WO2021026760A1

WO2021026760A1 - Cradle head system and control method therefor

Info

Publication number: WO2021026760A1
Application number: PCT/CN2019/100358
Authority: WO
Inventors: 刘帅; 常贤茂
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2019-08-13
Filing date: 2019-08-13
Publication date: 2021-02-18
Also published as: CN112119362A

Abstract

A cradle head system and a control method therefor, the cradle head system comprising a base (1), a cradle head (2) disposed on the base (1), and a joystick (3) for controlling the cradle head (2); and the cradle head (2) is used to mount an image capture device (100). The control method comprises: detecting that the cradle head system generates mode switching; acquiring a current mode of the cradle head system; and according to a control signal of the joystick (3) corresponding to the current mode and a mapping strategy between cradle head joint angles, controlling the cradle head (2) to rotate, wherein the mapping strategy is different for different modes.

Description

PTZ system and its control method

Technical field

The invention relates to the field of pan/tilt, in particular to a pan/tilt system and a control method thereof.

Background technique

When shooting with a handheld gimbal or airborne gimbal system, some pictures require the gimbal system to switch to different modes, such as forward mode, reverse mode, flashlight mode, etc., to meet different shooting needs. However, the existing pan/tilt system does not dynamically adjust the mapping relationship between the input of the joystick and the rotation direction of the pan/tilt after the mode is switched, which cannot meet more shooting requirements.

Summary of the invention

The invention provides a pan-tilt system and a control method thereof.

Specifically, the present invention is implemented through the following technical solutions:

According to a first aspect of the present invention, there is provided a control method of a pan/tilt system, the pan/tilt system includes a base, a pan/tilt provided on the base, and a rocker for controlling the pan/tilt, so The pan-tilt is used to carry a camera; the method includes:

It is detected that the pan-tilt system has a mode switch;

Acquiring the current mode of the pan-tilt system;

Controlling the rotation of the pan/tilt head according to the mapping strategy between the control signal of the joystick and the joint angle of the pan/tilt head corresponding to the current mode;

Wherein, the mapping strategies of different modes are different.

According to a second aspect of the present invention, there is provided a pan-tilt system, the pan-tilt system including:

Base

A pan/tilt mounted on the base, where the pan/tilt is used to carry a camera;

A joystick for controlling the pan/tilt; and

The controller provided on the base is respectively communicatively connected with the pan-tilt and the rocker, and the controller is configured to:

It is detected that the pan-tilt system has a mode switch;

Acquiring the current mode of the pan-tilt system;

Wherein, the mapping strategies of different modes are different.

As can be seen from the technical solutions provided by the above embodiments of the present invention, the pan/tilt system of the present invention dynamically adjusts the mapping strategy between the control signal of the joystick and the joint angle of the pan/tilt after the mode switch occurs, so that the current mode of the pan/tilt system is Corresponding to the mapping strategy, so as to meet the needs of more shooting and bring users a better shooting experience.

Description of the drawings

In order to more clearly describe the technical solutions in the embodiments of the present invention, the following will briefly introduce the accompanying drawings used in the description of the embodiments. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative labor.

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

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

Figure 3A is a perspective view of a handheld pan/tilt in an embodiment of the invention;

Figure 3B is a perspective view of the handheld PTZ shown in Figure 3A when it is placed upright;

FIG. 3C is a perspective view of the handheld PTZ shown in FIG. 3A in a reverse shooting mode;

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

Figure 3E is a perspective view of the handheld pan/tilt shown in Figure 3A in flashlight mode;

Fig. 3F is a perspective view of the handheld pan/tilt shown in Fig. 3A in a left shooting mode;

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

4 is a method flow chart of a method for controlling a pan-tilt system in an embodiment of the present invention;

5 is a method flowchart of a method for controlling a pan-tilt system in another embodiment of the present invention;

Fig. 6 is a structural block diagram of a pan-tilt system in an embodiment of the present invention.

Reference signs: 1: base; 2: pan/tilt; 21: outer frame; 22: middle frame; 3: rocker; 4: screen; 5: controller; 100: camera.

detailed description

In the related art, the pan/tilt system does not dynamically adjust the mapping relationship between the input of the joystick and the rotation direction of the pan/tilt after the mode switch occurs, which cannot meet more shooting requirements. For example, the joystick is a button that can be triggered in the four directions of "up", "down", "left", and "right", in the forward mode (the camera is located above the base and the camera is shooting) , The button "right" is triggered, the gimbal yaw joint angle is rotated clockwise by the corresponding amount of stick; the button "down" is triggered, the gimbal pitch joint angle is turned downward by the corresponding amount of stick. After switching the gimbal system from the forward mode to the reverse mode, in the reverse mode (the camera is located under the base and the camera is in reverse), if the cloud is controlled according to the mapping relationship corresponding to the forward mode The rotation of the gimbal, that is, the "right" of the button is triggered, and the gimbal yaw joint angle is rotated clockwise by the corresponding amount of stick; the "down" of the button is triggered, the gimbal pitch joint angle is rotated downward by the corresponding amount of the stick. In the forward mode and the reverse mode, when the buttons are triggered by the same strategy (for example, the "right" of the button is triggered, and the trigger produces the same amount of stick), the PTZ attitude changes in the forward mode and the reverse mode It is different, resulting in different ways of changing the shooting picture, which cannot meet the shooting needs.

In this regard, the pan/tilt system of the present invention dynamically adjusts the mapping strategy between the control signal of the joystick and the joint angle of the pan/tilt after the mode switch occurs, so that the current mode of the pan/tilt system corresponds to the mapping strategy, thereby satisfying More shooting needs will bring users a better shooting experience.

The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.

It should be noted that, in the case of no conflict, the following embodiments and features in the implementation can be combined with each other.

1 and 2, the pan/tilt system of this embodiment may include a base 1, a pan/tilt 2 arranged on the base 1, and a rocker 3 for controlling the pan/tilt 2, wherein the pan/tilt 2 is used for carrying The photographing device 100 may be a photographing device 100 with photographing functions such as a camera or a mobile phone. The base 1 can be controlled automatically or manually to make the posture of the base 1 change.

In some embodiments, the pan/tilt 2 system is an airborne pan/tilt. Referring to FIG. 1, the pan/tilt system is mounted on a movable platform. Specifically, the pan/tilt system is connected to the main body of the platform through the base 1. Optionally, the joystick 3 is provided on a remote control device of a movable platform, and the remote control device is used to control the movable platform. The movable platform may be an unmanned aerial vehicle such as a UAV or other movable platforms.

In some embodiments, the pan/tilt system is a handheld pan/tilt. See FIG. 2. In this embodiment, the base 1 is a handle of the handheld pan/tilt. Optionally, the rocker 3 is provided on the front of the handle; understandably, the rocker 3 can also be provided on other positions of the handle.

The PTZ 2 can be a two-axis PTZ or a three-axis PTZ. In an embodiment, the pan/tilt 2 is a three-axis pan/tilt. Referring to FIG. 3A, the pan/tilt 2 may include an outer frame 21, a middle frame 22, and an inner frame. Wherein, the outer frame 21 is configured to rotate around a first preset direction, the middle frame 22 is configured to rotate around a second preset direction, the inner frame is configured to rotate around a third preset direction, and the inner frame is used for carrying photography装置100。 Device 100. Specifically, when the outer frame 21 rotates around the first preset direction, the middle frame 22 and the inner frame are driven to rotate around the first preset direction, thereby driving the photographing device 100 to rotate around the first preset direction. When the middle frame 22 rotates around the second preset direction, the inner frame is driven to rotate in the second preset direction, thereby driving the camera 100 to rotate around the second preset direction. The inner frame rotates around the third preset direction, which drives the camera 100 to rotate around the third preset direction.

In an embodiment, the pan/tilt 2 is a two-axis pan/tilt, and the pan/tilt 2 may include an outer frame 21 and an inner frame. Wherein, the outer frame 21 is configured to rotate around a first preset direction, and the inner frame is configured to rotate around a second preset direction or a third preset direction. Specifically, when the outer frame 21 rotates around the first preset direction, the inner frame is driven to rotate around the first preset direction, thereby driving the photographing device 100 to rotate around the first preset direction. The inner frame rotates around the second preset direction or the third preset direction, driving the camera 100 to rotate around the second preset direction or the third preset direction.

In the above embodiment, the first preset direction, the second preset direction, and the third preset direction are determined according to the configuration of the pan-tilt 2. For example, in the embodiment shown in FIG. 3A, the PTZ 2 is a three-axis PTZ, the outer frame 21 is configured to rotate around the yaw axis, the middle frame 22 is configured to rotate around the roll axis, and the inner frame is configured to rotate around the roll axis. The tilt axis rotates. The outer frame 21 includes a yaw axis arm and is driven by a yaw axis motor, the middle frame 22 includes a roll axis arm and is driven by a roll axis motor, and the inner frame includes a pitch axis arm and is driven by a pitch axis. motor driven.

In this embodiment, the rocker 3 may be a button, a knob, or a combination of a button and a knob. Understandably, the rocker 3 is not limited to a button or a knob, but may also be of other types.

The photographing mode of the pan/tilt system varies with the positional relationship between the base 1 and the photographing device 100. The photographing mode of the pan/tilt system in this embodiment may include one or a combination of at least two of the following: forward mode, reverse Shooting mode, down flashlight mode, top flashlight mode, left shooting mode, right shooting mode, anyway shooting mode, reverse shooting mode, reverse flashlight mode, reverse flashlight mode.

The following embodiments are described by taking the pan-tilt system as a handheld pan-tilt as an example; it is understandable that the following embodiments are also applicable to an airborne pan-tilt.

In the embodiment of the present invention, in conjunction with FIG. 1 and FIG. 2, the rocker 3 is arranged on the front of the handheld pan/tilt. Furthermore, the handheld PTZ also includes a screen 4 arranged on the front of the handle. When the handheld PTZ is placed upright, the camera 100 is located above the handle, the screen 4 faces the user, and the camera 100 is shooting (the lens is facing away from the user and the shooting frame is in an upright state). In FIGS. 3A and 3B, X, Y, and Z respectively correspond to the X axis, Y axis, and Z axis directions in the world coordinate system. As shown in Figure 3B, when the handheld gimbal is placed upright, the body coordinate system of the handheld gimbal is x1y1z1, where the x1 axis direction points to the front of the handle 1, the y1 axis direction points to the left side of the handle 1, and the z1 axis direction points to the handle 1 above.

Among them, when the pan/tilt system is in the forward shooting mode (as shown in FIG. 3B), the photographing device 100 is located above the handle, and the photographing device 100 is photographing; when the pan/tilt system is in the photographing mode (not shown) anyway, the photographing device 100 is located Below the handle, the camera 100 is shooting.

When the pan-tilt system is in the reverse shooting mode (as shown in Figure 3C), the camera 100 is located under the handle, and the camera 100 is in reverse shooting; when the pan-tilt system is in the reverse shooting mode (not shown), the camera 100 is located on the handle Above, the camera 100 is shooting backwards.

When the camera 100 is in the flashlight mode (as shown in Figure 3D), the camera 100 is located in front of the handle, and the camera 100 is shooting; when the camera 100 is in the flashlight mode (not shown), the camera 100 is on the handle At the rear of the camera, the camera 100 is shooting.

When the camera 100 is in the flashlight mode (as shown in FIG. 3E), the camera 100 is located behind the handle, and the camera 100 is in reverse shooting; when the camera 100 is in the flashlight mode (not shown), the camera 100 is on the handle In front of the camera, the camera 100 is shooting backwards.

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

It should be noted that, in the embodiment of the present invention, when the camera 100 is shooting, the lens of the camera 3 faces the user, and the shooting screen displays an upright image; when the camera 100 is shooting backwards, the lens of the camera 3 To the user, the shooting screen displays an upside-down image.

Next, set the surface of the screen 4 as the front of the handle, the back of the handle (the surface opposite to the front) is "front", the front of the handle is "rear", the left side of the handle is "left", and the right side of the handle "Right", using the above-mentioned azimuth reference to illustrate the conversion relationship between the modes.

Understandably, the lower flashlight mode can be obtained by flipping forward 90 degrees in the forward mode or the reverse mode; the upper flashlight mode can be obtained by flipping backward, such as 90 degrees, by the forward mode or the reverse mode.

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

The forward shooting mode and the reverse shooting mode can meet the needs of normal camera shooting. The difference between the two is that the shooting screen of the forward shooting mode shows the upright image, and the shooting screen of the reverse shooting mode shows the upside down image.

The reverse shooting mode and the forward shooting mode can meet the needs of low camera shooting. The difference between the two is that the shooting screen of the reverse shooting mode shows an upside-down image, and the shooting screen of the forward shooting mode shows an upright image anyway.

Down flashlight mode, top flashlight mode, reverse flashlight mode, reverse flashlight mode, left shooting mode, and right shooting mode can meet the needs of horizontal camera shooting. Among them, in the down flashlight mode or the reverse flashlight mode, the camera is located on the handle In the upper flashlight mode or reverse flashlight mode, the camera is located behind the handle, so that more attention is paid to the scene behind the handle; in the left shooting mode, the camera is located The left side of the handle allows more attention to the scene on the left side of the handle; in the right shooting mode, the camera is located on the right side of the handle, so that more attention is paid to the scene on the right side of the handle.

FIG. 4 is a method flow chart of a method for controlling a pan/tilt system in an embodiment of the present invention; referring to FIG. 4, the method for controlling a pan/tilt system in this embodiment may include the following steps:

S401: It is detected that the PTZ system has a mode switch;

Among them, the pan/tilt system can switch from forward shooting mode to lower flashlight mode, upper flashlight mode, left shooting mode or right shooting mode, and it can also switch from reverse shooting mode to lower flashlight mode, upper flashlight mode, left shooting mode, right shooting Mode or reverse mode, or switch from lower flashlight mode to forward mode, reverse mode, left mode or right mode, or switch from upper flashlight mode to forward mode, reverse mode, left mode or right mode Mode, or switch the left shooting mode to forward shooting mode, reverse shooting mode, down flashlight mode, upper flashlight mode, right shooting mode, anyway shooting mode, reverse shooting mode, reverse down flashlight mode or upside flashlight mode, or shooting from the right Switch the mode to forward shooting mode, reverse shooting mode, down flashlight mode, upper flashlight mode or left shooting mode, or switch from shooting mode anyway to left shooting mode, reverse flashlight mode or reverse flashlight mode, or switch from reverse shooting mode To left shooting mode, reverse flashlight mode or reverse flashlight mode, or switch from reverse flashlight mode to left shooting mode, anyway shooting mode or reverse shooting mode, or switch from reverse flashlight mode to left shooting mode, anyway shooting mode Or reverse shooting mode.

Therefore, when S401 detects that the pan/tilt system has a mode switch, it may include one of the following situations:

(1) It is detected that the pan/tilt system has switched from the forward shooting mode to the down flashlight mode, the upper flashlight mode, the left shooting mode or the right shooting mode;

(2) It is detected that the pan/tilt system has switched from reverse shooting mode to down flashlight mode, upper flashlight mode, left shooting mode, right shooting mode or reverse shooting mode;

(3) It is detected that the pan/tilt system has switched from flashlight mode to forward mode, reverse mode, left mode or right mode;

(4) It is detected that the pan/tilt system has switched from flashlight mode to forward mode, reverse mode, left mode or right mode;

(5) It is detected that the pan/tilt system has switched from left shooting mode to forward shooting mode, reverse shooting mode, down flashlight mode, upper flashlight mode, right shooting mode, anyway shooting mode, reverse shooting mode, reverse down flashlight mode or reverse up Flashlight mode;

(6) It is detected that the pan/tilt system has switched from right shooting mode to forward shooting mode, reverse shooting mode, down flashlight mode, upper flashlight mode or left shooting mode;

(7) It is detected that the pan/tilt system has switched from shooting mode to left shooting mode, reverse flashlight mode or reverse flashlight mode;

(8) It is detected that the pan/tilt system has switched from reverse shooting mode to left shooting mode, reverse flashlight mode or reverse flashlight mode;

(9) It is detected that the pan/tilt system has switched from the reverse flashlight mode to the left shooting mode, anyway shooting mode or reverse shooting mode;

(10) It is detected that the pan/tilt system has switched from the reverse flashlight mode to the left shooting mode, anyway shooting mode or reverse shooting mode.

It is understandable that for two shooting modes that cannot be switched directly, the above-mentioned switching strategies between different shooting modes can be combined to realize mode switching between the two shooting modes that cannot be switched directly.

S402: Obtain the current mode of the pan-tilt system;

In this embodiment, the current mode may include one of the following: forward shooting mode, reverse shooting mode, down flashlight mode, upper flashlight mode, left shooting mode, right shooting mode, anyway shooting mode, reverse shooting mode, reverse down flashlight Mode, reverse flashlight mode.

Specifically, when acquiring the current mode of the pan-tilt system, first, acquire the first attitude information of the camera 100 and the second attitude information of the handle; then, determine the current state of the pan-tilt system according to the first attitude information and the second attitude information. mode.

The handheld pan/tilt in this embodiment also includes an accelerometer, which is used to detect the first posture information qmesa of the photographing device 100. The second posture information of the handle is determined according to the first posture information of the camera 100 and the joint angle of the pan/tilt. Taking a three-axis pan/tilt as an example, when the handheld pan/tilt is in the forward mode, the outer frame 21 is configured to deviate The navigation axis rotates, the middle frame 22 is configured to rotate around the roll axis, and the inner frame is configured to rotate around the pitch axis. The gimbal joint angle includes yaw joint angle joint_yaw, roll joint angle joint_roll, and pitch joint angle joint_pitch. Each joint angle is the joint angle of the corresponding axis motor. According to the shaft angle conversion formula, q_yaw, q_roll and q_pitch are obtained. The conjugate or inverse of q_yaw, q_roll and q_pitch are q_yaw_inv, q_roll_inv and q_pitch_inv respectively. The calculation formula of the second posture information qhandle of the handle is as follows:

qhandle=qmesa*q_pitch_inv*q_roll_inv*q_yaw_inv (1)

Among them, joint represents the joint angle, and q represents the quaternion.

Specifically, when determining the current mode of the pan-tilt system according to the first posture information and the second posture information, the following steps are included:

(1) Determine the positional relationship between the camera 100 and the handle according to the first posture information and the second posture information;

(2) Determine the current mode of the PTZ system according to the position relationship.

In this embodiment, when the camera 100 is above the handle, the pan/tilt system is in the forward mode or reverse mode; when the camera 100 is below the handle, the pan/tilt system is in the reverse mode or anyway. ; When the camera 100 is located in front of the handle, the pan/tilt system is in the down flashlight mode or the reverse flashlight mode; when the camera 100 is located behind the handle, the pan/tilt system is in the upper flashlight mode or the reverse flashlight mode; when When the camera 100 is on the left side of the handle, the pan/tilt system is in the left shooting mode; when the camera 100 is on the right side of the handle, the pan/tilt system is in the right shooting mode.

Wherein, when the camera 100 is located above, below, in front of, or behind the handle, the current mode of the pan/tilt system can be further determined according to the first posture information. For example, when the camera 100 is located above the handle, the first posture information is used to indicate that the camera 100 is shooting, and the pan/tilt system is in the forward mode; the first posture information is used to indicate that the camera 100 is shooting backwards, and the pan/tilt system It is in reverse shooting mode. When the camera 100 is located under the handle, the first posture information is used to indicate that the camera 100 is shooting, and the pan/tilt system is in anyway mode; the first posture information is used to instruct the camera 100 to take a reverse shot, and the pan/tilt system is in Reverse mode. When the camera 100 is in front of the handle, the first posture information is used to indicate that the camera 100 is shooting, and the pan/tilt system is in the flashlight mode; the first posture information is used to instruct the camera 100 to take a reverse shot, and the pan/tilt system is in the flashlight mode. Invert the flashlight mode. When the camera 100 is located behind the handle, the first posture information is used to indicate that the camera 100 is shooting, and the pan-tilt system is in the reverse flashlight mode; the first posture information is used to instruct the camera 100 to take a reverse shot, and the pan-tilt system is In flashlight mode.

S403: Control the rotation of the pan/tilt 2 according to the mapping strategy between the control signal of the joystick 3 corresponding to the current mode and the joint angle of the pan/tilt; wherein the mapping strategies of different modes are different.

In some embodiments, the control signal includes at least one of the following: a first control signal input by the joystick 3 on the first plane, and a second control signal input by the joystick 3 on the second plane. Among them, the first plane is orthogonal to the second plane, the extension direction of the handle is parallel to the second plane, as shown in Figure 3A, Figure 3B, and Figure 3C, the extension direction of the handle is the vertical direction; as shown in Figure 3D, Figure 3E As shown, the extension direction of the handle is the front and rear direction; as shown in Figure 3F and Figure 3G, the extension direction of the handle is the left and right direction. In this embodiment, the joystick 3 is a planar control mode. For example, the joystick 3 is a button. Optionally, the buttons include trigger buttons in the "up", "down", "left", and "right" directions. At the moment, one of the trigger buttons in the "up" and "down" directions can be triggered, and one of the trigger buttons in the "left" and "right" directions can be triggered. Among them, the trigger button in the "up" or "down" direction is triggered to generate the second control signal; the trigger button in the "left" or "right" direction is triggered to generate the first control signal

In some embodiments, the control signal includes at least one of the following: a first control signal in which the amount of the joystick 3 is mapped to the first plane, and a second control signal in which the amount of the joystick 3 is mapped to the second plane. Among them, the first plane is orthogonal to the second plane, the extension direction of the handle is parallel to the second plane, as shown in Figure 3A, Figure 3B, and Figure 3C, the extension direction of the handle is the vertical direction; as shown in Figure 3D, Figure 3E As shown, the extension direction of the handle is the front and rear direction; as shown in Figure 3F and Figure 3G, the extension direction of the handle is the left and right direction. In this embodiment, the rocker 3 may be a three-dimensional, such as a spherical motion control method. Optionally, the rocker 3 is a knob, and the user operates the knob, and the amount of stick generated by the knob can be mapped to different planes.

Wherein, when the pan/tilt system is in the forward mode, reverse mode, anyway mode or reverse mode, the first plane is a horizontal plane, and the second plane is a vertical plane. When the pan/tilt system is in the lower flashlight mode, upper flashlight mode, left shooting mode, right shooting mode, reverse lower flashlight mode or reverse upper flashlight mode, the first plane is a vertical plane and the second plane is a horizontal plane.

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

When the multi-axis handheld gimbal is in follow mode, you can set each axis of the handheld gimbal to free mode or follow mode. Among them, in the free mode, the handle of the handheld gimbal moves, and the corresponding axis does not rotate, and the corresponding axis can be used for stabilization; in the follow mode, the corresponding axis moves with the movement of the handheld gimbal. For example, for a three-axis gimbal, the normal mode is set to follow mode for pitch axis and yaw axis, and free mode for roll axis. In this embodiment, the pitch axis and the yaw axis are in the follow mode, the roll axis is in the free mode, and the control signal includes the first control signal or the second control signal.

Please refer to Fig. 5, which is an implementation manner of controlling the rotation of the PTZ 2 according to the mapping strategy between the control signal of the joystick 3 corresponding to the current mode and the joint angle of the PTZ. Specifically, when controlling the rotation of the PTZ 2 according to the mapping strategy between the control signal of the joystick 3 corresponding to the current mode and the joint angle of the PTZ, the following steps may be included:

S501: Determine the rotation direction of the joint angle of the corresponding axis of the pan-tilt 2 according to the direction of the first control signal and/or the direction of the second control signal;

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

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

Among them, when the current mode is forward mode, reverse mode, anyway mode, or reverse mode, the first control signal controls the yaw joint angle of PTZ 2 (corresponding to controlling the yaw attitude of PTZ 2), and the second control The signal controls the pitch joint angle of the PTZ 2 (corresponding to control the pitch attitude of the PTZ 2).

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

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

In this embodiment, when determining the rotation direction of the joint angle of the corresponding axis of the pan-tilt 2 according to the direction of the first control signal, optionally, when the photographing device 100 and the handle are in a vertical or horizontal position relationship, according to the first The direction of a control signal determines the direction of rotation of the yaw joint angle of the gimbal 2; optionally, when the camera 100 and the handle are in a front-to-rear position relationship, the roll of the gimbal 2 is determined according to the direction of the first control signal The direction of rotation of the joint angle,

Wherein, when the photographing device 100 and the handle are in an up-and-down positional relationship, that is, the current mode is forward shooting mode, reverse shooting mode, anyway shooting mode or reversed shooting mode, the yaw of the pan/tilt 2 is determined according to the direction of the first control signal The rotation direction of the joint angle is divided into the following situations:

(1). The current mode is forward shooting mode or reverse shooting mode. When the direction of the first control signal is the first direction, determine the rotation direction of the yaw joint angle of the gimbal 2 as the first rotation direction, and the yaw joint angle When the direction of the first control signal is the opposite direction of the second direction, it is determined that the rotation direction of the pitch joint angle of the pan/tilt 2 is the opposite direction of the first rotation direction, and the yaw joint angle becomes larger accordingly.

(2). The current mode is reverse shooting mode or anyway shooting mode. When the direction of the first control signal is the first direction, it is determined that the rotation direction of the yaw joint angle of the gimbal 2 is the opposite direction of the first rotation direction. The yaw joint angle becomes smaller accordingly; when the direction of the first control signal is the opposite direction of the first direction, the rotation direction of the yaw joint angle of the gimbal 2 is determined to be the first rotation direction, and the yaw joint angle becomes larger accordingly.

When the camera 100 and the handle are in a left-right positional relationship, that is, the current mode is the left shooting mode or the left shooting mode, when determining the rotation direction of the yaw joint angle of the pan/tilt 2 according to the direction of the first control signal, it is divided into the following Two situations:

(1). The current mode is the left shooting mode. When the direction of the first control signal is the first direction, the rotation direction of the yaw joint angle of the gimbal 2 is determined to be the opposite direction of the second rotation direction, and the roll joint angle is corresponding When the direction of the first control signal is the opposite direction of the first direction, the rotation direction of the yaw joint angle of the pan/tilt 2 is determined to be the second rotation direction, and the roll joint angle becomes smaller accordingly.

(2). The current mode is the right shooting mode. When the direction of the first control signal is the first direction, the rotation direction of the yaw joint angle of the gimbal 2 is determined to be the second rotation direction, and the yaw joint angle becomes smaller accordingly; When the direction of the first control signal is the opposite direction of the first direction, it is determined that the rotation direction of the yaw joint angle of the gimbal 2 is the opposite direction of the second rotation direction, and the yaw joint angle becomes larger accordingly.

When the camera 100 and the handle have a front-to-back positional relationship, that is, the current mode is one of the down flashlight mode, the up flashlight mode, the down flashlight mode, and the up flashlight mode, the pan/tilt 2 is determined according to the direction of the first control signal When the rotation direction of the yaw joint angle of the yaw joint angle, specifically, when the direction of the first control signal is the first direction, it is determined that the rotation direction of the roll joint angle of the pan/tilt 2 is the first rotation direction; when the first control signal is When the direction is the opposite direction of the first direction, it is determined that the rotation direction of the roll joint angle of the pan/tilt head 2 is the opposite direction of the first rotation direction. Among them, when the current mode is the flashlight mode or the flashlight is reversed, if the rotation direction of the roll joint angle is the first rotation direction, the roll joint angle becomes larger accordingly; if the rotation direction of the roll joint angle is the first rotation direction In the opposite direction, the roll joint angle becomes smaller accordingly. When the current mode is flashlight mode or reverse flashlight, if the rotation direction of the roll joint angle is the first rotation direction, the roll joint angle will decrease accordingly; if the rotation direction of the roll joint angle is the opposite direction of the first rotation direction , The roll joint angle becomes larger accordingly.

When determining the rotation direction of the joint angle of the corresponding axis of the pan/tilt head 2 according to the direction of the second control signal, optionally, when the photographing device 100 and the handle are in an up and down position relationship or a left and right position relationship or left and right, according to the second control signal Determine the direction of rotation of the pitch joint angle of the gimbal 2.

Wherein, when the photographing device 100 and the handle are in an up-and-down positional relationship, when determining the rotation direction of the pitch joint angle of the pan/tilt head 2 according to the direction of the second control signal, there are two situations as follows:

(1). The current mode is forward shooting mode or reverse shooting mode. When the direction of the second control signal is the second direction, the rotation direction of the pitch joint angle of the gimbal 2 is determined to be the second rotation direction, and the pitch joint angle changes accordingly Large; when the direction of the second control signal is the opposite direction of the second direction, it is determined that the rotation direction of the pitch joint angle of the pan/tilt 2 is the opposite direction of the second rotation direction, and the pitch joint angle becomes smaller accordingly.

(2). The current mode is reverse shooting mode or anyway shooting mode. When the direction of the second control signal is the second direction, the rotation direction of the pitch joint angle of the gimbal 2 is determined to be the opposite direction of the second rotation direction, the pitch joint The angle becomes larger accordingly; when the direction of the second control signal is the opposite direction of the second direction, the rotation direction of the pitch joint angle of the pan/tilt 2 is determined to be the second rotation direction, and the pitch joint angle becomes smaller accordingly.

Wherein, when the photographing device 100 and the handle are in a left-right positional relationship, when determining the rotation direction of the pitch joint angle of the pan/tilt 2 according to the direction of the second control signal, there are two situations as follows:

(1). The current mode is the left shooting mode. When the direction of the second control signal is the second direction, the rotation direction of the pitch joint angle of the gimbal 2 is determined to be the first rotation direction, and the pitch joint angle becomes larger accordingly; When the direction of the second control signal is the opposite direction of the second direction, it is determined that the rotation direction of the pitch joint angle of the gimbal 2 is the opposite direction of the first rotation direction, and the pitch joint angle becomes smaller accordingly.

(2). The current mode is the right shooting mode. When the direction of the second control signal is the second direction, it is determined that the rotation direction of the pitch joint angle of the gimbal 2 is the opposite direction of the first rotation direction, and the pitch joint angle becomes larger accordingly ; When the direction of the second control signal is the opposite direction of the second direction, it is determined that the rotation direction of the pitch joint angle of the pan/tilt 2 is the first rotation direction, and the pitch joint angle becomes smaller accordingly.

When the camera 100 and the handle are in a front-to-back positional relationship, that is, the current mode is one of the down flashlight mode, the up flashlight mode, the down flashlight mode, and the up flashlight mode, the pan/tilt is determined according to the direction of the second control signal Specifically, when the direction of the second control signal is the second direction, the rotation direction of the pitch joint angle of the gimbal 2 is determined to be the second rotation direction, and the pitch joint angle becomes larger accordingly; When the direction of the two control signals is the opposite direction of the second direction, it is determined that the rotation direction of the pitch joint angle of the gimbal 2 is the opposite direction of the second rotation direction, and the pitch joint angle becomes smaller accordingly.

Optionally, the first rotation direction is a clockwise direction; understandably, the first rotation direction may also be a counterclockwise direction. Optionally, the second rotation direction is a downward direction; understandably, the second rotation direction may also be an upward direction. In this embodiment, the first rotation direction is a clockwise direction, and the second rotation direction is a downward direction. The mapping strategy corresponding to each shooting mode is shown in Table 1.

Table 1

S501: Control the rotation of the corresponding joint angle according to the rotation direction.

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

After the above mapping strategy is adopted, when the same strategy is used to control the joystick, the corresponding shooting modes (such as forward shooting mode, reverse shooting mode, anyway shooting mode and reverse shooting mode, down flashlight mode, upper flashlight mode, reverse flashlight mode and reverse The PTZ posture changes corresponding to the flashlight mode, left shooting mode and right shooting mode) are the same, so that the shooting pictures change in the same manner in the corresponding shooting modes to meet the shooting needs.

Corresponding to the control method of the pan-tilt system in the above embodiment, the embodiment of the present invention also provides a pan-tilt system. With reference to FIGS. 1 to 3G and FIG. 6, the pan-tilt system of this embodiment includes a base 1 and a pan/tilt 2. , The joystick 3 and the controller 5, where the pan/tilt 2 is set on the base 1, and the pan/tilt 2 is used to carry the camera 100. The pan/tilt 2 in this embodiment can be a two-axis pan/tilt or The three-axis pan/tilt can also be other multi-axis pan/tilt. The joystick 3 is used to control the PTZ 2. Optionally, the PTZ system is an on-board PTZ, and the joystick 3 is set on the remote control device of the movable platform equipped with the PTZ system; optionally, the PTZ system is handheld The gimbal, the rocker 3 is set on the handle of the handheld gimbal. The controller 5 is provided in the base 1. Optionally, the controller 5 is provided in the base 1, and the controller 5 is in communication connection with the pan/tilt 2 and the rocker 3 respectively.

Specifically, the controller 5 is configured to: detect the mode switching of the pan/tilt system; obtain the current mode of the pan/tilt system; and map the control signal between the joystick 3 corresponding to the current mode and the joint angle of the pan/tilt. , Control the rotation of PTZ 2; among them, the mapping strategy of different modes is different.

For the implementation process and working principle of the controller 5, please refer to the description of the control method of the pan-tilt system in the foregoing embodiment, and will not be repeated here.

The controller 5 in this embodiment may be a central processing unit (CPU). The controller 5 may further include a hardware chip. The aforementioned hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD) or a combination thereof. The above-mentioned PLD may be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), a generic array logic (GAL) or any combination thereof.

In addition, an embodiment of the present invention also provides a computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, the steps of the control method of the pan-tilt system of the above-mentioned embodiment are realized.

The computer-readable storage medium may be the internal storage unit of the pan-tilt system described in any of the foregoing embodiments, such as a hard disk or a memory. The computer-readable storage medium may also be an external storage device of the pan-tilt system, for example, a plug-in hard disk, a smart media card (SMC), an SD card, and a flash card (Flash Card) equipped on the device. Wait. Further, the computer-readable storage medium may also include both an internal storage unit of the pan-tilt system and an external storage device. The computer-readable storage medium is used to store the computer program and other programs and data required by the pan-tilt system, and can also be used to temporarily store data that has been output or will be output.

A person of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing relevant hardware through a computer program. The program can be stored in a computer readable storage medium. During execution, it may include the procedures of the above-mentioned method embodiments. Wherein, the storage medium may be a magnetic disk, an optical disc, a read-only memory (Read-Only Memory, ROM), or a random access memory (Random Access Memory, RAM), etc.

The above-disclosed are only some of the embodiments of the present invention, which of course cannot limit the scope of rights of the present invention. Therefore, equivalent changes made according to the claims of the present invention still fall within the scope of the present invention.

Claims

A control method of a pan/tilt system, characterized in that, the pan/tilt system includes a base, a pan/tilt set on the base, and a rocker for controlling the pan/tilt, and the pan/tilt is used for Equipped with a camera; the method includes:

It is detected that the pan-tilt system has a mode switch;

Acquiring the current mode of the pan-tilt system;

Controlling the rotation of the pan/tilt head according to the mapping strategy between the control signal of the joystick and the joint angle of the pan/tilt head corresponding to the current mode;

Wherein, the mapping strategies of different modes are different.
The method according to claim 1, wherein the current mode includes one of the following:

Forward shooting mode, reverse shooting mode, down flashlight mode, upper flashlight mode, left shooting mode, right shooting mode, anyway shooting mode, reverse shooting mode, reverse flashlight mode, reverse flashlight mode;

Wherein, when the pan/tilt system is in the left shooting mode, the shooting device is located on the left side of the base;

When the pan/tilt system is in the right shooting mode, the shooting device is located on the right side of the base.
The method according to claim 2, wherein the control signal comprises at least one of the following:

The first control signal input by the joystick on the first plane, and the second control signal input by the joystick on the second plane;

Wherein, the first plane is orthogonal to the second plane, and the extension direction of the base is parallel to the second plane.
The method according to claim 2, wherein the control signal comprises at least one of the following:

The amount of the joystick is mapped to a first control signal on the first plane, and the amount of the joystick is mapped to a second control signal on the second plane;

Wherein, the first plane is orthogonal to the second plane, and the extension direction of the base is parallel to the second plane.
The method according to claim 3 or 4, wherein when the pan/tilt system is in the forward mode, the reverse mode, the reverse forward mode, or the reverse reverse mode, the first One plane is a horizontal plane, and the second plane is a vertical plane.
The method according to claim 3 or 4, wherein when the pan/tilt system is in the lower flashlight mode, the upper flashlight mode, the left shooting mode, the right shooting mode, the reverse down In the flashlight mode or the reverse flashlight mode, the first plane is a vertical plane, and the second plane is a horizontal plane.
The method according to claim 3 or 4, wherein the controlling the rotation of the pan/tilt head according to the mapping strategy between the control signal of the joystick corresponding to the current mode and the joint angle of the pan/tilt head includes :

Determining the rotation direction of the joint angle of the corresponding axis of the pan/tilt head according to the direction of the first control signal and/or the direction of the second control signal;

According to the rotation direction, the corresponding joint angle is controlled to rotate.
The method according to claim 7, wherein the determining the rotation direction of the joint angle of the corresponding axis of the pan/tilt head according to the direction of the first control signal and/or the direction of the second control signal comprises:

When the photographing device and the base are in an up-and-down positional relationship or a left-right positional relationship, the rotation direction of the yaw joint angle of the pan/tilt head is determined according to the direction of the first control signal, and/or, according to The direction of the second control signal determines the rotation direction of the pitch joint angle of the pan/tilt.
The method according to claim 8, wherein the current mode is the forward shooting mode or the reverse shooting mode, and the yaw of the pan/tilt is determined according to the direction of the first control signal The rotation direction of the joint angle includes:

When the direction of the first control signal is the first direction, it is determined that the rotation direction of the yaw joint angle of the pan/tilt is the first rotation direction.
The method according to claim 8, wherein the current mode is the forward shooting mode or the reverse shooting mode, and the pitch joint of the pan/tilt head is determined according to the direction of the second control signal The direction of rotation of the angle includes:

When the direction of the second control signal is the second direction, it is determined that the rotation direction of the pitch joint angle of the pan/tilt is the second rotation direction.
The method according to claim 8, wherein the current mode is the reverse shot mode or the reverse shot mode, and the yaw of the pan/tilt head is determined according to the direction of the first control signal The rotation direction of the joint angle includes:

When the direction of the first control signal is the first direction, it is determined that the rotation direction of the yaw joint angle of the pan/tilt head is the opposite direction of the first rotation direction.
The method according to claim 8, wherein the current mode is the reverse shot mode or the reverse shot mode, and the pitch joint of the pan/tilt head is determined according to the direction of the second control signal The direction of rotation of the angle includes:

When the direction of the second control signal is the second direction, it is determined that the rotation direction of the pitch joint angle of the pan/tilt head is the opposite direction of the second rotation direction.
8. The method according to claim 8, wherein the current mode is a left shooting mode, and the rotation direction of the yaw joint angle of the pan/tilt is determined according to the direction of the first control signal, and all The rotation of the pan/tilt includes:

When the direction of the first control signal is the first direction, it is determined that the rotation direction of the yaw joint angle of the pan/tilt head is the opposite direction of the second rotation direction.
The method according to claim 8, wherein the current mode is a left shooting mode, and the determining the rotation direction of the pitch joint angle of the pan/tilt according to the direction of the second control signal comprises:

When the direction of the second control signal is the second direction, it is determined that the rotation direction of the pitch joint angle of the pan/tilt head is the first rotation direction.
The method according to claim 8, wherein the current mode is a right shooting mode, and the rotation direction of the yaw joint angle of the pan/tilt head is determined according to the direction of the first control signal, and all The rotation of the pan/tilt includes:

When the direction of the first control signal is the first direction, it is determined that the rotation direction of the yaw joint angle of the pan/tilt is the second rotation direction.
The method according to claim 8, wherein the current mode is a right shooting mode, and the determining the rotation direction of the pitch joint angle of the pan/tilt according to the direction of the second control signal comprises:

When the direction of the second control signal is the second direction, it is determined that the rotation direction of the pitch joint angle of the pan/tilt head is the opposite direction of the first rotation direction.
The method according to claim 7, wherein the determining the rotation direction of the joint angle of the corresponding axis of the pan/tilt head according to the direction of the first control signal and/or the direction of the second control signal comprises:

When the photographing device and the base are in a front-to-back positional relationship, the rotation direction of the roll joint angle of the pan/tilt head is determined according to the direction of the first control signal, and/or, according to the second control The direction of the signal determines the direction of rotation of the pitch joint angle of the pan/tilt.
The method according to claim 17, wherein the current mode is one of the lower flashlight mode, the upper flashlight mode, the reverse flashlight mode, and the reverse flashlight mode, and the according to The direction of the first control signal to determine the rotation direction of the roll joint angle of the pan/tilt includes:

When the direction of the first control signal is the first direction, it is determined that the rotation direction of the roll joint angle of the pan/tilt head is the first rotation direction.
The method according to claim 17, wherein the current mode is one of the lower flashlight mode, the upper flashlight mode, the reverse flashlight mode, and the reverse flashlight mode, and the according to The direction of the second control signal to determine the rotation direction of the pitch joint angle of the pan/tilt head includes:

When the direction of the second control signal is the second direction, it is determined that the rotation direction of the pitch joint angle of the pan/tilt is the second rotation direction.
The method according to claim 9, 11, 14, 16 or 18, wherein the first rotation direction is a clockwise direction.
The method according to claim 10, 12, 13, 15 or 19, wherein the second rotation direction is a downward direction.
The method according to claim 2, wherein the detecting that the pan-tilt system has a mode switch comprises:

It is detected that the pan/tilt system has switched from the forward shooting mode to the lower flashlight mode, the upper flashlight mode, the left shooting mode, or the right shooting mode; or

It is detected that the pan/tilt system has switched from the reverse shooting mode to the lower flashlight mode, the upper flashlight mode, the left shooting mode, the right shooting mode, or the reverse shooting mode; or

It is detected that the pan/tilt system is switched from the down flashlight mode to the forward shooting mode, the reverse shooting mode, the left shooting mode, or the right shooting mode; or

It is detected that the pan/tilt system has switched from the upper flashlight mode to the forward shooting mode, the reverse shooting mode, the left shooting mode, or the right shooting mode; or

It is detected that the pan/tilt system has switched from the left shooting mode to the forward shooting mode, the reverse shooting mode, the lower flashlight mode, the upper flashlight mode, the right shooting mode, and the anyway shooting mode , The reverse shooting mode, the reverse flashlight mode, or the reverse flashlight mode; or

It is detected that the pan/tilt system has switched from the right shooting mode to the forward shooting mode, the reverse shooting mode, the lower flashlight mode, the upper flashlight mode, or the left shooting mode; or

It is detected that the pan/tilt system is switched from the anyway shooting mode to the left shooting mode, the reverse flashlight mode, or the reverse flashlight mode; or

It is detected that the pan/tilt system has switched from the reverse shooting mode to the left shooting mode, the reverse flashlight mode, or the reverse flashlight mode; or

It is detected that the pan/tilt system has switched from the reverse flashlight mode to the left shooting mode, the anyway shooting mode, or the reversed shooting mode; or

It is detected that the pan/tilt system is switched from the reverse flashlight mode to the left shooting mode, the anyway shooting mode, or the reversed shooting mode.
The method according to claim 1, wherein the obtaining the current mode of the pan-tilt system comprises:

Acquiring first posture information of the photographing device and second posture information of the base;

Determine the current mode of the pan-tilt system according to the first posture information and the second posture information.
The method according to claim 23, wherein the determining the current mode of the pan/tilt system according to the first posture information and the second posture information comprises:

Determine the positional relationship between the photographing device and the base according to the first posture information and the second posture information;

According to the position relationship, the current mode of the pan-tilt system is determined.
The method according to claim 1, wherein the pan/tilt system is a handheld pan/tilt, and the base is a handle of the handheld pan/tilt.
A pan-tilt system, characterized in that the pan-tilt system includes:

Base

A pan/tilt mounted on the base, where the pan/tilt is used to carry a camera;

A joystick for controlling the pan/tilt; and

The controller provided on the base is respectively communicatively connected with the pan-tilt and the rocker, and the controller is configured to:

It is detected that the pan-tilt system has a mode switch;

Acquiring the current mode of the pan-tilt system;

Controlling the rotation of the pan/tilt head according to the mapping strategy between the control signal of the joystick and the joint angle of the pan/tilt head corresponding to the current mode;

Wherein, the mapping strategies of different modes are different.
The pan-tilt system according to claim 26, wherein the current mode includes one of the following:

Forward shooting mode, reverse shooting mode, down flashlight mode, upper flashlight mode, left shooting mode, right shooting mode, anyway shooting mode, reverse shooting mode, reverse flashlight mode, reverse flashlight mode;

Wherein, when the pan/tilt system is in the left shooting mode, the shooting device is located on the left side of the base;

When the pan/tilt system is in the right shooting mode, the shooting device is located on the right side of the base.
The pan-tilt system according to claim 27, wherein the control signal comprises at least one of the following:

The first control signal input by the joystick on the first plane, and the second control signal input by the joystick on the second plane;

Wherein, the first plane is orthogonal to the second plane, and the extension direction of the base is parallel to the second plane.
The pan-tilt system according to claim 27, wherein the control signal comprises at least one of the following:

The amount of the joystick is mapped to a first control signal on the first plane, and the amount of the joystick is mapped to a second control signal on the second plane;

Wherein, the first plane is orthogonal to the second plane, and the extension direction of the base is parallel to the second plane.
The pan/tilt system according to claim 28 or 29, wherein when the pan/tilt system is in the forward mode, the reverse mode, the anyway mode, or the reverse mode, The first plane is a horizontal plane, and the second plane is a vertical plane.
The pan/tilt system according to claim 28 or 29, wherein when the pan/tilt system is in the lower flashlight mode, the upper flashlight mode, the left shooting mode, the right shooting mode, the In the reverse flashlight mode or the reverse flashlight mode, the first plane is a vertical plane, and the second plane is a horizontal plane.
The pan/tilt system according to claim 28 or 29, wherein the controller controls the control signal according to the mapping strategy between the control signal of the joystick corresponding to the current mode and the joint angle of the pan/tilt. When the gimbal rotates, it is configured to:

Determining the rotation direction of the joint angle of the corresponding axis of the pan/tilt head according to the direction of the first control signal and/or the direction of the second control signal;

According to the rotation direction, the corresponding joint angle is controlled to rotate.
The pan/tilt system according to claim 32, wherein the controller determines the joint angle of the corresponding axis of the pan/tilt according to the direction of the first control signal and/or the direction of the second control signal. When turning direction, it is configured for:

When the photographing device and the base are in an up-and-down positional relationship or a left-right positional relationship, the rotation direction of the yaw joint angle of the pan/tilt head is determined according to the direction of the first control signal, and/or, according to The direction of the second control signal determines the rotation direction of the pitch joint angle of the pan/tilt.
The pan-tilt system according to claim 33, wherein the current mode is the forward shooting mode or the reverse shooting mode, and the controller determines the direction according to the first control signal When the rotation direction of the yaw joint angle of the gimbal is configured to:

When the direction of the first control signal is the first direction, it is determined that the rotation direction of the yaw joint angle of the pan/tilt is the first rotation direction.
The pan/tilt head system according to claim 33, wherein the current mode is the forward shooting mode or the reverse shooting mode, and the controller determines the direction according to the second control signal When the rotation direction of the pitch joint angle of the gimbal is configured to:

When the direction of the second control signal is the second direction, it is determined that the rotation direction of the pitch joint angle of the pan/tilt is the second rotation direction.
The pan-tilt system according to claim 33, wherein the current mode is the reverse shooting mode or the anyway shooting mode, and the controller determines the direction according to the first control signal When the rotation direction of the yaw joint angle of the gimbal is configured to:

When the direction of the first control signal is the first direction, it is determined that the rotation direction of the yaw joint angle of the pan/tilt head is the opposite direction of the first rotation direction.
The pan-tilt system according to claim 33, wherein the current mode is the reverse shooting mode or the anyway shooting mode, and the controller determines the direction according to the second control signal When the rotation direction of the pitch joint angle of the gimbal is configured to:

When the direction of the second control signal is the second direction, it is determined that the rotation direction of the pitch joint angle of the pan/tilt head is the opposite direction of the second rotation direction.
The pan/tilt system of claim 33, wherein the current mode is a left shooting mode, and the controller determines the yaw joint angle of the pan/tilt according to the direction of the first control signal. The direction of rotation, when controlling the rotation of the pan/tilt, is configured to:

When the direction of the first control signal is the first direction, it is determined that the rotation direction of the yaw joint angle of the pan/tilt head is the opposite direction of the second rotation direction.
The pan-tilt system according to claim 33, wherein the current mode is a left shooting mode, and the controller determines the rotation of the pitch joint angle of the pan-tilt according to the direction of the second control signal When the direction, it is configured for:

When the direction of the second control signal is the second direction, it is determined that the rotation direction of the pitch joint angle of the pan/tilt head is the first rotation direction.
The pan/tilt system of claim 33, wherein the current mode is a right shooting mode, and the controller determines the yaw joint angle of the pan/tilt according to the direction of the first control signal. The direction of rotation, when controlling the rotation of the pan/tilt, is configured to:

When the direction of the first control signal is the first direction, it is determined that the rotation direction of the yaw joint angle of the pan/tilt is the second rotation direction.
The pan-tilt system according to claim 33, wherein the current mode is a right shooting mode, and the controller determines the rotation of the pitch joint angle of the pan-tilt according to the direction of the second control signal When the direction, it is configured for:

When the direction of the second control signal is the second direction, it is determined that the rotation direction of the pitch joint angle of the pan/tilt head is the opposite direction of the first rotation direction.
The pan/tilt system according to claim 32, wherein the controller determines the joint angle of the corresponding axis of the pan/tilt according to the direction of the first control signal and/or the direction of the second control signal. When turning direction, it is configured for:

When the photographing device and the base are in a front-to-back positional relationship, the rotation direction of the roll joint angle of the pan/tilt head is determined according to the direction of the first control signal, and/or, according to the second control The direction of the signal determines the direction of rotation of the pitch joint angle of the pan/tilt.
The pan/tilt system according to claim 42, wherein the current mode is one of the lower flashlight mode, the upper flashlight mode, the reverse flashlight mode, and the reverse flashlight mode. When determining the rotation direction of the roll joint angle of the pan/tilt head according to the direction of the first control signal, the controller is configured to:

When the direction of the first control signal is the first direction, it is determined that the rotation direction of the roll joint angle of the pan/tilt head is the first rotation direction.
The pan/tilt system according to claim 42, wherein the current mode is one of the lower flashlight mode, the upper flashlight mode, the reverse flashlight mode, and the reverse flashlight mode. When determining the rotation direction of the pitch joint angle of the pan/tilt according to the direction of the second control signal, the controller is configured to:

When the direction of the second control signal is the second direction, it is determined that the rotation direction of the pitch joint angle of the pan/tilt is the second rotation direction.
The pan-tilt system according to claim 34, 36, 39, 41 or 43, wherein the first rotation direction is a clockwise direction.
The pan-tilt system according to claim 35, 37, 38, 40 or 44, wherein the second rotation direction is a downward direction.
The pan/tilt system according to claim 27, wherein the controller is configured to: when detecting that the pan/tilt system has a mode switch:

It is detected that the pan/tilt system has switched from the forward shooting mode to the lower flashlight mode, the upper flashlight mode, the left shooting mode, or the right shooting mode; or

It is detected that the pan/tilt system has switched from the reverse shooting mode to the lower flashlight mode, the upper flashlight mode, the left shooting mode, the right shooting mode, or the reverse shooting mode; or

It is detected that the pan/tilt system is switched from the down flashlight mode to the forward shooting mode, the reverse shooting mode, the left shooting mode, or the right shooting mode; or

It is detected that the pan/tilt system is switched from the upper flashlight mode to the forward shooting mode, the reverse shooting mode, the left shooting mode, or the right shooting mode; or

It is detected that the pan/tilt system has switched from the left shooting mode to the forward shooting mode, the reverse shooting mode, the lower flashlight mode, the upper flashlight mode, the right shooting mode, and the anyway shooting mode , The reverse shooting mode, the reverse flashlight mode, or the reverse flashlight mode; or

It is detected that the pan/tilt system has switched from the right shooting mode to the forward shooting mode, the reverse shooting mode, the lower flashlight mode, the upper flashlight mode, or the left shooting mode; or

It is detected that the pan/tilt system is switched from the anyway shooting mode to the left shooting mode, the reverse flashlight mode, or the reverse flashlight mode; or

It is detected that the pan/tilt system has switched from the reverse shooting mode to the left shooting mode, the reverse flashlight mode, or the reverse flashlight mode; or

It is detected that the pan/tilt system has switched from the reverse flashlight mode to the left shooting mode, the anyway shooting mode, or the reversed shooting mode; or

It is detected that the pan/tilt system is switched from the reverse flashlight mode to the left shooting mode, the anyway shooting mode, or the reversed shooting mode.
The pan/tilt system according to claim 26, wherein the controller is configured to: when acquiring the current mode of the pan/tilt system:

Acquiring first posture information of the photographing device and second posture information of the base;

Determine the current mode of the pan-tilt system according to the first posture information and the second posture information.
The pan-tilt system according to claim 48, wherein the controller is configured to use when determining the current mode of the pan-tilt system according to the first posture information and the second posture information in:

Determine the positional relationship between the photographing device and the base according to the first posture information and the second posture information;

According to the position relationship, the current mode of the pan-tilt system is determined.
The pan/tilt system of claim 26, wherein the pan/tilt system is a handheld pan/tilt, and the base is a handle of the handheld pan/tilt.