The invention discloses a single-chip microcomputer-based pan-tilt control device. The single-chip microcomputer-based pan-tilt control device includes two stepping motors, an input module, a single-chip microcomputer control module and two motor driving modules; each the motor driving module includes seven sub units; each sub unit includes a first triode and a second triode; the base of the first triode is connected with the single-chip microcomputer control module through a base resistor; the emitter of the first triode is connected with the base of the second triode; the collector of the second triode is connected with the collector of the first triode; the operation mode of the stepping motors is a single and double eight-beat operation mode which includes A-AB-B-BC-C-CD-D-DA-A or a reverse electrified order, wherein A, B, C and D are respectively four phases of the stepping motors.