller of the follower The rotation angle of the knob corresponds to the rotation speed of the motor;

c2、所述跟焦器接收机接收所述第三电机控制信号，并通过数据线向所述电机模块发送所述第三电机控制信号。C2. The follower receiver receives the third motor control signal and sends the third motor control signal to the motor module through a data line.

关于该方法的各个步骤的更详细的说明，可参考前文各个实施例的描述，这里不再赘述。For a more detailed description of the various steps of the method, reference may be made to the description of the foregoing various embodiments, and details are not described herein again.

请参考图6，本发明实施例还提供一种云台***600，其包括云台610和跟焦器630，所述云台用于承载一成像装置620例如摄像机，并用于控制所述成像装置的姿态；其中，所述跟焦器630包括电机模块6301，所述***600还包括接收机640和遥控器，所述接收机640通过数据线与所述电机模块6301连接，所述遥控器包括云台姿态遥控器6501、跟焦器专用遥控器6502和电位器拨轮遥控器6503中的至少一种；其中，Referring to FIG. 6 , an embodiment of the present invention further provides a pan-tilt system 600 including a cloud platform 610 and a follower 630 for carrying an imaging device 620 such as a camera and for controlling the imaging device. The attitude indicator 630 includes a motor module 6301, the system 600 further includes a receiver 640 and a remote controller, the receiver 640 being coupled to the motor module 6301 via a data line, the remote controller including At least one of a pan/tilt attitude remote controller 6501, a follower dedicated remote controller 6502, and a potentiometer dial remote controller 6503;

所述电机模块6301，用于通过所述接收机接收至少一种遥控器发送的至少一种电机控制信号；The motor module 6301 is configured to receive, by the receiver, at least one motor control signal sent by at least one remote controller;

所述电机模块6301，还用于根据优先级策略确定所述至少一种电机控制信号各自的优先级，根据优先级最高的电机控制信号对所述成像装置进行镜头操控。The motor module 6301 is further configured to determine a priority of each of the at least one motor control signal according to a priority policy, and perform lens manipulation on the imaging device according to a motor control signal with the highest priority.

其中，所述接收机可以包括设置于云台610的云台接收机6401和设置在所述电机模块6301上的跟焦器接收机6402。The receiver may include a pan-tilt receiver 6401 disposed on the pan/tilt 610 and a follower receiver 6402 disposed on the motor module 6301.

一些实施例中，所述电机模块6301，具体用于通过所述云台接收机接收所述云台姿态遥控器发送的所述第一电机控制信号，或者，通过所述云台接收机接收所述通用遥控器发送的第二电机控制信号，或者，通过所述跟焦器接收机接收所述跟焦器专用遥控器发送第三电机控制信号。In some embodiments, the motor module 6301 is configured to receive, by the pan-tilt receiver, the first motor control signal sent by the pan-tilt attitude remote controller, or receive the The second motor control signal sent by the universal remote controller is sent, or the third motor control signal is sent by the focus controller receiver to receive the focus-specific remote controller.

一些实施例中， In some embodiments,

所述云台姿态遥控器6501，用于向所述云台接收机发送压力-速度控制方式的第一电机控制信号，所述压力-速度控制方式是指所述云台姿态遥控器接受的压力的大小对应于电机转动速度的大小；The pan/tilt attitude remote controller 6501 is configured to send a first motor control signal of a pressure-speed control mode to the pan-tilt receiver, where the pressure-speed control mode refers to a pressure received by the pan-tilt attitude remote controller The size corresponds to the speed of the motor;

所述云台接收机6401，用于接收所述第一电机控制信号，并通过数据线向所述电机模块发送所述第一电机控制信号。The pan-tilt receiver 6401 is configured to receive the first motor control signal, and send the first motor control signal to the motor module through a data line.

一些实施例中，In some embodiments,

所述电位器拨轮遥控器6503，用于向所述云台接收机发送位移-速度控制方式的第二电机控制信号，所述位移-速度控制方式是指所述电位器拨轮遥控器的拨轮偏移中位的位移量的大小对应于电机转动速度的大小；The potentiometer dial remote controller 6503 is configured to send a second motor control signal of a displacement-speed control mode to the pan-tilt receiver, where the displacement-speed control mode refers to the potentiometer dial remote controller The magnitude of the displacement of the neutral of the dial offset corresponds to the magnitude of the rotational speed of the motor;

所述云台接收机6401，用于接收所述第二电机控制信号，并通过数据线向所述电机模块发送所述第二电机控制信号。The pan-tilt receiver 6401 is configured to receive the second motor control signal, and send the second motor control signal to the motor module through a data line.

一些实施例中，In some embodiments,

所述跟焦器专用遥控器6502，用于向所述跟焦器接收机发送角度-速度控制方式的第三电机控制信号，所述角度-速度控制方式是指所述跟焦器专用遥控器的旋钮的旋转角度的大小对应于电机转动速度的大小；The follower dedicated remote controller 6502 is configured to send a third motor control signal of an angle-speed control mode to the follower receiver, wherein the angle-speed control mode refers to the dedicated remote controller of the follower The rotation angle of the knob corresponds to the rotation speed of the motor;

所述跟焦器接收机6402，用于接收所述第三电机控制信号，并通过数据线向所述电机模块发送所述第三电机控制信号。The follower receiver 6402 is configured to receive the third motor control signal and send the third motor control signal to the motor module through a data line.

由上可见，本发明一些可行的实施方式中，公开了一种云台***。It can be seen from the above that in some feasible embodiments of the present invention, a pan/tilt system is disclosed.

关于该***的各个步骤的更详细的说明，可参考前文各个实施例的描述，这里不再赘述。For a more detailed description of the various steps of the system, reference may be made to the description of the foregoing various embodiments, and details are not described herein again.

请参考图7，本发明实施例还提供一种云台***700，其包括云台410和跟焦器730，所述云台***700用于承载一成像装置720例如摄像机，并用于控制所述成像装置720的姿态，所述跟焦器730包括电机模块7301，所述云台***700 还包括接收机740和遥控器750，所述接收机740通过数据线与所述电机模块7301连接，所述接收机740包括：设置于云台的云台接收机7401和设置在所述电机模块7301上的跟焦器接收机7402；其中，Referring to FIG. 7, an embodiment of the present invention further provides a pan/tilt system 700, which includes a pan/tilt head 410 and a follower 730, which is used to carry an imaging device 720, such as a camera, and is used to control the The attitude of the imaging device 720, the follower 730 includes a motor module 7301, the pan/tilt system 700 Also included is a receiver 740 and a remote controller 750, the receiver 740 being connected to the motor module 7301 via a data line, the receiver 740 comprising: a pan-tilt receiver 7401 disposed on the pan/tilt and being disposed at the motor module a follower receiver 7402 on the 7301; wherein

所述跟焦器接收机7402，用于接收至少一个所述遥控器发送的两路控制信号；The follower receiver 7402 is configured to receive at least one two control signals sent by the remote controller;

所述跟焦器接收机7402，还用于将所述两路控制信号中的一路作为电机控制信号发送给所述电机模块，所述电机控制信号被用于控制所述成像装置的镜头；The follower receiver 7402 is further configured to send one of the two control signals to the motor module as a motor control signal, where the motor control signal is used to control a lens of the imaging device;

所述跟焦器接收机7402，还用于将所述两路控制信号中的一路作为云台控制信号发送给所述云台接收机，所述云台控制信号被用于控制所述云台的姿态。The follower receiver 7402 is further configured to send one of the two control signals to the PTZ receiver as a PTZ control signal, where the PTZ control signal is used to control the PTZ Gesture.

其中，所述云台710还可以包括电机控制器7101，电机控制器7101用于根据所述云台控制信号控制所述云台的姿态。The pan/tilt 710 may further include a motor controller 7101, and the motor controller 7101 is configured to control the posture of the pan/tilt head according to the pan/tilt control signal.

可选的，所述遥控器包括云台姿态遥控器、跟焦器专用遥控器和通用遥控器中的至少一种。Optionally, the remote controller includes at least one of a PTZ attitude remote controller, a focus-specific remote controller, and a universal remote controller.

该技术方案中，跟焦器接收机可用于同时接收云台控制信号和跟焦器的电机控制信号，提高应用方便性。In the technical solution, the follower receiver can be used to simultaneously receive the PTZ control signal and the motor control signal of the follower, thereby improving application convenience.

请参考图6，本发明实施例还提供一种跟焦器***630，用于云台610，所述云台610用于承载一成像装置620，并用于控制所述成像装置620的姿态，所述跟焦器***630包括电机模块6301，所述跟焦器***还包括跟焦器接收机6402和遥控器，所述跟焦器接收机6402通过数据线与所述电机模块6301连接，所述遥控器包括云台姿态遥控器6501、跟焦器专用遥控器6502和通用遥控器6503中的至少一种；其中，Referring to FIG. 6 , an embodiment of the present invention further provides a follower system 630 for a cloud platform 610 for carrying an imaging device 620 and for controlling the posture of the imaging device 620. The follower system 630 includes a motor module 6301, the follower system further includes a follower receiver 6402 and a remote controller, the follower receiver 6402 being coupled to the motor module 6301 via a data line, The remote controller includes at least one of a PTZ attitude remote controller 6501, a focus-specific remote controller 6502, and a universal remote controller 6503;

所述跟焦器接收机6402，用于接收至少一种遥控器发送的至少一种电机控制信号； The follower receiver 6402 is configured to receive at least one motor control signal sent by at least one remote controller;

一些实施例中，所述跟焦器接收机6402，具体用于接收所述云台姿态遥控器发送的所述第一电机控制信号，或者，接收所述通用遥控器发送的第二电机控制信号，或者，接收所述跟焦器专用遥控器发送第三电机控制信号。In some embodiments, the follower receiver 6402 is configured to receive the first motor control signal sent by the pan/tilt attitude remote controller, or receive a second motor control signal sent by the universal remote controller. Or, receiving the focus-specific remote controller to send a third motor control signal.

一些实施例中，所述云台姿态遥控器6501，用于向所述跟焦器接收机发送压力-速度控制方式的第一电机控制信号，所述压力-速度控制方式是指所述云台姿态遥控器接受的压力的大小对应于电机转动速度的大小。In some embodiments, the pan/tilt attitude remote controller 6501 is configured to send a first motor control signal of a pressure-speed control mode to the follower receiver, where the pressure-speed control mode refers to the pan/tilt The magnitude of the pressure received by the attitude remote control corresponds to the rotational speed of the motor.

一些实施例中，所述通用遥控器6503为电位器拨轮遥控器，所述电位器拨轮遥控器，用于向所述跟焦器接收机发送位移-速度控制方式的第二电机控制信号，所述位移-速度控制方式是指所述电位器拨轮遥控器的拨轮偏移中位的位移量的大小对应于电机转动速度的大小。In some embodiments, the universal remote controller 6503 is a potentiometer dial remote controller, and the potentiometer dial remote controller is configured to send a second motor control signal of a displacement-speed control mode to the follower receiver. The displacement-speed control mode refers to a magnitude of a displacement amount of a dial offset of the potentiometer dial remote controller corresponding to a rotation speed of the motor.

一些实施例中，所述跟焦器专用遥控器6502，用于向所述跟焦器接收机发送角度-速度控制方式的第三电机控制信号，所述角度-速度控制方式是指所述跟焦器专用遥控器的旋钮的旋转角度的大小对应于电机转动速度的大小。In some embodiments, the follower dedicated remote controller 6502 is configured to send a third motor control signal of an angle-speed control mode to the follower receiver, wherein the angle-speed control mode refers to the following The rotation angle of the knob of the dedicated remote controller of the focus corresponds to the rotation speed of the motor.

在上述实施例中，对各个实施例的描述都各有侧重，某个实施例中没有详细描述的部分，可以参见其它实施例的相关描述。In the above embodiments, the descriptions of the various embodiments are different, and the parts that are not described in detail in a certain embodiment can be referred to the related description of other embodiments.

需要说明的是，本发明的说明书和权利要求书及上述附图中的术语“第一”、“第二”、“第三”等是用于区别不同的对象，而不是用于描述特定顺序。此外，术语“包括”和“具有”以及它们任何变形，意图在于覆盖不排他的包含。例如包含了一系列步骤或单元的过程、方法、***、产品或设备没有限定于已列出的步骤或单元，而是可选地还包括没有列出的步骤或单元，或可选地还包括对于这些过程、方法、产品或设备固有的其它步骤或单元。It should be noted that the terms "first", "second", "third" and the like in the specification and claims of the present invention and the above drawings are used to distinguish different objects, and are not used to describe a specific order. . Furthermore, the terms "comprises" and "comprising" and "comprising" are intended to cover a non-exclusive inclusion. For example, a process, method, system, product, or device that comprises a series of steps or units is not limited to the listed steps or units, but optionally also includes steps or units not listed, or alternatively Other steps or units inherent to these processes, methods, products or equipment.

需要说明的是，对于前述的各方法实施例，为了简单描述，故将其都表述为一系列的动作组合，但是本领域技术人员应该知悉，本发明并不受所描述动作顺序的限制，因为依据本发明，某些步骤可以采用其它顺序或者同时进行。其次，本领域技术人员也应该知悉，说明书中所描述的实施例均属于优选实施例，所涉及的动作和模块并不一定是本发明所必须的。It should be noted that, for the foregoing method embodiments, for the sake of brevity, they are all described as a series of action combinations, but those skilled in the art should understand that the present invention is not limited by the described action sequence, because In accordance with the present invention, certain steps may be performed in other sequences or concurrently. In addition, those skilled in the art should also understand that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present invention.

所属领域的技术人员可以清楚地了解到，为描述的方便和简洁，上述描述的***，装置和单元的具体工作过程，可以参考前述方法实施例中的对应过程，在此不再赘述。A person skilled in the art can clearly understand that for the convenience and brevity of the description, the specific working process of the system, the device and the unit described above can refer to the corresponding process in the foregoing method embodiment, and details are not described herein again.

在本申请所提供的几个实施例中，应该理解到，所揭露的***，装置和方法，可以通过其它的方式实现。例如，以上所描述的装置实施例仅仅是示意性的，例如，单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个***，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，装置或单元的间接耦合或通信连接，可以是电性，机械或其它的形式。In the several embodiments provided by the present application, it should be understood that the disclosed system, apparatus, and method may be implemented in other manners. For example, the device embodiments described above are merely illustrative. For example, the division of cells is only a logical function division. In actual implementation, there may be another division manner. For example, multiple units or components may be combined or integrated. Go to another system, or some features can be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interface, device or unit, and may be in an electrical, mechanical or other form.

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单元来实现本实施例方案的目的。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, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of the embodiment.

另外，在本发明各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。上述集成的单元既可以采用硬件的形式实现，也可以采用软件功能单元的形式实现。In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above integrated unit can be implemented in the form of hardware or in the form of a software functional unit.

集成的单元如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本发明的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的全部或部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)执行本发明各个实施例方法的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、磁碟或者光盘等各种可以存储程序代码的介质。An integrated unit, if implemented in the form of a software functional unit and sold or used as a standalone product, can be stored in a computer readable storage medium. Based on such understanding, the present invention A portion of the technical solution that contributes in nature or to the prior art, or all or part of the technical solution, may be embodied in the form of a software product stored in a storage medium, including a plurality of instructions for causing a A computer device (which may be a personal computer, server, or network device, etc.) performs all or part of the steps of the various embodiments of the present invention. The foregoing storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, and the like. .

以上对本发明实施例所提供的跟焦器控制方法和装置及***及无人机进行了详细介绍，本文中应用了具体个例对本发明的原理及实施方式进行了阐述，以上实施例的说明只是用于帮助理解本发明的方法及其核心思想；同时，对于本领域的一般技术人员，依据本发明的思想，在具体实施方式及应用范围上均会有改变之处，综上所述，本说明书内容不应理解为对本发明的限制。 The method and device for controlling the focus of the present invention and the unmanned aerial vehicle are provided in detail. The principles and embodiments of the present invention are described in the following. The description of the above embodiment is only The method for understanding the present invention and its core idea; at the same time, for those of ordinary skill in the art, according to the idea of the present invention, there will be changes in specific embodiments and application scopes. The description should not be construed as limiting the invention.

Claims

一种跟焦器控制方法，用于控制包括云台和跟焦器的云台***，所述云台***用于承载一成像装置，并用于控制所述成像装置的姿态，所述跟焦器包括电机模块，其特征在于，所述云台***还包括接收机和遥控器，所述接收机包括通过数据线相互连接的云台接收机和跟焦器接收机，所述跟焦器接收机通过数据线与所述电机模块连接，所述遥控器包括云台姿态遥控器；所述方法包括：A follower control method for controlling a pan/tilt head system including a pan/tilt head and a follower for carrying an imaging device and for controlling a posture of the imaging device, the follower The invention includes a motor module, wherein the pan/tilt head system further comprises a receiver and a remote controller, the receiver comprising a pan-tilt receiver and a follower receiver connected to each other through a data line, the follower receiver Connected to the motor module through a data line, the remote controller includes a pan/tilt attitude remote controller; the method includes:

所述云台接收机接收所述云台姿态遥控器发送的一第一电机控制信号，并通过数据线向所述跟焦器接收机发送所述第一电机控制信号；Receiving, by the gimbal receiver, a first motor control signal sent by the pan/tilt attitude remote controller, and transmitting the first motor control signal to the follower receiver through a data line;

所述跟焦器接收机接收所述第一电机控制信号，并通过数据线向所述电机模块发送所述第一电机控制信号；The follower receiver receives the first motor control signal and transmits the first motor control signal to the motor module through a data line;

所述电机模块接收所述第一电机控制信号，根据所述第一电机控制信号对所述成像装置进行镜头操控。The motor module receives the first motor control signal, and performs lens manipulation on the imaging device according to the first motor control signal.
根据权利要求1所述的方法，其特征在于，所述遥控器还包括跟焦器专用遥控器和通用遥控器中的至少一种；所述方法还包括：The method according to claim 1, wherein the remote controller further comprises at least one of a focus-specific remote controller and a universal remote controller; the method further comprising:

所述电机模块通过所述接收机，接收所述通用遥控器发送的第二电机控制信号，或者，接收所述跟焦器专用遥控器发送第三电机控制信号；Receiving, by the receiver, the second motor control signal sent by the universal remote controller, or receiving the third-level motor control signal by the dedicated remote controller;

所述电机模块根据优先级策略确定接收到的第一或第二或第三电机控制信号各自的优先级，根据优先级最高的电机控制信号对所述成像装置进行镜头操控。The motor module determines a priority of each of the received first or second or third motor control signals according to a priority policy, and performs lens manipulation on the imaging device according to the highest priority motor control signal.
根据权利要求1或2所述的方法，其特征在于，所述云台接收机接收所述云台姿态遥控器发送的一第一电机控制信号之前包括：The method according to claim 1 or 2, wherein the receiving, by the cloud station receiver, a first motor control signal sent by the pan/tilt attitude remote controller comprises:

所述云台姿态遥控器向所述云台接收机发送一压力-速度控制方式的第一电机控制信号，所述压力-速度控制方式是指所述云台姿态遥控器接受的压力的大小对应于电机转动速度的大小。The pan/tilt attitude remote controller sends a first motor control signal of a pressure-speed control mode to the cloud platform receiver, and the pressure-speed control mode refers to a pressure corresponding to the pressure received by the pan/tilt attitude remote controller The magnitude of the motor's rotational speed.
根据权利要求2所述的方法，其特征在于，所述接收机包括：所述电机模块通过所述接收机，接收所述通用遥控器发送的第二电机控制信号，或者，接收所述跟焦器专用遥控器发送第三电机控制信号包括： The method according to claim 2, wherein said receiver comprises: said motor module receiving said second motor control signal transmitted by said universal remote controller through said receiver, or receiving said focus The third remote motor control signal sent by the dedicated remote controller includes:

所述电机模块通过所述云台接收机接收所述通用遥控器发送的第二电机控制信号，或者，通过所述跟焦器接收机接收所述跟焦器专用遥控器发送第三电机控制信号。Receiving, by the pan/tilt receiver, the second motor control signal sent by the universal remote controller, or receiving the third motor control signal by using the focus controller receiver .
根据权利要求4所述的方法，其特征在于，所述通用遥控器为电位器拨轮遥控器，所述方法还包括：The method of claim 4, wherein the universal remote controller is a potentiometer dial remote controller, the method further comprising:

所述电位器拨轮遥控器向所述云台接收机发送位移-速度控制方式的所述第二电机控制信号，所述位移-速度控制方式是指所述电位器拨轮遥控器的拨轮偏移中位的位移量的大小对应于电机转动速度的大小；The potentiometer dial remote controller sends the second motor control signal of the displacement-speed control mode to the pan-tilt receiver, and the displacement-speed control mode refers to the dial of the potentiometer dial remote controller The magnitude of the displacement of the offset mid-position corresponds to the magnitude of the rotational speed of the motor;

所述云台接收机接收所述第二电机控制信号，并通过数据线向所述电机模块发送所述第二电机控制信号。The pan-tilt receiver receives the second motor control signal and transmits the second motor control signal to the motor module through a data line.
根据权利要求4所述的方法，其特征在于，所述方法还包括：The method of claim 4, wherein the method further comprises:

所述跟焦器专用遥控器向所述跟焦器接收机发送角度-速度控制方式的所述第三电机控制信号，所述角度-速度控制方式是指所述跟焦器专用遥控器的旋钮的旋转角度的大小对应于电机转动速度的大小；The focus-specific remote controller sends the third motor control signal of an angle-speed control mode to the follower receiver, and the angle-speed control mode refers to a knob of the focus-specific remote controller The magnitude of the rotation angle corresponds to the rotational speed of the motor;

所述跟焦器接收机接收所述第三电机控制信号，并通过数据线向所述电机模块发送所述第三电机控制信号。The follower receiver receives the third motor control signal and transmits the third motor control signal to the motor module via a data line.
一种跟焦器控制装置，用于控制包括云台和跟焦器的云台***，所述云台***用于承载一成像装置，并用于控制所述成像装置的姿态，所述跟焦器包括电机模块，其特征在于，所述云台***还包括接收机和遥控器，所述接收机包括通过数据线相互连接的云台接收机和跟焦器接收机，所述跟焦器接收机通过数据线与所述电机模块连接，所述遥控器包括云台姿态遥控器；A follower control device for controlling a pan/tilt head system including a pan/tilt head and a follower for carrying an image forming device and for controlling a posture of the image forming device, the follower The invention includes a motor module, wherein the pan/tilt head system further comprises a receiver and a remote controller, the receiver comprising a pan-tilt receiver and a follower receiver connected to each other through a data line, the follower receiver Connected to the motor module through a data line, the remote controller includes a pan/tilt attitude remote controller;

所述跟焦器控制装置包括：The follower control device includes:

第一收发单元，设置于所述云台接收机，用于使所述云台接收机接收所述云台姿态遥控器发送的一第一电机控制信号，并通过数据线向所述跟焦器接收机发送所述第一电机控制信号；a first transceiver unit, configured to the pan-tilt receiver, configured to receive the first motor control signal sent by the pan-tilt attitude remote controller, and send the first motor control signal to the follow-up device through a data line Receiving, by the receiver, the first motor control signal;

第二收发单元，设置于所述跟焦器接收机，用于使所述跟焦器接收机接收所述第一电机控制信号，并通过数据线向所述电机模块发送所述第一电机控制信号； a second transceiver unit, disposed at the follower receiver, configured to receive the first motor control signal by the follower receiver, and send the first motor control to the motor module through a data line Signal

控制单元，设置于所述电机模块，用于使所述电机模块接收所述第一电机控制信号，根据所述第一电机控制信号对所述成像装置进行镜头操控。And a control unit, configured to enable the motor module to receive the first motor control signal, and perform lens manipulation on the imaging device according to the first motor control signal.
根据权利要求7所述的装置，其特征在于，所述遥控器还包括跟焦器专用遥控器和通用遥控器中的至少一种；The apparatus according to claim 7, wherein said remote controller further comprises at least one of a focus-specific remote controller and a universal remote controller;

所述控制单元，还用于使所述电机模块通过所述接收机，接收所述通用遥控器发送的第二电机控制信号，或者，接收所述跟焦器专用遥控器发送第三电机控制信号；以及，使所述电机模块根据优先级策略确定接收到的第一或第二或第三电机控制信号各自的优先级，根据优先级最高的电机控制信号对所述成像装置进行镜头操控。The control unit is further configured to: receive the second motor control signal sent by the universal remote controller through the receiver, or receive the third motor control signal by using the dedicated remote controller of the follower And causing the motor module to determine a priority of each of the received first or second or third motor control signals according to a priority policy, and performing lens manipulation on the imaging device according to the highest priority motor control signal.
根据权利要求7或8所述的装置，其特征在于，还包括：The device according to claim 7 or 8, further comprising:

第一发送单元，设置于所述云台姿态遥控器，用于使所述云台姿态遥控器向所述云台接收机发送一压力-速度控制方式的第一电机控制信号，所述压力-速度控制方式是指所述云台姿态遥控器接受的压力的大小对应于电机转动速度的大小。a first sending unit, configured to the pan/tilt attitude remote controller, configured to send the pan/tilt attitude remote controller to the pan-tilt receiver to transmit a first motor control signal of a pressure-speed control mode, the pressure- The speed control mode refers to the magnitude of the pressure received by the pan/tilt attitude remote controller corresponding to the rotation speed of the motor.
根据权利要求8所述的装置，其特征在于，The device of claim 8 wherein:

所述控制单元，具体用于使所述电机模块通过所述云台接收机接收所述通用遥控器发送的第二电机控制信号，或者，通过所述跟焦器接收机接收所述跟焦器专用遥控器发送第三电机控制信号。The control unit is specifically configured to: receive, by the pan/tilt receiver, a second motor control signal sent by the universal remote controller, or receive the following gear through the follower receiver The dedicated remote control sends a third motor control signal.
根据权利要求10所述的装置，其特征在于，所述通用遥控器为电位器拨轮遥控器，所述装置还包括：The device according to claim 10, wherein the universal remote controller is a potentiometer dial remote controller, the device further comprising:

第二发送单元，设置于所述电位器拨轮遥控器，用于使所述电位器拨轮遥控器向所述云台接收机发送位移-速度控制方式的所述第二电机控制信号，所述位移-速度控制方式是指所述电位器拨轮遥控器的拨轮偏移中位的位移量的大小对应于电机转动速度的大小；a second sending unit, configured to the potentiometer dial remote controller, configured to send the second motor control signal of the displacement-speed control mode to the pan-tilt receiver by the potentiometer dial remote controller The displacement-speed control mode refers to that the displacement amount of the neutral of the dial wheel of the potentiometer dial remote controller corresponds to the rotation speed of the motor;

所述第一收发单元，还用于使所述云台接收机接收所述第二电机控制信号，并通过数据线向所述电机模块发送所述第二电机控制信号。The first transceiver unit is further configured to: the pan-tilt receiver receives the second motor control signal, and sends the second motor control signal to the motor module through a data line.
根据权利要求10所述的装置，其特征在于，所述装置还包括：The device according to claim 10, wherein the device further comprises:

第三发送单元，设置于所述跟焦器专用遥控器，用于使所述跟焦器专用遥控器向所述跟焦器接收机发送角度-速度控制方式的所述第三电机控制信号，所述角度-速度控制方式是指所述跟焦器专用遥控器的旋钮的旋转角度的大小对应于电机转动速度的大小；a third transmitting unit, configured to be used in the focus-specific remote controller, configured to send the third-level motor control signal of the angle-speed control mode to the follower receiver The angle-speed control mode refers to that the rotation angle of the knob of the special remote controller of the follower corresponds to the rotation speed of the motor;

所述第二收发单元，还用于使所述跟焦器接收机接收所述第三电机控制信号，并通过数据线向所述电机模块发送所述第三电机控制信号。The second transceiver unit is further configured to: receive the third motor control signal by the follower receiver, and send the third motor control signal to the motor module through a data line.
一种云台***，其包括云台和跟焦器，所述云台***用于承载一成像装置，并用于控制所述成像装置的姿态，所述跟焦器包括电机模块，其特征在于，所述云台***还包括接收机和遥控器，所述接收机包括通过数据线相互连接的云台接收机和跟焦器接收机，所述跟焦器接收机通过数据线与所述电机模块连接，所述遥控器包括云台姿态遥控器；其中，A pan/tilt system comprising a pan/tilt head and a follower, the pan-tilt system for carrying an imaging device and for controlling a posture of the imaging device, the follower comprising a motor module, wherein The pan/tilt system further includes a receiver and a remote controller, the receiver including a pan-tilt receiver and a follower receiver connected to each other through a data line, the follower receiver passing the data line and the motor module Connecting, the remote controller includes a pan/tilt attitude remote controller; wherein

所述云台接收机，用于接收所述云台姿态遥控器发送的一第一电机控制信号，并通过数据线向所述跟焦器接收机发送所述第一电机控制信号；The pan/tilt receiver is configured to receive a first motor control signal sent by the pan/tilt attitude remote controller, and send the first motor control signal to the follower receiver through a data line;

所述跟焦器接收机，用于接收所述第一电机控制信号，并通过数据线向所述电机模块发送所述第一电机控制信号；The follower receiver is configured to receive the first motor control signal, and send the first motor control signal to the motor module through a data line;

所述电机模块，用于接收所述第一电机控制信号，根据所述第一电机控制信号对所述成像装置进行镜头操控。The motor module is configured to receive the first motor control signal, and perform lens manipulation on the imaging device according to the first motor control signal.
根据权利要求13所述的云台***，其特征在于，所述遥控器还包括跟焦器专用遥控器和通用遥控器中的至少一种；The pan/tilt head system according to claim 13, wherein the remote controller further comprises at least one of a focus-specific remote controller and a universal remote controller;

所述电机模块，还用于通过所述接收机，接收所述通用遥控器发送的第二电机控制信号，或者，接收所述跟焦器专用遥控器发送第三电机控制信号；The motor module is further configured to receive, by the receiver, a second motor control signal sent by the universal remote controller, or receive the third remote motor control signal by the dedicated focus controller;

所述电机模块，还用于根据优先级策略确定接收到的第一或第二或第三电机控制信号各自的优先级，根据优先级最高的电机控制信号对所述成像装置进行镜头操控。The motor module is further configured to determine a priority of each of the received first or second or third motor control signals according to a priority policy, and perform lens manipulation on the imaging device according to the highest priority motor control signal.
根据权利要求13或14所述的云台***，其特征在于，A pan/tilt head system according to claim 13 or 14, wherein

所述云台姿态遥控器，用于向所述云台接收机发送一压力-速度控制方式的第一电机控制信号，所述压力-速度控制方式是指所述云台姿态遥控器接受的压力的大小对应于电机转动速度的大小。The pan/tilt attitude remote controller is configured to send a first motor control signal of a pressure-speed control mode to the pan-tilt receiver, where the pressure-speed control mode refers to a pressure received by the pan-tilt attitude remote controller The size corresponds to the speed of the motor.
根据权利要求14所述的云台***，其特征在于，The pan/tilt head system according to claim 14, wherein

所述电机模块，具体用于通过所述云台接收机接收所述通用遥控器发送的第二电机控制信号，或者，通过所述跟焦器接收机接收所述跟焦器专用遥控器发送第三电机控制信号。The motor module is specifically configured to receive, by the cloud platform receiver, the universal remote controller to send a second motor control signal, or a third motor control signal is transmitted by the focus follower receiver receiving the focus-specific remote controller.
根据权利要求16所述的云台***，其特征在于，所述通用遥控器为电位器拨轮遥控器，The pan/tilt head system according to claim 16, wherein the universal remote controller is a potentiometer dial remote controller,

所述电位器拨轮遥控器，用于向所述云台接收机发送位移-速度控制方式的所述第二电机控制信号，所述位移-速度控制方式是指所述电位器拨轮遥控器的拨轮偏移中位的位移量的大小对应于电机转动速度的大小；The potentiometer dial remote controller is configured to send the second motor control signal of the displacement-speed control mode to the pan-tilt receiver, and the displacement-speed control mode refers to the potentiometer dial remote controller The magnitude of the displacement of the neutral of the dial offset corresponds to the magnitude of the rotational speed of the motor;

所述云台接收机，还用于接收所述第二电机控制信号，并通过数据线向所述电机模块发送所述第二电机控制信号。The pan/tilt receiver is further configured to receive the second motor control signal and send the second motor control signal to the motor module through a data line.
根据权利要求16所述的云台***，其特征在于，The pan/tilt head system according to claim 16, wherein

所述跟焦器专用遥控器，用于向所述跟焦器接收机发送角度-速度控制方式的所述第三电机控制信号，所述角度-速度控制方式是指所述跟焦器专用遥控器的旋钮的旋转角度的大小对应于电机转动速度的大小；The follower special remote controller is configured to send the third motor control signal of an angle-speed control mode to the follower receiver, wherein the angle-speed control mode refers to the dedicated remote control of the follower The rotation angle of the knob of the device corresponds to the rotation speed of the motor;

所述跟焦器接收机，还用于接收所述第三电机控制信号，并通过数据线向所述电机模块发送所述第三电机控制信号。The follower receiver is further configured to receive the third motor control signal and send the third motor control signal to the motor module through a data line.
一种跟焦器控制方法，用于控制包括云台和跟焦器的云台***，所述云台***用于承载一成像装置，并用于控制所述成像装置的姿态，所述跟焦器包括电机模块，其特征在于，所述云台***还包括接收机和遥控器，所述接收机通过数据线与所述电机模块连接，所述遥控器包括云台姿态遥控器、跟焦器专用遥控器和通用遥控器中的至少一种；所述方法包括：A follower control method for controlling a pan/tilt head system including a pan/tilt head and a follower for carrying an imaging device and for controlling a posture of the imaging device, the follower The utility model includes a motor module, wherein the pan/tilt head system further comprises a receiver and a remote controller, wherein the receiver is connected to the motor module through a data line, and the remote controller comprises a pan-tilt attitude remote controller and a focus-focusing device At least one of a remote controller and a universal remote controller; the method comprising:

所述电机模块通过所述接收机接收至少一种遥控器发送的至少一种电机控制信号；Receiving, by the receiver, at least one motor control signal sent by at least one remote controller through the receiver;

所述电机模块根据优先级策略确定所述至少一种电机控制信号各自的优先级，根据优先级最高的电机控制信号对所述成像装置进行镜头操控。The motor module determines respective priorities of the at least one motor control signal according to a priority policy, and performs lens manipulation on the imaging device according to the highest priority motor control signal.
根据权利要求19所述的方法，其特征在于，所述接收机包括设置于云台的云台接收机和设置在所述电机模块上的跟焦器接收机，所述电机模块通过所述接收机接收至少一种遥控器发送的至少一种电机控制信号包括：The method according to claim 19, wherein said receiver comprises a pan-tilt receiver disposed on the pan-tilt and a follower receiver disposed on said motor module, said motor module receiving said Receiving, by the machine, at least one type of motor control signal sent by at least one remote controller includes:

所述电机模块通过所述云台接收机接收所述云台姿态遥控器发送的所述第一电机控制信号，或者，通过所述云台接收机接收所述通用遥控器发送的第二电机控制信号，或者，通过所述跟焦器接收机接收所述跟焦器专用遥控器发送第三电机控制信号。Receiving, by the pan/tilt receiver, the first motor control signal sent by the pan/tilt attitude remote controller, or receiving, by the pan-tilt receiver, the universal remote controller And a second motor control signal is sent by the focus controller receiver.
根据权利要求20所述的方法，其特征在于，所述电机模块通过所述接收机接收至少一种遥控器发送的至少一种电机控制信号之前，还包括：The method according to claim 20, wherein before the receiving, by the receiver, the at least one motor control signal sent by the remote controller, the motor module further comprises:

所述云台姿态遥控器向所述云台接收机发送压力-速度控制方式的第一电机控制信号，所述压力-速度控制方式是指所述云台姿态遥控器接受的压力的大小对应于电机转动速度的大小；The pan/tilt attitude remote controller sends a first motor control signal of a pressure-speed control mode to the pan-tilt receiver, wherein the pressure-speed control mode means that a pressure received by the pan-tilt attitude remote controller corresponds to a magnitude corresponding to The speed of the motor's rotation speed;

所述云台接收机接收所述第一电机控制信号，并通过数据线向所述电机模块发送所述第一电机控制信号。The pan-tilt receiver receives the first motor control signal and transmits the first motor control signal to the motor module through a data line.
根据权利要求20所述的方法，其特征在于，所述通用遥控器为电位器拨轮遥控器，所述电机模块通过所述接收机接收至少一种遥控器发送的至少一种电机控制信号之前，还包括：The method according to claim 20, wherein said universal remote controller is a potentiometer dial remote controller, said motor module receiving at least one motor control signal transmitted by said at least one remote controller before said motor module ,Also includes:

所述电位器拨轮遥控器向所述云台接收机发送位移-速度控制方式的第二电机控制信号，所述位移-速度控制方式是指所述电位器拨轮遥控器的拨轮偏移中位的位移量的大小对应于电机转动速度的大小；The potentiometer dial remote controller sends a second motor control signal of a displacement-speed control mode to the pan-tilt receiver, wherein the displacement-speed control mode refers to a dial offset of the potentiometer dial remote controller The magnitude of the displacement of the median corresponds to the magnitude of the rotational speed of the motor;

所述云台接收机接收所述第二电机控制信号，并通过数据线向所述电机模块发送所述第二电机控制信号。The pan-tilt receiver receives the second motor control signal and transmits the second motor control signal to the motor module through a data line.
根据权利要求20所述的方法，其特征在于，所述电机模块通过所述接收机接收至少一种遥控器发送的至少一种电机控制信号之前，还包括：The method according to claim 20, wherein before the receiving, by the receiver, the at least one motor control signal sent by the remote controller, the motor module further comprises:

所述跟焦器专用遥控器向所述跟焦器接收机发送角度-速度控制方式的第三电机控制信号，所述角度-速度控制方式是指所述跟焦器专用遥控器的旋钮的旋转角度的大小对应于电机转动速度的大小；The focus-specific remote controller sends a third motor control signal of an angle-speed control mode to the follower receiver, and the angle-speed control mode refers to rotation of a knob of the focus-specific remote controller The size of the angle corresponds to the speed of the motor;

所述跟焦器接收机接收所述第三电机控制信号，并通过数据线向所述电机模块发送所述第三电机控制信号。The follower receiver receives the third motor control signal and transmits the third motor control signal to the motor module via a data line.
一种云台***，其包括云台和跟焦器，所述云台用于承载一成像装置，并用于控制所述成像装置的姿态，所述跟焦器包括电机模块，其特征在于，所述***还包括接收机和遥控器，所述接收机通过数据线与所述电机模块连接，所述遥控器包括云台姿态遥控器、跟焦器专用遥控器和通用遥控器中的至少一种；其中， A pan/tilt system comprising a pan/tilt and a follower for carrying an imaging device and for controlling a posture of the imaging device, the follower comprising a motor module, characterized in that The system further includes a receiver and a remote controller, the receiver being coupled to the motor module via a data line, the remote controller including at least one of a pan/tilt attitude remote controller, a focus-specific remote controller, and a universal remote controller ;among them,

所述电机模块，用于通过所述接收机接收至少一种遥控器发送的至少一种电机控制信号；The motor module is configured to receive, by the receiver, at least one motor control signal sent by at least one remote controller;

所述电机模块，用于根据优先级策略确定所述至少一种电机控制信号各自的优先级，根据优先级最高的电机控制信号对所述成像装置进行镜头操控。The motor module is configured to determine a priority of each of the at least one motor control signal according to a priority policy, and perform lens manipulation on the imaging device according to a motor control signal with the highest priority.
根据权利要求24所述的云台***，其特征在于，所述接收机包括设置于云台的云台接收机和设置在所述电机模块上的跟焦器接收机，The pan/tilt head system according to claim 24, wherein said receiver comprises a pan-tilt receiver disposed on the pan/tilt head and a follower receiver disposed on said motor module,

所述电机模块，具体用于通过所述云台接收机接收所述云台姿态遥控器发送的所述第一电机控制信号，或者，通过所述云台接收机接收所述通用遥控器发送的第二电机控制信号，或者，通过所述跟焦器接收机接收所述跟焦器专用遥控器发送第三电机控制信号。The motor module is specifically configured to receive, by the pan-tilt receiver, the first motor control signal sent by the pan-tilt attitude remote controller, or receive, by the pan-tilt receiver, the universal remote controller a second motor control signal, or a third motor control signal is transmitted by the focus follower receiver receiving the focus-specific remote controller.
根据权利要求25所述的云台***，其特征在于，A pan/tilt head system according to claim 25, wherein

所述云台姿态遥控器，用于向所述云台接收机发送压力-速度控制方式的第一电机控制信号，所述压力-速度控制方式是指所述云台姿态遥控器接受的压力的大小对应于电机转动速度的大小；The pan/tilt attitude remote controller is configured to send a first motor control signal of a pressure-speed control mode to the pan-tilt receiver, where the pressure-speed control mode refers to a pressure received by the pan-tilt attitude remote controller The size corresponds to the speed of the motor rotation speed;

所述云台接收机，用于接收所述第一电机控制信号，并通过数据线向所述电机模块发送所述第一电机控制信号。The pan/tilt receiver is configured to receive the first motor control signal and send the first motor control signal to the motor module through a data line.
根据权利要求25所述的云台***，其特征在于，所述通用遥控器为电位器拨轮遥控器，The pan/tilt head system according to claim 25, wherein said universal remote controller is a potentiometer dial remote controller,

所述电位器拨轮遥控器，用于向所述云台接收机发送位移-速度控制方式的第二电机控制信号，所述位移-速度控制方式是指所述电位器拨轮遥控器的拨轮偏移中位的位移量的大小对应于电机转动速度的大小；The potentiometer dial remote controller is configured to send a second motor control signal of a displacement-speed control mode to the pan-tilt receiver, wherein the displacement-speed control mode refers to dialing of the potentiometer dial remote controller The magnitude of the displacement of the center of the wheel offset corresponds to the magnitude of the rotational speed of the motor;

所述云台接收机，用于接收所述第二电机控制信号，并通过数据线向所述电机模块发送所述第二电机控制信号。The pan/tilt receiver is configured to receive the second motor control signal and send the second motor control signal to the motor module through a data line.
根据权利要求25所述的云台***，其特征在于，A pan/tilt head system according to claim 25, wherein

所述跟焦器专用遥控器，用于向所述跟焦器接收机发送角度-速度控制方式的第三电机控制信号，所述角度-速度控制方式是指所述跟焦器专用遥控器的旋钮的旋转角度的大小对应于电机转动速度的大小；The focus remote control special remote controller is configured to send a third motor control signal of an angle-speed control mode to the follower receiver, wherein the angle-speed control mode refers to the dedicated remote controller of the follower The rotation angle of the knob corresponds to the rotation speed of the motor;

所述跟焦器接收机，用于接收所述第三电机控制信号，并通过数据线向所述电机模块发送所述第三电机控制信号。 The follower receiver is configured to receive the third motor control signal and send the third motor control signal to the motor module through a data line.
一种云台***，其包括云台和跟焦器，所述云台***用于承载一成像装置，并用于控制所述成像装置的姿态，所述跟焦器包括电机模块，其特征在于，所述云台***还包括接收机和遥控器，所述接收机包括：设置于云台的云台接收机和设置在所述电机模块上的跟焦器接收机，所述云台接收机通过数据线与所述跟焦器接收机连接；其中，A pan/tilt system comprising a pan/tilt head and a follower, the pan-tilt system for carrying an imaging device and for controlling a posture of the imaging device, the follower comprising a motor module, wherein The pan/tilt system further includes a receiver and a remote controller, the receiver comprising: a pan-tilt receiver disposed on the pan-tilt and a follower receiver disposed on the motor module, the pan-tilt receiver passing a data line is coupled to the follower receiver; wherein

所述跟焦器接收机，用于接收至少一个所述遥控器发送的两路控制信号；The follower receiver is configured to receive two control signals sent by at least one of the remote controllers;

所述跟焦器接收机，还用于将所述两路控制信号中的一路作为电机控制信号发送给所述电机模块，所述电机控制信号被用于控制所述成像装置的镜头；The follower receiver is further configured to send one of the two control signals to the motor module as a motor control signal, where the motor control signal is used to control a lens of the imaging device;

所述跟焦器接收机，还用于将所述两路控制信号中的一路作为云台控制信号发送给所述云台接收机，所述云台控制信号被用于控制所述云台的姿态。The follower receiver is further configured to send one of the two control signals to the PTZ receiver as a PTZ control signal, where the PTZ control signal is used to control the PTZ attitude.
根据权利要求29所述的***，其特征在于，所述遥控器包括云台姿态遥控器、跟焦器专用遥控器和通用遥控器中的至少一种。The system according to claim 29, wherein said remote controller comprises at least one of a pan/tilt attitude remote controller, a focus-specific remote controller, and a universal remote controller.
一种跟焦器***，用于云台，所述云台用于承载一成像装置，并用于控制所述成像装置的姿态，所述跟焦器***包括电机模块，其特征在于，所述跟焦器***还包括跟焦器接收机和遥控器，所述跟焦器接收机通过数据线与所述电机模块连接，所述遥控器包括云台姿态遥控器、跟焦器专用遥控器和通用遥控器中的至少一种；其中，A follower system for a pan/tilt head for carrying an imaging device and for controlling a posture of the imaging device, the follower system comprising a motor module, characterized in that the heel The focal system further includes a follower receiver and a remote controller, the follower receiver being connected to the motor module through a data line, the remote controller including a pan/tilt attitude remote controller, a dedicated focus controller and a universal At least one of the remote controls; wherein

所述跟焦器接收机，用于接收至少一种遥控器发送的至少一种电机控制信号；The follower receiver is configured to receive at least one motor control signal sent by at least one remote controller;

所述电机模块，用于根据优先级策略确定所述至少一种电机控制信号各自的优先级，根据优先级最高的电机控制信号对所述成像装置进行镜头操控。The motor module is configured to determine a priority of each of the at least one motor control signal according to a priority policy, and perform lens manipulation on the imaging device according to a motor control signal with the highest priority.
根据权利要求31所述的跟焦器***，其特征在于，A follower system according to claim 31, wherein

所述跟焦器接收机，具体用于接收所述云台姿态遥控器发送的所述第一电机控制信号，或者，接收所述通用遥控器发送的第二电机控制信号，或者，接收所述跟焦器专用遥控器发送第三电机控制信号。The follower receiver is configured to receive the first motor control signal sent by the pan/tilt attitude remote controller, or receive a second motor control signal sent by the universal remote controller, or receive the The third motor control signal is sent by the dedicated remote controller.
根据权利要求32所述的跟焦器***，其特征在于，A follower system according to claim 32, wherein

所述云台姿态遥控器，用于向所述跟焦器接收机发送压力-速度控制方式的第一电机控制信号，所述压力-速度控制方式是指所述云台姿态遥控器接受的压力的大小对应于电机转动速度的大小。 The pan/tilt attitude remote controller is configured to send a first motor control signal of a pressure-speed control mode to the follower receiver, wherein the pressure-speed control mode refers to a pressure received by the pan/tilt attitude remote controller The size corresponds to the speed of the motor.
根据权利要求32所述的跟焦器***，其特征在于，所述通用遥控器为电位器拨轮遥控器，A follower system according to claim 32, wherein said universal remote controller is a potentiometer dial remote control,

所述电位器拨轮遥控器，用于向所述跟焦器接收机发送位移-速度控制方式的第二电机控制信号，所述位移-速度控制方式是指所述电位器拨轮遥控器的拨轮偏移中位的位移量的大小对应于电机转动速度的大小。The potentiometer dial remote controller is configured to send a second motor control signal of a displacement-speed control mode to the follower receiver, wherein the displacement-speed control mode refers to the potentiometer dial remote controller The magnitude of the displacement of the neutral of the dial offset corresponds to the magnitude of the rotational speed of the motor.
根据权利要求32所述的跟焦器***，其特征在于，A follower system according to claim 32, wherein

所述跟焦器专用遥控器，用于向所述跟焦器接收机发送角度-速度控制方式的第三电机控制信号，所述角度-速度控制方式是指所述跟焦器专用遥控器的旋钮的旋转角度的大小对应于电机转动速度的大小。 The focus remote control special remote controller is configured to send a third motor control signal of an angle-speed control mode to the follower receiver, wherein the angle-speed control mode refers to the dedicated remote controller of the follower The magnitude of the rotation angle of the knob corresponds to the rotational speed of the motor.