CN112119362A

CN112119362A - Holder system and control method thereof

Info

Publication number: CN112119362A
Application number: CN201980031010.2A
Authority: CN
Inventors: 刘帅; 常贤茂
Original assignee: SZ DJI Technology Co Ltd
Current assignee: SZ DJI Technology Co Ltd
Priority date: 2019-08-13
Filing date: 2019-08-13
Publication date: 2020-12-22
Also published as: WO2021026760A1

Abstract

A cloud platform system and its control method, the cloud platform system includes the base (1), cloud platform (2) and rocker (3) used for controlling cloud platform (2) that set up on the base (1), the cloud platform (2) is used for carrying and shooting the apparatus (100); the control method comprises the following steps: detecting that the pan-tilt system generates mode switching; acquiring a current mode of a holder system; controlling the rotation of the cradle head (2) according to a mapping strategy between a control signal of a rocker (3) corresponding to the current mode and a cradle head joint angle; wherein, the mapping strategies of different modes are different.

Description

Holder system and control method thereof

Technical Field

The invention relates to the field of cloud platforms, in particular to a cloud platform system and a control method thereof.

Background

When the handheld cloud platform or the airborne cloud platform and other cloud platform systems are used for shooting, some pictures need to be switched to different modes by the cloud platform systems, such as a forward shooting mode, a reverse shooting mode, a flashlight mode and the like, so that different shooting requirements are met. However, after the mode of the existing pan/tilt system is switched, the mapping relationship between the input of the rocker and the pan/tilt rotation direction cannot be dynamically adjusted, and more shooting requirements cannot be met.

Disclosure of Invention

The invention provides a holder system and a control method thereof.

Specifically, the invention is realized by the following technical scheme:

according to a first aspect of the present invention, a method for controlling a pan/tilt head system is provided, the pan/tilt head system including a base, a pan/tilt head disposed on the base, and a rocker for controlling the pan/tilt head, the pan/tilt head being configured to carry a camera; the method comprises the following steps:

detecting that the holder system generates mode switching;

acquiring a current mode of the holder system;

controlling the rotation of the holder according to a mapping strategy between the control signal of the rocker corresponding to the current mode and the joint angle of the holder;

wherein the mapping policies of different modes are different.

According to a second aspect of the present invention, there is provided a head system comprising:

a base;

the holder is arranged on the base and used for carrying a shooting device;

a rocker for controlling the pan/tilt head; and

the controller is arranged on the base and is in communication connection with the holder and the rocker respectively, and the controller is configured to be used for:

detecting that the holder system generates mode switching;

acquiring a current mode of the holder system;

wherein the mapping policies of different modes are different.

According to the technical scheme provided by the embodiment of the invention, after the mode switching is generated, the cloud platform system dynamically adjusts the mapping strategy between the control signal of the rocker and the joint angle of the cloud platform, so that the current mode of the cloud platform system corresponds to the mapping strategy, the requirements for more shooting are met, and better shooting experience is brought to users.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive labor.

Fig. 1 is an application scenario diagram of a pan-tilt system in an embodiment of the present invention;

fig. 2 is an application scenario diagram of a pan-tilt system in another embodiment of the present invention;

fig. 3A is a perspective view of a handheld pan/tilt head in an embodiment of the present invention;

FIG. 3B is a perspective view of the handheld tripod head shown in FIG. 3A when in an upright position;

FIG. 3C is a perspective view of the handheld pan/tilt head shown in FIG. 3A in a reverse shooting mode;

FIG. 3D is a perspective view of the handheld tripod head shown in FIG. 3A in a lower flashlight mode;

FIG. 3E is a perspective view of the handheld tripod head shown in FIG. 3A in an upper flashlight mode;

FIG. 3F is a perspective view of the handheld tripod head shown in FIG. 3A in a left shooting mode;

FIG. 3G is a perspective view of the handheld tripod head shown in FIG. 3A in a right shooting mode;

FIG. 4 is a method flow diagram of a method of controlling a pan/tilt head system in one embodiment of the present invention;

FIG. 5 is a method flow diagram of a method of controlling a pan and tilt head system in another embodiment of the present invention;

fig. 6 is a block diagram of a pan/tilt head system according to an embodiment of the present invention.

Reference numerals: 1: a base; 2: a holder; 21: an outer frame; 22: a middle frame; 3: a rocker; 4: a screen; 5: a controller; 100: a photographing device.

Detailed Description

In the related art, after the pan/tilt system generates mode switching, the mapping relation between the input of the rocker and the pan/tilt rotation direction cannot be dynamically adjusted, and more shooting requirements cannot be met. For example, the rocker is a key which can be triggered towards four directions of up, down, left and right, in a positive shooting mode (the shooting device is positioned above the base and shoots positively), the right of the key is triggered, and the yaw joint angle of the tripod head rotates clockwise by a corresponding rod amount; the 'down' of the key is triggered, and the pitching joint angle of the holder rotates downwards by a corresponding rod amount. After the pan-tilt system is switched from the positive shooting mode to the reverse shooting mode, under the reverse shooting mode (the shooting device is positioned below the base and performs reverse shooting by the shooting device), if the rotation of the pan-tilt is controlled according to the mapping relation corresponding to the positive shooting mode, namely the right of the key is triggered, the yaw joint angle of the pan-tilt rotates clockwise by the corresponding rod amount; the 'down' of the key is triggered, and the pitching joint angle of the holder rotates downwards by a corresponding rod amount. In the forward shooting mode and the reverse shooting mode, when the same strategy is adopted to trigger the key (for example, the right of the key is triggered, and the same bar amount is generated by triggering), the posture changes of the pan/tilt heads in the forward shooting mode and the reverse shooting mode are different, so that the change modes of the shot pictures are different, and the shooting requirements cannot be met.

In contrast, after the pan-tilt system generates mode switching, the mapping strategy between the control signal of the rocker and the pan-tilt joint angle is dynamically adjusted, so that the current mode of the pan-tilt system corresponds to the mapping strategy, the requirements for more shooting are met, and better shooting experience is brought to users.

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that, in the following examples and embodiments, features may be combined with each other without conflict.

With reference to fig. 1 and fig. 2, the pan/tilt head system of the present embodiment may include a base 1, a pan/tilt head 2 disposed on the base 1, and a rocker 3 for controlling the pan/tilt head 2, wherein the pan/tilt head 2 is used to carry a shooting device 100, and the shooting device 100 may be a shooting device 100 with a shooting function such as a camera and a mobile phone. The base 1 may be controlled in an automatic or manual manner such that the attitude of the base 1 is changed.

In some embodiments, the pan/tilt head 2 system is an airborne pan/tilt head, which, referring to fig. 1, is mounted on a movable platform, in particular, is connected to the platform body through a base 1. Optionally, rocker 3 locates on the remote control equipment of portable platform, and remote control equipment is used for controlling portable platform, and this portable platform can be unmanned vehicles such as unmanned aerial vehicle, also can be other portable platforms.

In some embodiments, the head system is a handheld head, see fig. 2, and in this embodiment, the base 1 is a handle of the handheld head. Optionally, the rocker 3 is arranged on the front surface of the handle; it will be appreciated that the rocker 3 may be provided at other positions on the handle.

The pan/tilt head 2 may be a two-axis pan/tilt head or a three-axis pan/tilt head. In an embodiment, the head 2 is a three-axis head, see fig. 3A, the head 2 may comprise an outer frame 21, an intermediate frame 22 and an inner frame. The outer frame 21 is configured to rotate around a first preset direction, the middle frame 22 is configured to rotate around a second preset direction, the inner frame is configured to rotate around a third preset direction, and the inner frame is used for carrying the shooting device 100. Specifically, when the outer frame 21 rotates around the first predetermined direction, the middle frame 22 and the inner frame are driven to rotate around the first predetermined direction, so as to drive the shooting device 100 to rotate around the first predetermined direction. When the middle frame 22 rotates around the second predetermined direction, the inner frame is driven to rotate around the second predetermined direction, so as to drive the shooting device 100 to rotate around the second predetermined direction. The inner frame rotates around the third preset direction to drive the shooting device 100 to rotate around the third preset direction.

In an embodiment, the head 2 is a two-axis head, and the head 2 may comprise an outer frame 21 and an inner frame. Wherein the outer frame 21 is configured to rotate around a first preset direction, and the inner frame is configured to rotate around a second preset direction or a third preset direction. Specifically, when the outer frame 21 rotates around the first predetermined direction, the inner frame is driven to rotate around the first predetermined direction, so as to drive the shooting device 100 to rotate around the first predetermined direction. The inner frame rotates around the second preset direction or the third preset direction to drive the shooting device 100 to rotate around the second preset direction or the third preset direction.

In the above embodiment, the first preset direction, the second preset direction and the third preset direction are determined according to the configuration of the pan/tilt head 2. For example, as shown in fig. 3A, the pan/tilt head 2 is a three-axis pan/tilt head, the outer frame 21 is configured to rotate about a yaw axis, the middle frame 22 is configured to rotate about a roll axis, and the inner frame is configured to rotate about a pitch axis. Wherein, outer frame 21 includes yaw axis shaft arm, and is driven by the yaw axis motor, and well frame 22 includes roll axis shaft arm, and is driven by the roll axis motor, and the inner frame includes pitch axis shaft arm, and is driven by the pitch axis motor.

In this embodiment, the rocker 3 may be a key, a knob, or a combination of a key and a knob, and it should be understood that the rocker 3 is not limited to a key and a knob, but may be of other types.

The shooting mode of the pan/tilt system varies with the position relationship between the base 1 and the shooting device 100, and the shooting mode of the pan/tilt system of the present embodiment may include one or a combination of at least two of the following: the shooting mode comprises a positive shooting mode, a reverse shooting mode, a lower flashlight mode, an upper flashlight mode, a left shooting mode, a right shooting mode, a reverse positive shooting mode, a reverse shooting mode, a reverse lower flashlight mode and a reverse upper flashlight mode.

The following embodiments take a holder system as an example for explanation; it is to be understood that the following embodiments are equally applicable to an onboard pan/tilt head.

In the embodiment of the invention, referring to fig. 1 and 2, the rocker 3 is arranged on the front surface of the handheld holder. Further, the handheld cloud platform also comprises a screen 4 arranged on the front surface of the handle. When the handheld tripod head is placed upright, the shooting device 100 is located above the handle, the screen 4 faces the user, and the shooting device 100 takes an upright picture (the lens faces away from the user, and the shot picture is in an upright state). In fig. 3A and 3B, X, Y, Z corresponds to the X-axis, Y-axis, and Z-axis directions in the world coordinate system, respectively. As shown in fig. 3B, when the handheld cloud deck is placed upright, the coordinate system of the body of the handheld cloud deck is x1y1z1, wherein, the x1 axis direction points to the front of the handle 1, the y1 axis direction points to the left side of the handle 1, and the z1 axis direction points to the upper side of the handle 1.

When the pan-tilt system is in the positive shooting mode (as shown in fig. 3B), the shooting device 100 is located above the handle, and the shooting device 100 takes a positive shot; when the pan/tilt head system is in a reverse/forward shooting mode (not shown), the shooting device 100 is located below the handle, and the shooting device 100 takes a forward shot.

When the pan-tilt system is in the reverse shooting mode (as shown in fig. 3C), the shooting device 100 is located below the handle, and the shooting device 100 takes a reverse shot; when the pan/tilt head system is in the reverse shooting mode (not shown), the shooting device 100 is positioned above the handle, and the shooting device 100 takes a reverse shot.

When the camera 100 is in the lower flashlight mode (as shown in fig. 3D), the camera 100 is located in front of the handle, and the camera 100 is taking a photograph; when the imaging apparatus 100 is in the reverse-flashlight mode (not shown), the imaging apparatus 100 is positioned behind the handle, and the imaging apparatus 100 takes a positive image.

When the camera 100 is in the upper flashlight mode (as shown in fig. 3E), the camera 100 is located behind the handle, and the camera 100 takes a reverse shot; when the image pickup apparatus 100 is in the reverse flashlight mode (not shown), the image pickup apparatus 100 is positioned in front of the handle, and the image pickup apparatus 100 takes a reverse photograph.

When the pan-tilt system is in the left shooting mode (as shown in fig. 3F), the shooting device 100 is located on the left side of the handle; when the pan-tilt system is in the right shooting mode (as shown in fig. 3G), the shooting device 100 is located on the right side of the handle.

In the embodiment of the present invention, when the shooting device 100 is shooting, the lens of the shooting device 3 faces away from the user, and the shooting picture displays a standing image; when the image pickup apparatus 100 performs reverse shooting, the lens of the image pickup apparatus 3 faces away from the user, and the shooting screen displays an inverted image.

Next, the switching relationship between the modes will be described using the above orientation reference, with the front surface of the screen 4 set as the front surface of the handle, the back surface of the handle (the surface opposite to the front surface) as "front", the front surface of the handle as "back", the left side of the handle as "left", and the right side of the handle as "right".

Understandably, the lower flashlight mode can be obtained by forward turning by 90 degrees in a positive shooting mode or a reverse shooting mode; the upper torch mode may be obtained by flipping back, such as by 90 degrees, either the forward or reverse mode.

The left shooting mode can be turned by 90 degrees to the left from the forward shooting mode or the reverse shooting mode; the right shooting mode can be turned over by 90 degrees to the right from the forward shooting mode or the reverse shooting mode.

The normal shooting mode and the reverse shooting mode can meet the requirements of normal machine position shooting, and the difference between the normal shooting mode and the reverse shooting mode is that a shooting picture in the normal shooting mode displays an upright image, and a shooting picture in the reverse shooting mode displays an inverted image.

The reverse shooting mode and the reverse shooting mode can meet the requirement of low-altitude shooting, and the difference between the reverse shooting mode and the forward shooting mode is that the shooting picture in the reverse shooting mode displays an inverted image, and the shooting picture in the reverse shooting mode displays an upright image.

The lower flashlight mode, the upper flashlight mode, the anti-lower flashlight mode, the anti-upper flashlight mode, the left shooting mode and the right shooting mode can meet the requirement of horizontal machine position shooting, wherein in the lower flashlight mode or the anti-upper flashlight mode, the shooting device is positioned in front of the handle, so that more attention is paid to scenes in front of the handle; in the upper flashlight mode or the reverse flashlight mode, the shooting device is positioned behind the handle, so that more attention is paid to scenes behind the handle; in the left shooting mode, the shooting device is positioned at the left side of the handle, so that more attention is paid to the scene at the left side of the handle; in the right shooting mode, the camera is located on the right side of the handle, thereby paying more attention to the scene on the right side of the handle.

FIG. 4 is a method flow diagram of a method of controlling a pan/tilt head system in one embodiment of the present invention; referring to fig. 4, the control method of the pan-tilt system of the present embodiment may include the following steps:

s401: detecting that the pan-tilt system generates mode switching;

wherein, the pan-tilt system can be switched from a positive shooting mode to a lower flashlight mode, an upper flashlight mode, a left shooting mode or a right shooting mode, or from a reverse shooting mode to the lower flashlight mode, the upper flashlight mode, the left shooting mode, the right shooting mode or the reverse shooting mode, or from the lower flashlight mode to the positive shooting mode, the reverse shooting mode, the left shooting mode or the right shooting mode, or from the upper flashlight mode to the positive shooting mode, the reverse shooting mode, the left shooting mode or the right shooting mode, or from the left shooting mode to the positive shooting mode, the reverse shooting mode, the lower flashlight mode, the upper flashlight mode, the right shooting mode, the reverse lower flashlight mode or the reverse upper flashlight mode, or from the right shooting mode to the positive shooting mode, the reverse shooting mode, the lower flashlight mode, the upper flashlight mode or the left shooting mode, or the reverse-positive shooting mode is switched to the left shooting mode, the reverse-lower flashlight mode or the reverse-upper flashlight mode, or the reverse-reverse shooting mode is switched to the left shooting mode, the reverse-lower flashlight mode or the reverse-upper flashlight mode, or the reverse-lower flashlight mode is switched to the left shooting mode, the reverse-positive shooting mode or the reverse-reverse shooting mode, or the reverse-upper flashlight mode is switched to the left shooting mode, the reverse-positive shooting mode or the reverse-reverse shooting mode.

Therefore, S401 may include one of the following cases when detecting that the pan/tilt head system generates the mode switching:

(1) detecting that the pan-tilt system is switched from a positive shooting mode to a lower flashlight mode, an upper flashlight mode, a left shooting mode or a right shooting mode;

(2) detecting that the pan-tilt system is switched from a reverse shooting mode to a lower flashlight mode, an upper flashlight mode, a left shooting mode, a right shooting mode or a reverse shooting mode;

(3) detecting that the pan-tilt system is switched from a lower flashlight mode to a positive shooting mode, a reverse shooting mode, a left shooting mode or a right shooting mode;

(4) detecting that the holder system is switched from the upper flashlight mode to the positive shooting mode, the reverse shooting mode, the left shooting mode or the right shooting mode;

(5) detecting that the pan-tilt system is switched from a left shooting mode to a positive shooting mode, a reverse shooting mode, a lower flashlight mode, an upper flashlight mode, a right shooting mode, a reverse positive shooting mode, a reverse shooting mode, a reverse lower flashlight mode or a reverse upper flashlight mode;

(6) detecting that the pan-tilt system is switched from a right shooting mode to a positive shooting mode, a reverse shooting mode, a lower flashlight mode, an upper flashlight mode or a left shooting mode;

(7) detecting that the pan-tilt system is switched from a reverse-positive shooting mode to a left shooting mode, a reverse-lower flashlight mode or a reverse-upper flashlight mode;

(8) detecting that the pan-tilt system is switched to a left shooting mode, a reverse lower flashlight mode or a reverse upper flashlight mode from a reverse shooting mode;

(9) detecting that the pan-tilt system is switched from a reverse lower flashlight mode to a left shooting mode, a reverse positive shooting mode or a reverse shooting mode;

(10) and detecting that the holder system is switched to a left shooting mode, a reverse positive shooting mode or a reverse shooting mode from a reverse upper flashlight mode.

It can be understood that, for two shooting modes that cannot be directly switched, the switching strategies between the different shooting modes can be combined, so as to realize mode switching between the two shooting modes that cannot be directly switched.

S402: acquiring a current mode of a holder system;

in this embodiment, the current mode may include one of the following: the shooting mode comprises a positive shooting mode, a reverse shooting mode, a lower flashlight mode, an upper flashlight mode, a left shooting mode, a right shooting mode, a reverse positive shooting mode, a reverse shooting mode, a reverse lower flashlight mode and a reverse upper flashlight mode.

Specifically, when the current mode of the pan/tilt/zoom system is obtained, first posture information of the photographing device 100 and second posture information of the handle are obtained; and determining the current mode of the holder system according to the first attitude information and the second attitude information.

The handheld cradle head of the present embodiment further includes an accelerometer, which is used to detect the first posture information qmesa of the photographing apparatus 100. The second attitude information of the handle is determined from the first attitude information of the photographing device 100 and the pan-tilt joint angle, and taking a three-axis pan-tilt as an example, when the handheld pan-tilt is in the forward photographing mode, the outer frame 21 is configured to rotate about a yaw axis, the middle frame 22 is configured to rotate about a roll axis, and the inner frame is configured to rotate about a pitch axis. The pan-tilt joint angle comprises a yaw joint angle joint _ yaw, a roll joint angle joint _ roll and a pitch joint angle joint _ pitch, and each joint angle is the joint angle of the corresponding shaft motor. Q _ yaw, q _ roll and q _ pitch are obtained according to an axis angle conversion formula, and the conjugates or inverses of q _ yaw, q _ roll and q _ pitch are q _ yaw _ inv, q _ roll _ inv and q _ pitch _ inv, respectively. The calculation formula of the second posture information qhandle of the handle is as follows:

where joint represents a joint angle and q represents a quaternion.

Specifically, when determining the current mode of the pan/tilt head system according to the first attitude information and the second attitude information, the method includes the following steps:

(1) determining the position relation between the shooting device 100 and the handle according to the first posture information and the second posture information;

(2) and determining the current mode of the holder system according to the position relation.

In this embodiment, when the shooting device 100 is located above the handle, the pan-tilt system is in the forward shooting mode or the reverse shooting mode; when the shooting device 100 is positioned below the handle, the holder system is in a reverse shooting mode or a reverse and positive shooting mode; when the shooting device 100 is positioned in front of the handle, the pan-tilt system is in a lower flashlight mode or an upper flashlight mode; when the shooting device 100 is positioned behind the handle, the holder system is in an upper flashlight mode or a lower flashlight mode; when the shooting device 100 is positioned on the left side of the handle, the pan-tilt system is in a left shooting mode; when the photographing device 100 is located at the right side of the handle, the pan-tilt system is in the right photographing mode.

When the shooting device 100 is located above, below, in front of or behind the handle, the current mode of the pan/tilt head system can be further determined according to the first posture information. For example, when the photographing device 100 is located above the handle, the first posture information is used to indicate that the photographing device 100 is taking a positive photograph, and the pan-tilt system is in a positive photograph mode; the first posture information is used to instruct the shooting device 100 to perform a reverse shooting, and the pan-tilt system is in a reverse shooting mode. When the shooting device 100 is located below the handle, the first posture information is used for indicating that the shooting device 100 is in a positive shooting mode, and the holder system is in a negative positive shooting mode; the first posture information is used to instruct the shooting device 100 to perform a reverse shooting, and the pan-tilt system is in a reverse shooting mode. When the shooting device 100 is positioned in front of the handle, the first posture information is used for indicating that the shooting device 100 is shooting, and the holder system is in a lower flashlight mode; the first posture information is used to instruct the shooting device 100 to take a reverse shot, and the pan-tilt system is in the reverse flashlight mode. When the shooting device 100 is positioned behind the handle, the first posture information is used for indicating that the shooting device 100 is shooting normally, and the holder system is in a reverse flashlight mode; the first posture information is used to instruct the shooting device 100 to take a reverse shot, and the pan-tilt system is in the upper flashlight mode.

S403: controlling the rotation of the holder 2 according to a mapping strategy between a control signal of the rocker 3 corresponding to the current mode and the joint angle of the holder; wherein, the mapping strategies of different modes are different.

In certain embodiments, the control signal comprises at least one of: the first control signal input by the rocker 3 on the first plane and the second control signal input by the rocker 3 on the second plane. The first plane is orthogonal to the second plane, and the extending direction of the handle is parallel to the second plane, as shown in fig. 3A, 3B and 3C, the extending direction of the handle is vertical; as shown in fig. 3D and 3E, the extending direction of the handle is the front-back direction; as shown in fig. 3F and 3G, the handle extends in the left-right direction. In this embodiment, the joystick 3 is in a planar control manner, for example, the joystick 3 is a key, optionally, the key includes trigger keys in "up", "down", "left" and "right" directions, one of the trigger keys in the "up" and "down" directions may be triggered at the same time, and one of the trigger keys in the "left" and "right" directions may be triggered. Triggering a trigger key in an up direction or a down direction to generate a second control signal; triggering the trigger button in left or right direction to generate the first control signal

In certain embodiments, the control signal comprises at least one of: the stick amount of the rocker 3 is mapped to a first control signal of a first plane and the stick amount of the rocker 3 is mapped to a second control signal of a second plane. The first plane is orthogonal to the second plane, and the extending direction of the handle is parallel to the second plane, as shown in fig. 3A, 3B and 3C, the extending direction of the handle is vertical; as shown in fig. 3D and 3E, the extending direction of the handle is the front-back direction; as shown in fig. 3F and 3G, the handle extends in the left-right direction. In this embodiment, the rocker 3 may be a solid, for example, a control mode of spherical motion, and optionally, the rocker 3 is a knob, and a user operates the knob, and a rod amount generated by the knob can be mapped onto different planes.

When the holder system is in a positive shooting mode, a reverse positive shooting mode or a reverse shooting mode, the first plane is a horizontal plane, and the second plane is a vertical plane. When the holder system is in a lower flashlight mode, an upper flashlight mode, a left shooting mode, a right shooting mode, a reverse lower flashlight mode or a reverse upper flashlight mode, the first plane is a vertical plane, and the second plane is a horizontal plane.

The first control signal of the present embodiment is used to control one of the pitch axis and the yaw axis, and the second control signal is used to control the other of the pitch axis and the yaw axis, which is determined according to the current mode. The control signal may be the first control signal or the second control signal, and may also include the first control signal or the second control signal.

When the multi-axis handheld tripod head is in the following mode, each axis of the handheld tripod head can be set to the free mode or the follow mode. In the free mode, the handle of the handheld cloud deck moves, the corresponding shaft does not rotate, and the corresponding shaft can be used for increasing stability; in the follow mode, the corresponding axis moves following the movement of the handheld pan/tilt head. For example, for a three-axis pan-tilt, the normal mode is set to: the pitch axis and yaw axis are in follow mode, and the roll axis is in free mode. In this embodiment, the pitch axis and the yaw axis are in a follow mode, the yaw axis is in a free mode, and the control signal includes the first control signal or the second control signal.

Please refer to fig. 5, which is an implementation manner for controlling the rotation of the pan/tilt head 2 according to the mapping strategy between the control signal of the rocker 3 and the pan/tilt joint angle corresponding to the current mode. Specifically, when the pan/tilt head 2 is controlled to rotate according to the mapping strategy between the control signal of the rocker 3 corresponding to the current mode and the pan/tilt head joint angle, the following steps may be included:

s501: determining the rotation direction of the joint angle of the corresponding shaft of the holder 2 according to the direction of the first control signal and/or the direction of the second control signal;

in some embodiments, the control signal includes a first control signal, and in S501, the rotation direction of the joint angle of the corresponding shaft of the pan/tilt head 2 is determined according to the direction of the first control signal; in some embodiments, the control signal includes a second control signal, and in S501, the rotation direction of the joint angle of the corresponding shaft of the pan/tilt head 2 is determined according to the direction of the second control signal; in some embodiments, the control signal includes a first control signal and a second control signal, and in S501, the rotation direction of the joint angle of the corresponding shaft of the pan/tilt head 2 is determined according to the direction of the first control signal and the direction of the second control signal.

In this embodiment, the first direction (horizontal right direction in fig. 3B) is set as the positive direction of the first control signal, and the opposite direction of the first direction (horizontal left direction in fig. 3B) is set as the negative direction of the first control signal; the second direction (the horizontal vertical downward direction in fig. 3B) is the positive direction of the second control signal, and the opposite direction of the second direction (the horizontal vertical upward direction in fig. 3B) is the negative direction of the second control signal.

When the current mode is a forward shooting mode, a reverse forward shooting mode or a reverse shooting mode, the first control signal controls the yaw joint angle of the cradle head 2 (corresponding to the yaw attitude of the cradle head 2), and the second control signal controls the pitch joint angle of the cradle head 2 (corresponding to the pitch attitude of the cradle head 2).

When the current mode is a lower flashlight mode, an upper flashlight mode, a reverse lower flashlight mode or a reverse upper flashlight mode, the first control signal controls the roll joint angle (corresponding to the yaw attitude of the control holder 2) of the holder 2, and the second control signal controls the pitch joint angle (corresponding to the pitch attitude of the control holder 2) of the holder 2.

The current mode is a left shooting mode or a right shooting mode, the first control signal controls the yaw joint angle of the pan/tilt head 2 (corresponding to the pitch attitude of the pan/tilt head 2), and the second control signal controls the pitch joint angle of the pan/tilt head 2 (corresponding to the yaw attitude of the pan/tilt head 2).

In the present embodiment, when the rotation direction of the joint angle of the corresponding axis of the pan/tilt head 2 is determined according to the direction of the first control signal, alternatively, when the photographing device 100 and the handle are in the up-down positional relationship or the left-right positional relationship, the rotation direction of the yaw joint angle of the pan/tilt head 2 is determined according to the direction of the first control signal; alternatively, when the photographing device 100 is in a front-rear positional relationship with the handle, the rotational direction of the roll joint angle of the pan/tilt head 2 is determined according to the direction of the first control signal,

when the photographing device 100 and the handle are in the vertical position relationship, that is, the current mode is the forward shooting mode, the reverse forward shooting mode or the reverse shooting mode, and the rotation direction of the yaw joint angle of the pan/tilt head 2 is determined according to the direction of the first control signal, the following cases are classified:

(1) when the direction of the first control signal is a first direction, determining that the rotation direction of the yaw joint angle of the holder 2 is a first rotation direction, and correspondingly reducing the yaw joint angle; when the direction of the first control signal is the opposite direction of the second direction, it is determined that the rotation direction of the pitch joint angle of the pan/tilt head 2 is the opposite direction of the first rotation direction, and the yaw joint angle is relatively large.

(2) The current mode is a reverse-shooting mode or a reverse-positive-shooting mode, when the direction of the first control signal is the first direction, the rotating direction of the yaw joint angle of the holder 2 is determined to be the opposite direction of the first rotating direction, and the yaw joint angle is correspondingly reduced; when the direction of the first control signal is the opposite direction of the first direction, the rotation direction of the yaw joint angle of the pan/tilt head 2 is determined to be the first rotation direction, and the yaw joint angle is correspondingly large.

When the photographing device 100 is in a left-right positional relationship with the handle, that is, the current mode is the left photographing mode or the left photographing mode, when the rotation direction of the yaw joint angle of the pan/tilt head 2 is determined according to the direction of the first control signal, there are two cases:

(1) the current mode is a left shooting mode, when the direction of the first control signal is a first direction, the rotating direction of the yaw joint angle of the holder 2 is determined to be the opposite direction of a second rotating direction, and the roll joint angle is correspondingly large; when the direction of the first control signal is opposite to the first direction, the rotation direction of the yaw joint angle of the pan/tilt head 2 is determined to be a second rotation direction, and the roll joint angle is correspondingly reduced.

(2) The current mode is a right shooting mode, when the direction of the first control signal is a first direction, the rotating direction of the yaw joint angle of the holder 2 is determined to be a second rotating direction, and the yaw joint angle is correspondingly reduced; when the direction of the first control signal is the opposite direction of the first direction, the rotation direction of the yaw joint angle of the pan/tilt head 2 is determined to be the opposite direction of the second rotation direction, and the yaw joint angle is correspondingly large.

When the shooting device 100 and the handle are in a front-back position relationship, that is, the current mode is one of a lower flashlight mode, an upper flashlight mode, an anti-lower flashlight mode and an anti-upper flashlight mode, when the rotation direction of the yaw joint angle of the pan/tilt head 2 is determined according to the direction of the first control signal, specifically, when the direction of the first control signal is the first direction, the rotation direction of the roll joint angle of the pan/tilt head 2 is determined to be the first rotation direction; when the direction of the first control signal is the opposite direction of the first direction, it is determined that the rotational direction of the roll joint angle of the pan/tilt head 2 is the opposite direction of the first rotational direction. When the current mode is a lower flashlight mode or an anti-lower flashlight, if the rotation direction of the roll joint angle is a first rotation direction, the roll joint angle is correspondingly large; if the roll joint angle is in the opposite direction of the first rotational direction, the roll joint angle is correspondingly decreased. When the current mode is the upper flashlight mode or the reverse flashlight mode, if the rotation direction of the roll joint angle is the first rotation direction, the roll joint angle is correspondingly reduced; if the roll joint angle is in the opposite direction of the first rotational direction, the roll joint angle is correspondingly large.

In determining the rotation direction of the joint angle of the corresponding axis of the pan/tilt head 2 according to the direction of the second control signal, alternatively, when the photographing device 100 is in the up-down positional relationship or the left-right positional relationship with the handle, the rotation direction of the pitch joint angle of the pan/tilt head 2 is determined according to the direction of the second control signal.

When the imaging device 100 and the handle are in the vertical position relationship, the rotation direction of the pitch joint angle of the pan/tilt head 2 is determined according to the direction of the second control signal, which is classified into the following two cases:

(1) when the direction of the second control signal is a second direction, determining that the rotation direction of the pitch joint angle of the holder 2 is a second rotation direction, and the pitch joint angle is relatively large; when the direction of the second control signal is the opposite direction of the second direction, the rotation direction of the pitch joint angle of the pan/tilt head 2 is determined to be the opposite direction of the second rotation direction, and the pitch joint angle is correspondingly decreased.

(2) When the direction of the second control signal is a second direction, the rotation direction of the pitch joint angle of the holder 2 is determined to be the opposite direction of the second rotation direction, and the pitch joint angle is correspondingly large; when the direction of the second control signal is the opposite direction of the second direction, the rotation direction of the pitch joint angle of the pan/tilt head 2 is determined to be the second rotation direction, and the pitch joint angle is correspondingly decreased.

When the shooting device 100 and the handle are in a left-right position relationship, the rotation direction of the pitch joint angle of the pan/tilt head 2 is determined according to the direction of the second control signal, and the following two conditions are divided:

(1) the current mode is a left shooting mode, when the direction of the second control signal is a second direction, the rotation direction of the pitch joint angle of the holder 2 is determined to be a first rotation direction, and the pitch joint angle is correspondingly large; when the direction of the second control signal is the opposite direction of the second direction, the rotation direction of the pitch joint angle of the pan/tilt head 2 is determined to be the opposite direction of the first rotation direction, and the pitch joint angle is correspondingly decreased.

(2) The current mode is a right shooting mode, when the direction of the second control signal is a second direction, the rotation direction of the pitch joint angle of the holder 2 is determined to be the opposite direction of the first rotation direction, and the pitch joint angle is correspondingly large; when the direction of the second control signal is the opposite direction of the second direction, the rotation direction of the pitch joint angle of the pan/tilt head 2 is determined to be the first rotation direction, and the pitch joint angle is correspondingly decreased.

When the shooting device 100 and the handle are in a front-back position relationship, that is, the current mode is one of a lower flashlight mode, an upper flashlight mode, an anti-lower flashlight mode and an anti-upper flashlight mode, the rotation direction of the pitch joint angle of the pan/tilt head is determined according to the direction of the second control signal, specifically, when the direction of the second control signal is the second direction, the rotation direction of the pitch joint angle of the pan/tilt head 2 is determined to be the second rotation direction, and the pitch joint angle is relatively large; when the direction of the second control signal is the opposite direction of the second direction, the rotation direction of the pitch joint angle of the pan/tilt head 2 is determined to be the opposite direction of the second rotation direction, and the pitch joint angle is correspondingly decreased.

Optionally, the first rotational direction is clockwise; it will be appreciated that the first direction of rotation may also be counter-clockwise. Optionally, the second rotational direction is a downward direction; it will be appreciated that the second direction of rotation may also be an upward direction. In this embodiment, the first rotation direction is clockwise, and the second rotation direction is downward. The mapping strategy for each photographing mode is shown in table 1.

TABLE 1

S501: and controlling the corresponding joint angle to rotate according to the rotating direction.

In addition, the angle of the joint angular rotation is positively correlated with the magnitude of the first control signal and the second control signal.

After the mapping strategy is adopted, when the rocker is controlled by the same strategy, the posture changes of the pan/tilt head corresponding to the corresponding shooting modes (such as a forward shooting mode, a reverse forward shooting mode and a reverse shooting mode, a lower flashlight mode, an upper flashlight mode, a reverse lower flashlight mode and a reverse upper flashlight mode, a left shooting mode and a right shooting mode) are the same, so that the change modes of the shot pictures in the corresponding shooting modes are the same, and the shooting requirements are met.

Corresponding to the control method of the pan-tilt system of the above embodiment, an embodiment of the present invention further provides a pan-tilt system, and with reference to fig. 1 to 3G and fig. 6, the pan-tilt system of the present embodiment includes a base 1, a pan-tilt 2, a rocker 3 and a controller 5, where the pan-tilt 2 is disposed on the base 1, and the pan-tilt 2 is used to carry the shooting device 100, and the pan-tilt 2 of the present embodiment may be a two-axis pan-tilt, a three-axis pan-tilt, or another multi-axis pan-tilt. The rocker 3 is used for controlling the holder 2, optionally, the holder system is an airborne holder, and the rocker 3 is arranged on a remote control device of a movable platform carrying the holder system; optionally, the pan/tilt head system is a handheld pan/tilt head, and the rocker 3 is disposed on a handle of the handheld pan/tilt head. The controller 5 is arranged on the base 1, optionally, the controller 5 is arranged in the base 1, and the controller 5 is in communication connection with the holder 2 and the rocker 3 respectively.

In particular, the controller 5 is configured for: detecting that the pan-tilt system generates mode switching; acquiring a current mode of a holder system; controlling the rotation of the holder 2 according to a mapping strategy between a control signal of the rocker 3 corresponding to the current mode and the joint angle of the holder; wherein, the mapping strategies of different modes are different.

The implementation process and the working principle of the controller 5 can be referred to the description of the control method of the pan and tilt head system of the above embodiment, and are not described herein again.

The controller 5 of the present embodiment may be a Central Processing Unit (CPU). The controller 5 may further include a hardware chip. The hardware chip may be an application-specific integrated circuit (ASIC), a Programmable Logic Device (PLD), or a combination thereof. The PLD may be a Complex Programmable Logic Device (CPLD), a field-programmable gate array (FPGA), a General Array Logic (GAL), or any combination thereof.

Furthermore, an embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the steps of the control method of the pan and tilt head system of the above-mentioned embodiment.

The computer readable storage medium may be an internal storage unit, such as a hard disk or a memory, of the pan and tilt head system according to any of the foregoing embodiments. The computer readable storage medium may also be an external storage device of the pan/tilt system, such as a plug-in hard disk, a Smart Media Card (SMC), an SD Card, a Flash memory Card (Flash Card), and the like, provided on the device. Further, the computer readable storage medium may also include both an internal storage unit and an external storage device of the pan and tilt head system. The computer-readable storage medium is used for storing the computer program and other programs and data required by the pan-tilt system, and may also be used for temporarily storing data that has been output or is to be output.

It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like.

The above disclosure is intended to be illustrative of only some embodiments of the invention, and is not intended to limit the scope of the invention.

Claims

1. The control method of the cloud platform system is characterized in that the cloud platform system comprises a base, a cloud platform arranged on the base and a rocker used for controlling the cloud platform, wherein the cloud platform is used for carrying a shooting device; the method comprises the following steps:

detecting that the holder system generates mode switching;

acquiring a current mode of the holder system;

wherein the mapping policies of different modes are different.

2. The method of claim 1, wherein the current mode comprises one of:

a positive shooting mode, a reverse shooting mode, a lower flashlight mode, an upper flashlight mode, a left shooting mode, a right shooting mode, a reverse positive shooting mode, a reverse shooting mode, a reverse lower flashlight mode and a reverse upper flashlight mode;

when the holder system is in the left shooting mode, the shooting device is positioned on the left side of the base;

and when the holder system is in the right shooting mode, the shooting device is positioned on the right side of the base.

3. The method of claim 2, wherein the control signal comprises at least one of:

a first control signal input by the rocker on a first plane and a second control signal input by the rocker on a second plane;

the first plane is orthogonal to the second plane, and the extending direction of the base is parallel to the second plane.

4. The method of claim 2, wherein the control signal comprises at least one of:

the rod amount of the rocker is mapped to a first control signal of a first plane, and the rod amount of the rocker is mapped to a second control signal of a second plane;

5. Method according to claim 3 or 4, characterized in that when said head system is in said forward, backward forward or backward mode, said first plane is a horizontal plane and said second plane is a vertical plane.

6. Method according to claim 3 or 4, wherein when said pan-tilt-head system is in said lower torch mode, said upper torch mode, said left shooting mode, said right shooting mode, said anti-lower torch mode or said anti-upper torch mode, said first plane is a vertical plane and said second plane is a horizontal plane.

7. The method according to claim 3 or 4, wherein the controlling the pan-tilt to rotate according to the mapping strategy between the control signal of the rocker corresponding to the current mode and the pan-tilt joint angle comprises:

determining the rotation direction of the joint angle of the corresponding shaft of the holder according to the direction of the first control signal and/or the direction of the second control signal;

and controlling the corresponding joint angle to rotate according to the rotating direction.

8. The method according to claim 7, wherein determining the rotation direction of the joint angle of the corresponding shaft of the holder according to the direction of the first control signal and/or the direction of the second control signal comprises:

and when the shooting device and the base are in an up-down position relation or a left-right position relation, determining the rotation direction of the yaw joint angle of the holder according to the direction of the first control signal, and/or determining the rotation direction of the pitch joint angle of the holder according to the direction of the second control signal.

9. The method according to claim 8, wherein the current mode is the forward shooting mode or the reverse shooting mode, and the determining the rotation direction of the yaw joint angle of the pan/tilt head according to the direction of the first control signal comprises:

and when the direction of the first control signal is a first direction, determining that the rotating direction of the yaw joint angle of the holder is a first rotating direction.

10. The method according to claim 8, wherein the current mode is the forward shooting mode or the reverse shooting mode, and the determining the rotation direction of the pitch joint angle of the pan/tilt head according to the direction of the second control signal comprises:

and when the direction of the second control signal is a second direction, determining that the rotation direction of the pitching joint angle of the holder is the second rotation direction.

11. The method according to claim 8, wherein the current mode is the reverse-beat mode or the reverse-beat mode, and the determining the rotation direction of the yaw joint angle of the pan/tilt head according to the direction of the first control signal comprises:

and when the direction of the first control signal is a first direction, determining that the rotating direction of the yaw joint angle of the holder is the opposite direction of the first rotating direction.

12. The method according to claim 8, wherein the current mode is the reverse-shooting mode or the reverse-forward-shooting mode, and the determining the rotation direction of the pitch joint angle of the pan/tilt head according to the direction of the second control signal comprises:

and when the direction of the second control signal is a second direction, determining that the rotation direction of the pitching joint angle of the holder is the opposite direction of the second rotation direction.

13. The method according to claim 8, wherein the current mode is a left shooting mode, and the determining the rotation direction of the yaw joint angle of the pan/tilt head according to the direction of the first control signal controls the pan/tilt head to rotate comprises:

and when the direction of the first control signal is a first direction, determining that the rotating direction of the yaw joint angle of the holder is the opposite direction of a second rotating direction.

14. The method of claim 8, wherein the current mode is a left capture mode, and wherein determining the rotational direction of the pitch joint angle of the pan/tilt head based on the direction of the second control signal comprises:

and when the direction of the second control signal is a second direction, determining that the rotation direction of the pitching joint angle of the holder is a first rotation direction.

15. The method according to claim 8, wherein the current mode is a right shooting mode, and the determining the rotation direction of the yaw joint angle of the pan/tilt head according to the direction of the first control signal controls the pan/tilt head to rotate comprises:

and when the direction of the first control signal is a first direction, determining that the rotation direction of the yaw joint angle of the holder is a second rotation direction.

16. The method of claim 8, wherein the current mode is a right shooting mode, and wherein determining the rotational direction of the pitch joint angle of the pan/tilt head according to the direction of the second control signal comprises:

and when the direction of the second control signal is a second direction, determining that the rotation direction of the pitching joint angle of the holder is the opposite direction of the first rotation direction.

17. The method according to claim 7, wherein determining the rotation direction of the joint angle of the corresponding shaft of the holder according to the direction of the first control signal and/or the direction of the second control signal comprises:

and when the shooting device and the base are in a front-back position relationship, determining the rotation direction of the roll joint angle of the holder according to the direction of the first control signal, and/or determining the rotation direction of the pitch joint angle of the holder according to the direction of the second control signal.

18. The method of claim 17, wherein the current mode is one of the lower flashlight mode, the upper flashlight mode, the anti-lower flashlight mode, and the anti-upper flashlight mode, and wherein determining the rotational direction of the pan and tilt joint angle of the pan and tilt head based on the direction of the first control signal comprises:

and when the direction of the first control signal is a first direction, determining that the rotation direction of the roll joint angle of the holder is a first rotation direction.

19. The method of claim 17, wherein the current mode is one of the lower flashlight mode, the upper flashlight mode, the anti-lower flashlight mode, and the anti-upper flashlight mode, and wherein determining the rotational direction of the pitch joint angle of the pan/tilt head based on the direction of the second control signal comprises:

20. The method of claim 9, 11, 14, 16 or 18, wherein the first direction of rotation is clockwise.

21. The method of claim 10, 12, 13, 15 or 19, wherein the second rotational direction is a downward direction.

22. The method of claim 2, wherein the detecting that the pan-tilt system generates a mode switch comprises:

detecting that the pan-tilt system is switched from the forward shooting mode to the lower flashlight mode, the upper flashlight mode, the left shooting mode or the right shooting mode; or

Detecting that the pan-tilt system is switched from the reverse shooting mode to the lower flashlight mode, the upper flashlight mode, the left shooting mode, the right shooting mode or the reverse shooting mode; or

Detecting that the pan-tilt system is switched from the lower flashlight mode to the forward shooting mode, the backward shooting mode, the left shooting mode or the right shooting mode; or

Detecting that the pan-tilt system is switched from the upper flashlight mode to the forward shooting mode, the backward shooting mode, the left shooting mode or the right shooting mode; or

Detecting that the pan-tilt system is switched from the left shooting mode to the forward shooting mode, the reverse shooting mode, the lower flashlight mode, the upper flashlight mode, the right shooting mode, the reverse forward shooting mode, the reverse shooting mode, the reverse lower flashlight mode or the reverse upper flashlight mode; or

Detecting that the pan-tilt system is switched from the right shooting mode to the forward shooting mode, the reverse shooting mode, the lower flashlight mode, the upper flashlight mode or the left shooting mode; or

Detecting that the pan-tilt system is switched from the reverse-forward shooting mode to the left shooting mode, the reverse-down flashlight mode or the reverse-up flashlight mode; or

Detecting that the pan-tilt system is switched from the reverse shooting mode to the left shooting mode, the reverse lower flashlight mode or the reverse upper flashlight mode; or

Detecting that the pan-tilt system is switched from the reverse lower flashlight mode to the left shooting mode, the reverse forward shooting mode or the reverse shooting mode; or

And detecting that the holder system is switched from the reverse-up flashlight mode to the left shooting mode, the reverse-forward shooting mode or the reverse-reverse shooting mode.

23. The method of claim 1, wherein the obtaining the current mode of the pan-tilt system comprises:

acquiring first attitude information of the shooting device and second attitude information of the base;

and determining the current mode of the holder system according to the first attitude information and the second attitude information.

24. The method of claim 23, wherein determining the current mode of the pan and tilt head system based on the first attitude information and the second attitude information comprises:

determining the position relation between the shooting device and the base according to the first posture information and the second posture information;

and determining the current mode of the holder system according to the position relation.

25. The method of claim 1, wherein the pan/tilt head system is a handheld pan/tilt head and the base is a handle of the handheld pan/tilt head.

26. A pan-tilt system, characterized in that the pan-tilt system comprises:

a base;

the holder is arranged on the base and used for carrying a shooting device;

a rocker for controlling the pan/tilt head; and

detecting that the holder system generates mode switching;

acquiring a current mode of the holder system;

wherein the mapping policies of different modes are different.

27. A pan-tilt head system according to claim 26, wherein the current mode comprises one of:

28. A pan and tilt head system according to claim 27, wherein the control signal comprises at least one of:

29. A pan and tilt head system according to claim 27, wherein the control signal comprises at least one of:

30. A pan-tilt system according to claim 28 or 29, wherein when the pan-tilt system is in the forward, backward or forward mode, the first plane is a horizontal plane and the second plane is a vertical plane.

31. A head system according to claim 28 or 29, wherein when said head system is in said lower flashlight mode, said upper flashlight mode, said left shooting mode, said right shooting mode, said anti-lower flashlight mode or said anti-upper flashlight mode, said first plane is a vertical plane and said second plane is a horizontal plane.

32. A pan-tilt system according to claim 28 or 29, wherein the controller, when controlling the pan-tilt rotation according to the mapping strategy between the control signal of the rocker corresponding to the current mode and the pan-tilt joint angle, is configured for:

33. A pan-tilt head system according to claim 32, wherein the controller, when determining the direction of rotation of the joint angle of the pan-tilt corresponding axis according to the direction of the first control signal and/or the direction of the second control signal, is configured for:

34. A pan-tilt system according to claim 33, wherein the current mode is the forward-shooting mode or the reverse-shooting mode, and the controller, when determining the direction of rotation of the yaw joint angle of the pan-tilt according to the direction of the first control signal, is configured for:

35. The pan-tilt system according to claim 33, wherein the current mode is the forward shooting mode or the reverse shooting mode, and the controller, when determining the rotation direction of the pitch joint angle of the pan-tilt according to the direction of the second control signal, is configured to:

36. A pan-tilt system according to claim 33, wherein the current mode is the reverse-shooting mode or the reverse-forward-shooting mode, and the controller, when determining the direction of rotation of the yaw joint angle of the pan-tilt according to the direction of the first control signal, is configured for:

37. The pan-tilt system according to claim 33, wherein the current mode is the reverse-shooting mode or the reverse-forward-shooting mode, and the controller, when determining the rotation direction of the pitch joint angle of the pan-tilt according to the direction of the second control signal, is configured to:

38. The pan-tilt head system of claim 33, wherein the current mode is a left shooting mode, and wherein the controller, when determining a rotation direction of a yaw joint angle of the pan-tilt according to the direction of the first control signal, is configured to, when controlling the pan-tilt head to rotate,:

39. The pan-tilt system of claim 33, wherein the current mode is a left shooting mode, and wherein the controller, when determining the direction of rotation of the pitch joint angle of the pan-tilt according to the direction of the second control signal, is configured to:

40. The pan-tilt head system according to claim 33, wherein the current mode is a right shooting mode, and the controller, when determining a rotation direction of a yaw joint angle of the pan-tilt according to the direction of the first control signal, is configured to, when controlling the pan-tilt head to rotate,:

41. The pan-tilt system of claim 33, wherein the current mode is a right shooting mode, and wherein the controller, when determining the direction of rotation of the pitch joint angle of the pan-tilt according to the direction of the second control signal, is configured to:

42. A pan-tilt head system according to claim 32, wherein the controller, when determining the direction of rotation of the joint angle of the pan-tilt corresponding axis according to the direction of the first control signal and/or the direction of the second control signal, is configured for:

43. A pan and tilt head system according to claim 42, wherein the current mode is one of the lower torch mode, the upper torch mode, the anti-lower torch mode and the anti-upper torch mode, the controller, when determining the direction of rotation of the roll articulation angle of the pan and tilt head in dependence on the direction of the first control signal, is configured for:

44. A pan-tilt head system according to claim 42, wherein the current mode is one of the lower torch mode, the upper torch mode, the anti-lower torch mode and the anti-upper torch mode, the controller, when determining the direction of rotation of the pitch joint angle of the pan-tilt head in dependence on the direction of the second control signal, is configured for:

45. A head system according to claim 34, 36, 39, 41 or 43, wherein said first direction of rotation is clockwise.

46. A head system according to claim 35, 37, 38, 40 or 44, wherein said second direction of rotation is in a downward direction.

47. A pan-tilt head system according to claim 27, wherein the controller, upon detecting that the pan-tilt head system generates a mode switch, is configured for:

48. A pan-tilt head system according to claim 26, wherein the controller, when acquiring the current mode of the pan-tilt head system, is configured for:

49. A pan and tilt head system according to claim 48, wherein the controller, when determining the current mode of the pan and tilt head system from the first attitude information and the second attitude information, is configured for:

50. A head system according to claim 26, wherein the head system is a hand-held head and the base is a handle of the hand-held head.