Smart screen, pan-tilt camera device and control method and system of pan-tilt camera device

Abstract

The invention discloses an intelligent screen, a pan-tilt camera device and a control method and system thereof, and the control method comprises the following steps: controlling a camera of the pan-tilt camera device to rotate from a starting position to an ending position, shooting a plurality of images in the rotation process, and enabling parts of visual angles of two adjacent images to be overlapped according to a shooting sequence; and based on the shooting sequence, the multiple images shot by the camera are spliced to obtain a spliced panoramic image, and the overlapping areas of the two adjacent spliced images coincide. According to the control method, a panoramic image with relatively good quality can be obtained based on a common camera of the pan-tilt camera device, so that the accuracy of an identification result is improved.

Description

Technical Field

[0001] This application relates to the technical field of terminal devices, and in particular, to an intelligent screen, a pan-tilt camera device, and a control method and system thereof. Background Art

[0002] With the continuous development of digital information, intelligent screens are widely used in fields such as education, office, or media. A camera is installed on the intelligent screen to identify relevant information in the application scenario.

[0003] To meet the camera recognition requirements in scenarios with a relatively large space such as classrooms, the recognition solutions for intelligent screens mostly adopt two methods: using an ultra-wide-angle camera or splicing multiple cameras. Among them, although the ultra-wide-angle camera has the application advantage of a large viewing angle, it has serious image distortion, which affects the accuracy of the recognition result. The multi-camera splicing method can solve the problem of image distortion, but there is an obvious boundary at the splicing position of different cameras, which also affects the accuracy of the recognition result. Summary of the Invention

[0004] The purpose of this application is to provide an intelligent screen, a pan-tilt camera device, and a control method and system thereof. Based on the ordinary camera of the pan-tilt camera device, the control method and system can obtain a panoramic image with better quality, which is beneficial to improving the accuracy of the recognition result.

[0005] To solve the above technical problems, an embodiment of this application provides a control method for a pan-tilt camera device, including the following steps:

[0006] Control the camera of the pan-tilt camera device to rotate from the starting position to the ending position, and take multiple images during the rotation. According to the shooting order, partial perspectives of adjacent two images overlap;

[0007] Based on the shooting order, splice the multiple images taken by the camera to obtain a spliced panoramic image, where the overlapping areas of adjacent two spliced images coincide.

[0008] In a possible implementation, control the camera to take an image each time it rotates by the same set angle during the rotation.

[0009] In a possible implementation, control the camera to take an image at the starting position; and / or, control the camera to take an image at the ending position.

[0010] In a possible implementation, the set angle is less than or equal to half of the field of view angle of the camera.

[0011] In a possible implementation, determine the overlapping area of adjacent two images based on the proportional relationship between the set angle and the field of view angle of the camera.

[0012] In a possible implementation, before controlling the camera to capture multiple images, calibrate the starting position and the ending position, and calibrate the rotation speed of the camera; control the camera to rotate from the starting position to the ending position at the calibrated rotation speed.

[0013] In a possible implementation, the starting position includes a first starting position, the ending position includes a first ending position, and the first starting position and the first ending position are respectively two limit positions for the camera to rotate around a first rotation axis;

[0014] The starting position includes a second starting position, the ending position includes a second ending position, and the second starting position and the second ending position are respectively two limit positions for the camera to rotate around a second rotation axis;

[0015] The first rotation axis is perpendicular to the second rotation axis.

[0016] The embodiment of the present application further provides a control system for a pan-tilt camera device, including:

[0017] A control module, configured to control the camera of the pan-tilt camera device to rotate from a starting position to an ending position, and capture multiple images during the rotation, and for adjacent two images in the shooting order, partial perspectives overlap;

[0018] A splicing module, configured to splice the multiple images captured by the camera in the shooting order to obtain a spliced panoramic image, wherein the overlapping regions of adjacent two spliced images coincide.

[0019] The embodiment of the present application further provides a pan-tilt camera device, including a memory, a processor, and a computer program stored on the memory and executable on the processor, and when the processor executes the computer program, the steps of the control method as described in any one of the above are implemented.

[0020] In a possible implementation, the pan-tilt camera device includes a piezoelectric driving component, a turntable, a pan-tilt body, and a camera. The camera is installed on the pan-tilt body, the pan-tilt body is installed on the turntable, the piezoelectric driving component includes a first piezoelectric module and a second piezoelectric module. The first piezoelectric module is used to drive the turntable to rotate around a first rotation axis, and the second piezoelectric module is used to drive the pan-tilt body to rotate around a second rotation axis, and the first rotation axis is perpendicular to the second rotation axis.

[0021] The embodiment of the present application further provides a smart screen, and the smart screen includes the above-mentioned pan-tilt camera device.

[0022] The pan-tilt camera device provided by the implementation scheme of this application can be applied to a smart screen. The control method and system of the pan-tilt camera device can be used to determine the panoramic image of the target area in the smart screen usage scenario. This control method controls the camera of the pan-tilt camera device to rotate and capture the target object in the application scenario. There is a partial overlapping area between two adjacent images in the shooting order. After capturing multiple images, the multiple images are stitched based on the shooting order to obtain a panoramic image, and the overlapping areas of two adjacent stitched images coincide. This control method can avoid missing some captured objects due to stitching and also avoid obvious demarcation at the stitching position, so that the quality of the stitched panoramic image is relatively high, which is beneficial to identifying information such as the target object or the posture of the target object in the application scenario based on the panoramic image. In addition, this control method does not limit the type of camera. It can avoid using wide-angle or ultra-wide-angle cameras. By rotating and shooting with an ordinary camera and stitching the captured images, a panoramic image can be obtained, which is beneficial to reducing costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 is a schematic flowchart of the control method of the pan-tilt camera device in the embodiment provided by this application;

[0024] Figure 2 is a schematic diagram comparing the field of view angle ranges of the camera of the pan-tilt camera device at adjacent two shooting positions in the embodiment provided by this application;

[0025] Figure 3 is a schematic diagram of stitching two adjacent images in the embodiment provided by this application;

[0026] Figure 4 is a schematic structural diagram of the pan-tilt camera device in the embodiment provided by this application;

[0027] Figure 5 is Figure 4 a schematic structural diagram of the cooperation between the middle turntable and the first piezoelectric module.

[0028] DESCRIPTION OF REFERENCE NUMERALS:

[0029] Camera 11, piezoelectric drive component 12, first piezoelectric module 121, piezoelectric element 1211, second piezoelectric module 122, turntable 13, pan-tilt body 14, mounting plate 15. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0030] Currently, on a smart screen, mainly an ultra-wide-angle camera or a method of stitching multiple cameras is used to obtain a panoramic image of the application environment, so as to identify the target object or the posture of the target object in the application environment based on the panoramic image. The ultra-wide-angle camera has serious image distortion, which affects the recognition accuracy; the panoramic image obtained by stitching multiple cameras has an obvious demarcation at the stitching position, which also affects the recognition accuracy.

[0031] Based on this, the implementation scheme of this application provides a control method and system for a pan-tilt camera device. This control method and system can obtain panoramic images with better quality through a single ordinary camera, thereby facilitating the improvement of the accuracy of recognition results.

[0032] The implementation scheme of this application also provides a pan-tilt camera device and a smart screen including this pan-tilt camera device.

[0033] In order to enable those skilled in the art to better understand the solution of this application, the following further detailed description of this application will be given in conjunction with the drawings and specific implementation manners.

[0034] Please refer to Figure 1 , Figure 1 , which is a schematic flowchart of the control method for the pan-tilt camera device in an embodiment provided by this application.

[0035] In this implementation scheme, the control method for the pan-tilt camera device includes the following steps:

[0036] Step S11: Control the camera of the pan-tilt camera device to rotate from the starting position to the ending position, and capture multiple images during the rotation. According to the shooting order, the partial viewing angles of two adjacent images overlap.

[0037] In this article, multiple refers to at least two.

[0038] Among them, according to the shooting order, the partial viewing angles of two adjacent images overlap, which means that there is a partial overlapping area between the two images captured successively. In other words, there is partial picture content repetition between the two images captured successively.

[0039] In application, the field of view angle ranges of the camera at the shooting positions of two successive shootings partially overlap, so that there is a partial overlapping area between the two images captured at the two positions.

[0040] It can be understood that in order to achieve the partial viewing angle overlap of two adjacent images in the shooting order, the rotation angle of the camera between two adjacent shooting positions is not greater than the field of view angle of the camera.

[0041] Reference can be made to Figure 2 and Figure 3 , Figure 2 , which is a schematic diagram of the comparison of the field of view angle ranges of the camera of the pan-tilt camera device at two adjacent shooting positions in the embodiment provided by this application; Figure 3 , which is a schematic diagram of the stitching of two adjacent images in the embodiment provided by this application.

[0042] Figure 2 The solid line and the dashed line inFigure 2 At the first shooting position (the solid line position of Figure 2 ), the first image A1 is captured. Then, after the camera rotates to the second shooting position (such as Figure 2 the dashed line position of Figure 2 ), the second image A2 is captured. The first image A1 and the second image A2 are adjacent in the shooting order. The field of view angle of the camera 11 is β, the rotation angle of the camera from the first shooting position to the second shooting position is β1, and the field of view angles of the camera 11 at the first shooting position and the second shooting position partially overlap, and the overlapping angle is (β - β1). In this way, there is a partial overlapping area between the first image A1 and the second image A2. As Figure 3 shown, the first image A1 and the second image A2 have an overlapping area S, that is, the picture contents of the two images are repeated in the overlapping area S.

[0043] Step S12: Based on the shooting order, splice multiple images captured by the camera to obtain a spliced panoramic image, where the overlapping areas of two adjacent spliced images coincide.

[0044] Since the partial field of view angles of two adjacent images overlap, there is an overlapping area between two adjacent images. When splicing, make the overlapping areas of two adjacent images coincide. As Figure 3 shown, after the overlapping areas S1 and S2 of the first image A1 and the second image A2 coincide, a spliced image is obtained. Splice multiple images captured during the rotation of the camera in step S11 in sequence according to the shooting order to obtain a spliced panoramic image.

[0045] With the above solution, the camera of the pan-tilt camera device can be controlled to rotate and capture the target object in the application scenario. There is a partial overlapping area between two adjacent images in the shooting order, which provides a splicing reference for subsequent image splicing, avoids missing some shooting objects due to splicing, and also avoids obvious demarcation at the splicing position. Therefore, the quality of the spliced panoramic image is relatively high, which is beneficial to identifying information such as the target object or the posture of the target object in the application scenario based on the panoramic image. In addition, this control method does not limit the type of camera, can avoid using wide-angle or ultra-wide-angle cameras, and can obtain a panoramic image by rotating and shooting with an ordinary camera and splicing the captured images, which is beneficial to reducing costs.

[0046] In some embodiments, in step S11, control the camera to capture one picture each time it rotates by the same set angle during the rotation process.

[0047] After such setting, the overlapping areas of any two adjacent images are the same. When splicing multiple images, the splicing methods of any two adjacent images are the same, which is beneficial to improving the splicing efficiency and ensuring the quality consistency of the obtained panoramic image.

[0048] In specific implementation, the rotation angle of the camera between two adjacent shootings is less than or equal to half of the field of view angle of the camera, that is, the above-set angle is not greater than half of the field of view angle of the camera. Such a setting is beneficial to reducing the distortion degree of the stitched panoramic image and can improve the quality of the obtained panoramic image.

[0049] Theoretically, the smaller the rotation angle of the camera between two adjacent shootings, the smaller the distortion degree of the stitched panoramic image and the higher the quality of the panoramic image.

[0050] In practical applications, due to factors such as the processing capacity of the controller of the pan-tilt camera device or the smart screen provided with the pan-tilt camera device, the set angle can be set within a reasonable range as long as it can meet the requirements for image recognition and processing.

[0051] Through experimental analysis, setting the above-set angle not greater than half of the field of view angle of the camera can ensure that the quality of the obtained panoramic image can meet the recognition requirements.

[0052] In specific implementation, the camera shoots an image at the starting position of rotation, and / or the camera shoots an image at the ending position of rotation. In this way, it can be ensured that all areas including the target object in the application scenario are photographed by the captured images, so as to ensure that the obtained panoramic image includes all target objects. For example, in a teaching application scenario, the panoramic image obtained based on the control method of the pan-tilt camera device includes all students in the classroom, so as to ensure that the postures of all students can be recognized during subsequent recognition.

[0053] In some embodiments, the control method of the pan-tilt camera device further includes step S0 before step S11. In step S0, the starting position and the ending position of the camera are calibrated, and the rotation speed of the camera is calibrated; in step S11, the camera is controlled to rotate from the starting position to the ending position at the calibrated rotation speed. In this way, it is convenient to determine the rotation angle of the camera according to the calibrated rotation speed of the camera and the rotation time, so as to conveniently control the position of the camera to capture images.

[0054] In an application example, the starting position and the ending position of the camera can be two extreme positions of the camera in a rotation direction. When the camera is at the starting position, the range corresponding to the field of view angle of the camera includes a boundary position of the target area photographed in the application scenario. When the camera is at the ending position, the range corresponding to the field of view angle of the camera includes another boundary position of the target area photographed in the application scenario. In this way, after the camera rotates from the starting position to the ending position and shoots multiple images according to the requirements in step S11 during the rotation process, the multiple images cover the target area, and it can be ensured that all target objects in the target area are included in the panoramic image obtained after stitching in step S12.

[0055] Setting the starting position and the ending position captured by the camera as two extreme positions of the camera in one rotation direction helps to facilitate the calibration of the starting position and the ending position. During specific operations, the camera can be controlled to rotate to the two extreme positions, and the extreme positions can be determined through sensors. When shooting subsequently, based on the feedback signal of the sensor, it can be determined whether the camera is at the starting position or the ending position of shooting.

[0056] In the application, the camera can be controlled to rotate to an extreme position, this extreme position is calibrated, and then the camera is controlled to rotate to another extreme position along the rotation direction, this extreme position is calibrated, and at the same time, the rotation speed of the camera rotating between the two extreme positions is calibrated. Subsequently, in step S11, the camera is controlled to rotate at the calibrated rotation speed. Combining with the rotation time of the camera, the angle that the camera has rotated can be conveniently determined, thereby determining the position where the camera captures the image.

[0057] The starting position and the ending position for the camera to shoot can also be set to other positions, which are determined according to actual application requirements. For example, they can be set as the boundary positions of a certain rotation area within the rotatable range of the camera.

[0058] It should be noted that step S0 can be determined whether to be implemented according to the usage time of the pan-tilt camera device. In other words, it is not necessarily required to implement step S0 before controlling the pan-tilt camera device to capture an image. After the pan-tilt camera device has run for a certain period of time, such as one year, three years, etc., due to factors such as wear, the extreme positions of the camera rotation or the initially calibrated starting position or ending position may change. To ensure the reliability of the images captured by the pan-tilt camera device, the starting position, the ending position, and the rotation speed of the camera rotation can be calibrated regularly.

[0059] In some embodiments, the camera of the pan-tilt camera device can rotate in two directions. The camera can rotate around the first rotation axis. The starting position for the camera to shoot includes the first starting position, and the ending position for the camera to shoot includes the first ending position. The first starting position and the first ending position are respectively the two extreme positions of the camera rotating around the first rotation axis. The camera can also rotate around the second rotation axis. The starting position for the camera to shoot includes the second starting position, and the ending position for the camera to shoot includes the second ending position. The second starting position and the second ending position are respectively the two extreme positions of the camera rotating around the second rotation axis. Among them, the first rotation axis is perpendicular to the second rotation axis.

[0060] In an application, the first rotation axis can be a vertical axis. The rotation of the camera around the vertical axis can be understood as the camera can rotate in the left - right direction. The second rotation axis can be a horizontal axis. The rotation of the camera around the horizontal axis can be understood as the camera can rotate in the up - down direction.

[0061] Generally, the rotation angle range of the camera around the first rotation axis is larger, that is, the rotation range of the camera in the left - right direction is larger, and the rotation angle range of the camera around the second rotation axis is smaller, that is, the rotation range of the camera in the up - down direction is smaller.

[0062] In some embodiments, in step S12, the overlapping area between two adjacent images is determined based on the proportional relationship between the set angle and the field of view angle of the camera. In other words, the content overlapping area between two adjacent images is determined based on the proportional relationship between the set angle of the rotation of the camera between two adjacent shootings and the field of view angle of the camera.

[0063] Still referring to Figure 2 and Figure 3 , the sizes of multiple images captured by the camera 11 are the same. After the camera 11 captures the first image A1 at the first shooting position and rotates by the set angle β1 and then captures the second image A2 at the next shooting position, the sizes of the first image A1 and the second image A2 are the same. The field of view angle of the camera 11 is β. As previously defined, the set angle β1 is less than the field of view angle β. The overlapping angle of the field of view of the camera 11 at the above - mentioned two shooting positions is (β - β1). Thus, the ratio of the size of the overlapping area S between the first image A2 and the second image A1 to the size of the first image A1 or the second image A2 is consistent with (β - β1) / β. Thus, when splicing the first image A1 and the second image A2, the overlapping area where the two images are spliced can be determined, or in other words, the boundary position where the two images are spliced can be determined.

[0064] For example, if the rotation angle between two adjacent shootings of the camera is half of the field of view angle, then the splicing position of the images obtained from two adjacent shootings is at the half - size position of the image.

[0065] Specifically, the field of view angle of the camera includes a horizontal field of view angle and a vertical field of view angle. When the camera rotates around the first rotation axis, it can be considered that the orientation of the horizontal field of view angle of the camera rotates around the first rotation axis. The overlapping area between two adjacent images obtained in the rotation direction around the first rotation axis can be determined based on the proportional relationship between the set angle of rotation and the horizontal field of view angle. When the camera rotates around the second rotation axis, it can be considered that the orientation of the vertical field of view angle of the camera rotates around the second rotation axis. The overlapping area between two adjacent images obtained in the rotation direction around the second rotation axis can be determined based on the proportional relationship between the set angle of rotation and the vertical field of view angle.

[0066] The embodiment of the present application further provides a control system for a pan-tilt camera device, and the control system includes:

[0067] A control module, configured to control the camera of the pan-tilt camera device to rotate from a starting position to an ending position, and capture multiple images during the rotation. According to the shooting order, partial perspectives of two adjacent images overlap.

[0068] A splicing module, configured to splice multiple images captured by the camera in the shooting order to obtain a spliced panoramic image, wherein the overlapping regions of perspectives of two adjacent spliced images coincide.

[0069] By controlling the camera of the pan-tilt camera device to rotate from the starting position to the ending position, and capturing multiple images during the rotation, there are partial perspective overlapping regions between two adjacent captured images. Based on the shooting order, multiple images are spliced to obtain a spliced panoramic picture, and the overlapping regions of two adjacent spliced images coincide. In this way, an obvious demarcation at the splicing position can be avoided, so that the quality of the obtained panoramic image is relatively high, which is beneficial to identifying information such as target objects or the postures of target objects in the application scenario based on the panoramic image.

[0070] This control system can be understood with reference to the foregoing control method.

[0071] In some embodiments, the control module is further configured to control the camera to capture one image each time the set angle of the camera body is rotated during the rotation.

[0072] In a specific implementation, the set angle can be pre-stored in the control module.

[0073] In a specific implementation, the set angle is less than or equal to half of the field of view angle of the camera.

[0074] In some embodiments, the control module is further configured to control the camera to capture one image at the starting position and / or the ending position.

[0075] In some embodiments, the splicing module determines the overlapping region between two adjacent images based on the proportional relationship between the set angle and the field of view angle of the camera.

[0076] Wherein, the field of view angle of the camera can be pre-stored in the splicing module, and the splicing module can call the set angle stored in the control module.

[0077] In some embodiments, the control system can also be used to control the rotation of the camera to calibrate the starting position and the ending position of the camera in combination with sensors or other detection elements, etc., and calibrate the rotation speed of the camera.

[0078] The embodiment of the present application further provides a pan-tilt camera device, which includes a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, the steps of the foregoing control method can be implemented.

[0079] Reference Figure 4 and Figure 5 , Figure 4 is a schematic structural diagram of a pan-tilt camera device. Figure 5 is Figure 4 a schematic structural diagram of the cooperation between the middle turntable and the first piezoelectric module. Among them, Figure 5 is a perspective rendering.

[0080] The pan-tilt camera device further includes a piezoelectric driving component 12, a turntable 13, a pan-tilt body 14, and a camera (not shown in the figure). The camera is installed on the pan-tilt body 14, the pan-tilt body 14 is installed on the turntable 13, the piezoelectric driving component 12 includes a first piezoelectric module 121 and a second piezoelectric module 122. The first piezoelectric module 121 is used to drive the turntable 13 to rotate around the first rotation axis C1, and the second piezoelectric module 122 is used to drive the pan-tilt body 14 to rotate around the second rotation axis C2. The first rotation axis C1 is perpendicular to the second rotation axis C2.

[0081] The pan-tilt camera device uses the piezoelectric driving component 12 to realize the rotational drive of the camera, which can reduce the occupied volume of the pan-tilt camera device and facilitate the installation of the pan-tilt camera device in electronic devices such as smart screens.

[0082] In a specific implementation, the first piezoelectric module 121 includes a plurality of piezoelectric elements 1211. The plurality of piezoelectric elements 1211 are in contact with the turntable 13, and the plurality of piezoelectric elements 1211 are located on the side of the turntable 13 facing away from the pan-tilt body 14.

[0083] The piezoelectric driving component 12 further includes a driver. The driver can apply an electric field to the piezoelectric elements 1211 of the first piezoelectric module 121. Based on the piezoelectric effect, the piezoelectric elements 1211 generate deformation under the action of the electric field, and generate frictional force with the turntable 13, thereby driving the turntable 13 to rotate. The rotation angle of the turntable 13 is proportional to the intensity of the electric field. In applications, the rotation angle of the turntable 13 can be controlled by changing the intensity of the electric field.

[0084] In addition, the rotation accuracy of the turntable 13 can also be controlled by controlling the number of deformed piezoelectric elements 1211.

[0085] Figure 5In the illustrated example, the first piezoelectric module 121 includes six piezoelectric elements 1211, which are roughly distributed on both sides of the turntable 13. To facilitate the arrangement of the piezoelectric elements 1211 and the installation of the pan-tilt camera device, a plurality of mounting plates 15 can be provided, and the piezoelectric elements 1211 are arranged on the mounting plates 15.

[0086] Generally, the rotation angle range of the camera around the first rotation axis C1 is relatively large. Therefore, the first piezoelectric module 121 can be provided with a relatively large number of piezoelectric elements 1211 to accurately control the rotation angle of the turntable 13.

[0087] The second piezoelectric module 122 also includes piezoelectric elements. The driver controls the rotation of the pan-tilt body 14 around the second rotation axis C2 by controlling the electric field applied to the second piezoelectric module 122.

[0088] As Figure 4 shown, in the application, the first piezoelectric module 121 and the second piezoelectric module 122 are placed vertically in space, so that the camera can rotate in the left-right direction (driven by the first piezoelectric module 121) and the up-down direction (driven by the second piezoelectric module 122).

[0089] The implementation solution of this application also provides a smart screen, which includes the pan-tilt camera device introduced in the above embodiments. The smart screen equipped with this pan-tilt camera device can obtain panoramic images based on the camera of the pan-tilt camera device, and the obtained panoramic images have good quality, which is beneficial to improving the recognition accuracy of target objects and their postures in the application scenario.

[0090] The smart screen can be applied to teaching scenarios, office scenarios, etc.

[0091] In this article, specific examples are used to elaborate on the principle and implementation method of this application. The description of the above embodiments is only used to help understand the method and its core idea of this application. It should be noted that for those of ordinary skill in the art in this technical field, without departing from the principle of this application, several improvements and modifications can still be made to this application, and these improvements and modifications also fall within the protection scope of the claims of this application.

Claims

1. A control method for a pan-tilt camera device, characterized in that, The method includes the following steps: Controlling the camera of the pan-tilt imaging device to rotate from a starting position to an ending position, and capturing multiple images during the rotation. According to the capture sequence, partial perspectives of adjacent two images overlap; Based on the capture sequence, stitching the multiple images captured by the camera to obtain a stitched panoramic image, wherein the overlapping regions of adjacent two stitched images coincide; 2. The control method according to claim 1, wherein Controlling the camera to capture one image each time it rotates by the same set angle during the rotation; 3. The control method according to claim 2, wherein Controlling the camera to capture one image at the starting position; and / or controlling the camera to capture one image at the ending position; 4. The control method according to claim 2, wherein The set angle is less than or equal to half of the field of view angle of the camera; 5. The image stitching method according to claim 2, wherein Determining the overlapping regions of adjacent two images based on the proportional relationship between the set angle and the field of view angle of the camera; 6. The control method according to any one of claims 1-5, characterized in that, Before controlling the camera to capture multiple images, calibrating the starting position and the ending position, and calibrating the rotation speed of the camera; controlling the camera to rotate from the starting position to the ending position at the calibrated rotation speed; 7. The control method according to any one of claims 1-5, characterized in that The starting position includes a first starting position, and the ending position includes a first ending position. The first starting position and the first ending position are respectively two extreme positions where the camera rotates around a first rotation axis; The starting position includes a second starting position, and the ending position includes a second ending position. The second starting position and the second ending position are respectively two extreme positions where the camera rotates around a second rotation axis; The first rotation axis is perpendicular to the second rotation axis; 8. A control system of a pan-tilt camera device, characterized in that, It includes: A control module, configured to control the camera of the pan-tilt imaging device to rotate from a starting position to an ending position, and capture multiple images during the rotation. According to the capture sequence, partial perspectives of adjacent two images overlap; A stitching module, configured to stitch the multiple images captured by the camera according to the capture sequence to obtain a stitched panoramic image, wherein the overlapping regions of adjacent two stitched images coincide; 9. A pan-tilt camera device, characterized in that, It includes a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, the steps of the control method according to any one of claims 1-7 are implemented; 10. The pan-tilt camera device according to claim 9, wherein, The pan-tilt imaging device includes a piezoelectric driving component, a turntable, a pan-tilt body, and a camera. The camera is mounted on the pan-tilt body, the pan-tilt body is mounted on the turntable. The piezoelectric driving component includes a first piezoelectric module and a second piezoelectric module. The first piezoelectric module is used to drive the turntable to rotate around a first rotation axis, and the second piezoelectric module is used to drive the pan-tilt body to rotate around a second rotation axis. The first rotation axis is perpendicular to the second rotation axis; 11. A smart screen, characterized in that, The smart screen includes the pan-tilt imaging device according to claim 9 or 10;

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