WO2018205104A1 - 无人机拍摄控制方法、无人机拍摄方法、控制终端、无人机控制装置和无人机 - Google Patents

无人机拍摄控制方法、无人机拍摄方法、控制终端、无人机控制装置和无人机 Download PDF

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Publication number
WO2018205104A1
WO2018205104A1 PCT/CN2017/083488 CN2017083488W WO2018205104A1 WO 2018205104 A1 WO2018205104 A1 WO 2018205104A1 CN 2017083488 W CN2017083488 W CN 2017083488W WO 2018205104 A1 WO2018205104 A1 WO 2018205104A1
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WO
WIPO (PCT)
Prior art keywords
video
drone
action
preset
mode
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2017/083488
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English (en)
French (fr)
Inventor
苏冠华
艾楚越
郭灼
张若颖
钱杰
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
SZ DJI Technology Co Ltd
Original Assignee
SZ DJI Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by SZ DJI Technology Co Ltd filed Critical SZ DJI Technology Co Ltd
Priority to CN202511209161.6A priority Critical patent/CN121050441A/zh
Priority to CN201780004534.3A priority patent/CN108513641A/zh
Priority to PCT/CN2017/083488 priority patent/WO2018205104A1/zh
Publication of WO2018205104A1 publication Critical patent/WO2018205104A1/zh
Priority to US16/677,655 priority patent/US11290692B2/en
Anticipated expiration legal-status Critical
Priority to US17/705,683 priority patent/US11722647B2/en
Ceased legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0094—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/62—Control of parameters via user interfaces
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/66—Remote control of cameras or camera parts, e.g. by remote control devices
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/667—Camera operation mode switching, e.g. between still and video, sport and normal or high- and low-resolution modes
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N5/00—Details of television systems
    • H04N5/222—Studio circuitry; Studio devices; Studio equipment
    • H04N5/262—Studio circuits, e.g. for mixing, switching-over, change of character of image, other special effects ; Cameras specially adapted for the electronic generation of special effects
    • H04N5/2621—Cameras specially adapted for the electronic generation of special effects during image pickup, e.g. digital cameras, camcorders, video cameras having integrated special effects capability
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
    • H04N7/185—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source from a mobile camera, e.g. for remote control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/10—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
    • B64U2201/104—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS] using satellite radio beacon positioning systems, e.g. GPS
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/20—Remote controls

Definitions

  • Embodiments of the present disclosure relate to the field of aerial photography, and in particular, to a drone shooting control method, a drone shooting method, a control terminal, a drone control device, and a drone.
  • the camera can be set on the drone, and the user can realize the aerial photography by remotely controlling the drone, providing the user with a new shooting angle, which can be applied regardless of the portrait or the landscape.
  • the remote control is usually used to manually control the flight path of the drone.
  • users take pictures and videos, they need to adjust the shooting position and angle, and then shoot them one by one.
  • Such a shooting method is cumbersome and needs to be improved.
  • a drone shooting control method comprising:
  • the combined action mode comprising at least two action modes
  • a drone photographing method comprising:
  • the drone flies according to at least two action modes to capture a video.
  • a control terminal includes:
  • a memory for storing executable instructions
  • a processor for executing executable instructions stored in the memory
  • executable instructions when executed by the processor, cause the processor to: determine a combined action mode used by the drone when photographing, the combined action mode comprising at least two action modes; Combining the action modes, generating a combined operation command; and transmitting the combined operation command to the drone to cause the drone to fly according to the combined operation command to capture a video.
  • a drone control apparatus includes:
  • a memory for storing executable instructions
  • a processor for executing executable instructions stored in the memory
  • executable instructions when executed by the processor, cause the processor to: receive a combined operation instruction; and, according to the combined operation instruction, control the drone to fly according to at least two action modes to capture a video .
  • a drone includes a drone control device according to any of the embodiments of the present disclosure.
  • the drone photographing control method, the drone photographing method, the control terminal, the drone control device, and the drone according to an embodiment of the present disclosure can automatically read the one associated with one or more preset action modes
  • the drone can sequentially perform a series of actions to take an image according to the combined operation instruction.
  • the user can control the drone to automatically complete the combined action mode only by selecting the preset action mode and triggering the shooting start command, which not only simplifies the operation, improves the convenience of operation, but also makes the captured video coherent and reduces.
  • the time to post-process the video can automatically read the one associated with one or more preset action modes
  • FIG. 1 is a schematic diagram of an application scenario taken by a drone according to an embodiment of the present disclosure
  • FIG. 2 is a schematic structural diagram of a control terminal according to an embodiment of the present disclosure
  • FIG. 3 is a schematic diagram showing the structure of a drone according to an embodiment of the present disclosure.
  • FIG. 4 is a schematic flow chart of a drone shooting control method according to an embodiment of the present disclosure.
  • FIG. 5 is a schematic flow chart of a drone shooting control method according to another embodiment of the present disclosure.
  • FIG. 6 is a schematic diagram of a reverse flight mode in accordance with an embodiment of the present disclosure.
  • FIG. 7 is a schematic diagram of a surround flight mode of operation in accordance with an embodiment of the present disclosure.
  • FIG. 8 is a schematic diagram of a spiral flight action mode in accordance with an embodiment of the present disclosure.
  • FIG. 9 is a schematic diagram of a flying action mode according to an embodiment of the present disclosure.
  • FIG. 10 is a schematic diagram of a comet flight action mode, in accordance with an embodiment of the present disclosure.
  • FIG. 11 is a schematic diagram of a composition rule according to an embodiment of the present disclosure.
  • FIG. 12 is a schematic diagram of an action mode display page displayed by a control terminal according to an embodiment of the present disclosure
  • FIG. 13 is a schematic diagram of an action mode selection page displayed by a control terminal according to an embodiment of the present disclosure
  • FIG. 14 is a flow chart showing a method of photographing a drone according to an embodiment of the present disclosure
  • FIG. 15 is a schematic diagram of an acceleration processing video step according to an exemplary embodiment of the present disclosure.
  • FIG. 16 shows a block diagram of an example hardware arrangement of a control terminal in accordance with an embodiment of the present disclosure
  • FIG. 17 shows a block diagram of an example hardware arrangement of a drone control device in accordance with an embodiment of the present disclosure
  • FIG. 18 is a structural block diagram of a drone according to an embodiment of the present disclosure.
  • FIG. 19 is a block diagram showing the structure of a drone shooting control device according to an embodiment of the present disclosure.
  • 20 is a block diagram showing the structure of a drone control apparatus according to an embodiment of the present disclosure.
  • the expression “the drone is flying according to the combined operational command” may mean that the drone and/or the carrier (eg, pan/tilt) and/or load carried by the drone are combined according to The operation instruction action.
  • a drone capture control system 10 that includes a control terminal 12 and a drone 14.
  • a communication connection such as a wireless connection, between the control terminal 12 and the drone 14 can be established by which data is transferred between the control terminal 12 and the drone 14.
  • a movable object is described as a drone 14, including but not limited to an unmanned aerial vehicle, an unmanned vehicle, an unmanned vehicle.
  • any other type of movable object is applicable to the technical solution of the present disclosure.
  • the drone 14 can include a carrier 16 and a load 18.
  • the carrier 16 can allow the load 18 to rotate about one, two, three or more axes. Alternatively or additionally, the carrier 16 may allow the load 18 to move along one, two, three or more axes. The axes for the rotational or translational motion may or may not be orthogonal to one another.
  • the carrier can For a pan/tilt, the load may be an imaging device (such as a camera, etc.) that can control the attitude of the camera, including but not limited to a pitch angle, a roll angle, a yaw angle, and the like.
  • the load 18 can be rigidly mounted or attached to the drone 14 such that the load 18 maintains a relatively stationary state relative to the drone 14.
  • the carrier 16 coupled to the drone 14 and the load 18 may not allow the load 18 to move relative to the drone 14.
  • the load 18 can be mounted directly on the drone 14 without the need for a carrier.
  • the load 18 may include one or more sensors for monitoring or tracking one or more targets.
  • the load may include an image capture device or an image device (such as a camera, camcorder, infrared imaging device, ultraviolet imaging device, or the like), an audio capture device (eg, a parabolic reflector microphone), an infrared imaging device, and the like.
  • Any suitable sensor can be integrated onto the load 18 to capture a visual signal, an audio signal, an electromagnetic signal, or any other desired signal.
  • the sensor can provide static sensing data (such as pictures) or dynamic sensing data (such as video).
  • the sensor can continuously capture the sensing data in real time or at high frequency.
  • control terminal 12 may be located remotely from the drone 14, carrier 16, and/or load 18.
  • the control terminal 12 can be placed or affixed to a support platform.
  • the control terminal 12 can be a handheld or wearable device.
  • the control terminal 12 can include a smartphone, remote control, tablet, laptop, computer, watch, bracelet, glasses, gloves, helmet, microphone, or any suitable combination.
  • a control terminal 12 includes a processor coupled via a system bus, a non-volatile storage medium, an internal memory, a communication device, a display screen, and an input device.
  • the processor has a computing function and a function of controlling the operation of the terminal 12, the processor being configured to perform a drone shooting control method.
  • the non-volatile storage medium includes at least one of a magnetic storage medium, an optical storage medium, and a flash storage medium.
  • the non-volatile storage medium stores an operating system and a drone shooting control system.
  • the internal memory is used to provide a cache for the operating system and the drone capture control system.
  • the communication device is for wireless communication with the drone 14.
  • the display includes at least one of a liquid crystal display, a flexible display, and an electronic ink display.
  • the input device includes at least one of a physical button, a trackball, a touchpad, and a touch layer overlapping the display screen, wherein the touch layer and the display screen are combined to form a touch screen.
  • a drone 14 can include a processor coupled via a system bus, a non-volatile storage medium, an internal memory, a communication device, and a flight. Drive unit, camera unit and positioning unit.
  • the processor has a computing function and a function of controlling the operation of the drone 14, the processing
  • the device is configured to perform a drone shooting method.
  • the non-volatile storage medium includes at least one of a magnetic storage medium, an optical storage medium, and a flash storage medium.
  • the non-volatile storage medium stores an operating system and a drone shooting system.
  • the internal memory is used to provide a cache for the operating system and drone camera.
  • the communication device is for wireless communication with the control terminal 12.
  • the flight drive device is used to control the flight operation of the drone of the drone 14, and the flight motion of the drone is controlled mainly by controlling the flight speed and flight direction of the drone 14.
  • flight drives primarily include rotor and rotor control devices (eg, motors, electronic governors, etc.).
  • the camera is used to capture images, including images and videos.
  • the positioning device may be a GPS (Global Positioning System) positioning device for locating the position of the drone 14.
  • a drone shooting control method is provided. This embodiment is exemplified by the method applied to the control terminal 12 of FIGS. 1 and 2 described above.
  • step 402 the captured object 102 is determined, as shown in FIG.
  • the target 102 can include an organism, such as a human or an animal.
  • the object 102 may include any natural or artificially manufactured object or texture, for example, a geographical landscape (such as mountains, vegetation, valleys, lakes, rivers, etc.), buildings, transportation vehicles (such as airplanes, ships, cars, Truck, bus, truck or motorcycle).
  • the target 102 can be either moving or stationary relative to any suitable reference.
  • the reference may be a relatively fixed reference (such as the surrounding environment or the earth).
  • the reference may be a moving reference (such as a moving vehicle).
  • the target 102 can include a passive target or an active target.
  • the active target can transmit information of the target, such as the GPS location of the target, to the drone.
  • the information may be transmitted from the communication unit in the active object to the communication device of the drone by wireless transmission.
  • Active targets can be vehicles, buildings, people, and the like. Passive targets cannot transmit information about the target.
  • the target 102 can be determined by means of user input.
  • the control terminal 12 may allow a user to input target information using any suitable method.
  • the control terminal 12 is capable of allowing a user to directly select a target from one or more displayed images, such as pictures, videos, or snapshots. For example, the user can directly touch the screen with a finger to select a target, or use a mouse or joystick to select. The user can scribe the target (eg, frame selection, etc.), touch the target on the image, or select the target. Computer vision or other techniques can be used to identify the boundaries of the object. You can select one or more targets at a time.
  • control terminal 12 may allow a user to select or input target information such as color, texture, shape, dimension, or Other features of the desired target. For example, the user can enter target type information, select such information through a graphical user interface, or use other methods.
  • target information may be obtained from some data source, such as a remote or local data storage unit, other computing devices connected to or in communication with the control terminal, rather than from a user. Wait.
  • the target 102 can be determined by means of automatic identification.
  • the control terminal 12 or the drone 14 can automatically identify the object 102 to be photographed.
  • the user can specify descriptive information about the object 102 to be photographed, for example, by controlling the user interface provided by the terminal 12, eg, the type of object 102, the geographic coordinates of the object 102, the object 102 The size and so on.
  • the control terminal 12 and/or the drone 14 can automatically identify the object 102 to be photographed using the descriptive information.
  • the captured object 102 can be determined by acquiring geographic location information of the target 102.
  • the geographical location information refers to information for indicating a geographical location, which may be represented by longitude and latitude, or may be represented by three-dimensional coordinates in a three-dimensional solid coordinate system.
  • the control terminal 12 can obtain preset geographic location information.
  • the input geographic location information can be obtained as preset geographic location information.
  • the control terminal 12 can also receive the preview image of the UAV in real time and display it, select the geographic location according to the operation of the geographic location in the preview image, and obtain the selected geographical location information as the preset geographical location information.
  • the control terminal 12 can also display an electronic map of the area where the current drone is located, select a geographical location according to the operation of the electronic map by the user, and obtain the selected geographical location information as the preset geographical location information.
  • the drone 14 can obtain preset geographic location information and geographic location information of the drone, and can determine the flight path of the drone based on the two geographic location information, thereby automatically flying. Go to the preset location information. The drone can then fly along the preset flight trajectory under the control of the combined operational command and take the image according to the preset shooting parameters during the flight.
  • step 404 the mode of action used by the drone to capture is determined.
  • the action mode is a way to implement preset automatic shooting actions using preset parameters.
  • the preset parameters may include preset flight parameters and/or preset shooting parameters. That is, each action mode may have its own preset flight parameters and/or preset capture parameters.
  • the motion patterns are divided by flight trajectories, ie, the flight trajectories of the various motion modes are different from each other.
  • the action mode may include an action mode for capturing a close-up of the object and an action mode for capturing a panoramic view of the environment in which the object is located.
  • an action mode may include a stage for capturing a close-up of the object and a stage for capturing a panoramic view of the environment in which the object is located.
  • the predetermined flight parameters may include a preset flight trajectory.
  • the preset flight trajectory may be any predefined flight trajectory, such as closed and unclosed graphics in any plane in space, such as a closed figure such as a circular ring or a polygon, or may be a curved shape, a polygonal line shape, or the like.
  • the graphic is not closed; the preset flight path may also be a spatial three-dimensional shape such as a spiral track.
  • the preset shooting parameters may include at least one of sensitivity (commonly known as ISO value), aperture value, exposure compensation, shutter speed, focal length, auto focus mode, metering mode, and white balance.
  • the autofocus mode includes at least one of a ranging autofocus method based on a distance measurement between a lens of the photographing device and a target to be photographed, and a focus detection autofocus method based on image sharpness.
  • the metering method includes at least one of a spot metering method, a central portion metering method, a center-weighted average metering method, an average metering method, and a multi-zone metering method.
  • the drone 14 can fly diagonally upward relative to the target 102.
  • the flight path of the drone 14 is roughly an S-shaped curve.
  • the drone 14 captures a close-up of the object 102.
  • a preset photographing parameter can be used to take a close-up of the object 102; at the end point T, the drone 14 shoots obliquely above.
  • the environment panorama of the target object 102 at this time, the preset shooting parameters can be used to capture the panoramic view of the environment in which the object 102 is located. It should be understood that the preset shooting parameters may be pre-stored shooting parameters for different photographic subjects or shooting scenes.
  • the drone 14 can fly around the target 102 for one week. As shown in FIG. 7, the flight path of the drone 14 is substantially a circular trajectory. On the entire circular trajectory, the drone 14 captures a 360° close-up of the object 102, at which point a close-up of the object 102 can be taken with preset shooting parameters.
  • the drone 14 can spiral outwardly with respect to the target 102.
  • the flight path of the drone 14 is a spiral curve.
  • the spiral curve can be a spiral defined by a Fibonacci sequence.
  • the drone 14 captures a close-up of the object 102.
  • a preset photographing parameter can be used to photograph the close-up of the object 102; at the intermediate point P and the end point T, the drone 14 is respectively from the front and rear.
  • the panning mode captures the panoramic view of the environment in which the object 102 is located.
  • the preset shooting parameters can be used to capture the panoramic view of the environment in which the object 102 is located.
  • the drone 14 can fly upward with respect to the object 102.
  • the flight path of the drone 14 is substantially an L-shaped curve. Similar to the reverse flight mode, at the starting point S, the drone 14 captures a close-up of the object 102, at which time, a preset shooting parameter can be used to capture a close-up of the object 102; At the end point T, the drone 14 captures the panoramic view of the environment in which the object 102 is located in a top-down manner. At this time, the preset shooting parameters can be used to capture the panoramic view of the environment in which the object 102 is located.
  • the drone 14 can wrap around the target 102 and then fly out obliquely upward.
  • the flight path of the drone 14 is similar to the flight path of the comet.
  • the drone 14 captures a close 360° close-up of the object 102.
  • the preset shooting parameters can be used to capture the close-up of the object 102; at the end stage, the drones 14 are tilted upwards respectively.
  • the method of shooting captures the panoramic view of the environment in which the object 102 is located.
  • the preset shooting parameters can be used to capture the panoramic view of the environment in which the object 102 is located.
  • each action mode also has a respective preset composition rule, that is, the action mode is also associated with a preset composition rule, the composition rule is used to ensure the target in the associated action mode The object is in the preset composition position.
  • the composition rule may include: (1) a nine-square grid composition rule in which the object is placed at the intersection of the "nine squares". As shown in Figure 11, the four intersections of the "well” word are the preset composition positions of the target. In general, the upper right intersection P1 is most commonly used, followed by the lower right intersection P2. (2)
  • the method of composition of the three-point method divides the shooting picture into three equal parts. For example, when shooting a landscape, select 1/3 to place the sky or 1/3 to place the ground. A 1:2 aspect ratio can highlight the parts that need to be emphasized. For example, if the sky is beautiful, most of the sky elements can be preserved, and the overall picture is more harmonious.
  • dichotomous composition rules dichotomous composition is the division of the picture into two parts. For example, when shooting a landscape, half of the sky is half the ground. (4) Centripetal composition rules, the target is in the center position, and the surrounding scenery is radial to highlight the target. (5) Symmetrical composition rules, so that the captured picture is bilaterally symmetrical or vertically symmetrical. It should be understood that the above-described composition rules are given by way of example only, and embodiments of the present disclosure are not limited to the above-described composition rules, and any other suitable composition rules may be used.
  • one action mode may have respective preset flight trajectories and composition rules, ie, the action mode, the flight trajectory, and the composition rule are respectively in one-to-one correspondence.
  • the preset flight trajectory is a flight trajectory flying along the S-shaped trajectory obliquely above the target object
  • the composition rule is a three-way composition rule.
  • a combination of multiple motion modes may be determined as the motion mode used in the shooting.
  • the combination of the plurality of action modes includes a type of the action mode, a sequence of the selected plurality of action modes, a duration of the selected each action mode, and the like.
  • the combination of the plurality of motion modes shown may be determined based on the environment in which the object 102 is located, the relative positional relationship of the object 102 and the drone 14, and the like.
  • a single mode of operation may also be determined as the mode of action used in the shooting.
  • the user may select one or more action modes as the mode of action used in the shooting.
  • the control terminal 12 may provide an option of a plurality of preset action modes, and the user may select one or more preset action modes by using any suitable method, thereby The selected one or more preset action modes are determined as the action mode used in the shooting.
  • the control terminal 12 can enter the drone shooting control page as shown in FIG. 12, and display a plurality of (for example, five) preset action modes in the drone shooting control page.
  • Option 1202 is: option 1202a for the flyback mode, option 1202b for the surround flight mode, option 1202c for the spiral flight mode, option 1202d for the skyrocket mode, and option 1202e for the comet flight mode.
  • the user can click the option 1202a and click OK to determine the reverse mode as the action mode used during shooting.
  • the user can click on the option 1202b and click OK to determine the surround flight mode as the action mode used during shooting.
  • the user can click on the option 1202c and click OK to determine the spiral flight mode as the action mode used during shooting.
  • the user can click on the option 1202d and click OK to determine the Chongtian mode as the action mode used during shooting.
  • the user can click on the option 1202e and click OK to determine the comet flight mode as the action mode used during shooting.
  • an option 1204 of "combination" is also displayed, as shown in FIG.
  • the user can click on option 1204 and then pop up the action mode combination page, as shown in FIG.
  • the user can freely combine a plurality of action modes including a type of the selected action mode, a sequence of the selected plurality of action modes, a duration of the selected each action mode, and the like.
  • the user can click the option 1302c to increase the action mode; click the option 1302a to delete the action mode; click the option 1302b to determine the selected action mode, so that the combination of the multiple action modes can be determined as the combination used in the shooting. Action mode.
  • control terminal 12 may automatically determine one or more motion modes as the mode of action used in the shooting. In an exemplary embodiment, control terminal 12 may select a default action mode to determine the mode of action used in the shooting. In another exemplary embodiment, the control terminal 12 may select an action mode used at the time of the last photograph as the action mode used at the time of the current photographing. In some exemplary embodiments, the control terminal 12 may also determine an action mode used in photographing according to an environment in which the object 102 is located, a relative positional relationship of the object 102 and the drone 14, and the like.
  • step 406 a shooting start command is acquired.
  • the control terminal 12 runs a shooting application, and the shooting application can be a system-owned application or a third-party application, and the shooting control can be implemented by the shooting application.
  • the steps of the method can detect a predefined event and acquire a shooting start command when a predefined event is detected (eg, an event such as clicking a start shooting button).
  • the control terminal 12 can detect a predefined event and start timing when a predefined event is detected, and acquire a shooting start command when the timing reaches a preset duration.
  • the control terminal 12 may display a shooting start control and detect an operation of the shooting start control to acquire a corresponding shooting start instruction.
  • the control terminal may display the shooting start control 102 on the drone shooting page as shown in FIG. 5, and the user clicks the shooting start control 102 to trigger the shooting start command.
  • the operation of the shooting start control includes at least one of a cursor click operation, a touch click operation, and a gesture operation.
  • control terminal may detect the shaking of the control terminal body, and acquire a corresponding shooting start command when the shaking is detected.
  • the control terminal can also detect the voice command input to obtain a shooting start command in the form of a voice.
  • step 408 a combined operational command associated with the determined one or more action modes is generated in accordance with the capture initiation command.
  • the combined operational command includes a plurality of operational instructions that are in one-to-one correspondence with the determined plurality of operational modes, respectively.
  • each action mode has its own flight parameters (eg, flight trajectory) and shooting parameters, ie, each action mode is associated with a preset flight parameter (eg, flight trajectory) and shooting parameters.
  • the control terminal 12 can read preset flight parameters (eg, flight trajectories) and shooting associated with the determined plurality of motion modes from, for example, the control terminal 12. Parameters to generate a combined operation instruction.
  • the combined operational command is used to trigger a series of sequential actions of the drone to complete the automatic shooting.
  • control terminal 12 can periodically check whether there is an operation instruction associated with the preset action mode on the server, and if present, download the updated operation instruction to update the preset associated with the local preset action mode. Operation instructions.
  • the periodic check may be replaced with a check when a user-triggered combined operational command update operation is detected.
  • control terminal 12 may download an updated operational command from the server upon receipt of the operational command update notification pushed by the server to update the local operational command associated with the preset operational mode.
  • step 410 the combined operational command is sent to cause the drone to fly according to the combined operational command to capture a video.
  • control terminal 12 can transmit combined operational commands to drone 14 via a wireless connection with drone 14.
  • Wireless connection can be connected by Wi-Fi (such as 2.4GHz or 5.8GHz band) Or a wireless LAN connection such as a WAPI connection, or a normal radio connection.
  • Wi-Fi such as 2.4GHz or 5.8GHz band
  • a wireless LAN connection such as a WAPI connection
  • the drone 14 After receiving the combined manipulation command sent by the control terminal 12, the drone 14 performs a series of actions set by the combined operation command to complete the task of automatically capturing an image (for example, a video).
  • the plurality of action modes include a first action mode and a second action mode
  • the transmitting the combined operation instruction to cause the drone to fly according to the combined operation instruction to capture a video includes: capturing a first video according to the first action mode; capturing a second video according to the second action mode; synthesizing the first video with the second video to generate the video.
  • the control terminal 12 transmits the combined operational command to the drone 14 to cause the drone 14 to fly with the preset flight parameters and/or to take a video based on the preset capture parameters.
  • the combined operational command causes the drone 14 to fly along a predetermined flight path. For example, when the user selects the reverse flight mode and the surround flight mode, that is, when the reverse flight mode and the surround flight mode are determined to be the action modes used for shooting, the combined operation command includes a flight trajectory in the reverse flight mode and a surround flight mode. Flight path.
  • the drone 14 After transmitting the combined operation command, the drone 14 is caused to fly along the flight trajectory in the reverse flight mode (ie, flying obliquely upward) and the flight trajectory in the surrounding flight mode (ie, one week around the target) to capture the target object. Combine videos.
  • the series of actions includes at least one of a drone flight parameter adjustment action and a shooting parameter adjustment action.
  • the drone flight parameter adjustment actions include a drone flight path adjustment action, a drone flight speed adjustment action, a drone direction adjustment action, a drone height adjustment action, and a drone hovering At least one of an action, a drone flipping action, and a drone sideways motion.
  • the adjustment action of the shooting parameters may include adjusting at least one of sensitivity (commonly known as ISO value), aperture value, exposure compensation, shutter speed, focal length, auto focus mode, metering mode, and white balance.
  • the autofocus mode includes at least one of a ranging autofocus method based on a distance measurement between a lens of the photographing device and a target to be photographed, and a focus detection autofocus method based on image sharpness.
  • the metering method includes at least one of a spot metering method, a central portion metering method, a center-weighted average metering method, an average metering method, and a multi-zone metering method.
  • the shooting parameter adjustment action may further include a shooting field adjustment action, such as panning and zooming of the shooting field of view, and the shooting field of view refers to a spatial range captured by the camera of the drone.
  • a combined operation instruction associated with one or more preset action modes can be automatically read and transmitted to the drone, and the drone can be The combined operation instruction sequentially performs a series of actions to take an image.
  • the shooting start command can control the drone to automatically complete the combined action mode, which not only simplifies the operation, but also improves the convenience of operation, and also makes the captured video coherent, reducing the time for post-processing video.
  • the adjusting action of the shooting parameters may include adjusting the shooting parameters according to a composition rule associated with the determined one or more preset motion modes such that the object is located in the predetermined composition position. For example, when it is determined that the reverse flight mode is the action mode used when shooting, the shooting parameters are adjusted according to the rule of third-party composition rule associated with the reverse flight mode, so that when the drone is flying obliquely upward with respect to the target object, The target is always in the preset composition position determined by the rule of thirds composition.
  • the shooting parameters are adjusted according to the three-way composition rule and the centripetal composition rule associated with the reverse flight mode and the skyward flight mode, so that no When the man-machine is flying obliquely upward and upward with respect to the object, the object is always in the preset composition position determined according to the rule of thirds composition rule and the centripetal composition rule.
  • the action mode is associated with the target object, and while the flight action is completed, the target object is always in the preset composition position, thereby improving the quality of the captured video.
  • the drone shooting control method may further include the step 412 of receiving the captured video returned by the drone.
  • the drone can transmit the captured video to the control terminal in real time through a wireless connection, and the control terminal receives the video returned by the drone.
  • the drone capture control method may further include the step 416 of processing the captured video.
  • the processing may include accelerating processing at least one of the captured video.
  • the captured video can be split into at least three segments, and at least one segment of the video in the middle is accelerated to obtain a video with a "slow and slow" effect.
  • the captured video can be split into a start phase, an intermediate phase, and an end phase.
  • a close-up of the target is captured; at the end, the target is captured.
  • the panoramic lens of the environment; in the middle stage the transition shot of the close-up of the target to the panoramic view of the environment in which the object is located is taken.
  • the close-up of the target at the beginning stage and the panoramic view of the environment in which the target is located can be highlighted.
  • the accelerating process can include frame drawing processing of the video.
  • a captured video having a duration of 60 seconds for example, a video having a normal recording speed of 30 frames/second and a duration of 60 seconds has a total of 1800 frames.
  • the video can be split into three segments, with a duration of 3 seconds, an intermediate phase of 54 seconds, and an end of 3 seconds. It is necessary to speed up the intermediate stage and shorten the duration of the intermediate stage to 6 seconds.
  • it is processed to 57 seconds it returns to normal speed.
  • a short video with a "slow speed" effect of 12 seconds can be obtained, which is suitable for sharing to a social platform.
  • the drone shooting control method may further include step 414: acquiring video processing parameters.
  • the video processing parameters may include the number of splits of the video, the duration of each video, and/or the acceleration multiple of the video, and the like.
  • the video processing parameter may be a pre-stored default video processing parameter, a video processing parameter input by the user, or a video processing parameter determined by the control terminal according to the action mode, a social platform that needs to be shared, and the like.
  • the photographed video can be directly processed without being exported to the post video clipping software, the video processing flow is simplified, and the video broadcasted using the social platform is improved. Convenience.
  • a photographing method of a drone is provided. As shown in FIG. 14, the photographing method of the drone is applied to the drone 14 in FIGS. 1 and 3 described above by way of example.
  • step 1402 a wireless connection is established with the control terminal.
  • the drone 14 can establish a wireless connection with the control terminal 12 either actively or passively.
  • the wireless connection can be a wireless LAN connection such as a Wi-Fi connection or a WAPI connection, or a normal radio connection.
  • step 1404 a combined operational command is received.
  • the combined operational command is associated with one or more action modes.
  • the combined operational command includes a plurality of operational instructions that are in one-to-one correspondence with the determined plurality of operational modes, respectively.
  • each action mode has its own flight parameters (eg, flight trajectory) and shooting parameters, ie, each action mode is associated with a preset flight parameter (eg, flight trajectory) and shooting parameters.
  • the combined operational command is used to trigger a series of sequential actions of the drone to complete the automatic shooting.
  • the drone 14 receives the combined operational command to fly a video based on the preset flight parameters and/or to capture a video based on the preset capture parameters.
  • the combined operational command causes the drone 14 to fly along a predetermined flight path. For example, when the user selects the reverse flight mode and the surround flight mode, that is, when the reverse flight mode and the surround flight mode are determined to be the action modes used for shooting, the combined operation command includes a flight trajectory in the reverse flight mode and a surround flight mode. Flight path.
  • the drone 14 After transmitting the combined operation command, the drone 14 is caused to fly along the flight trajectory in the reverse flight mode (ie, flying obliquely upward) and the flight trajectory in the surrounding flight mode (ie, one week around the target) to capture the target object. Combine videos.
  • step 1406 according to the combined operation instruction, the drone flies according to at least two action modes to capture a video.
  • the drone flying according to at least two modes of operation includes the drone performing a series of actions.
  • the series of actions includes at least one of a drone flight parameter adjustment action and a shooting parameter adjustment action.
  • the at least two action modes include a first action mode and a second action mode
  • the drone flies according to at least two action modes to capture a video.
  • the method includes: capturing a first video according to the first action mode; capturing a second video according to the second action mode; synthesizing the first video with the second video to generate the video.
  • the drone flight parameter adjustment actions include a drone flight path adjustment action, a drone flight speed adjustment action, a drone direction adjustment action, a drone height adjustment action, and a drone hovering At least one of an action, a drone flipping action, and a drone sideways motion.
  • the adjustment action of the shooting parameters may include adjusting at least one of sensitivity (commonly known as ISO value), aperture value, exposure compensation, shutter speed, focal length, auto focus mode, metering mode, and white balance.
  • the autofocus mode includes at least one of a ranging autofocus method based on a distance measurement between a lens of the photographing device and a target to be photographed, and a focus detection autofocus method based on image sharpness.
  • the metering method includes at least one of a spot metering method, a central portion metering method, a center-weighted average metering method, an average metering method, and a multi-zone metering method.
  • the shooting parameter adjustment action may further include a shooting field adjustment action, such as panning and zooming of the shooting field of view, and the shooting field of view refers to a spatial range captured by the camera of the drone.
  • the drone may sequentially perform a series of actions to take an image according to the combined operation instruction.
  • the user can control the drone to automatically complete the combined action mode only by selecting the preset action mode and triggering the shooting start command, which not only simplifies the operation, improves the convenience of operation, but also makes the captured video coherent and reduces.
  • the time to post-process the video is not only simplifies the operation, improves the convenience of operation, but also makes the captured video coherent and reduces.
  • the adjusting action of the shooting parameters may include adjusting the shooting parameters according to a composition rule associated with the determined one or more preset motion modes such that the object is located in the predetermined composition position. For example, when it is determined that the reverse flight mode is the action mode used when shooting, the shooting parameters are adjusted according to the rule of third-party composition rule associated with the reverse flight mode, so that when the drone is flying obliquely upward with respect to the target object, The target is always in the preset composition position determined by the rule of thirds composition.
  • the shooting parameters are adjusted according to the three-way composition rule and the centripetal composition rule associated with the reverse flight mode and the skyward flight mode, so that no Man-machine flight and direction obliquely above the target When flying above, the target is always in the preset composition position determined by the three-point composition rule and the centripetal composition rule.
  • the action mode is associated with the target object, and while the flight action is completed, the target object is always in the preset composition position, thereby improving the quality of the captured video.
  • the drone photographing method may further include the step 1410 of transmitting a video taken by the drone.
  • the drone can transmit the captured video to the control terminal in real time through a wireless connection, and the control terminal receives the video returned by the drone.
  • the drone capture method can further include the step 1408 of processing the captured video.
  • the processing may include accelerating processing at least one of the captured video.
  • the captured video can be split into at least three segments, and at least one segment of the video in the middle is accelerated to obtain a video with a "slow and slow" effect.
  • the captured video can be split into a start phase, an intermediate phase, and an end phase.
  • a close-up of the target is captured; at the end, the target is captured.
  • the panoramic lens of the environment; in the middle stage the transition shot of the close-up of the target to the panoramic view of the environment in which the object is located is taken.
  • the close-up of the target at the beginning stage and the panoramic view of the environment in which the target is located can be highlighted.
  • the accelerating process can include frame drawing processing of the video.
  • a captured video having a duration of 60 seconds for example, a video having a normal recording speed of 30 frames/second and a duration of 60 seconds has a total of 1800 frames.
  • the video can be split into three segments, with a duration of 3 seconds, an intermediate phase of 54 seconds, and an end of 3 seconds. It is necessary to speed up the intermediate stage and shorten the duration of the intermediate stage to 6 seconds.
  • one frame can be taken every 0.3 seconds from the 3rd second until the processing reaches 57 seconds, and the normal speed is restored. Through such a processing method, a short video with a "slow speed" effect of 12 seconds can be obtained, which is suitable for sharing to a social platform.
  • the drone photographing method may further comprise the step of: acquiring video processing parameters.
  • the video processing parameters may include the number of splits of the video, the duration of each video, and/or the acceleration multiple of the video, and the like.
  • the video processing parameters may be pre-stored default video processing parameters, video processing parameters input by the user, or video processing parameters determined by the drone according to the action mode, the social platform to be shared, and the like.
  • the photographed video can be directly processed without being exported to the post video clip software, the video processing flow is simplified, and the video captured using the social platform is improved. Convenience.
  • a control terminal may include: a memory for storing executable instructions; and a processor for executing executable instructions stored in the memory to perform the drone photographing control method described in any of the above embodiments.
  • FIG. 16 shows a block diagram of an example hardware arrangement 1600 of a control terminal in accordance with an embodiment of the disclosure.
  • Hardware arrangement 1600 includes a processor 1606 (eg, a microprocessor ( ⁇ P), a digital signal processor (DSP), etc.).
  • processor 1606 can be a single processing unit or a plurality of processing units for performing the different steps of the methods described herein.
  • Hardware arrangement 1600 may also include an input unit 1602 for receiving signals from other entities and an output unit 1604 for providing signals to other entities.
  • Input unit 1602 and output unit 1604 can be arranged as a single entity or as separate entities.
  • hardware arrangement 1600 can include at least one readable storage medium 1608 in the form of a non-volatile or volatile memory, such as an electrically erasable programmable read only memory (EEPROM), flash memory, and/or a hard drive.
  • the readable storage medium 1608 includes a computer program 1610 that includes code/computer readable instructions that, when executed by the processor 1606 in the hardware arrangement 1600, cause the hardware arrangement 1600 and/or devices including the hardware arrangement 1600 The methods described above and any variations thereof can be performed.
  • Computer program instructions 1610 can be configured as computer program instruction code having a computer program instruction module 1610A-1616C architecture, for example.
  • the code in the computer program instructions of hardware arrangement 1600 can include a module 1610A for determining a combined action mode for use when the drone is photographed, the combined action mode including at least two action modes.
  • the code in the computer program instructions can also include a module 1610B for generating a combined operation instruction based on the combined action mode.
  • the code in the computer program instructions may further include: a module 1610C for transmitting the combined operation instruction to the drone to cause the drone to fly according to the combined operation instruction to capture a video.
  • code means in the embodiments disclosed above in connection with FIG. 16 are implemented as a computer program module that, when executed in processor 1606, causes hardware arrangement 1600 to perform the methods described above, in alternative embodiments, the code At least one of the means can be implemented at least partially as a hardware circuit.
  • the processor may be a single CPU (Central Processing Unit), but may also include two or more processing units.
  • a processor can include a general purpose microprocessor, an instruction set processor, and/or a related chipset and/or a special purpose microprocessor (eg, an application specific integrated circuit (ASIC)).
  • the processor may also include an onboard memory for caching purposes.
  • the computer program can be carried by a computer program product connected to the processor.
  • the computer program product can comprise a computer readable medium having stored thereon a computer program.
  • the computer program product can be flash memory, random Access memory (RAM), read only memory (ROM), EEPROM, and the computer program modules described above may be distributed to different computer program products in the form of memory within the UE in alternative embodiments.
  • control terminal can be one selected from the group consisting of a smartphone, a remote control, a tablet, a laptop, a computer, glasses, gloves, a helmet, and a microphone.
  • a drone control apparatus may include: a memory for storing executable instructions; and a processor for executing executable instructions stored in the memory to perform the drone photographing method of any of the above embodiments.
  • FIG. 17 shows a block diagram of an example hardware arrangement 1700 of a drone control device in accordance with an embodiment of the present disclosure.
  • Hardware arrangement 1700 includes a processor 1706 (eg, a microprocessor ( ⁇ P), a digital signal processor (DSP), etc.).
  • processor 1706 can be a single processing unit or a plurality of processing units for performing the different steps of the methods described herein.
  • Hardware arrangement 1700 can also include an input unit 1702 for receiving signals from other entities and an output unit 1704 for providing signals to other entities.
  • Input unit 1702 and output unit 1704 can be arranged as a single entity or as separate entities.
  • hardware arrangement 1700 can include at least one readable storage medium 1708 in the form of a non-volatile or volatile memory, such as an electrically erasable programmable read only memory (EEPROM), flash memory, and/or a hard drive.
  • the readable storage medium 1708 includes a computer program 1710 that includes code/computer readable instructions that, when executed by the processor 1706 in the hardware arrangement 1700, cause the hardware arrangement 1700 and/or devices including the hardware arrangement 1700 The methods described above and any variations thereof can be performed.
  • Computer program instructions 1710 can be configured as computer program instruction code having a computer program instruction module 1710A-1710C architecture, for example.
  • the code in the computer program instructions of hardware arrangement 1700 can include a module 1710A for receiving a combined operational instruction.
  • the code in the computer program instructions may further include: a module 1710B for controlling the drone to fly according to the at least two action modes to capture a video according to the combined operation instruction.
  • code means in the embodiment disclosed above in connection with FIG. 17 is implemented as a computer program module that, when executed in processor 1706, causes hardware arrangement 1700 to perform the methods described above, while in alternative embodiments, the code At least one of the means can be implemented at least partially as a hardware circuit.
  • the processor may be a single CPU (Central Processing Unit), but may also include two or more processing units.
  • a processor can include a general purpose microprocessor, an instruction set processor, and/or a related chipset and/or a special purpose microprocessor (eg, an application specific integrated circuit (ASIC)).
  • the processor may also include an onboard memory for caching purposes.
  • the computer program can be carried by a computer program product connected to the processor.
  • Computer program products can include A computer readable medium having stored thereon a computer program.
  • the computer program product can be flash memory, random access memory (RAM), read only memory (ROM), EEPROM, and the computer program modules described above can be distributed to different computers in the form of memory within the UE in alternative embodiments. In the program product.
  • a drone 1800 is provided.
  • the drone 1800 may include the above-described drone control device 1700.
  • the drone 1800 can also include a communication device, a flight drive, and a camera.
  • a drone capture control device 1900 a control terminal.
  • the drone shooting control device 1900 can include:
  • the combined action mode determining module 1902 is configured to determine a combined action mode used when the drone is photographed, and the combined action mode includes at least two action modes;
  • a combined operation instruction generating module 1904 configured to generate a combined operation instruction according to the determined combined action mode
  • the instruction sending module 1906 is configured to send the combined operation instruction, so that the drone flies according to the combined operation instruction to capture a video.
  • the drone capture control device 1900 may also include other functional modules not shown in FIG.
  • the drone shooting control device 1900 may further include a target determination module for determining a target to be photographed.
  • the UAV shooting control device 1900 may further include a video processing module for performing acceleration processing on at least one of the captured videos.
  • the UAV shooting control device 1900 may further include other functional modules not shown in FIG. 19, however, since it does not affect those skilled in the art to understand the embodiments of the present disclosure, it is omitted in FIG.
  • the drone capture control device 1900 can also include one or more of the following functional modules: power, memory, data bus, antenna, wireless transceiver, and the like.
  • a drone control device 2000 is provided.
  • the drone control device 2000 can include:
  • An instruction receiving module 2002 configured to receive a combined operation instruction
  • the action execution control module 2004 is configured to control the drone to fly according to the at least two action modes to capture a video according to the combined operation instruction.
  • the drone control device 2000 may further include other functional modules not shown in FIG.
  • the drone shooting control device 2000 may further include a video processing module for performing acceleration processing on at least one of the captured videos.
  • the UAV control device 2000 may further include other functional modules not shown in FIG. 20, however, since it does not affect those skilled in the art to understand the embodiments of the present disclosure, it is omitted in FIG.
  • the UAV shooting control device 2000 may further include one or more of the following functional modules: a power source, a memory, a data bus, an antenna, a wireless transceiver, and the like.

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  • General Physics & Mathematics (AREA)
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Abstract

本公开的实施例提供一种无人机拍摄控制方法、无人机拍摄方法、控制终端、无人机控制装置及无人机。所述无人机拍摄控制方法包括：所述无人机拍摄控制方法包括：确定所述无人机拍摄时所使用的组合动作模式，所述组合动作模式包括至少两个动作模式；根据所述组合动作模式，生成组合操作指令；和向所述无人机发送所述组合操作指令，使所述无人机根据所述组合操作指令飞行以拍摄视频。

Description

无人机拍摄控制方法、无人机拍摄方法、控制终端、无人机控制装置和无人机
版权申明
本专利文件披露的内容包含受版权保护的材料。该版权为版权所有人所有。版权所有人不反对任何人复制专利与商标局的官方记录和档案中所存在的该专利文件或者专利披露。
技术领域
本公开的实施例涉及航拍技术领域，尤其涉及一种无人机拍摄控制方法、无人机拍摄方法、控制终端、无人机控制装置和无人机。
背景技术
目前无人机上可设置拍摄装置，通过遥控无人机用户可以实现航拍，为用户提供全新的拍摄角度，无论拍摄人像还是拍摄风景都可以适用。
然而，在传统的无人机拍摄方法中，通常使用遥控器手动控制无人机的飞行轨迹。用户拍摄图像和视频时，需要调整好拍摄位置和角度，然后逐个镜头进行拍摄。这样的拍摄方法操作繁琐，需要改进。
发明内容
根据本公开的一个方面的实施例，提供一种无人机拍摄控制方法，所述方法包括：
确定所述无人机拍摄时所使用的组合动作模式，所述组合动作模式包括至少两个动作模式；
根据所述组合动作模式，生成组合操作指令；和
向所述无人机发送所述组合操作指令，使所述无人机根据所述组合操作指令飞行以拍摄视频。
根据本公开的另一方面的实施例，提供一种无人机拍摄方法，所述方法包括：
接收组合操作指令；和
根据所述组合操作指令，所述无人机根据至少两个动作模式飞行以拍摄视频。
根据本公开的又一方面的实施例，提供一种控制终端。所述控制终端包括：
存储器，用于存储可执行指令；以及
处理器，用于执行存储器中存储的可执行指令，
其中，所述可执行指令在由所述处理器执行时使得所述处理器：确定所述无人机拍摄时所使用的组合动作模式，所述组合动作模式包括至少两个动作模式；根据所述组合动作模式，生成组合操作指令；和向所述无人机发送所述组合操作指令，使所述无人机根据所述组合操作指令飞行以拍摄视频。
根据本公开的再一方面的实施例，提供一种无人机控制装置。所述无人机控制装置包括：
存储器，用于存储可执行指令；以及
处理器，用于执行存储器中存储的可执行指令，
其中，所述可执行指令在由所述处理器执行时使得所述处理器：接收组合操作指令；和根据所述组合操作指令，控制所述无人机根据至少两个动作模式飞行以拍摄视频。
根据本公开的再一方面的实施例，还提供一种无人机。所述无人机包括根据本公开任一个实施例所述的无人机控制装置。
根据本公开实施例的无人机拍摄控制方法、无人机拍摄方法、控制终端、无人机控制装置和无人机，可以自动地读取与一个或多个预设的动作模式相关联的组合操作指令并发送给无人机，无人机就可以根据所述组合操作指令依次执行一系列的动作来拍摄图像。这样，只需用户选定预设的动作模式并触发拍摄启动指令就可以控制无人机自动完成组合型动作模式，不仅简化了操作，提高了操作便利性，还使得拍摄出的视频连贯，减少了后期处理视频的时间。
附图说明
图1为根据本公开的一个实施例的无人机拍摄的应用场景示意图；
图2为根据本公开的一个实施例的控制终端的组成结构示意图；
图3为根据本公开的一个实施例的无人机的组成结构示意图；
图4为根据本公开的一个实施例的无人机拍摄控制方法的流程示意图；
图5为根据本公开的另一实施例的无人机拍摄控制方法的流程示意图；
图6为根据本公开的一个实施例的倒飞动作模式的示意图；
图7为根据本公开的一个实施例的环绕飞行动作模式的示意图；
图8为根据本公开的一个实施例的螺旋飞行动作模式的示意图；
图9为根据本公开的一个实施例的冲天飞动作模式的示意图；
图10为根据本公开的一个实施例的彗星飞行动作模式的示意图；
图11为根据本公开的一个实施例的构图规则的示意图；
图12为根据本公开的一个实施例的控制终端显示的动作模式显示页面的示意图；
图13为根据本公开的一个实施例的控制终端显示的动作模式选择页面的示意图；
图14为根据本公开的一个实施例的无人机拍摄方法的流程示意图；
图15为根据本公开的一个示例性实施例的加速处理视频步骤的示意图；
图16示出根据本公开实施例的控制终端的示例硬件布置的框图；
图17示出根据本公开实施例的无人机控制装置的示例硬件布置的框图；
图18为根据本公开的一个实施例的无人机的结构框图；
图19为根据本公开的一个实施例的无人机拍摄控制装置的结构框图；和
图20为根据本公开的一个实施例的无人机控制装置的结构框图。
具体实施方式
为更清楚地阐述本公开的目的、技术方案及优点，以下将结合附图对本公开的实施例进行详细的说明。应当理解的是，下文对于实施例的描述旨在对本公开的总体构思进行解释和说明，而不应当理解为是对本公开的限制。
在本文中，除非另有说明，表述“无人机根据组合操作指令飞行”可以表示所述无人机和/或所述无人机承载的承载体(例如云台)和/或负载根据组合操作指令动作。
如图1所示，在一个实施例中，提供了一种无人机拍摄控制系统10，包括控制终端12和无人机14。控制终端12和无人机14之间可以建立通信连接，例如无线连接，通过该无线连接来在控制终端12和无人机14之间传输数据。
在本文中，将可移动物体描述为无人机14，所述无人机14包括但不限于无人飞行器、无人车、无人船。另外，其它任何类型的可移动物体都适用于本公开的技术方案。
在某些实施例中，所述无人机14可以包括承载体16以及负载18。所述承载体16可以允许负载18绕着一个、两个、三个或者更多的轴旋转。可选地或者额外地，所述承载体16可以允许负载18沿着一个、两个、三个或者更多的轴线性运动。用于旋转或者平移运动的轴可以彼此正交也可以不是正交。在某些实施例中，所述承载体可以 为一云台，所述负载可以为一成像装置(如相机等)，所述云台可以控制所述相机的姿态，所述姿态包括但不限于俯仰角、横滚角、偏航角等。
在某些实施例中，所述负载18可以刚性地搭载或者连接于无人机14上，以使得负载18相对于无人机14维持相对静止的状态。例如，连接到无人机14及负载18的承载体16可以不允许负载18相对于无人机14移动。可选地，所述负载18可直接搭载在无人机14上而不需要承载体。
在某些实施例中，所述负载18可以包括一个或者多个传感器，用于监控或者追踪一个或者多个目标物。所述负载可以包括影像捕获设备或者影像设备(如相机、摄录机、红外线影像设备、紫外线影像设备或者类似的设备)，音频捕获装置(例如，抛物面反射传声器)，红外线影像设备等。任何适合的传感器都可以集成到所述负载18上，以捕获可视信号、音频信号、电磁信号或者任何其它期望的信号。所述传感器可以提供静态感应数据(如图片)或者动态感应数据(如视频)。所述传感器可以实时地或者高频率地持续捕获感应数据。
在本公开的某些实施例中，所述控制终端12所处的位置可以远离所述无人机14、承载体16及/或者负载18。所述控制终端12可以放置或者粘贴在一个支撑平台上。或者，所述控制终端12可以是手持式的或者穿戴式设备。例如，所述控制终端12可以包括智能手机、遥控器、平板电脑、笔记本电脑、计算机、手表、手环、眼镜、手套、头盔、麦克风或者任何合适的组合。
如图2所示，在一个实施例中，提供了一种控制终端12，包括通过系统总线连接的处理器、非易失性存储介质、内存储器、通信装置、显示屏和输入装置。其中处理器具有计算功能和控制控制终端12工作的功能，该处理器被配置为执行一种无人机拍摄控制方法。非易失性存储介质包括磁存储介质、光存储介质以及闪存式存储介质中的至少一种。非易失性存储介质存储有操作系统和无人机拍摄控制系统。内存储器用于为操作系统和无人机拍摄控制系统提供高速缓存。通信装置用于与无人机14进行无线通信。显示屏包括液晶显示屏、柔性显示屏和电子墨水显示屏中的至少一种。输入装置包括物理按钮、轨迹球、触控板以及与显示屏重叠的触控层中的至少一种，其中触控层与显示屏组合形成触控屏。
如图3所示，在一个实施例中，提供了一种无人机14，该无人机14可以包括通过系统总线连接的处理器、非易失性存储介质、内存储器、通信装置、飞行驱动装置、拍摄装置和定位装置。其中处理器具有计算功能和控制无人机14工作的功能，该处理 器被配置为执行一种无人机拍摄方法。非易失性存储介质包括磁存储介质、光存储介质以及闪存式存储介质中的至少一种。非易失性存储介质存储有操作系统和无人机拍摄系统。内存储器用于为操作系统和无人机拍摄装置提供高速缓存。通信装置用于与控制终端12进行无线通信。飞行驱动装置用于控制无人机14的无人机飞行动作，主要通过控制无人机14的飞行速度和飞行方向来控制无人机飞行动作。对于旋翼无人机，飞行驱动装置主要包括旋翼及旋翼控制装置(例如电机、电子调速器等)。拍摄装置用于拍摄图像，拍摄的图像包括图片和视频。定位装置可以是GPS(全球定位系统)定位装置，用于定位无人机14的位置。
如图4所示，在一个实施例中，提供了一种无人机拍摄控制方法，本实施例以该方法应用于上述图1和图2中的控制终端12来举例说明。
在步骤402中，确定拍摄的目标物102，如图1所示。
在本公开的各个实施例中，所述目标物102可以包括生物体，如人或者动物。所述目标物102可以包括任何自然的或者人工制造的物体或者纹理，例如，地理景观(如山川、植被、山谷、湖泊、河流等)，建筑物，运输工具(如飞机、轮船、小轿车、卡车、公交车、货车或者摩托车)。所述目标物102相对任何合适的参照物可以是运动的或者静止的。所述参照物可以是相对固定的参照物(如周围环境或者地球)。可选地，所述参照物可以是运动的参照物(如移动的运输工具)。在某些实施例中，所述目标物102可以包括被动目标物或者主动目标物。所述主动目标物可以传送该目标物的信息，如该目标物的GPS位置，给无人机。所述信息可以通过无线传输方式从主动目标物中的通信单元传送给无人机的通信装置。主动目标物可以是运输工具、建筑物、人等。被动目标物不能传送目标物的信息。
在某些实施例中，目标物102可以通过用户输入的方式确定。在一个示例性的实施例中，所述控制终端12可以允许用户利用任何合适的方法输入目标物信息。在某些实施例中，所述控制终端12能够允许用户从所显示的一个或者多个影像(如图片、视频或者快照)中直接选择目标物。例如，用户可以用手指直接触摸屏幕选择目标物，或者利用鼠标或操纵杆选择。用户可以划线包围所述目标物(例如框选等)、在影像上触摸该目标物或者选择该目标物。计算机视觉或者其它技术可用于识别目标物的边界。一次可以选择一个或者多个目标物。在某些实施例中，所选择的目标物可以用选择指示标识显示，以指示用户已经选择了所要追踪的目标物。在某些其它的实施例中，控制终端12可以允许用户选择或者输入目标物信息，如颜色、纹理、形状、维度、或者 所希望的目标物的其它特征。例如，用户可以输入目标物类型信息，通过图形用户界面选择这样的信息，或者使用其它的方法。在某些其它的实施例中，所述目标物信息可以从一些数据源获取而非从用户获取，所述数据源如远程的或者本地的数据存储单元、与控制终端连接或者通信的其它计算设备等。
在某些实施例中，目标物102可以通过自动识别的方式确定。在一个示例性的实施例中，控制终端12或无人机14可以自动识别待拍摄的目标物102。在一个示例中，用户可以，例如，通过控制终端12提供的用户界面，指定关于所要拍摄的目标物102的描述性信息，例如，目标物102的类型，目标物102的地理坐标，目标物102的尺寸等。控制终端12和/或无人机14可以利用所述描述性信息自动识别所要拍摄的目标物102。
在某些实施例中，拍摄的目标物102可以通过获取目标物102的地理位置信息的方式确定。具体地，地理位置信息是指用于表示出地理位置的信息，可以用经度和纬度来表示，也可以用三维立体坐标系中的三维坐标来表示。控制终端12可以获取预设的地理位置信息，例如，可以获取输入的地理位置信息作为预设的地理位置信息。控制终端12也可以接收无人机实时传输的预览图像并显示，根据用户对预览图像中地理位置的操作来选中地理位置，并获取选中的地理位置信息作为预设的地理位置信息。控制终端12也可以显示当前无人机所在区域的电子地图，根据用户对电子地图的操作来选中地理位置，并获取选中的地理位置信息作为预设的地理位置信息。
在某些实施例中，无人机14可以获取预设的地理位置信息以及无人机当前所处的地理位置信息，根据两种地理位置信息便可以确定无人机的飞行路线，从而自动飞行到预设的地理位置信息处。然后无人机便可以在组合操作指令控制下沿预设飞行轨迹进行飞行，并且在飞行过程中按照预设的拍摄参数来拍摄图像。
在步骤404中，确定无人机拍摄时所使用的动作模式。
在本文中，动作模式是利用预设的参数来实现预设的自动化拍摄动作的方式。在一个示例中，所述预设的参数可以包括预设的飞行参数和/或预设的拍摄参数。即，每一个动作模式可以具有各自的预设的飞行参数和/或预设的拍摄参数。在某些实施例中，动作模式是以飞行轨迹进行划分的，即，各个动作模式的飞行轨迹是互不相同的。在某些实施例中，所述动作模式可以包括用于拍摄目标物的特写的动作模式和用于拍摄目标物所处的环境全景的动作模式。在某些实施例中，一个动作模式可以包括用于拍摄目标物的特写的阶段和用于拍摄目标物所处的环境全景的阶段。
在某些实施例中，所述预设的飞行参数可以包括预设的飞行轨迹。所述预设的飞行轨迹可以是预定义的任意可用的飞行轨迹，比如空间中任意平面中的封闭和不封闭图形，比如圆环形或者多边形等封闭图形，还可以是弧形、折线形等不封闭图形；预设飞行轨迹还可以是螺旋状轨迹这样的空间立体形状。
在某些实施例中，所述预设的拍摄参数可以包括感光度(俗称ISO值)、光圈值、曝光补偿、快门速度、焦距、自动对焦方式、测光方式以及白平衡中的至少一种。其中自动对焦方式包括基于拍摄装置的镜头与被拍摄目标之间距离测量的测距自动对焦方式，以及基于成像清晰的聚焦检测自动对焦方式中的至少一种。测光方式包括点测光方式、中央部分测光方式、中央重点平均测光方式、平均测光方式和多区测光方式中的至少一种。
如图6-10所示，示例性示出了根据本公开的实施例的几个动作模式。
在图6的倒飞模式中，无人机14可以相对于目标物102向斜上方飞行。如图6所示，无人机14的飞行轨迹大致为S形曲线。在起始点S，无人机14拍摄目标物102的特写，此时，可以采用预设的拍摄参数来拍摄目标物102的特写；在终点T，无人机14以斜上方俯拍的方式拍摄目标物102所处的环境全景，此时，可以采用预设的拍摄参数来拍摄目标物102所处的环境全景。应理解，所述预设的拍摄参数可以是预存的针对不同的拍摄对象或拍摄场景的拍摄参数。
在图7的环绕飞行模式中，无人机14可以相对于目标物102环绕一周飞行。如图7所示，无人机14的飞行轨迹大致为圆形轨迹。在整个圆形轨迹上，无人机14拍摄目标物102的360°特写，此时，可以采用预设的拍摄参数来拍摄目标物102的特写。
在图8的螺旋飞行模式中，无人机14可以相对于目标物102螺旋向外飞行。如图8所示，无人机14的飞行轨迹为螺旋形曲线。在一个示例中，该螺旋形曲线可以为菲波那切数列定义的螺旋形。在起始点S，无人机14拍摄目标物102的特写，此时，可以采用预设的拍摄参数来拍摄目标物102的特写；在中间点P和终点T，无人机14分别从前后方以俯拍的方式拍摄目标物102所处的环境全景，此时，可以采用预设的拍摄参数来拍摄目标物102所处的环境全景。
在图9的冲天飞模式中，无人机14可以相对于目标物102向上方飞行。如图9所示，无人机14的飞行轨迹大致为L形曲线。与倒飞模式类似，在起始点S，无人机14拍摄目标物102的特写，此时，可以采用预设的拍摄参数来拍摄目标物102的特写； 在终点T，无人机14以正上方俯拍的方式拍摄目标物102所处的环境全景，此时，可以采用预设的拍摄参数来拍摄目标物102所处的环境全景。
在图10的彗星飞行模式中，无人机14可以相对于目标物102环绕一周然后沿斜上方飞出。如图10所示，无人机14的飞行轨迹类似于彗星飞行轨迹。在起始阶段，无人机14拍摄目标物102的近360°特写，此时，可以采用预设的拍摄参数来拍摄目标物102的特写；在结束阶段，无人机14分别以斜上方俯拍的方式拍摄目标物102所处的环境全景，此时，可以采用预设的拍摄参数来拍摄目标物102所处的环境全景。
在某些实施例中，每一个动作模式还具有各自预设的构图规则，即，所述动作模式还与预设的构图规则相关联，所述构图规则用于确保在关联的动作模式中目标物处于预设的构图位置中。
在某些实施例中，所述构图规则可以包括：(1)九宫格构图规则，目标物放在“九宫格”交叉点的位置上。如图11所示，“井”字的四个交叉点就是目标物的预设构图位置。一般地，右上方的交叉点P1最常用，其次为右下方的交叉点P2。(2)三分法构图规则，将拍摄画面分割为三等份，例如，拍摄风景的时候选择1/3放置天空或者1/3放置地面。1∶2的画面比例可以有重点地突出需要强化的部分。例如，天空比较漂亮的话可以保留大部分的天空元素，整体画面也显得更为融洽。(3)二分法构图规则，二分法构图就是将画面分为等份的两部分。例如，拍摄风景时，一半天空一半地面。(4)向心式构图规则，目标物处于中心位置，四周景物呈放射状，以重点突出目标物。(5)对称式构图规则，使拍摄出的画面呈左右对称或上下对称。应理解的是，上述构图规则仅作为示例给出，本公开的实施例并不局限于上述构图规则，还可以使用其它任何合适的构图规则。
在某些实施例中，一个动作模式可以具有各自预设的飞行轨迹和构图规则，即，动作模式、飞行轨迹和构图规则分别一一对应。例如，在倒飞模式中，预设的飞行轨迹为相对于目标物向斜上方沿S形轨迹飞行的飞行轨迹，构图规则为三分法构图规则。这样，当确定倒飞模式为拍摄所使用的动作模式时，就确定了对应的飞行轨迹和构图规则。
在某些实施例中，可以将多个动作模式(例如，至少两个动作模式)的组合确定为拍摄时所使用的动作模式。所述多个动作模式的组合包括动作模式的类型、选中的多个动作模式的排列顺序、选中的各个动作模式的时长等。所示多个动作模式的组合可以根据目标物102所处的环境、目标物102与无人机14的相对位置关系等确定。
在另外的实施例中，也可以将单一的动作模式确定为拍摄时所使用的动作模式。
在某些实施例中，用户可以选择一个或多个动作模式，以作为拍摄时所使用的动作模式。在一个示例性的实施例中，如图12所示，控制终端12可以提供多个预设的动作模式的选项，用户可以利用任何合适的方法选择一个或多个预设的动作模式，从而将选中的一个或多个预设的动作模式确定为拍摄时所使用的动作模式。
例如，控制终端12在启动拍摄应用后，可进入如图12所示的无人机拍摄控制页面，在该无人机拍摄控制页面中，显示多个(例如5个)预设的动作模式的选项1202，分别为：倒飞模式的选项1202a、环绕飞行模式的选项1202b、螺旋飞行模式的选项1202c、冲天飞模式的选项1202d和彗星飞行模式的选项1202e。用户点击选项1202a并点击确定，可以将倒飞模式确定为拍摄时所使用的动作模式。用户点击选项1202b并点击确定，可以将环绕飞行模式确定为拍摄时所使用的动作模式。用户点击选项1202c并点击确定，可以将螺旋飞行模式确定为拍摄时所使用的动作模式。用户点击选项1202d并点击确定，可以将冲天飞模式确定为拍摄时所使用的动作模式。用户点击选项1202e并点击确定，可以将彗星飞行模式确定为拍摄时所使用的动作模式。
在某些实施例中，在所述无人机拍摄控制页面中，还显示有“组合”的选项1204，如图12所示。用户可以点击选项1204，然后弹出动作模式组合页面，如图13所示。在动作模式组合页面中，用户可以自由组合多个动作模式，所述自由组合包括选择动作模式的类型、选中的多个动作模式的排列顺序、选中的各个动作模式的时长等。例如，用户可以点击选项1302c，来增加动作模式；点击选项1302a，来删除动作模式；点击选项1302b，确定选择出的动作模式，从而可以将多个动作模式的组合确定为拍摄时所使用的组合动作模式。
在某些实施例中，控制终端12可以自动确定一个或多个动作模式作为拍摄时所使用的动作模式。在一个示例性的实施例中，控制终端12可以选择默认的动作模式确定为拍摄时所使用的动作模式。在另一示例性的实施例中，控制终端12可以选择上次拍摄时所使用的动作模式作为当前拍摄时所使用的动作模式。在一些示例性的实施例中，控制终端12还可以根据目标物102所处的环境、目标物102与无人机14的相对位置关系等来确定拍摄时所使用的动作模式。
在步骤406中，获取拍摄启动指令。
在某些实施例中，控制终端12上运行有拍摄应用程序，该拍摄应用程序可以是系统自带应用程序或者第三方应用程序，可通过该拍摄应用程序来实现该无人机拍摄控 制方法的各步骤。例如，控制终端12可检测预定义事件，在检测到预定义事件(例如，点击开始拍摄按钮等事件)时获取到拍摄启动指令。在一个实施例中，控制终端12可检测预定义事件并在检测到预定义事件时开始计时，当计时达到预设时长时获取拍摄启动指令。
在一个示例性的实施例中，控制终端12可显示拍摄启动控件，并检测对该拍摄启动控件的操作以获取相应的拍摄启动指令。比如，控制终端可在如图5所示的无人机拍摄页面显示拍摄启动控件102，用户点击该拍摄启动控件102可触发拍摄启动指令。对拍摄启动控件的操作包括光标点击操作、触摸点击操作和手势操作中的至少一种。
在一个实施例中，控制终端可以检测控制终端机身的摇晃，当检测到摇晃时获取到相应的拍摄启动指令。在一个实施例中，控制终端也可以检测语音指令输入以获取语音形式的拍摄启动指令。
在步骤408中，根据拍摄启动指令，生成与确定出的一个或多个动作模式相关联的组合操作指令。
在某些实施例中，所述组合操作指令包括多个操作指令，所述多个操作指令分别与确定出的所述多个动作模式一一对应。具体地，每一个动作模式都具有各自的飞行参数(例如飞行轨迹)和拍摄参数，即，每一个动作模式都与预设的飞行参数(例如飞行轨迹)和拍摄参数相关联。在某些实施例中，控制终端12在获取到拍摄启动指令后，可以从例如控制终端12上读取与确定出的多个动作模式相关联的预设的飞行参数(例如飞行轨迹)和拍摄参数，以生成组合操作指令。该组合操作指令用于触发无人机的一系列具有次序的组合动作来完成自动拍摄。
在某些实施例中，控制终端12可定期检查服务器上是否存在与预设的动作模式相关联的操作指令，若存在则下载更新的操作指令以更新本地预设的动作模式所关联的预设的操作指令。在另一个实施例中，定期检查可替换为在检测到用户触发的组合操作指令更新操作时检查。
在某些实施例中，控制终端12可在接收到服务器推送的操作指令更新通知时，从服务器下载更新的操作指令以更新本地与预设的动作模式相关联的预设的操作指令。
在步骤410中，发送所述组合操作指令，使无人机根据所述组合操作指令飞行以拍摄视频。
在某些实施例中，控制终端12可通过与无人机14之间的无线连接将组合操作指令发送至无人机14。无线连接可以采用Wi-Fi(例如2.4GHz或5.8GHz频段等)连接 或WAPI连接这样的无线局域网连接，也可以采用普通的无线电连接。无人机14在接收到控制终端12发送的组合操控指令后，执行该组合操作指令所设定的一系列动作完成自动拍摄图像(例如视频)的任务。
在某些实施例中，所述多个动作模式包括第一动作模式以及第二动作模式，所述发送所述组合操作指令，使所述无人机根据所述组合操作指令飞行以拍摄视频可以包括：根据所述第一动作模式拍摄第一视频；根据所述第二动作模式拍摄第二视频；将所述第一视频与所述第二视频合成以生成所述视频。
在某些实施例中，控制终端12发送所述组合操作指令至无人机14，使无人机14以所述预设的飞行参数飞行和/或根据所述预设的拍摄参数拍摄视频。在某些实施例中，所述组合操作指令使无人机14沿预设的飞行轨迹飞行。例如，当用户选择倒飞模式和环绕飞行模式时，即确定倒飞模式和环绕飞行模式为拍摄所使用的动作模式时，所述组合操作指令包括倒飞模式中的飞行轨迹和环绕飞行模式中的飞行轨迹。发送所述组合操作指令后，使无人机14沿倒飞模式中的飞行轨迹(即沿斜上方飞行)和环绕飞行模式中的飞行轨迹(即环绕目标物一周)飞行，以拍摄目标物的组合视频。
在某些实施例中，一系列动作包括无人机飞行参数调整动作以及拍摄参数调整动作中的至少一种。
在某些实施例中，无人机飞行参数调整动作包括无人机飞行轨迹调整动作、无人机飞行速度调整动作、无人机方向调整动作、无人机高度调整动作、无人机悬停动作、无人机翻转动作以及无人机侧身动作中的至少一种。
在某些实施例中，拍摄参数的调整动作可以包括调整感光度(俗称ISO值)、光圈值、曝光补偿、快门速度、焦距、自动对焦方式、测光方式以及白平衡中的至少一种。其中自动对焦方式包括基于拍摄装置的镜头与被拍摄目标之间距离测量的测距自动对焦方式，以及基于成像清晰的聚焦检测自动对焦方式中的至少一种。测光方式包括点测光方式、中央部分测光方式、中央重点平均测光方式、平均测光方式和多区测光方式中的至少一种。拍摄参数调整动作还可以包括拍摄视野调整动作，例如拍摄视野的平移和缩放，拍摄视野是指无人机的拍摄装置所拍摄的空间范围。
根据本公开实施例的上述无人机拍摄控制方法，可以自动地读取与一个或多个预设的动作模式相关联的组合操作指令并发送给无人机，无人机就可以根据所述组合操作指令依次执行一系列的动作来拍摄图像。这样，只需用户选定预设的动作模式并触 发拍摄启动指令就可以控制无人机自动完成组合型动作模式，不仅简化了操作，提高了操作便利性，还使得拍摄出的视频连贯，减少了后期处理视频的时间。
在某些实施例中，拍摄参数的调整动作可以包括根据与确定出的一个或多个预设的动作模式相关联的构图规则调整拍摄参数，以使得目标物位于预设的构图位置中。例如，当确定倒飞模式为拍摄时所使用的动作模式时，根据与倒飞模式相关联的三分法构图规则，调整拍摄参数，以使得无人机相对于目标物向斜上方飞行时，目标物一直处于按照三分法构图规则确定的预设的构图位置中。当确定倒飞模式和冲天飞模式为拍摄时所使用的动作模式时，根据与倒飞模式和冲天飞模式相关联的三分法构图规则和向心式构图规则，调整拍摄参数，以使得无人机相对于目标物向斜上方飞行和向上方飞行时，目标物一直处于按照三分法构图规则和向心式构图规则确定的预设的构图位置中。
在上述无人机拍摄控制方法中，动作模式与目标物相互关联，在完成飞行动作的同时，确保目标物一直处于预设的构图位置中，从而改善了拍摄出的视频的质量。
如图5所示，在某些实施例中，所述无人机拍摄控制方法还可以包括步骤412：接收无人机返回的拍摄的视频。在一个示例性的实施例中，无人机可以将拍摄的视频通过无线连接实时传输给控制终端，控制终端接收无人机返回的视频。
在某些实施例中，所述无人机拍摄控制方法还可以包括步骤416：处理拍摄的视频。
在一个示例性的实施例中，所述处理可以包括：对拍摄的视频中的至少一段进行加速处理。例如，可以将拍摄的视频拆分为至少三段，对中间的至少一段视频进行加速处理，以获得具有“慢快慢”效果的视频。例如，对于使用倒飞模式拍摄的视频，可以将拍摄的视频拆分为开始阶段、中间阶段和结束阶段，在开始阶段，拍摄的是目标物的特写镜头；在结束阶段，拍摄的是目标物所处的环境全景镜头；在中间阶段，拍摄的是目标物的特写至目标物所处的环境全景的过渡镜头。在对中间阶段进行加速处理后，可以突出开始阶段的目标物的特写和结束阶段的目标物所处的环境全景。
在某些实施例中，所述加速处理可以包括对视频进行抽帧处理。具体地，如图13所示，对于时长为60秒的拍摄视频，例如，其正常录制速度为30帧/秒，时长为60秒的视频共有1800帧。该视频可以拆分为三段，时长为3秒的开始阶段，时长为54秒的中间阶段，和时长为3秒的结束阶段。需要对中间阶段进行加速处理，将中间阶段的时长缩短为6秒。在处理该视频时，可以从第3秒开始，每隔0.3秒抽一帧，直 至处理至57秒时，恢复至正常速度。通过这样的处理方式，可以获得一段时长为12秒的具有“慢快慢”效果短视频，从而适合分享至社交平台。
在某些实施例中，所述无人机拍摄控制方法还可以包括步骤414：获取视频处理参数。在一个实施例中，所述视频处理参数可以包括视频的拆分段数、每一段视频的时长和/或视频的加速倍数等。所述视频处理参数可以是预存的默认的视频处理参数、用户输入的视频处理参数、或者控制终端根据动作模式、需要分享的社交平台等确定出的视频处理参数。
这样，在根据本公开的实施例的无人机拍摄控制方法中，可以直接处理拍摄的视频，不需要导出至后期视频剪辑软件，简化了视频处理流程，并且提高了使用社交平台传播拍摄的视频的便利性。
根据本公开的另一方面的实施例，提供一种无人机的拍摄方法。如图14所示，所述无人机的拍摄方法以该方法应用于上述图1和图3中的无人机14来举例说明。
在步骤1402中，与控制终端建立无线连接。
在某些实施例中，无人机14可以主动或者被动地与控制终端12建立无线连接。无线连接可以采用Wi-Fi连接或WAPI连接这样的无线局域网连接，也可以采用普通的无线电连接。
在步骤1404中，接收组合操作指令。
在某些实施例中，所述组合操作指令与一个或多个动作模式相关联的。在某些实施例中，所述组合操作指令包括多个操作指令，所述多个操作指令分别与确定出的所述多个动作模式一一对应。具体地，每一个动作模式都具有各自的飞行参数(例如飞行轨迹)和拍摄参数，即，每一个动作模式都与预设的飞行参数(例如飞行轨迹)和拍摄参数相关联。该组合操作指令用于触发无人机的一系列具有次序的组合动作来完成自动拍摄。
在某些实施例中，无人机14接收所述组合操作指令，从而根据所述预设的飞行参数飞行和/或根据所述预设的拍摄参数拍摄视频。在某些实施例中，所述组合操作指令使无人机14沿预设的飞行轨迹飞行。例如，当用户选择倒飞模式和环绕飞行模式时，即确定倒飞模式和环绕飞行模式为拍摄所使用的动作模式时，所述组合操作指令包括倒飞模式中的飞行轨迹和环绕飞行模式中的飞行轨迹。发送所述组合操作指令后，使无人机14沿倒飞模式中的飞行轨迹(即沿斜上方飞行)和环绕飞行模式中的飞行轨迹(即环绕目标物一周)飞行，以拍摄目标物的组合视频。
在步骤1406中，根据所述组合操作指令，无人机根据至少两个动作模式飞行以拍摄视频。
在某些实施例中，所述无人机根据至少两个动作模式飞行包括所述无人机执行一系列动作。在某些实施例中，所述一系列动作包括无人机飞行参数调整动作以及拍摄参数调整动作中的至少一种。
在某些实施例中，所述至少两个动作模式包括第一动作模式以及第二动作模式，所述根据所述组合操作指令，所述无人机根据至少两个动作模式飞行以拍摄视频可以包括：根据所述第一动作模式拍摄第一视频；根据所述第二动作模式拍摄第二视频；将所述第一视频与所述第二视频合成以生成所述视频。
在某些实施例中，无人机飞行参数调整动作包括无人机飞行轨迹调整动作、无人机飞行速度调整动作、无人机方向调整动作、无人机高度调整动作、无人机悬停动作、无人机翻转动作以及无人机侧身动作中的至少一种。
在某些实施例中，拍摄参数的调整动作可以包括调整感光度(俗称ISO值)、光圈值、曝光补偿、快门速度、焦距、自动对焦方式、测光方式以及白平衡中的至少一种。其中自动对焦方式包括基于拍摄装置的镜头与被拍摄目标之间距离测量的测距自动对焦方式，以及基于成像清晰的聚焦检测自动对焦方式中的至少一种。测光方式包括点测光方式、中央部分测光方式、中央重点平均测光方式、平均测光方式和多区测光方式中的至少一种。拍摄参数调整动作还可以包括拍摄视野调整动作，例如拍摄视野的平移和缩放，拍摄视野是指无人机的拍摄装置所拍摄的空间范围。
根据本公开实施例的上述无人机拍摄方法，无人机可以根据所述组合操作指令依次执行一系列的动作来拍摄图像。这样，只需用户选定预设的动作模式并触发拍摄启动指令就可以控制无人机自动完成组合型动作模式，不仅简化了操作，提高了操作便利性，还使得拍摄出的视频连贯，减少了后期处理视频的时间。
在某些实施例中，拍摄参数的调整动作可以包括根据与确定出的一个或多个预设的动作模式相关联的构图规则调整拍摄参数，以使得目标物位于预设的构图位置中。例如，当确定倒飞模式为拍摄时所使用的动作模式时，根据与倒飞模式相关联的三分法构图规则，调整拍摄参数，以使得无人机相对于目标物向斜上方飞行时，目标物一直处于按照三分法构图规则确定的预设的构图位置中。当确定倒飞模式和冲天飞模式为拍摄时所使用的动作模式时，根据与倒飞模式和冲天飞模式相关联的三分法构图规则和向心式构图规则，调整拍摄参数，以使得无人机相对于目标物向斜上方飞行和向 上方飞行时，目标物一直处于按照三分法构图规则和向心式构图规则确定的预设的构图位置中。
在上述无人机拍摄方法中，动作模式与目标物相互关联，在完成飞行动作的同时，确保目标物一直处于预设的构图位置中，从而改善了拍摄出的视频的质量。
在某些实施例中，所述无人机拍摄方法还可以包括步骤1410：发送无人机拍摄的视频。在一个示例性的实施例中，无人机可以将拍摄的视频通过无线连接实时传输给控制终端，控制终端接收无人机返回的视频。
在某些实施例中，所述无人机拍摄方法还可以包括步骤1408：处理拍摄的视频。
在一个示例性的实施例中，所述处理可以包括：对拍摄的视频中的至少一段进行加速处理。例如，可以将拍摄的视频拆分为至少三段，对中间的至少一段视频进行加速处理，以获得具有“慢快慢”效果的视频。例如，对于使用倒飞模式拍摄的视频，可以将拍摄的视频拆分为开始阶段、中间阶段和结束阶段，在开始阶段，拍摄的是目标物的特写镜头；在结束阶段，拍摄的是目标物所处的环境全景镜头；在中间阶段，拍摄的是目标物的特写至目标物所处的环境全景的过渡镜头。在对中间阶段进行加速处理后，可以突出开始阶段的目标物的特写和结束阶段的目标物所处的环境全景。
在某些实施例中，所述加速处理可以包括对视频进行抽帧处理。具体地，如图15所示，对于时长为60秒的拍摄视频，例如，其正常录制速度为30帧/秒，时长为60秒的视频共有1800帧。该视频可以拆分为三段，时长为3秒的开始阶段，时长为54秒的中间阶段，和时长为3秒的结束阶段。需要对中间阶段进行加速处理，将中间阶段的时长缩短为6秒。在处理该视频时，可以从第3秒开始，每隔0.3秒抽一帧，直至处理至57秒时，恢复至正常速度。通过这样的处理方式，可以获得一段时长为12秒的具有“慢快慢”效果短视频，从而适合分享至社交平台。
在某些实施例中，所述无人机拍摄方法还可以包括步骤：获取视频处理参数。在一个实施例中，所述视频处理参数可以包括视频的拆分段数、每一段视频的时长和/或视频的加速倍数等。所述视频处理参数可以是预存的默认的视频处理参数、用户输入的视频处理参数、或者无人机根据动作模式、需要分享的社交平台等确定出的视频处理参数。
这样，在根据本公开的实施例的无人机拍摄方法中，可以直接处理拍摄的视频，不需要导出至后期视频剪辑软件，简化了视频处理流程，并且提高了使用社交平台传播拍摄的视频的便利性。
根据本公开又一方面的实施例，提供一种控制终端。所述控制终端可以包括：存储器，用于存储可执行指令；以及处理器，用于执行存储器中存储的可执行指令，以执行上述任一个实施例中所述的无人机拍摄控制方法。
图16示出了根据本公开实施例的控制终端的示例硬件布置1600的框图。硬件布置1600包括处理器1606(例如，微处理器(μP)、数字信号处理器(DSP)等)。处理器1606可以是用于执行本文描述的方法的不同步骤的单一处理单元或者是多个处理单元。硬件布置1600还可以包括用于从其他实体接收信号的输入单元1602、以及用于向其他实体提供信号的输出单元1604。输入单元1602和输出单元1604可以被布置为单一实体或者是分离的实体。
此外，硬件布置1600可以包括具有非易失性或易失性存储器形式的至少一个可读存储介质1608，例如是电可擦除可编程只读存储器(EEPROM)、闪存、和/或硬盘驱动器。可读存储介质1608包括计算机程序1610，该计算机程序1610包括代码/计算机可读指令，其在由硬件布置1600中的处理器1606执行时使得硬件布置1600和/或包括硬件布置1600在内的设备可以执行上文描述的方法及其任何变形。
计算机程序指令1610可被配置为具有例如计算机程序指令模块1610A～1610C架构的计算机程序指令代码。例如，硬件布置1600的计算机程序指令中的代码可以包括：模块1610A，用于确定无人机拍摄时所使用的组合动作模式，所述组合动作模式包括至少两个动作模式。计算机程序指令中的代码还可以包括：模块1610B，用于根据所述组合动作模式，生成组合操作指令。计算机程序指令中的代码还可以包括：模块1610C，用于向所述无人机发送所述组合操作指令，使所述无人机根据所述组合操作指令飞行以拍摄视频。
尽管上面结合图16所公开的实施例中的代码手段被实现为计算机程序模块，其在处理器1606中执行时使得硬件布置1600执行上文描述的方法，然而在备选实施例中，该代码手段中的至少一项可以至少被部分地实现为硬件电路。
处理器可以是单个CPU(中央处理单元)，但也可以包括两个或更多个处理单元。例如，处理器可以包括通用微处理器、指令集处理器和/或相关芯片组和/或专用微处理器(例如，专用集成电路(ASIC))。处理器还可以包括用于缓存用途的板载存储器。计算机程序可以由连接到处理器的计算机程序产品来承载。计算机程序产品可以包括其上存储有计算机程序的计算机可读介质。例如，计算机程序产品可以是闪存、随机 存取存储器(RAM)、只读存储器(ROM)、EEPROM，且上述计算机程序模块在备选实施例中可以用UE内的存储器的形式被分布到不同计算机程序产品中。
在某些实施例中，所述控制终端可以为从智能手机、遥控器、平板电脑、笔记本电脑、计算机、眼镜、手套、头盔和麦克风中选择的一种。
根据本公开的再一方面的实施例，提供一种无人机控制装置。所述无人机控制装置可以包括：存储器，用于存储可执行指令；以及处理器，用于执行存储器中存储的可执行指令，以执行上述任一个实施例所述的无人机拍摄方法。
图17示出了根据本公开实施例的无人机控制装置的示例硬件布置1700的框图。硬件布置1700包括处理器1706(例如，微处理器(μP)、数字信号处理器(DSP)等)。处理器1706可以是用于执行本文描述的方法的不同步骤的单一处理单元或者是多个处理单元。硬件布置1700还可以包括用于从其他实体接收信号的输入单元1702、以及用于向其他实体提供信号的输出单元1704。输入单元1702和输出单元1704可以被布置为单一实体或者是分离的实体。
此外，硬件布置1700可以包括具有非易失性或易失性存储器形式的至少一个可读存储介质1708，例如是电可擦除可编程只读存储器(EEPROM)、闪存、和/或硬盘驱动器。可读存储介质1708包括计算机程序1710，该计算机程序1710包括代码/计算机可读指令，其在由硬件布置1700中的处理器1706执行时使得硬件布置1700和/或包括硬件布置1700在内的设备可以执行上文描述的方法及其任何变形。
计算机程序指令1710可被配置为具有例如计算机程序指令模块1710A～1710C架构的计算机程序指令代码。例如，硬件布置1700的计算机程序指令中的代码可以包括：模块1710A，用于接收组合操作指令。计算机程序指令中的代码还可以包括：模块1710B，用于根据所述组合操作指令，控制所述无人机根据至少两个动作模式飞行以拍摄视频。
尽管上面结合图17所公开的实施例中的代码手段被实现为计算机程序模块，其在处理器1706中执行时使得硬件布置1700执行上文描述的方法，然而在备选实施例中，该代码手段中的至少一项可以至少被部分地实现为硬件电路。
处理器可以是单个CPU(中央处理单元)，但也可以包括两个或更多个处理单元。例如，处理器可以包括通用微处理器、指令集处理器和/或相关芯片组和/或专用微处理器(例如，专用集成电路(ASIC))。处理器还可以包括用于缓存用途的板载存储器。计算机程序可以由连接到处理器的计算机程序产品来承载。计算机程序产品可以包括 其上存储有计算机程序的计算机可读介质。例如，计算机程序产品可以是闪存、随机存取存储器(RAM)、只读存储器(ROM)、EEPROM，且上述计算机程序模块在备选实施例中可以用UE内的存储器的形式被分布到不同计算机程序产品中。
如图18所示，根据本公开的另一方面的实施例，提供一种无人机1800。所述无人机1800可以包括上述无人机控制装置1700。
在某些实施例中，所述无人机1800还可以包括通信装置、飞行驱动装置和拍摄装置。
如图19所示，在某些实施例中，提供一种无人机拍摄控制装置1900，即控制终端。所述无人机拍摄控制装置1900可以包括：
组合动作模式确定模块1902，用于确定无人机拍摄时所使用的组合动作模式，所述组合动作模式包括至少两个动作模式；
组合操作指令生成模块1904，用于根据确定出的组合动作模式，生成组合操作指令；和
指令发送模块1906，用于发送所述组合操作指令，使无人机根据所述组合操作指令飞行以拍摄视频。
在本公开的一些实施例中，所述无人机拍摄控制装置1900还可以包括图19中未示出的其他功能模块。例如，所述无人机拍摄控制装置1900还可以包括目标物确定模块，用于确定拍摄的目标物。所述无人机拍摄控制装置1900还可以包括视频处理模块，用于对拍摄的视频中的至少一段进行加速处理。
此外，所述无人机拍摄控制装置1900还可以包括图19中未示出的其他功能模块，然而由于其并不影响本领域技术人员理解本公开的实施方式，因此在图19中加以省略。例如，所述无人机拍摄控制装置1900还可以包括以下一项或多项功能模块：电源、存储器、数据总线、天线、无线收发信机等等。
如图20所示，在某些实施例中，提供一种无人机控制装置2000。所述无人机控制装置2000可以包括：
指令接收模块2002，用于接收组合操作指令，；和
动作执行控制模块2004，用于根据所述组合操作指令，控制无人机根据至少两个动作模式飞行以拍摄视频。
在本公开的一些实施例中，所述无人机控制装置2000还可以包括图20中未示出的其他功能模块。例如，所述无人机拍摄控制装置2000还可以包括视频处理模块，用于对拍摄的视频中的至少一段进行加速处理。
此外，所述无人机控制装置2000还可以包括图20中未示出的其他功能模块，然而由于其并不影响本领域技术人员理解本公开的实施方式，因此在图20中加以省略。例如，所述无人机拍摄控制装置2000还可以包括以下一项或多项功能模块：电源、存储器、数据总线、天线、无线收发信机等等。
以上通过举例的方式描述了本公开的几个实施例，但是本领域的技术人员将会认识到，在不背离本公开的构思的前提下，可以对本公开的实施例做出各种修改和变化。所有这些修改和变化都应当落入本公开的保护范围内。因此，本公开的保护范围应以权利要求限定的保护范围为准。

Claims (70)

  1. 一种无人机拍摄控制方法，所述方法包括：
    确定所述无人机拍摄时所使用的组合动作模式，所述组合动作模式包括至少两个动作模式；
    根据所述组合动作模式，生成组合操作指令；和
    向所述无人机发送所述组合操作指令，使所述无人机根据所述组合操作指令飞行以拍摄视频。
  2. 根据权利要求1所述的方法，其特征在于，所述方法还包括：确定拍摄的目标物。
  3. 根据权利要求1或2所述的方法，其特征在于，所述组合操作指令包括多个操作指令，所述多个操作指令分别与所述至少两个动作模式相关联。
  4. 根据权利要求1-3中任一项所述的方法，其特征在于，所述至少两个动作模式包括第一动作模式以及第二动作模式，所述向所述无人机发送所述组合操作指令，使所述无人机根据所述组合操作指令飞行以拍摄视频包括：
    根据所述第一动作模式拍摄第一视频；
    根据所述第二动作模式拍摄第二视频；
    将所述第一视频与所述第二视频合成以生成所述视频。
  5. 根据权利要求1-4中任一项所述的方法，其特征在于，所述至少两个动作模式中的每一个动作模式与预设的飞行参数和/或预设的拍摄参数相关联；
    所述使所述无人机根据所述组合操作指令飞行以拍摄视频包括：使所述无人机根据所述预设的飞行参数飞行和/或根据所述预设的拍摄参数拍摄。
  6. 根据权利要求5所述的方法，其特征在于，所述至少两个动作模式中的每一个动作模式所关联的预设的飞行参数和/或预设的拍摄参数互不相同。
  7. 根据权利要求5或6所述的方法，其特征在于，所述预设的飞行参数包括预设的飞行轨迹；
    所述使所述无人机根据所述组合操作指令飞行以拍摄视频包括：使所述无人机根据所述预设的飞行轨迹飞行。
  8. 根据权利要求1-7中任一项所述的方法，其特征在于，所述至少两个动作模式包括倒飞模式、环绕飞行模式、螺旋飞行模式、冲天飞模式、或彗星飞行模式中的至少两个。
  9. 根据权利要求5或6所述的方法，其特征在于，所述预设的拍摄参数包括预设的构图规则，所述构图规则用于确保在关联的动作模式中目标物处于预设的构图位置中。
  10. 根据权利要求1-9中任一项所述的方法，其特征在于，所述确定所述无人机拍摄时所使用的组合动作模式包括：确定所述至少两个动作模式的类型、所述至少两个动作模式的排列顺序、和/或所述至少两个动作模式中的每一个动作模式的时长。
  11. 根据权利要求1-10中任一项所述的方法，其特征在于，所述确定所述无人机拍摄时所使用的组合动作模式包括：
    接收用户选择和/或输入至少两个动作模式；和
    将所述至少两个动作模式确定为拍摄时所使用的组合动作模式。
  12. 根据权利要求1-10中任一项所述的方法，其特征在于，所述确定所述无人机拍摄时所使用的组合动作模式包括：
    自动确定预设的至少两个动作模式为拍摄时所使用的组合动作模式。
  13. 根据权利要求12所述的方法，其特征在于，所述自动确定预设的至少两个动作模式为拍摄时所使用的组合动作模式包括：
    选择默认的动作模式确定为拍摄时所使用的组合动作模式，和/或选择上次拍摄时所使用的动作模式作为当前拍摄时所使用的组合动作模式，和/或根据目标物所处的环境和/或目标物与无人机的相对位置关系确定拍摄时所使用的组合动作模式。
  14. 根据权利要求2所述的方法，其特征在于，所述确定拍摄的目标物包括：
    在拍摄画面中选择目标物；和
    确定选择的目标物为拍摄的目标物。
  15. 根据权利要求2所述的方法，其特征在于，所述确定拍摄的目标物包括：自动识别或人工输入拍摄的目标物的地理位置信息，通过所述地理位置信息确定拍摄的目标物。
  16. 根据权利要求1-15中任一项所述的方法，其特征在于，所述方法还包括：
    接收无人机返回的拍摄的视频；和
    对拍摄的视频中的至少一段进行加速处理。
  17. 根据权利要求16所述的方法，其特征在于，所述对拍摄的视频中的至少一段进行加速处理包括：
    将拍摄的视频拆分为至少三段，对中间的至少一段视频进行加速处理。
  18. 根据权利要求16或17所述的方法，其特征在于，所述加速处理包括对视频进行抽帧处理。
  19. 根据权利要求16-18中任一项所述的方法，其特征在于，所述方法还包括：获取视频处理参数。
  20. 根据权利要求19所述的方法，其特征在于，所述视频处理参数包括视频的拆分段数、每一段视频的时长和/或视频的加速倍数。
  21. 一种无人机拍摄方法，所述方法包括：
    接收组合操作指令；和
    根据所述组合操作指令，所述无人机根据至少两个动作模式飞行以拍摄视频。
  22. 根据权利要求21所述的方法，其特征在于，所述组合操作指令包括多个操作指令，所述多个操作指令分别与所述至少两个动作模式相关联。
  23. 根据权利要求21或22所述的方法，其特征在于，所述至少两个动作模式包括第一动作模式以及第二动作模式，所述根据所述组合操作指令，所述无人机根据至少两个动作模式飞行以拍摄视频包括：
    根据所述第一动作模式拍摄第一视频；
    根据所述第二动作模式拍摄第二视频；
    将所述第一视频与所述第二视频合成以生成所述视频。
  24. 根据权利要求21-23中任一项所述的方法，其特征在于，所述至少两个动作模式中的每一个动作模式与预设的飞行参数和/或预设的拍摄参数相关联；
    所述根据所述组合操作指令，所述无人机根据至少两个动作模式飞行以拍摄视频包括：所述无人机根据所述预设的飞行参数飞行和/或根据所述预设的拍摄参数拍摄。
  25. 根据权利要求24所述的方法，其特征在于，所述至少两个动作模式中的每一个动作模式所关联的预设的飞行参数和/或预设的拍摄参数互不相同。
  26. 根据权利要求24或25所述的方法，其特征在于，所述预设的飞行参数包括预设的飞行轨迹；
    所述根据所述组合操作指令，所述无人机根据至少两个动作模式飞行以拍摄视频包括：所述无人机根据所述预设的飞行轨迹飞行。
  27. 根据权利要求21-26中任一项所述的方法，其特征在于，所述至少两个动作模式包括倒飞模式、环绕飞行模式、螺旋飞行模式、冲天飞模式、或彗星飞行模式中的至少两个。
  28. 根据权利要求24或25所述的方法，其特征在于，所述预设的拍摄参数包括预设的构图规则，所述构图规则用于确保在关联的动作模式中目标物处于预设的构图位置中。
  29. 根据权利要求21-28中任一项所述的方法，其特征在于，所述组合操作指令包括：所述至少两个动作模式的类型、所述至少两个动作模式的排列顺序、和/或所述至少两个动作模式中的每一个动作模式的时长。
  30. 根据权利要求21-29中任一项所述的方法，其特征在于，所述方法还包括：对拍摄的视频中的至少一段进行加速处理。
  31. 根据权利要求30所述的方法，其特征在于，所述对拍摄的视频中的至少一段进行加速处理包括：
    将拍摄的视频拆分为至少三段，对中间的至少一段视频进行加速处理。
  32. 根据权利要求30或31所述的方法，其特征在于，所述加速处理包括对视频进行抽帧处理。
  33. 根据权利要求30-32中任一项所述的方法，其特征在于，所述方法还包括：获取视频处理参数。
  34. 根据权利要求33所述的方法，其特征在于，所述视频处理参数包括视频的拆分段数、每一段视频的时长和/或视频的加速倍数。
  35. 一种控制终端，包括：
    存储器，用于存储可执行指令；以及
    处理器，用于执行存储器中存储的可执行指令，
    其特征在于，所述可执行指令在由所述处理器执行时使得所述处理器：
    确定所述无人机拍摄时所使用的组合动作模式，所述组合动作模式包括至少两个动作模式；
    根据所述组合动作模式，生成组合操作指令；和
    向所述无人机发送所述组合操作指令，使所述无人机根据所述组合操作指令飞行以拍摄视频。
  36. 根据权利要求35所述的控制终端，其特征在于，所述可执行指令在由所述处理器执行时还使得所述处理器：确定拍摄的目标物。
  37. 根据权利要求35或36所述的控制终端，其特征在于，所述组合操作指令包括多个操作指令，所述多个操作指令分别与所述至少两个动作模式相关联。
  38. 根据权利要求35-37中任一项所述的控制终端，其特征在于，所述至少两个动作模式包括第一动作模式以及第二动作模式，所述向所述无人机发送所述组合操作指令，使所述无人机根据所述组合操作指令飞行以拍摄视频包括：
    根据所述第一动作模式拍摄第一视频；
    根据所述第二动作模式拍摄第二视频；
    将所述第一视频与所述第二视频合成以生成所述视频。
  39. 根据权利要求35-38中任一项所述的控制终端，其特征在于，所述至少两个动作模式中的每一种动作模式与预设的飞行参数和/或预设的拍摄参数相关联；
    所述使所述无人机根据所述组合操作指令飞行以拍摄视频包括：使所述无人机根据所述预设的飞行参数飞行和/或根据所述预设的拍摄参数拍摄。
  40. 根据权利要求39所述的控制终端，其特征在于，所述至少两个动作模式中的每一种动作模式所关联的预设的飞行参数和/或预设的拍摄参数互不相同。
  41. 根据权利要求39或40所述的控制终端，其特征在于，所述预设的飞行参数包括预设的飞行轨迹；
    所述使所述无人机根据所述组合操作指令飞行以拍摄视频包括：使所述无人机根据所述预设的飞行轨迹飞行。
  42. 根据权利要求35-41中任一项所述的控制终端，其特征在于，所述至少两个动作模式包括倒飞模式、环绕飞行模式、螺旋飞行模式、冲天飞模式、或彗星飞行模式中的至少两个。
  43. 根据权利要求39或40所述的控制终端，其特征在于，所述预设的拍摄参数包括预设的构图规则，所述构图规则用于确保在关联的动作模式中目标物处于预设的构图位置中。
  44. 根据权利要求35-43中任一项所述的控制终端，其特征在于，所述确定所述无人机拍摄时所使用的组合动作模式包括：确定所述至少两个动作模式的类型、所述至少两个动作模式的排列顺序、和/或所述至少两个动作模式中的每一个动作模式的时长。
  45. 根据权利要求35-44中任一项所述的控制终端，其特征在于，所述确定所述无人机拍摄时所使用的组合动作模式包括：
    接收用户选择和/或输入至少两个动作模式；和
    将所述至少两个动作模式确定为拍摄时所使用的组合动作模式。
  46. 根据权利要求35-44中任一项所述的控制终端，其特征在于，所述确定所述无人机拍摄时所使用的组合动作模式包括：
    自动确定预设的至少两个动作模式为拍摄时所使用的组合动作模式。
  47. 根据权利要求46所述的控制终端，其特征在于，所述自动确定预设的至少两个动作模式为拍摄时所使用的组合动作模式包括：
    选择默认的动作模式确定为拍摄时所使用的组合动作模式，和/或选择上次拍摄时所使用的动作模式作为当前拍摄时所使用的组合动作模式，和/或根据目标物所处的环境和/或目标物与无人机的相对位置关系确定拍摄时所使用的组合动作模式。
  48. 根据权利要求36所述的控制终端，其特征在于，所述确定拍摄的目标物包括：
    在拍摄画面中选择目标物；和
    确定选择的目标物为拍摄的目标物。
  49. 根据权利要求36所述的控制终端，其特征在于，所述确定拍摄的目标物包括：自动识别或人工输入拍摄的目标物的地理位置信息，通过所述地理位置信息确定拍摄的目标物。
  50. 根据权利要求35-49中任一项所述的控制终端，其特征在于，所述可执行指令在由所述处理器执行时还使得所述处理器：
    接收无人机返回的拍摄的视频；和
    对拍摄的视频中的至少一段进行加速处理。
  51. 根据权利要求50所述的控制终端，其特征在于，所述对拍摄的视频中的至少一段进行加速处理包括：
    将拍摄的视频拆分为至少三段，对中间的至少一段视频进行加速处理。
  52. 根据权利要求50或51所述的控制终端，其特征在于，所述加速处理包括对视频进行抽帧处理。
  53. 根据权利要求50-52中任一项所述的控制终端，其特征在于，所述可执行指令在由所述处理器执行时还使得所述处理器：获取视频处理参数。
  54. 根据权利要求53所述的控制终端，其特征在于，所述视频处理参数包括视频的拆分段数、每一段视频的时长和/或视频的加速倍数。
  55. 根据权利要求35-54中任一项所述的控制终端，其特征在于，所述控制终端为从智能手机、遥控器、平板电脑、笔记本电脑、计算机、眼镜、手套、头盔和麦克风中选择的一种。
  56. 一种无人机控制装置，包括：
    存储器，用于存储可执行指令；以及
    处理器，用于执行存储器中存储的可执行指令，
    其特征在于，所述可执行指令在由所述处理器执行时使得所述处理器：
    接收组合操作指令；和
    根据所述组合操作指令，控制所述无人机根据至少两个动作模式飞行以拍摄视频。
  57. 根据权利要求56所述的无人机控制装置，其特征在于，所述组合操作指令包括多个操作指令，所述多个操作指令分别与所述至少两个动作模式相关联。
  58. 根据权利要求56或57所述的无人机控制装置，其特征在于，所述至少两个动作模式包括第一动作模式以及第二动作模式，所述根据所述组合操作指令，控制所述无人机根据至少两个动作模式飞行以拍摄视频包括：
    根据所述第一动作模式拍摄第一视频；
    根据所述第二动作模式拍摄第二视频；
    将所述第一视频与所述第二视频合成以生成所述视频。
  59. 根据权利要求56-58中任一项所述的无人机控制装置，其特征在于，所述至少两个动作模式中的每一种动作模式与预设的飞行参数和/或预设的拍摄参数相关联；
    所述根据所述组合操作指令，控制所述无人机根据至少两个动作模式飞行以拍摄视频包括：控制所述无人机根据所述预设的飞行参数飞行和/或根据所述预设的拍摄参数拍摄。
  60. 根据权利要求59所述的无人机控制装置，其特征在于，所述至少两个动作模式中的每一种动作模式所关联的预设的飞行参数和/或预设的拍摄参数互不相同。
  61. 根据权利要求59或60所述的无人机控制装置，其特征在于，所述预设的飞行参数包括预设的飞行轨迹；
    所述根据所述组合操作指令，所述无人机根据至少两个动作模式飞行以拍摄视频包括：所述无人机根据所述预设的飞行轨迹飞行。
  62. 根据权利要求56-61中任一项所述的无人机控制装置，其特征在于，所述至少两个动作模式包括倒飞模式、环绕飞行模式、螺旋飞行模式、冲天飞模式、或彗星飞行模式中的至少两个。
  63. 根据权利要求59或60所述的无人机控制装置，其特征在于，所述预设的拍摄参数包括预设的构图规则，所述构图规则用于确保在关联的动作模式中目标物处于预设的构图位置中。
  64. 根据权利要求56-63中任一项所述的无人机控制装置，其特征在于，所述组合操作指令包括：所述至少两个动作模式的类型、所述至少两个动作模式的排列顺序、和/或所述至少两个动作模式中的每一个动作模式的时长。
  65. 根据权利要求21-29中任一项所述的无人机控制装置，其特征在于，所述可执行指令在由所述处理器执行时还使得所述处理器：对拍摄的视频中的至少一段进行加速处理。
  66. 根据权利要求65所述的无人机控制装置，其特征在于，所述对拍摄的视频中的至少一段进行加速处理包括：
    将拍摄的视频拆分为至少三段，对中间的至少一段视频进行加速处理。
  67. 根据权利要求65或66所述的无人机控制装置，其特征在于，所述加速处理包括对视频进行抽帧处理。
  68. 根据权利要求65-67中任一项所述的无人机控制装置，其特征在于，所述可执行指令在由所述处理器执行时还使得所述处理器：获取视频处理参数。
  69. 根据权利要求68所述的无人机控制装置，其特征在于，所述视频处理参数包括视频的拆分段数、每一段视频的时长和/或视频的加速倍数。
  70. 一种无人机，包括如权利要求56-69中任一项所述的无人机控制装置。
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