WO2019127376A1 - 一种视频获取方法、控制终端、飞行器及系统 - Google Patents

一种视频获取方法、控制终端、飞行器及系统 Download PDF

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Publication number
WO2019127376A1
WO2019127376A1 PCT/CN2017/119872 CN2017119872W WO2019127376A1 WO 2019127376 A1 WO2019127376 A1 WO 2019127376A1 CN 2017119872 W CN2017119872 W CN 2017119872W WO 2019127376 A1 WO2019127376 A1 WO 2019127376A1
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WO
WIPO (PCT)
Prior art keywords
video
flight
target
flight mode
video frame
Prior art date
Application number
PCT/CN2017/119872
Other languages
English (en)
French (fr)
Inventor
李皓宇
刘雨奇
Original Assignee
深圳市大疆创新科技有限公司
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 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to PCT/CN2017/119872 priority Critical patent/WO2019127376A1/zh
Priority to CN201780005968.5A priority patent/CN108521866B/zh
Priority to CN202111489768.6A priority patent/CN114205536A/zh
Publication of WO2019127376A1 publication Critical patent/WO2019127376A1/zh

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    • 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
    • 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
    • H04N23/66—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
    • 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
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B7/00—Radio transmission systems, i.e. using radiation field
    • H04B7/14—Relay systems
    • H04B7/15—Active relay systems
    • H04B7/185—Space-based or airborne stations; Stations for satellite systems
    • H04B7/18502—Airborne stations
    • H04B7/18506—Communications with or from aircraft, i.e. aeronautical mobile service

Definitions

  • the present invention relates to the field of control technologies, and in particular, to a video acquisition method, a control terminal, an aircraft, and a system.
  • the user mainly controls the flight path of an aircraft such as a drone by a remote controller, wherein an image capturing device can be disposed on the aircraft, and the user can perform tasks such as capturing images and videos through an aircraft on which the camera device is mounted.
  • an imaging task using an aircraft mounted with an imaging device
  • the video that may be shot may not achieve the desired results, and it is time-consuming and labor-intensive to try, which reduces the shooting efficiency. Therefore, how to better capture video through the aircraft has become a research hotspot.
  • Embodiments of the present invention provide a video acquisition method, a control terminal, an aircraft, and a system to improve the efficiency of video capture and video editing.
  • an embodiment of the present invention provides a video acquisition method, which is applied to a control terminal of an aircraft, and the camera is mounted on the aircraft, and the method includes:
  • Determining a target theme from the at least one theme determining an airplane mode and a clip parameter of the target subject, and generating a flight control command according to the flight mode to transmit to the aircraft;
  • an embodiment of the present invention provides another video acquisition method, which is applied to an aircraft system, where the aircraft system includes a control terminal and an aircraft communicatively coupled to the control terminal, and the camera is mounted on the aircraft.
  • the method includes:
  • the control terminal acquires a user instruction, enters a combined flight mode, and provides at least one theme, the theme including at least one flight mode and associated clip parameters;
  • the aircraft sequentially performs a flight action corresponding to each flight mode according to at least one flight mode included in the flight control instruction, and the camera device acquires a video segment in each flight mode together;
  • the control terminal receives the video segment and generates a video based on the clip parameters.
  • an embodiment of the present invention provides a control terminal, including a memory and a processor
  • the memory is configured to store program instructions
  • the processor executes program instructions stored in the memory, and when the program instructions are executed, the processor is configured to perform the following steps:
  • Determining a target theme from the at least one theme determining an airplane mode and a clip parameter of the target subject, and generating a flight control command according to the flight mode to transmit to the aircraft;
  • an embodiment of the present invention provides an aircraft, including:
  • a power system disposed on the fuselage for providing flight power
  • a processor configured to receive a flight control command sent by the control terminal, and sequentially perform a flight action corresponding to each flight mode according to at least one flight mode included in the flight control command, where the camera device captures and acquires each flight mode The video clip below.
  • an embodiment of the invention provides an aircraft system, including: a control terminal and an aircraft;
  • the control terminal is configured to acquire a user instruction, enter a combined flight mode, and provide at least one theme, where the theme includes at least one flight mode and associated clip parameters, determine a target theme from the at least one theme, determine the location Decoding a flight mode and a clipping parameter of the target subject, and generating a flight control command according to the flight mode to transmit to the aircraft;
  • the aircraft is configured to sequentially perform a flight action corresponding to each flight mode according to at least one flight mode included in the flight control instruction, and the camera device acquires a video segment in each flight mode together;
  • the control terminal is further configured to receive the video segment and generate a video according to the clip parameter.
  • an embodiment of the present invention provides a computer readable storage medium, where the computer readable storage medium stores a computer program, and when the computer program is executed by the processor, implements the first aspect or the second aspect, Video acquisition method.
  • the control terminal enters the combined flight mode by acquiring a user instruction, determines a target theme from at least one theme provided by the combined flight mode, and determines a flight mode and a clipping parameter of the target theme.
  • the control terminal generates a flight control command according to the flight mode to transmit to the aircraft, and performs a clip generation video on the received video segment of the aircraft according to the flight control instruction by the clip parameter. In this way, quickly obtaining video with different effects improves the efficiency of video acquisition and video processing.
  • FIG. 1 is a schematic diagram of an interface of a flight trajectory according to an embodiment of the present invention.
  • FIG. 2 is a schematic diagram of an interface of another flight trajectory according to an embodiment of the present invention.
  • FIG. 3 is a schematic diagram of another interface of a flight trajectory according to an embodiment of the present invention.
  • FIG. 4 is a schematic diagram of another interface of a flight trajectory according to an embodiment of the present invention.
  • FIG. 5 is a schematic diagram of another interface of a flight trajectory according to an embodiment of the present invention.
  • FIG. 6 is a schematic structural diagram of an aircraft system according to an embodiment of the present invention.
  • FIG. 7 is a schematic diagram of an interface of an editing operation according to an embodiment of the present invention.
  • FIG. 8 is a schematic diagram of another interface of an editing operation according to an embodiment of the present invention.
  • FIG. 9 is a schematic flowchart of a video acquiring method according to an embodiment of the present invention.
  • FIG. 10 is a schematic flowchart diagram of another video acquisition method according to an embodiment of the present invention.
  • FIG. 11 is a schematic structural diagram of a control terminal according to an embodiment of the present invention.
  • the video acquisition method provided by the embodiment of the present invention may be applied to a control terminal of an aircraft, or in other embodiments, the video acquisition method may also be applied to an aircraft system including a control terminal and an aircraft communicatively coupled to the control terminal.
  • the camera is mounted on the aircraft, and the video acquisition method for the aircraft is exemplified below.
  • the solution adopts a control mode of the remote control to control the flight mode of the aircraft to control the flight of the aircraft, and the flight of the aircraft is controlled by the APP application on the control terminal to make the camera of the aircraft in the aircraft
  • the video clip was taken during the flight.
  • the control terminal may receive a video segment captured by the camera of the aircraft during the flight of the aircraft, and perform a clip process on the video segment to generate a video.
  • the control terminal may enter a combined flight mode by acquiring a user instruction, wherein the combined flight mode provides at least one theme for the user to select, for example, the theme may be quiet, sports, rock, Any one or more topics, such as a city, including at least one flight mode and associated clip parameters.
  • the control terminal may determine a target theme according to a selection operation of the at least one theme in the combined flight mode by the user, and determine an airplane mode and a clip parameter from the target topic, so that the control terminal may
  • a flight control command is generated based on the determined flight mode of the target subject to be transmitted to the aircraft.
  • the flight control command is configured to control the aircraft to fly according to the determined flight mode, so that the camera mounted on the aircraft captures a video segment during the flight of the aircraft.
  • the control terminal may receive a video segment captured by the camera device of the aircraft according to the flight control instruction, and edit the video segment according to a clipping parameter included in the target theme to generate a video.
  • each of the combined flight modes provides a combination of flight modes and a post-video editing mode
  • the control terminal may be based on a target theme selected by the user in the combined flight mode. Obtaining at least one flight mode provided by the target theme.
  • the control terminal may combine the at least one flight mode according to at least one of the acquired target modes, according to a combination of flight modes provided in the target theme, and control the aircraft Flying in accordance with the combined flight mode to obtain a video segment captured by the camera of the aircraft during flight of the aircraft.
  • the editing instruction may be acquired.
  • the control terminal may perform an editing process on the flight mode in the target theme according to the editing instruction, and determine the edited flight mode as an airplane mode of the target theme, where the editing process Editing processes such as addition, deletion, replacement, reordering, etc. may be included but not limited.
  • the control terminal may select the video segment according to a clipping mode provided in a target theme corresponding to the flight control instruction. Perform editing processing.
  • the control terminal may edit the editing mode before performing the editing process on the video segment.
  • the control terminal may acquire a clip parameter provided in the target theme, so that editing of the clip mode may be implemented by adjusting the clip parameter, where the clip parameter may include but not It is limited to any one or more of the target playing time, the playing speed, and the background music played.
  • the control terminal can implement editing of the video clip editing mode by adjusting the playing duration.
  • the control terminal may further collect, according to the attribute of the video segment acquired during the flight of the aircraft, such as the control terminal.
  • the flight parameters automatically generate video.
  • the control terminal may further manually synthesize the video by the user after receiving the video segment captured by the camera of the aircraft according to the flight control instruction.
  • the flight modes in the various themes provided in the combined flight mode may include any one of a diagonal flight mode, a surround flight mode, a spiral flight mode, a sky flight mode, a comet-around flight mode, or Multiple.
  • the oblique flight mode refers to controlling the flight path of the aircraft along the oblique flight mode corresponding to the flight mode, starting from the starting point.
  • the slanted flight path corresponding to the oblique flight mode can be illustrated by using FIG. 1 as an example.
  • FIG. 1 is a schematic diagram of an interface of a flight trajectory according to an embodiment of the present invention. Object 11, starting point 12, flight trajectory 13.
  • the surround flight mode refers to controlling the flight path of the aircraft along the surrounding flight mode, starting from any starting point.
  • FIG. 2 is a schematic diagram illustrating a surrounding flight path corresponding to the surrounding flight mode
  • FIG. 2 is a schematic diagram of another flight path provided by the embodiment of the present invention.
  • the interface diagram shown in FIG. 2 includes a target object 21, Starting point 22, flight path 23.
  • the spiral flight mode refers to controlling the flight path of the aircraft along the spiral flight mode, starting from any starting point, and the starting point 22 is only one of the arbitrary starting points.
  • FIG. 3 is a schematic diagram illustrating a spiral flight trajectory corresponding to the spiral flight mode
  • FIG. 3 is a schematic diagram of another interface of the flight trajectory provided by the embodiment of the present invention.
  • the interface diagram shown in FIG. 3 includes the target object 31, Starting point 32, flight path 33.
  • the sky flight mode refers to controlling the flight path of the aircraft along the sky flight mode, starting from any starting point.
  • FIG. 4 is a schematic diagram of the sky trajectory corresponding to the sky flight mode
  • FIG. 4 is a schematic diagram of another interface of the flight trajectory according to the embodiment of the present invention.
  • the interface diagram shown in FIG. 4 includes the target object 41.
  • Starting point 42 flight trajectory 43.
  • the comet surround flight mode refers to controlling the flight path of the aircraft along the surrounding flight mode of the comet, starting from any starting point.
  • FIG. 5 is a schematic diagram of a surrounding flight trajectory corresponding to the flight mode of the comet.
  • FIG. 5 is a schematic diagram of another interface of the flight trajectory according to the embodiment of the present invention.
  • the interface diagram shown in FIG. 5 includes the target object 51. , starting point 52, flight trajectory 53.
  • control terminal may further control the flight of the aircraft according to the acquired flight plan manually determined by the user, to obtain a video segment captured by the camera of the aircraft during the flight of the aircraft. .
  • it may be a video captured by a camera mounted on a mobile robot, and in another embodiment, another user or object photographed by a user with a camera-enabled device such as a smart phone.
  • Video of eg trees, statues, etc.
  • FIG. 6 is a schematic structural diagram of an aircraft system according to an embodiment of the present invention.
  • the system includes a control terminal 61 and an aircraft 62.
  • the control terminal 61 may be a control terminal of an aircraft such as a drone, and may specifically be any one of a remote controller, a smart phone, a tablet computer, a laptop computer, a ground station, and a wearable device (watch, bracelet).
  • the aircraft 62 may be a rotary wing type unmanned aerial vehicle, such as a quadrotor drone, a six-rotor drone, an eight-rotor drone, or a fixed-wing drone.
  • the aircraft 62 includes a power system 621 for providing flight power to the aircraft 62, wherein the power system 621 includes any one or more of a propeller, a motor, and an ESC, the aircraft 62 A pan/tilt 622 and an imaging device 623 may be included, and the imaging device 623 is mounted on the main body of the aircraft 62 via the pan/tilt 622.
  • the camera device 623 is used for image or video shooting during the flight of the aircraft 62, including but not limited to a multi-spectral imager, a hyperspectral imager, a visible light camera, an infrared camera, etc., and the pan/tilt 622 is a multi-axis transmission and stabilization system.
  • the pan/tilt motor compensates the shooting angle of the imaging device by adjusting the rotation angle of the rotating shaft, and prevents or reduces the jitter of the imaging device by setting an appropriate buffer mechanism.
  • control terminal 61 may be configured with an interaction device that interacts with the user, and the interaction device may be any one or more of a touch screen display, a keyboard, a button, a joystick, and a pulsator.
  • An APP and a user interface are displayed, and the APP is displayed on the user interface, and at least one theme recommended is displayed on the APP.
  • the user can perform a click operation on each topic displayed on the APP of the user interface of the control terminal 61, and the control terminal 61 can determine the topic clicked by the click operation as the target topic.
  • the control terminal 61 may acquire at least one flight mode and associated clip parameters of the target theme, and generate a flight control instruction according to the at least one flight mode to perform the flight control An instruction is sent to the aircraft 62.
  • the aircraft 62 sequentially performs a flight action corresponding to each flight mode according to at least one flight mode included in the flight control command, and the camera device 623 simultaneously captures a video segment in each flight mode, and the video segment is captured. It is transmitted to the control terminal 61.
  • the control terminal 61 may perform a clip process on the video segment according to the acquired clip parameters of the target theme, thereby generating a video. It should be noted that the click operation on the user interface of the control terminal is only one method for confirming the target theme, and the manner for confirming the target topic is not limited in the embodiment of the present invention.
  • the control terminal 61 determines the target theme, if an editing instruction is acquired, the flight mode in the target theme may be edited, and one or more of the editing processes may be processed.
  • the flight mode is determined as the flight mode of the target theme.
  • the control terminal 61 may acquire an add instruction and display one or more flights to be selected if an add operation is detected. Mode for users to choose.
  • the control terminal 61 may perform an adding process on the flight mode in the target theme according to the selected flight mode in the selected operation.
  • the adding operation may be an operation of clicking an add button, or may be any one or more operations such as a voice input, a keyboard input, and the like.
  • the implementation manner of the adding operation is not limited in the embodiment of the present invention.
  • control terminal 61 may provide a flight duration provided for each flight mode to be selected in the target theme based on a time axis to control the flight of the aircraft 62 according to each flight mode in the target theme. Duration flight.
  • FIG. 7 is a schematic diagram of an interface of an editing operation according to an embodiment of the present invention.
  • the interface shown in FIG. 7 includes a target object 71.
  • the editing area 72 displays a surround flight mode 721, a diagonal flight mode 722, a sky flight mode 723, an add button 724, a cancel button 725, and a start button 726.
  • FIG. 8 is a schematic diagram of another interface for editing operations according to an embodiment of the present invention.
  • the selection area 81 includes a delete button 811, an OK button, a surround flight mode option 812, and a diagonal flight.
  • the control terminal 61 displays an interface as shown in FIG. 7 after determining the target theme, and if the control terminal 61 detects a click operation on the add button 721 in the edit area 72, an add command may be acquired. And a selection area 81 as shown in FIG. 8 is displayed, which displays the flight mode to be selected, the determination button 817, and the delete button 811 for the user to select. Assuming that the user selects two options of the spiral flight mode option 815 and the comet surround flight mode 816, if the control terminal 61 acquires the user's click operation on the determination button 817, the control terminal 61 may be selected. The flight mode is added to the flight mode of the target theme as shown in FIG.
  • the control terminal 61 may acquire a deletion instruction, and select the according to the deletion instruction.
  • One or more flight modes in the target theme the selected one or more flight modes are deleted from the target theme. For example, suppose that after detecting that the user selects the spiral flight mode option 815 and the comet surround flight mode 816 two options, the control terminal 61 acquires a click operation by the user on the delete button 811, and the control terminal 61 A delete command can be obtained and the selected spiral flight mode option 815 and the comet surround flight mode 816 are deleted from the target theme.
  • the control terminal 61 may generate a flight control command based on the determined flight mode of the target subject if a start operation is detected.
  • FIG. 7 is used as an example for description. It is assumed that the flight mode of the target subject determined by the control terminal 61 is three flight modes: a surround flight mode 721, a diagonal flight mode 722, and a sky flight mode 723 as shown in FIG. 7 .
  • the control terminal 61 detects a click operation of the start button 726 by the user, and the control terminal 61 can generate a flight control command according to the surround flight mode 721, the oblique flight mode 722, and the sky flight mode 723.
  • the clip parameter in the target subject acquired by the control terminal 61 may include a target playing duration, and the control terminal 61 receives the video clip taken by the camera of the aircraft according to the flight control instruction. Then, the playing duration of the video clip can be acquired, and the video clip is subjected to a clip processing by setting a target playing duration, so that the playing duration of the video generated after the clip processing is adjusted to the target playing duration.
  • FIG. 9 is a schematic flowchart diagram of a video acquisition method according to an embodiment of the present invention.
  • the method may be performed by a control terminal, where a specific explanation of the control terminal is as described above.
  • the method of the embodiment of the present invention includes the following steps.
  • S901 Acquire a user instruction, enter a combined flight mode, and provide at least one theme.
  • the control terminal may enter the combined flight mode interface when the user instruction is obtained, and when entering the combined flight mode interface, the interface displays at least one theme for the user to select, wherein each At least one flight mode and associated clip parameters are included in the theme.
  • the subject matter includes, but is not limited to, any one or more of themes such as quiet, sports, rock, and city.
  • the flight mode includes any one or more of a diagonal flight mode, a surround flight mode, a spiral flight mode, a sky flight mode, and a comet-around flight mode, wherein the explanation of each flight mode is as described above, and is not here. Let me repeat.
  • the clip parameters include, but are not limited to, any one or more of a target playing duration, a playing speed, background music, and the like.
  • an APP is displayed on the control terminal, and when the control terminal acquires a user instruction, the APP may enter a combined flight mode interface, and at least one recommended for the user to be selected is displayed on the combined flight mode interface.
  • Kind of theme is displayed on the control terminal.
  • S902 Determine a target theme from the at least one theme, determine an airplane mode and a clip parameter of the target subject, and generate a flight control instruction according to the flight mode to send to the aircraft.
  • the control terminal may determine a target theme from the at least one topic, and determine an airplane mode and a clip parameter of the target topic from the target topic, where the control terminal may determine according to the determining The resulting flight mode generates flight control commands for transmission to the aircraft.
  • the control terminal may determine a theme selected by the user from the at least one topic as a target topic by acquiring a user selecting operation of the at least one topic provided in the combined flight mode. .
  • the control terminal determines the flight mode of the target theme
  • the one or more flight modes provided in the target theme may be edited, and the The one or more flight modes after the editing process are determined as the flight mode of the target theme.
  • the editing process performed by the control terminal on the flight mode in the target theme may be an adding process performed on the flight mode in the target theme. Specifically, if the control terminal detects an add operation after determining the target topic, the control terminal may acquire an add instruction and display an airplane mode option to be selected for the user to select. If the control terminal receives the user's selected operation of the flight mode option to be selected, the control terminal may acquire the flight mode selected by the user. If the control terminal acquires the determination operation, the selected flight mode may be added to the flight mode of the target theme.
  • FIG. 7 and FIG. 8 can be used as an example. If the control terminal detects the user's selection operation on the city theme, it can be determined that the target theme is a city. Assuming that the control terminal displays the interface as shown in FIG. 7 after determining the target theme of the city, and detects a click operation on the add button 721 in the edit area 72, the control terminal may The click operation acquires an add command, and displays a selection area 81 as shown in FIG. 8, wherein the selection area 81 displays respective flight modes, determination buttons 817 to be selected for selection by the user.
  • the control terminal may obtain the click operation of the determining button 817 by the user.
  • the selected spiral flight mode option 815 and the comet surround flight mode 816 are added to the flight mode of the target theme as shown in FIG.
  • the deletion instruction may be acquired, and the target in the target theme is selected according to the deletion instruction.
  • FIG. 8 is taken as an example.
  • the selection area 81 shown in FIG. 8 further includes a delete button. It is assumed that the control terminal acquires the spiral flight mode option 815 and the comet-around flight mode 816 in the selected area. If the control terminal acquires a click operation of the delete button 811 by the user after the selected operation, the control terminal may acquire a delete instruction, and select the selected spiral flight mode option according to the delete instruction. 815 and Comet Surround Flight Mode 816 are removed from the target theme.
  • the flight control instruction may be generated according to the determined flight mode of the target theme to send Give the aircraft.
  • the control command is used to control the aircraft to fly according to the flight mode of the target theme, so that the camera of the aircraft captures a target object during the flight of the aircraft to obtain a video segment.
  • FIG. 7 is used as an example for description. It is assumed that the flight mode of the target subject determined by the control terminal is a surround flight mode 721, a diagonal flight mode 722, and a sky flight mode 723 as shown in FIG. 7 .
  • the control terminal indicates that the flight duration to the surround flight mode 721 is 30 s based on the time axis, the flight duration indicated to the oblique flight mode 722 is 60 s, and the flight duration indicated to the sky flight mode 723 is 80 s.
  • the surround flight mode 721, the oblique flight mode 722, and the sky flight mode 723 are arranged in chronological order, if the control terminal detects a click operation on the start button 726, it may be surrounded by the target theme.
  • the flight mode 721, the oblique flight mode 722, and the sky flight mode 723 generate flight control commands according to respective flight durations and sequences for transmission to the aircraft, and control the aircraft to fly in accordance with the surrounding flight mode 721 and oblique lines.
  • the mode 722, the sky flight mode 723, and the respective flight durations and sequential flight, and the camera device controlling the aircraft captures the target object 71 during the flight of the aircraft to obtain a video segment.
  • S903 Receive a video segment taken by the camera of the aircraft according to the flight control instruction, and generate a video according to the clipping parameter.
  • control terminal may receive a video segment captured by the camera device of the aircraft according to the flight control instruction, and edit the video segment according to the acquired clip parameter to generate a video.
  • the interpretation of the clipping parameters is as described above.
  • the clip parameter of the target subject acquired by the control terminal includes a target playing time length
  • the control terminal may pass the play video after the obtained video segment captured by the camera device of the aircraft
  • the video clip acquires the playing duration of the video clip.
  • the control terminal may perform a clip process on the video segment to generate a video according to the target play duration and the play duration determined from the target theme. Specifically, it can be exemplified that, if the target playback duration determined by the control terminal from the target theme is 10 s, and the playback duration of the video segment captured by the camera of the aircraft is 60 s, the control terminal may According to the target playing time of 10 s, the video clip with the playing duration of 60 s is clipped into a 10 s played video.
  • the control terminal enters the combined flight mode by acquiring a user instruction, determines a target theme from at least one theme of the combined flight mode, and determines an airplane mode and a clip parameter of the target theme,
  • the control terminal generates a flight control command according to the flight mode to transmit to the aircraft, and generates a video clip according to the clip parameter according to the video segment captured by the camera device of the aircraft according to the flight control instruction. video.
  • the user is provided with a more intelligent and convenient operation method, which improves the efficiency of video acquisition.
  • FIG. 10 is a schematic flowchart diagram of another video acquisition method according to an embodiment of the present invention.
  • the method may be performed by a control terminal, where a specific explanation of the control terminal is as described above.
  • the method of the embodiment of the present invention is different from the method of the embodiment of FIG. 9 in that the embodiment of the present invention is a description of a clip process of the acquired video segment, and the method includes the following steps.
  • S1001 Acquire a user instruction, enter a combined flight mode, and provide at least one theme.
  • an APP is displayed on the control terminal, and when the control terminal acquires the user instruction, the combined flight mode interface may be entered, and at least one topic is displayed on the combined flight mode interface, and the theme is explained. As mentioned above, it will not be described here.
  • S1002 Determine a target theme from the at least one theme, determine an airplane mode and a clip parameter of the target subject, and generate a flight control instruction according to the flight mode to send to the aircraft.
  • the control terminal may determine the target theme according to the at least one theme displayed on the combined flight mode interface, and determine an flight mode and a clipping parameter of the target theme from the target theme, The control terminal may generate a flight control command to transmit to the aircraft according to the flight mode.
  • the control terminal may determine a theme selected by the user from the at least one topic as a target topic by acquiring a user's selection operation of the at least one topic in the combined flight mode.
  • S1003 Receive a video segment captured by the camera of the aircraft according to the flight control instruction.
  • control terminal may receive a video segment captured by the camera device of the aircraft according to the flight control instruction.
  • S1004 Acquire a play duration of the received video segment.
  • control terminal may acquire the received play duration of the video segment.
  • control terminal may acquire the duration of playing the video segment by playing the video segment, and the method for obtaining the playing duration is not limited in the embodiment of the present invention.
  • S1005 Perform video processing on the video segment to generate a video according to the playing duration and the target playing duration.
  • control terminal may perform a clip process on the video segment to generate a video according to the playing duration and the target playing duration.
  • the control terminal may perform the clip processing on the video segment to generate a video, according to the playing duration of the video segment and the target playing duration, from the video frame of the video segment. Determining a first video frame range and a second video frame range, playing the video frame within the first video frame range at the first speed and playing the video within the second video frame range at the second speed a frame, a video is generated, wherein the first speed and the second speed are different. For example, if the target playback duration is 10s, and the video segment acquired by the control terminal is 1800 frames in total, and the playback duration is 60s, the control terminal may determine from the video frame of the video segment.
  • the first video frame ranges from 90 frames and the second video frame ranges from 1620 frames, and the first speed plays 30 frames/second to play the video frames in the first video frame range and the second speed 270 frames. /second plays a video frame within the range of the second video frame to generate a video.
  • control terminal may determine the first video frame range from the video frames of the video segment according to the target playing duration in the process of performing video processing on the video segment to generate a video. And selecting, by the second video frame range, a video frame to be played from the second video frame range, wherein the selected play time of the to-be-played video frame and the video frame in the first video frame range The sum of the playing durations is equal to the target playing duration, and the video frames in the first video frame range and the video frames to be played are played to generate a video.
  • the control terminal acquires a total of 1800 frames of video segments, and the control terminal determines that the first video frame range is 90 frames and the first The second video frame range is 1620 frames, and the control terminal may extract the video frame to be played from the second video frame range to 180 frames, where the selected play time of the to-be-played video frame is The sum of the playing durations of the video frames in the range of the first video frame is equal to the target playing time of 10s, and the control terminal may play the video frames in the first video frame range and the video frames to be played to generate a video. .
  • the control terminal acquires the video segment captured by the camera device of the aircraft according to the flight control instruction, and performs the video segment according to the playing duration of the video segment and/or the target playing duration. Clip generation video.
  • the user is provided with a more intelligent and convenient editing method, so that the video generation can achieve a slow and slow effect, suitable for social platform communication.
  • FIG. 11 is a schematic structural diagram of a control terminal according to an embodiment of the present invention.
  • the control terminal includes: an interaction device 1101, a processor 1102, and a memory 1103; the control terminal can be configured with an interaction device 1101 that interacts with a user, and the interaction device can be a touch display screen, a keyboard, a button, a joystick, a wave.
  • the interaction device can be a touch display screen, a keyboard, a button, a joystick, a wave.
  • One or more of the wheels, a user interface can be provided on the interactive device.
  • the interaction device 1101 is configured to process interaction data generated for a user, including touching a display screen and the like.
  • the memory 1103 may include a volatile memory; the memory 1103 may also include a non-volatile memory; the memory 1103 may also include a combination of the above types of memories.
  • the processor 1102 can be a central processing unit (CPU).
  • the processor 1102 can also further include a hardware chip.
  • the hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof.
  • the PLD may be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), or any combination thereof.
  • the memory 1103 is configured to store program instructions.
  • the processor 1102 can invoke program instructions stored in the memory 1103 for performing the following steps:
  • Determining a target theme from the at least one theme determining an airplane mode and a clip parameter of the target subject, and generating a flight control command according to the flight mode to transmit to the aircraft;
  • processor 1102 calls a program instruction stored in the memory 1103 for performing the following steps:
  • processor 1102 calls a program instruction stored in the memory 1103 for performing the following steps:
  • the edited flight mode is determined as the flight mode of the target theme.
  • processor 1102 calls a program instruction stored in the memory 1103 for performing the following steps:
  • processor 1102 calls a program instruction stored in the memory 1103 for performing the following steps:
  • the selected flight mode is added to the flight mode of the target subject.
  • processor 1102 calls the program instructions stored in the memory 1103, and is further configured to perform the following steps:
  • a delete operation is detected, a delete instruction is acquired, and one or more flight modes in the target theme are selected according to the delete instruction, and the selected one or more flight modes are deleted from the target theme.
  • processor 1102 calls a program instruction stored in the memory 1103 for performing the following steps:
  • the flight control instruction is generated based on the determined flight mode of the target subject when a start operation is detected.
  • processor 1102 calls a program instruction stored in the memory 1103 for performing the following steps:
  • the video clip is subjected to a clip process to generate a video according to the play duration and the target play duration.
  • processor 1102 calls a program instruction stored in the memory 1103 for performing the following steps:
  • first speed and the second speed are different.
  • processor 1102 calls the program instructions stored in the memory 1103, and is further configured to perform the following steps:
  • the sum of the selected play length of the to-be-played video frame and the play duration of the video frame in the first video frame range is equal to the target play duration
  • the control terminal enters the combined flight mode by acquiring a user instruction, and provides at least one theme, determines a target theme from the at least one theme, determines a flight mode and a clipping parameter of the target theme, and according to The flight mode generates a flight control command to transmit to the aircraft, receives a video segment taken by the camera of the aircraft according to the flight control instruction, and performs a clip generation video based on the clip parameter.
  • the user is provided with a more intelligent and convenient operation method, which improves the efficiency of video acquisition.
  • An embodiment of the present invention further provides an aircraft, including: a fuselage; a power system disposed on the airframe for providing flight power; and a processor configured to receive a flight control command sent by the control terminal, and according to the flight At least one flight mode included in the control command sequentially performs a flight action corresponding to each flight mode, and the camera device captures a video segment obtained in each flight mode.
  • the aircraft may be a four-rotor UAV, a six-rotor UAV, a multi-rotor UAV, and the like.
  • the power system may include a motor, an ESC, a propeller, etc., wherein the motor is responsible for driving the aircraft propeller, and the ESC is responsible for controlling the speed of the motor of the aircraft.
  • the embodiment of the invention further provides a video acquisition system, comprising: a control terminal and an aircraft;
  • the control terminal is configured to acquire a user instruction, enter a combined flight mode, and provide at least one theme, where the theme includes at least one flight mode and associated clip parameters, determine a target theme from the at least one theme, determine the location Decoding a flight mode and a clipping parameter of the target subject, and generating a flight control command according to the flight mode to transmit to the aircraft;
  • the aircraft is configured to sequentially perform a flight action corresponding to each flight mode according to at least one flight mode included in the flight control instruction, and the camera device acquires a video segment in each flight mode together;
  • the control terminal is further configured to receive the video segment and generate a video according to the clip parameter.
  • control terminal is configured to acquire a user's selection operation of the at least one topic in the combined flight mode; and according to the selecting operation, determine that the user selects a theme selected from the at least one topic as a target theme.
  • control terminal is configured to: when the editing target is acquired, perform an editing process on the flight mode in the target theme; determine the edited flight mode as the The flight mode of the target theme.
  • control terminal is configured to: if an add operation is detected, acquire an add instruction, and provide an airplane mode to be selected; receive a selected operation of the flight mode option to be selected; and select the selected operation according to the selected operation The flight mode, adding the flight mode in the target theme.
  • control terminal is configured to add the selected flight mode to an airplane mode of the target subject if a determining operation is acquired.
  • control terminal is further configured to: if a deletion operation is detected, acquire a deletion instruction, and select one or more flight modes in the target theme according to the deletion instruction, and select the selected one or more The flight mode is removed from the target theme.
  • control terminal is configured to generate the flight control instruction according to the determined flight mode of the target theme when detecting the start operation.
  • control terminal is configured to acquire a playing duration of the received video segment; and perform video processing on the video segment to generate a video according to the playing duration and the target playing duration.
  • control terminal is configured to determine, according to the playing duration and the target playing duration, a first video frame range and a second video frame range from the video frames of the video segment; Speed playing the video frame within the first video frame range and playing the video frame within the second video frame range at the second speed to generate a video; wherein the first speed and the second speed are different.
  • control terminal is further configured to determine, according to the target playing duration, a first video frame range and a second video frame range from a video frame of the video segment; and from the second video frame range Selecting a video frame to be played, wherein a sum of a selected play length of the to-be-played video frame and a play duration of the video frame in the first video frame range is equal to the target play duration; playing the first A video frame within the video frame range and the video frame to be played are generated to generate a video.
  • FIG. 11 Also provided in an embodiment of the present invention is a computer readable storage medium storing a computer program, which when executed by a processor, implements the implementation of FIG. 9 or FIG. 10 of the present invention.
  • the control terminal of the embodiment of the present invention shown in FIG. 11 can also be implemented in the manner of the video acquisition method described in the example, and details are not described herein again.
  • the computer readable storage medium may be an internal storage unit of the terminal described in any of the foregoing embodiments, such as a hard disk or a memory of the terminal.
  • the computer readable storage medium may also be an external storage device of the terminal, such as a plug-in hard disk equipped on the terminal, a smart memory card (SMC), and a Secure Digital (SD) card. , Flash Card, etc.
  • the computer readable storage medium may also include both an internal storage unit of the terminal and an external storage device.
  • the computer readable storage medium is for storing the computer program and other programs and data required by the terminal.
  • the computer readable storage medium can also be used to temporarily store data that has been output or is about to be output.

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Abstract

本发明实施例提供了一种视频获取方法、控制终端、飞行器及系统，应用于飞行器的控制终端，所述飞行器上挂载了摄像装置，所述方法包括：获取用户指令，进入组合飞行模式，并提供至少一个主题，所述主题包括至少一个飞行模式和关联的剪辑参数；从所述至少一个主题中确定出目标主题，确定所述目标主题的飞行模式及剪辑参数，并根据所述飞行模式生成飞行控制指令以发送给所述飞行器；接收所述飞行器的摄像装置根据所述飞行控制指令拍摄的视频片段，并根据所述剪辑参数生成视频。通过这种方式，快速地获取到不同效果的视频，提高了视频获取和视频处理的效率。

Description

一种视频获取方法、控制终端、飞行器及系统 技术领域
本发明涉及控制技术领域，尤其涉及一种视频获取方法、控制终端、飞行器及系统。
背景技术
目前，用户主要通过遥控器手动控制无人机等飞行器的飞行轨迹，其中，飞行器上可以设置摄像装置，用户可以通过挂载有摄像装置的飞行器执行拍摄图像、视频等任务。目前，用户在利用挂载有摄像装置的飞行器执行拍摄任务时，常常需要调整拍摄角度、位置等，再开始逐个镜头进行拍摄，操作繁琐复杂。对于经验不够的新手，可能拍摄出来的视频达不到自己预期的效果，且不断尝试也比较费时费力，从而降低了拍摄效率。因此，如何通过飞行器更好地拍摄视频成为研究的热点。
发明内容
本发明实施例提供了一种视频获取方法、控制终端、飞行器及系统，以提高视频拍摄和视频剪辑的效率。
第一方面，本发明实施例提供了一种视频获取方法，应用于飞行器的控制终端，所述飞行器上挂载了摄像装置，所述方法包括：
获取用户指令，进入组合飞行模式，并提供至少一个主题，所述主题包括至少一个飞行模式和关联的剪辑参数；
从所述至少一个主题中确定出目标主题，确定所述目标主题的飞行模式及剪辑参数，并根据所述飞行模式生成飞行控制指令以发送给所述飞行器；
接收所述飞行器的摄像装置根据所述飞行控制指令拍摄的视频片段，并根据所述剪辑参数生成视频。
第二方面，本发明实施例提供了另一种视频获取方法，应用于飞行器系统，所述飞行器系统包括控制终端以及与所述控制终端通信连接的飞行器，所述飞行器上挂载了摄像装置，所述方法包括：
所述控制终端获取用户指令，进入组合飞行模式，并提供至少一个主题， 所述主题包括至少一个飞行模式和关联的剪辑参数；
所述控制终端从所述至少一个主题中确定出目标主题，确定所述目标主题的飞行模式及剪辑参数，并根据所述飞行模式生成飞行控制指令以发送给所述飞行器；
所述飞行器根据所述飞行控制指令中包括的至少一个飞行模式依次执行各飞行模式对应的飞行动作，所述摄像装置一并获取各飞行模式下的视频片段；
所述控制终端接收所述视频片段，并根据所述剪辑参数生成视频。
第三方面，本发明实施例提供了一种控制终端，包括存储器和处理器；
所述存储器，用于存储程序指令；
所述处理器，执行所述存储器存储的程序指令，当程序指令被执行时，所述处理器用于执行如下步骤：
获取用户指令，进入组合飞行模式，并提供至少一个主题，所述主题包括至少一个飞行模式和关联的剪辑参数；
从所述至少一个主题中确定出目标主题，确定所述目标主题的飞行模式及剪辑参数，并根据所述飞行模式生成飞行控制指令以发送给所述飞行器；
接收所述飞行器的摄像装置根据所述飞行控制指令拍摄的视频片段，并根据所述剪辑参数生成视频。
第四方面，本发明实施例提供了一种飞行器，包括：
机身；
设置在机身上的动力系统，用于提供飞行动力；
处理器，用于接收控制终端发送的飞行控制指令，并根据所述飞行控制指令中包括的至少一个飞行模式依次执行各飞行模式对应的飞行动作，所述摄像装置一并拍摄获取到各飞行模式下的视频片段。
第五方面，发明实施例提供了一种飞行器系统，包括：控制终端和飞行器；
所述控制终端，用于获取用户指令，进入组合飞行模式，并提供至少一个主题，所述主题包括至少一个飞行模式和关联的剪辑参数，从所述至少一个主题中确定出目标主题，确定所述目标主题的飞行模式及剪辑参数，并根据所述飞行模式生成飞行控制指令以发送给所述飞行器；
所述飞行器，用于根据所述飞行控制指令中包括的至少一个飞行模式依次 执行各飞行模式对应的飞行动作，所述摄像装置一并获取各飞行模式下的视频片段；
所述控制终端，还用于接收所述视频片段，并根据所述剪辑参数生成视频。
第六方面，本发明实施例提供了一种计算机可读存储介质，该计算机可读存储介质存储有计算机程序，该计算机程序被处理器执行时实现如上述第一方面或第二方面所述的视频获取方法。
本发明实施例中，控制终端通过获取用户指令，进入组合飞行模式，从所述组合飞行模式提供的至少一个主题中确定出目标主题，并确定出所述目标主题的飞行模式及剪辑参数，所述控制终端根据所述飞行模式生成飞行控制指令以发送给所述飞行器，并通过所述剪辑参数对接收到的所述飞行器的摄像装置根据所述飞行控制指令拍摄的视频片段进行剪辑生成视频。通过这种方式，快速地获取到不同效果的视频，提高了视频获取和视频处理的效率。
附图说明
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图是本发明的一部分实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1是本发明实施例提供的一种飞行轨迹的界面示意图；
图2是本发明实施例提供的另一种飞行轨迹的界面示意图；
图3是本发明实施例提供的又一种飞行轨迹的界面示意图；
图4是本发明实施例提供的又一种飞行轨迹的界面示意图；
图5是本发明实施例提供的又一种飞行轨迹的界面示意图；
图6是本发明实施例提供的一种飞行器系统的结构示意图；
图7是本发明实施例提供的一种编辑操作的界面示意图；
图8是本发明实施例提供的另一种编辑操作的界面示意图；
图9是本发明实施例提供的一种视频获取方法的流程示意图；
图10是本发明实施例提供的另一种视频获取方法的流程示意图；
图11是本发明实施例提供的一种控制终端的结构示意图。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚地描述，显然，所描述的实施例仅仅是本发明的部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
下面结合附图，对本发明的一些实施方式作详细说明。在不冲突的情况下，下述的实施例及实施例中的特征可以相互组合。
本发明实施例提供的视频获取方法可以应用于飞行器的控制终端，或，在其他实施例中，该视频获取方法也可以应用于包括控制终端以及与所述控制终端通信连接的飞行器的飞行器系统，其中，所述飞行器上挂载了摄像装置，下面对应用于飞行器的视频获取方法进行举例说明。
本方案采取脱离遥控器的控制终端控制飞行器的飞行模式以控制所述飞行器飞行的办法，通过所述控制终端上的APP应用控制所述飞行器的飞行以使所述飞行器的摄像装置在所述飞行器飞行过程中拍摄得到视频片段。所述控制终端可以接收所述飞行器的摄像装置在所述飞行器的飞行过程中拍摄得到的视频片段，并对所述视频片段进行剪辑处理生成视频。
在一个实施例中，所述控制终端可以通过获取用户指令，进入组合飞行模式，其中，所述组合飞行模式提供了至少一个主题供用户选择，例如，所述主题可以是静谧、运动、摇滚、城市等任意一种或多种主题，所述主题中包括至少一个飞行模式和关联的剪辑参数。所述控制终端可以根据用户对所述组合飞行模式中的所述至少一个主题的选择操作，确定出目标主题，并从所述目标主题中确定出飞行模式和剪辑参数，从而所述控制终端可以根据确定的所述目标主题的飞行模式生成飞行控制指令，以发送给所述飞行器。其中，所述飞行控制指令用于控制所述飞行器按照所确定的飞行模式飞行，以使挂载在所述飞行器上的摄像装置在所述飞行器飞行过程中拍摄得到视频片段。所述控制终端可以接收所述飞行器的摄像装置根据所述飞行控制指令拍摄的视频片段，并根据所述目标主题中所包括的剪辑参数对所述视频片段进行剪辑，生成视频。
在一个实施例中，所述组合飞行模式中的每个主题均提供了飞行模式的组合方式和视频后期的剪辑方式，所述控制终端可以根据用户在所述组合飞行模式中选择的目标主题，获取所述目标主题所提供的至少一种飞行模式。所述控 制终端可以根据获取到的所述目标主题中的至少一种飞行模式，按照所述目标主题中提供的飞行模式的组合方式将所述至少一种飞行模式进行组合，并控制所述飞行器按照所述组合的飞行模式飞行，以获取所述飞行器的摄像装置在所述飞行器飞行过程中拍摄得到的视频片段。
在一个实施例中，在组合飞行模式中，如果所述控制终端在根据用户的选择操作确定目标主题时，获取到用户对所述目标主题中的飞行模式的编辑操作，则可以获取到编辑指令。所述控制终端可以根据所述编辑指令，对所述目标主题中的飞行模式进行编辑处理，并将所述编辑处理后的飞行模式确定为所述目标主题的飞行模式，其中，所述编辑处理可以包括但不限定于增加、删除、替换、改序等编辑处理。
在一个实施例中，所述控制终端在接收到飞行器的摄像装置根据所述飞行控制指令拍摄的视频片段之后，可以根据所述飞行控制指令对应的目标主题中提供的剪辑方式对所述视频片段进行剪辑处理。在对所述视频片段进行剪辑处理之前，所述控制终端可以对所述剪辑方式进行编辑。具体地，所述控制终端可以获取到所述目标主题中提供的剪辑参数，从而可以通过对所述剪辑参数的调整来实现对所述剪辑方式的编辑，其中，所述剪辑参数可以包括但不限定于目标播放时长、播放速度、播放的背景音乐等任意一种或多种。例如，所述控制终端可以通过调整播放时长来实现对所述视频片段剪辑方式的编辑。
在一个实施例中，所述控制终端在接收到飞行器的摄像装置根据飞行控制指令拍摄的视频片段之后，还可以根据在所述飞行器飞行过程中获取到的视频片段的属性，如控制终端采集到的飞行参数，自动生成视频。再一个实施例中，所述控制终端还可以在接收到飞行器的摄像装置根据所述飞行控制指令拍摄的视频片段之后，通过用户手动合成视频。
在一个实施例中，所述组合飞行模式中提供的各个主题中的飞行模式可以包括：斜线飞行模式、环绕飞行模式、螺旋飞行模式、冲天飞行模式、彗星环绕飞行模式中的任意一项或多项。其中，斜线飞行模式是指控制飞行器沿该斜线飞行模式对应的斜线飞行轨迹，从起始点开始飞行。具体地，所述斜线飞行模式对应的斜线飞行轨迹可以图1为例进行说明，图1是本发明实施例提供的一种飞行轨迹的界面示意图，如图1所示的界面示意图包括目标对象11、起始点12、飞行轨迹13。环绕飞行模式是指控制飞行器沿该环绕飞行模式对应 的环绕飞行轨迹，从任意起始点开始飞行。具体可以图2为例对该环绕飞行模式对应的环绕飞行轨迹进行说明，图2是本发明实施例提供的另一种飞行轨迹的界面示意图，如图2所示的界面示意图包括目标对象21、起始点22、飞行轨迹23。螺旋飞行模式是指控制飞行器沿该螺旋飞行模式对应的螺旋飞行轨迹，从任意起始点开始飞行，所述起始点22仅是所述任意起始点中的一个。具体可以图3为例对该螺旋飞行模式对应的螺旋飞行轨迹进行说明，图3是本发明实施例提供的又一种飞行轨迹的界面示意图，如图3所示的界面示意图包括目标对象31、起始点32、飞行轨迹33。冲天飞行模式是指控制飞行器沿该冲天飞行模式对应的冲天飞行轨迹，从任意起始点开始飞行。具体可以图4为例对该冲天飞行模式对应的冲天飞行轨迹进行说明，图4是本发明实施例提供的又一种飞行轨迹的界面示意图，如图4所示的界面示意图包括目标对象41、起始点42、飞行轨迹43。彗星环绕飞行模式是指控制飞行器沿该彗星环绕飞行模式对应的环绕飞行轨迹，从任意起始点开始飞行。具体可以图5为例对该彗星环绕飞行模式对应的环绕飞行轨迹进行说明，图5是本发明实施例提供的又一种飞行轨迹的界面示意图，如图5所示的界面示意图包括目标对象51、起始点52、飞行轨迹53。
在一个实施例中，所述控制终端还可以根据获取到的用户手动确定的飞行方案，来控制所述飞行器飞行，以获取所述飞行器的摄像装置在所述飞行器飞行过程中拍摄得到的视频片段。
在一个实施例中，可以是在可移动机器人上挂载的摄像装置拍摄到的视频，再一个实施例中，还可以是一个用户通过智能手机等带摄像功能的设备拍摄的另外一个用户或者对象(例如树、雕像等)的视频。
具体请参见图6，图6是本发明实施例提供的一种飞行器系统的结构示意图。所述系统包括：控制终端61和飞行器62。所述控制终端61可以为无人机等飞行器的控制终端，具体地可以为遥控器、智能手机、平板电脑、膝上型电脑、地面站、穿戴式设备(手表、手环)中的任意一种或多种。所述飞行器62可以是旋翼型无人机，例如四旋翼无人机、六旋翼无人机、八旋翼无人机，也可以是固定翼无人机。所述飞行器62包括动力系统621，所述动力系统621用于为所述飞行器62提供飞行动力，其中，动力系统621包括螺旋桨、电机、电调中的任意一种或多种，所述飞行器62还可以包括云台622以及摄像装置 623，摄像装置623通过云台622搭载于所述飞行器62的主体上。摄像装置623用于在飞行器62的飞行过程中进行图像或视频拍摄，包括但不限于多光谱成像仪、高光谱成像仪、可见光相机及红外相机等，云台622为多轴传动及增稳系统，云台电机通过调整转动轴的转动角度来对成像设备的拍摄角度进行补偿，并通过设置适当的缓冲机构来防止或减小成像设备的抖动。
在一个实施例中，控制终端61可以配置与用户交互的交互装置，该交互装置可以是触摸显示屏、键盘、按键、摇杆、波轮中的任意一种或多种，该交互装置上可以提供APP以及用户界面，该用户界面上显示有该APP，该APP上显示有推荐的至少一种主题。用户可以对该控制终端61的用户界面的APP上显示的各个主题执行点击操作，所述控制终端61可以将该点击操作所点击的主题确定为目标主题。所述控制终端61在确定目标主题之后，可以获取所述目标主题中的至少一种飞行模式和关联的剪辑参数，并根据所述至少一种飞行模式生成飞行控制指令，以将所述飞行控制指令发送给所述飞行器62。所述飞行器62根据所述飞行控制指令中包括的至少一个飞行模式依次执行各飞行模式对应的飞行动作，所述摄像装置623一并拍摄得到各飞行模式下的视频片段，并将所述视频片段传输给所述控制终端61。所述控制终端61可以根据获取到的所述目标主题的剪辑参数对所述视频片段进行剪辑处理，从而生成视频。需要说明的是，所述控制终端用户界面上的点击操作只是确认目标主题的一种方法，对于目标主题的确认方式，本发明实施例不做限定。
在一个实施例中，控制终端61在确定所述目标主题时，如果获取到编辑指令，则可以对所述目标主题中的飞行模式进行编辑处理，并将所述编辑处理后的一种或多种飞行模式确定为所述目标主题的飞行模式。
在一个实施例中，控制终端61在对所述目标主题中的飞行模式进行编辑处理的过程中，如果检测到添加操作，则可以获取添加指令，并显示出待选择的一种或多种飞行模式，以供用户选择。所述控制终端61在接收到用户对所述待选择的飞行模式选项的选中操作时，可以根据所述选中操作所选中的飞行模式，对所述目标主题中的飞行模式进行添加处理。需要说明的是，所述添加操作可以是点击添加按钮的操作，也可以是语音输入、键盘输入等任意有一种或多种操作，对于所述添加操作的实现方式本发明实施例不做限定。
在一个实施例中，所述控制终端61可以基于时间轴为所述目标主题中的 待选择的各个飞行模式提供的飞行时长，以控制所述飞行器62按照所述目标主题中各飞行模式的飞行时长飞行。
在一个实施例中，控制终端61在获取到用户对所述待选择的飞行模式选项的选中操作之后，如果接收到确定操作，则可以将所述已选中的飞行模式添加至所述目标主题的飞行模式中。具体可以图7和图8为例对所述编辑处理的过程进行说明，其中，图7是本发明实施例提供的一种编辑操作的界面示意图，如图7所示的界面包括目标对象71、编辑区域72，所述编辑区域72显示了环绕飞行模式721、斜线飞行模式722、冲天飞行模式723、添加按钮724、取消按钮725、开始按钮726。图8是本发明实施例提供的另一种编辑操作的界面示意图，如图8所示包括选择区域81，所述选择区域81包括删除按钮811、确定按钮、环绕飞行模式选项812、斜线飞行模式选项813、冲天飞行模式选项814、螺旋飞行模式选项815、彗星环绕飞行模式选项816。
例如，假设控制终端61在确定目标主题之后，显示出如图7所示界面，如果所述控制终端61检测到对所述编辑区域72中的添加按钮721的点击操作，则可以获取到添加指令，并显示出如图8所示的选择区域81，所述选择区域81显示了供用户选择的待选择的飞行模式、确定按钮817以及删除按钮811。假设检测到用户选中了螺旋飞行模式选项815和彗星环绕飞行模式816两个选项，如果所述控制终端61获取到用户对所述确定按钮817的点击操作，则所述控制终端61可以将已选中的飞行模式添加至如图7所示的所述目标主题的飞行模式中。
再一个实施例中，所述控制终端61在获取到用户对所述待选择的飞行模式选项的选中操作之后，如果检测到删除操作，则可以获取删除指令，并根据所述删除指令选中所述目标主题中的一个或多个飞行模式，将所述选中的一个或多个飞行模式从所述目标主题中删除。例如，假设在检测到用户选中了螺旋飞行模式选项815和彗星环绕飞行模式816两个选项之后，所述控制终端61获取到到用户对所述删除按钮811的点击操作，则所述控制终端61可以获取删除指令，并将所述选中的螺旋飞行模式选项815和彗星环绕飞行模式816从所述目标主题中删除。
在一个实施例中，该控制终端61在确定目标主题中的飞行模式之后，如果检测到开始操作，则可以根据确定的所述目标主题的飞行模式生成飞行控制 指令。具体可以图7为例进行说明，假设所述控制终端61确定的目标主题的飞行模式为如图7所示的环绕飞行模式721、斜线飞行模式722、冲天飞行模式723三种飞行模式，如果控制终端61检测到用户对开始按钮726的点击操作，则所述控制终端61可以根据所述环绕飞行模式721、斜线飞行模式722和冲天飞行模式723生成飞行控制指令。
在一个实施例中，所述控制终端61获取到的所述目标主题中的剪辑参数可以包括目标播放时长，所述控制终端61在接收到飞行器的摄像装置根据所述飞行控制指令拍摄的视频片段之后，可以获取到所述视频片段的播放时长，并通过设置目标播放时长，对所述视频片段进行剪辑处理，使得所述剪辑处理后生成的视频的播放时长调整为所述目标播放时长。
具体再请参见图9，图9是本发明实施例提供的一种视频获取方法的流程示意图，所述方法可以由控制终端执行，其中，控制终端的具体解释如前所述。具体地，本发明实施例的所述方法包括如下步骤。
S901：获取用户指令，进入组合飞行模式，并提供至少一个主题。
本发明实施例中，控制终端可以在获取到用户指令时，进入组合飞行模式界面，在进入所述组合飞行模式界面时，所述界面上显示了至少一个主题，以供用户选择，其中，各个主题中包括了至少一个飞行模式和关联的剪辑参数。需要说明的是，所述主题包括但不限定于静谧、运动、摇滚、城市等任意一种或多种主题。所述飞行模式包括斜线飞行模式、环绕飞行模式、螺旋飞行模式、冲天飞行模式、彗星环绕飞行模式中的任意一项或多项，其中，各个飞行模式的解释如前所述，此处不再赘述。所述剪辑参数包括但不限定于目标播放时长、播放速度、背景音乐等任一种或多种。具体地，所述控制终端上显示有APP，当所述控制终端获取到用户指令时，所述APP可以进入组合飞行模式界面，在所述组合飞行模式界面上显示有推荐给用户选择的至少一种主题。
S902：从所述至少一个主题中确定出目标主题，确定所述目标主题的飞行模式及剪辑参数，并根据所述飞行模式生成飞行控制指令以发送给飞行器。
本发明实施例中，控制终端可以从所述至少一个主题中确定出目标主题，并从所述目标主题中确定出所述目标主题的飞行模式及剪辑参数，所述控制终端可以根据所述确定出的飞行模式生成飞行控制指令以发送给飞行器。在一个实施例中，所述控制终端可以通过获取用户对所述组合飞行模式中提供的所述 至少一个主题的选择操作，将所述用户从所述至少一个主题中选择的主题确定为目标主题。
在一个实施例中，控制终端在确定所述目标主题的飞行模式时，如果获取到编辑指令，则可以对所述目标主题中提供的一种或多种飞行模式进行编辑处理，并将所述编辑处理后的一种或多种飞行模式确定为所述目标主题的飞行模式。
在一个实施例中，所述控制终端对所述目标主题中的飞行模式进行的编辑处理可以是对所述目标主题中的飞行模式进行的添加处理。具体地，如果所述控制终端在确定所述目标主题后，检测到添加操作，则所述控制终端可以获取添加指令，并显示出待选择的飞行模式选项以供用户选择。如果所述控制终端接收到用户对所述待选择的飞行模式选项的选中操作，所述控制终端可以获取用户所选中的飞行模式。如果所述控制终端获取到确定操作，则可以将所选中的飞行模式添加至所述目标主题的飞行模式中。
具体可以图7和图8为例进行说明，假设控制终端检测到用户对城市主题的选择操作，即可确定出所述目标主题为城市。假设所述控制终端在确定城市这一目标主题之后，显示出如图7所示的界面，并检测到对所述编辑区域72中的添加按钮721的点击操作，所述控制终端可以根据所述点击操作获取到添加指令，并显示出如图8所示的选择区域81，其中，所述选择区域81显示了供用户选择的待选择的各个飞行模式、确定按钮817。假设所述控制终端检测到用户对螺旋飞行模式选项815和彗星环绕飞行模式816两个选项的选中操作之后，获取到用户对所述确定按钮817的点击操作，则所述控制终端可以将所述已选中的螺旋飞行模式选项815和彗星环绕飞行模式816添加至如图7所示的所述目标主题的飞行模式中。
在一个实施例中，如果所述控制终端在检测到用户待选择的飞行模式选项的选中操作之后，检测到删除操作，则可以获取删除指令，并根据所述删除指令选中所述目标主题中的一个或多个飞行模式，将所述选中的一个或多个飞行模式从所述目标主题中删除。具体可以图8为例进行说明，如图8所示的选择区域81还包括删除按钮，假设所述控制终端在所述选择区域获取到对所述螺旋飞行模式选项815和彗星环绕飞行模式816的选中操作，如果所述控制终端在所述选中操作之后获取到用户对所述删除按钮811的点击操作，则可以获取 删除指令，并根据所述删除指令将所述选中的所述螺旋飞行模式选项815和彗星环绕飞行模式816从所述目标主题中删除。
在一个实施例中，所述控制终端在确定出所述目标主题的飞行模式之后，如果检测到开始操作时，则可以根据确定的所述目标主题的飞行模式生成所述飞行控制指令，以发送给飞行器。其中，所述控制指令用于控制所述飞行器按照所述目标主题的飞行模式飞行，以使所述飞行器的摄像装置在所述飞行器飞行过程中拍摄目标对象得到视频片段。具体可以图7为例进行说明，假设所述控制终端确定出的所述目标主题的飞行模式为如图7所示的环绕飞行模式721、斜线飞行模式722、冲天飞行模式723。假设所述控制终端基于时间轴指示给所述环绕飞行模式721的飞行时长为30s，指示给所述斜线飞行模式722的飞行时长为60s，指示给所述冲天飞行模式723的飞行时长为80s，假设所述环绕飞行模式721、斜线飞行模式722、冲天飞行模式723按时间先后顺序排列，如果所述控制终端检测对所述开始按钮726的点击操作，则可以根据所述目标主题的环绕飞行模式721、斜线飞行模式722、冲天飞行模式723，按照各自的飞行时长和先后顺序生成飞行控制指令，以发送给所述飞行器，控制所述飞行器按照所述环绕飞行模式721、斜线飞行模式722、冲天飞行模式723及各自的飞行时长和先后顺序飞行，并控制所述飞行器的摄像装置在所述飞行器的飞行过程中对目标对象71进行拍摄，得到视频片段。
S903：接收所述飞行器的摄像装置根据所述飞行控制指令拍摄的视频片段，并根据剪辑参数生成视频。
本发明实施例中，控制终端可以接收所述飞行器的摄像装置根据所述飞行控制指令拍摄的视频片段，并根据获取到的剪辑参数对所述视频片段进行剪辑，生成视频。其中，所述剪辑参数的解释如前所述。
在一个实施例中，所述控制终端获取到的所述目标主题的剪辑参数包括目标播放时长，所述控制终端在获取到的所述飞行器的摄像装置拍摄得到的视频片段之后，可以通过播放所述视频片段获取到所述视频片段的播放时长。所述控制终端可以根据从所述目标主题中确定的所述目标播放时长和所述播放时长，对所述视频片段进行剪辑处理生成视频。具体可举例说明，假设所述控制终端从所述目标主题中确定的目标播放时长为10s，并获取到所述飞行器的摄像装置拍摄得到的视频片段的播放时长为60s，则所述控制终端可以根据所述 目标播放时长10s，将所述播放时长为60s的视频片段剪辑为10s播放的视频。
本发明实施例中，控制终端通过获取用户指令，进入组合飞行模式，从所述组合飞行模式的至少一个主题中确定出目标主题，并确定出所述目标主题的飞行模式及剪辑参数，所述控制终端根据所述飞行模式生成飞行控制指令以发送给所述飞行器，通过接收所述飞行器的摄像装置根据所述飞行控制指令拍摄的视频片段，根据所述剪辑参数对所述视频片段进行剪辑生成视频。通过这种方式为用户提供了一种更加智能、便捷的操作方法，提高了视频获取的效率。
请参见图10，图10是本发明实施例提供的另一种视频获取方法的流程示意图，所述方法可以由控制终端执行，其中控制终端的具体解释如前所述。本发明实施例的所述方法与图9所述实施例的方法的不同之处在于，本发明实施例是对获取到的视频片段的剪辑处理的说明，所述方法包括如下步骤。
S1001：获取用户指令，进入组合飞行模式，并提供至少一个主题。
本发明实施例中，控制终端上显示有APP，当所述控制终端获取到用户指令时，可以进入组合飞行模式界面，并在所述组合飞行模式界面上显示至少一个主题，所述主题的解释如上所述，此处不再赘述。
S1002：从所述至少一个主题中确定出目标主题，确定所述目标主题的飞行模式及剪辑参数，并根据所述飞行模式生成飞行控制指令以发送给飞行器。
本发明实施例中，控制终端可以根据所述组合飞行模式界面上显示的至少一个主题，确定出目标主题，并从所述目标主题中确定出所述目标主题的飞行模式及剪辑参数，所述控制终端可以根据所述飞行模式生成飞行控制指令以发送给飞行器。在一个实施例中，所述控制终端可以通过获取用户对所述组合飞行模式中所述至少一个主题的选择操作，将所述用户从所述至少一个主题中选择的主题确定为目标主题。具体实施例的举例如上所述，在此不再赘述。
S1003：接收所述飞行器的摄像装置根据所述飞行控制指令拍摄的视频片段。
本发明实施例中，控制终端可以接收所述飞行器的摄像装置根据所述飞行控制指令拍摄得到的视频片段。
S1004：获取接收到的所述视频片段的播放时长。
本发明实施例中，控制终端可以获取接收到的所述视频片段的播放时长。具体地，所述控制终端可以通过播放所述视频片段来获取所述视频片段播放时 长，本发明实施例对获取所述播放时长的方法不做限定。
S1005：根据所述播放时长和目标播放时长，对所述视频片段进行剪辑处理生成视频。
本发明实施例中，控制终端可以根据所述播放时长和目标播放时长，对所述视频片段进行剪辑处理生成视频。
在一个实施例中，所述控制终端在对所述视频片段进行剪辑处理生成视频的过程中，可以根据所述视频片段的播放时长和所述目标播放时长，从所述视频片段的视频帧中确定出第一视频帧范围和第二视频帧范围，以所述第一速度播放所述第一视频帧范围内的视频帧以及以所述第二速度播放所述第二视频帧范围内的视频帧，生成视频，其中，所述第一速度和第二速度不相同。具体可以举例说明，假设所述目标播放时长为10s，所述控制终端获取到的视频片段总共1800帧，且播放时长为60s，则所述控制终端可以从所述视频片段的视频帧中确定出第一视频帧范围为90帧和第二视频帧范围为1620帧，以所述第一速度播放30帧/秒播放所述第一视频帧范围内的视频帧以及以所述第二速度270帧/秒播放所述第二视频帧范围内的视频帧，生成视频。
在一个实施例中，所述控制终端在对所述视频片段进行剪辑处理生成视频的过程中，还可以根据所述目标播放时长，从所述视频片段的视频帧中确定出第一视频帧范围和第二视频帧范围，从所述第二视频帧范围中选择待播放的视频帧，其中，所述选择出的待播放视频帧的播放时长与所述第一视频帧范围内的视频帧的播放时长之和等于所述目标播放时长，播放所述第一视频帧范围内的视频帧和所述待播放的视频帧，生成视频。具体可举例说明，假设所述目标播放时长为10s，所述控制终端获取到的视频片段总共1800帧，假设所述控制终端从所述视频片段中确定出第一视频帧范围为90帧和第二视频帧范围为1620帧，则所述控制终端可以从所述第二视频帧范围中抽出待播放的视频帧为180帧，其中，所述选择出的待播放视频帧的播放时长与所述第一视频帧范围内的视频帧的播放时长之和等于所述目标播放时长10s，所述控制终端可以播放所述第一视频帧范围内的视频帧和所述待播放的视频帧，生成视频。
本发明实施例中，该控制终端通过获取所述飞行器的摄像装置根据所述飞行控制指令拍摄的视频片段，并根据所述视频片段的播放时长和/或目标播放时长，对所述视频片段进行剪辑生成视频。通过这种方式，为用户提供了一种 更加智能、便捷的编辑方法，使视频生成能达到慢快慢的效果，适合社交平台传播。
再请参见图11，图11是本发明实施例提供的一种控制终端的结构示意图。具体地，所述控制终端包括：交互装置1101、处理器1102以及存储器1103；该控制终端可以配置与用户交互的交互装置1101，该交互装置可以是触摸显示屏、键盘、按键、摇杆、波轮中的一种或多种，该交互装置上可以提供用户界面。
所述交互装置1101，用于对针对用户产生的交互数据进行处理，包括触摸显示屏等部件。
所述存储器1103可以包括易失性存储器(volatile memory)；存储器1103也可以包括非易失性存储器(non-volatile memory)；存储器1103还可以包括上述种类的存储器的组合。所述处理器1102可以是中央处理器(central processing unit，CPU)。所述处理器1102还可以进一步包括硬件芯片。上述硬件芯片可以是专用集成电路(application-specific integrated circuit，ASIC)，可编程逻辑器件(programmable logic device，PLD)或其组合。上述PLD可以是复杂可编程逻辑器件(complex programmable logic device，CPLD)，现场可编程逻辑门阵列(field-programmable gate array，FPGA)或其任意组合。
可选地，所述存储器1103用于存储程序指令。所述处理器1102可以调用存储器1103中存储的程序指令，用于执行如下步骤：
获取用户指令，进入组合飞行模式，并提供至少一个主题，所述主题包括至少一个飞行模式和关联的剪辑参数；
从所述至少一个主题中确定出目标主题，确定所述目标主题的飞行模式及剪辑参数，并根据所述飞行模式生成飞行控制指令以发送给所述飞行器；
接收所述飞行器的摄像装置根据所述飞行控制指令拍摄的视频片段，并根据所述剪辑参数生成视频。
进一步地，所述处理器1102调用存储器1103中存储的程序指令，用于执行如下步骤：
获取用户对所述组合飞行模式中所述至少一个主题的选择操作；
根据所述选择操作，确定所述用户从所述至少一个主题中选择的主题为目标主题。
进一步地，所述处理器1102调用存储器1103中存储的程序指令，用于执行如下步骤：
在确定所述目标主题时，如果获取到编辑指令，则对所述目标主题中的飞行模式进行编辑处理；
将所述编辑处理后的飞行模式确定为所述目标主题的飞行模式。
进一步地，所述处理器1102调用存储器1103中存储的程序指令，用于执行如下步骤：
如果检测到添加操作，则获取添加指令，并提供待选择的飞行模式；
接收对所述待选择的飞行模式选项的选中操作；
根据所述选中操作所选中的飞行模式，对所述目标主题中的飞行模式进行添加处理。
进一步地，所述处理器1102调用存储器1103中存储的程序指令，用于执行如下步骤：
如果获取到确定操作，将所述已选中的飞行模式添加至所述目标主题的飞行模式中。
进一步地，所述处理器1102调用存储器1103中存储的程序指令，还用于执行如下步骤：
如果检测到删除操作，则获取删除指令，并根据所述删除指令选中所述目标主题中的一个或多个飞行模式，将所述选中的一个或多个飞行模式从所述目标主题中删除。
进一步地，所述处理器1102调用存储器1103中存储的程序指令，用于执行如下步骤：
当检测到开始操作时，根据确定的所述目标主题的飞行模式生成所述飞行控制指令。
进一步地，所述处理器1102调用存储器1103中存储的程序指令，用于执行如下步骤：
获取接收到的所述视频片段的播放时长；
根据所述播放时长和目标播放时长，对所述视频片段进行剪辑处理生成视频。
进一步地，所述处理器1102调用存储器1103中存储的程序指令，用于执 行如下步骤：
根据所述播放时长和所述目标播放时长，从所述视频片段的视频帧中确定出第一视频帧范围和第二视频帧范围；
以所述第一速度播放所述第一视频帧范围内的视频帧以及以所述第二速度播放所述第二视频帧范围内的视频帧，生成视频；
其中，所述第一速度和第二速度不相同。
进一步地，所述处理器1102调用存储器1103中存储的程序指令，还用于执行如下步骤：
根据所述目标播放时长，从所述视频片段的视频帧中确定出第一视频帧范围和第二视频帧范围；
从所述第二视频帧范围中选择待播放的视频帧；
其中，所述选择出的待播放视频帧的播放时长与所述第一视频帧范围内的视频帧的播放时长之和等于所述目标播放时长；
播放所述第一视频帧范围内的视频帧和所述待播放的视频帧，生成视频。
本发明实施例的所述处理器1102的具体实现可参考上述各个实施例中相关内容的描述，在此不赘述。
本发明实施例中，控制终端通过获取用户指令，进入组合飞行模式，并提供至少一个主题，从所述至少一个主题中确定出目标主题，确定所述目标主题的飞行模式及剪辑参数，并根据所述飞行模式生成飞行控制指令以发送给所述飞行器，接收所述飞行器的摄像装置根据所述飞行控制指令拍摄的视频片段，并根据所述剪辑参数对所述视频片段进行剪辑生成视频。通过这种方式为用户提供了一种更加智能、便捷的操作方法，提高了视频获取的效率。
本发明实施例还提供了一种飞行器，包括：机身；设置在机身上的动力系统，用于提供飞行动力；处理器，用于接收控制终端发送的飞行控制指令，并根据所述飞行控制指令中包括的至少一个飞行模式依次执行各飞行模式对应的飞行动作，所述摄像装置一并拍摄获取到各飞行模式下的视频片段。
所述飞行器中处理器的具体实现可参考上述图9所对应实施例的视频获取方法，在此不再赘述。其中，飞行器可以是四旋翼无人机、六旋翼无人机、多旋翼无人机等类型的飞行器。所述动力系统可以包括电机、电调、螺旋桨等结构，其中，电机负责带动飞行器螺旋桨，电调负责控制飞行器的电机的转速。
本发明实施例还提供了一种视频获取系统，包括：控制终端和飞行器；
所述控制终端，用于获取用户指令，进入组合飞行模式，并提供至少一个主题，所述主题包括至少一个飞行模式和关联的剪辑参数，从所述至少一个主题中确定出目标主题，确定所述目标主题的飞行模式及剪辑参数，并根据所述飞行模式生成飞行控制指令以发送给所述飞行器；
所述飞行器，用于根据所述飞行控制指令中包括的至少一个飞行模式依次执行各飞行模式对应的飞行动作，所述摄像装置一并获取各飞行模式下的视频片段；
所述控制终端，还用于接收所述视频片段，并根据所述剪辑参数生成视频。
进一步地，所述控制终端，用于获取用户对所述组合飞行模式中所述至少一个主题的选择操作；根据所述选择操作，确定所述用户从所述至少一个主题中选择的主题为目标主题。
进一步地，所述控制终端，用于在确定所述目标主题时，如果获取到编辑指令，则对所述目标主题中的飞行模式进行编辑处理；将所述编辑处理后的飞行模式确定为所述目标主题的飞行模式。
进一步地，所述控制终端，用于如果检测到添加操作，则获取添加指令，并提供待选择的飞行模式；接收对所述待选择的飞行模式选项的选中操作；根据所述选中操作所选中的飞行模式，对所述目标主题中的飞行模式进行添加处理。
进一步地，所述控制终端，用于如果获取到确定操作，将所述已选中的飞行模式添加至所述目标主题的飞行模式中。
进一步地，所述控制终端，还用于如果检测到删除操作，则获取删除指令，并根据所述删除指令选中所述目标主题中的一个或多个飞行模式，将所述选中的一个或多个飞行模式从所述目标主题中删除。
进一步地，所述控制终端，用于当检测到开始操作时，根据确定的所述目标主题的飞行模式生成所述飞行控制指令。
进一步地，所述控制终端，用于获取接收到的所述视频片段的播放时长；根据所述播放时长和目标播放时长，对所述视频片段进行剪辑处理生成视频。
进一步地，所述控制终端，用于根据所述播放时长和所述目标播放时长，从所述视频片段的视频帧中确定出第一视频帧范围和第二视频帧范围；以所述 第一速度播放所述第一视频帧范围内的视频帧以及以所述第二速度播放所述第二视频帧范围内的视频帧，生成视频；其中，所述第一速度和第二速度不相同。
进一步地，所述控制终端，还用于根据所述目标播放时长，从所述视频片段的视频帧中确定出第一视频帧范围和第二视频帧范围；从所述第二视频帧范围中选择待播放的视频帧；其中，所述选择出的待播放视频帧的播放时长与所述第一视频帧范围内的视频帧的播放时长之和等于所述目标播放时长；播放所述第一视频帧范围内的视频帧和所述待播放的视频帧，生成视频。
在本发明的实施例中还提供了一种计算机可读存储介质，所述计算机可读存储介质存储有计算机程序，所述计算机程序被处理器执行时实现本发明图9或图10所对应实施例中描述的视频获取方法方式，也可实现图11所述本发明所对应实施例的控制终端，在此不再赘述。
所述计算机可读存储介质可以是前述任一实施例所述的终端的内部存储单元，例如终端的硬盘或内存。所述计算机可读存储介质也可以是所述终端的外部存储设备，例如所述终端上配备的插接式硬盘，智能存储卡(Smart Media Card,SMC)，安全数字(Secure Digital,SD)卡，闪存卡(Flash Card)等。进一步地，所述计算机可读存储介质还可以既包括所述终端的内部存储单元也包括外部存储设备。所述计算机可读存储介质用于存储所述计算机程序以及所述终端所需的其他程序和数据。所述计算机可读存储介质还可以用于暂时地存储已经输出或者将要输出的数据。
以上所揭露的仅为本发明部分实施例而已，当然不能以此来限定本发明之权利范围，因此依本发明权利要求所作的等同变化，仍属本发明所涵盖的范围。

Claims (42)

  1. 一种视频获取方法，其特征在于，应用于飞行器的控制终端，所述飞行器上挂载了摄像装置，所述方法包括：
    获取用户指令，进入组合飞行模式，并提供至少一个主题，所述主题包括至少一个飞行模式和关联的剪辑参数；
    从所述至少一个主题中确定出目标主题，确定所述目标主题的飞行模式及剪辑参数，并根据所述飞行模式生成飞行控制指令以发送给所述飞行器；
    接收所述飞行器的摄像装置根据所述飞行控制指令拍摄的视频片段，并根据所述剪辑参数生成视频。
  2. 根据权利要求1所述的方法，其特征在于，所述从所述至少一个主题中确定出目标主题，包括：
    获取用户对所述组合飞行模式中所述至少一个主题的选择操作；
    根据所述选择操作，确定所述用户从所述至少一个主题中选择的主题为目标主题。
  3. 根据权利要求2所述的方法，其特征在于，所述确定所述目标主题的飞行模式，包括：
    在确定所述目标主题时，如果获取到编辑指令，则对所述目标主题中的飞行模式进行编辑处理；
    将所述编辑处理后的飞行模式确定为所述目标主题的飞行模式。
  4. 根据权利要求3所述的方法，其特征在于，所述对所述目标主题中的飞行模式进行编辑处理，包括：
    如果检测到添加操作，则获取添加指令，并提供待选择的飞行模式；
    接收对所述待选择的飞行模式选项的选中操作；
    根据所述选中操作所选中的飞行模式，对所述目标主题中的飞行模式进行添加处理。
  5. 根据权利要求4所述的方法，其特征在于，所述对所述目标主题中的飞行模式进行添加处理，包括：
    如果获取到确定操作，将所述已选中的飞行模式添加至所述目标主题的飞行模式中。
  6. 根据权利要求3所述的方法，其特征在于，所述方法还包括：
    如果检测到删除操作，则获取删除指令，并根据所述删除指令选中所述目标主题中的一个或多个飞行模式，将所述选中的一个或多个飞行模式从所述目标主题中删除。
  7. 根据权利要求1所述的方法，其特征在于，所述根据所述飞行模式生成飞行控制指令，包括：
    当检测到开始操作时，根据确定的所述目标主题的飞行模式生成所述飞行控制指令。
  8. 根据权利要求1所述的方法，其特征在于，所述剪辑参数包括目标播放时长，所述根据所述剪辑参数生成视频，包括：
    获取接收到的所述视频片段的播放时长；
    根据所述播放时长和目标播放时长，对所述视频片段进行剪辑处理生成视频。
  9. 根据权利要求8所述的方法，其特征在于，所述对所述视频片段进行剪辑处理生成视频，包括：
    根据所述播放时长和所述目标播放时长，从所述视频片段的视频帧中确定出第一视频帧范围和第二视频帧范围；
    以所述第一速度播放所述第一视频帧范围内的视频帧以及以所述第二速度播放所述第二视频帧范围内的视频帧，生成视频；
    其中，所述第一速度和第二速度不相同。
  10. 根据权利要求8所述的方法，其特征在于，所述对所述视频片段进行 剪辑处理生成视频，还包括：
    根据所述目标播放时长，从所述视频片段的视频帧中确定出第一视频帧范围和第二视频帧范围；
    从所述第二视频帧范围中选择待播放的视频帧；其中，所述选择出的待播放视频帧的播放时长与所述第一视频帧范围内的视频帧的播放时长之和等于所述目标播放时长；
    播放所述第一视频帧范围内的视频帧和所述待播放的视频帧，生成视频。
  11. 一种视频获取方法，其特征在于，应用于飞行器系统，所述飞行器系统包括控制终端以及与所述控制终端通信连接的飞行器，所述飞行器上挂载了摄像装置，所述方法包括：
    所述控制终端获取用户指令，进入组合飞行模式，并提供至少一个主题，所述主题包括至少一个飞行模式和关联的剪辑参数；
    所述控制终端从所述至少一个主题中确定出目标主题，确定所述目标主题的飞行模式及剪辑参数，并根据所述飞行模式生成飞行控制指令以发送给所述飞行器；
    所述飞行器根据所述飞行控制指令中包括的至少一个飞行模式依次执行各飞行模式对应的飞行动作，所述摄像装置一并获取各飞行模式下的视频片段；
    所述控制终端接收所述视频片段，并根据所述剪辑参数生成视频。
  12. 根据权利要求11所述的方法，其特征在于，所述控制终端从所述至少一个主题中确定出目标主题，包括：
    所述控制终端获取用户对所述组合飞行模式中所述至少一个主题的选择操作；
    所述控制终端根据所述选择操作，确定所述用户从所述至少一个主题中选择的主题为目标主题。
  13. 根据权利要求12所述的方法，其特征在于，所述确定所述目标主题的飞行模式，包括：
    所述控制终端在确定所述目标主题时，如果获取到编辑指令，则对所述目标主题中的飞行模式进行编辑处理；
    所述控制终端将所述编辑处理后的飞行模式确定为所述目标主题的飞行模式。
  14. 根据权利要求13所述的方法，其特征在于，所述对所述目标主题中的飞行模式进行编辑处理，包括：
    所述控制终端如果检测到添加操作，则获取添加指令，并提供待选择的飞行模式；
    所述控制终端接收对所述待选择的飞行模式选项的选中操作；
    所述控制终端根据所述选中操作所选中的飞行模式，对所述目标主题中的飞行模式进行添加处理。
  15. 根据权利要求14所述的方法，其特征在于，所述对所述目标主题中的飞行模式进行添加处理，包括：
    所述控制终端如果获取确定操作，将所述已选中的飞行模式添加至所述目标主题的飞行模式中。
  16. 根据权利要求13所述的方法，其特征在于，所述方法还包括：
    所述控制终端如果检测到删除操作，则获取删除指令，并根据所述删除指令选中所述目标主题中的一个或多个飞行模式，将所述选中的一个或多个飞行模式从所述目标主题中删除。
  17. 根据权利要求11所述的方法，其特征在于，所述根据所述飞行模式生成飞行控制指令，包括：
    所述控制终端当检测到开始操作时，根据确定的所述目标主题的飞行模式生成所述飞行控制指令。
  18. 根据权利要求11所述的方法，其特征在于，所述剪辑参数包括目标播放时长，所述根据所述剪辑参数生成视频，包括：
    所述控制终端获取接收到的所述视频片段的播放时长；
    所述控制终端根据所述播放时长和目标播放时长，对所述视频片段进行剪辑处理生成视频。
  19. 根据权利要求18所述的方法，其特征在于，所述对所述视频片段进行剪辑处理生成视频，包括：
    所述控制终端根据所述播放时长和所述目标播放时长，从所述视频片段的视频帧中确定出第一视频帧范围和第二视频帧范围；
    所述控制终端以所述第一速度播放所述第一视频帧范围内的视频帧以及以所述第二速度播放所述第二视频帧范围内的视频帧，生成视频；
    其中，所述第一速度和第二速度不相同。
  20. 根据权利要求18所述的方法，其特征在于，所述对所述视频片段进行剪辑处理生成视频，还包括：
    所述控制终端根据所述目标播放时长，从所述视频片段的视频帧中确定出第一视频帧范围和第二视频帧范围；
    所述控制终端从所述第二视频帧范围中选择待播放的视频帧；其中，所述选择出的待播放视频帧的播放时长与所述第一视频帧范围内的视频帧的播放时长之和等于所述目标播放时长；
    所述控制终端播放所述第一视频帧范围内的视频帧和所述待播放的视频帧，生成视频。
  21. 一种控制终端，其特征在于，包括存储器和处理器；
    所述存储器，用于存储程序指令；
    所述处理器，执行所述存储器存储的程序指令，当程序指令被执行时，所述处理器用于执行如下步骤：
    获取用户指令，进入组合飞行模式，并提供至少一个主题，所述主题包括至少一个飞行模式和关联的剪辑参数；
    从所述至少一个主题中确定出目标主题，确定所述目标主题的飞行模式及剪辑参数，并根据所述飞行模式生成飞行控制指令以发送给所述飞行器；
    接收所述飞行器的摄像装置根据所述飞行控制指令拍摄的视频片段，并根据所述剪辑参数生成视频。
  22. 根据权利要求21所述的终端，其特征在于，
    所述处理器，用于获取用户对所述组合飞行模式中所述至少一个主题的选择操作；根据所述选择操作，确定所述用户从所述至少一个主题中选择的主题为目标主题。
  23. 根据权利要求22所述的终端，其特征在于，
    所述处理器，用于在确定所述目标主题时，如果获取到编辑指令，则对所述目标主题中的飞行模式进行编辑处理；将所述编辑处理后的飞行模式确定为所述目标主题的飞行模式。
  24. 根据权利要求23所述的终端，其特征在于，
    所述处理器，用于如果检测到添加操作，则获取添加指令，并提供待选择的飞行模式；接收对所述待选择的飞行模式选项的选中操作；根据所述选中操作所选中的飞行模式，对所述目标主题中的飞行模式进行添加处理。
  25. 根据权利要求24所述的终端，其特征在于，
    所述处理器，用于如果获取到确定操作，将所述已选中的飞行模式添加至所述目标主题的飞行模式中。
  26. 根据权利要求23所述的终端，其特征在于，
    所述处理器，还用于如果检测到删除操作，则获取删除指令，并根据所述删除指令选中所述目标主题中的一个或多个飞行模式，将所述选中的一个或多个飞行模式从所述目标主题中删除。
  27. 根据权利要求21所述的终端，其特征在于，
    所述处理器，用于当检测到开始操作时，根据确定的所述目标主题的飞行模式生成所述飞行控制指令。
  28. 根据权利要求21所述的终端，其特征在于，
    所述处理器，用于获取接收到的所述视频片段的播放时长；根据所述播放时长和目标播放时长，对所述视频片段进行剪辑处理生成视频。
  29. 根据权利要求28所述的终端，其特征在于，
    所述处理器，用于根据所述播放时长和所述目标播放时长，从所述视频片段的视频帧中确定出第一视频帧范围和第二视频帧范围；以所述第一速度播放所述第一视频帧范围内的视频帧以及以所述第二速度播放所述第二视频帧范围内的视频帧，生成视频；其中，所述第一速度和第二速度不相同。
  30. 根据权利要求28所述的终端，其特征在于，
    所述处理器，还用于根据所述目标播放时长，从所述视频片段的视频帧中确定出第一视频帧范围和第二视频帧范围；从所述第二视频帧范围中选择待播放的视频帧；其中，所述选择出的待播放视频帧的播放时长与所述第一视频帧范围内的视频帧的播放时长之和等于所述目标播放时长；播放所述第一视频帧范围内的视频帧和所述待播放的视频帧，生成视频。
  31. 一种飞行器，其特征在于，包括：
    机身；
    设置在机身上的动力系统，用于提供飞行动力；
    处理器，用于接收控制终端发送的飞行控制指令，并根据所述飞行控制指令中包括的至少一个飞行模式依次执行各飞行模式对应的飞行动作，所述摄像装置一并拍摄获取到各飞行模式下的视频片段。
  32. 一种飞行器系统，其特征在于，包括控制终端和飞行器，
    所述控制终端，用于获取用户指令，进入组合飞行模式，并提供至少一个主题，所述主题包括至少一个飞行模式和关联的剪辑参数，从所述至少一个主题中确定出目标主题，确定所述目标主题的飞行模式及剪辑参数，并根据所述飞行模式生成飞行控制指令以发送给所述飞行器；
    所述飞行器，用于根据所述飞行控制指令中包括的至少一个飞行模式依次执行各飞行模式对应的飞行动作，所述摄像装置一并获取各飞行模式下的视频片段；
    所述控制终端，还用于接收所述视频片段，并根据所述剪辑参数生成视频。
  33. 根据权利要求32所述的系统，其特征在于，
    所述控制终端，用于获取用户对所述组合飞行模式中所述至少一个主题的选择操作；根据所述选择操作，确定所述用户从所述至少一个主题中选择的主题为目标主题。
  34. 根据权利要求33所述的系统，其特征在于，
    所述控制终端，用于在确定所述目标主题时，如果获取到编辑指令，则对所述目标主题中的飞行模式进行编辑处理；将所述编辑处理后的飞行模式确定为所述目标主题的飞行模式。
  35. 根据权利要求34所述的系统，其特征在于，
    所述控制终端，用于如果检测到添加操作，则获取添加指令，并提供待选择的飞行模式；接收对所述待选择的飞行模式选项的选中操作；根据所述选中操作所选中的飞行模式，对所述目标主题中的飞行模式进行添加处理。
  36. 根据权利要求35所述的系统，其特征在于，
    所述控制终端，用于如果获取到确定操作，将所述已选中的飞行模式添加至所述目标主题的飞行模式中。
  37. 根据权利要求34所述的系统，其特征在于，
    所述控制终端，还用于如果检测到删除操作，则获取删除指令，并根据所述删除指令选中所述目标主题中的一个或多个飞行模式，将所述选中的一个或多个飞行模式从所述目标主题中删除。
  38. 根据权利要求32所述的系统，其特征在于，
    所述控制终端，用于当检测到开始操作时，根据确定的所述目标主题的飞行模式生成所述飞行控制指令。
  39. 根据权利要求32所述的系统，其特征在于，
    所述控制终端，用于获取接收到的所述视频片段的播放时长；根据所述播放时长和目标播放时长，对所述视频片段进行剪辑处理生成视频。
  40. 根据权利要求39所述的系统，其特征在于，
    所述控制终端，用于根据所述播放时长和所述目标播放时长，从所述视频片段的视频帧中确定出第一视频帧范围和第二视频帧范围；以所述第一速度播放所述第一视频帧范围内的视频帧以及以所述第二速度播放所述第二视频帧范围内的视频帧，生成视频；其中，所述第一速度和第二速度不相同。
  41. 根据权利要求39所述的系统，其特征在于，
    所述控制终端，还用于根据所述目标播放时长，从所述视频片段的视频帧中确定出第一视频帧范围和第二视频帧范围；从所述第二视频帧范围中选择待播放的视频帧；其中，所述选择出的待播放视频帧的播放时长与所述第一视频帧范围内的视频帧的播放时长之和等于所述目标播放时长；播放所述第一视频帧范围内的视频帧和所述待播放的视频帧，生成视频。
  42. 一种计算机可读存储介质，所述计算机可读存储介质存储有计算机程序，其特征在于，所述计算机程序被处理器执行时实现如权利要求1至20任一项所述方法。
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