WO2020063306A1

WO2020063306A1 - Shooting monitoring device and gimbal system including same

Info

Publication number: WO2020063306A1
Application number: PCT/CN2019/104871
Authority: WO
Inventors: 张元元; 郑庆伟; 廖广军; 李泽
Original assignee: 桂林智神信息技术股份有限公司
Priority date: 2018-09-29
Filing date: 2019-09-09
Publication date: 2020-04-02
Also published as: CN109151392A; CN109151392B

Abstract

The invention provides a shooting monitoring device and a gimbal system including same. The shooting monitoring device comprises a first connection interface, a second connection interface, a third connection interface and a processing unit; the processing unit receives video and/or picture from a photographing device via the first connection interface, and sends the video and/or picture to a mobile device for display via the third connection interface. The processing unit also receives a control command from the mobile device via the third connection interface, identifies whether the control command is a photographing device control command or a gimbal system control command, sends the identified photographing device control command to the photographing device via the first connection interface, and sends the identified gimbal system control command to the gimbal system via the second connection interface. The invention enables the user to know the shooting effect of the photographing device in real time, and facilitates the shooting work of the user.

Description

Shooting monitoring equipment and PTZ system including the same

Technical field

The present invention relates to the field of photographing equipment, and in particular, to a photographing monitoring device and a PTZ system including the same.

Background technique

At present, more and more users use the PTZ system to assist photography equipment (such as cameras, camcorders, etc.) for video and picture shooting. The gimbal system is usually divided into a single-axis gimbal system and a multi-axis (including two-axis and three-axis) gimbal system. The three-axis gimbal system is the most common. The user fixes the photography equipment on the three-axis gimbal system. Control the rotation of the motor in the three axes of the gimbal system to control the movement of the photographic equipment in three directions, so as to realize the shooting of videos and photos.

In the process of using the PTZ system to control the movement of the photographing device, the photographing device may move to a position where the user cannot directly observe its screen, resulting in the user being unable to know the effect of the currently shot video or picture. In order to solve this problem, a common method is to connect the photographing device to an external display device, and use the external display device to view the video or picture currently shot by the photographing device. However, such external display devices are often very expensive.

In addition, in some shooting scenarios, it may be necessary to place the PTZ system together with the photography equipment at a specific location for shooting. In this case, in addition to not being able to know the effect of the video or picture currently captured by the photography equipment, it may be difficult for users Control the photography equipment and gimbal.

Summary of the Invention

In order to overcome the shortcomings of the prior art described above, according to an embodiment of the present invention, a photographing monitoring device is provided.

The shooting monitoring device includes a first connection interface, a second connection interface, a third connection interface, and a processing unit; the processing unit receives a video and / or picture from a photographing device via the first connection interface, and via the first connection interface A third connection interface sends the video and / or picture to a mobile device for display by the mobile device; the processing unit receives a control command from the mobile device via the third connection interface, and identifies the control command Is the camera control command or the PTZ system control command, the identified camera control command is sent to the camera via the first connection interface, and the recognized PTZ system control command is sent to the PTZ through the second connection interface. system.

In the above-mentioned shooting monitoring device, the processing unit collects picture frames of the video from the photographing device at specific time intervals, encapsulates the captured picture frames and their sending time, and encapsulates the encapsulated picture frames via a third connection. Port to the mobile device.

In the above-mentioned shooting monitoring device, the processing device further acquires relevant information of the photographing device from the photographing device via the first connection interface and / or from a master control of the PTZ system via the second connection interface. The unit obtains the relevant information of the PTZ system, and the processing device sends the relevant information of the photographing device and / or the relevant information of the PTZ system to the mobile device via the third connection interface to be moved by the mobile device. The device is displayed.

The above-mentioned shooting monitoring device further includes a storage unit, where the storage unit stores control protocols corresponding to multiple types of photographic equipment and control protocols corresponding to various types of PTZ systems; wherein the processing unit further Acquiring the model information of the photographic device via a first connection interface and / or acquiring the model information of the PTZ system from a main control unit via a second connection interface; wherein the processing unit is further based on the information in the storage unit The control protocol corresponding to the photographic device converts the identified photographic device control command, and sends the converted photographic device control command to the photographic device via the first connection interface; the processing unit further according to the cloud in the storage unit The control protocol corresponding to the platform system converts the identified PTZ system control command, and sends the converted PTZ system control command to the main control unit via the second connection interface.

In the above-mentioned shooting monitoring device, the processing unit further merges all identified camera control commands in a specific period; the processing unit also filters out the identified PTZ system control commands from the identified PTZ system control commands. PTZ system control commands in conflicting states.

In the above-mentioned shooting monitoring device, the shooting monitoring device is wirelessly or wiredly connected to the shooting device via the first connection interface; the shooting monitoring device is connected to a master control of the PTZ system through the second connection interface. The unit is connected wirelessly or by wire; the shooting monitoring device is connected wirelessly or by wire with the mobile device via the third connection interface.

In the above-mentioned shooting monitoring device, the shooting monitoring device further includes a fourth connection interface, wherein when the shooting monitoring device is disconnected from the mobile device via the third connection interface, the shooting monitoring device passes the fourth connection interface. The connection interface is wirelessly or wiredly connected to the mobile device.

According to an embodiment of the present invention, a PTZ system is also provided.

The gimbal system includes three axes, a connecting arm between the three axes, a photographic equipment connection part for fixing the photographic equipment connected to one of the axes, and a main control unit for controlling For the rotation of the three axes, the pan / tilt system further includes the above-mentioned shooting monitoring device.

In the above pan / tilt head system, the main control unit is located in the photographic equipment connection component, and the photographing monitoring equipment is located near the photographic equipment connection component and moves together with the photographic equipment connection component.

Compared with the prior art, the present invention has the following beneficial effects:

1. The shooting monitoring device transmits the video or picture taken by the photographing device to the mobile device carried by the user in real time, and the mobile device displays the video or picture taken by the photographing device, which makes the user inconvenient or unable to watch the screen of the photographing device , Can know the shooting effect of the photography equipment in real time. In addition, the user can control the photography equipment and the PTZ system through the mobile device in time based on the shooting effect, so that the photography equipment can shoot in the way the user expects, which not only facilitates the user ’s The shooting also improves the user experience;

2. The mobile device carried by the user is used instead of the external display device to display the video or picture taken by the photography device, and the user does not need to purchase an external display device, which reduces the cost of shooting;

3. Before the shooting monitoring device transmits the video or picture taken by the shooting device to the mobile device, the video is captured and packaged, so that the mobile device can obtain better playback effects, further improving the user experience; the shooting monitoring device also The current status of the photography equipment and the PTZ system can be sent to the mobile device for display, and the user can control the photography equipment and the PTZ system more accurately;

4. The shooting monitoring equipment stores control protocols for various types of photographing equipment and control protocols for various types of PTZ systems, making the scope of application of shooting monitoring equipment wider;

5. The shooting monitoring device is preferably located near the connecting part of the shooting device and the main control unit, so the data line between it and the shooting device will not affect the movement of the PTZ power unit, and the data line between it and the main control unit will not Affects the stabilization effect of the PTZ system.

BRIEF DESCRIPTION OF THE DRAWINGS

The embodiments of the present invention are further described below with reference to the drawings, in which:

1 is a perspective view of a pan / tilt system according to an embodiment of the present invention;

2 is a schematic block diagram of the internal structure of the pan / tilt system shown in FIG. 1;

3 is a schematic block diagram of an internal structure of a pan / tilt system according to another embodiment of the present invention.

detailed description

In order to make the objectives, technical solutions, and advantages of the present invention clearer, the following further describes the present invention in detail through specific embodiments with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

At present, mobile devices (such as mobile phones, tablets, handheld laptops, and other electronic devices with display and computing and communication functions) have become indispensable tools in people's daily lives, which usually have the function of displaying videos and pictures , And can be used as a remote control to control some electronic devices through wireless technology. In view of this, the inventor replaced the external display device with such a mobile device that people carry with them to reduce the cost of shooting, and uses the mobile device to monitor the video or picture shot by the shooting device and control the shooting.

To achieve this, according to an embodiment of the present invention, a pan / tilt head system is provided. As shown in FIG. 1, the pan / tilt head system includes a pan / tilt power unit 11, a handle 12, and a shooting monitoring device 13.

In the gimbal system shown in FIG. 1, the handle 12 is connected to the gimbal power device 11 (specifically, the shaft 114 of the gimbal power device 11). The handle 12 has one or more human-machine interaction switches 121. When the user holds the handle 12, the user can press / dial / rotate the human-machine interaction switch 121 to achieve corresponding control of the PTZ power unit 11. Among them, the human-machine interaction switch 121 transmits the PTZ control command generated by the user pressing / toggle / rotating the human-machine interaction switch 121 to the main control unit in the PTZ power unit 11, and the main control unit controls the movement of the PTZ power unit 11.

The pan / tilt power unit 11 includes a photographing device connecting member 111, shafts 112-114 (including a motor), a connecting arm between the shaft and the shaft, and an attitude plate 115. The photographic equipment connection part 111 is connected to the shaft 112 and is used to fix the photographic equipment. The photographic equipment connection part 111 is also provided with a main control unit (not shown in FIG. 1), which is sent by the handle 12 or the shooting monitoring device 13 The following gimbal control commands control the rotation of the shafts 112-114, the linkage device composed of the shafts 112-114 and the connecting arms between them, thereby causing the movement of the photographic equipment connection member 111, and the photographic equipment connection member 111 drives the photographic equipment Exercise. The attitude plate 115 is connected to the photographic equipment connection part 111. When the photographic equipment connection part 111 drives the photographic equipment to move, the attitude plate 115 also moves together. The attitude board 115 includes a plurality of sensors for sensing the attitude of the photographing device in real time and transmitting the sensed attitude information of the photographing device to the main control unit.

The photographing monitoring device 13 is connected to the pan / tilt power device 11, specifically, is connected to the photographing device connection part 111 of the pan / tilt power device 11. When the photographing device connection part 111 drives the photographing device to move, the photographing monitoring device 13 also follows Exercise together. In addition to the PTZ power unit 11, the shooting monitoring device 13 is also connected to the photography device and the mobile device, and is used to transmit the video captured by the photography device to the mobile device for display, and to control the photography device and the cloud according to the control instruction sent by the mobile device. Control system. The following describes the shooting monitoring device 13 with reference to FIG. 2:

The shooting monitoring device 13 includes a USB interface 131, a UART interface 132, a WiFi module 133, and a processing unit 134. The USB interface 131 of the shooting monitoring device 13 is used to connect the camera 14 and the UART interface 132 is used to connect the PTZ power unit 11. The main control unit 1111 and the WiFi module 133 are used to connect the mobile device 15. The workflow of the shooting monitoring device 13 includes: the shooting monitoring device 13 receives a video captured by the shooting device 14 in real time (the video is composed of continuous picture frames) via the USB interface 131; the USB interface 131 transmits the video to the processing unit 134, And the processing unit 134 transmits the video wirelessly (via the WiFi connection) to the mobile device 15 via the WiFi module 133, so that the user can watch the video shot by the photographing device 14 in real time on the mobile device 15 (where the viewing effect is not affected) Next, the mobile device may discard some picture frames sent by the shooting monitoring device 13). If the user desires to adjust the shooting effect according to the video being watched, the mobile device 15 can send related control commands to the shooting monitoring device 13. The control command can be a camera control command or a PTZ system control command. The former is used to adjust the camera 14 parameters or control some operations of the photography device 14 (for example, stop shooting, start shooting, etc.), and the latter is used to change the working mode of the PTZ system (including follow mode, full follow mode, fast follow mode, lock mode) , On / Off operation of the gimbal system, or adjust the attitude of the gimbal system to control camera movement, etc. The shooting monitoring device 13 receives a control command from the mobile device 15 via the WiFi module 133, and the WiFi module 133 transmits the control command to the processing unit 134. The processing unit 134 is configured to identify whether the control command is a camera control command or a PTZ system control command. If it is recognized as a camera control command, the camera control command is sent to the camera 14 via the USB interface 131, and the camera 14 Adjust its parameters or perform other operations according to the camera control command; if it is recognized as a PTZ system control command, send the PTZ system control command to the main control unit 1111 in the PTZ power unit 11 via the UART interface 132. The control unit 1111 controls the rotation of the axes 112-114 according to the control commands of the gimbal system to realize the movement of the photographing device 14 desired by the user, adjusts the control parameters of the gimbal to enter the working mode desired by the user, or performs some other operating.

By using the above-mentioned PTZ system, the user can know the current shooting effect of the photographing device 14 through the mobile device 15 and can control the photographing device 15 and the PTZ system through the mobile device 14 so that the photographing device 14 can shoot in the manner desired by the user , Not only reduces the cost required to purchase an external display device, but also facilitates the user's shooting work. The shooting monitoring device 13 is located near the photographing device connecting part 111 and the main control unit 1111, so the USB data cable between it and the photographing device 14 will not affect the movement of the PTZ power unit 11, and it is in communication with the main control unit 1111 The data lines between the two will not pass through the shafts 112-114 and connecting arms and other components, so it will not affect the stability of the gimbal system.

In the above embodiment, the processing unit 134 directly captures the video captured by the photographing device 14 and sent via the USB interface 131 to the mobile device 15 through the WiFi module 133. However, since the WiFi connection has delay fluctuations, it will affect the mobile device 15 displays the video (ie continuous picture frames) it receives. In a preferred embodiment, the processing unit 134 collects picture frames in the video at a certain time interval (such as 40 milliseconds), and encapsulates the collected picture frames so that the encapsulated picture frame includes its sending time, Finally, the encapsulated picture frame is sent to the mobile device 15 via the WiFi module 133. After receiving the encapsulated picture frame, the mobile device 15 first decapsulates to obtain the sending time of the picture frame, and selects the time and duration of the picture frame to be displayed on the screen according to the sending time of the picture frame, so as to target the current WiFi environment. A better video playback effect is obtained. In addition, the processing unit 134 transmits only a part of the collected picture frames (as described above, collected every 40 milliseconds) to the mobile device 15 for display, which reduces the effect without affecting the display effect. This reduces the burden of WiFi connection and further improves the video playback effect on the mobile device 14.

For various existing photography devices, each picture frame or captured picture in a video taken by the device generally includes parameter information when the photographic device 14 captures the picture frame or picture. In a preferred embodiment, the mobile device 15 also extracts the parameter information of the photographic device 14 from the received picture frame and displays it to the user along with the picture frame, so the user can know some of the current parameter information of the photographic device 14. In addition, the processing unit 134 can obtain it in real time via the USB interface 131 Some other related information (such as power, etc.) of the photography device 14 is transmitted to the mobile device 15 via the WiFi module 133 for display to the user. Specifically, the processing unit 134 sends a request to the photography device 14 via the USB interface 131 and receives the return of the photography device 134. Information. In addition, as described above, the attitude board 115 in the PTZ power unit 11 can sense the attitude of the photographing device 14 in real time and transmit the sensed attitude information to the main control unit 1111. In this embodiment, the processing unit 134 The attitude information of the photography device 14 and some other related information of the PTZ system, such as the current working mode and current power of the PTZ system, can also be obtained from the main control unit 1111 via the UART interface 132. Then the processing unit 134 via the WiFi module 133 transmits the relevant information of the PTZ system to the mobile device 15 for display to the user. In this way, in addition to knowing the current shooting effect, the user can also know the current status of the photography device 14 and the PTZ system, so that it can issue correct control commands, which further facilitates the user's shooting work.

In the above embodiment, the photographing device control command sent by the user through the mobile device 15 may only be applicable to some photographing devices currently on the market, and the photographing monitoring device 13 belongs to a part of the PTZ system. However, the shooting monitoring device 13 may also be an electronic device independent of the PTZ system. Since the existing PTZ system usually provides a data interface to its main control unit, the existing PTZ system can be passed through the data interface. (UART interface) An external shooting monitoring device 13 (ie, a UART interface 132 connected to the shooting monitoring device 13) is connected externally to achieve the purpose of the present invention. In this case, the PTZ system control command sent by the user through the mobile device 15 in the above embodiment may also be incompatible with the existing PTZ system. FIG. 3 shows an embodiment for solving this problem. As shown in FIG. 3, the shooting monitoring device 13 further includes a storage unit 135. The storage unit 135 stores control protocols corresponding to various types of photographing equipment and control protocols corresponding to various types of PTZ systems. After receiving the control command from the mobile device 15, the processing unit 134, in addition to identifying whether the control command is a photographic device control command or a PTZ system control command, also needs to convert the control command according to the control protocol stored in the storage unit 135 to Make the converted control command compatible with the current photography device 14 and the PTZ system, and finally send the converted control command to the photography device 14 or the main control unit 1111 in the PTZ power unit 11.

Specifically, after the photographing monitoring device 13 is connected to the photographing device 14 and the main control unit 1111 in the pan / tilt power unit 11, its processing unit 134 acquires the model information of the photographing device 14 via the USB interface 131 and from the main control via the UART interface 132 The unit 1111 obtains model information of the PTZ system, and these model information may be stored in the storage unit 135. When receiving a control command from the mobile device 15 via the WiFi module 133, the processor 134 first recognizes whether the control command is a camera control command or a PTZ system control command. If it is recognized as a camera control command, the processor 134 retrieves the command from the storage device. The unit 135 searches the control protocol corresponding to the model information of the current photographing device 14 and converts the photographing device control command into a control command compatible with the current photographing device 14 according to the found control protocol; if it is identified as a PTZ system control command Then, the processor 134 searches the storage unit 135 for a control protocol corresponding to the model information of the current PTZ system, and converts the PTZ system control command into a control command compatible with the current PTZ system according to the found control protocol. Finally, the processing unit 134 transmits the converted camera control command or the PTZ system control command to the camera 14 or the main control unit 1111 via the USB interface 131 or the UART interface 132, respectively. Since the shooting monitoring device 13 is compatible with a variety of photographing devices and PTZ systems, its applicability and practicability are also high.

In the above embodiment, the data transmission between the shooting monitoring device 13 and the shooting device 14 and before the shooting monitoring device 13 and the main control unit 1111 of the PTZ system may be bidirectional, so there is competition in the connection channel, and Users generally expect that they can watch the video captured by the photography device 14 in real time on the mobile device 15 and that the photography device 14 and the PTZ system can respond to their control commands in a timely manner. In view of this, in a preferred embodiment, the processing unit 134 performs a merge operation on the photographic device control commands sent to the photographic device 14 for a period of time (for example, first receives a control command that sets ISO to 100, and then in If a control command with the ISO set to 200 is received within this time period, the processing unit 134 retains only the control command with the ISO set to 200), and sends the combined camera control command to the camera 14 according to the combined information. The effect obtained by the control command is the same as that obtained according to the multiple control commands in the period of time; at the same time, a read optimization operation is performed on the video (continuous picture frames) received from the photographing device 14. The processing unit 134 may also perform a filtering operation on the PTZ system control commands sent to the main control unit 1111. For example, according to the obtained current relevant information of the PTZ system, filter out some controls that conflict with the current state of the PTZ system. Command (for example, the current working mode of the PTZ system is the lock mode, and the PTZ system control command instructs to raise the photographing device 14 in the pitch direction). Those skilled in the art should understand that other time-sharing multiplexing technologies can also be adopted for the connection channel to achieve the above-mentioned purposes of real-time display and timely control.

It should be understood that although the video is described above as an example, the PTZ system and the shooting monitoring device 13 provided by the present invention can also display the picture (photograph) taken by the photographing device 14 on the mobile device 15. In addition to the USB connection, the processing unit 134 may be connected to the photography device 14 through UART technology or other wired data transmission technologies, and the processing unit 134 may also be connected to the photography device 14 through wireless technology. Similarly, the processing unit 134 may also be connected to the main control unit 1111 in the PTZ power device 11 through a wired connection such as USB, SPI, or the like through a wireless connection.

In addition to being connected to the mobile device 15 through the WiFi module 133, the processing unit 134 may also be connected to the mobile device 15 through other wireless communication technologies, or connected to the mobile device 15 using two wireless communication technologies (such as WiFi and Bluetooth). For example, processing The unit 134 preferentially chooses to connect with the mobile device 15 by using its WiFi module 133. When it detects that the WiFi connection is disconnected, it uses the Bluetooth module to connect to the mobile device 15. After detecting that the WiFi connection is connected again, it uses the WiFi module 133 to connect with the mobile device. The device 15 is connected. In addition, the processing unit 134 may also communicate with the mobile device through a wired connection. For example, the shooting monitoring device 13 provides another USB interface (different from the USB interface 131), and the processing unit 134 is connected to the mobile device via the USB interface.

In the above embodiment, the main control unit 1111 is located in the photographing equipment connection part 111 of the pan / tilt power unit 11, and the photographing monitoring device 13 is connected to the photographing equipment connection part 111. The advantage of this structure is that the data line between the shooting monitoring device 13 and the main control unit 1111 will not hinder the movement of the pan / tilt power unit 11 and will not pass through the shafts 112-114 and connecting arms and other components, so it will not Cause interference to some of these components, and affect the stability of the PTZ system. It should be understood that the photographing monitoring device 13 may not be connected to the photographing device connection member 111, and is located near the photographing device connection member 111 and moves with the photographing device connection member 111. In addition, without considering the cost of the wiring harness and whether the data line affects the movement of the PTZ system, the main control unit 1111 may also be located in the handle 12 or other positions of the PTZ system, and the shooting monitoring device 13 may also be located in the PTZ system. Various locations.

Those skilled in the art will also appreciate that although some example embodiments are described as processing units or methods are depicted as flowcharts. Although flowcharts describe operations as sequential processing, many operations can be performed in parallel, simultaneously, or simultaneously. In addition, the order of operations can be rearranged. Processes may terminate when their operations are completed, but may also have additional steps not included in the figure. This processing may correspond to a method, a function, a procedure, a subroutine, a subroutine, and the like.

The above method can be implemented by hardware, software, firmware, middleware, pseudo code, hardware description language, or any combination thereof. When implemented in software, firmware, middleware, or pseudocode, the program code or code segments used to perform a task may be stored in a machine or computer-readable medium, such as a storage medium, such as a non-transitory storage medium, a processing unit This task can be performed.

It should also be noted that aspects of the example embodiments of software implementations are typically encoded on some form of program storage media or implemented on some types of transmission media. The program storage medium may be any non-transitory storage medium, such as magnetic (e.g., a floppy disk or hard disk) or optical (e.g., a compact disk read-only memory or "CD ROM"), and may be read-only or randomly accessed. Similarly, the transmission medium may be a twisted pair, coaxial cable, optical fiber, or some other suitable transmission medium known in the art. Example embodiments are not limited by these aspects of any given implementation.

Although the present invention has been described through preferred embodiments, the present invention is not limited to the embodiments described herein, and includes various changes and modifications made without departing from the scope of the present invention.

Claims

A shooting monitoring device (13) for a pan / tilt system, comprising a first connection interface (131), a second connection interface (132), a third connection interface (133), and a processing unit (134);

The processing unit (134) receives a video and / or picture from a photographing device (14) via the first connection interface (131), and sends the video and / or picture via the third connection interface (133) Sent to a mobile device (15) for display by said mobile device (15);

The processing unit (134) receives a control command from the mobile device (15) via the third connection interface (133), and recognizes whether the control command is a photographing device control command or a PTZ system control command, and will identify The control command of the photographing device is sent to the photographing device (14) via the first connection interface (131), and the identified control command of the pan / tilt head system is transmitted to the pan / tilt head system via the second connection interface (132).
The shooting monitoring device (13) according to claim 1, wherein the processing unit (134) performs picture frame collection on the video from the photographing device (14) at a specific time interval, and collects the collected picture frames and their The sending time is used for encapsulation, and the encapsulated picture frame is sent to the mobile device (15) via the third connection port (133).
The photographing monitoring device (13) according to claim 1 or 2, wherein the processing device (134) further acquires the photographing device (14) from the photographing device (14) via the first connection interface (131). And / or acquire the relevant information of the PTZ system from the main control unit (1111) of the PTZ system via the second connection interface (132), and the processing device (134) The related information of the device (14) and / or the related information of the PTZ system are sent to a mobile device (15) via the third connection interface (133) for display by the mobile device (15).
The shooting monitoring device (13) according to claim 1 or 2, further comprising a storage unit (135), wherein the storage unit (135) stores a control protocol corresponding to a plurality of models of photographing equipment, and a plurality of models of Control protocol corresponding to the PTZ system;

Wherein, the processing unit (134) further obtains model information of the photographing device (14) via a first connection interface (131) and / or a main control unit of the PTZ system via a second connection interface (132). (1111) acquiring model information of the pan / tilt system;

Wherein, the processing unit (134) further converts the identified photographic equipment control command according to the control protocol corresponding to the photographic equipment (14) in the storage unit (135), and passes the converted photographic equipment control command via the first A connection interface (131) is sent to the photographing device (14); the processing unit (134) further converts the identified PTZ system control according to a control protocol corresponding to the PTZ system in the storage unit (135) And send the converted PTZ system control command to the main control unit (1111) via the second connection interface (132).
The photographing monitoring device (13) according to claim 1 or 2, wherein the processing unit (134) further merges all identified photographing device control commands within a specific period; the processing unit (134) further The identified PTZ system control commands are filtered out from the PTZ system control commands that conflict with the current state of the PTZ system.
The photographing monitoring device (13) according to claim 1 or 2, wherein the photographing monitoring device (13) is connected to the photographing device (14) wirelessly or by wire via the first connection interface (131); The shooting monitoring device (13) is connected to the main control unit (1111) of the PTZ system wirelessly or by wire via the second connection interface (131); the shooting monitoring device (13) is connected via the third The connection interface (133) is connected with the mobile device (15) wirelessly or by wire.
The shooting monitoring device (13) according to claim 6, wherein the shooting monitoring device (13) further comprises a fourth connection interface, and wherein the shooting monitoring device (13) passes the third connection interface therebetween. (133) When the connection with the mobile device (15) is disconnected, the mobile device (15) is wirelessly or wiredly connected via the fourth connection interface.
A gimbal system includes three axes (112, 113, 114), a connecting arm between the three axes (112, 113, 114), and a photographic equipment connection component for fixing the photographic equipment (14) connected to one of the axes (112). (111) and a main control unit (1111), where the main control unit (1111) is used to control the rotation of the three axes (112, 113, 114), and the pan / tilt system further includes:

The photographing monitoring device (13) according to any one of claims 1-7.
The gimbal system according to claim 8, wherein the main control unit (1111) is located in the photographic equipment connection part (111), and the photographing monitoring device (13) is located in the photographic equipment connection part (111) ) And move with the photographic equipment connection part (111).