WO2016000194A1 - Photographing control method, device and pan-tilt device - Google Patents

Abstract

Provided in an embodiment of the present invention are a photographing control method, device and pan-tilt device, the method comprising: detecting the current angle of a camera relative to a preset reference direction to obtain a first angle, and detecting the rotation angle of a suspending arm for suspending a camera supporting device to obtain a second angle; conducting calculation on the second angle to obtain angular variation parameters for the rotation of the camera supporting device, the angular variation parameters comprising angular velocity and angular acceleration; selecting a preset following adjustment parameter and a calculation rule to conduct calculation on the first angle, the second angle and the angular variation parameters in order to obtain a following rotation angle of the camera; controlling the rotation of the camera according to the following rotation angle to complete photographing. By employing the present invention, an accurate camera following angle can be obtained through calculation in a pan-tilt device to ensure that the camera lens follows a moving object to achieve photographing.

Description

 Camera control method, device and cloud table device

[Technical Field]

 The present invention relates to the field of imaging control technologies, and in particular, to an imaging control method, apparatus, and pan/tilt device.

【Background technique】

 The PTZ device is a carrier device for mounting and fixing cameras. It currently includes fixed PTZ devices and electric PTZ devices. Among them, the electric pan/tilt head device cooperates with the motor through the arm to complete the rotation of the camera carried by the camera in one or more directions to capture a wide range of images.

 Some electric pan/tilt equipment can be connected to the hanging arm through the motor to realize the handheld, airborne, etc. of the PTZ equipment. When the photographer is to use the PTZ device to follow the moving object, such as following the shooting from the author When driving a car, the user controls the hanging arm of the pan/tilt device to rotate during the whole shooting process, and requires that the arm of the fixed camera also rotates following the hanging arm.

 At present, the processing method of implementing the PTZ device can well control and shoot the object with slow moving speed. However, for fast moving objects, such as in order to shoot a high-speed moving car, the author needs to quickly rotate the hanging arm. At this time, the calculated following speed will have a large error, and the relevant axis of the gimbal equipment cannot be guaranteed. The accuracy of the camera lens makes it impossible to keep up with objects.

[Summary of the Invention]

 The embodiment of the invention provides a camera control method, a device and a pan/tilt device, which can accurately calculate the following angle of the relevant axis of the gimbal device, and better ensure that the camera lens keeps up with the moving object.

 Correspondingly, an embodiment of the present invention provides a camera control method, including:

 Detecting a current angle of the camera relative to the preset reference direction to obtain a first angle, and detecting a rotation angle of the hanging arm for holding the camera carrying device to obtain a second angle;

 Calculating the second angle to obtain an angle change parameter of the rotation of the camera carrying device, where the angle change parameter includes an angular velocity and an angular acceleration;

 Selecting a preset following adjustment parameter and a calculation rule to calculate the first angle, the second angle, and the angle variation parameter to obtain a following rotation angle of the camera;

 The camera rotation is controlled according to the following rotation angle to complete the imaging.

Optionally, the first angle is obtained at an angle of the detecting camera with respect to a preset reference direction And before detecting the rotation angle of the hanging arm for holding the camera carrying device to obtain the second angle, the method further includes:

 Establish a wireless signal connection with an external assistant device;

 Receiving the following adjustment parameter sent by the assistant device, and storing the received following adjustment parameter. Optionally, the first angle includes angle information detected and transmitted by a gyroscope disposed on the camera carrying device;

 The second angle includes rotation angle information detected and transmitted by an angle sensor provided on the camera carrying device.

 Optionally, the controlling the camera rotation according to the following rotation angle comprises: generating a motor rotation instruction according to the rotation angle, and transmitting the motor rotation instruction to a rotation motor set on the camera carrying device Controlling the rotation of the rotating motor to complete control of the rotation of the camera.

 Correspondingly, an embodiment of the present invention further provides an image control device, including:

 a detecting module, configured to detect a current angle of the camera relative to the preset reference direction to obtain a first angle, and detect a rotation angle of the hanging arm for holding the camera carrying device to obtain a second angle;

 a calculation module, configured to calculate the second angle, to obtain an angle change parameter of the rotation of the camera carrying device, where the angle change parameter includes an angular velocity and an angular acceleration;

 a processing module, configured to select a preset following adjustment parameter and a calculation rule to calculate the first angle, the second angle, and the angle change parameter, to obtain a following rotation angle of the camera;

 And a control module, configured to control the rotation of the camera according to the following rotation angle to complete the imaging. Optionally, the device further includes:

 And a communication module, configured to establish a wireless signal connection with the external assistant device, and receive the following adjustment parameter sent by the parameter adjustment device, and store the received following adjustment parameter.

 Optionally, the control module is configured to generate a motor rotation command according to the rotation angle, and send the motor rotation instruction to a rotation motor disposed on the camera carrier device, and control the rotation motor to rotate Control of the rotation of the camera is completed.

Correspondingly, the embodiment of the invention further provides a pan/tilt head device, comprising: a transverse shaft arm, a pitch axis arm, a roll axis arm, a hanging arm, and a motor connecting the hanging arm and the lateral shaft arm, a motor connecting the lateral arm and the roll arm, a motor connecting the roll arm and the pitch arm, and comprising: a controller and a first angle sensor, a second angle respectively connected to the controller a sensor, and a third angle sensor; The first angle sensor is configured to detect an angle of the camera relative to the preset reference direction; the second angle sensor is configured to detect a rotation angle of the hanging arm of the pendant device; the controller, And the angle sensed by the received first angle sensor is used as a first angle, and the angle sensed by the second angle sensor is used as a second angle, and the second angle is calculated to obtain the An angle change parameter of the camera carrying device rotation, the angle change parameter includes an angular velocity and an angular acceleration; selecting a preset following adjustment parameter and a calculation rule to calculate the first angle, the second angle, and the angle change parameter, to obtain the camera Following the rotation angle; controlling the rotation of the camera according to the following rotation angle to complete the imaging.

 Optionally, the first angle sensor is specifically configured to detect an angle of a camera mounted on the pitch axis arm relative to a preset reference direction;

 The second angle sensor is specifically configured to detect a rotation angle of the suspension arm relative to the lateral axis arm.

 Optionally, the first angle sensor is specifically configured to detect an angle of a camera mounted on the pitch axis arm relative to a preset reference direction;

 The second angle sensor is specifically configured to detect a rotation angle of the pitch axis arm relative to the roll axis arm.

 Optionally, the controller is specifically configured to generate a motor rotation instruction according to the rotation angle, and send the motor rotation instruction to a rotating motor disposed on the camera carrying device, and control the rotating motor to rotate Control of the rotation of the camera is completed.

 The embodiment of the present invention can determine an angular change parameter such as an angular velocity and an angular acceleration of the hanging arm based on a rotation angle of the hanging arm such as a handle, and according to the angle of the camera, the rotation angle of the hanging arm, and the angle change parameter and the preset Following the adjustment parameter to calculate the following rotation angle, the implementation is simple and fast, and a relatively accurate camera following angle can be obtained, which is better to ensure that the camera lens keeps up with the moving object.

[Description of the Drawings]

 1 is a schematic diagram of a control structure in a cloud platform device according to an embodiment of the present invention;

 2 is a schematic structural diagram of one of the PTZ devices according to the embodiment of the present invention;

 3 is a schematic structural diagram of an image control device according to an embodiment of the present invention;

 4 is a schematic flow chart of a camera control method according to an embodiment of the present invention;

FIG. 5 is a schematic flow chart of another imaging control method according to an embodiment of the present invention. 【detailed description】

 BRIEF DESCRIPTION OF THE DRAWINGS The technical solutions in the embodiments of the present invention will be described in detail with reference to the accompanying drawings. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present invention without the creative work are all within the scope of the present invention.

 The embodiment of the present invention can determine an angular change parameter such as an angular velocity and an angular acceleration of the hanging arm based on a rotation angle of the hanging arm such as a handle, and according to the angle of the camera, the rotation angle of the hanging arm, and the angle change parameter and the preset The following adjustment parameter is used to calculate the following rotation angle. Specifically, the following angle compensation parameter is used to calculate the following angle compensation amount, so that a more accurate following angle can be obtained, and it is better to ensure that the camera lens keeps up with the moving object.

 Referring to FIG. 1 and FIG. 2, FIG. 1 is a schematic diagram of a corresponding structure of a PTZ device according to an embodiment of the present invention. FIG. 1 shows a control structure of the PTZ device according to an embodiment of the present invention, including: And a first angle sensor 201, a second angle sensor 202, and a third angle sensor respectively connected to the controller 100. 2 is a schematic structural view of a three-axis pan-tilt device in a pan-tilt device, including: a lateral axis arm 402, a pitch axis arm 404, a roll axis arm 403, a hanging arm 401, and a connection support The motor 301 of the arm 401 and the lateral shaft arm 402, the motor connecting the transverse shaft arm 402 and the roll arm 403, and the motor 302 connecting the roll arm 403 and the pitch axis arm 404.

 The first angle sensor 201 is configured to detect an angle of the camera currently relative to a preset reference direction;

 The second angle sensor 202 is configured to detect a rotation angle of the hanging arm 401 of the hanging cloud platform device;

 The controller 100 is configured to use the received angle sensed by the first angle sensor 201 as a first angle, and the angle sensed by the second angle sensor 202 as a second angle, to the first Calculating at two angles, obtaining an angle change parameter of the rotation of the camera carrying device, the angle change parameter includes an angular velocity and an angular acceleration; selecting a preset following adjustment parameter and calculating a rule for the first angle, the second angle, and the angle change The parameter is calculated to obtain a following rotation angle of the camera; the camera rotation is controlled according to the following rotation angle to complete the imaging.

The first angle sensor 201 may be a gyroscope disposed on the pan axis arm 404 of the camera for fixing the camera, and the gyroscope may be specifically disposed in the pitch axis arm 404 as shown in FIG. 2 . The camera mount 4041 has a north-direction direction as a reference direction to obtain a current azimuth angle of the camera axis, and the azimuth angle is used as a first angle corresponding to the camera, that is, a heading angle of the camera. The second angle detected by the second angle sensor 202 may be detected by an angle sensor disposed on the suspension arm 401 or by the detectable motor 301 disposed on the lateral shaft arm 402 illustrated in FIG. The angle sensor of the rotation of the shaft is detected, and the second angle is the heading angle of the hanging arm of the handle or the like, which is simply the angle between the handle 4011 of the hanging arm 401 in FIG. 2 and the transverse shaft arm 402.

 Further, in other embodiments, the first angle may also be an angle of the pitch axis arm 404 of the fixed camera relative to a horizontal plane, that is, a pitch angle of the camera, and the second angle may be set by the pan/tilt device. The angle sensor on the roll axis arm 403 that can detect the rotation of the motor 302 is sensed, that is, corresponds to the pitch angle of the hanging arm such as the handle.

 Specifically, the controller 100 may calculate the second angle based on time to obtain a corresponding angular velocity and angular acceleration.

 The following adjustment parameters are obtained by the user according to experience, which may be configured after the user establishes a communication connection with the controller 100 by means of Bluetooth, infrared, and WiFi. The specific calculation formula of the calculation rule on which the controller 100 is based may be as described in the following formula.

= ^κ ι ^χ - Θ— ) + K ₂ xd {0 _handle ) / dt + K ₃ xd ² {0 _handle ) I dt

Where KK ₂ is a follow-up adjustment parameter set by the user according to the actual situation, and may specifically be

The number of [0,100] is the following rotation angle of the axis where the camera is located, ^^ is the rotation angle of the hanging arm 401 such as the handle, that is, the second angle, which is the first angle of the rotation angle of the axis of the camera, in the formula, according to the formula The second angle calculation angular velocity and angular acceleration are calculated by ^/^^^/^ and ^^^)/^, respectively.

 In a specific implementation, the second angle sensor 202 detects the second angle in real time. Therefore, upon detecting that the hanging arm 401 sends a rotation, the controller 100 immediately processes the corresponding following rotation angle, and simultaneously according to the Following the rotation angle, the corresponding motor is rotated to drive the associated arm to rotate to complete the following operation.

 The first angle sensor 201 is specifically configured to detect an angle of a camera mounted on the pitch axis arm 404 with respect to a preset reference direction; the first angle sensor 201 may be a gyroscope, and the measured angle is The angle relative to the true north direction (reference direction).

The second angle sensor 202 is specifically configured to detect a rotation angle of the hanging arm 401 relative to the lateral axis arm 402. The second angle sensor 202 is used for detecting the rotation of the rotating shaft of the motor 301 between the hanging arm 401 and the lateral shaft arm 402, and the measured angle may specifically be a hanging The arm 401 drives the angle at which the motor shaft rotates when the motor shaft rotates.

 Or specifically, the first angle sensor 201 is specifically configured to detect an angle of a camera mounted on the pitch axis arm 404 with respect to a preset reference direction; the first angle sensor 201 may be a gyroscope. The angle obtained is the angle with respect to the true north direction (reference direction). The second angle sensor 202 is specifically configured to detect a rotation angle of the pitch axis arm 404 relative to the roll axis arm 403. The second angle sensor 202 detects the rotation of the motor 302 between the pitch axis arm 403 and the pitch axis arm 404, and the measured angle may specifically be that the pitch axis arm 404 drives the motor shaft to rotate when the motor shaft rotates. The angle of passing.

 More specifically, the controller 100 is specifically configured to generate a motor rotation command according to the rotation angle, and send the motor rotation command to a rotating motor disposed on the camera carrying device to control the rotation of the rotating motor to Control of the rotation of the camera is completed.

 Specifically, for example, when detecting that the hanging arm rotates by a second angle, the controller 100 controls the rotation of the motor 301 connecting the hanging arm and the lateral shaft arm to control the rotation of the lateral shaft arm to make the head The device drives the camera to rotate synchronously to achieve camera rotation following.

 The embodiment of the present invention can determine an angular change parameter such as an angular velocity and an angular acceleration of the hanging arm based on a rotation angle of the hanging arm such as a handle, and according to the angle of the camera, the rotation angle of the hanging arm, and the angle change parameter and the preset Following the adjustment parameter to calculate the following rotation angle, the implementation is simple and fast, and a relatively accurate camera following angle can be obtained, which is better to ensure that the camera lens keeps up with the moving object.

 Referring to FIG. 3, it is a schematic structural diagram of an image control device according to an embodiment of the present invention. The camera control device of the embodiment of the present invention may be disposed in a cloud platform device. Specifically, the device includes: a detection module 10 And detecting a current angle of the camera relative to the preset reference direction to obtain a first angle, and detecting a rotation angle of the hanging arm for holding the camera carrying device to obtain a second angle;

 The calculation module 20 is configured to calculate the second angle to obtain an angle change parameter of the rotation of the camera carrying device, where the angle change parameter includes an angular velocity and an angular acceleration;

 The processing module 30 is configured to select a preset following adjustment parameter and a calculation rule to calculate the first angle, the second angle, and the angle change parameter, to obtain a following rotation angle of the camera;

The control module 40 is configured to control the rotation of the camera according to the following rotation angle to complete the imaging. The imaging control device of the embodiment of the present invention is also described by taking a three-axis pan/tilt head device shown in FIG. 2 as an example. The detection module 10 detects the detection and acquisition manners of the first angle and the second angle. For details, refer to the detection and acquisition manners of the corresponding gyroscope and the angle sensor in the previous embodiment. The calculation formula used by the calculation module 20 can also refer to the above calculation formula, and the calculation module 20 can complete the calculation and determination of the following rotation angle.

 Further, optionally, in the embodiment of the present invention, the following adjustment parameter may be configured in a wireless manner. Specifically, the device further includes:

 The communication module 50 is configured to establish a wireless signal connection with the external assistant device, and receive the following adjustment parameter sent by the assistant device, and store the received follow-up adjustment parameter.

Wireless signal connections include Bluetooth, infrared, and WiFi connections. The user can adjust the following adjustment parameters, K ₂ , related to the PTZ device based on the application APP provided by the smart phone, the tablet computer, etc. for parameter adjustment prompting of the PTZ device.

 The control module 40 is specifically configured to generate a motor rotation instruction according to the rotation angle, and send the motor rotation instruction to a rotating motor disposed on the camera carrying device, and control the rotating motor to rotate to complete the Control of camera rotation.

 Specifically, for example, when detecting that the hanging arm rotates by a second angle, the control module 40 controls the rotation of the motor connecting the hanging arm and the lateral axis arm, and controls the rotation of the lateral axis arm to make the pan/tilt device The camera is rotated synchronously to achieve camera rotation following.

 The embodiment of the present invention can determine an angular change parameter such as an angular velocity and an angular acceleration of the hanging arm based on a rotation angle of the hanging arm such as a handle, and according to the angle of the camera, the rotation angle of the hanging arm, and the angle change parameter and the preset Following the adjustment parameter to calculate the following rotation angle, the implementation is simple and fast, and a relatively accurate camera following angle can be obtained, which is better to ensure that the camera lens keeps up with the moving object.

 The imaging control method of the embodiment of the present invention will be described in detail below.

 For details, please refer to FIG. 4, which is a schematic flowchart of a camera control method according to an embodiment of the present invention. The method of the embodiment of the present invention may be implemented by a corresponding controller in various electric pan/tilt devices. , the method includes:

 S101: Detecting a current angle of the camera relative to the preset reference direction to obtain a first angle, and detecting a rotation angle of the hanging arm for holding the camera carrying device to obtain a second angle.

 The three-axis pan-tilt device shown in FIG. 2 is taken as an example to describe the first angle and the second angle. The three-axis pan/tilt device specifically includes a lateral axis arm and a pitch axis arm. Roller arm and hanging arm.

The first angle may be sensed by a gyroscope disposed on the tilting axis arm of the camera for fixing the camera, and may take the north direction as a reference direction to obtain a current azimuth angle of the camera axis. , the azimuth angle is taken as the first angle corresponding to the camera. The second angle may be detected by an angle sensor disposed on the suspension arm, the second angle being a rotational angle of the suspension arm relative to its initial position.

 Further, in other embodiments, the first angle may also be an angle of a pitch axis arm of the fixed camera relative to a horizontal plane, and the second angle may be a roll arm disposed on the pan/tilt device The upper angle sensor is sensed.

 S102: Calculate the second angle to obtain an angle change parameter of the rotation of the camera carrying device, where the angle change parameter includes an angular velocity and an angular acceleration.

 Specifically, the second angle can be calculated based on time, and the corresponding angular velocity and angular acceleration are obtained.

S103: Select a preset following adjustment parameter and a calculation rule to calculate the first angle, the second angle, and the angle change parameter to obtain a following rotation angle of the camera.

 The following adjustment parameter is obtained by the user according to the experience configuration, and may be configured after the user establishes a communication connection with the controller of the PTZ device through Bluetooth, infrared, and WiFi. Wherein, one of the specific calculation formulas adopted by the calculation rule may be as described in the following formula.

l _low = Κ _γ (e _handle - Θ— ) + K ₂ xd (e _handle ) / dt + K ₃ xd ² (e _handle ) I dt

Where KK ₂ is a follow-up adjustment parameter set by the user according to the actual situation, and may specifically be

The number of [0,100] is the following rotation angle of the axis where the camera is located, _fl „ _rffe is the rotation angle of the hanging arm such as the handle, that is, the second angle, which is the first angle of the rotation angle of the camera axis, in this formula, according to The second angle is calculated by calculating the angular velocity and angular acceleration by /^ and d ² (0 _handle ) / ^ respectively.

 S104: Control the camera to rotate according to the following rotation angle to complete the imaging.

 In a specific implementation, detecting the second angle in S101 is detected in real time. Therefore, once the detecting arm sends the rotation, the S102 to S103 are immediately executed to obtain the following rotation angle, and at the same time, the corresponding motor is controlled according to the rotation angle. Rotate to drive the associated arm to rotate to complete the following operation.

 Specifically, for example, when detecting that the hanging arm rotates by a second angle, the S104 controls the rotation of the motor connecting the hanging arm and the lateral axis arm, and controls the rotation of the lateral axis arm to enable the pan/tilt device to drive the camera. Synchronous rotation to achieve camera rotation follow.

The embodiment of the present invention can determine an angular change parameter such as an angular velocity and an angular acceleration of the hanging arm based on a rotation angle of the hanging arm such as a handle, and according to the angle of the camera, the rotation angle of the hanging arm, and the angle change parameter and the preset Following the adjustment parameter to calculate the following rotation angle, the implementation is simple and fast, and a relatively accurate camera following angle can be obtained, which is better to ensure that the camera lens keeps up with the moving object. Referring to FIG. 5, it is a schematic flowchart of another camera control method according to an embodiment of the present invention. The method in the embodiment of the present invention may be implemented by a corresponding controller in various electric pan/tilt devices. , the method includes:

 S201: Establish a wireless signal connection with an external assistant device.

 S202: Receive a follow-up adjustment parameter sent by the assistant equipment, and store the received follow-up adjustment parameter.

Wireless signal connections include Bluetooth, infrared, and WiFi connections. The user can adjust the following adjustment parameters, K ₂ , related to the PTZ device based on the application APP provided by the smart phone, the tablet computer, etc. for parameter adjustment prompting of the PTZ device.

 S203: Detecting a current angle of the camera relative to the preset reference direction to obtain a first angle, and detecting a rotation angle of the hanging arm for holding the camera carrying device to obtain a second angle.

 S204: Calculating the second angle to obtain an angle change parameter of the rotation of the camera carrying device, where the angle change parameter includes an angular velocity and an angular acceleration.

 S205: selecting a preset following adjustment parameter and a calculation rule to calculate the first angle, the second angle, and the angle change parameter, to obtain a following rotation angle of the camera;

 The specific implementation of the first angle, the second angle, the angular velocity, the angular acceleration, and the following rotation angle can be referred to the description in the previous embodiment.

 S206: Generate a motor rotation command according to the rotation angle, and send the motor rotation command to a rotation motor provided on the camera carrying device, and control the rotation motor to rotate to complete control of the camera rotation.

 In a specific implementation, the detecting the second angle is detected in real time. Therefore, once the detecting arm sends the rotation, the relevant calculation steps are immediately executed to obtain the following rotation angle, and at the same time, the corresponding motor rotation is controlled according to the rotation angle. In order to drive the relevant arm to rotate, to complete the following operation.

 Specifically, for example, when detecting that the hanging arm rotates by a second angle, the S206 controls the rotation of the motor connecting the hanging arm and the lateral axis arm, and controls the rotation of the lateral axis arm to enable the pan/tilt device to drive the camera. Synchronous rotation to achieve camera rotation follow.

 The embodiment of the present invention can determine an angular change parameter such as an angular velocity and an angular acceleration of the hanging arm based on a rotation angle of the hanging arm such as a handle, and according to the angle of the camera, the rotation angle of the hanging arm, and the angle change parameter and the preset Following the adjustment parameter to calculate the following rotation angle, the implementation is simple and fast, and a relatively accurate camera following angle can be obtained, which is better to ensure that the camera lens keeps up with the moving object.

In several embodiments provided by the present invention, it should be understood that the disclosed related apparatus and method, It can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of the modules or units is only a logical function division. In actual implementation, there may be another division manner, for example, multiple units or components may be used. Combined or can be integrated into another system, or some features can be ignored, or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interface, device or unit, and may be in an electrical, mechanical or other form. The components displayed by the unit may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of the embodiment.

 In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above integrated unit can be implemented in the form of hardware or in the form of a software functional unit.

 The integrated unit, if implemented in the form of a software functional unit and sold or used as a standalone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention or the part contributing to the prior art or all or part of the technical solution may be embodied in the form of a software product stored in a storage medium. In the above, a number of instructions are included to cause a computer processor to perform all or part of the steps of the methods described in various embodiments of the present invention. The foregoing storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and the like, which can store program codes. Introduction ^.

 The above is only the embodiment of the present invention, and is not intended to limit the scope of the invention, and the equivalent structure or equivalent process transformations made by the specification and the drawings of the present invention may be directly or indirectly applied to other related technologies. The scope of the invention is included in the scope of patent protection of the present invention.

Claims

Rights request 1. A camera control method, comprising:  Detecting a current angle of the camera relative to the preset reference direction to obtain a first angle, and detecting a rotation angle of the hanging arm for holding the camera carrying device to obtain a second angle;  Calculating the second angle to obtain an angle change parameter of the rotation of the camera carrying device, where the angle change parameter includes an angular velocity and an angular acceleration;  Selecting a preset following adjustment parameter and a calculation rule to calculate the first angle, the second angle, and the angle variation parameter to obtain a following rotation angle of the camera;  The camera rotation is controlled according to the following rotation angle to complete the imaging. 2. The method according to claim 1, wherein a first angle is obtained at an angle of the detecting camera with respect to a preset reference direction, and a rotation angle of the hanging arm for holding the camera carrying device is detected. Before getting the second angle, it also includes:  Establish a wireless signal connection with an external assistant device;  Receiving the following adjustment parameter sent by the assistant device, and storing the received following adjustment parameter. 3. The method of claim 1 wherein:  The first angle includes angle information detected and transmitted by a gyroscope disposed on the camera carrying device;  The second angle includes rotation angle information detected and transmitted by an angle sensor provided on the camera carrying device. The method according to any one of claims 1 to 3, wherein the controlling the camera rotation according to the following rotation angle comprises:  And generating a motor rotation command according to the rotation angle, and transmitting the motor rotation command to the rotation motor provided on the camera carrier device, and controlling the rotation motor to rotate to complete the control of the camera rotation. 5. An imaging control device, comprising: a detecting module, configured to detect a current angle of the camera relative to a preset reference direction to obtain a first angle, And detecting a rotation angle of the hanging arm for holding the camera carrying device to obtain a second angle;  a calculation module, configured to calculate the second angle, to obtain an angle change parameter of the rotation of the camera carrying device, where the angle change parameter includes an angular velocity and an angular acceleration;  a processing module, configured to select a preset following adjustment parameter and a calculation rule to calculate the first angle, the second angle, and the angle change parameter, to obtain a following rotation angle of the camera;  And a control module, configured to control the rotation of the camera according to the following rotation angle to complete the imaging. 6. The device of claim 5, further comprising:  And a communication module, configured to establish a wireless signal connection with the external assistant device, and receive the following adjustment parameter sent by the parameter adjustment device, and store the received following adjustment parameter. 7. Apparatus according to claim 5 or claim 6 wherein:  The control module is specifically configured to generate a motor rotation command according to the rotation angle, and send the motor rotation instruction to a rotating motor disposed on the camera carrying device, and control the rotating motor to rotate to complete the camera Rotation control. 8. A pan/tilt head device, comprising: a transverse shaft arm, a pitch axis arm, a roll axis arm, a hanging arm, and a motor connecting the hanging arm and the lateral shaft arm, and connecting the lateral shaft branch a motor for an arm and a roll arm, a motor connecting the roll arm and the pitch arm, and including: a controller and a first angle sensor, a second angle sensor, and a a three-angle sensor; the first angle sensor is configured to detect an angle of the camera relative to a preset reference direction; and the second angle sensor is configured to detect a rotation angle of the hanging arm of the pendant device; a controller, configured to use the received angle sensed by the first angle sensor as a first angle, and use an angle sensed by the second angle sensor as a second angle to calculate the second angle Obtaining an angle change parameter of the rotation of the camera carrying device, the angle change parameter includes an angular velocity and an angular acceleration; selecting a preset following adjustment parameter and a calculation rule for the An angle, a second angle, and an angle change parameter are calculated to obtain a following rotation angle of the camera; and the camera rotation is controlled according to the following rotation angle to complete the imaging. 9. The pan/tilt head device according to claim 8, wherein The first angle sensor is specifically configured to detect a camera mounted on the pitch axis arm relative to the preset The angle of the reference direction;  The second angle sensor is specifically configured to detect a rotation angle of the suspension arm relative to the lateral axis arm. 10. The pan/tilt head device according to claim 8, wherein  The first angle sensor is specifically configured to detect an angle of a camera mounted on the pitch axis arm relative to a preset reference direction;  The second angle sensor is specifically configured to detect a rotation angle of the pitch axis arm relative to the roll axis arm. The pan/tilt head device according to any one of claims 8 to 10, characterized in that  The controller is specifically configured to generate a motor rotation command according to the rotation angle, and send the motor rotation instruction to a rotating motor disposed on the camera carrying device, and control the rotating motor to rotate to complete the camera Rotation control.