WO2022021416A1

WO2022021416A1 - Electric motor control method, apparatus and system, and computer-readable storage medium

Info

Publication number: WO2022021416A1
Application number: PCT/CN2020/106394
Authority: WO
Inventors: 王振动; 李智勇; 杨天豪
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2020-07-31
Filing date: 2020-07-31
Publication date: 2022-02-03
Also published as: CN113228618A

Abstract

An electric motor control method, apparatus (300) and system (400), and a computer-readable storage medium. The method comprises: acquiring an electric motor control instruction, wherein the electric motor control instruction comprises a device identifier (S101); if the device identifier is the same as an initial device identifier, sending the electric motor control instruction to a first electric motor (30, 450) (S102); and if the device identifier is the same as a virtual device identifier, modifying the device identifier in the electric motor control instruction to be the initial device identifier, and then sending the electric motor control instruction to a second electric motor (40, 460) (S103).

Description

Motor control method, apparatus, system, and computer-readable storage medium

technical field

The present application relates to the technical field of motor control, and in particular, to a motor control method, device, system, and computer-readable storage medium.

Background technique

With the improvement of people's living standards, people often use shooting devices such as SLR cameras, digital cameras and smart phones to shoot and record the scenery in daily life and travel. Control the rotation of the motor externally connected to the gimbal device, so as to adjust the shooting parameters such as the focal length or focal plane distance of the shooting device mounted on the gimbal device. At present, in order to be compatible with various generations of gimbal devices, the software and hardware of each batch of motors are identical, so each batch of motors has the exact same device identification, and when multiple motors are connected to the gimbal device at the same time , there are multiple identical device IDs in the communication network of the PTZ device. In this way, it is impossible to distinguish the motors by the same device identification, it is difficult to meet the user's control requirements for multiple motors, and the user experience is not good.

SUMMARY OF THE INVENTION

Based on this, the embodiments of the present application provide a motor control method, device, system, and computer-readable storage medium, aiming to solve the problem that when multiple motors are externally connected to a PTZ device at the same time, other device nodes in the communication network cannot pass the The same device ID is used to distinguish motor problems.

In a first aspect, an embodiment of the present application provides a motor control method, the motor includes a first motor or a second motor, and the first motor and the second motor have the same initial device identifier, which is the second motor. The virtual device identification set by the motor is different from the initial device identification, and the method includes:

acquiring a motor control instruction, where the motor control instruction includes a device identifier, and the device identifier is used to distinguish the recipient of the motor control instruction, and the recipient is the first motor or the second motor;

If the device identifier in the motor control instruction is the same as the initial device identifier, send the motor control instruction to the first motor;

If the device identifier in the motor control instruction is the same as the virtual device identifier, modify the device identifier in the motor control instruction to the initial device identifier, so as to update the motor control instruction, and report to the first The second motor sends the updated motor control command.

In a second aspect, an embodiment of the present application further provides a control device, where the control device is used to control a first motor or a second motor, and the first motor and the second motor have the same initial device identification, which is the same as the first motor and the second motor. The virtual device identification set by the second motor is different from the initial device identification;

the control device includes a memory and one or more processors;

the memory for storing computer programs;

The one or more processors are configured to execute the computer program, and when executing the computer program, implement the steps of the motor control method according to any one of the embodiments of the present application.

In a third aspect, an embodiment of the present application further provides a shooting system, the shooting system includes a pan-tilt device, a shooting device mounted on the pan-tilt device, a rotation device, the above-mentioned control device, and the The first motor and the second motor connected to the gimbal device.

In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium, where the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor implements the method described in the present application. Provide any one of the steps of the motor control method.

The embodiments of the present application provide a motor control method, device, system, and computer-readable storage medium. By acquiring a motor control instruction, if the device identifier in the motor control instruction is the same as the initial device identifier of the motor, the first motor is sent to the first motor. Send a motor control command, if the device ID in the motor control command is the same as the virtual device ID of the motor, modify the device ID in the motor control command to the initial device ID to update the motor control command, and send the update to the second motor Therefore, when multiple motors are connected to the gimbal device at the same time, other device nodes in the communication network cannot be distinguished by the same device ID, which improves the user experience.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not limiting of the present application.

Description of drawings

In order to explain the technical solutions of the embodiments of the present application more clearly, the following briefly introduces the accompanying drawings used in the description of the embodiments. For those of ordinary skill, other drawings can also be obtained from these drawings without any creative effort.

FIG. 1 is a schematic structural diagram of a pan/tilt device implementing the motor control method provided by an embodiment of the present application;

Fig. 2 is the connection schematic diagram of the pan/tilt device, the first motor, the second motor and the rotating device in the embodiment of the present application;

3 is a schematic diagram of the connection of the pan/tilt device, the first motor, the second motor, the first rotating device and the second rotating device in the embodiment of the present application;

4 is a schematic flowchart of steps of a motor control method provided by an embodiment of the present application;

5 is a schematic flowchart of steps of another motor control method provided by an embodiment of the present application;

FIG. 6 is a schematic block diagram of the structure of a control device provided by an embodiment of the present application;

FIG. 7 is a schematic structural block diagram of a photographing system provided by an embodiment of the present application.

detailed description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

The flowcharts shown in the figures are for illustration only, and do not necessarily include all contents and operations/steps, nor do they have to be performed in the order described. For example, some operations/steps can also be decomposed, combined or partially combined, so the actual execution order may be changed according to the actual situation.

Some embodiments of the present application will be described in detail below with reference to the accompanying drawings. The embodiments described below and features in the embodiments may be combined with each other without conflict.

With the improvement of people's living standards, people often use shooting devices such as SLR cameras, digital cameras and smart phones to shoot and record the scenery in daily life and travel. Control the rotation of the motor externally connected to the gimbal device, so as to adjust the shooting parameters such as the focal length or focal plane distance of the shooting device mounted on the gimbal device.

In the communication network of the PTZ device, the device identifiers are used to distinguish each device accessing the network, which can be specifically divided into device identifiers corresponding to the sender and device identifiers corresponding to the receiver. For a certain device, the device identification in the data packet sent by it is its own device identification, and it only receives data packets whose device identification is its own device identification in the data packet. At present, in order to be compatible with various generations of gimbal devices, the software and hardware of each batch of motors are identical, so each batch of motors has the exact same device identification, and when multiple motors are connected to the gimbal device at the same time , there are multiple identical device IDs in the communication network of the PTZ device. For other device nodes in the communication network, such as the dial, the motors cannot be distinguished by the same device IDs, and it is difficult to meet the user's control requirements for multiple motors. Bad user experience.

In order to solve the above problems, embodiments of the present application provide a motor control method, device, system, and computer-readable storage medium. The motor control method can be applied to a control device, and the control device is used to control a first motor connected to a photographing device. Or the second motor, so that the first motor can adjust the first shooting parameters of the shooting device, the second motor can adjust the second shooting parameters of the shooting device, the initial device identifiers of the first motor and the second motor are the same, the first motor and the When the two motors are connected to the control device, a virtual device identifier is set for the second motor, and the virtual device identifier set for the second motor is different from the initial device identifier, so that the first rotating device or the second rotating device in the communication network can be based on The initial device identification and the virtual device identification distinguish the first motor and the second motor, which facilitates the user to control the two motors through the first rotating device or the second rotating device, and improves user experience.

In one embodiment, the control apparatus may be applied to a pan/tilt device or a photographing device. Please refer to FIG. 1 . FIG. 1 is a schematic structural diagram of a pan/tilt device implementing the motor control method provided by the embodiment of the present application. As shown in FIG. 1 , the pan/tilt device 100 includes a handle portion 101 and a pan/tilt head 102 disposed on the handle portion 101 . The gimbal 102 is used for carrying a photographing device. It can be understood that the photographing device can be integrated with the gimbal 102 , and the photographing device is a smartphone, and of course other photographing devices, such as a single-lens reflex camera.

The pan/tilt 102 includes three-axis motors, which are a pitch (pitch) axis motor 1021, a roll (roll) axis motor 1022 and a yaw (yaw) axis motor 1023, which are used to adjust the motion of the photographing device mounted on the pan/tilt 102. Balance your stance for high-precision, stable shots anytime, anywhere.

Wherein, the PTZ 102 is provided with an inertial measurement unit (Inertial measurement unit, IMU), for example, including at least one of an accelerometer or a gyroscope, which can be used to measure the attitude and acceleration of the PTZ 102, so as to adjust the cloud according to the attitude The attitude of the stage 102 . In one embodiment, the handle portion 101 is also provided with an inertial measurement unit (Inertial measurement unit, IMU), for example including at least one of an accelerometer or a gyroscope, which can be used to measure the attitude and acceleration of the handle portion 101, etc., In order to adjust the posture of the pan/tilt head 102 according to the posture of the handle part 101 and the posture of the pan/tilt head 102 .

The handle portion 101 is further provided with an operation control key, so that the user can operate the operation control key to control the pan/tilt 102 or the photographing device mounted on the pan/tilt 102 . The operation control key may be, for example, a key, a trigger, a knob or a rocker, etc., of course, other forms of physical keys are also included. For example, the joystick can be used to control the movement of the three rotation axes, and then control the movement of the gimbal 102 . It can be understood that the joystick can also be used for other functions, and the user can also select the shooting parameters that can be adjusted by the rotating device through the operation control key, so that the subsequent PTZ device can respond to the user's rotating operation on the rotating device to control the shooting. The device adjusts the shooting parameters.

In one embodiment, the pan-tilt device 100 can be connected with the first motor, the second motor and the rotating device, and the connection between the pan-tilt device 100 and the rotating device can be wired or wireless. It is used to control the first motor or the second motor connected with the shooting device to adjust the first shooting parameter or the second shooting parameter of the shooting device. For example, the first motor is snap-connected with the zoom ring of the shooting device, so that when the first motor rotates, the zoom ring is driven to rotate to control the zoom parameters of the shooting device, and the second motor is snap-connected with the follow focus ring of the shooting device, so that the first motor rotates When the second motor rotates, it drives the follow focus ring to rotate to control the follow focus parameters of the shooting device. The first motor or the second motor can also be connected with the aperture ring of the shooting device to control other shooting parameters of the device.

Optionally, the pan-tilt device 100 may be connected to the photographing device through a control line, so as to adjust the shooting parameters of the photographing device mounted on the pan-tilt 102 . The control wire may be a shutter wire, and the type of the shutter wire is not limited here, for example, the shutter wire may be a Universal Serial Bus (Universal Serial Bus, USB).

Please refer to FIG. 2 . FIG. 2 is a schematic diagram of the connection of the pan/tilt device, the first motor, the second motor and the rotating device in the embodiment of the present application. As shown in FIG. 2 , the PTZ device includes a first interface 10 and a second interface 20 , the first motor 30 is connected to the PTZ device 100 through the first interface 10 , and the second motor 40 is connected to the PTZ device through the second interface 20 . 100. The rotating device 50 is connected to the pan/tilt device 100 by wire, so that the rotating device 50 can control the first motor 30 to adjust the first shooting parameter of the shooting device, or control the second motor 40 to adjust the second shooting parameter of the shooting device.

In one embodiment, the control mode of the rotating device 50 includes a first control mode and a second control mode, and the user can switch the control mode of the rotating device 50 by himself. When the rotating device 50 is in the first control mode, the rotating device 50 is used to control the first motor 30 to set the first shooting parameters of the shooting device, and when the rotating device 50 is in the second control mode, the rotating device 50 is used to control the second motor 40 Adjust the second shooting parameter of the shooting device. The user can switch the control mode of the rotating device 50 through the operation buttons on the handle part 101 , and can also switch the control mode of the rotating device 50 through the display device on the handle part 101 .

As shown in FIG. 3 , the gimbal device 100 includes a first interface 10 and a second interface 20 , the first motor 30 is connected to the gimbal device 100 through the first interface 10 , and the second motor 40 is connected to the gimbal through the second interface 20 The device 100, the first rotating device 51 and the second rotating device 52 are connected to the pan-tilt device 100 by wired means. Of course, the first rotating device 51 and the second rotating device 52 can also be connected to the pan-tilt device 100 by wireless means. For example, the first rotating device 51 is connected to the pan-tilt device 100 in a wired way, and the second rotating device 52 is connected to the pan-tilt device 100 in a wireless way, so that the first rotating device 51 can control the first motor 30 to adjust the shooting device. For the first shooting parameter, the second rotating device 52 can control the second motor 40 to adjust the second shooting parameter of the shooting device, or the first rotating device 51 can control the second motor 40 to adjust the second shooting parameter of the shooting device. The rotating device 52 can control the first motor 30 to adjust the first shooting parameters of the shooting device.

Wherein, the pan-tilt device 100 includes a processor, and the processor is used for processing input control instructions, or sending and receiving signals. The processor may be provided inside the handle portion 101 . Optionally, the processor may be a central processing unit (Central Processing Unit, CPU), and the processor may also be other general-purpose processors, digital signal processors (Digital Signal Processors, DSP), application specific integrated circuits (application specific integrated circuits) circuit, ASIC), Field-Programmable Gate Array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

It can be understood that the pan-tilt device in FIG. 1 , FIG. 2 , and FIG. 3 and the above naming of the components of the pan-tilt device are only for the purpose of identification, and therefore do not limit the embodiments of the present application.

Please refer to FIG. 4 , which is a schematic flowchart of steps of a motor control method provided by an embodiment of the present application.

As shown in FIG. 4 , the motor control method includes steps S101 to S103.

S101. Acquire a motor control instruction, where the motor control instruction includes a device identifier, and the device identifier is used to distinguish a recipient of the motor control instruction, and the recipient is the first motor or the second motor.

The initial device identifiers of the first motor and the second motor are the same. When the first motor and the second motor are connected to the PTZ device, a virtual device identifier is set for the second motor, or a virtual device identifier is set for the first motor. The device ID is different from the virtual device ID, so that the rotating device connected with the PTZ device can distinguish the first motor and the second motor through the initial device ID and the virtual device ID, so as to control the first motor or the second motor to adjust the first motor of the shooting device. Shooting parameters or second shooting parameters, the first shooting parameters include any one of follow focus parameters, zoom parameters and exposure parameters, and the second shooting parameters include any one of follow focus parameters, zoom parameters and exposure parameters.

For example, the first motor is snap-connected with the zoom ring of the shooting device, so that when the first motor rotates, the zoom ring is driven to rotate to control the zoom parameters of the shooting device, and the second motor is snap-connected with the follow focus ring of the shooting device, so that the first motor rotates When the second motor rotates, it drives the follow focus ring to rotate to control the follow focus parameters of the photographing device. Alternatively, the first motor is connected with the follow focus ring of the photographing device, so that when the first motor rotates, the follow focus ring is driven to rotate to control the follow focus parameters of the photographing device, and the second motor is connected with the zoom ring of the photographing device by snap connection, When the second motor rotates, the zoom ring is driven to rotate to control the zoom parameters of the photographing device.

In one embodiment, the control device acquires the rotation information of the rotation device in response to the user's operation on the rotation device, and generates the motor control command according to the rotation information. Or, the rotating device acquires the rotation information of the rotating device in response to the user's operation, generates a motor control command according to the rotation information, and sends the motor control command to the control device, and the control device obtains the motor control command sent by the rotating device . Wherein, the rotating device is connected to the PTZ device through wired or wireless communication, the rotating device can be a dial wheel, a focus wheel, etc., the rotating information includes the rotation speed, position and angular velocity of the rotating device, and the motor control command includes the device identification. The device identifier is used to distinguish the recipient of the motor control instruction, and the recipient of the motor control instruction may be the first motor or the second motor.

In one embodiment, the rotating device has a first control mode and a second control mode. In the first control mode, the rotating device is used to control the first motor, and in the second control mode, the rotating device is used to control the second motor. The motor, the motor control instruction can be generated based on the user's operation on the rotating device in the first control mode, the device identification in the motor control instruction is the same as the initial device identification, and the motor control instruction can also be in the second control mode. The device ID in the motor control instruction is the same as the virtual device ID, which is generated based on the user's operation on the rotating device. Through the control mode of a single rotating device, a single rotating device can control different motors to adjust the shooting parameters of the shooting equipment, without adding new components and reducing costs.

In one embodiment, in the first control mode, the rotating device is used to control the second motor, and in the second control mode, the rotating device is used to control the first motor, and the motor control command may be based on the user in the first control mode. Generated by the operation of the rotating device, the device identification in the motor control instruction is the same as the virtual device identification, and the motor control instruction can also be generated based on the user's operation on the rotating device in the second control mode. The identification is the same as the original equipment identification. Through the control mode of a single rotating device, a single rotating device can control different motors to adjust the shooting parameters of the shooting equipment, without adding new components and reducing costs.

In one embodiment, the rotating device includes a first rotating device or a second rotating device, the first rotating device is used to control the first motor, and the second rotating device is used to control the second motor, and the motor control command may be based on the user's Generated by the operation of the first rotating device, the device identification in the motor control instruction is the same as the initial device identification, and the motor control instruction can also be generated based on the user's operation on the second rotating device, the device identification in the motor control instruction Same as virtual device ID. One motor is controlled by one rotating device, and another motor is controlled by another rotating device, and there is no need to switch the control mode of the rotating device back and forth, which is convenient for the user to control the motor to adjust the shooting parameters of the shooting device, which greatly improves the user experience.

In one embodiment, the first rotation device is used to control the second motor, the second rotation device is used to control the first motor, the motor control instruction may be generated based on the user's operation on the first rotation device, the motor control instruction The device identifier in the motor control instruction is the same as the virtual device identifier, the motor control instruction may also be generated based on the user's operation on the second rotating device, and the device identifier in the motor control instruction is the same as the initial device identifier. One motor is controlled by one rotating device, and another motor is controlled by another rotating device, and there is no need to switch the control mode of the rotating device back and forth, which is convenient for the user to control the motor to adjust the shooting parameters of the shooting device, which greatly improves the user experience.

S102. If the device identifier in the motor control instruction is the same as the initial device identifier, send the motor control instruction to the first motor.

S103. If the device identifier in the motor control instruction is the same as the virtual device identifier, modify the device identifier in the motor control instruction to the initial device identifier, so as to update the motor control instruction, and report to all The second motor sends the updated motor control command.

In the communication network, if the device ID set for the first motor is the initial device ID, and the device ID set for the second motor is the virtual device ID, and the initial device ID is different from the virtual device ID, therefore, if the motor control instruction If the device ID of the motor control command is the same as the initial device ID, the motor control command is sent to the first motor, and if the device ID in the motor control command is the same as the virtual device ID, the device ID in the motor control command is modified to the initial device ID, to The motor control command is updated, and the updated motor control command is sent to the second motor.

In one embodiment, if the equipment identification set for the first motor is a virtual equipment identification, and the equipment identification set for the second motor is an initial equipment identification, and the original equipment identification is different from the virtual equipment identification, therefore, if the motor control instruction If the device ID in the motor control command is the same as the initial device ID, the motor control command is sent to the second motor, and if the device ID in the motor control command is the same as the virtual device ID, the device ID in the motor control command is modified to the initial device ID, to update the motor control command, and send the updated motor control command to the first motor.

In one embodiment, the first motor can be connected to the gimbal device through the first interface, and the second motor can be connected to the gimbal device through the second interface. Therefore, a motor control command can be sent to the first motor through the first interface, and also The updated motor control command may be sent to the second motor through the second interface. Alternatively, the first motor can be connected to the gimbal device through the second interface, and the second motor can be connected to the gimbal device through the first interface. Therefore, the updated motor control command can be sent to the second motor through the first interface, and also Motor control commands may be sent to the first motor through the second interface.

In one embodiment, when the rotating device is in the first control mode, the first motor push information sent by the first motor is obtained, wherein the first motor push information includes the initial equipment identification; the first motor including the initial equipment identification is pushed. The information is sent to the rotating device. Wherein, when the first motor is connected to the gimbal device through the first interface, the first motor push information sent by the first motor can be obtained through the first interface, and when the first motor is connected to the gimbal device through the second interface, The first motor push information sent by the first motor can be acquired through the second interface, where the first motor push information includes the initial device identifier of the first motor and the current state information of the first motor.

In one embodiment, when the rotating device is in the second control mode, the second motor push information sent by the second motor is acquired, wherein the second motor push information includes the initial device identifier; the initial device in the second motor push information is obtained. The identifier is modified to a virtual device identifier, so as to update the push information of the second motor, and send the updated push information of the second motor to the rotating device. Wherein, when the second motor is connected to the gimbal device through the first interface, the second motor push information sent by the second motor can be obtained through the first interface, and when the second motor is connected to the gimbal device through the second interface, The second motor push information sent by the second motor can be acquired through the second interface, where the second motor push information includes the initial device identifier of the second motor and the current state information of the second motor.

In one embodiment, the rotating device includes a first rotating device or a second rotating device, the first rotating device is used to control the first motor, and the second rotating device is used to control the second motor, and on this basis, the first motor is obtained. The sent first motor push information, wherein the first motor push information includes the initial device identification; the first motor push information including the initial device identification is sent to the first rotating device. Wherein, when the first motor is connected to the gimbal device through the first interface, the first motor push information sent by the first motor can be obtained through the first interface, and when the first motor is connected to the gimbal device through the second interface, The first motor push information sent by the first motor can be acquired through the second interface, where the first motor push information includes the initial device identifier of the first motor and the current state information of the first motor.

In one embodiment, the rotating device includes a first rotating device or a second rotating device, the first rotating device is used to control the first motor, the second rotating device is used to control the second motor, and on this basis, the second motor is obtained. The second motor push information sent, wherein the second motor push information includes the initial device identification; the initial device identification in the second motor push information is modified to a virtual device identification to update the second motor push information, and rotate to the second motor The device sends the updated push information of the second motor. Wherein, when the second motor is connected to the gimbal device through the first interface, the second motor push information sent by the second motor can be obtained through the first interface, and when the second motor is connected to the gimbal device through the second interface, The second motor push information sent by the second motor can be acquired through the second interface, where the second motor push information includes the initial device identifier of the second motor and the current state information of the second motor.

In one embodiment, the device identification can be set according to the connection relationship between the motor and the interface, for example, the device identification corresponding to the motor connected with the first interface is set as the initial device identification, and the device identification corresponding to the motor connected with the second interface is set. Set to the virtual device ID. In this way, if the device identifier in the motor control instruction is the same as the initial device identifier, the motor control instruction is sent to the motor connected to the first interface through the first interface, and if the device identifier in the motor control instruction is the same as the virtual device identifier, then The device identification in the motor control instruction is modified to the initial device identification to update the motor control instruction, and the updated motor control instruction is sent to the motor connected to the second interface through the second interface.

In addition, if there is only one rotating device in the communication network of the PTZ device, if the motor push information is obtained through the first interface, the motor push information is sent to the rotating device, and if the motor push information is obtained through the second interface, the The initial device identifier in the motor push information is modified to a virtual device identifier, so as to update the motor push information, and send the updated second motor push information to the rotating device. If the communication network of the PTZ device includes two rotating devices, the corresponding relationship between the interface and the rotating device can be further established. For example, the motor push information obtained through the first interface is sent to the first rotating device, and the motor push information obtained through the second interface is sent to the second rotating device. In this way, if the motor push information is obtained through the first interface, the motor push information is sent to the first rotating device, and if the motor push information is obtained through the second interface, the initial device identifier in the motor push information is modified to a virtual device identifier to update the motor push information, and send the updated second motor push information to the second rotating device.

Of course, the device identifier corresponding to the motor connected to the first interface may also be set as the virtual device identifier, and the device identifier corresponding to the motor connected to the second interface may be set as the initial device identifier. In addition, the motor push information obtained through the first interface may also be sent to the second rotating device, and the motor push information obtained through the second interface may be sent to the first rotating device, which will not be repeated here.

The motor control method provided by the above-mentioned embodiment, by acquiring the motor control command, if the device identifier in the motor control command is the same as the initial device ID of the motor, then send the motor control command to the first motor, if the device in the motor control command If the ID is the same as the virtual device ID of the motor, the device ID in the motor control instruction is modified to the initial device ID to update the motor control command, and the updated motor control command is sent to the second motor, so as to solve the problem of multiple motors at the same time. When externally connected to a PTZ device, for other device nodes in the communication network, the motor problem cannot be distinguished by the same device ID, improving user experience.

Please refer to FIG. 5 , which is a schematic flowchart of steps of another motor control method provided by an embodiment of the present application.

As shown in FIG. 5 , the motor control method includes steps S201 to S202.

S201. Acquire the current value of the first shooting parameter or the second shooting parameter of the shooting device.

Wherein, the first motor connected with the pan-tilt device can be connected with the shooting device to adjust the first shooting parameters of the shooting device, and the second motor connected with the pan-tilt device can be connected with the shooting device to adjust the second shooting parameters of the shooting device .

In one embodiment, when a rotating device is connected to the pan/tilt device, if the control mode of the rotating device is the first control mode, the current value of the first shooting parameter of the shooting device is obtained, and if the control mode of the rotating device is In the second control mode, the current value of the second shooting parameter of the shooting device is acquired. Alternatively, when both the first rotating device and the second rotating device are connected to the pan/tilt device, the current value of the first shooting parameter and/or the current value of the second shooting parameter of the shooting device is acquired.

S202. If the current value of the first shooting parameter is not within the first preset value range, or if the current value of the second shooting parameter is not within the second preset value range, increase the rotation device rotational damping.

Wherein, the first preset value range is related to the limit value of the first shooting parameter, that is, the minimum value and the maximum value, and the second preset value range is related to the limit value of the second shooting parameter, that is, the minimum value and the maximum value. For example, The first endpoint value of the first preset value range is greater than or equal to the minimum value of the first shooting parameter, the second endpoint value of the first preset value range is less than or equal to the maximum value of the first shooting parameter, and the second preset value The first endpoint value of the range is greater than or equal to the minimum value of the second shooting parameter, and the second endpoint value of the second preset value range is less than or equal to the maximum value of the second shooting parameter.

In one embodiment, when a rotating device is connected to the pan/tilt device, if the control mode of the rotating device is the first control mode, when the current value of the first shooting parameter is not within the first preset value range, the increase The rotation damping of the rotating device is increased, and if the control mode of the rotating device is the second control mode, when the current value of the second shooting parameter is not within the second preset value range, the rotation damping of the rotating device is increased. Wherein, the rotating device is connected with the damping adjusting device, so the rotational damping of the rotating device can be increased by controlling the damping adjusting device. Wherein, the damping adjustment device includes at least one of a gripping device and a reversing motor, and the gripping device can be arranged on the rotating shaft or the transmission gear of the rotating device, so that the tightening device can increase the rotating shaft or the transmission gear of the rotating device. The frictional force of the gear can increase the rotational damping of the rotating device. The transmission gear of the reversing motor can be engaged with the transmission gear of the rotating device, so that the reversing motor can apply reverse resistance to the rotating device to increase the rotation. Rotational damping of the device. By controlling the damping adjusting device to increase the rotational damping of the rotating device, the rotational damping of the rotating device can be adjusted accurately.

In one embodiment, the current value of the first shooting parameter or the second shooting parameter of the shooting device is obtained at preset time intervals; if the current value of the first shooting parameter is not within the first preset value range, or if the second If the current value of the shooting parameter is not within the second preset value range, the rotation damping of the rotating device is increased. The preset time may be set based on an actual situation, which is not specifically limited in this embodiment of the present application. The current value of the shooting parameter is obtained by setting the interval, and when the current value of the shooting parameter is not within the set value range, the rotation damping of the rotating device is increased, so that the subsequent user can perceive the rotating damping when rotating the rotating device. Increase, the relationship between the current value of the shooting parameter and the limit value is known, so that when the current value of the shooting parameter reaches the limit value, the rotation of the rotating device is stopped, which can prevent damage to the shooting equipment and improve user experience.

In one embodiment, the current value of the first shooting parameter or the second shooting parameter of the shooting device is obtained in response to the user's rotating operation of the rotating device; if the current value of the first shooting parameter is not within the first preset value range , or if the current value of the second shooting parameter is not within the second preset value range, increase the rotation damping of the rotation device. During the process of the user rotating the rotating device, when the current value of the shooting parameter is not within the set value range, the rotational damping of the rotating device is increased, so that the user can perceive the increase in the rotational damping of the rotating device and know that The relationship between the current value of the shooting parameter and the limit value, so that when the current value of the shooting parameter reaches the limit value, the rotation of the rotating device is stopped, which can prevent damage to the shooting equipment and improve user experience.

In one embodiment, the rotation device includes a first rotation device or a second rotation device, and if the current value of the first shooting parameter is not within the first preset value range, the rotation damping of the first rotation device is increased, and If the current value of the second shooting parameter is not within the second preset value range, the rotation damping of the second rotation device is increased. The first rotating device is connected to the first damping adjusting device, and the second rotating device is connected to the second damping adjusting device. Therefore, the rotational damping of the first rotating device can be increased by controlling the first damping adjusting device, and the second rotating device can be controlled. A damping adjusting device is used to increase the rotational damping of the second rotating device, the first damping adjusting device includes at least one of a gripping device and a reversing motor, and the second damping adjusting device includes at least one of a gripping device and a reversing motor item.

In one embodiment, the way to increase the rotational damping of the rotating device may be: determining the difference between the current value of the first shooting parameter and the end value of the first preset value range, or the current value of the second shooting parameter and the first shooting parameter. The difference between the end values of the two preset numerical ranges is to obtain the feedback control amount; according to the feedback control amount and the preset feedback coefficient, the rotation damping of the rotating device is increased. The preset feedback coefficient is related to the value range of the first shooting parameter or the second shooting parameter. The larger the value range of the first shooting parameter or the second shooting parameter is, the smaller the preset feedback coefficient is. Or the smaller the value range of the second shooting parameter is, the larger the preset feedback coefficient is, and the feedback control amount has a positive correlation with the rotational damping of the rotating device. The smaller the control amount, the smaller the rotational damping of the rotating device. Different shooting devices may have different value ranges of shooting parameters. By increasing the rotation damping of the rotating device according to the feedback control amount and the preset feedback coefficient, different shooting devices can correspond to the normalized rotating device. Operation feel.

In one embodiment, the determination method of the feedback control amount may be: determining the first difference between the current value of the first shooting parameter and the first endpoint value of the first preset value range, and determining the first shooting parameter. The second difference between the current value of , and the second endpoint value of the first preset value range; the smaller one of the absolute value of the first difference and the absolute value of the second difference is used as the feedback control amount. For example, if the current value of the first shooting parameter is 80, and the preset value range of the first shooting parameter is 20 to 75, the first endpoint value is 20, and the second endpoint value is 75. Therefore, the absolute value of the first difference If the value is 60 and the absolute value of the second difference is 5, the absolute value of the second difference is 5 as the feedback control amount. For another example, the current value of the first shooting parameter is 15, and the preset value of the first shooting parameter The range is 20 to 75, then the first endpoint value is 20 and the second endpoint value is 75. Therefore, the absolute value of the first difference value is 5 and the absolute value of the second difference value is 60, then the first difference value is The absolute value of 5 is used as the feedback control amount.

In one embodiment, the rotating device is connected to the damping adjusting device, and the way of increasing the rotational damping of the rotating device according to the feedback control amount and the preset feedback coefficient may be: determining the damping according to the feedback control amount and the preset feedback coefficient. Adjust the operating parameters of the device, that is, determine the product of the feedback control amount and the preset feedback coefficient, and use the product of the feedback control amount and the preset feedback coefficient as the operating parameter of the damping adjusting device; control the damping adjusting device to operate according to the operating parameter , to increase the rotational damping of the rotating device. The feedback control amount can be converted into an operating parameter of the damping adjusting device through the feedback control amount and the preset feedback coefficient, so that the damping adjusting device operates based on the operating parameter to increase the rotational damping of the rotating device.

In one embodiment, if the current value of the first shooting parameter is not within the first preset value range, and the current value of the first shooting parameter does not reach the limit value of the first shooting parameter, the rotation damping of the rotating device is increased. Or if the current value of the second shooting parameter is not within the second preset value range, and the current value of the second shooting parameter does not reach the limit value of the second shooting parameter, the rotation damping of the rotating device is increased. When the current value of the shooting parameter is not within the set value range and the current value of the shooting parameter does not reach the limit value, the rotation damping of the rotating device is increased to feedback the relationship between the current value of the shooting parameter and the limit value , it is convenient for the user to operate the rotating device, and when the current value of the shooting parameters reaches the limit value, the rotating device can be stopped from rotating, which can prevent the damage of the shooting equipment.

In one embodiment, if the current value of the first shooting parameter is not within the first preset value range, and the current value of the first shooting parameter reaches the limit value of the first shooting parameter, the rotating device is locked; If the current value of the shooting parameter is not within the second preset value range, and the current value of the second shooting parameter reaches the limit value of the second shooting parameter, the rotating device is locked. Wherein, the locked rotating device does not rotate with the user's operation. When the current value of the shooting parameter reaches the limit value of the shooting parameter, the rotating device is locked so that the rotating device does not rotate with the user's operation, which can prevent damage to the shooting equipment and improve user experience.

In one embodiment, if the current value of the first shooting parameter is not within the first preset value range, or the current value of the second shooting parameter is not within the second preset value range, the preset feedback reminder text, Play preset feedback alert tones, control preset indicator light operation, and/or control rotating device vibration. Among them, the preset feedback reminder text and the preset feedback reminder sound are used to remind the user of the relationship between the current value of the shooting parameter and the limit value of the shooting parameter, and the preset feedback reminder text and the preset feedback reminder sound can be set based on the actual situation , which is not specifically limited in the embodiments of the present application.

In an embodiment, the manner of displaying the preset feedback reminder text may be: controlling the photographing device to display the preset feedback reminder text; and/or controlling the display screen on the rotating device to display the preset feedback reminder text. By controlling the display screen on the shooting device and/or the rotating device to display the preset feedback reminder text, the user can be reminded of the relationship between the current value of the shooting parameter and the limit value of the shooting parameter, which is convenient for the user to operate the rotating device, and can be used in the shooting parameter. When the current value reaches the limit value, the rotation of the rotating device is stopped, which can prevent damage to the photographing equipment and improve user experience.

In an embodiment, the manner of broadcasting the preset feedback reminder sound may be: controlling the photographing device to broadcast the preset feedback reminder sound; and/or controlling the rotating device to broadcast the preset feedback reminder sound. By controlling the shooting device and/or the rotating device to broadcast the preset feedback reminder sound, the user can be reminded of the relationship between the current value of the shooting parameter and the limit value of the shooting parameter, which is convenient for the user to operate the rotating device, and can be used when the current value of the shooting parameter reaches the limit. When the value is set, stop rotating the rotating device, which can prevent damage to the shooting equipment and improve user experience.

In one embodiment, the mode of controlling the operation of the preset indicator light may be: controlling the operation of the preset indicator light provided on the photographing device; and/or, controlling the operation of the preset indicator light provided on the rotating device to remind the user The relationship between the current value of the shooting parameter and the limit value of the shooting parameter. By controlling the operation of the preset indicator light, the user can be reminded of the relationship between the current value of the shooting parameter and the limit value of the shooting parameter, which is convenient for the user to operate the rotating device, and can stop rotating the rotating device when the current value of the shooting parameter reaches the limit value. , which can prevent damage to the shooting equipment and improve the user experience.

In one embodiment, the mode of controlling the operation of the preset indicator light may also be: determining the difference between the current value of the first shooting parameter and the end value of the first preset value range, or the current value of the second shooting parameter and the first shooting parameter. The difference between the end values of the two preset numerical ranges is the feedback control quantity; the target flashing mode of the preset indicator light is determined according to the value range of the feedback control quantity; the preset indicator light is controlled to flash according to the target flashing mode. Wherein, if the value range of the feedback control variable is different, the target flashing mode of the preset indicator light is different, and the mapping relationship between the value range of the feedback control variable and the flashing mode of the preset indicator light can be based on the actual situation set, which is not specifically limited in this embodiment of the present application. By controlling the flashing of the preset indicator lights in different flashing ways, the user can be reminded of the relationship between the current value of the shooting parameter and the limit value of the shooting parameter, which is convenient for the user to operate the rotating device, and when the current value of the shooting parameter reaches the limit value, Stopping the rotation of the rotating device can prevent damage to the photographing equipment and improve user experience.

In one embodiment, the mode of controlling the vibration of the rotating device may be: determining the difference between the current value of the first shooting parameter and the end value of the first preset value range, or the current value of the second shooting parameter and the second preset value. The difference between the end values of the numerical range is used to obtain the feedback control amount; according to the feedback control amount and the preset feedback coefficient, the vibrator in the rotating device is controlled to operate to make the rotating device vibrate, that is, the product of the feedback control amount and the preset feedback coefficient is determined. , and the product of the feedback control amount and the preset feedback coefficient is used as the operating parameter of the vibrator, and the operation of the vibrator in the rotating device is controlled based on the operating parameter, so that the rotating device vibrates. Among them, the feedback control amount is positively correlated with the vibration intensity of the rotating device, that is, the larger the feedback control amount, the stronger the vibration intensity of the rotating device, and the smaller the feedback control amount, the weaker the vibration intensity of the rotating device. By controlling the vibration of the rotating device, the user can be reminded of the relationship between the current value of the shooting parameter and the limit value of the shooting parameter, which is convenient for the user to operate the rotating device, and can stop rotating the rotating device when the current value of the shooting parameter reaches the limit value. It can prevent damage to the shooting equipment and improve the user experience.

In one embodiment, if the current value of the first shooting parameter is not within the first preset value range, or the current value of the second shooting parameter is not within the second preset value range, the rotation damping of the rotating device is increased. , and control the vibration of the rotating device. By increasing the rotation damping of the rotating device and controlling the vibration of the rotating device, the user can be reminded of the relationship between the current value of the shooting parameter and the limit value of the shooting parameter, which is convenient for the user to operate the rotating device, and can be used when the current value of the shooting parameter reaches the limit value. , stop rotating the rotating device, which can prevent damage to the shooting equipment and improve user experience.

The operation feedback method of the rotating device provided by the above-mentioned embodiment, by acquiring the current value of the first shooting parameter or the second shooting parameter of the shooting device, if the current value of the first shooting parameter is not within the first preset value range, or the first shooting parameter If the current value of the second shooting parameter is not within the second preset value range, the rotation damping of the rotating device is increased, so that when the user rotates the rotating device, the rotating device can feedback the difference between the current value of the shooting parameter and the limit value. relationship, it is convenient for the user to perceive whether the shooting parameters of the shooting device reach the limit value, which greatly improves the user experience.

The embodiment of the present application further provides a control device, the control device is used to control the first motor or the second motor, the initial device identifiers of the first motor and the second motor are the same, and the virtual device identifier set for the second motor is the same as the initial device identifier. Device IDs are different. Please refer to FIG. 6 . FIG. 6 is a schematic structural block diagram of a control apparatus provided by an embodiment of the present application.

As shown in FIG. 6 , the control device 300 includes one or more processors 301 and a memory 302, and the one or more processors 301 and the memory 302 are connected through a bus 303, such as an I2C (Inter-integrated Circuit) bus .

Specifically, one or more processors 301 may be a micro-controller unit (Micro-controller Unit, MCU), a central processing unit (Central Processing Unit, CPU), or a digital signal processor (Digital Signal Processor, DSP), etc.

Specifically, the memory 302 may be a Flash chip, a read-only memory (ROM, Read-Only Memory) magnetic disk, an optical disk, a U disk, a mobile hard disk, and the like.

Wherein, the processor 301 is used for running the computer program stored in the memory 302, and implements the following steps when executing the computer program:

In one embodiment, the first motor can be connected to the gimbal device through a first interface, and the second motor can be connected to the gimbal device through a second interface.

In one embodiment, the sending the motor control command to the first motor includes:

Send the motor control command to the first motor through the first interface;

The sending the updated motor control instruction to the second motor includes:

Send the updated motor control command to the second motor through the second interface.

In one embodiment, the motor control instruction is generated based on a user's operation on a rotating device, and the rotating device is connected to the PTZ device in a wired or wireless manner.

In one embodiment, the rotating device includes a first rotating device or a second rotating device, the first rotating device is used to control the first motor, and the second rotating device is used to control the second motor .

In an embodiment, the motor control instruction is generated based on a user's operation on the first rotating device, and the device identification in the motor control instruction is the same as the initial device identification.

In an embodiment, the motor control instruction is generated based on a user's operation on the second rotating device, and the device identifier in the motor control instruction is the same as the virtual device identifier.

In one embodiment, the one or more processors are further configured to implement the following steps:

acquiring first motor push information sent by the first motor, where the first motor push message includes the initial device identifier;

Sending the first motor push information to the first rotating device.

acquiring second motor push information sent by the second motor, where the second motor push information includes the initial device identifier;

Modify the initial device identification in the second motor push information to the virtual device identification to update the second motor push information, and send the updated second motor to the second rotating device Push information.

In one embodiment, the rotating device has a first control mode and a second control mode. In the first control mode, the rotating device is used to control the first motor, and in the second control mode Next, the rotating device is used to control the second motor.

In an embodiment, the motor control instruction is generated based on a user's operation of the rotating device in the first control mode, and the device identifier in the motor control instruction is the same as the initial device identifier.

In an embodiment, the motor control instruction is generated based on a user's operation on the rotating device in the second control mode, and the device identifier in the motor control instruction is the same as the virtual device identifier.

Sending the first motor push information to the rotating device.

Modify the initial device identification in the second motor push information to the virtual device identification to update the second motor push information, and send the updated second motor push information to the rotating device .

In one embodiment, the first motor can be connected to a photographing device to adjust a first photographing parameter of the photographing device, and the second motor can be connected to the photographing device to adjust a second photographing of the photographing device parameter.

obtaining the current value of the first shooting parameter or the second shooting parameter of the shooting device;

If the current value of the first shooting parameter is not within the first preset value range, or if the current value of the second shooting parameter is not within the second preset value range, increase the rotation of the rotating device damping.

In one embodiment, the first preset value range is related to the minimum value and the maximum value of the first shooting parameter, and the second preset value range is related to the minimum value and the maximum value of the second shooting parameter. related.

It should be noted that those skilled in the art can clearly understand that, for the convenience and brevity of description, for the specific working process of the control device described above, reference may be made to the corresponding process in the foregoing motor control method embodiment, which is not repeated here. Repeat.

Please refer to FIG. 7 . FIG. 7 is a schematic structural block diagram of a photographing system provided by an embodiment of the present application.

As shown in FIG. 7 , the shooting system 400 includes a pan-tilt device 410 , a shooting device 420 mounted on the pan-tilt device 410 , a rotation device 430 , a control device 440 as provided in any of the descriptions of the present application, and a pan-tilt device 420 . The first motor 450 and the second motor 460 are connected. The first motor 450 can be connected to the photographing device 420 to adjust the first photographing parameters of the photographing device 420 , and the second motor 460 can be connected to the photographing device 420 to adjust the second photographing parameters of the photographing device 420 .

In one embodiment, the pan-tilt device 410 includes a handle portion, and the rotating device 430 is disposed on the handle portion and is electrically connected to the pan-tilt device 410 . It can be understood that, the rotating device 430 can also be connected to the PTZ device 410 in a wireless manner.

Optionally, the pan/tilt device 410 may be connected to the photographing device 420 through a control line to adjust the photographing parameters of the photographing device 420 mounted on the pan/tilt 102 . The control wire may be a shutter wire, and the type of the shutter wire is not limited here, for example, the shutter wire may be a Universal Serial Bus (Universal Serial Bus, USB).

It should be noted that those skilled in the art can clearly understand that, for the convenience and brevity of the description, for the specific working process of the shooting system described above, reference may be made to the corresponding process in the foregoing motor control method embodiment, which is not repeated here. Repeat.

Embodiments of the present application further provide a computer-readable storage medium, where a computer program is stored in the computer-readable storage medium, and the computer program includes program instructions, and the processor executes the program instructions to realize the provision of the above embodiments. The steps of the motor control method.

The computer-readable storage medium may be an internal storage unit of the control apparatus or the PTZ device described in any of the foregoing embodiments, for example, a hard disk or memory of the control apparatus or the PTZ device. The computer-readable storage medium may also be an external storage device of the control device or the PTZ device, for example, a plug-in hard disk, a smart memory card (Smart Media Card, SMC) equipped on the control device or the PTZ device. , Secure Digital (SD) card, flash memory card (Flash Card), etc.

It should be understood that the terms used in the specification of the present application herein are for the purpose of describing particular embodiments only and are not intended to limit the present application. As used in this specification and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural unless the context clearly dictates otherwise.

It will also be understood that, as used in this specification and the appended claims, the term "and/or" refers to and including any and all possible combinations of one or more of the associated listed items.

The above are only specific embodiments of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of various equivalents within the technical scope disclosed in the present application. Modifications or substitutions shall be covered by the protection scope of this application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

A motor control method, characterized in that the motor includes a first motor or a second motor, the initial device identifiers of the first motor and the second motor are the same, and the virtual device identifier set for the second motor Unlike the initial equipment identification, the method includes:

acquiring a motor control instruction, where the motor control instruction includes a device identifier, and the device identifier is used to distinguish the recipient of the motor control instruction, and the recipient is the first motor or the second motor;

If the device identifier in the motor control instruction is the same as the initial device identifier, send the motor control instruction to the first motor;

If the device identifier in the motor control instruction is the same as the virtual device identifier, modify the device identifier in the motor control instruction to the initial device identifier, so as to update the motor control instruction, and report to the first The second motor sends the updated motor control command.
The motor control method according to claim 1, wherein the first motor can be connected to the pan-tilt device through a first interface, and the second motor can be connected to the pan-tilt device through a second interface.
The motor control method according to claim 2, wherein the sending the motor control command to the first motor comprises:

Send the motor control command to the first motor through the first interface;

The sending the updated motor control instruction to the second motor includes:

Send the updated motor control command to the second motor through the second interface.
The motor control method according to claim 1, wherein the motor control instruction is generated based on a user's operation on a rotating device, and the rotating device is connected to the PTZ device through wired or wireless communication.
The motor control method according to claim 4, wherein the rotating device comprises a first rotating device or a second rotating device, the first rotating device is used to control the first motor, and the second rotating device is used for controlling the first motor. Means are used to control the second motor.
The motor control method according to claim 5, wherein the motor control instruction is generated based on a user's operation on the first rotating device, and the device identifier in the motor control instruction is the same as the initial device identifier. same.
The motor control method according to claim 5, wherein the motor control instruction is generated based on a user's operation on the second rotating device, and the device identifier in the motor control instruction is the same as the virtual device identifier. same.
The motor control method according to claim 5, wherein the method further comprises:

acquiring first motor push information sent by the first motor, where the first motor push message includes the initial device identifier;

Sending the first motor push information to the first rotating device.
The motor control method according to claim 5, wherein the method further comprises:

acquiring second motor push information sent by the second motor, where the second motor push information includes the initial device identifier;

Modify the initial device identification in the second motor push information to the virtual device identification to update the second motor push information, and send the updated second motor to the second rotating device Push information.
The motor control method according to claim 4, wherein the rotating device has a first control mode and a second control mode, and in the first control mode, the rotating device is used to control the first control mode. a motor, and in the second control mode, the rotating device is used to control the second motor.
The motor control method according to claim 10, wherein the motor control instruction is generated based on a user's operation on the rotating device in the first control mode, and the device identifier in the motor control instruction Same as the initial equipment identification.
The motor control method according to claim 10, wherein the motor control instruction is generated based on a user's operation on the rotating device in the second control mode, and the device identifier in the motor control instruction The same as the virtual device ID.
The motor control method according to claim 10, wherein the method further comprises:

acquiring first motor push information sent by the first motor, where the first motor push message includes the initial device identifier;

Sending the first motor push information to the rotating device.
The motor control method according to claim 10, wherein the method further comprises:

acquiring second motor push information sent by the second motor, where the second motor push information includes the initial device identifier;

Modify the initial device identification in the second motor push information to the virtual device identification to update the second motor push information, and send the updated second motor push information to the rotating device .
The motor control method according to any one of claims 4-14, wherein the first motor can be connected with a photographing device to adjust the first photographing parameter of the photographing device, and the second motor can be connected with a photographing device. The photographing device is connected to adjust a second photographing parameter of the photographing device.
The motor control method according to claim 15, wherein the method further comprises:

obtaining the current value of the first shooting parameter or the second shooting parameter of the shooting device;

If the current value of the first shooting parameter is not within the first preset value range, or if the current value of the second shooting parameter is not within the second preset value range, increase the rotation of the rotating device damping.
The motor control method according to claim 16, wherein the first preset value range is related to a minimum value and a maximum value of the first shooting parameter, and the second preset value range is related to the first shooting parameter. The minimum value and the maximum value of the two shooting parameters are related.
A control device, characterized in that the control device is used to control a first motor or a second motor, the first motor and the second motor have the same initial device identification, and the virtual device set for the second motor The device identification is different from the initial device identification;

the control device includes a memory and one or more processors;

the memory for storing computer programs;

The one or more processors are configured to execute the computer program and implement the following steps when executing the computer program:

acquiring a motor control instruction, where the motor control instruction includes a device identifier, and the device identifier is used to distinguish the recipient of the motor control instruction, and the recipient is the first motor or the second motor;

If the device identifier in the motor control instruction is the same as the initial device identifier, send the motor control instruction to the first motor;

If the device identifier in the motor control instruction is the same as the virtual device identifier, modify the device identifier in the motor control instruction to the initial device identifier, so as to update the motor control instruction, and report to the first The second motor sends the updated motor control command.
The control device according to claim 18, wherein the first motor can be connected to the PTZ device through a first interface, and the second motor can be connected to the PTZ device through a second interface.
The control device according to claim 19, wherein the sending the motor control command to the first motor comprises:

Send the motor control command to the first motor through the first interface;

The sending the updated motor control instruction to the second motor includes:

Send the updated motor control command to the second motor through the second interface.
The control device according to claim 18, wherein the motor control instruction is generated based on a user's operation on a rotating device, and the rotating device is connected to the pan/tilt device through wired or wireless communication.
The control device according to claim 21, wherein the rotating device comprises a first rotating device or a second rotating device, the first rotating device is used to control the first motor, and the second rotating device for controlling the second motor.
The control device according to claim 22, wherein the motor control instruction is generated based on a user's operation on the first rotating device, and the device identification in the motor control instruction is the same as the initial device identification .
The control device according to claim 22, wherein the motor control instruction is generated based on a user's operation on the second rotating device, and the device identification in the motor control instruction is the same as the virtual device identification .
The control device of claim 22, wherein the one or more processors are further configured to implement the following steps:

acquiring first motor push information sent by the first motor, where the first motor push message includes the initial device identifier;

Sending the first motor push information to the first rotating device.
The control device of claim 22, wherein the one or more processors are further configured to implement the following steps:

acquiring second motor push information sent by the second motor, where the second motor push information includes the initial device identifier;

Modify the initial device identification in the second motor push information to the virtual device identification to update the second motor push information, and send the updated second motor to the second rotating device Push information.
The control device according to claim 21, wherein the rotating device has a first control mode and a second control mode, and in the first control mode, the rotating device is used to control the first motor , in the second control mode, the rotating device is used to control the second motor.
The control device according to claim 27, wherein the motor control command is generated based on a user's operation on the rotating device in the first control mode, and the device identifier in the motor control command is the same as the one in the motor control command. The initial equipment identifiers are the same.
The control device according to claim 27, wherein the motor control command is generated based on a user's operation on the rotating device in the second control mode, and the device identifier in the motor control command is the same as the The virtual device identifiers are the same.
The control device of claim 27, wherein the one or more processors are further configured to implement the following steps:

acquiring first motor push information sent by the first motor, where the first motor push message includes the initial device identifier;

Sending the first motor push information to the rotating device.
The control device of claim 27, wherein the one or more processors are further configured to implement the following steps:

acquiring second motor push information sent by the second motor, where the second motor push information includes the initial device identifier;

Modify the initial device identification in the second motor push information to the virtual device identification to update the second motor push information, and send the updated second motor push information to the rotating device .
The control device according to any one of claims 21-31, wherein the first motor can be connected with a photographing device to adjust the first photographing parameter of the photographing device, and the second motor can be connected with the photographing device. The photographing device is connected to adjust the second photographing parameter of the photographing device.
The control device of claim 32, wherein the one or more processors are further configured to implement the following steps:

obtaining the current value of the first shooting parameter or the second shooting parameter of the shooting device;

If the current value of the first shooting parameter is not within the first preset value range, or if the current value of the second shooting parameter is not within the second preset value range, increase the rotation of the rotating device damping.
The control device according to claim 33, wherein the first preset value range is related to a minimum value and a maximum value of the first shooting parameter, and the second preset value range is related to the second preset value range. The minimum and maximum values of the shooting parameters are related.
A photographing system, characterized in that the photographing system comprises a PTZ device, a PTZ device mounted on the PTZ device, a rotating device, the control device according to any one of claims 18-34, and a The first motor and the second motor connected to the PTZ device.
A computer-readable storage medium, characterized in that, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor implements the method described in any one of claims 1-17. The steps of the motor control method described above.