WO2021077262A1 - Cradle head control method and apparatus, and cradle head control system - Google Patents

Abstract

A cradle head (100) control method and apparatus, and a cradle head (100) control system, the method comprising: establishing a communication connection with a third party control device (300), the third party control device (300) comprising a control unit (S101); acquiring a control signal generated by the third party control device (300) when a user triggers the control unit (S102); and according to a mapping relationship between the control unit and operations of the cradle head (100), controlling the cradle head (100) to execute an operation corresponding to the control signal (S103). The third party control device (300) controls the cradle head (100) by means of the mapping relationship between the control unit of the third party control device (300) and operations of the cradle head (100), which satisfies the requirements for the precise and remote control of the cradle head (100) by a user using the third party control device (300); using the third party control device (300) to replace a virtual joystick enhances the sense of control of the user, and also makes it easier to precisely control the cradle head (100) when the user controls the third party control device (300) to control the cradle head; and at the same time, the user does not need to buy an expensive professional remote control, which lowers the cost for the user to remotely control the cradle head (100).

Description

Control method and device of pan/tilt and control system of pan/tilt Technical field

The present invention relates to the field of pan-tilt, in particular to a control method and device of pan-tilt and a control system of pan-tilt.

Background technique

At present, some pan-tilt manufacturers do not provide a dedicated remote control for the pan-tilt, and can only remotely control the pan-tilt through the virtual joystick on the APP interactive interface of the app, and the virtual joystick on the APP interactive interface has a better operating feel. Poor, it is also difficult to achieve precise control of the PTZ. Although some other pan-tilt manufacturers provide dedicated remote controls for pan-tilts, the prices of dedicated remote controls are relatively high, and most users will not purchase them specifically for precise control.

Summary of the invention

The invention provides a control method and device of a pan-tilt and a control system of the pan-tilt.

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

According to a first aspect of the present invention, there is provided a method for controlling a pan/tilt head, the method including:

Establish a communication connection with a third-party control device, where the third-party control device includes a control unit;

Acquiring a control signal generated by the third-party control device when the user triggers the control unit;

According to the mapping relationship between the control unit and the operation of the pan/tilt, the pan/tilt is controlled to perform the operation corresponding to the control signal.

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

Storage device for storing program instructions; and

One or more processors call program instructions stored in the storage device, and when the program instructions are executed, the one or more processors are individually or collectively configured to implement the following operations:

Establish a communication connection with a third-party control device, where the third-party control device includes a control unit;

Acquiring a control signal generated by the third-party control device when the user triggers the control unit;

According to the mapping relationship between the control unit and the operation of the pan/tilt, the pan/tilt is controlled to perform the operation corresponding to the control signal.

According to a third aspect of the present invention, there is provided a method for controlling a pan/tilt head, the method including:

Receive the setting instructions entered by the user;

According to the setting instruction, setting the mapping relationship between the control part of the third-party control device and the operation of the pan-tilt;

Wherein, the mapping relationship is used to instruct the control unit to control the pan/tilt to perform a corresponding operation when it is triggered.

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

Storage device for storing program instructions; and

One or more processors call program instructions stored in the storage device, and when the program instructions are executed, the one or more processors are individually or collectively configured to implement the following operations:

Receive the setting instructions entered by the user;

According to the setting instruction, setting the mapping relationship between the control part of the third-party control device and the operation of the pan-tilt;

Wherein, the mapping relationship is used to instruct the control unit to control the pan/tilt to perform a corresponding operation when it is triggered.

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

Cloud platform; and

Terminal Equipment;

Wherein, the terminal device establishes a communication connection with a pan-tilt and a third-party control device, and the third-party control device includes a control unit;

When the terminal device obtains the control signal generated by the third-party control device when the user triggers the control unit, it controls the pan/tilt according to the mapping relationship between the control unit and the operation of the pan/tilt. Perform the operation corresponding to the control signal.

According to the technical solution provided by the embodiments of the present invention, the present invention realizes the control of the PTZ by the third-party control device through the mapping relationship between the control part of the third-party control device and the operation of the pan/tilt. The need for precise remote control of the pan/tilt; the use of third-party control devices instead of virtual joysticks improves the user's control feel. It is easier for users to control the pan/tilt by third-party control devices to achieve precise control of the pan/tilt; at the same time, users do not need to purchase Expensive professional remote controls can realize remote control of the PTZ only by cheap third-party control equipment, which reduces the cost of remote control of the PTZ.

Description of the drawings

In order to explain the technical solutions in the embodiments of the present invention more clearly, the following will briefly introduce the drawings needed in the description of the embodiments. Obviously, the 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 from these drawings without creative labor.

Fig. 1 is a schematic flow chart of a method for controlling a pan-tilt in an embodiment of the present invention;

Fig. 2 is a schematic structural diagram of a control system of a pan-tilt in an embodiment of the present invention;

FIG. 3 is a schematic structural diagram of a control system of a pan-tilt in another embodiment of the present invention;

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

Fig. 5 is a structural block diagram of a pan-tilt control device in an embodiment of the present invention;

Fig. 6 is a schematic flow chart of a method for controlling a pan-tilt in another embodiment of the present invention;

Fig. 7 is a schematic diagram showing the display of an interactive interface in an embodiment of the present invention;

Fig. 8 is a structural block diagram of a pan-tilt control device in another embodiment of the present invention.

Reference signs:

100: PTZ; 200: terminal equipment; 300: third-party control equipment; 310: joystick; 311: first joystick; 312: second joystick; 320: button; 321: first button; 322: second Button; 323: the third button; 324: the fourth button; 325: the fifth button; 326: the sixth button.

Detailed ways

In the prior art, the PTZ can be remotely controlled by the virtual joystick on the APP interactive interface, but the virtual joystick on the APP interactive interface has a poor operating feel and it is difficult to achieve precise control of the PTZ; it can also be used The dedicated remote control can remotely control the pan/tilt, but the price of the dedicated remote is higher, and most users will not purchase it for precise control.

In this regard, the present invention realizes the third-party control device to control the pan-tilt through the mapping relationship between the control part of the third-party control device and the operation of the pan-tilt, which satisfies the user’s precise remote control of the pan-tilt using the third-party control device Demand; the use of third-party control devices instead of virtual joysticks improves the user’s control feel. It is also easier for users to control the pan/tilt with third-party control devices to achieve precise control of the pan/tilt; at the same time, users do not need to purchase expensive professional remote controls. A cheap third-party control device is needed to remotely control the pan/tilt, which reduces the cost of remote control of the pan/tilt by the user.

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

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 features in the following embodiments and implementations can be combined with each other.

Example one

The first embodiment of the present invention provides a method for controlling a PTZ. Optionally, in some embodiments, the execution subject of the method for controlling the PTZ is a terminal device installed with an application program APP, and the terminal device may be a mobile phone. Mobile terminals such as, Pad, and wearable electronic devices can also be other terminal devices. In other embodiments, the execution subject of the method for controlling the pan-tilt may be a pan-tilt installed with an application program APP.

Referring to FIG. 1, the method for controlling the pan-tilt includes steps S101 to S103.

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

Different communication connection methods can be used to establish a communication connection with a third-party control device, such as Bluetooth, wifi or other communication connection methods. The third-party control device in this embodiment may include a third-party handle, or may include other third-party remote control devices.

In the embodiment where the execution subject is a terminal device, referring to FIG. 2, the third-party control device 300 establishes a communication connection with the pan-tilt 100 via the terminal device 200. In this embodiment, the terminal device 200 is used as the host, and in step S101, the terminal device 200 establishes a communication connection with the third-party control device 300. Exemplarily, the terminal device 200 first performs a pairing connection with the third-party control device 300 via Bluetooth; after the third-party control device 300 is successfully connected to the terminal device 200, the terminal device 200 then opens the PTZ 100 supporting APP and searches for the PTZ 100. The terminal device 200 is used as a host to connect the pan/tilt 100, specifically by sending a command through the APP to establish a connection between the terminal device 200 and the pan/tilt 100, and complete the link construction. The existing control range of remote control of the PTZ 100 using the virtual joystick on the APP interactive interface is the Bluetooth connection distance of the PTZ 100. In this embodiment, the terminal device 200 is used as the transfer center to extend the remote control range to the Bluetooth connection distance of the PTZ 100. The sum of the Bluetooth connection distances with third-party handles increases the maximum distance that the PTZ 100 can be remotely controlled. It should be understood that the sequence in which the terminal device 200 serves as a host to connect the third-party control device 300 and the pan-tilt 100 can be selected according to needs.

In the embodiment where the execution subject is a pan-tilt, please refer to FIG. 3, the third-party control device 300 directly establishes a communication connection with the pan-tilt 100. In this embodiment, the pan-tilt 100 is used as the host, and in step S101, the pan-tilt 100 and the third-party control device 300 establish a communication connection. Exemplarily, the pan-tilt 100 is paired with the third-party control device 300 via Bluetooth.

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

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

The control unit may include a joystick, a button, or others. Specifically, the type of the control unit is determined by the type of the third-party control device. For example, optionally, referring to FIG. 4, the control unit includes a joystick 310, the control signal includes a first control signal generated by the user triggering the joystick 310, and the first control signal may include a stick amount generated by the user triggering the joystick 310, and further In particular, the joystick 310 may be a multi-dimensional joystick, such as a four-dimensional joystick and a five-dimensional joystick. The joystick 310 in this embodiment includes at least two operating directions, and the first control signal may also include the operating direction of the user operating the joystick 310. . Optionally, referring to FIG. 4 again, the control unit includes a button 320, and the control signal includes a second control signal generated by the user triggering the button 320.

Among them, referring to 2, in the embodiment where the execution subject is the terminal device 200, after the terminal device 200 establishes a communication connection with the third-party control device 300, the third-party control device 300 generates a control signal when the user triggers the control unit, and The control signal is sent to the terminal device 200 to control the pan-tilt 100.

3, in the embodiment where the execution subject is the pan-tilt 100, after the pan-tilt 100 establishes a communication connection with the third-party control device 300, the third-party control device 300 will generate a control signal when the user triggers the control unit, and will The control signal is sent to the pan-tilt 100 to control the pan-tilt 100.

Further, in the embodiment where the execution subject is the terminal device, the method for controlling the pan-tilt may further include: establishing a communication connection with the pan-tilt before performing step S102. The terminal device may establish a communication connection with the pan-tilt 100 based on Bluetooth, wifi or other communication connection methods.

In step S103, according to the mapping relationship between the control unit and the operation of the pan/tilt, the pan/tilt is controlled to perform the operation corresponding to the control signal.

Among them, the operation of the pan/tilt may include the rotation of the pan/tilt, the execution of the setting function of the pan/tilt, or others.

For example, in some of the embodiments, the operation of the pan-tilt includes rotation of the pan-tilt. Optionally, referring to FIG. 4, the control unit includes a joystick 310, the control signal includes a first control signal generated by the user triggering the joystick 310, and the mapping relationship includes a first mapping relationship between the joystick 310 and the rotation of the pan/tilt. When the pan/tilt is controlled to perform the operation corresponding to the control signal according to the mapping relationship between the control unit and the operation of the pan/tilt, specifically, the rotation of the pan/tilt is controlled according to the first control signal and the first mapping relationship. That is, the user can control the rotation of the pan/tilt by operating the joystick 310 of the third-party control device. In this embodiment, after the first control signal is acquired, according to the first mapping relationship, the first control signal is converted into the speed control value of the corresponding rotation axis of the pan/tilt, so as to control the corresponding rotation axis of the pan/tilt according to the speed control amount. Rotate to complete the remote joystick 310 control. Wherein, in conjunction with FIG. 2, in the embodiment where the execution subject of the pan-tilt control method is the terminal device 200, the terminal device 200 may convert the acquired first control signal into the corresponding rotation of the pan-tilt 100 according to the first mapping relationship. The speed control amount of the shaft is sent by the terminal device 200 to the pan/tilt 100; the terminal device 200 may also directly forward the acquired first control signal to the pan/tilt 100, and the pan/tilt 100 will use the first mapping Relationship, the first control signal is converted into the speed control amount of the pan-tilt 100 corresponding to the rotation axis. With reference to FIG. 3, in the embodiment where the main body of the pan/tilt control method is the pan/tilt 100, the pan/tilt 100 converts the first control signal into the pan/tilt 100 according to the first mapping relationship after acquiring the first control signal. Corresponding to the speed control amount of the rotating shaft.

When the pan/tilt is a multi-axis pan/tilt, such as a two-axis pan/tilt or a three-axis pan/tilt, the rotation of the pan/tilt may include the rotation of each rotation axis of the pan/tilt. In this embodiment, there are multiple joysticks, such as two; it should be understood that the number of joysticks is determined according to the type of the third-party control device.

Optionally, in some embodiments, the first mapping relationship includes: different rockers control the rotation of different rotation axes of the pan/tilt. For example, the pan/tilt is a two-axis pan/tilt, and the pan/tilt has two rotation axes. The third-party control device includes a first joystick and a second joystick. The first mapping relationship specifically includes: the first joystick is used to control one of them to rotate For the rotation of the shaft, the second rocker is used to control the rotation of another rotating shaft.

In some other embodiments, the first mapping relationship includes: the same rocker controls the rotation of multiple rotation axes of the pan/tilt. For example, the rocker may include at least two operating directions, and the first mapping relationship specifically includes: different operating directions of the rocker control the rotation of different rotation axes of the pan/tilt.

The joystick includes multiple embodiments. In this embodiment, different operating directions of at least one joystick control the rotation of different rotation axes of the pan/tilt. Optionally, the joystick includes two joysticks, the pan/tilt includes three rotation axes, that is, the pan/tilt is a three-axis pan/tilt, and the first mapping relationship includes: the two operating directions of one joystick correspondingly control the two rotational axes of the pan/tilt. Rotate, one of the operating directions of the other rocker controls the rotation of the other rotating shaft.

4, the joystick 310 includes a first joystick 311 and a second joystick 312. Each joystick includes a vertical operation direction and a horizontal operation direction. The pan/tilt includes a yaw axis, a pitch axis, and a roll axis. The first mapping relationship specifically includes: the horizontal operation direction of the first joystick 311 controls the rotation of the yaw axis, the vertical operation direction of the first joystick 311 controls the rotation of the pitch axis, and the horizontal operation direction of the second joystick 312 controls the roll axis. Rotate.

It is understandable that the joystick can also be replaced with another control part of a third-party control device, and the rotation of the pan/tilt can be controlled by the other control part of the third-party control device.

In addition, in some embodiments, the method for controlling the pan/tilt may further include: before controlling the rotation of the pan/tilt according to the first control signal and the first mapping relationship, acquiring the rotation control parameters input by the user; and sending the rotation control parameters to the cloud. To make the pan/tilt rotate according to the rotation control parameters. That is, the user can set the rotation control parameters of the pan/tilt head as needed. Exemplarily, the rotation control parameter may include at least one of the speed and smoothness of the pan/tilt rotation. Among them, the smoothness refers to the speed of change of the rotation speed of the pan/tilt. By setting the smoothness, the sudden change of the rotation speed of the pan/tilt can be avoided, so that the rotation of the pan/tilt is smoother. It should be understood that the rotation control parameter may also include other rotation control parameters.

In some other embodiments, the operation of the pan/tilt includes the pan/tilt performs a setting function. Optionally, referring to FIG. 4, the control unit includes a button 320, the control signal includes a second control signal generated by the user triggering the button 320, and the mapping relationship includes a second mapping relationship between the button 320 and the set function. When controlling the pan-tilt to perform the operation corresponding to the control signal according to the mapping relationship between the control unit and the operation of the pan-tilt, specifically, according to the second mapping relationship, the pan-tilt is controlled to perform the setting function corresponding to the second control signal. That is, the user can control the pan-tilt to perform the set function by operating the button 320 of the third-party control device.

The setting function may include one or more. In some embodiments, the setting function may include at least one of the pan-tilt returning to a preset position and the pan-tilt parameter configuration. Wherein, returning the pan/tilt to the preset position may include returning the pan/tilt to the center or returning to other positions. In some embodiments, the pan/tilt carries a photographing device, and the setting function may include at least one of controlling the photographing device to take pictures, controlling the photographing device to record video, and adjusting the photographing parameters of the photographing device. The photographing parameters of the photographing device may include the photographing device. The focal length or other shooting parameters. It should be understood that the setting function may also include other functions of the pan/tilt.

Further, the number of buttons is also determined according to the type of third-party control equipment. In one of the embodiments, both buttons and setting functions include multiple, and the second mapping relationship includes: one button corresponds to one setting function. When the number of keys is greater than the number of setting functions, some keys of the third-party control device can be used to correspond to multiple setting functions of the pan/tilt, so that one key corresponds to one setting function.

In other embodiments, there are multiple buttons and setting functions, and the second mapping relationship includes: for some of the setting functions, one setting function corresponds to multiple buttons; for the other part of setting functions, one setting A certain function corresponds to a button.

4, the third-party control device includes a first button 321, a second button 322, a third button 323, and a fourth button 324. The first button 321 controls the camera to take pictures, the second button 322 controls the camera to take pictures, and the third button 322 controls the camera to take pictures. The button 323 controls the pan/tilt to return to the center, and the fourth button 324 controls the pan/tilt to perform parameter configuration. Further, the third-party control device 300 further includes a fifth button 325 and a sixth button 326. Both the fifth button 325 and the sixth button 326 control the focal length of the camera. Specifically, the fifth button 325 controls the camera to follow focus from a distance. , The sixth button 326 controls the camera to follow focus at close range.

The mapping relationship can be set in different ways. For example, in some of the embodiments, the mapping relationship is the default mapping relationship. After the communication connection with the third-party control device is established, the default mapping relationship is directly selected as one of the operations between the control unit and the pan/tilt. The mapping relationship between.

In some other embodiments, the mapping relationship is determined according to user instructions, and the user can set the mapping relationship by operating the APP. The specific implementation process of the user setting the mapping relationship by operating the APP will be described in detail in the second embodiment.

In some other embodiments, the mapping relationship is the most recently saved mapping relationship between the control unit and the operation of the pan/tilt. In this embodiment, every time the user sets the mapping relationship by operating the APP, the mapping relationship set by the user is saved. If a third-party control device is used to remotely control the pan/tilt, the last saved mapping relationship between the control unit and the operation of the pan/tilt is directly used as the mapping relationship between the control unit and the operation of the pan/tilt during this remote control.

In the embodiment where the execution subject of the pan-tilt control method is a terminal device, the mapping relationship is set through an interactive interface displayed on the display screen of the terminal device.

In the embodiment where the execution subject of the method for controlling the pan-tilt is a pan-tilt, the pan-tilt may further include a screen, and the mapping relationship is set through an interactive interface displayed on the screen.

Corresponding to the control method of the pan/tilt in the above embodiment, the first embodiment of the present invention also provides a control device for the pan/tilt. Referring to FIG. 5, the control device of the pan/tilt may include a first storage device and a first processor. . Wherein, the first processor may include one or more.

The first storage device is used to store program instructions; one or more first processors call the program instructions stored in the first storage device, and when the program instructions are executed, the one or more first processors individually or collectively The ground is configured to implement the following operations: establish a communication connection with a third-party control device, where the third-party control device includes a control part; obtain a control signal generated by the third-party control device when the user triggers the control part; The mapping relationship between the operations of the platform controls the PTZ to perform the operations corresponding to the control signals.

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

In some embodiments, the first processor may be a central processing unit (CPU). The first processor 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.

The first embodiment of the present invention also provides a pan/tilt control system. Referring to FIG. 2, the pan/tilt control system may include a pan/tilt 100 and a terminal device 200.

Among them, the terminal device 200 establishes a communication connection with the pan-tilt 100 and the third-party control device 300 respectively. The third-party control device 300 includes a control unit; the terminal device 200 obtains the control signal generated by the third-party control device 300 when the user triggers the control unit. At this time, according to the mapping relationship between the control unit and the operation of the pan/tilt head 100, the pan/tilt head 100 is controlled to perform the operation corresponding to the control signal. Specifically, when the terminal device 200 receives the control signal, according to the mapping relationship between the control unit and the operation of the pan/tilt head 100, the control signal is converted into a trigger signal for instructing the pan/tilt head 100 to perform the operation corresponding to the control signal, and The trigger signal is sent to the pan-tilt 100. When the pan/tilt head 100 receives the trigger signal, it performs a corresponding operation. For example, when the third-party control device 300 controls the rotation of the pan/tilt head 100, when the terminal device 200 receives the control signal, it converts the received control signal into the speed control amount of the pan/tilt head 100 corresponding to the rotation axis according to the mapping relationship. And send the speed control amount to the pan/tilt head 100. After receiving the speed control amount, the pan/tilt head 100 controls the corresponding rotation axis to rotate according to the speed control amount; another example is to control the pan/tilt head 100 to perform the setting function through the third-party control device 300 When receiving the control signal, the terminal device 200 generates a trigger signal for instructing the pan-tilt 100 to perform the set function according to the mapping relationship, and sends the trigger signal to the pan-tilt 100. After the pan-tilt 100 receives the trigger signal , Perform setting functions, such as pan-tilt 100 return to center, pan-tilt 100 parameter configuration, control the camera to take pictures, control the camera to record video, or adjust the shooting parameters of the camera, etc.

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

Further, the control unit includes a joystick, the control signal includes a first control signal generated by the user triggering the joystick, and the mapping relationship includes a first mapping relationship between the joystick and the rotation of the pan/tilt 100; the terminal device 200 receives the first control signal When, according to the first mapping relationship, the first control signal is converted into the speed control amount of the pan/tilt head 100, and the speed control amount is sent to the pan/tilt head 100. After the pan/tilt 100 receives the speed control amount, the speed control amount is performed according to the speed control amount. Rotate.

Further, there are multiple rockers, and different rockers 310 control the rotation of different rotating shafts of the pan/tilt head 100.

Further, the rocker includes at least two operating directions, and different operating directions of the at least one rocker control the rotation of different rotation axes of the pan/tilt head 100.

Further, the rocker includes two rockers, and the pan/tilt head 100 includes three rotating shafts. The two operating directions of one rocker correspondingly control the rotation of two of the rotating shafts, and one of the operating directions of the other rocker controls the rotation of the other. The rotation of the shaft.

Further, before the terminal device 200 converts the first control signal into the speed control amount of the pan-tilt 100 according to the first mapping relationship, it is also used to obtain the rotation control parameter input by the user; and send the rotation control parameter to the pan-tilt 100, So that the pan/tilt head 100 rotates according to the rotation control parameter.

Further, the rotation control parameter includes at least one of the speed and smoothness of the rotation of the pan-tilt 100.

Further, the operation of the pan-tilt 100 includes the pan-tilt 100 performing a setting function.

Further, the control unit includes a button, the control signal includes a second control signal generated by the user triggering the button, and the mapping relationship includes a second mapping relationship between the button and the set function; when the terminal device 200 receives the second control signal, it is based on the second control signal. The mapping relationship controls the pan/tilt head 100 to perform the setting function corresponding to the second control signal.

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

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

Further, there are multiple buttons and setting functions, and one button corresponds to one setting function.

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

Further, the terminal device 200 establishes a communication connection with the third-party control device 300 based on the Bluetooth method.

Further, the terminal device 200 establishes a communication connection with the pan-tilt 100 based on the Bluetooth method.

It can be understood that, as shown in FIG. 2, the control system of the pan/tilt may also include a third-party control device 300 to form a control link from the third-party control device 300 to the pan/tilt 100. Wherein, the terminal device 200 establishes a communication connection with the pan-tilt 100 and the third-party control device 300 respectively. The third control device includes a control part, and the third-party control device 300 is used to generate a control signal when the user triggers the control part; and send the control signal to the terminal device 200. When the terminal device 200 obtains the control signal, according to the mapping relationship between the control unit and the operation of the pan/tilt head 100, the control signal is converted into a trigger signal for instructing the pan/tilt head 100 to perform the operation corresponding to the control signal, and the trigger signal Send to PTZ 100. When the pan/tilt head 100 receives the trigger signal, it performs a corresponding operation.

Referring to FIG. 3, Embodiment 1 of the present invention also provides a pan-tilt control system, including a third-party control device 300 and a pan-tilt 100, wherein the third-party control device 300 establishes a communication connection with the pan-tilt 100. The third control device includes a control unit, and the third-party control device 300 is used to generate a control signal when the user triggers the control unit; and send the control signal to the pan-tilt 100. When the pan/tilt 100 obtains the control signal, it converts the control signal into a trigger signal for instructing the pan/tilt 100 to perform the operation corresponding to the control signal according to the mapping relationship between the control unit and the operation of the pan/tilt 100, and according to the trigger signal Perform the corresponding operation.

Example two

The second embodiment of the present invention provides a method for controlling a pan/tilt head. Optionally, in some embodiments, the execution subject of the method for controlling the pan/tilt head is a terminal device installed with an application program APP, and the terminal device may be a mobile phone. Mobile terminals such as, Pad, and wearable electronic devices can also be other terminal devices. In other embodiments, the execution subject of the method for controlling the pan-tilt may be a pan-tilt installed with an application program APP.

Referring to FIG. 6, the method for controlling the pan-tilt includes steps S601 to S602.

Wherein, in step S601, a setting instruction input by the user is received.

In step S602, according to the setting instruction, a mapping relationship between the control unit of the third-party control device 300 and the operation of the pan/tilt is set; wherein the mapping relationship is used to instruct the control unit to control the pan/tilt to perform corresponding operations when the control unit is triggered.

In this embodiment, before receiving the setting instruction input by the user, the first identifier of the control unit of the third-party control device and the second identifier of the operation of the pan-tilt with which the control unit can be associated are displayed on the interactive interface. Optionally, the first identifier is related to the type of the third-party control device. For example, there may be differences in the number of control units and the type of control units of the third-party control device produced by different third-party control device manufacturers. This embodiment In the above, the first identifier may be related to the number of control units, the type of control units, and so on.

The first logo and the second logo can be displayed in patterns, words, or a combination of patterns and words. Of course, the first logo and the second logo can also be displayed in other ways, such as letters, numbers, or symbols. Referring to FIG. 7, in conjunction with FIG. 4, the first identification of the control unit is displayed in a pattern. The first identification of this embodiment includes: a first rocker 311, a second rocker 312, a first button 321, and a second button 322 , The patterns of the third button 323, the fourth button 324, the fifth button 325, and the sixth button 326. The second identification of the operation of the pan/tilt head is displayed by a combination of patterns and text. The second identification of this embodiment includes: yaw axis, pitch axis, roll axis, photo, video, return to preset position, and parameter configuration.

The process of receiving the setting instruction input by the user in step S601 may include: obtaining the user's operations on the first identification and the second identification, and determining the setting instruction input by the user according to the operations on the first identification and the second identification. For example, referring to Fig. 7, the setting instructions include: associating the horizontal operation direction of the first joystick 311 with the rotation of the yaw axis, associating the vertical operation direction of the first joystick 311 with the rotation of the pitch axis, and associate the second The horizontal operation direction of the joystick 312 is associated with the rotation of the roll axis, the first button 321 is associated with the shooting of the camera, the second button 322 is associated with the video of the camera, and the third button 323 is returned to the preset Set position association, and associate the fourth button 324 with the PTZ parameter configuration.

Wherein, when the user specifically operates the first logo and the second logo, it can be dragging, for example, dragging the second logo onto the first logo to form a corresponding mapping relationship; it can also be clicking, For example, click the first logo, and then a pop-up window is displayed on the display interface, and the operation of each pan/tilt is displayed in the pop-up window. The user selects the corresponding operation in the pop-up window to form a corresponding mapping relationship; it can also perform such as The scribe line, for example, connects the first identifier and the second identifier through the scribe line to form a corresponding mapping relationship. Of course, it can be understood that the input mode of the setting instruction on the interactive interface includes but is not limited to the above content, as long as the corresponding mapping relationship can be formed through the input of the setting instruction.

It should be noted that, in addition to being implemented in the interactive interface, the input method of the setting instruction may also include other methods, such as voice, which is not specifically limited here.

Further, before displaying the logo on the interactive interface, identify the control unit of the currently connected third-party control device, such as identifying the number of control units, the type of control unit, and so on. The realization process of displaying the first identifier of the control unit and the second identifier of the operation of the pan/tilt that can be associated with the control unit on the interactive interface may include: displaying the first identifier of the control unit of the currently connected third-party control device and the control unit The second identifier of the operation of the associated PTZ. That is, different types of third-party control devices may correspond to different first identifiers. In this way, according to the currently connected third-party control device, the corresponding first identifiers can be selected from different first identifiers for display.

In some embodiments, the method for controlling the pan/tilt may further include: performing a distinguishing mark on the first identifier to distinguish the position of the control unit corresponding to the operation of the pan/tilt. By distinguishing the identification on the first identification, the mapping relationship between the control unit and the pan/tilt operation can be visually presented, so that the user can learn the mapping relationship between the control unit and the pan/tilt operation more quickly, so that the user can accurately and quickly Use third-party control equipment to control the PTZ. For example, in order to show the user intuitively that the horizontal operation direction of the first joystick 311 corresponds to the rotation of the yaw axis of the control pan/tilt, the vertical operation direction of the first joystick 311 corresponds to the rotation of the pitch axis of the control gimbal, using the first color The horizontal operation direction of the first rocker 311 is shown, and the second color is used to show the vertical direction of the first rocker 311. The first color and the second color are different colors, and the first color is distinguished based on the different colors. The mapping relationship between the different operating directions of the joystick 311 and the rotation of the yaw axis and the pitch axis enables the user to more quickly learn the mapping relationship between the different operating directions of the first joystick 311 and the rotation of the yaw axis and the pitch axis, thereby making The user can accurately and quickly use the joystick to control the rotation of the yaw axis and the pitch axis. Specifically, when the user uses a third-party control device to control the rotation of the pan/tilt, if it is necessary to control the rotation of the yaw axis, operate the horizontal operation direction of the first joystick 311; if it is necessary to control the rotation of the pitch axis, operate the first joystick The vertical direction of 311.

Exemplarily, when a distinguishing mark is performed on the first mark, a corresponding second mark is superimposed on the first mark and displayed to indicate the mapping relationship between the position corresponding to the second mark in the control unit and the operation of the pan/tilt head. That is, the second identifier is used as a distinguishing identifier, so that the user can accurately and quickly use the third-party control device to control the pan/tilt. With reference to FIG. 4, as shown in FIG. 7, the first logo corresponding to the first button 321, the second button 322, the third button 323, and the fourth button 324 is a circular pattern, which is superimposed on the first logo of the first button 321 The picture taken by the camera is superimposed on the first mark of the second button 322 with the picture of the camera’s video recording, and the first mark on the third button 323 is superimposed on the pattern of the pan/tilt returning to the preset position. The pattern of the PTZ parameter configuration is superimposed on the first logo of 324.

In some embodiments, the method for controlling the pan-tilt may further include: displaying the sub-identity of the first identifier in association with the first identifier on the interactive interface. Wherein, the sub-identifier is used to indicate the mapping relationship between the predetermined position of the control unit and the operation of the pan/tilt. Through the sub-identification of the first identifier, the mapping relationship between the predetermined position of the control unit (such as the different operation directions of the control unit) and the operation of the pan/tilt can be visually presented, so that the user can learn the predetermined position of the control unit more quickly The mapping relationship with the operation of the pan/tilt allows users to accurately and quickly control the pan/tilt using third-party control equipment. With reference to FIG. 4, in the dotted box area in FIG. 7, the sub-identity of the first rocker 311 and the sub-identity of the second rocker 312 are displayed, and the sub-identity of the first rocker 311 is the same as that of the first rocker 311. The first ID of the second rocker 312 is associated with the first ID of the second rocker 312, and the sub ID of the first rocker 311 and the sub ID of the second rocker 312 correspond to the operation of the PTZ. Distinguishing identification. Exemplarily, in the sub-identification of the first rocker 311 and the sub-identification of the second rocker 312, colors (such as black) are used to distinguish the operating directions of the first rocker 311 and the second rocker 312 to indicate Corresponding to the operation of the pan/tilt, the sub-identification of the first rocker 311 at the top in FIG. 7 is used to indicate that the horizontal operation direction of the first rocker 311 corresponds to the rotation of the yaw axis. The first rocker at the bottom in FIG. 7 The sub-identification of the lever 311 is used to indicate that the vertical direction of the first rocker 311 corresponds to the rotation of the control pitch axis, and the sub-identification of the second rocker 312 located above in FIG. 7 is used to indicate the horizontal operation direction of the second rocker 312 Corresponding to controlling the rotation of the roll axis, the sub-identification of the second rocker 312 located below in FIG. 7 is used to indicate that the vertical direction of the second rocker 312 is not associated with the operation of the pan/tilt.

In some embodiments, the user can also set the rotation control parameters of the pan/tilt on the interactive interface, so that when a third-party control device is used to control the rotation of the pan/tilt, the rotation of the pan/tilt meets the needs of the user. In this embodiment, the method for controlling the pan-tilt may further include the following steps:

(1) A third indicator is displayed on the interactive interface, and the third indicator is used to indicate the type of the rotation control parameter of the pan/tilt;

The third logo may include words, patterns, or a combination of words and patterns, and may also include other logo forms.

Exemplarily, the rotation control parameter includes at least one of the speed and smoothness of the pan/tilt rotation. Wherein, smoothness refers to the changing speed of the rotation speed of the pan/tilt; it should be understood that the rotation control parameter may also include other rotation control parameters.

(2) Receive the user's switching operation of the third identifier;

Among them, the switching operation may include operations such as clicking and dragging, and may also include other operations.

(3) According to the switching operation, the corresponding type of rotation control parameter adjustment indicator is switched and displayed on the interactive interface.

When there are multiple rotation control parameters of the pan/tilt, the interactive interface will display the third logo corresponding to each rotation control parameter. In order to make the display of the interactive interface more concise, the interactive interface only displays one third logo corresponding to the same time. For the adjustment mark of the rotation control parameter, the user can adjust the corresponding rotation control parameter by operating the currently displayed adjustment mark. When other rotation control parameters need to be adjusted, the user can perform a switching operation on the corresponding third indicator. For example, the switching operation may include a click operation, and the interactive interface displays the adjustment indicator of the rotation control parameter corresponding to the currently clicked third indicator.

Referring to Fig. 7, the third identifier corresponding to the speed of the pan/tilt rotation is "speed", and the third identifier corresponding to the smoothness of the pan/tilt rotation is "smoothness". The interactive interface currently displays the adjustment mark corresponding to the speed, and the user can operate the adjustment mark corresponding to the speed to adjust the rotation speed of the gimbal's yaw axis, pitch axis, and roll axis when the third-party control device controls the gimbal rotation. If you need to adjust the smoothness of the pan/tilt rotation, you can click "Smoothness" to switch the interactive interface to display the smoothness adjustment mark of the pan/tilt to adjust the yaw axis of the pan/tilt when the third-party control device controls the pan/tilt rotation. , The size of the smoothness of the rotation of the pitch axis and the roll axis.

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

(1). Receive the user's operation to adjust the logo;

In this embodiment, the operation of the user to adjust the mark can adjust the size of the rotation control parameter of the PTZ. The operation of the user to adjust the logo may include clicking, dragging, or others.

(2) Adjust the rotation control parameters of the pan/tilt according to the operation of the adjustment mark.

As shown in Figure 7, when you need to adjust the rotation speed of the gimbal, for example, when adjusting the rotation speed of the yaw axis of the gimbal, you can drag the corresponding adjustment button, such as dragging the yaw axis to the right. The adjustment button enables the third-party control device to control the speed of the gimbal's yaw axis when the gimbal rotates; drag the adjustment button corresponding to the yaw axis to the left, so that the third-party control device controls the gimbal's deflection when the gimbal rotates. The speed of the axis is reduced.

Among them, the operation of the pan/tilt may include the rotation of the pan/tilt, the execution of the setting function of the pan/tilt, or others.

For example, in some of the embodiments, the operation of the pan-tilt includes rotation of the pan-tilt.

Further, the control unit includes a joystick, a pan/tilt with which the joystick can be associated, the operation of which includes the rotation of the pan/tilt, and the mapping relationship includes a first mapping relationship between the rotation of the joystick and the pan/tilt.

Further, the rocker includes a plurality of rockers, and different rockers control the rotation of different rotating shafts of the pan/tilt.

Further, the rocker includes at least two operating directions, and different operating directions of the at least one rocker correspond to control the rotation of different rotating shafts of the pan/tilt.

Further, the rocker includes two rockers, and the pan/tilt includes three rotating shafts. The two operating directions of one rocker correspondingly control the rotation of two of the rotating shafts, and one of the operating directions of the other rocker controls the other rotating shaft. Rotation.

In some other embodiments, the control unit includes a button, the operation of the pan/tilt with which the button can be associated includes the pan/tilt performing a setting function, and the mapping relationship includes a second mapping relationship between the button and the setting function.

Further, the setting function of the pan/tilt includes at least one of returning the pan/tilt to a preset position and configuring parameters of the pan/tilt.

Further, the pan/tilt bears a photographing device, and the setting function includes at least one of controlling the photographing device to take pictures, controlling the photographing device to record video, and adjusting the photographing parameters of the photographing device.

Further, there are multiple buttons and setting functions, and one button corresponds to one setting function.

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

It should be noted that the description of the same part in the second embodiment as in the first embodiment can refer to the description of the corresponding part in the first embodiment, and will not be repeated here.

Corresponding to the pan-tilt control method of the second embodiment of the present invention, the second embodiment of the present invention also provides a pan-tilt control device. Referring to FIG. 8, the pan-tilt control device may include a second storage device and a second storage device. processor. Wherein, the second processor may include one or more.

The second storage device is used to store program instructions; one or more second processors call the program instructions stored in the second storage device, and when the program instructions are executed, the one or more second processors individually Or collectively configured to implement the following operations: receiving a setting instruction input by the user; according to the setting instruction, setting the mapping relationship between the control part of the third-party control device and the operation of the pan/tilt; wherein the mapping relationship is used to indicate the control When the part is triggered, control the PTZ to perform the corresponding operation.

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

In some embodiments, the second processor may be a central processing unit (CPU). The second processor 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, it implements the steps of the pan-tilt control method in the first embodiment or the second embodiment.

The computer-readable storage medium may be the internal storage unit of the terminal device or the pan-tilt 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 a terminal device or a pan/tilt, such as a plug-in hard disk, a smart media card (SMC), an SD card, or a flash memory card equipped on the device. Card) and so on. Further, the computer-readable storage medium may also include both an internal storage unit of a terminal device or a pan-tilt 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 terminal device or the pan-tilt, 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, and 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 be used to limit the scope 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 (96)

1. A method for controlling a pan/tilt head, characterized in that the method includes:

   Establish a communication connection with a third-party control device, where the third-party control device includes a control unit;

   Acquiring a control signal generated by the third-party control device when the user triggers the control unit;

   According to the mapping relationship between the control unit and the operation of the pan/tilt, the pan/tilt is controlled to perform the operation corresponding to the control signal.
2. The method according to claim 1, wherein the operation includes the rotation of the pan/tilt.
3. The method according to claim 2, wherein the control unit includes a joystick, the control signal includes a first control signal generated by a user triggering the joystick, and the mapping relationship includes the joystick and the joystick. State the first mapping relationship of the rotation of the pan/tilt;

   The controlling the pan/tilt to perform the operation corresponding to the control signal according to the mapping relationship between the control unit and the operation of the pan/tilt includes:

   Controlling the rotation of the pan/tilt head according to the first control signal and the first mapping relationship.
4. The method according to claim 3, wherein the rocker comprises a plurality of rockers, and different rockers control the rotation of different rotating shafts of the pan-tilt.
5. The method according to claim 4, wherein the rocker includes at least two operation directions, and different operation directions of at least one of the rockers control the rotation of different rotation axes of the pan/tilt.
6. The method according to claim 5, wherein the rocker includes two rockers, the pan-tilt includes three rotating shafts, and the two operating directions of one rocker correspondingly control the rotation of the two rotating shafts, One of the operating directions of the other rocker controls the rotation of the other rotating shaft.
7. The method according to claim 3, characterized in that, before controlling the rotation of the pan/tilt head according to the first control signal and the first mapping relationship, the method comprises:

   Obtain the rotation control parameters input by the user;

   Sending the rotation control parameter to the pan/tilt so that the pan/tilt rotates according to the rotation control parameter.
8. The method according to claim 7, wherein the rotation control parameter includes at least one of the speed and smoothness of the rotation of the pan/tilt.
9. The method according to claim 1, wherein the operation includes the pan/tilt performing a setting function.
10. The method according to claim 9, wherein the control unit includes a button, the control signal includes a second control signal generated by a user triggering the button, and the mapping relationship includes the button and the setting The second mapping relationship of functions;

    The controlling the pan/tilt to perform the operation corresponding to the control signal according to the mapping relationship between the control unit and the operation of the pan/tilt includes:

    According to the second mapping relationship, the pan/tilt is controlled to execute the setting function corresponding to the second control signal.
11. The method according to claim 9 or 10, wherein the setting function includes at least one of returning the pan/tilt to a preset position and configuring parameters of the pan/tilt.
12. The method according to claim 9 or 10, wherein the pan/tilt carries a photographing device, and the setting function includes controlling the photographing device to take pictures, controlling the photographing device to record video, and adjusting the photographing device. At least one of the shooting parameters.
13. The method according to claim 10, wherein the button and the setting function each include multiple ones, and one of the buttons corresponds to one of the setting functions.
14. The method according to claim 1, wherein the mapping relationship is a default mapping relationship; or,

    The mapping relationship is determined according to user instructions; or,

    The mapping relationship is the most recently saved mapping relationship between the control unit and the operation of the pan/tilt head.
15. The method according to claim 1, wherein the establishing a communication connection with a third-party control device comprises:

    Establish a communication connection with third-party control equipment based on Bluetooth.
16. The method according to claim 1, wherein the execution subject of the method is a terminal device installed with an application program APP;

    Before the obtaining the control signal generated by the third-party control device when the user triggers the control unit, the method further includes:

    Establish a communication connection with the pan-tilt.
17. The method according to claim 16, wherein the establishing a communication connection with the pan-tilt includes:

    Establish a communication connection with the pan/tilt based on Bluetooth.
18. The method according to claim 1, wherein the execution subject of the method is a pan-tilt with an application program APP installed.
19. The method according to claim 18, wherein the pan-tilt includes a screen, and the mapping relationship is set through an interactive interface displayed on the screen.
20. A control device for a pan-tilt, characterized in that the device includes:

    Storage device for storing program instructions; and

    One or more processors call program instructions stored in the storage device, and when the program instructions are executed, the one or more processors are individually or collectively configured to implement the following operations:

    Establish a communication connection with a third-party control device, where the third-party control device includes a control unit;

    Acquiring a control signal generated by the third-party control device when the user triggers the control unit;

    According to the mapping relationship between the control unit and the operation of the pan/tilt, the pan/tilt is controlled to perform the operation corresponding to the control signal.
21. The device according to claim 20, wherein the operation includes the rotation of the pan/tilt.
22. The device according to claim 21, wherein the control unit includes a joystick, the control signal includes a first control signal generated by a user triggering the joystick, and the mapping relationship includes the joystick and the joystick. State the first mapping relationship of the rotation of the pan/tilt;

    When the one or more processors control the pan/tilt to perform the operation corresponding to the control signal according to the mapping relationship between the control unit and the operation of the pan/tilt, they are further configured individually or collectively It is used to implement the following operations:

    Controlling the rotation of the pan/tilt head according to the first control signal and the first mapping relationship.
23. The device according to claim 22, wherein the rocker comprises a plurality of rockers, and different rockers control the rotation of different rotating shafts of the pan/tilt.
24. The device according to claim 23, wherein the rocker includes at least two operation directions, and different operation directions of at least one of the rockers control the rotation of different rotation axes of the pan/tilt.
25. The device according to claim 24, wherein the rocker includes two, the pan-tilt includes three rotating shafts, and the two operating directions of one rocker correspondingly control the rotation of the two rotating shafts, One of the operating directions of the other rocker controls the rotation of the other rotating shaft.
26. The device according to claim 22, wherein the one or more processors are further configured individually or collectively before controlling the rotation of the pan/tilt according to the first control signal and the first mapping relationship It is used to implement the following operations:

    Obtain the rotation control parameters input by the user;

    Sending the rotation control parameter to the pan/tilt so that the pan/tilt rotates according to the rotation control parameter.
27. The device according to claim 26, wherein the rotation control parameter includes at least one of the speed and smoothness of the rotation of the pan/tilt.
28. The device according to claim 20, wherein the operation includes the pan/tilt performing a setting function.
29. The device according to claim 28, wherein the control unit includes a button, the control signal includes a second control signal generated by a user triggering the button, and the mapping relationship includes the button and the setting The second mapping relationship of functions;

    When the one or more processors control the pan/tilt to perform the operation corresponding to the control signal according to the mapping relationship between the control unit and the operation of the pan/tilt, they are further configured individually or collectively It is used to implement the following operations:

    According to the second mapping relationship, the pan/tilt is controlled to execute the setting function corresponding to the second control signal.
30. The device according to claim 28 or 29, wherein the setting function includes at least one of returning the pan/tilt to a preset position and configuring parameters of the pan/tilt.
31. The device according to claim 28 or 29, wherein the pan/tilt carries a photographing device, and the setting function includes controlling the photographing device to take pictures, controlling the photographing device to record video, and adjusting the control of the photographing device. At least one of the shooting parameters.
32. The device according to claim 29, wherein each of the button and the setting function includes multiple ones, and one of the buttons corresponds to one of the setting functions.
33. The apparatus according to claim 20, wherein the mapping relationship is a default mapping relationship; or,

    The mapping relationship is determined according to user instructions; or,

    The mapping relationship is the most recently saved mapping relationship between the control unit and the operation of the pan/tilt head.
34. The apparatus according to claim 20, wherein when the one or more processors establish a communication connection with a third-party control device, individually or collectively, they are further configured to perform the following operations:

    Establish a communication connection with third-party control equipment based on Bluetooth.
35. The device according to claim 20, wherein the device is a terminal device installed with an application program APP;

    Before acquiring the control signal generated by the third-party control device when the user triggers the control unit, the one or more processors are further configured to implement the following operations, individually or collectively:

    Establish a communication connection with the pan-tilt.
36. The apparatus according to claim 35, wherein when the one or more processors establish a communication connection with the pan-tilt, they are separately or collectively further configured to perform the following operations:

    Establish a communication connection with the pan/tilt based on Bluetooth.
37. The device according to claim 20, wherein the device is a pan-tilt with an application program APP installed.
38. The device according to claim 37, wherein the pan-tilt includes a screen, and the mapping relationship is set through an interactive interface displayed on the screen.
39. A method for controlling a pan/tilt head, characterized in that the method includes:

    Receive the setting instructions entered by the user;

    According to the setting instruction, setting the mapping relationship between the control part of the third-party control device and the operation of the pan-tilt;

    Wherein, the mapping relationship is used to instruct the control unit to control the pan/tilt to perform a corresponding operation when it is triggered.
40. The method according to claim 39, wherein before the receiving the setting instruction input by the user, the method comprises:

    Displaying the first identifier of the control unit and the second identifier of the operation of the pan-tilt with which the control unit can be associated on an interactive interface;

    The receiving the setting instruction input by the user includes:

    Obtain the user's operations on the first identification and the second identification, and determine the setting instruction input by the user according to the operations on the first identification and the second identification.
41. The method according to claim 40, wherein before displaying the first identifier of the control unit and the second identifier of the operation of the pan/tilt head with which the control unit can be associated on an interactive interface, the method comprises:

    Identify the control unit of the currently connected third-party control equipment;

    The displaying on the interactive interface the first identifier of the control unit and the second identifier of the operation of the pan/tilt that can be associated with the control unit includes:

    Displaying the first identifier of the control unit of the currently connected third-party control device and the second identifier of the operation of the pan-tilt with which the control unit can be associated on the interactive interface;

    Among them, the first identifier is related to the type of the third-party control device.
42. The method according to claim 40, further comprising:

    A distinguishing mark is performed on the first mark to distinguish a position on the control unit corresponding to the operation of the pan-tilt.
43. The method according to claim 42, wherein performing a distinguishing mark on the first mark comprises:

    A corresponding second identifier is superimposed on the first identifier and displayed to indicate the mapping relationship between the position of the corresponding second identifier in the control unit and the operation of the pan/tilt.
44. The method according to claim 40, further comprising:

    Displaying the sub-identity of the first identifier in association with the first identifier on the interactive interface;

    Wherein, the sub-identifier is used to indicate the mapping relationship between the predetermined position of the control unit and the operation of the pan-tilt.
45. The method according to claim 40, further comprising:

    Displaying a third identifier on the interactive interface, where the third identifier is used to indicate the type of the rotation control parameter of the pan/tilt;

    Receiving a user's switching operation on the third identifier;

    According to the switching operation, the corresponding type of rotation control parameter adjustment indicator is switched and displayed on the interactive interface.
46. The method according to claim 45, further comprising:

    Receiving a user's operation on the adjustment identifier;

    Adjust the rotation control parameter of the pan-tilt according to the operation of the adjustment indicator.
47. The method according to claim 46, wherein the rotation control parameter includes at least one of the speed and smoothness of the rotation of the pan/tilt.
48. The method according to claim 40, wherein the operation includes the rotation of the pan/tilt.
49. The method according to claim 48, wherein the control unit comprises a joystick, the operation of the pan/tilt with which the joystick can be associated includes the rotation of the pan/tilt, and the mapping relationship includes the pan/tilt. The first mapping relationship between the rod and the rotation of the pan/tilt.
50. The method according to claim 49, wherein the rocker comprises a plurality of rockers, and different rockers control the rotation of different rotating shafts of the pan/tilt.
51. The method according to claim 50, wherein the rocker includes at least two operating directions, and different operating directions of at least one of the rocker correspondingly control the rotation of different rotating shafts of the pan/tilt.
52. The method according to claim 51, wherein the rocker includes two, the pan-tilt includes three rotating shafts, and the two operating directions of one of the rocker correspondingly control the rotation of the two rotating shafts, One of the operating directions of the other rocker controls the rotation of the other rotating shaft.
53. The method according to claim 40, wherein the control unit comprises a button, the operation of the pan-tilt with which the button can be associated includes a setting function performed by the pan-tilt, and the mapping relationship includes the button The second mapping relationship with the setting function.
54. The method according to claim 53, wherein the setting function includes at least one of returning the pan/tilt to a preset position and configuring parameters of the pan/tilt.
55. The method according to claim 53, wherein the pan/tilt carries a photographing device, and the setting functions include controlling the photographing device to take pictures, controlling the photographing device to record video, and adjusting the photographing parameters of the photographing device At least one of them.
56. The method according to claim 53, wherein each of the key and the setting function includes multiple ones, and one of the keys corresponds to one of the setting functions.
57. The method according to claim 39, wherein the execution subject of the method is a terminal device installed with an application program APP.
58. The method according to claim 39, wherein the execution subject of the method is a pan-tilt on which an application program APP is installed.
59. The method according to claim 58, wherein the pan-tilt includes a screen, and the setting instruction is input by a user through an interactive interface displayed on the screen.
60. A control device for a pan-tilt, characterized in that the device includes:

    Storage device for storing program instructions; and

    One or more processors call program instructions stored in the storage device, and when the program instructions are executed, the one or more processors are individually or collectively configured to implement the following operations:

    Receive the setting instructions entered by the user;

    According to the setting instruction, setting the mapping relationship between the control part of the third-party control device and the operation of the pan-tilt;

    Wherein, the mapping relationship is used to instruct the control unit to control the pan/tilt to perform a corresponding operation when it is triggered.
61. The device according to claim 60, wherein the one or more processors are separately or collectively further configured to perform the following operations before receiving the setting instruction input by the user:

    Displaying the first identifier of the control unit and the second identifier of the operation of the pan-tilt with which the control unit can be associated on an interactive interface;

    When the one or more processors receive the setting instruction input by the user, individually or collectively, they are further configured to perform the following operations:

    Obtain the user's operations on the first identification and the second identification, and determine the setting instruction input by the user according to the operations on the first identification and the second identification.
62. The device according to claim 61, wherein the one or more processors display the first identifier of the control unit and the first identification of the operation of the pan/tilt with which the control unit can be associated on an interactive interface. Before the two identifications, individually or collectively, they are further configured to perform the following operations:

    Identify the control unit of the currently connected third-party control equipment;

    When the one or more processors display the first identifier of the control unit and the second identifier of the operation of the pan/tilt head with which the control unit can be associated on the interactive interface, they are further configured individually or collectively to Used to perform the following operations:

    Displaying the first identifier of the control unit of the currently connected third-party control device and the second identifier of the operation of the pan-tilt with which the control unit can be associated on the interactive interface;

    Among them, the first identifier is related to the type of the third-party control device.
63. The device according to claim 61, wherein the one or more processors, individually or collectively, are further configured to perform the following operations:

    A distinguishing mark is performed on the first mark to distinguish a position on the control unit corresponding to the operation of the pan-tilt.
64. The device according to claim 63, wherein when the one or more processors perform the distinguishing mark on the first mark, they are separately or collectively further configured to perform the following operations:

    A corresponding second identifier is superimposed on the first identifier and displayed to indicate the mapping relationship between the position of the corresponding second identifier in the control unit and the operation of the pan/tilt.
65. The device according to claim 61, wherein the one or more processors, individually or collectively, are further configured to perform the following operations:

    Displaying the sub-identity of the first identifier in association with the first identifier on the interactive interface;

    Wherein, the sub-identifier is used to indicate the mapping relationship between the predetermined position of the control unit and the operation of the pan-tilt.
66. The device according to claim 61, wherein the one or more processors, individually or collectively, are further configured to perform the following operations:

    Displaying a third identifier on the interactive interface, where the third identifier is used to indicate the type of the rotation control parameter of the pan/tilt;

    Receiving a user's switching operation on the third identifier;

    According to the switching operation, the corresponding type of rotation control parameter adjustment indicator is switched and displayed on the interactive interface.
67. The apparatus according to claim 66, wherein the one or more processors, individually or collectively, are further configured to perform the following operations:

    Receiving a user's operation on the adjustment identifier;

    Adjust the rotation control parameter of the pan-tilt according to the operation of the adjustment indicator.
68. The device according to claim 67, wherein the rotation control parameter includes at least one of the speed and smoothness of the rotation of the pan/tilt.
69. The device according to claim 61, wherein the operation includes the rotation of the pan/tilt.
70. The device according to claim 69, wherein the control unit comprises a joystick, the operation of the pan/tilt with which the joystick can be associated includes the rotation of the pan/tilt, and the mapping relationship includes the pan/tilt. The first mapping relationship between the rod and the rotation of the pan/tilt.
71. The device according to claim 70, wherein the rocker comprises a plurality of rockers, and different rockers control the rotation of different rotating shafts of the pan/tilt head.
72. The device according to claim 71, wherein the rocker includes at least two operating directions, and different operating directions of at least one of the rocker correspondingly control the rotation of different rotating shafts of the pan/tilt.
73. The device according to claim 72, wherein the rocker includes two, the pan/tilt includes three rotating shafts, and the two operating directions of one rocker correspondingly control the rotation of the two rotating shafts, One of the operating directions of the other rocker controls the rotation of the other rotating shaft.
74. The device according to claim 61, wherein the control unit comprises a button, the operation of the pan-tilt with which the button can be associated includes the pan-tilt performing a setting function, and the mapping relationship includes the button The second mapping relationship with the setting function.
75. The device according to claim 74, wherein the setting function includes at least one of returning the pan/tilt to a preset position and configuring parameters of the pan/tilt.
76. The device according to claim 74, wherein the pan/tilt carries a photographing device, and the setting function includes controlling the photographing device to take pictures, controlling the photographing device to record video, and adjusting the photographing parameters of the photographing device At least one of them.
77. The device according to claim 74, wherein each of the button and the setting function includes multiple ones, and one of the buttons corresponds to one of the setting functions.
78. The device according to claim 60, wherein the device is a terminal device installed with an application program APP.
79. The device according to claim 60, wherein the device is a pan-tilt with an application program APP installed.
80. The device according to claim 79, wherein the pan-tilt includes a screen, and the setting instruction is input by a user through an interactive interface displayed on the screen.
81. A control system of a pan-tilt, characterized in that the control system of the pan-tilt includes:

    Cloud platform; and

    Terminal Equipment;

    Wherein, the terminal device is used to establish a communication connection with a pan-tilt and a third-party control device, and the third-party control device includes a control unit;

    When the terminal device obtains the control signal generated by the third-party control device when the user triggers the control unit, it controls the pan/tilt according to the mapping relationship between the control unit and the operation of the pan/tilt. Perform the operation corresponding to the control signal.
82. The control system of the pan/tilt head according to claim 81, wherein the operation includes the rotation of the pan/tilt head.
83. The pan/tilt head control system according to claim 82, wherein the control part comprises a joystick, the control signal comprises a first control signal generated by a user triggering the joystick, and the mapping relationship comprises the A first mapping relationship between the rocker and the rotation of the pan/tilt;

    When receiving the first control signal, the terminal device converts the first control signal into the speed control amount of the pan/tilt according to the first mapping relationship, and sends the speed control amount to The cloud platform;

    The pan/tilt head rotates according to the speed control amount after receiving the speed control amount.
84. The control system of the pan/tilt head according to claim 83, wherein the rocker comprises a plurality of rockers, and different rockers control the rotation of different rotation axes of the pan/tilt.
85. The control system of the pan/tilt head according to claim 84, wherein the rocker includes at least two operating directions, and different operating directions of at least one of the rocker rods control the rotation of different rotating shafts of the pan/tilt head.
86. The control system of the pan/tilt head according to claim 85, characterized in that the rocker includes two, the pan/tilt includes three rotating shafts, and the two operating directions of one rocker control two of them to rotate correspondingly. With the rotation of the shaft, one of the operating directions of the other rocker controls the rotation of the other rotating shaft.
87. The pan/tilt control system according to claim 83, characterized in that, before the terminal device converts the first control signal into the speed control amount of the pan/tilt according to the first mapping relationship, further Used to obtain the rotation control parameter input by the user; and send the rotation control parameter to the pan/tilt so that the pan/tilt rotates according to the rotation control parameter.
88. The control system of the pan/tilt head according to claim 87, wherein the rotation control parameter includes at least one of the speed and smoothness of the rotation of the pan/tilt head.
89. The pan-tilt control system according to claim 81, wherein the operation includes the pan-tilt performing a setting function.
90. The pan-tilt control system according to claim 89, wherein the control unit comprises a button, the control signal comprises a second control signal generated by the user triggering the button, and the mapping relationship comprises the button and The second mapping relationship of the setting function;

    When receiving the second control signal, the terminal device controls the pan/tilt head to execute the setting function corresponding to the second control signal according to the second mapping relationship.
91. The control system of the pan/tilt head according to claim 89 or 90, wherein the setting function includes at least one of returning the pan/tilt head to a preset position and configuring parameters of the pan/tilt head.
92. The control system of the pan/tilt head according to claim 89 or 90, wherein the pan/tilt head carries a photographing device, and the setting function includes controlling the photographing device to take pictures, controlling the photographing device to record video, and adjusting the camera. At least one of the shooting parameters of the shooting device.
93. The pan-tilt control system according to claim 90, wherein each of the button and the setting function includes multiple ones, and one of the buttons corresponds to one of the setting functions.
94. The pan-tilt control system according to claim 81, wherein the mapping relationship is a default mapping relationship; or,

    The mapping relationship is determined according to user instructions; or,

    The mapping relationship is the most recently saved mapping relationship between the control unit and the operation of the pan/tilt head.
95. The pan-tilt control system according to claim 81, wherein the terminal device establishes a communication connection with a third-party control device based on Bluetooth.
96. The pan/tilt control system of claim 81, wherein the terminal device establishes a communication connection with the pan/tilt based on Bluetooth.

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