WO2019178764A1 - Multi-rocker control method, gimbal and system - Google Patents

Abstract

A multi-rocker control method, gimbal and system. The method (S300) comprises: reading rocker identification signals of one or more rockers, and determining the type of the rockers according to the rocker identification signals (S310); detecting a rocker offset signal (S320); generating a corresponding first working instruction according to the rocker identification signals and the rocker offset signal (S330); reading posture information of a gimbal, and adjusting the first working instruction according to the posture information of the gimbal to generate a second working instruction (S340); and sending the second working instruction to an actuator, and the actuator receiving the second working instruction and taking a corresponding action, so as to control the gimbal (S350). The multi-rocker control system can automatically determine the type of a rocker connected to a gimbal and the direction of an input instruction, such that a user can realize synchronous changes in the rocker and the gimbal, without the need to execute complex pre-setting. The system is simple to operate, saves on the user time, reduces the human cost and meets the requirements of the user for automation and intelligence.

Description

Multi-rocker control method, cloud platform and system Technical field

The present disclosure relates to the field of rocker control, and more particularly to a multi-rocker control method, a pan/tilt head and a system.

Background technique

As an input device, the joystick provides a direction or angle signal to the pan/tilt connected to it. Usually, the user changes the orientation of the lens of the camera mounted on the pan/tilt by an input device such as a joystick.

In actual use, sometimes the pan/tilt will be connected to one or more joysticks to achieve quick and easy control of the gimbal. For example, for a handheld pan/tilt, the pan/tilt handle is provided with a rocker connected to the pan/tilt handle and a rocker connected wirelessly to the pan/tilt. When the handheld pan/tilt enters the upside down mode, the rocker connected to the pan/tilt handle will also be upside down with the pan/tilt, and the orientation of the rocker wirelessly connected to the pan/tilt remains unchanged. At this time, if the type of the joystick is not distinguished and the user input command is judged, the moving direction of the pan/tilt may be inconsistent with the desired direction of the user, so that the captured video does not match the expectation, and the difficulty of controlling the pan/tilt is increased.

Summary of the invention

Embodiments of the present disclosure provide a multi-rocker control method, a pan/tilt, and a system that can distinguish between types of joysticks and judge user input commands.

This embodiment provides a multi-rocker control method, including the following steps:

Reading a rocker identification signal of one or more rockers, and determining a rocker type by the rocker identification signal;

Detecting a rocker offset signal, the rocker offset signal including rocker offset direction information and rocker offset information;

Generating a first work instruction according to the rocker identification signal and the rocker offset signal;

Reading the attitude information of the pan/tilt, adjusting the first work instruction according to the posture information of the pan/tilt, and generating a second work instruction;

Sending the second work instruction to the executor, the executor receives the second work instruction and performs a corresponding action to control the pan/tilt.

Accordingly, embodiments of the present disclosure also provide a multi-rocker control gimbal that can distinguish between rocker types and judge user input commands, the pan/tilt head being coupled with one or more rockers. The pan/tilt head includes:

Memory, processor and actuator;

The memory is for storing program code;

The processor, the program code is invoked, and when the program code is executed, is used to perform the following operations:

Reading the rocker identification signal of one or more joysticks and the attitude information of the pan/tilt;

Detecting a rocker offset signal, the rocker offset signal including rocker offset direction information and rocker offset information;

Receiving the rocker identification signal and the rocker offset signal, and generating a first work instruction according to the rocker identification signal and the rocker offset signal;

Adjusting the first work instruction according to the posture information of the pan/tilt to generate a second work instruction;

The executor is configured to receive and execute a second work instruction sent by the processor, thereby controlling the pan/tilt.

Accordingly, embodiments of the present disclosure also provide a multi-rocker control system including a multi-rocker control gimbal that can distinguish between the types of joysticks and judge user input commands, and one or more Connected rocker. Wherein the pan/tilt comprises a memory, a processor and an executor; the memory is for storing program code; the processor, the program code is called, when the program code is executed, for performing the following operations:

Reading the rocker identification signal of one or more joysticks and the attitude information of the pan/tilt;

Detecting a rocker offset signal, the rocker offset signal including rocker offset direction information and rocker offset information;

Receiving the rocker identification signal and the rocker offset signal, and generating a first work instruction according to the rocker identification signal and the rocker offset signal;

Adjusting the first work instruction according to the posture information of the pan/tilt to generate a second work instruction;

The executor is configured to receive and execute a second work instruction sent by the processor, thereby controlling the pan/tilt.

The embodiments of the present disclosure can distinguish the types of joysticks and judge the user input commands to achieve flexible control of the pan/tilt without increasing the difficulty of the user's control of the pan/tilt. For example, for a pan/tilt head to which one or more rockers are connected, a rocker identification signal of one or more rockers is read, a rocker type is determined by the rocker identification signal; and a rocker offset signal is detected; The rocker identification signal generates a first work instruction corresponding to the rocker offset signal; reading the attitude information of the pan/tilt, adjusting the first work instruction according to the attitude information of the pan/tilt, and generating a second work instruction; Sending the second work instruction to the executor, the executor receives the second work instruction and performs a corresponding action to control the pan/tilt. The embodiment of the present disclosure can automatically determine the type of the joystick connected to the pan/tilt and the direction of the input command, and the user can realize the synchronous change of the joystick and the pan/tilt without complicated presets, and the operation is simple, the user time is saved, and the manpower is reduced. Cost, to meet the needs of users automation and intelligence.

DRAWINGS

In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings used in the embodiments or the description of the prior art will be briefly described below. Obviously, the drawings in the following description are only some of the disclosure. For the embodiments, those skilled in the art can obtain other drawings according to the drawings without any creative work.

1 is a schematic block diagram of a multi-rocker control pan/tilt in accordance with an embodiment of the present disclosure.

2 is a structural diagram of a pan/tilt head according to an embodiment of the present disclosure.

3 is a schematic illustration of a manner in which a multi-rocker controls a gimbal and one or more rockers in accordance with an embodiment of the present disclosure.

4 is still another schematic diagram of a manner in which a multi-rocker controls a gimbal and one or more rockers in accordance with an embodiment of the present disclosure.

FIG. 5 is a schematic flow chart of a multi-rocker control method according to an embodiment of the present disclosure.

detailed description

The technical solutions in the embodiments of the present disclosure are clearly and completely described in the following with reference to the accompanying drawings in the embodiments of the present disclosure. It is obvious that the described embodiments are only a part of the embodiments of the present disclosure, and not all of the embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present disclosure without departing from the inventive scope are the scope of the disclosure.

It should be noted that, when a component is “connected” or “connected” to another component in the embodiment of the present application, or when one component is “fixed” to another component, it may be directly on another component, or There are components that are centered.

Unless otherwise indicated, all technical and scientific terms used in the embodiments of the present application have the same meaning The terminology used in the present application is for the purpose of describing particular embodiments and is not intended to limit the scope of the application. The term "and/or" used in this application includes any and all combinations of one or more of the associated listed.

The pan/tilt can carry loads (eg, camera) for fixing the load, changing the height, tilt and/or direction of the load, or for maintaining the load in a stable attitude. The pan/tilt of the embodiments of the present disclosure may also be used to carry other loads of non-photographing devices, such as a microwave antenna of a spectrometer or radar, and the like. The gimbal of the embodiment of the present disclosure may also have other names, such as a load support frame, etc., which is not specifically limited in the embodiment of the present disclosure.

The embodiment of the present disclosure provides a multi-rocker control method, a pan/tilt head and a system capable of distinguishing the types of joysticks and judging user input commands, and can automatically determine the type of the joystick connected to the pan/tilt and the direction of the input command. , generating a control command that is consistent with the body coordinate system of the gimbal.

Embodiments of the present disclosure provide a multi-rocker control system that includes a pan/tilt that can control multiple rockers, and one or more rockers that are coupled to the pan/tilt. 1 is a schematic block diagram of a platform 100 that can control multiple joysticks in accordance with an embodiment of the present disclosure. In the embodiment of the present disclosure, the platform 100 includes a memory 10, a processor 20, an actuator 30, and a hinge frame 40. The memory 10 is for storing program code, the processor 20 calls the program code, and the executor 30 is configured to execute the program code. Further, the actuator 30 includes at least one of a translational axis motor, a roll axis motor, and a pitch axis motor, the hinge frame 40 including at least one of a translational axis frame, a roll axis frame, and a pitch axis frame.

Further, FIG. 2 is a structural diagram of a platform 100 according to an embodiment of the present disclosure. As shown in FIG. 2, the hinge frame 40 in the pan/tilt head 100 includes a translational axis frame 42, a roll axis frame 44, and a pitch axis frame 46. The actuator 30 includes a translational axis motor 32, a roll axis motor 34, and a pitch axis. Motor 36. The platform 100 further includes a base 110 and a load bracket 140. The translational shaft motor 32 is mounted on the base 110 for driving the translational shaft frame 42 to rotate, and the roll axis motor 34 is mounted on the roll axis frame 44 for driving the roll axis frame 44 to rotate. The pitch axis motor 36 is mounted to the roll axis frame 44 for driving the pitch axis frame 46 to rotate.

It can be understood that the platform 100 can also include only one or two hinge frames. In addition, although shown in FIG. 2, the translational shaft frame 42 is coupled to one end of the roll axis frame 44, the other end of the roll axis frame 44 is coupled to the pitch axis frame 46, and the load bracket 140 is directly coupled to the pitch axis frame 46. However, embodiments of the present disclosure are not limited thereto, and the translational axis frame 42, the roll axis frame 44, and the pitch axis frame 46 may be connected in other orders.

In one embodiment, the platform 100 can be mounted to a mobile device (eg, a handheld device) via the base 110. Further, the gimbal 100 can acquire electric energy or transmit and receive electronic signals through the susceptor 110, and the gimbal 100 can also transmit and receive wireless signals. In this embodiment, the processor 20 may be disposed in the base 110 of the pan/tilt head 100, or may be disposed at other suitable locations for receiving a transmission signal, performing arithmetic processing on a work command input by the joystick, and the like. Load bracket 140 can be used to support load 199. The inertial measurement sensor may be disposed on the load bracket 140 or may be disposed at other suitable locations for reading the attitude information of the pan/tilt head 100. The inertial measurement sensor includes at least one of an accelerometer or a gyroscope.

Further, the multi-rocker control system further includes one or more rockers connected to the pan/tilt. Referring to Figures 3 and 4, the platform 100 can be coupled to one or more rockers. In the embodiment of the present disclosure, the mobile device is taken as a handheld device as an example. Further, the handheld device is a handle 200. The handle 200 is provided with a first rocker 220 fixedly connected to the handle 200, and a second rocker 240 wirelessly connected to the platform 100. The load 199 is a photographing device.

In an embodiment, the platform 100 can be mounted to the bottom of the handle 200 through the base 110. As shown in FIG. 2, the platform 100 is disposed at the bottom of the handle 200, and the first rocker 220 and the second rocker 240 are The direction of the body coordinate system coincides with the direction of the body coordinate system of the pan-tilt head 100. When the pan/tilt head 100 enters the upside down mode, as shown in FIG. 3, the pan/tilt head 100 is disposed at the upper portion of the handle 200. The first rocker 220 is fixedly connected to the handle of the platform 100, and the first rocker 220 is inverted upside down with the platform 100. At this time, the body coordinate system direction of the first rocker 220 changes together with the body coordinate system direction of the platform 100. The second rocker 240 is wirelessly connected to the platform 100. When the pan/tilt head 100 is upside down, the direction of the body coordinate system of the second rocker 240 does not change, and the direction of the body coordinate system of the platform 100 changes. The rod 240 is different from the direction of the body coordinate system of the platform 100. If the type of the joystick is not distinguished and the user input command is judged, the moving direction of the pan-tilt 100 may be inconsistent with the desired direction of the user, so that the captured video does not match the expectation, and the difficulty of controlling the pan-tilt 100 by the user is increased.

The pan/tilt head 100 of the embodiment of the present disclosure includes a memory 10 that stores program code of a multi-rocker control method. When the program code is executed, the multi-rocker control method can automatically determine the type of the joystick connected to the pan-tilt 100 and the input command direction, and then generate the body coordinates of the pan-tilt 100 according to the posture information of the pan-tilt 100. A consistent control command. FIG. 5 is a schematic flow chart of a multi-rocker control method according to an embodiment of the present disclosure. The multiple joystick control method S300 includes the steps of:

S310: Read a rocker identification signal of one or more rockers, and determine the rocker type by the rocker identification signal.

Before the one or more joysticks send the joystick offset signal to the pan-tilt 100, a control link is established with the pan-tilt 100. At this time, the processor 20 is disposed in the pan-tilt 100, and the processor 20 can be received according to the received The control link information distinguishes the types of joysticks. In particular, the identification can be made by a specific identification or field in the signal.

For example, in one embodiment, the first rocker 220 is fixedly coupled to the platform 100 by means such as a serial interface connection. For example, the first rocker 220 and the pan/tilt head 100 can be connected via a CAN bus. The first rocker identification signal is transmitted through the CAN bus. The second rocker 240 is connected to the platform 100 via a wireless connection, such as via a Bluetooth connection, or via a wireless communication connection at 2.4 GHz, 5 GHz, or other suitable frequency band. The second rocker identification signal is wirelessly transmitted by electromagnetic waves. It can be understood that the first rocker can also be fixedly connected to the platform 100 by other means, and the second rocker can also be wirelessly connected to the platform 100 by other means, which is not limited herein.

S320: Detect a rocker offset signal, where the rocker offset signal includes rocker offset direction information and joystick offset information.

In the embodiment of the present disclosure, displacement sensors are respectively disposed in one or more rockers, and the displacement sensors are used to measure an offset direction and an offset of the one or more rockers. In one embodiment, the direction of deflection of the rocker is related to a change in the amount of rocker offset. For example, the direction of the shift of the rocker is positively correlated with the change in the amount of rocker offset. Specifically, the rocker is shifted to the right and/or upward, the rocker offset in the horizontal and/or vertical direction of the rocker is increased, and the direction of the output rocker offset signal is rightward and/or upward. The rocker is shifted to the left and/or downward, the rocker offset in the horizontal and/or vertical direction of the rocker is reduced, and the direction of the output rocker offset signal is leftward and/or under.

It can be understood that the change of the offset direction of the rocker and the shift amount of the rocker can also be negatively correlated. For example, the rocker is offset to the right and/or upward, the rocker offset in the horizontal and/or vertical direction of the rocker is increased, and the direction of the output rocker offset signal is left and/or toward Lower; the rocker is shifted to the left and/or downward, the rocker offset in the horizontal and / or vertical direction of the rocker is reduced, and the direction of the output rocker offset signal is rightward and / or up. Further, the change of the rocker offset direction information of the joystick offset signal and the joystick offset information may be combined in other reasonable manners, and will not be described herein for brevity.

S330: Generate a first work instruction according to the rocker identification signal and the rocker offset signal.

The first work instruction is a direction and speed at which the user desires the pan-tilt 100 to move. Specifically, the direction information output by the first work instruction is related to the offset direction information of the joystick offset signal, and the output size is related to the joystick offset. In one embodiment, the pan/tilt head 100 can control the translational axis frame 42 of the pan-tilt head 100 to move left and right according to the offset of the left and right direction of the rocker at a certain speed. For example, the greater the offset of the joystick to the right, the faster the pan/tilt 100 moves to the right. The pan-tilt 100 can also control the pitch axis frame 46 of the pan-tilt head 100 to move up and down at a constant speed according to the offset amount of the joystick in the vertical direction. It can be understood that the pan/tilt head 100 can also control the roll axis frame 44 of the pan-tilt head 100 to rotate clockwise or counterclockwise according to the offset of the rocker in the left-right direction or the up-and-down direction.

In this embodiment, the rocker is defined to be shifted to the right and/or upward, the rocker offset in the horizontal and/or vertical direction of the rocker is increased, and the direction of the output rocker offset signal is rightward and/or Upward; the rocker is shifted to the left and/or downward, the rocker offset in the horizontal and/or vertical direction of the rocker is reduced, and the direction of the output rocker offset signal is leftward and/or down.

In an embodiment, when the rocker identification signal is the first rocker identification signal, the rocker is determined to be the first rocker 220, and the first rocker 220 is fixedly connected to the platform 100. The output direction of the first work command is the same as or opposite to the rocker offset direction of the first rocker 220 offset signal, and the output size is related to the rocker offset of the first rocker offset signal.

Specifically, when the posture information of the pan/tilt head 100 is the first posture, the pan/tilt head 100 is disposed at the bottom of the handle 200, and the first rocker 220 is also located at the bottom of the handle 200, as shown in FIG. 2 . At this time, the body coordinate system of the first rocker 220 is a world coordinate system, and the output direction of the first work instruction is the same as the rocker offset direction of the rocker offset signal, and the output size is offset from the rocker. Quantity related. For example, in the world coordinate system, when the first rocker 220 is shifted to the right and/or upward, the rocker offset of the first rocker 220 in the horizontal and/or vertical direction is increased, and the output rocker is biased. The direction of the shift signal is right and/or up. At this time, the output direction of the first work command conforms to the desired direction of the user in the world coordinate system, so the output direction of the first work command is the same as the rocker offset direction of the offset signal of the first rocker 220.

When the attitude information of the pan/tilt head 100 is the second posture, the pan/tilt head 100 is disposed at an upper portion of the handle 200. Correspondingly, the first rocker 220 is also located at an upper portion of the handle 200, as shown in FIG. At this time, the first rocker 220 is inverted upside down with the platform 100, and the body coordinate system of the first rocker 220 is no longer a world coordinate system. For example, in the world coordinate system, when the first rocker 220 is shifted to the right and/or upward, the rocker offset of the rocker in the horizontal and/or vertical direction is reduced, and the output rocker is biased. The direction of the shift signal is left and/or down. In order to make the output direction of the first work instruction conform to the input habit of the user in the world coordinate system, the processor 20 disposed in the pan/tilt 100 needs to reverse the direction of the rocker offset signal to make the output of the first work instruction. The direction conforms to the user's desired direction in the world coordinate system, so the output direction of the first work command is opposite to the rocker offset direction of the first rocker 220 offset signal.

In another embodiment, when the rocker identification signal is the second rocker identification signal, the rocker is determined to be the second rocker 240, and the second rocker 240 is wirelessly connected to the platform 100. Regardless of whether the attitude information of the pan/tilt head 100 is the first posture or the second posture, the body coordinate system of the second rocker 240 is a world coordinate system, and the change of the body coordinate system of the platform 100 does not affect the body of the second rocker 240. Coordinate System. For example, in the world coordinate system, whether the posture information of the pan/tilt head 100 is the first posture or the second posture, when the second rocker 240 is shifted to the right and/or upward, the second rocker 240 is horizontally and / or the joystick offset in the vertical direction increases, and the output rocker offset signal direction is rightward and/or upward. At this time, the output direction of the first work command conforms to the desired direction of the user in the world coordinate system, so the output direction of the first work command is the same as the rocker offset direction of the offset signal of the second rocker 240.

S340: Read the posture information of the pan/tilt head 100, adjust the first work instruction according to the posture information of the pan/tilt head 100, and generate a second work instruction.

Considering that the output direction of the first work instruction generated according to the rocker identification signal and the joystick offset signal in S330 is the user desired direction in the world coordinate system, in order to make the cloud platform 100 move according to the user's desired manner, it is required to The posture information adjusts the first work instruction in the world coordinates to the second work instruction in the body coordinate system of the pan-tilt 100, so that the actual movement direction of the platform 100 conforms to the user's expectation. The adjusting the first work instruction in the world coordinate to the second work instruction in the body coordinate system of the pan-tilt 100 can be implemented by the corresponding mathematical operation by the processor 20 provided in the pan-tilt 100. For example, it can be realized by mathematical methods such as Euler angles, cosine matrices, and quaternions. In an embodiment, an adjustment matrix may be acquired based on the first work instruction and posture information of the pan-tilt 100, and the control direction in the first work instruction is adjusted by using the adjustment matrix, so that the first The second work order controls the pan/tilt head 100 to move in accordance with the manner desired by the user.

S350: The processor 20 of the PTZ 100 sends the second work instruction in the body coordinate system of the PTZ 100 to the executor 30, and the executor 30 receives the second work instruction and performs corresponding actions, thereby controlling The platform 100. Specifically, the translational shaft motor 32, the roll axis motor 34, and the pitch axis motor 36 receive the second work command, and control the movement of the corresponding translation axis frame 42, the roll axis frame 44, and the pitch axis frame 46, so that the cloud The moving direction of the station 100 conforms to the user's expectation, and the user does not need to manually set it, so as to minimize the trouble of the user's control of the pan/tilt 100 rotation and try to avoid the control error caused by the user.

The multi-rocker control system, the pan/tilt head and the method disclosed in the embodiments of the present disclosure can distinguish the types of the joysticks, and judge the user input commands to realize flexible control of the pan/tilt head 100 without increasing the user's The difficulty of control. For example, for a platform 100 to which one or more joysticks are connected, the platform 100 reads a rocker identification signal of one or more joysticks, and determines the type of the joystick by the rocker identification signal; Offset signal, generating a corresponding first work instruction according to the rocker identification signal and the rocker offset signal; finally, adjusting the first work instruction according to the attitude information of the pan/tilt 100, generating a second work instruction; The second work instruction is to the executor 20, and the executor 20 receives the second work instruction and performs a corresponding action to control the pan/tilt head 100. The embodiment of the present disclosure can automatically determine the type of the joystick connected to the pan/tilt and the direction of the input command, and the user can realize the synchronous change of the joystick and the pan/tilt without complicated presets, and the operation is simple, the user time is saved, and the manpower is reduced. Cost, to meet the needs of users automation and intelligence.

The above description is only the embodiments of the present disclosure, and thus does not limit the scope of the patents of the disclosure, and the equivalent structure or equivalent process transformations made by the disclosure and the contents of the drawings, or directly or indirectly applied to other related technologies. The scope of the invention is included in the scope of patent protection of the present disclosure.

Claims (33)

A multi-rocker control method for controlling a gimbal, characterized in that the method comprises: Reading a rocker identification signal of one or more rockers, and determining a rocker type by the rocker identification signal; Detecting a rocker offset signal, the rocker offset signal including rocker offset direction information and rocker offset information; Generating a first work instruction according to the rocker identification signal and the rocker offset signal; Reading the attitude information of the pan/tilt, adjusting the first work instruction according to the posture information of the pan/tilt, and generating a second work instruction; Sending the second work instruction to the executor, the executor receives the second work instruction and performs a corresponding action to control the pan/tilt. The multi-rocker control method according to claim 1, wherein when the rocker identification signal is a first rocker identification signal, determining that the rocker is a first rocker, the first work instruction The output direction information is the same as or opposite to the rocker offset direction information of the first rocker offset signal, and the output size information is related to the rocker offset information of the first rocker offset signal. The multi-rocker control method according to claim 2, wherein when the attitude information of the pan/tilt is the first posture, the first work command and the rocker offset signal of the joystick offset signal The direction information is the same, and the output size information is related to the joystick offset information; When the posture information of the pan/tilt is the second posture, the first work instruction is opposite to the rocker offset direction information of the rocker offset signal, and the output size information is related to the rocker offset information. . The multi-rocker control method according to claim 3, wherein the first rocker is fixedly connected to the pan/tilt, and the first rocker identification signal is transmitted through a wire. The multi-rocker control method according to claim 1, wherein when the rocker identification signal is a second rocker identification signal, determining that the rocker is a second rocker, the first work instruction The output direction information is the same as the joystick offset direction information of the joystick offset signal, and the output size information is related to the joystick offset information. The multi-rocker control method according to claim 5, wherein the second rocker is wirelessly connected to the pan/tilt, and the second rocker identification signal is wirelessly transmitted. The multi-rocker control method according to any one of claims 1 to 6, wherein a displacement sensor is disposed in the rocker, and the displacement sensor is used to measure the offset direction information and the deviation of the rocker. Transfer information. The multi-rocker control method according to claim 7, wherein the output direction information of the first work command is adjusted to be in a body coordinate system of the pan/tilt head according to posture information of the pan/tilt head The direction information is output to generate a second work instruction. The multi-rocker control method according to claim 8, wherein the adjustment matrix is acquired based on the first work instruction and the attitude information of the pan/tilt, and the adjustment work matrix is used to adjust the first work instruction Control direction information to adjust the second work order. The multi-rocker control method according to claim 9, wherein an inertial measurement sensor is disposed in the pan/tilt, and posture information of the pan/tilt is detected by an inertial measurement sensor. The multi-rocker control method according to claim 1, wherein the pan/tilt head comprises at least one reel frame, and the actuator is at least one motor disposed on the at least one reel frame, the gimbal There is also a shooting device. A pan/tilt head connected to one or more rockers, comprising: Memory, processor and actuator; The memory is for storing program code; The processor, the program code is invoked, and when the program code is executed, is used to perform the following operations: Reading the rocker identification signal of one or more joysticks and the attitude information of the pan/tilt; Detecting a rocker offset signal, the rocker offset signal including rocker offset direction information and rocker offset information; Receiving the rocker identification signal and the rocker offset signal, and generating a first work instruction according to the rocker identification signal and the rocker offset signal; Adjusting the first work instruction according to the posture information of the pan/tilt to generate a second work instruction; The executor is configured to receive and execute a second work instruction sent by the processor, thereby controlling the pan/tilt. The pan/tilt head according to claim 12, wherein when the rocker identification signal is a first rocker identification signal, determining that the rocker is a first rocker, output direction information of the first work instruction The output size information is related to the rocker offset information of the first rocker offset signal, which is the same as or opposite to the rocker offset direction information of the first rocker offset signal. The pan/tilt head according to claim 13, wherein when the posture information of the pan-tilt is the first posture information, the first work instruction and the rocker offset direction information of the rocker offset signal Similarly, the output size information is related to the joystick offset information; When the posture information of the pan/tilt is the second posture, the first work instruction is opposite to the rocker offset direction information of the rocker offset signal, and the output size information is related to the rocker offset information. . The pan/tilt head according to claim 14, wherein the first rocker is fixedly coupled to the pan/tilt, and the first rocker identification signal is transmitted through a wire. The pan/tilt head according to claim 12, wherein when the rocker identification signal is a second rocker identification signal, determining that the rocker is a second rocker, output direction information of the first work instruction The output size information is related to the joystick offset information, like the joystick offset direction information of the joystick offset signal. The pan/tilt head according to claim 16, wherein said second rocker is wirelessly connected to said pan/tilt, and said second rocker identification signal is transmitted by wireless. The pan/tilt head according to any one of claims 12-17, wherein the processor further comprises a displacement sensor disposed in the rocker, the displacement sensor for measuring an offset direction information of the rocker With offset information. The pan/tilt head according to claim 18, wherein the output direction information of the first work order is adjusted to the output direction information of the pan-tilt body coordinate system according to the posture information of the pan/tilt head To generate a second work order. The pan/tilt head according to claim 19, wherein an adjustment matrix is acquired based on the first work instruction and posture information of the pan/tilt, and the control direction in the first work instruction is adjusted by using the adjustment matrix Information to adjust the second work order. The pan/tilt head according to claim 20, wherein the processor further comprises an inertial measurement sensor disposed in the pan/tilt, and the attitude information of the pan-tilt is detected by an inertial measurement sensor. The pan/tilt head according to claim 12, wherein the pan/tilt head comprises at least one revolving frame, and the actuator is at least one motor disposed on the at least one reel frame, the gimbal is also equipped with Shooting device. A multi-rocker control system, characterized in that the system comprises a pan/tilt head and one or more rockers connected to the pan/tilt head; wherein the pan/tilt head comprises a memory, a processor and an actuator; The memory is for storing program code; the processor calls the program code, and when the program code is executed, is used to perform the following operations: Reading the rocker identification signal of one or more joysticks and the attitude information of the pan/tilt; Detecting a rocker offset signal, the rocker offset signal including rocker offset direction information and rocker offset information; Receiving the rocker identification signal and the rocker offset signal, and generating a first work instruction according to the rocker identification signal and the rocker offset signal; And adjusting the first work instruction according to the posture information of the pan/tilt to generate a second work instruction, where the rocker offset signal includes rocker offset direction information and joystick offset information; The executor is configured to receive and execute a second work instruction sent by the processor, thereby controlling the pan/tilt. The multi-rocker control system according to claim 23, wherein when the rocker identification signal is a first rocker identification signal, determining that the rocker is a first rocker, the first work instruction The output direction information is the same as or opposite to the rocker offset direction information of the first rocker offset signal, and the output size information is related to the rocker offset information of the first rocker offset signal. The multi-rocker control system according to claim 24, wherein when the posture information of the pan/tilt is the first posture information, the first work instruction and the joystick offset signal are rocker biased The direction information is the same, and the output size information is related to the joystick offset information; When the posture information of the pan/tilt is the second posture, the first work instruction is opposite to the rocker offset direction information of the rocker offset signal, and the output size information is related to the rocker offset information. . A multi-rocker control system according to claim 25, wherein said first rocker is fixedly coupled to said pan/tilt, and said first rocker identification signal is transmitted through a wire. The multi-rocker control system according to claim 23, wherein when the rocker identification signal is a second rocker identification signal, determining that the rocker is a second rocker, the first work instruction The output direction information is the same as the joystick offset direction information of the joystick offset signal, and the output size information is related to the joystick offset information. A multiple joystick control system according to claim 32, wherein said second rocker is wirelessly coupled to said pan/tilt and said second rocker identification signal is transmitted wirelessly. A multi-rocker control system according to any one of claims 23 to 28, wherein said processor further comprises a displacement sensor disposed within the rocker, said displacement sensor for measuring a deviation of said rocker Move direction information and offset information. The multi-rocker control system according to claim 29, wherein the output direction information of the first work instruction is adjusted to be in a body coordinate system of the pan/tilt head according to posture information of the pan/tilt head The direction information is output to generate a second work instruction. The multi-rocker control system according to claim 30, wherein an adjustment matrix is acquired based on the first work instruction and the attitude information of the pan/tilt, and the adjustment work matrix is used to adjust the first work instruction Control direction to adjust the second work order. The multi-rocker control system according to claim 31, wherein said processor further comprises an inertial measurement sensor disposed in the pan/tilt, and the attitude information of said pan/tilt is detected by an inertial measurement sensor. A multi-rocker control system according to claim 23, wherein said pan/tilt head comprises at least one revolving frame, said actuator being at least one motor disposed on said at least one reel frame, said gimbal There is also a shooting device.

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