CN112166596B

CN112166596B - Control method and device of holder and control system of holder

Info

Publication number: CN112166596B
Application number: CN201980032796.XA
Authority: CN
Inventors: 潘立忠; 谢卓
Original assignee: SZ DJI Technology Co Ltd
Current assignee: SZ DJI Technology Co Ltd
Priority date: 2019-10-21
Filing date: 2019-10-21
Publication date: 2022-10-04
Anticipated expiration: 2039-10-21
Also published as: CN112166596A; WO2021077262A1

Abstract

A control method and device of a cloud platform (100) and a control system of the cloud platform (100), wherein the method comprises the following steps: establishing a communication connection with a third party control device (300), the third party control device (300) comprising a control section (S101); acquiring a control signal (S102) generated by a third party control device (300) when a user triggers a control part; and controlling the cradle head (100) to execute the operation corresponding to the control signal according to the mapping relation between the control part and the operation of the cradle head (100) (S103). The control of the cradle head (100) by the third-party control equipment (300) is realized through the mapping relation between the control part of the third-party control equipment (300) and the operation of the cradle head (100), and the requirement of a user on accurate remote control of the cradle head (100) by using the third-party control equipment (300) is met; the third-party control equipment (300) is used for replacing a virtual rocker, so that the control hand feeling of a user is improved, and the accurate control of the cradle head (100) can be more easily realized by the user controlling the cradle head through controlling the third-party control equipment (300); meanwhile, a user does not need to purchase an expensive professional remote controller, and the cost of the user for remotely controlling the holder (100) is reduced.

Description

Control method and device of holder and control system of holder

Technical Field

The invention relates to the field of a holder, in particular to a holder control method, a holder control device and a holder control system.

Background

At present, some holder manufacturers do not provide a dedicated remote controller for the holder, and can only carry out remote control on the holder through a virtual rocker on an application program APP interactive interface, and the operation of the virtual rocker on the APP interactive interface is poor in hand feeling, so that the accurate control of the holder is difficult to realize. Some holder manufacturers have a dedicated remote controller for the holders, but the price of the dedicated remote controller is high, and most users cannot buy the dedicated remote controller for precise control.

Disclosure of Invention

The invention provides a control method and device of a cloud deck and a control system of the cloud deck.

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

according to a first aspect of the present invention, there is provided a method of controlling a pan/tilt head, the method comprising:

establishing communication connection with a third party control device, wherein the third party control device comprises a control part;

acquiring a control signal generated by the third-party control equipment when a user triggers the control part;

and controlling the cradle head to execute the operation corresponding to the control signal according to the mapping relation between the control part and the operation of the cradle head.

According to a second aspect of the present invention, there is provided a control device of a pan/tilt head, the device comprising:

storage means for storing program instructions; and

one or more processors that invoke program instructions stored in the storage device, the one or more processors individually or collectively configured to, when the program instructions are executed, perform operations comprising:

According to a third aspect of the present invention, there is provided a control method of a pan/tilt head, the method comprising:

receiving a setting instruction input by a user;

setting a mapping relation between a control part of the third-party control equipment and the operation of the holder according to the setting instruction;

and when the mapping relation is used for indicating that the control part is triggered, controlling the holder to execute corresponding operation.

According to a fourth aspect of the present invention, there is provided a control device of a pan/tilt head, the device comprising:

storage means for storing program instructions; and

one or more processors that invoke program instructions stored in the storage device, the one or more processors being individually or collectively configured to, when the program instructions are executed:

receiving a setting instruction input by a user;

setting a mapping relation between a control part of third-party control equipment and the operation of the holder according to the setting instruction;

According to a fifth aspect of the present invention, there is provided a control system of a pan/tilt head, comprising:

a holder; and

a terminal device;

the terminal equipment is respectively in communication connection with the holder and third-party control equipment, and the third-party control equipment comprises a control part;

and when acquiring a control signal generated by the third-party control equipment when a user triggers the control part, the terminal equipment controls the holder to execute an operation corresponding to the control signal according to the mapping relation between the control part and the operation of the holder.

According to the technical scheme provided by the embodiment of the invention, the third-party control equipment is used for controlling the cradle head through the mapping relation between the control part of the third-party control equipment and the operation of the cradle head, so that the requirement of a user on accurate remote control of the cradle head by using the third-party control equipment is met; the third-party control equipment is used for replacing the virtual rocker, so that the user control hand feeling is improved, and the accurate control of the cradle head can be more easily realized by the user controlling the cradle head by controlling the third-party control equipment; meanwhile, a user does not need to purchase an expensive professional remote controller, and only needs cheap third-party control equipment to realize remote control of the cradle head, so that the cost of the user for remotely controlling the cradle head is reduced.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the description below are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.

Fig. 1 is a schematic method flow diagram of a control method of a pan/tilt head according to an embodiment of the present invention;

fig. 2 is a schematic structural diagram of a control system of the pan/tilt head according to an embodiment of the present invention;

fig. 3 is a schematic structural diagram of a control system of a pan/tilt head according to another embodiment of the present invention;

fig. 4 is a schematic structural diagram of a third-party control device in another embodiment of the present invention;

fig. 5 is a block diagram of a control device of the pan/tilt head according to an embodiment of the present invention;

fig. 6 is a schematic method flow diagram of a control method of a pan/tilt head according to another embodiment of the present invention;

FIG. 7 is a schematic illustration of an interactive interface in an embodiment of the invention;

fig. 8 is a block diagram of a control device of a pan/tilt head according to another embodiment of the present invention.

Reference numerals are as follows:

100: a holder; 200: a terminal device; 300: a third party control device; 310: a rocker; 311: a first rocker; 312: a second rocker; 320: pressing a key; 321: a first key; 322: a second key; 323: a third key; 324: a fourth key; 325: a fifth key; 326: and a sixth key.

Detailed Description

In the prior art, the cradle head can be remotely controlled through the virtual rocker on the APP interaction interface, and the virtual rocker on the APP interaction interface has poor operation hand feeling and is difficult to realize accurate control on the cradle head; the holder can be remotely controlled by using a special remote controller, but the special remote controller is higher in price, and most users cannot buy the holder specially for precise control.

In contrast, the invention realizes that the third party control equipment controls the holder through the mapping relation between the control part of the third party control equipment and the operation of the holder, and meets the requirement of a user on accurate remote control of the holder by using the third party control equipment; the third-party control equipment is used for replacing the virtual rocker, so that the user control hand feeling is improved, and the user can control the tripod head by controlling the third-party control equipment, so that the accurate control of the tripod head is more easily realized; meanwhile, a user does not need to purchase an expensive professional remote controller, and only needs cheap third-party control equipment to realize remote control of the cradle head, so that the cost of the user for remotely controlling the cradle head is reduced.

It should be noted that, in the embodiment of the present invention, the third party control device is not a dedicated remote controller for the pan/tilt head, the third party control equipment of the embodiment of the invention can be remote control equipment used for games, such as game handles of PS4, XBOX and the like, and also can be other non-holder remote control equipment.

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 obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to 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.

Example one

Optionally, in some embodiments, an execution main body of the control method of the cradle head is a terminal device installed with an application APP, and the terminal device may be a mobile terminal such as a mobile phone, a Pad, a wearable electronic device, or other terminal devices. In other embodiments, the main execution body of the control method of the cradle head may be the cradle head installed with the application APP.

Referring to fig. 1, the control method of the pan/tilt head includes steps S101 to S103.

In step S101, a communication connection is established with a third party control device, where the third party control device includes a control part;

different communication connection modes can be adopted to establish communication connection with the third-party control equipment, such as Bluetooth, wifi or other communication connection modes. The third party control device of the embodiment may include a third party handle, and may also include other third party remote control devices.

In the embodiment where the execution subject is a terminal device, please refer to fig. 2, the third party control device 300 establishes a communication connection with the pan/tilt head 100 through the terminal device 200. In this embodiment, the terminal device 200 is used as a host, and in step S101, the terminal device 200 establishes a communication connection with the third-party control device 300. Illustratively, the terminal device 200 is paired with the third-party control device 300 through bluetooth; after the third-party control device 300 is successfully connected with the terminal device 200, the terminal device 200 opens the APP of the cradle head 100, searches for the cradle head 100, and connects the cradle head 100 with the terminal device 200 as a host, specifically, sends a command through the APP, establishes a connection between the terminal device 200 and the cradle head 100, and completes link establishment. The control range that currently utilizes virtual rocker remote control cloud platform 100 on the APP mutual interface is cloud platform 100 bluetooth connection distance, and this embodiment passes through terminal equipment 200 as the transfer maincenter, extends the remote control range to cloud platform 100 bluetooth connection distance and third party handle bluetooth connection distance sum, but the maximum distance of increase remote control cloud platform 100. It should be understood that the sequence in which the terminal device 200 serves as a host to connect the third party controlling device 300 and the pan/tilt head 100 can be selected as desired.

In the embodiment where the execution subject is the cradle head, please refer to fig. 3, the third party control device 300 directly establishes the communication connection with the cradle head 100. In this embodiment, the cradle head 100 is used as a host, and in step S101, the cradle head 100 establishes a communication connection with the third-party control device 300. Illustratively, the cradle head 100 is paired with the third party control device 300 via bluetooth.

In step S102, a control signal generated by the third party control device when the user triggers the control section is acquired.

It should be noted that step S102 is executed after step S101.

The control part may comprise a rocker, a key or the like, and particularly, the type of the control part is determined by the type of the third party control device. For example, optionally, referring to fig. 4, the control portion includes a joystick 310, the control signal includes a first control signal generated by the user to trigger the joystick 310, the first control signal may include a joystick amount generated by the user to trigger the joystick 310, further, the joystick 310 may be a multi-dimensional joystick, such as a four-dimensional joystick or a five-dimensional joystick, the joystick 310 of this embodiment includes at least two operation directions, and the first control signal may further include an operation direction for the user to operate the joystick 310. Optionally, referring to fig. 4 again, the control portion includes a key 320, and the control signal includes a second control signal generated by the user triggering the key 320.

Referring to fig. 2, in an embodiment in which the execution subject is the terminal device 200, after the terminal device 200 establishes a communication connection with the third-party control device 300, the third-party control device 300 generates a control signal when the user triggers the control part, and sends the control signal to the terminal device 200 to control the cradle head 100.

Referring to fig. 3, in the embodiment where the implementation subject is the cradle head 100, after the cradle head 100 establishes the communication connection with the third party control device 300, the third party control device 300 generates the control signal when the user triggers the control part, and sends the control signal to the cradle head 100 to control the cradle head 100.

Further, in an embodiment where the execution subject is a terminal device, the method for controlling the pan/tilt head further includes: before step S102 is executed, a communication connection is established with the pan/tilt head. The terminal device may establish a communication connection with the cradle head 100 based on bluetooth, wifi or other communication connection manners.

In step S103, the cradle head is controlled to execute the operation corresponding to the control signal according to the mapping relationship between the control part and the operation of the cradle head.

The operation of the cradle head may include rotation of the cradle head, execution of a setting function of the cradle head, or others.

For example, in some of these embodiments, the operation of the head includes rotation of the head. Optionally, referring to fig. 4, the control portion includes a rocker 310, the control signal includes a first control signal generated by a user triggering the rocker 310, and the mapping relationship includes a first mapping relationship between the rocker 310 and the rotation of the pan/tilt head. When the cradle head is controlled to execute the operation corresponding to the control signal according to the mapping relation between the control part and the operation of the cradle head, specifically, the rotation of the cradle head is controlled according to the first control signal and the first mapping relation. That is, the user can control the rotation of the pan/tilt head by operating the joystick 310 of the third party control device. In this embodiment, after the first control signal is obtained, according to the first mapping relationship, the first control signal is converted into a speed control amount of the rotational axis corresponding to the pan/tilt head, so as to control the rotational axis corresponding to the pan/tilt head to rotate according to the speed control amount, thereby completing the control of the remote joystick 310. In an embodiment that an execution main body of the pan/tilt head control method is the terminal device 200, with reference to fig. 2, the terminal device 200 may convert the obtained first control signal into a speed control amount of a rotating shaft corresponding to the pan/tilt head 100 according to the first mapping relationship, and then the terminal device 200 sends the speed control amount to the pan/tilt head 100; or the terminal device 200 may directly forward the acquired first control signal to the pan/tilt head 100, and the pan/tilt head 100 converts the first control signal into a speed control amount of the rotation shaft corresponding to the pan/tilt head 100 according to the first mapping relationship. Referring to fig. 3, in an embodiment where an execution main body of the method for controlling the pan/tilt head is the pan/tilt head 100, after the pan/tilt head 100 acquires the first control signal, the first control signal is converted into a speed control amount of a rotation shaft corresponding to the pan/tilt head 100 according to the first mapping relationship.

When the pan/tilt head is a multi-axis pan/tilt head, such as a two-axis pan/tilt head or a three-axis pan/tilt head, the rotation of the pan/tilt head may include the rotation of each rotational axis of the pan/tilt head. In this embodiment, the number of the rockers is plural, such as two; it should be understood that the number of rockers is determined by the type of third party control device.

Optionally, in some embodiments, the first mapping relationship comprises: different rocking bars control the rotation of different rotating shafts of the cloud deck. For example, the cloud platform is the diaxon cloud platform, and the cloud platform has two axis of rotation, and third party controlgear includes first rocker and second rocker, and a mapping relation specifically includes: the first rocking bar is used for controlling the rotation of one of the rotating shafts, and the second rocking bar is used for controlling the rotation of the other rotating shaft.

In some further embodiments, the first mapping relationship comprises: the rotation of a plurality of axis of rotation of cloud platform is controlled to same rocker. For example, the joystick may include at least two operation directions, and the first mapping relationship specifically includes: the different operating directions of the rocker control the rotation of different rotating shafts of the holder.

In the embodiments in which the rocker comprises a plurality of rockers, in the present embodiment, different operating directions of at least one rocker control the rotation of different axes of rotation of the head. Optionally, the number of the rocking bars is two, the pan-tilt includes three rotation axes, that is, the pan-tilt is a three-axis pan-tilt, and the first mapping relationship includes: two operation directions of one rocker correspondingly control the rotation of two rotating shafts, and one operation direction of the other rocker controls the rotation of the other rotating shaft.

Referring to fig. 4, the rocker 310 includes a first rocker 311 and a second rocker 312, each of which includes a vertical operation direction and a horizontal operation direction, the pan-tilt includes a yaw axis, a pitch axis, and a roll axis, and the first mapping relationship specifically includes: the horizontal operation direction of the first rocker 311 controls the yaw axis to rotate, the vertical operation direction of the first rocker 311 controls the pitch axis to rotate, and the horizontal operation direction of the second rocker 312 controls the roll axis to rotate.

It can be understood that the rocker may be replaced by another control part of the third party control device, and the rotation of the pan/tilt head is controlled by the other control part of the third party control device.

In addition, in some embodiments, the control method of the pan/tilt head may further include: before controlling the rotation of the holder according to the first control signal and the first mapping relation, acquiring a rotation control parameter input by a user; and sending the rotation control parameters to the holder so that the holder rotates according to the rotation control parameters. That is, the user can set the rotation control parameters of the pan/tilt head as required. Illustratively, the rotation control parameter may include at least one of a speed and a smoothness of the pan/tilt head rotation. The smoothness refers to the change speed of the rotational speed of the holder, and the abrupt change of the rotational speed of the holder can be avoided by setting the smoothness, so that the rotation of the holder is smoother. It should be understood that the rotation control parameters may also include other rotation control parameters.

In some other embodiments, the operation of the pan/tilt head includes the pan/tilt head performing a set function. Optionally, referring to fig. 4, the control portion includes a key 320, the control signal includes a second control signal generated by the user triggering the key 320, and the mapping relationship includes a second mapping relationship between the key 320 and the setting function. When the cradle head is controlled to execute the operation corresponding to the control signal according to the mapping relation between the control part and the operation of the cradle head, specifically, the cradle head is controlled to execute the setting function corresponding to the second control signal according to the second mapping relation. That is, the user can control the cradle head to execute the setting function by operating the key 320 of the third party control device.

The set-up function may include one or more, and in some embodiments, the set-up function may include at least one of a pan-tilt return to a preset position and a pan-tilt parameter configuration. Wherein, the cloud platform returns to preset position can include that the cloud platform returns well, also can include that the cloud platform returns other positions. In some embodiments, the cradle head carries a shooting device, and the setting function may include at least one of controlling the shooting device to shoot, controlling the shooting device to record video, and adjusting shooting parameters of the shooting device, wherein the shooting parameters of the shooting device may include a focal length or other shooting parameters of the shooting device. It should be understood that the setting function may also include other functions of the head.

Further, the number of keys is also determined according to the type of the third-party control device. In one embodiment, the keys and the setting function include a plurality of functions, and the second mapping relationship includes: one key corresponds to one set function. When the number of the keys is larger than that of the set functions, part of the keys of the third-party control equipment can be used for corresponding to a plurality of set functions of the holder, so that one key corresponds to one set function.

In other embodiments, the keys and the setting function include a plurality of functions, and the second mapping relationship includes: for a part of the setting functions, one setting function corresponds to a plurality of keys; for another part of the setting functions, one setting function corresponds to one key.

Referring to fig. 4, the third party control device includes a first button 321, a second button 322, a third button 323, and a fourth button 324, where the first button 321 controls the camera to take pictures, the second button 322 controls the camera to record videos, the third button 323 controls the pan/tilt head to return to the center, and the fourth button 324 controls the pan/tilt head to perform parameter configuration. Further, the third party controlling apparatus 300 further includes a fifth button 325 and a sixth button 326, the fifth button 325 and the sixth button 326 both control the focal length of the photographing device, specifically, the fifth button 325 controls the long-distance focusing of the photographing device, and the sixth button 326 controls the short-distance focusing of the photographing device.

The mapping relationship may be set in different manners, for example, in some embodiments, the mapping relationship is a default mapping relationship, and after the communication connection is established with the third-party control device, the default mapping relationship is directly selected as the mapping relationship between the control part and the operation of the pan/tilt head.

In other embodiments, the mapping relationship is determined according to a user instruction, a user may set the mapping relationship by operating an APP, and a specific implementation process of setting the mapping relationship by operating the APP by the user will be described in detail in embodiment two.

In other embodiments, the mapping relationship is a mapping relationship between the last saved control and the operation of the pan/tilt head. In this embodiment, after the user sets the mapping relationship by operating the APP each time, the mapping relationship set by the user is saved. And if the third-party control equipment is adopted to remotely control the holder again, directly using the mapping relation between the control part and the operation of the holder which is stored for the last time as the mapping relation between the control part and the operation of the holder during the remote control.

In the embodiment that the main execution body of the control method of the pan/tilt/zoom is the terminal device, the mapping relationship is set through an interactive interface displayed on a display screen of the terminal device.

In the embodiment where the main execution body of the control method of the pan/tilt head is the pan/tilt head, the pan/tilt head may further include a screen, and the mapping relationship is set through an interactive interface displayed on the screen.

Corresponding to the control method of the pan/tilt head in the above embodiment, a first control device of the pan/tilt head is further provided in the first embodiment of the present invention, please refer to fig. 5, where the control device of the pan/tilt head may include a first storage device and a first processor. The first processor may include one or more processors.

First storage means for storing program instructions; one or more first processors invoking program instructions stored in the first storage device, the one or more first processors individually or collectively configured to, when the program instructions are executed, perform operations comprising: establishing communication connection with a third party control device, wherein the third party control device comprises a control part; acquiring a control signal generated by third-party control equipment when a user triggers a control part; and controlling the cradle head to execute the operation corresponding to the control signal according to the mapping relation between the control part and the operation of the cradle head.

For the implementation process and the working principle of the first processor, reference may be made to the description of the control method of the pan/tilt head in the above embodiment, and details are not described here again.

In some embodiments, the first processor may be a Central Processing Unit (CPU). The first processor 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.

An embodiment of the present invention further provides a control system of a pan/tilt head, please refer to fig. 2, where the control system of the pan/tilt head may include a pan/tilt head 100 and a terminal device 200.

The terminal device 200 establishes communication connection with the holder 100 and the third-party control device 300 respectively, and the third-party control device 300 comprises a control part; when acquiring the control signal generated by the third-party control device 300 when the user triggers the control part, the terminal device 200 controls the cradle head 100 to execute the operation corresponding to the control signal according to the mapping relationship between the control part and the operation of the cradle head 100. Specifically, the terminal device 200, upon receiving the control signal, converts the control signal into a trigger signal for instructing the pan/tilt head 100 to perform an operation corresponding to the control signal according to a mapping relationship between the control part and the operation of the pan/tilt head 100, and transmits the trigger signal to the pan/tilt head 100. The cradle head 100 executes corresponding operations when receiving the trigger signal. For example, when the third party control device 300 controls the rotation of the pan/tilt head 100, when receiving the control signal, the terminal device 200 converts the received control signal into the speed control amount of the rotating shaft corresponding to the pan/tilt head 100 according to the mapping relationship, and sends the speed control amount to the pan/tilt head 100, and after receiving the speed control amount, the pan/tilt head 100 controls the rotation of the corresponding rotating shaft according to the speed control amount; for another example, when the third party control device 300 controls the cradle head 100 to execute the setting function, the terminal device 200 generates a trigger signal for instructing the cradle head 100 to execute the setting function according to the mapping relationship when receiving the control signal, and sends the trigger signal to the cradle head 100, and after receiving the trigger signal, the cradle head 100 executes the setting function, such as centering the cradle head 100, configuring parameters of the cradle head 100, controlling the photographing device to photograph, controlling the photographing device to record a video, or adjusting photographing parameters of the photographing device.

Further, the operation of the pan/tilt head 100 includes the rotation of the pan/tilt head 100.

Further, the control part comprises a rocker, the control signal comprises a first control signal generated by a user triggering the rocker, and the mapping relation comprises a first mapping relation of the rotation of the rocker and the holder 100; when receiving the first control signal, the terminal device 200 converts the first control signal into a speed control amount of the cradle head 100 according to the first mapping relationship, and sends the speed control amount to the cradle head 100, and the cradle head 100 rotates according to the speed control amount after receiving the speed control amount.

Further, the rocking bar includes a plurality of, different rocking bars 310 control the rotation of different rotation axes of the pan/tilt head 100.

Further, the rocking levers comprise at least two operating directions, different operating directions of at least one rocking lever controlling the rotation of different rotational axes of the head 100.

Further, the number of the rocking bars is two, and the pan-tilt 100 includes three rotation axes, wherein two operation directions of one rocking bar correspondingly control the rotation of two of the rotation axes, and one operation direction of the other rocking bar controls the rotation of the other rotation axis.

Further, the terminal device 200 is further configured to obtain a rotation control parameter input by the user before converting the first control signal into the speed control amount of the pan/tilt head 100 according to the first mapping relationship; and transmits the rotation control parameter to the pan/tilt head 100 so that the pan/tilt head 100 rotates according to the rotation control parameter.

Further, the rotation control parameter includes at least one of a speed and a smoothness at which the pan/tilt head 100 rotates.

Further, the operation of the head 100 includes the head 100 performing a setting function.

Furthermore, the control part comprises a key, the control signal comprises a second control signal generated by triggering the key by a user, and the mapping relation comprises a second mapping relation between the key and the set function; when receiving the second control signal, the terminal device 200 controls the pan/tilt head 100 to execute a setting function corresponding to the second control signal according to the second mapping relationship.

Further, the setting function includes at least one of a return of the pan/tilt head 100 to a preset position and a parameter configuration of the pan/tilt head 100.

Further, the pan/tilt head 100 carries a shooting device, and the setting function includes at least one of controlling the shooting device to shoot, controlling the shooting device to record video, and adjusting shooting parameters of the shooting device.

Furthermore, the keys and the setting functions comprise a plurality of keys, and one key corresponds to one setting function.

Further, the mapping relation is a default mapping relation; or the mapping relation is determined according to a user instruction; alternatively, the mapping relationship is a mapping relationship between the control unit and the operation of the pan/tilt head 100 that is stored last time.

Further, the terminal device 200 establishes a communication connection with the third party controlling device 300 based on the bluetooth manner.

Further, the terminal device 200 establishes a communication connection with the cradle head 100 based on a bluetooth method.

It will be appreciated that, as shown in fig. 2, the control system of the head may also comprise, among other things, a third party control device 300, to form a control link of the third party control device 300 to the head 100. The terminal device 200 establishes communication connection with the holder 100 and the third-party control device 300 respectively. The third control device comprises a control part, and the third party control device 300 is used for generating a control signal when a user triggers the control part; and transmits a control signal to the terminal device 200. When acquiring the control signal, the terminal device 200 converts the control signal into a trigger signal for instructing the pan/tilt head 100 to execute an operation corresponding to the control signal according to a mapping relationship between the control part and the operation of the pan/tilt head 100, and transmits the trigger signal to the pan/tilt head 100. The cradle head 100 executes a corresponding operation when receiving the trigger signal.

Referring to fig. 3, a system for controlling a pan/tilt head according to an embodiment of the present invention further includes a third party control device 300 and the pan/tilt head 100, where the third party control device 300 establishes a communication connection with the pan/tilt head 100. The third control device comprises a control part, and the third party control device 300 is used for generating a control signal when a user triggers the control part; and transmits a control signal to the pan/tilt head 100. When the pan/tilt head 100 acquires the control signal, the control signal is converted into a trigger signal for instructing the pan/tilt head 100 to execute an operation corresponding to the control signal according to a mapping relationship between the control part and the operation of the pan/tilt head 100, and the corresponding operation is executed according to the trigger signal.

Example two

Referring to fig. 6, the control method of the pan/tilt head includes steps S601 to S602.

In step S601, a setting instruction input by a user is received.

In step S602, according to the setting instruction, a mapping relationship between the control section of the third party control apparatus 300 and the operation of the pan/tilt head is set; and when the mapping relation is used for indicating the control part to be triggered, the cradle head is controlled to execute corresponding operation.

In this embodiment, before receiving a setting instruction input by a user, a first identifier of a control part of a third-party control device and a second identifier of an operation of a pan/tilt head that can be associated with the control part are displayed on an interactive interface. Alternatively, the first identifier may be related to the type of the third-party control device, for example, the number of control parts, the type of the control parts, and the like of the third-party control device produced by different manufacturers of the third-party control device may be different.

The first identifier and the second identifier may be displayed in a pattern, a word or a combination of the pattern and the word, and of course, the first identifier and the second identifier may be displayed in other manners, such as letters, numbers or symbols. Referring to fig. 7, with reference to fig. 4, the first mark of the control portion is displayed in a pattern manner, and the first mark of this embodiment includes: a pattern of a first rocker 311, a second rocker 312, a first button 321, a second button 322, a third button 323, a fourth button 324, a fifth button 325, and a sixth button 326. The second sign of the operation of cloud platform passes through the compound mode display of pattern and characters, and the second sign of this embodiment includes: yaw axis, pitch axis, roll axis, take a picture, record a video, go back to preset position, parameter configuration.

The process of receiving the setting instruction input by the user in step S601 may include: and acquiring the operation of the user on the first identifier and the second identifier, and determining a setting instruction input by the user according to the operation on the first identifier and the second identifier. For example, referring to fig. 7, the setting instruction includes: the horizontal operation direction of the first rocker 311 is associated with the rotation of a yaw axis, the vertical operation direction of the first rocker 311 is associated with the rotation of a pitch axis, the horizontal operation direction of the second rocker 312 is associated with the rotation of a roll axis, the first key 321 is associated with the photographing of the photographing device, the second key 322 is associated with the video of the photographing device, the third key 323 is associated with the returning of the pan-tilt to a preset position, and the fourth key 324 is associated with the parameter configuration of the pan-tilt.

When the user specifically operates the first identifier and the second identifier, for example, dragging the second identifier onto the first identifier to form a corresponding mapping relationship; for example, clicking the first identifier, then displaying a popup on a display interface, where the popup displays operations of each pan-tilt, and a user selects a corresponding operation in the popup to form a corresponding mapping relationship; it is also possible to perform, for example, scribing, for example, by connecting the first identifier and the second identifier by scribing, so as to form the corresponding mapping relationship. Of course, it can be understood that the input mode of the setting instruction on the interactive interface includes, but is not limited to, the above, as long as the corresponding mapping relationship can be formed through the input of the setting instruction.

It should be noted that, besides being implemented in the interactive interface, the input mode of the setting instruction may also include other modes, such as voice, which is not specifically limited herein.

Further, before displaying the identifier on the interactive interface, the control parts of the currently connected third-party control device are identified, such as the number of the control parts, the type of the control parts, and the like. The implementation process of displaying the first identifier of the control part and the second identifier of the operation of the cradle head which can be associated with the control part on the interactive interface can comprise the following steps: and displaying a first identifier of a control part of the currently connected third-party control equipment and a second identifier of the operation of the cradle head which can be associated with the control part. That is, different first identifiers can be correspondingly provided for different types of third-party control devices, and thus, the corresponding first identifiers can be selected from the different first identifiers to be displayed according to the currently connected third-party control device.

In some embodiments, the control method of the pan/tilt head may further include: and performing distinguishing identification on the first identification so as to distinguish the position of the control part corresponding to the operation of the holder. Through distinguishing the identification on the first identification, the mapping relation between the control part and the operation of the cradle head is visually presented, so that a user can more quickly know the mapping relation between the control part and the operation of the cradle head, and the user can accurately and quickly use the third-party control equipment to control the cradle head. For example, in order to intuitively present that the horizontal operation direction of the first rocker 311 corresponds to the rotation of the yaw axis of the control console to the user, the vertical operation direction of the first rocker 311 corresponds to the rotation of the pitch axis of the control console, the first color is adopted to present the identifier of the horizontal operation direction of the first rocker 311, the second color is adopted to present the identifier of the vertical direction of the first rocker 311, the first color and the second color are different colors, and the mapping relationship between the different operation directions of the first rocker 311 and the rotation of the yaw axis and the rotation of the pitch axis is distinguished based on the different colors, so that the user can more quickly know the mapping relationship between the different operation directions of the first rocker 311 and the rotation of the yaw axis and the rotation of the pitch axis, and the user can accurately and quickly use the rockers to control the rotation of the yaw axis and the rotation of the pitch axis. Specifically, when the user uses the third-party control device to control the rotation of the pan/tilt head, if the yaw axis needs to be controlled to rotate, the horizontal operation direction of the first rocker 311 is operated; if it is necessary to control the rotation of the pitch axis, the vertical direction of the first rocker 311 is operated.

Illustratively, when the distinguishing mark is arranged on the first mark, the corresponding second mark is superposed on the first mark and displayed so as to indicate the mapping relation between the position corresponding to the second mark in the control part and the operation of the holder. Namely, the second identification is used as the distinguishing identification, so that the user can accurately and quickly use the third-party control equipment to control the holder. Referring to fig. 4, as shown in fig. 7, the first marks corresponding to the first button 321, the second button 322, the third button 323, and the fourth button 324 are circular patterns, the pattern of the shot picture of the shooting device is superimposed on the first mark of the first button 321, the pattern of the video of the shooting device is superimposed on the first mark of the second button 322, the pattern of the pan-tilt returning to the preset position is superimposed on the first mark of the third button 323, and the pattern of the pan-tilt parameter configuration is superimposed on the first mark of the fourth button 324.

In some embodiments, the control method of the pan/tilt head may further include: and displaying the sub-identifier of the first identifier and the first identifier in an associated manner on the interactive interface. The sub-identifier is used for indicating the mapping relation between the preset position of the control part and the operation of the holder. Through the sub-identifier of the first identifier, the mapping relation between the preset position of the control part (such as different operation directions of the control part) and the operation of the cradle head is visually presented, so that a user can more quickly know the mapping relation between the preset position of the control part and the operation of the cradle head, and the user can accurately and quickly use a third-party control device to control the cradle head. With reference to fig. 4, as in the area of the dashed square frame in fig. 7, a sub-identifier of the first joystick 311 and a sub-identifier of the second joystick 312 are displayed, and the sub-identifier of the first joystick 311 is associated with the first identifier of the first joystick 311, the sub-identifier of the second joystick 312 is associated with the first identifier of the second joystick 312, and the sub-identifier of the first joystick 311 and the sub-identifier of the second joystick 312 correspond to the operation of the pan/tilt head to distinguish the identifiers. Illustratively, the operation directions of the first rocking bar 311 and the second rocking bar 312 are distinguished and identified by colors (such as black) in the sub-identifier of the first rocking bar 311 and the sub-identifier of the second rocking bar 312 to indicate the operation of the corresponding pan/tilt head, the sub-identifier of the first rocking bar 311 located at the upper part in fig. 7 is used for indicating the horizontal operation direction of the first rocking bar 311 to correspondingly control the rotation of the yaw axis, the sub-identifier of the first rocker 311 located at the lower side in fig. 7 is used to indicate that the vertical direction of the first rocker 311 corresponds to the rotation of the control pitch axis, the sub-identifier of the second rocker 312 located at the upper side in fig. 7 is used to indicate that the horizontal operation direction of the second rocker 312 corresponds to the rotation of the control roll axis, and the sub-identifier of the second rocker 312 located at the lower side in fig. 7 is used to indicate that the vertical direction of the second rocker 312 is not associated with the operation of the pan/tilt head.

In some embodiments, the user may further set a rotation control parameter of the cradle head on the interactive interface, so that when the third-party control device is used to control the rotation of the cradle head, the rotation of the cradle head meets the user requirements. In this embodiment, the control method of the pan/tilt head may further include the following steps:

(1) Displaying a third identifier on the interactive interface, wherein the third identifier is used for indicating the type of the rotation control parameter of the holder;

the third mark may comprise words, patterns or a combination of words and patterns, and may also comprise other mark forms.

Illustratively, the rotation control parameter includes at least one of a speed and a smoothness of the rotation of the pan/tilt head. Wherein, the smoothness refers to the change speed of the rotational speed of the holder; it should be understood that the rotation control parameters may also include other rotation control parameters.

(2) Receiving the switching operation of the user on the third identifier;

the switching operation may include operations such as clicking and dragging, and may also include others.

(3) And switching and displaying the adjustment identification of the corresponding type of the rotation control parameter on the interactive interface according to the switching operation.

When the rotation control parameters of the holder comprise a plurality of rotation control parameters, the interactive interface can display the third identification corresponding to each rotation control parameter, in order to enable the display of the interactive interface to be more concise, the interactive interface only displays the adjustment identification of the rotation control parameter corresponding to one third identification at the same time, and a user can adjust the corresponding rotation control parameter by operating the currently displayed adjustment identification. When other rotation control parameters need to be adjusted, the user may perform a switching operation on the corresponding third identifier, for example, the switching operation may include a click operation, and the interactive interface displays an adjustment identifier of the rotation control parameter corresponding to the currently clicked third identifier.

Referring to fig. 7, a third label corresponding to the speed of the rotation of the pan/tilt head is "speed", and a third label corresponding to the smoothness of the rotation of the pan/tilt head is "smoothness". The interactive interface displays the adjustment identification corresponding to the speed at present, and the user can operate the adjustment identification corresponding to the speed so as to adjust the rotating speeds of the yaw axis, the pitch axis and the roll axis of the holder when the third-party control equipment controls the holder to rotate. If the smoothness of the rotation of the holder needs to be adjusted, the smoothness can be clicked, so that the interactive interface switches and displays the adjustment identification of the smoothness of the holder, and the rotation smoothness of the yaw axis, the pitch axis and the roll axis of the holder is adjusted when the third-party control equipment controls the holder to rotate.

Further, the control method of the pan-tilt may further include the steps of:

(1) Receiving the operation of the user on the adjustment identifier;

in this embodiment, the size of the rotation control parameter of the pan/tilt head can be adjusted by the operation of the user on the adjustment identifier. The user's operation on the adjustment identification may include clicking, dragging, or other.

(2) And adjusting the rotation control parameters of the holder according to the operation on the adjusting identification.

As shown in fig. 7, when the rotation speed of the pan/tilt head needs to be adjusted, for example, when the rotation speed of the yaw axis of the pan/tilt head needs to be adjusted, the corresponding adjustment button may be dragged, for example, the adjustment button corresponding to the yaw axis is dragged rightward, so that the speed of the yaw axis of the pan/tilt head is increased when the third-party control device controls the pan/tilt head to rotate; drag the adjustment button that driftage axle corresponds left for the speed of the driftage axle of cloud platform reduces when third party controlgear control cloud platform rotates.

For example, in some of these embodiments, the operation of the head includes rotation of the head.

Further, the control part comprises a rocker, the rocker can be associated with a holder, the operation of the holder comprises rotation of the holder, and the mapping relation comprises a first mapping relation between the rocker and the rotation of the holder.

Furthermore, the rocking bar comprises a plurality of different rocking bars for controlling the rotation of different rotating shafts of the holder.

Further, the rocker comprises at least two operating directions, and different operating directions of at least one rocker correspondingly control the rotation of different rotating shafts of the holder.

Furthermore, the rocking bars comprise two rocking bars, the holder comprises three rotating shafts, two operating directions of one rocking bar correspondingly control the rotation of two of the rotating shafts, and one operating direction of the other rocking bar controls the rotation of the other rotating shaft.

In some other embodiments, the control portion includes a key, the operation of the cradle head with which the key can be associated includes the cradle head executing a set function, and the mapping relationship includes a second mapping relationship between the key and the set function.

Further, the setting function of the pan/tilt head includes at least one of a return of the pan/tilt head to a preset position and a parameter configuration of the pan/tilt head.

Furthermore, the cradle head carries a shooting device, and the setting function includes at least one of controlling the shooting device to shoot, controlling the shooting device to record video and adjusting shooting parameters of the shooting device.

In the embodiment where the main execution body of the control method of the pan/tilt head is the pan/tilt head, the pan/tilt head may include a screen, and the setting instruction is input by a user through an interactive interface displayed on the screen.

It should be noted that, for the descriptions of the parts in the second embodiment that are the same as the parts in the first embodiment, reference may be made to the descriptions of the corresponding parts in the first embodiment, and the descriptions thereof are omitted here.

Corresponding to the method for controlling the cradle head in the second embodiment of the present invention, the second embodiment of the present invention further provides a control device of the cradle head, please refer to fig. 8, where the control device of the cradle head may include a second storage device and a second processor. The second processor may include one or more.

Wherein the second storage device is used for storing program instructions; one or more second processors invoking program instructions stored in the second storage device, the one or more second processors individually or collectively configured to, when the program instructions are executed, perform operations comprising: receiving a setting instruction input by a user; setting a mapping relation between a control part of the third-party control equipment and the operation of the holder according to the setting instruction; and when the mapping relation is used for indicating the control part to be triggered, the cradle head is controlled to execute corresponding operation.

The implementation process and the working principle of the second processor may refer to the description of the control method of the pan/tilt head in the above embodiments, and are not described herein again.

In some embodiments, the second processor may be a Central Processing Unit (CPU). The second processor 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 method for controlling a pan/tilt head according to the first embodiment or the second embodiment.

The computer-readable storage medium may be an internal storage unit, such as a hard disk or a memory, of the terminal device or the cradle head described in any of the foregoing embodiments. The computer readable storage medium may also be an external storage device of the terminal device or the cradle head, 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 terminal device or the cradle head. The computer-readable storage medium is used for storing the computer program and other programs and data required by the terminal device or the pan/tilt head, 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.

While certain embodiments of the invention have been described, it will be understood that they are not limited thereto, but are capable of equivalent changes and modifications within the spirit and scope of the invention as defined by the appended claims.

Claims

1. A method for controlling a pan/tilt head, the method comprising:

establishing communication connection with third-party control equipment, wherein the third-party control equipment comprises a control part, and the control part comprises a rocker or a key;

acquiring a first control signal generated by the third-party control equipment when a user triggers the rocker; or acquiring a second control signal generated by the third-party control equipment when the user triggers the key;

controlling the rotation of the holder according to the first mapping relation between the rotation of the rocker and the rotation of the holder; or, according to the second mapping relation between the key and the set function, controlling the holder to execute the set function corresponding to the second control signal;

the first mapping relation or the second mapping relation is set through an interactive interface, the first mapping relation or the second mapping relation is set according to a setting instruction input by a user, the setting instruction is determined according to a first identifier of the control part displayed on the interactive interface and the operation of the first identifier, which can be related to the control part, of the cradle head or the operation of the second identifier, which can be related to the cradle head to execute a set function, of the cradle head, and the first identifier is related to the type of the third-party control equipment.

2. The method of claim 1, wherein the rocker comprises a plurality of rockers, and wherein different rockers control rotation of different rotational axes of the pan and tilt head.

3. The method of claim 2, wherein the rocker comprises at least two operating directions, different operating directions of at least one of the rockers controlling rotation of different rotational axes of the head.

4. The method of claim 3, wherein the number of the rocking levers is two, the head comprises three rotation shafts, two operation directions of one rocking lever correspondingly control the rotation of two of the rotation shafts, and one operation direction of the other rocking lever controls the rotation of the other rotation shaft.

5. The method according to claim 1, wherein before controlling the rotation of the pan/tilt head according to the first control signal and the first mapping relationship, the method comprises:

acquiring a rotation control parameter input by a user;

and sending the rotation control parameters to the cloud deck so as to enable the cloud deck to rotate according to the rotation control parameters.

6. The method of claim 5, wherein the rotation control parameter comprises at least one of a speed and a smoothness of the pan and tilt head rotation.

7. The method of claim 1, wherein the setting function comprises at least one of a pan-tilt return to a preset position and a pan-tilt parameter configuration.

8. The method of claim 1, wherein the pan/tilt head carries a camera, and wherein the setting function comprises at least one of controlling the camera to take a picture, controlling the camera to record a picture, and adjusting a shooting parameter of the camera.

9. The method of claim 1, wherein the number of the keys and the number of the setting functions are both plural, and one of the keys corresponds to one of the setting functions.

10. The method of claim 1,

the first mapping relation is the mapping relation between the rocker and the rotation of the holder which is stored for the last time; or the second mapping relation is the mapping relation between the key and the cradle head executing the set function which is stored for the last time.

11. The method of claim 1, wherein establishing the communication connection with the third party control device comprises:

and establishing communication connection with the third-party control equipment based on a Bluetooth mode.

12. The method according to claim 1, characterized in that the execution subject of the method is a terminal device installed with an application program APP;

before the obtaining of the control signal generated by the third-party control device when the user triggers the control part, the method further includes:

and the terminal equipment provided with the application program APP establishes communication connection with the holder.

13. The method of claim 12, wherein establishing the communication connection with the pan/tilt head comprises:

and establishing communication connection with the holder based on a Bluetooth mode.

14. The method according to claim 1, characterized in that the execution subject of the method is a cradle head in which an application APP is installed.

15. The method according to claim 14, wherein the pan/tilt head comprises a screen, and the first mapping relationship or the second mapping relationship is set through an interactive interface displayed on the screen.

16. A control device of a head, characterized in that said device comprises:

storage means for storing program instructions; and

17. The apparatus of claim 16, wherein said rocker comprises a plurality of rockers, different rockers controlling rotation of different rotational axes of said pan and tilt head.

18. The apparatus of claim 17, wherein the rocker comprises at least two operating directions, different operating directions of at least one of the rockers controlling rotation of different rotational axes of the pan/tilt head.

19. The apparatus of claim 18, wherein the number of the rocking levers is two, the cradle head comprises three rotating shafts, two operating directions of one rocking lever correspondingly control the rotation of two of the rotating shafts, and one operating direction of the other rocking lever controls the rotation of the other rotating shaft.

20. The apparatus of claim 16, wherein the one or more processors, prior to controlling the rotation of the pan/tilt head according to the first control signal and the first mapping relationship, are further configured, individually or collectively, to:

acquiring a rotation control parameter input by a user;

21. The apparatus of claim 20, wherein the rotation control parameter comprises at least one of a speed and a smoothness of rotation of the head.

22. The apparatus of claim 16, wherein the setting function comprises at least one of a pan-tilt return to a preset position and a pan-tilt parameter configuration.

23. The apparatus of claim 16, wherein said pan/tilt head carries a camera, and said setting function comprises at least one of controlling said camera to take a picture, controlling said camera to record a picture, and adjusting a shooting parameter of said camera.

24. The device of claim 16, wherein said keys and said setting functions each comprise a plurality of keys, and one of said keys corresponds to one of said setting functions.

25. The apparatus of claim 16,

26. The apparatus of claim 16, wherein the one or more processors, individually or collectively, are further configured to, when establishing a communication connection with a third party control device:

27. The apparatus according to claim 16, characterized in that the apparatus is a terminal device installed with an application APP;

the one or more processors, individually or collectively, are further configured to, prior to obtaining the control signal generated by the third party control device when the user triggers the control section:

28. The apparatus of claim 27, wherein the one or more processors, when establishing a communication connection with the pan/tilt head, are further configured, individually or collectively, to:

29. The apparatus according to claim 16, characterized in that it is a pan-tilt equipped with an application APP.

30. The apparatus of claim 29, wherein the console comprises a screen, and the first mapping relationship or the second mapping relationship is set through an interactive interface displayed on the screen.

31. A method for controlling a pan/tilt head, the method comprising:

receiving a setting instruction input by a user;

setting a mapping relation between a control part of the third-party control equipment and the operation of the holder according to the setting instruction; the control part comprises a rocker or a key, the operation of the holder comprises the rotation of the holder or the execution of a set function by the holder, and the mapping relation comprises a first mapping relation between the rotation of the rocker and the holder or a second mapping relation between the key and the set function;

the first mapping relation is used for indicating that the rocker is triggered to control the rotation of the holder; or, the second mapping relation is used for controlling the holder to execute a setting function when the key is triggered;

before a setting instruction input by a user is received, displaying a first identifier of the control part and a second identifier of the operation of the holder which can be associated with the control part on an interactive interface, wherein the first identifier is related to the type of the third-party control equipment;

the receiving of the setting instruction input by the user comprises: and acquiring the operation of the user on the first identifier and the second identifier, and determining a setting instruction input by the user according to the operation on the first identifier and the second identifier.

32. The method of claim 31, wherein prior to displaying on the interactive interface the first identification of the control and the second identification of the operation of the pan/tilt head with which the control is associable, comprises:

a control unit for identifying a currently connected third-party control device;

the displaying the first identifier of the control part and the second identifier of the operation of the holder which can be associated with the control part on the interactive interface comprises:

displaying a first identifier of a control part of the currently connected third-party control equipment and a second identifier of the operation of the holder, which can be associated with the control part, on an interactive interface;

wherein the first identification is associated with a type of the third party control device.

33. The method of claim 32, further comprising:

and identifying the first identifier to identify the position of the control part corresponding to the operation of the holder.

34. The method of claim 33, wherein distinguishing between identifiers on the first identifier comprises:

and superposing and displaying a corresponding second identifier on the first identifier to indicate the mapping relation between the position corresponding to the second identifier in the control part and the operation of the holder.

35. The method of claim 31, further comprising:

displaying the sub-identifier of the first identifier and the first identifier in an associated manner on the interactive interface;

wherein the sub-identifier is used for indicating a mapping relation between a predetermined position of the control part and the operation of the holder.

36. The method of claim 31, further comprising:

displaying a third identifier on the interactive interface, wherein the third identifier is used for indicating the type of the rotation control parameter of the holder;

receiving a switching operation of a user on the third identifier;

and switching and displaying the adjustment identification of the corresponding type of the rotation control parameter on the interactive interface according to the switching operation.

37. The method of claim 36, further comprising:

receiving the operation of a user on the adjustment identifier;

and adjusting the rotation control parameters of the holder according to the operation of the adjusting identifier.

38. The method of claim 37, wherein the rotation control parameter comprises at least one of a speed and a smoothness of the pan and tilt head rotation.

39. The method of claim 31, wherein the rocker comprises a plurality of rockers, and wherein different rockers control the rotation of different rotational axes of the pan and tilt head.

40. The method of claim 39, wherein the rocker comprises at least two operating directions, wherein different operating directions of at least one of the rockers control rotation of different rotational axes of the pan/tilt head.

41. The method of claim 40, wherein the number of said rocking levers is two, and the head comprises three rotation shafts, wherein two operating directions of one rocking lever correspondingly control the rotation of two of said rotation shafts, and one operating direction of the other rocking lever controls the rotation of the other rotation shaft.

42. The method of claim 31, wherein the setting function comprises at least one of a pan-tilt return to a preset position and a pan-tilt parameter configuration.

43. The method of claim 31, wherein the pan/tilt head carries a camera, and wherein the setting function comprises at least one of controlling the camera to take a picture, controlling the camera to record a picture, and adjusting a camera parameter of the camera.

44. The method of claim 31, wherein said keys and said setting functions each comprise a plurality, and wherein one of said keys corresponds to one of said setting functions.

45. The method according to claim 31, characterized in that the execution subject of the method is a terminal device installed with an application APP.

46. The method according to claim 31, characterized in that the execution subject of the method is a pan-tilt equipped with an application APP.

47. The method of claim 46, wherein the holder comprises a screen, and the setting instruction is input by a user through an interactive interface displayed on the screen.

48. A control device of a head, characterized in that said device comprises:

storage means for storing program instructions; and

receiving a setting instruction input by a user;

setting a mapping relation between a control part of third-party control equipment and the operation of the holder according to the setting instruction; the control part comprises a rocker or a key, the operation of the holder comprises the rotation of the holder or the execution of a set function by the holder, and the mapping relation comprises a first mapping relation between the rotation of the rocker and the holder or a second mapping relation between the key and the set function;

the one or more processors, individually or collectively, are further configured to, prior to receiving a user-entered setup instruction, perform operations comprising:

displaying a first identifier of the control part and a second identifier of the operation of the holder, which can be associated with the control part, on an interactive interface, wherein the first identifier is related to the type of the third-party control equipment;

the one or more processors, when receiving a user-entered setting instruction, are further configured, individually or collectively, to:

and acquiring the operation of the user on the first identifier and the second identifier, and determining a setting instruction input by the user according to the operation on the first identifier and the second identifier.

49. The apparatus of claim 48, wherein the one or more processors, prior to displaying on the interactive interface the first identification of the control portion and the second identification of the operation of the head with which the control portion is associable, are further configured, individually or collectively, to:

the one or more processors, when displaying on an interactive interface a first identification of the control portion and a second identification of an operation of the pan/tilt head with which the control portion is associable, are further configured, individually or collectively, to:

50. The apparatus of claim 48, wherein the one or more processors are further configured, individually or collectively, to:

and performing distinguishing identification on the first identification so as to distinguish the position, corresponding to the operation of the holder, on the control part.

51. The apparatus of claim 50, wherein the one or more processors, when performing the distinguishing indicia on the first indicia, are further configured, individually or collectively, to:

and superposing and displaying a corresponding second identifier on the first identifier to indicate a mapping relation between the position corresponding to the second identifier in the control part and the operation of the holder.

52. The apparatus of claim 48, wherein the one or more processors are further configured, individually or collectively, to:

53. The apparatus of claim 48, wherein the one or more processors are further configured, individually or collectively, to:

receiving switching operation of a user on the third identifier;

54. The apparatus of claim 53, wherein the one or more processors are further configured, individually or collectively, to:

receiving the operation of the user on the adjustment identifier;

and adjusting the rotation control parameters of the holder according to the operation of the adjustment identifier.

55. The apparatus of claim 54, wherein the rotation control parameter comprises at least one of a speed and a smoothness of rotation of the head.

56. The apparatus of claim 48, wherein the plurality of rockers comprises a plurality of rockers, wherein different rockers control rotation of different rotational axes of the pan and tilt head.

57. The apparatus according to claim 56, wherein said rocking levers comprise at least two operating directions, different operating directions of at least one of said rocking levers corresponding to controlling the rotation of different rotational axes of said head.

58. The apparatus according to claim 57, wherein the number of the rocking levers is two, the platform comprises three rotation shafts, two operation directions of one rocking lever correspondingly control the rotation of two of the rotation shafts, and one operation direction of the other rocking lever controls the rotation of the other rotation shaft.

59. The device of claim 48, wherein said pan/tilt head carries a camera, and said setting function comprises at least one of controlling said camera to take a picture, controlling said camera to record a picture, and adjusting a shooting parameter of said camera.

60. The device of claim 48, wherein said keys and said setting functions each comprise a plurality of keys, and wherein one of said keys corresponds to one of said setting functions.

61. The apparatus according to claim 48, wherein the apparatus is a terminal device installed with an application program APP.

62. The device according to claim 48, characterized in that it is a cradle head with an application APP installed.

63. The apparatus according to claim 62, wherein the holder comprises a screen, and the setting instruction is input by a user through an interactive interface displayed on the screen.

64. A control system of a pan/tilt head, comprising:

a holder; and

a terminal device;

the terminal equipment is respectively used for establishing communication connection with the holder and third party control equipment, the third party control equipment comprises a control part, and the control part comprises a rocker or a key;

the terminal equipment controls the rotation of the holder according to a first mapping relation between the rocker and the rotation of the holder when the terminal equipment acquires that the third party control equipment triggers the rocker to generate a first control signal when a user triggers the rocker; or, when the terminal device acquires that the third party control device triggers the key to generate a second control signal when the user triggers the key, the terminal device controls the holder to execute a setting function corresponding to the second control signal according to a second mapping relation between the key and the setting function;

the first mapping relation or the second mapping relation is set through an interactive interface, the first mapping relation or the second mapping relation is set according to a setting instruction input by a user, and the setting instruction is determined according to the operation of the user on a first identifier of the control part displayed on the interactive interface and a second identifier of the operation of the cradle head which can be associated with the control part.

65. A control system for a pan and tilt head according to claim 64, wherein said rocking levers comprise a plurality of, different rocking levers controlling the rotation of different axes of rotation of said pan and tilt head.

66. A control system for a pan and tilt head according to claim 65, wherein the rocking levers comprise at least two operating directions, a different operating direction of at least one of the rocking levers controlling the rotation of a different rotational axis of the pan and tilt head.

67. A control system according to claim 66, wherein said two tilting levers comprise two tilting levers and said head comprises three rotation axes, wherein the two operating directions of one of the tilting levers control the rotation of two of the rotation axes, and the one operating direction of the other tilting lever controls the rotation of the other rotation axis.

68. A control system of a pan and tilt head according to claim 64, wherein said terminal device is further configured to obtain a rotation control parameter inputted by a user before converting said first control signal into a speed control quantity of said pan and tilt head according to said first mapping relation; and sending the rotation control parameters to the cloud deck so as to enable the cloud deck to rotate according to the rotation control parameters.

69. A control system for a pan and tilt head according to claim 68, wherein the rotation control parameter comprises at least one of a speed and a smoothness of rotation of the pan and tilt head.

70. A control system for a pan and tilt head according to claim 64, wherein the setting function comprises at least one of a return of the pan and tilt head to a preset position and a configuration of pan and tilt head parameters.

71. A control system for a pan and tilt head according to claim 64, wherein the pan and tilt head carries a camera, and the setting function comprises at least one of controlling the camera to take a picture, controlling the camera to record a picture and adjusting a shooting parameter of the camera.

72. A control system for a pan and tilt head according to claim 64, wherein said keys and said setting functions each comprise a plurality of keys, one of said keys corresponding to one of said setting functions.

73. A control system of a pan and tilt head according to claim 64,

74. A control system of a pan and tilt head according to claim 64, wherein the terminal device establishes a communication connection with a third party control device based on Bluetooth.

75. A control system of a pan and tilt head according to claim 64, wherein the terminal device establishes a communication connection with the pan and tilt head based on Bluetooth.