WO2020019212A1 - 视频播放速度控制方法及系统、控制终端和可移动平台 - Google Patents

视频播放速度控制方法及系统、控制终端和可移动平台 Download PDF

Info

Publication number
WO2020019212A1
WO2020019212A1 PCT/CN2018/097095 CN2018097095W WO2020019212A1 WO 2020019212 A1 WO2020019212 A1 WO 2020019212A1 CN 2018097095 W CN2018097095 W CN 2018097095W WO 2020019212 A1 WO2020019212 A1 WO 2020019212A1
Authority
WO
WIPO (PCT)
Prior art keywords
frame rate
video
frames
image
shooting
Prior art date
Application number
PCT/CN2018/097095
Other languages
English (en)
French (fr)
Inventor
李阳
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/CN2018/097095 priority Critical patent/WO2020019212A1/zh
Priority to CN201880041838.1A priority patent/CN110892731B/zh
Publication of WO2020019212A1 publication Critical patent/WO2020019212A1/zh
Priority to US17/121,745 priority patent/US20210289133A1/en

Links

Images

Classifications

    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N21/00—Selective content distribution, e.g. interactive television or video on demand [VOD]
    • H04N21/60—Network structure or processes for video distribution between server and client or between remote clients; Control signalling between clients, server and network components; Transmission of management data between server and client, e.g. sending from server to client commands for recording incoming content stream; Communication details between server and client 
    • H04N21/63—Control signaling related to video distribution between client, server and network components; Network processes for video distribution between server and clients or between remote clients, e.g. transmitting basic layer and enhancement layers over different transmission paths, setting up a peer-to-peer communication via Internet between remote STB's; Communication protocols; Addressing
    • H04N21/637—Control signals issued by the client directed to the server or network components
    • H04N21/6373—Control signals issued by the client directed to the server or network components for rate control, e.g. request to the server to modify its transmission rate
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/95—Computational photography systems, e.g. light-field imaging systems
    • H04N23/951—Computational photography systems, e.g. light-field imaging systems by using two or more images to influence resolution, frame rate or aspect ratio
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D47/00—Equipment not otherwise provided for
    • B64D47/08—Arrangements of cameras
    • 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
    • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
    • G05D1/0016—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement characterised by the operator's input device
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N21/00—Selective content distribution, e.g. interactive television or video on demand [VOD]
    • H04N21/60—Network structure or processes for video distribution between server and client or between remote clients; Control signalling between clients, server and network components; Transmission of management data between server and client, e.g. sending from server to client commands for recording incoming content stream; Communication details between server and client 
    • H04N21/63—Control signaling related to video distribution between client, server and network components; Network processes for video distribution between server and clients or between remote clients, e.g. transmitting basic layer and enhancement layers over different transmission paths, setting up a peer-to-peer communication via Internet between remote STB's; Communication protocols; Addressing
    • H04N21/647—Control signaling between network components and server or clients; Network processes for video distribution between server and clients, e.g. controlling the quality of the video stream, by dropping packets, protecting content from unauthorised alteration within the network, monitoring of network load, bridging between two different networks, e.g. between IP and wireless
    • H04N21/64746—Control signals issued by the network directed to the server or the client
    • H04N21/64761—Control signals issued by the network directed to the server or the client directed to the server
    • H04N21/64769—Control signals issued by the network directed to the server or the client directed to the server for rate control
    • 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
    • H04N5/00—Details of television systems
    • H04N5/76—Television signal recording
    • 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

Definitions

  • Embodiments of the present invention relate to the field of image processing technologies, and in particular, to a video playback speed control method and system, a control terminal, and a movable platform.
  • the playback speed of a video can be expressed in frame rate (fps), which represents the number of frames of an image that can be displayed per second; the shooting speed of a video can also be expressed in frame rate, which represents the frame of an image that can be captured in each second number.
  • fps frame rate
  • the shooting speed of a video captured by an imaging device is generally 30 fps, and usually the playback speed of the video is the same as the shooting speed of the video.
  • the user wants to adjust the playback speed of the video, the user first obtains the video through the imaging device according to the video shooting speed of 30fps, and then reduces the display time of the single frame image to increase the number of frames of the image displayed per second to speed up The video playback speed, or by increasing the display time of a single frame image, reduces the number of frames of the image displayed in one second to slow down the video playback speed.
  • the method for adjusting the video playback speed requires that after the video is collected and obtained, the video playback speed can be adjusted manually through post-processing, which results in low efficiency in adjusting the video playback speed.
  • Embodiments of the present invention provide a video playback speed control method and system, a control terminal, and a movable platform, which are used to generate a video with a faster or slower playback speed during the shooting process, without the need to change the post-processing after the video is generated Playback speed improves the efficiency of adjusting the playback speed of the video and makes the operation easier.
  • an embodiment of the present invention provides a video playback speed control method, which is applied to a control terminal and includes:
  • a video shooting instruction is sent to the movable platform, and the video shooting instruction is used to instruct the movable platform to take an image according to the preset frame rate and generate a video with a faster or slower playback speed according to the first frame rate.
  • an embodiment of the present invention provides a video playback speed control method, which is applied to a movable platform and includes:
  • Receive a video shooting instruction sent by a control terminal of a movable platform the video shooting instruction is used to instruct the movable platform to capture an image according to a preset frame rate and generate a video according to a first frame rate, the first frame rate being less than or greater than The preset frame rate;
  • an embodiment of the present invention provides a control terminal, including:
  • a first processor configured to determine, according to the video playback speed control operation, that a video playback speed is a first frame rate, and the first frame rate is greater than or less than a preset frame rate;
  • a first communication device configured to send a video shooting instruction to the movable platform, where the video shooting instruction is used to instruct the mobile platform to take an image according to the preset frame rate and generate a faster playback speed according to the first frame rate Or slow down the video.
  • an embodiment of the present invention provides a movable platform, including:
  • the second communication device is configured to receive a video shooting instruction sent by a control terminal of the mobile platform, where the video shooting instruction is used to instruct the mobile platform to capture an image according to a preset frame rate and generate a video according to a first frame rate.
  • a frame rate is less than or greater than the preset frame rate;
  • the second processor is configured to control the shooting device of the movable platform to capture an image at the preset frame rate, and generate a video with a faster or slower playback speed according to the first frame rate.
  • an embodiment of the present invention provides a video playback speed control system, including: a control terminal and a movable platform;
  • the control terminal is configured to detect a video playback speed control operation; determine, according to the video playback speed control operation, that a video playback speed is a first frame rate, and the first frame rate is greater than or less than a preset frame rate;
  • the movable platform sends a video shooting instruction, and the video shooting instruction is used to instruct the movable platform to take an image according to the preset frame rate and generate a video with a faster or slower playback speed according to the first frame rate;
  • the movable platform is configured to receive the video shooting instruction sent by the control terminal, control the shooting device of the movable platform to capture an image at the preset frame rate, and generate a playback according to the first frame rate. Speed up or slow down the video.
  • an embodiment of the present invention provides a computer-readable storage medium.
  • the computer-readable storage medium stores a computer program, where the computer program includes at least one piece of code, and the at least one piece of code can be executed by a computer to control all
  • the computer executes the video playback speed control method according to the first aspect or the second aspect.
  • an embodiment of the present invention provides a computer program for implementing the video playback speed control method according to the first aspect or the second aspect when the computer program is executed by a computer.
  • the video playback speed control method and system, control terminal, and mobile platform provided by the embodiments of the present invention detect a video playback speed control operation through the control terminal and determine that the video playback speed is the first frame rate according to the video playback speed control operation. Then, a video shooting instruction is sent to the drone, and the drone controls the shooting device of the drone to capture an image at a preset frame rate, and generates a video with a faster or slower playback speed according to the first frame rate.
  • This embodiment can control the drone to generate a video with a variable playback speed during the shooting of the drone, and does not need to change the playback speed after the video is generated after the video is generated. Therefore, this embodiment improves the adjustment of the video playback speed. Efficiency and easier operation.
  • FIG. 1 is a schematic architecture diagram of a drone system according to an embodiment of the present invention
  • FIG. 2 is a flowchart of a video playback speed control method according to an embodiment of the present invention
  • FIG. 3 is a schematic diagram of determining a playback speed of a video according to an embodiment of the present invention
  • FIG. 4 is a schematic diagram of determining a playback speed of a video according to another embodiment of the present invention.
  • FIG. 5 is a schematic structural diagram of a control terminal according to an embodiment of the present invention.
  • FIG. 6 is a schematic structural diagram of a movable platform according to an embodiment of the present invention.
  • FIG. 7 is a schematic structural diagram of a video playback speed control system according to an embodiment of the present invention.
  • a component when a component is called “fixed to” another component, it may be directly on another component or a centered component may exist. When a component is considered to be “connected” to another component, it can be directly connected to another component or a centered component may exist at the same time.
  • Embodiments of the present invention provide a method and system for controlling video playback speed, a control terminal, and a movable platform.
  • the movable platform may be, for example, a drone, an unmanned ship, an unmanned car, a robot, or the like.
  • the drone may be a rotorcraft, for example, a multi-rotor aircraft propelled by multiple propulsion devices through air, and the embodiment of the present invention is not limited thereto.
  • FIG. 1 is a schematic architecture diagram of a drone system according to an embodiment of the present invention. This embodiment is described by taking a rotary wing drone as an example.
  • the drone system 100 may include a drone 110, a display device 130, and a control terminal 140.
  • the unmanned aerial vehicle 110 is an unmanned aerial vehicle, which may include a power system 150, a control system 160, a rack, and a gimbal 120 carried on the rack.
  • the drone 110 may perform wireless communication with the control terminal 140 and the display device 130.
  • the drone may also be an unmanned vehicle or an unmanned ship.
  • the frame may include a fuselage and a tripod (also called a landing gear).
  • the fuselage may include a center frame and one or more arms connected to the center frame, and one or more arms extend radially from the center frame.
  • the tripod is connected to the fuselage, and is used to support the UAV 110 when landing.
  • the power system 150 may include one or more electronic governors (referred to as ESCs) 151, one or more propellers 153, and one or more electric motors 152 corresponding to the one or more propellers 153.
  • the motor 152 is connected between the ESC 151 and the propeller 153, and the motor 152 and the propeller 153 are disposed on the arm of the drone 110.
  • the ESC 151 is configured to receive a driving signal generated by the control system 160 and provide a driving current to the motor 152 according to the driving signal to control the rotation speed of the motor 152. It should be noted that one ESC 151 may correspond to multiple motors, and multiple ESCs 151 may correspond to one motor 152, respectively.
  • the motor 152 is used to drive the propeller to rotate, so as to provide power for the flight of the drone 110, and the power enables the drone 110 to achieve one or more degrees of freedom.
  • the drone 110 may rotate about one or more rotation axes.
  • the rotation axis may include a roll axis (Roll), a yaw axis (Yaw), and a pitch axis (Pitch).
  • the motor 152 may be a DC motor or an AC motor.
  • the motor 152 may be a brushless motor or a brushed motor.
  • the control system 160 may include a controller 161 and a sensing system 162.
  • the sensing system 162 is used to measure the attitude information of the drone, that is, the position information and status information of the drone 110 in space, such as three-dimensional position, three-dimensional angle, three-dimensional velocity, three-dimensional acceleration, and three-dimensional angular velocity.
  • the sensing system 162 may include, for example, at least one of a gyroscope, an ultrasonic sensor, an electronic compass, an Inertial Measurement Unit (IMU), a vision sensor, a global navigation satellite system, and a barometer.
  • the global navigation satellite system may be a Global Positioning System (Global Positioning System, GPS).
  • the controller 161 is used to control the flight or operation of the drone 110.
  • the controller 161 may control the flight or operation of the drone 110 according to the attitude information measured by the sensing system 162. It should be understood that the controller 161 may control the drone 110 according to a pre-programmed program instruction, and may also control the drone 110 by responding to one or more control instructions from the control terminal 140.
  • the gimbal 120 may include a gimbal motor 122.
  • the gimbal is used to carry the photographing device 123.
  • the controller 161 may control the movement of the PTZ 120 through the PTZ motor 122.
  • the PTZ 120 may further include a PTZ controller for controlling the movement of the PTZ 120 by controlling the PTZ motor 122.
  • the gimbal 120 may be independent of the drone 110 or may be a part of the drone 110.
  • the gimbal motor 122 may be a DC motor or an AC motor.
  • the gimbal motor 122 may be a brushless motor or a brushed motor.
  • the gimbal can be located on the top of the drone or on the bottom of the drone.
  • the photographing device 123 may be, for example, a device for capturing an image, such as a camera or a video camera.
  • the photographing device 123 may communicate with the flight controller and perform shooting under the control of the flight controller.
  • the photographing device 123 of this embodiment includes at least a photosensitive element.
  • the photosensitive element is, for example, a complementary metal oxide semiconductor (CMOS) sensor or a charge-coupled device (CCD) sensor. It can be understood that the shooting device 123 can also be directly fixed on the drone 110, so that the PTZ 120 can be omitted.
  • CMOS complementary metal oxide semiconductor
  • CCD charge-coupled device
  • the display device 130 is located on the ground side, and can communicate with the drone 110 wirelessly, and can be used to display the attitude information of the drone 110. In addition, an image captured by the imaging device may be displayed on the display device 130. It should be understood that the display device 130 may be an independent device, or may be integrated in the control terminal 140.
  • the control terminal 140 is located on the ground side of the drone system 100 and can communicate with the drone 110 wirelessly for remote control of the drone 110.
  • the drone 110 may further include a speaker (not shown) for playing audio files.
  • the speaker may be directly fixed on the drone 110 or may be mounted on the gimbal 120.
  • FIG. 2 is a flowchart of a video playback speed control method according to an embodiment of the present invention. As shown in FIG. 2, the method in this embodiment may include:
  • the control terminal detects a video playback speed control operation.
  • the control terminal may be a control terminal of a drone, and the control terminal may detect a user's video playback speed control operation.
  • the control terminal includes one or more of a remote controller, a smart phone, a tablet computer, a laptop computer, a wearable device, and a remote control device with a touch display screen, which will not be repeated here.
  • the control terminal detecting the video playback speed control operation may be, for example, that the control terminal detects the video playback speed control operation through the interactive device.
  • the interactive device may be an important part of the control terminal and an interface for interacting with the user. The user may control the drone by operating the interactive device.
  • the user When the user wants to control the drone, the user operates the interactive device of the control terminal, and the control terminal detects the user's operation through the interactive device.
  • the control terminal detects the user's operation through the interactive device.
  • the user when the user wants to control the playback speed of the video shot by the drone, the user performs a video playback speed control operation on the interactive device, and the interactive device detects the video playback speed control operation.
  • the control terminal can detect the user's video playback speed control operation through the interactive device.
  • the interactive device may be, for example, one or more of a touch display screen, a keyboard, a joystick, and a pulsator of a control terminal; at the same time, the touch screen may also display all the parameters of the drone flight, and may display the drone shooting The picture.
  • the control terminal determines that the playback speed of the video is the first frame rate according to the video playback speed control operation.
  • the control terminal determines the video playback speed according to the video playback speed control operation.
  • the video playback speed is, for example, a first frame rate, where the first frame rate It may be larger than the preset frame rate, or the first frame rate is smaller than the preset frame rate. If the first frame rate is greater than the preset frame rate, it means that the user needs to speed up the playback speed of the video. If the first frame rate is less than the preset frame rate, it means that the user needs to slow down the video playback speed. Optionally, the first frame rate may also be equal to the preset frame rate. If the first frame rate is equal to the preset frame rate, it means that the user does not need to adjust the video playback speed.
  • the specific implementation process is similar to the existing technology, and is not described here. More details.
  • the following is an example to determine the playback speed of the video.
  • FIG. 3 is a schematic diagram of determining a video playback speed according to an embodiment of the present invention.
  • the video playback speed can be adjusted to five types, which are extremely slow, slow, normal, fast, and extremely fast. .
  • the playback speed of the video is equal to the normal corresponding frame rate (that is, the preset frame rate).
  • the user performs a touch operation on a slow icon it means that the video playback speed needs to be adjusted, and the video playback speed is the frame rate corresponding to the slow speed.
  • the playback speed of the video When the user performs a touch operation on an extremely slow icon, it means that the playback speed of the video needs to be adjusted, and the playback speed of the video is the frame rate corresponding to the extremely slow speed.
  • the playback speed of the video When the user performs a touch operation on the fast icon, it indicates that the playback speed of the video needs to be adjusted, and then the playback speed of the video is a fast corresponding frame rate.
  • the playback speed of the video When the user performs a touch operation on an extremely fast icon, it means that the playback speed of the video needs to be adjusted, and then the playback speed of the video is the corresponding frame rate of the extremely fast. It is shown in FIG. 3 that the user currently selects the slow icon, and the video playback speed (that is, the first frame rate) is the frame rate corresponding to the slow speed.
  • the frame rate corresponding to extremely slow ⁇ the frame rate corresponding to slow ⁇ preset frame rate ⁇ frame rate corresponding to fast ⁇ frame rate corresponding to extremely fast, frame rate corresponding to extremely slow, frame rate corresponding to slow, fast correspondence
  • the specific values of the frame rate and the extremely fast frame rate can be determined according to the actual application scenario, and are not limited here.
  • FIG. 4 is a schematic diagram of determining a video playback speed according to another embodiment of the present invention.
  • the video playback speed can be adjusted between a preset frame rate * 0.1 and a preset frame rate * 10.
  • the playback speed of the video may be adjusted between a preset frame rate * 0.05 and a preset frame rate * 20.
  • the user wants the playback speed of the video, the user can adjust the position of the playback speed adjustment block in the playback speed adjustment progress bar.
  • the playback speed adjustment block is located at the position corresponding to * 1, it means that the user does not need to adjust the playback speed of the video.
  • the playback speed of the video is equal to the preset frame rate.
  • the user can slide the adjustment playback speed adjustment block to the right of the position corresponding to * 1 in the playback speed adjustment progress bar.
  • the playback speed of the video is the preset frame rate * the first value.
  • the first value is greater than 1 and less than or equal to 10, and the value of the first value is related to the right position of the playback speed adjustment block at the position corresponding to * 1.
  • the user wants to slow down the playback speed of the video, the user can slide the adjustment playback speed adjustment block to the left of the position corresponding to * 1 in the playback speed adjustment progress bar, and the playback speed of the video is the preset frame rate * the second value
  • the second value is greater than or equal to 0.1 and less than 1.
  • the value of the second value is related to the left position of the playback speed adjustment block at the position corresponding to * 1. It is shown in FIG. 4 that the user will adjust the playback speed adjustment block at an intermediate position between the position corresponding to * 1 and the position corresponding to * 1.
  • the playback speed of the video (that is, the first frame rate) is, for example, a preset frame. Rate * 5.
  • the control terminal sends a video shooting instruction to the drone. Accordingly, the drone receives the video shooting instruction sent by the control terminal.
  • the control terminal sends a video shooting instruction to the drone, where the video shooting instruction is used to instruct the drone to take an image according to the preset frame rate and Generating a video with a faster or slower playback speed according to the first frame rate.
  • the video shooting instruction is used to instruct the drone to generate a video with a faster playback speed according to the first frame rate. If the first frame rate is less than the preset frame rate, the shooting instruction is used to instruct the drone to generate a video with a slower playback speed according to the first frame rate.
  • the drone controls the shooting device of the drone to capture an image at the preset frame rate, and generates a video with a faster or slower playback speed according to the first frame rate.
  • the drone controls the shooting device of the drone to capture an image at a preset frame rate according to the video shooting instruction, and generates a playback speed according to the first frame rate. Speed up or slow down the video. It should be noted that no matter the first frame rate is greater than or less than the preset frame rate, the unmanned shooting device in this embodiment still captures images at the preset frame rate. When the drone generates a video, it will generate a video with a faster or slower playback speed. When the first frame rate is greater than a preset frame rate, the drone generates a video with an accelerated playback speed; when the first frame rate is less than the pre- When the frame rate is set, the drone generates videos with a slower playback speed.
  • the video playback speed control method detects a video playback speed control operation through a control terminal, determines that the video playback speed is the first frame rate according to the video playback speed control operation, and then sends a video shooting instruction to the drone,
  • the drone controls the shooting device of the drone to capture an image at a preset frame rate, and generates a video with a faster or slower playback speed according to the first frame rate.
  • This embodiment can control the drone to generate a video with a variable playback speed during the shooting of the drone, and does not need to change the playback speed after the video is generated after the video is generated. Therefore, this embodiment improves the adjustment of the video playback speed. Efficiency and easier operation.
  • the drone in this embodiment after the drone in this embodiment generates a video with a faster or slower playback speed, it can be sent to the control terminal, or it can be sent to other devices (such as a cloud server), or the drone can also You can save the generated video.
  • a drone sends a video to a control terminal that is, this embodiment may further include:
  • the drone sends the video to the control terminal. Accordingly, the control terminal receives the video sent by the drone.
  • the drone sends the generated video with a faster or slower playback speed to the control terminal, and the control terminal receives the video sent by the drone with a faster or slower playback speed.
  • the control terminal saves the video.
  • control terminal saves the video after receiving the video sent by the drone.
  • the control terminal after the control terminal receives the video sent by the drone, the user can share the video.
  • the user can perform a sharing operation on the interactive device.
  • the control terminal can detect the sharing operation through the interactive device. After detecting the user's sharing operation through the interactive device, the control terminal can share the video.
  • the control terminal can publish the video to the network (such as a social networking site or a social APP). .
  • S207 may be executed after executing S205, and the execution of S207 may not be limited to S206.
  • the following describes how the drone generates a video with faster or slower playback speed according to the first frame rate.
  • the drone If the first frame rate is greater than the preset frame rate, the drone generates a video with faster playback speed, that is, the drone captures the image at the preset frame rate. Assuming the preset frame rate is 30 frames / second, that is, no one The drone shoots 30 frames of images per second, and the drone performs frame decimation on the image obtained at the preset frame rate according to the first frame rate, and generates a video with a faster playback speed from the framed image.
  • the drone determines the number of frame extraction intervals according to the first frame rate and the preset frame rate.
  • the number of frame extraction intervals indicates that T frames are extracted every N frames, where N and T are greater than An integer equal to 1, and then the drone performs frame decimation processing on an image obtained by shooting at a preset frame rate according to the number of frame decimation intervals.
  • the preset frame rate is, for example, 30 frames / second
  • the first frame rate is, for example, 150 frames / second
  • the playback speed of the video is 150 frames / second, indicating that the 150 frames of images shot by the drone must be played every second.
  • 150 frames of images acquired by the drone within 5 seconds are subjected to frame extraction processing, where the drone is based on a preset frame rate of 30 frames / second and a first frame rate of 150 frames / second.
  • the human-machine took a total of 1 minute of images (that is, the drone collected a total of 1800 frames of images), that is, after the above frame extraction processing, 360 frames of images were obtained, that is, a 12-second video was generated, that is, 30 frames of images were played per second. Video.
  • the control terminal detects a playback operation, and the control terminal plays the video.
  • the control terminal actually plays 30 frames per second. , Playing for a total of 12 seconds, in the process, equivalent to a total of 12 seconds to play the image captured by the drone for 1 minute, so it seems that the video playback speed has been accelerated.
  • the first frame rate is greater than the preset frame rate. Since the first frame rate / preset frame rate is equal to (T + N) / N, when the first frame rate / preset frame rate is greater than 2, T is greater than N; When the first frame rate / preset frame rate is 2, T is equal to N; when the first frame rate / preset frame rate is less than 2, T is less than N.
  • the drone If the first frame rate is less than the preset frame rate, the drone generates a video with a slower playback speed.
  • the drone captures images at a preset frame rate, and the drone extracts M frames of images from the images obtained at the preset frame rate according to the first frame rate, and then according to the M frames of images To generate a video with a slower playback speed.
  • a possible implementation manner for the drone to extract M frames of images is: the drone determines the number of frame extraction intervals according to the first frame rate and the preset frame rate, and the number of frame extraction intervals indicates Extract K frames every Q frames, where Q and K are integers greater than or equal to 1, and Q is less than or equal to K; then the drone extracts K frames every Q frame images from the preset frame rate From the captured images, M frames of images are extracted.
  • the preset frame rate is, for example, 30 frames / second
  • the first frame rate is, for example, 6 frames / second
  • the playback speed of the video is 6 frames / second, indicating that each frame of 6 frames of images shot by the drone is to be played
  • frame processing is performed on 30 frames of images acquired by the drone within one second.
  • the drone is based on a preset frame rate of 30 frames / second and a first frame rate of 6 frames / second.
  • the drone controls the shooting device to collect M frames of images according to the first frame rate;
  • the human-machine generates a video with a slower playback speed according to the M-frame image.
  • one possible implementation manner of controlling the shooting device to collect M frames of images is: Determine the number of acquisition frames according to the first frame rate and the preset frame rate, where the number of acquisition frames indicates that K frames are acquired every Q frames, where Q and K are integers greater than or equal to 1;
  • the shooting device is controlled to acquire K frames of images every Q frames to obtain M frames of images.
  • the preset frame rate is, for example, 30 frames / second
  • the first frame rate is, for example, 6 frames / second
  • the playback speed of the video is 6 frames / second, indicating that each frame of 6 frames of images shot by the drone is to be played
  • the drone can take 30 frames of images per second, but collect 6 frames of images, and the other 24 frames of images need not be collected.
  • the drone obtains a preset frame rate / first frame rate based on a preset frame rate of 30 frames / sec and a first frame rate of 6 frames / sec.
  • the preset frame rate / first frame rate is equal to (Q + K) / K
  • Q is greater than K
  • Q is equal to K
  • Q is equal to K
  • Q is less than K
  • one possible implementation manner of generating a video with a reduced playback speed is: copying and processing each K frame image in the M frame images into Q + K frame images, and Copying the processed image produces a slower playback video.
  • a total of 360 frames of image are obtained after 1 minute of shooting by the drone, and the 360 frame image is equivalent to a 12-second video, and then the drone converts 360 frames of image
  • the copy process is 1800 frames (for example, each frame is copied to 4 frames to obtain the same 5 frames).
  • a 1-minute video is generated based on the 1800 frames, and the generated video is to play 30 frames per second.
  • Video just every 5 frames of image is the same frame image, which is equivalent to playing the same frame of image every 5 frames of image time.
  • the control terminal detects a playback operation, and the control terminal plays the video.
  • the control terminal actually plays 30 frames per second.
  • a total of 1 minute of playback in the process, equivalent to 1 minute of playback of the image captured by the drone in 1 minute, but actually played the image captured by the drone part, so it seems that the video playback The speed is slowed.
  • the control terminal also detects that a video shooting operation is started before sending a video shooting instruction to the drone. Then, when the drone detects the operation for starting video shooting, it sends a video shooting instruction to the drone. Specifically, after the control terminal detects the video playback speed control operation and determines that the video playback speed is the first frame rate according to the video playback speed control operation, the control terminal also detects the start of the shooting operation. When the user wants to control the drone based on When the video is generated at the first frame rate, the user can start the video shooting operation on the interactive device. For example, the control terminal can display the start icon (as shown in FIGS. 3 and 4), and the user can use the interactive device to start the start icon.
  • the control terminal sends a video shooting instruction to the drone when detecting the start video shooting operation.
  • the start icon may be changed to an end icon.
  • the user may perform a touch operation on the ended icon to execute the end shooting to the control terminal.
  • the user can control the drone to pause shooting at any time.
  • the control terminal detects that the video shooting operation is paused during the process of shooting the image by the drone shooting device according to the preset frame rate.
  • the user can pause the video on the interactive device.
  • the shooting operation for example, the control terminal may display a paused icon when the drone is shooting (as shown in the figure), and the user may perform a touch operation on the paused icon through an interactive device.
  • the control terminal may detect the suspended video shooting operation through the interactive device, and upon detecting the suspended video shooting operation, send a pause video shooting instruction to the drone.
  • the drone receives the suspended video shooting operation sent by the control terminal.
  • Command and according to the pause video shooting instruction, control the shooting device to pause shooting an image.
  • the start icon can be changed to the end icon
  • the end icon can be changed to the start icon again.
  • the solutions of the foregoing embodiments may be executed again.
  • the user may adjust the video playback speed to the second Frame rate, the second frame rate may not be equal to the first frame rate.
  • the generated video may include multiple videos with a faster or slower playback speed.
  • the previous video in the generated video is a slower playback video and the middle video is normally played.
  • the speed of the video, the latter is a faster playback video; or, the generated video is the first slow playback video, the middle is a slow playback video, and the latter is a normal playback video.
  • this embodiment is not limited to these examples.
  • the generated video is no longer limited to speeding up or slowing down the playback speed, but can include multiple videos with different playback speeds, so the generated video is more exciting and interesting.
  • the control terminal detects a video playback speed control operation, and determines that the video playback speed is the first frame rate according to the video playback speed control operation. , And then send a video shooting instruction to the drone, where the video shooting instruction is used to instruct the drone to take an image according to the preset frame rate.
  • the drone captures an image according to the preset frame rate, and sends the image obtained by shooting at the preset frame rate to the control terminal.
  • the images sent by the drone and taken at a preset frame rate generate videos that play faster or slower.
  • the control terminal generates a video with a faster or slower playback speed.
  • An embodiment of the present invention also provides a computer storage medium.
  • the computer storage medium stores program instructions, and the program execution may include part or all of the steps of the video playback speed control method in the foregoing embodiments.
  • FIG. 5 is a schematic structural diagram of a control terminal according to an embodiment of the present invention.
  • the control terminal 500 in this embodiment may be used to control a movable platform.
  • the control terminal 500 may include: an interaction device 501, a A processor 502 and a first communication device 503, the interaction device 501, the first processor 502, and the first communication device 503 may be communicatively connected through a bus.
  • the first processor 502 may be a central processing unit (CPU), and the first processor 502 may also be another general-purpose processor, a digital signal processor (DSP), or an application specific integrated circuit (Application).
  • CPU central processing unit
  • DSP digital signal processor
  • Application application specific integrated circuit
  • control terminal in this embodiment may further include: a first memory 504, and the first memory 504 and the above-mentioned components may be connected through a bus communication.
  • the interactive device 501 is configured to detect a video playback speed control operation.
  • the first processor 502 is configured to determine, according to the video playback speed control operation, that a video playback speed is a first frame rate, and the first frame rate is greater than or less than a preset frame rate.
  • a first communication device 503 is configured to send a video shooting instruction to the movable platform, where the video shooting instruction is used to instruct the mobile platform to take an image according to the preset frame rate and generate a playback speed according to the first frame rate Speed up or slow down the video.
  • the first communication device 503 is further configured to receive, after the video shooting instruction is sent to the mobile platform, a video with a faster or slower playback speed sent by the mobile platform.
  • the movable platform is generated according to the first frame rate.
  • the first memory 504 is configured to save the video.
  • the interaction device 501 is further configured to detect a sharing operation.
  • the first processor 502 is further configured to share the video after the interactive device 501 detects a sharing operation.
  • the interaction device 501 is further configured to detect a playback operation.
  • the first processor 502 is further configured to play the video after the interactive device 501 detects a playback operation.
  • the interaction device 501 is further configured to detect that a video shooting operation is started before the first communication device 503 sends a video shooting instruction to the movable platform.
  • the first communication device 503 is specifically configured to send a video shooting instruction to the movable platform when the interactive device 501 detects the video shooting start operation.
  • the interaction device 501 is further configured to detect that a video shooting operation is suspended during a process in which the movable platform captures an image according to the preset frame rate.
  • the first communication device 503 is further configured to send a pause video shooting instruction to the movable platform when the interactive device 501 detects the pause video shooting operation, and the pause video shooting instruction is used to instruct the The movable platform pauses capturing images.
  • the first memory 504 is further configured to store program code.
  • the control terminal 500 may implement the technical solution of the control terminal.
  • control terminal in this embodiment may be used to execute the technical solutions of the control terminal in the foregoing method embodiments of the present invention.
  • the implementation principles and technical effects are similar, and are not described herein again.
  • FIG. 6 is a schematic structural diagram of a movable platform according to an embodiment of the present invention.
  • the movable platform 600 in this embodiment may include a second communication device 601, a second processor 602, and a photographing device. 603.
  • the second communication device 601, the second processor 602, and the photographing device 603 may be communicatively connected through a bus.
  • the second processor 602 may be a CPU, and the second processor 602 may also be another general-purpose processor, DSP, ASIC, FPGA, or other programmable logic device, discrete gate or transistor logic device, discrete hardware component, and the like.
  • a general-purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
  • the second communication device 601 is configured to receive a video shooting instruction sent by a control terminal of the mobile platform, where the video shooting instruction is used to instruct the mobile platform to take an image according to a preset frame rate and generate a video according to the first frame rate.
  • the first frame rate is less than or greater than the preset frame rate.
  • the second processor 602 is configured to control the shooting device 603 to capture an image at the preset frame rate, and generate a video with a faster or slower playback speed according to the first frame rate.
  • the second communication device 601 is further configured to send the video to the control terminal after the second processor 602 generates a video according to the first frame rate.
  • the second processor 602 is specifically configured to: if the first frame rate is greater than the preset frame rate, according to the first frame rate, obtain the image obtained by shooting at the preset frame rate.
  • the framed image is subjected to frame decimation processing, and the image after the frame decimation processing is used to generate the video with a faster playback speed.
  • the second processor 602 is specifically configured to determine the number of frame-drawing intervals according to the first frame rate and the preset frame rate, where the number of frame-drawing intervals indicates that T is extracted every N frames.
  • Frame the N and T are integers greater than or equal to 1; and performing frame decimation processing on an image obtained by shooting at the preset frame rate according to the frame decimation interval number.
  • T is greater than N.
  • T is equal to N.
  • T is less than N.
  • the second processor 602 is specifically configured to:
  • the first frame rate is less than the preset frame rate, extracting M frames of images from the images obtained at the preset frame rate according to the first frame rate, where M is an integer greater than or equal to 1 ;
  • the second processor 602 is specifically configured to:
  • M frames are extracted from the images obtained by shooting at the preset frame rate.
  • the second processor 602 is specifically configured to:
  • the shooting device 603 captures an image at the preset frame rate, control the shooting device to collect M according to the first frame rate.
  • M is an integer greater than or equal to 1. According to the M frame images, a video with a slower playback speed is generated.
  • the second processor 602 is specifically configured to:
  • the shooting device 603 is controlled to acquire K frame images every Q frames to obtain M frame images.
  • the second processor 602 is specifically configured to:
  • the second communication device 601 is further configured to receive a pause video shooting instruction sent by the control terminal during the shooting of the image by the shooting device 603, where the pause video shooting instruction is the control The terminal determines it by detecting that the video shooting operation is suspended.
  • the second processor 602 is further configured to control the shooting device 603 to pause capturing an image according to the pause video capturing instruction.
  • the movable platform 600 in this embodiment may further include a second memory (not shown in the figure).
  • the second memory is used to store program code.
  • the movable platform 600 may implement The technical solution of the above UAV.
  • the movable platform of this embodiment can be used to implement the technical solutions of the drone in the foregoing method embodiments of the present invention.
  • the implementation principles and technical effects are similar, and will not be repeated here.
  • FIG. 7 is a schematic structural diagram of a video playback speed control system according to an embodiment of the present invention.
  • the video playback speed control system 700 of this embodiment may include a control terminal 701 and a movable platform 702.
  • the control terminal 701 and the movable platform 702 can communicate through a wired communication link or a wireless communication link.
  • the control terminal 701 is configured to detect a video playback speed control operation; and according to the video playback speed control operation, determine that a video playback speed is a first frame rate, and the first frame rate is greater than or less than a preset frame rate; Send a video shooting instruction to the movable platform 702, where the video shooting instruction is used to instruct the movable platform 702 to take an image according to the preset frame rate and generate a playback speed faster or slower according to the first frame rate Video.
  • the movable platform 702 is configured to receive the video shooting instruction sent by the control terminal 701, and control a shooting device of the movable platform 702 to capture an image at the preset frame rate, and according to the first frame, Rate produces videos that play faster or slower.
  • the movable platform 702 is further configured to send the video to the control terminal 701 after generating the video according to the first frame rate.
  • the control terminal 701 is further configured to receive, after the video shooting instruction is sent to the mobile platform 702, a video with a faster or slower playback speed sent by the mobile platform 702.
  • control terminal 701 is further configured to save the video.
  • control terminal 701 is further configured to share the video after a sharing operation is detected.
  • control terminal 701 is further configured to play the video after a playback operation is detected.
  • the movable platform 702 when generating the video according to the first frame rate, is specifically configured to: if the first frame rate is greater than the preset frame rate, according to the first frame Rate, performing frame decimation on an image obtained by shooting at the preset frame rate, and generating the video with a faster playback speed from the frame decimated image.
  • the movable platform 702 when the movable platform 702 performs frame decimation processing on an image obtained by shooting at the preset frame rate according to the first frame rate, the movable platform 702 is specifically configured to:
  • the preset frame rate is used to determine the number of frame extraction intervals.
  • the number of frame extraction intervals indicates that T frames are extracted every N frames, where N and T are integers greater than or equal to 1.
  • the image obtained by shooting at the preset frame rate is subjected to frame decimation processing.
  • T is greater than N.
  • T is equal to N.
  • T is less than N.
  • the movable platform 702 when generating the video according to the first frame rate, is specifically configured to: if the first frame rate is less than the preset frame rate, according to the first frame Rate, extracting M frames of images from the images taken at the preset frame rate, where M is an integer greater than or equal to 1, and generating videos with a slower playback speed based on the M frames of images.
  • the movable platform 702 when the movable platform 702 extracts M frames of images from the images obtained by shooting at the preset frame rate according to the first frame rate, the movable platform 702 is specifically configured to: according to the first frame rate And the preset frame rate to determine the number of decimation intervals, where the number of decimation intervals indicates that K frames are extracted every Q frames, where Q and K are integers greater than or equal to 1; In the frame mode, M frames of images are extracted from the images obtained by shooting at the preset frame rate.
  • the movable platform 702 when generating the video according to the first frame rate, is specifically configured to: if the first frame rate is less than the preset frame rate, In the process of shooting an image by the shooting device at the preset frame rate, controlling the shooting device to collect M frames of images according to the first frame rate, where M is an integer greater than or equal to 1; and according to the M frames of images, Generates slowed-down videos.
  • the movable platform 702 controls the capturing device to collect M frames of images according to the first frame rate.
  • the number of acquisition frames indicates that K frames are acquired every Q frames, and the Q and K are greater than or equal to 1 An integer; and in the process that the shooting device of the movable platform 702 captures an image at the preset frame rate, controlling the shooting device to acquire K-frame images every Q frames to obtain M-frame images.
  • the movable platform 702 when the movable platform 702 generates a video with a slower playback speed based on the M-frame images, the movable platform 702 is specifically configured to copy and process every K-frame images in the M-frame images into Q + K-frame images, Copy the processed image into a slower video.
  • control terminal 701 is further configured to detect and start a video shooting operation before sending a video shooting instruction to the movable platform 702.
  • control terminal 701 is specifically configured to send a video shooting instruction to the movable platform 702 when the video shooting start operation is detected.
  • control terminal 701 is further configured to: detect that the video shooting operation is suspended during the process that the movable platform 702 takes an image according to the preset frame rate; and when detecting that the video shooting operation is suspended, Sending a pause video shooting instruction to the movable platform 702, where the pause video shooting instruction is used to instruct the movable platform 702 to pause capturing an image;
  • the movable platform 702 is further configured to receive a pause video shooting instruction sent by the control terminal 701 during a process of capturing an image by a shooting device of the movable platform 702, where the pause video shooting instruction is the control
  • the terminal 701 is determined by detecting a pause video shooting operation; and according to the pause video shooting instruction, controlling the shooting device to pause shooting an image.
  • the video playback speed control system can control the mobile platform to generate a video with a variable playback speed during the shooting process of the movable platform. There is no need to change the playback speed after the video is generated after the video is generated. , Improve the efficiency of adjusting the video playback speed, and the operation is simpler.
  • the generated video can include multiple videos with different playback speeds, so the generated video is more exciting and interesting.
  • the control terminal 701 may adopt the structure of the embodiment shown in FIG. 5. Correspondingly, the technical solutions of the control terminal in the foregoing method embodiments may be implemented. The implementation principles and technical effects are similar, and are not repeated here.
  • the movable platform 702 may adopt the structure of the embodiment shown in FIG. 6. Correspondingly, the technical solution of the drone in each of the above method embodiments may be executed. The implementation principles and technical effects are similar, and are not described herein again.
  • the foregoing program may be stored in a computer-readable storage medium.
  • the program is executed, the program is executed.
  • the foregoing storage medium includes: a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc. The medium.

Landscapes

  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Computing Systems (AREA)
  • Theoretical Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Computer Security & Cryptography (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Studio Devices (AREA)
  • Television Signal Processing For Recording (AREA)

Abstract

本发明实施例提供一种视频播放速度控制方法及系统、控制终端和可移动平台，此方法包括：控制终端检测到视频播放速度控制操作，并根据视频播放速度控制操作确定视频的播放速度为第一帧率，然后向无人机发送视频拍摄指令，无人机控制所述无人机的拍摄装置以预设帧率拍摄图像，并根据所述第一帧率生成播放速度加快或减慢的视频。本实施例可以在无人机拍摄过程中，控制无人机生成播放速度变速的视频，无需在生成视频后再经过后期处理来改变播放速度，因此，提高了调整视频的播放速度的效率，而且操作更简便。

Description

视频播放速度控制方法及系统、控制终端和可移动平台 技术领域
本发明实施例涉及图像处理技术领域，尤其涉及一种视频播放速度控制方法及系统、控制终端和可移动平台。
背景技术
在连续的图像变化每秒超过24帧图像以上时，根据视觉暂留原理，肉眼无法辨别单帧的静态图像，看上去是平滑连续的视觉效果，这样的画面称为视频。其中，视频的播放速度可以用帧率(fps)来表示，表示每秒内可以显示的图像的帧数；视频的拍摄速度也可以用帧率来表示，表示每秒内可以采集的图像的帧数。目前，通过成像装置拍摄视频的拍摄速度一般为30fps，通常该视频的播放速度也与视频的拍摄速度相同。若用户想要调整视频的播放速度，则用户先通过成像装置根据视频拍摄速度为30fps拍摄获得视频，然后通过减少单帧图像的显示时间来增加每秒内显示的图像的帧数，以调快视频播放速度，或者，通过增加单帧图像的显示时间来减少每秒内显示的图像的帧数，以调慢视频播放速度。但是，现有技术中调整视频播放速度的方式，需要在采集获得视频后，人为通过后期处理才能实现调整视频播放速度，造成调整视频播放速度的效率较低。
发明内容
本发明实施例提供一种视频播放速度控制方法及系统、控制终端和可移动平台，用于在拍摄过程中，生成播放速度加快或减慢的视频，无需在生成视频后再经过后期处理来改变播放速度，提高了调整视频的播放速度的效率，操作更简便。
第一方面，本发明实施例提供一种视频播放速度控制方法，应用于控制终端，包括：
检测到视频播放速度控制操作；
根据所述视频播放速度控制操作，确定视频的播放速度为第一帧率，所 述第一帧率大于或小于预设帧率；
向可移动平台发送视频拍摄指令，所述视频拍摄指令用于指示可移动平台根据所述预设帧率拍摄图像并根据所述第一帧率生成播放速度加快或减慢的视频。
第二方面，本发明实施例提供一种视频播放速度控制方法，应用于可移动平台，包括：
接收可移动平台的控制终端发送的视频拍摄指令，所述视频拍摄指令用于指示可移动平台根据预设帧率拍摄图像并根据第一帧率生成视频，所述第一帧率小于或大于所述预设帧率；
控制所述可移动平台的拍摄装置以所述预设帧率拍摄图像，并根据所述第一帧率生成播放速度加快或减慢的视频。
第三方面，本发明实施例提供一种控制终端，包括：
交互装置，用于检测到视频播放速度控制操作；
第一处理器，用于根据所述视频播放速度控制操作，确定视频的播放速度为第一帧率，所述第一帧率大于或小于预设帧率；
第一通信装置，用于向所述可移动平台发送视频拍摄指令，所述视频拍摄指令用于指示可移动平台根据所述预设帧率拍摄图像并根据所述第一帧率生成播放速度加快或减慢的视频。
第四方面，本发明实施例提供一种可移动平台，包括：
第二通信装置，用于接收可移动平台的控制终端发送的视频拍摄指令，所述视频拍摄指令用于指示可移动平台根据预设帧率拍摄图像并根据第一帧率生成视频，所述第一帧率小于或大于所述预设帧率；
第二处理器，用于控制所述可移动平台的拍摄装置以所述预设帧率拍摄图像，并根据所述第一帧率生成播放速度加快或减慢的视频。
第五方面，本发明实施例提供一种视频播放速度控制系统，包括：控制终端和可移动平台；
所述控制终端，用于检测到视频播放速度控制操作；根据所述视频播放速度控制操作，确定视频的播放速度为第一帧率，所述第一帧率大于或小于预设帧率；向所述可移动平台发送视频拍摄指令，所述视频拍摄指令用于指示所述可移动平台根据所述预设帧率拍摄图像并根据所述第一帧率生成播放 速度加快或减慢的视频；
所述可移动平台，用于接收所述控制终端发送的所述视频拍摄指令，控制所述可移动平台的拍摄装置以所述预设帧率拍摄图像，并根据所述第一帧率生成播放速度加快或减慢的视频。
第六方面，本发明实施例提供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，所述计算机程序包含至少一段代码，所述至少一段代码可由计算机执行，以控制所述计算机执行第一方面或第二方面所述的视频播放速度控制方法。
第七方面，本发明实施例提供一种计算机程序，当所述计算机程序被计算机执行时，用于实现第一方面或第二方面所述的视频播放速度控制方法。
本发明实施例提供的视频播放速度控制方法及系统、控制终端和可移动平台，通过控制终端检测到视频播放速度控制操作，并根据视频播放速度控制操作确定视频的播放速度为第一帧率，然后向无人机发送视频拍摄指令，无人机控制所述无人机的拍摄装置以预设帧率拍摄图像，并根据所述第一帧率生成播放速度加快或减慢的视频。本实施例可以在无人机拍摄过程中，控制无人机生成播放速度变速的视频，无需在生成视频后再经过后期处理来改变播放速度，因此，本实施例提高了调整视频的播放速度的效率，而且操作更简便。
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，下面将对实施例或现有技术描述中所需要使用的附图作一简单地介绍，显而易见地，下面描述中的附图是本发明的一些实施例，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是根据本发明的实施例的无人机系统的示意性架构图；
图2为本发明一实施例提供的视频播放速度控制方法的流程图；
图3为本发明一实施例提供的确定视频的播放速度的示意图；
图4为本发明另一实施例提供的确定视频的播放速度的示意图；
图5为本发明一实施例提供的控制终端的一种结构示意图；
图6为本发明一实施例提供的可移动平台的一种结构示意图；
图7为本发明一实施例提供的视频播放速度控制系统的一种结构示意图。
具体实施方式
为使本发明实施例的目的、技术方案和优点更加清楚，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、完整地描述，显然，所描述的实施例是本发明一部分实施例，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作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。
需要说明的是，当组件被称为“固定于”另一个组件，它可以直接在另一个组件上或者也可以存在居中的组件。当一个组件被认为是“连接”另一个组件，它可以是直接连接到另一个组件或者可能同时存在居中组件。
除非另有定义，本文所使用的所有的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同。本文中在本发明的说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在于限制本发明。本文所使用的术语“及/或”包括一个或多个相关的所列项目的任意的和所有的组合。
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。
本发明的实施例提供了视频播放速度控制方法及系统、控制终端和可移动平台。该可移动平台例如可以是无人机、无人船、无人汽车、机器人等。其中无人机例如可以是旋翼飞行器(rotorcraft)，例如，由多个推动装置通过空气推动的多旋翼飞行器，本发明的实施例并不限于此。
图1是根据本发明的实施例的无人机系统的示意性架构图。本实施例以旋翼无人机为例进行说明。
无人机系统100可以包括无人机110、显示设备130和控制终端140。其中，本实施例中，所述无人机110以无人飞行器为例，其可以包括动力系统150、控制系统160、机架和承载在机架上的云台120。无人机110可以与控制终端140和显示设备130进行无线通信。在其他实施例中，所述无人机也可以为无人车或无人船。
机架可以包括机身和脚架(也称为起落架)。机身可以包括中心架以及 与中心架连接的一个或多个机臂，一个或多个机臂呈辐射状从中心架延伸出。脚架与机身连接，用于在无人机110着陆时起支撑作用。
动力系统150可以包括一个或多个电子调速器(简称为电调)151、一个或多个螺旋桨153以及与一个或多个螺旋桨153相对应的一个或多个电机152。其中电机152连接在电调151与螺旋桨153之间，电机152和螺旋桨153设置在无人机110的机臂上。电调151用于接收控制系统160产生的驱动信号，并根据驱动信号提供驱动电流给电机152，以控制电机152的转速。需要说明的是，一个电调151可以对应多个电机，也可以多个电调151分别对应一个电机152。电机152用于驱动螺旋桨旋转，从而为无人机110的飞行提供动力，该动力使得无人机110能够实现一个或多个自由度的运动。在某些实施例中，无人机110可以围绕一个或多个旋转轴旋转。例如，上述旋转轴可以包括横滚轴(Roll)、偏航轴(Yaw)和俯仰轴(pitch)。应理解，电机152可以是直流电机，也可以交流电机。另外，电机152可以是无刷电机，也可以是有刷电机。
控制系统160可以包括控制器161和传感系统162。传感系统162用于测量无人机的姿态信息，即无人机110在空间的位置信息和状态信息，例如，三维位置、三维角度、三维速度、三维加速度和三维角速度等。传感系统162例如可以包括陀螺仪、超声传感器、电子罗盘、惯性测量单元(Inertial Measurement Unit，IMU)、视觉传感器、全球导航卫星系统和气压计等传感器中的至少一种。例如，全球导航卫星系统可以是全球定位系统(Global Positioning System，GPS)。控制器161用于控制无人机110的飞行或运行，例如，可以根据传感系统162测量的姿态信息控制无人机110的飞行或运行。应理解，控制器161可以按照预先编好的程序指令对无人机110进行控制，也可以通过响应来自控制终端140的一个或多个控制指令对无人机110进行控制。
云台120可以包括云台电机122。云台用于携带拍摄装置123。控制器161可以通过云台电机122控制云台120的运动。可选地，作为另一实施例，云台120还可以包括云台控制器，用于通过控制云台电机122来控制云台120的运动。应理解，云台120可以独立于无人机110，也可以为无人机110的一部分。应理解，云台电机122可以是直流电机，也可以是交流电机。另外， 云台电机122可以是无刷电机，也可以是有刷电机。还应理解，云台可以位于无人机的顶部，也可以位于无人机的底部。
拍摄装置123例如可以是照相机或摄像机等用于捕获图像的设备，拍摄装置123可以与飞行控制器通信，并在飞行控制器的控制下进行拍摄。本实施例的拍摄装置123至少包括感光元件，该感光元件例如为互补金属氧化物半导体(Complementary Metal Oxide Semiconductor，CMOS)传感器或电荷耦合元件(Charge-coupled Device，CCD)传感器。可以理解，拍摄装置123也可直接固定于无人机110上，从而云台120可以省略。
显示设备130位于地面端，可以通过无线方式与无人机110进行通信，并且可以用于显示无人机110的姿态信息。另外，还可以在显示设备130上显示成像装置拍摄的图像。应理解，显示设备130可以是独立的设备，也可以集成在控制终端140中。
控制终端140位于无人机系统100的地面端，可以通过无线方式与无人机110进行通信，用于对无人机110进行远程操纵。
另外，无人机110还可以机载有扬声器(图中未示出)，该扬声器用于播放音频文件，扬声器可直接固定于无人机110上，也可搭载在云台120上。
应理解，上述对于无人机系统各组成部分的命名仅是出于标识的目的，并不应理解为对本发明的实施例的限制。下面以可移动平台为无人机为例对本发明的方案进行说明。
图2为本发明一实施例提供的视频播放速度控制方法的流程图，如图2所示，本实施例的方法可以包括：
S201、控制终端检测到视频播放速度控制操作。
本实施例中，控制终端可以为无人机的控制终端，该控制终端可以检测用户的视频播放速度控制操作。该控制终端包括遥控器、智能手机、平板电脑、膝上型电脑、穿戴式设备、带有触摸显示屏的遥控装置中的一种或多种，此处不再赘述。其中，控制终端检测视频播放速度控制操作例如可以为：该控制终端通过交互装置检测到视频播放速度控制操作。其中，交互装置可以是控制终端的重要组成部分，是与用户进行交互的接口，用户可以通过对交互装置的操作，实现对无人机的控制。当用户想要控制无人机时，用户对控制终端的交互装置进行操作，控制终端通过该交互装置检测到用户的操作。 本实施例中，当用户想要对无人机机拍摄的视频的播放速度进行控制时，用户便对交互装置进行视频播放速度控制操作，交互装置会对该视频播放速度控制操作进行检测，因此，控制终端可以通过交互装置检测到用户的视频播放速度控制操作。该交互装置例如可以是控制终端的触摸显示屏、键盘、摇杆、波轮中的一种或多种；同时触控屏还可以显示无人机的飞行的所有参数，可以显示无人机拍摄的画面。
S202、控制终端根据所述视频播放速度控制操作，确定视频的播放速度为第一帧率。
本实施例中，控制终端检测到视频播放速度控制操作后，根据该视频播放速度控制操作，确定视频的播放速度，该视频的播放速度例如为第一帧率，其中，所述第一帧率可以大于预设帧率，或者，该第一帧率小于预设帧率。若第一帧率大于预设帧率，则说明用户需要加快视频的播放速度。若第一帧率小于预设帧率，则说明用户需要减慢视频的播放速度。可选地，第一帧率也可以等于预设帧率，若第一帧率等于预设帧率，则说明用户不需要调整视频的播放速度，具体实现过程与现有技术类似，此处不再赘述。
下面对确定视频的播放速度进行举例说明。
其中，图3为本发明一实施例提供的确定视频的播放速度的示意图，如图3所示，视频的播放速度可以调整为5种，分别为极慢、慢速、正常、快速和极快。当用户对正常的图标进行触点操作时，说明无需调整视频的播放速度，则视频的播放速度等于正常对应的帧率(即预设帧率)。当用户对慢速的图标进行触点操作时，说明需要调整视频的播放速度，则视频的播放速度为慢速对应的帧率。当用户对极慢的图标进行触点操作时，说明需要调整视频的播放速度，则视频的播放速度为极慢对应的帧率。当用户对快速的图标进行触点操作时，说明需要调整视频的播放速度，则视频的播放速度为快速对应的帧率。当用户对极快的图标进行触点操作时，说明需要调整视频的播放速度，则视频的播放速度为极快对应的帧率。其中图3中示出，用户当前选中了慢速的图标，视频的播放速度(即第一帧率)为慢速对应的帧率。其中，极慢对应的帧率＜慢速对应的帧率＜预设帧率＜快速对应的帧率＜极快对应的帧率，极慢对应的帧率、慢速对应的帧率、快速对应的帧率、极快对应的帧率的具体取值可以根据实际应用场景而定，此处不做限定。
其中，图4为本发明另一实施例提供的确定视频的播放速度的示意图，如图4所示，视频的播放速度可以在预设帧率*0.1至预设帧率*10之间调整，本实施例对此不做限定，例如视频的播放速度也可以在预设帧率*0.05至预设帧率*20之间调整。当用户想要视频的播放速度时，用户可以调整播放速度调整块在播放速度调整进度条中的位置。当播放速度调整块位于*1所对应的位置时，说明用户无需调整视频的播放速度，此时视频的播放速度等于预设帧率。当用户想要加快视频的播放速度，用户可以将调整播放速度调整块在播放速度调整进度条中滑动至*1所对应的位置的右边，视频的播放速度为预设帧率*第一值，第一值大于1且小于等于10，第一值的取值与播放速度调整块在*1所对应的位置的右边位置有关。当用户想要减慢视频的播放速度，用户可以将调整播放速度调整块在播放速度调整进度条中滑动至*1所对应的位置的左边，视频的播放速度为预设帧率*第二值，第二值大于等于0.1且小于1，第二值的取值与播放速度调整块在*1所对应的位置的左边位置有关。其中图4中示出，用户将调整播放速度调整块位于*1所对应的位置与*1所对应的位置之间的中间位置，视频的播放速度(即第一帧率)例如为预设帧率*5。
需要说明的是，本实施例并不限于图3和图4所示。
S203、控制终端向无人机发送视频拍摄指令。相应地，无人机接收控制终端发送的视频拍摄指令。
本实施便中，控制终端在确定视频的播放速度为第一帧率后，向无人机发送视频拍摄指令，所述视频拍摄指令用于指示无人机根据所述预设帧率拍摄图像并根据所述第一帧率生成播放速度加快或减慢的视频。其中，若第一帧率大于预设帧率，则视频拍摄指令用于指示无人机根据第一帧率生成播放速度加快的视频。若第一帧率小于预设帧率，则拍摄指令用于指示无人机根据第一帧率生成播放速度减慢的视频。
S204、无人机控制所述无人机的拍摄装置以所述预设帧率拍摄图像，并根据所述第一帧率生成播放速度加快或减慢的视频。
本实施例中，无人机接收到控制终端发送的视频拍摄指令后，根据视频拍摄指令，控制该无人机的拍摄装置以预设帧率拍摄图像，并根据该第一帧率生成播放速度加快或减慢的视频。需要说明的是，无论第一帧率大于或小 于预设帧率，本实施例中无人的拍摄装置均仍以预设帧率来拍摄图像。在无人机生成视频时，会生成播放速度加快或减慢的视频，其中，当第一帧率大于预设帧率时，无人机生成播放速度加快的视频；当第一帧率小于预设帧率时，无人机生成播放速度减慢的视频。
本实施例提供的视频播放速度控制方法，通过控制终端检测到视频播放速度控制操作，并根据视频播放速度控制操作确定视频的播放速度为第一帧率，然后向无人机发送视频拍摄指令，无人机控制所述无人机的拍摄装置以预设帧率拍摄图像，并根据所述第一帧率生成播放速度加快或减慢的视频。本实施例可以在无人机拍摄过程中，控制无人机生成播放速度变速的视频，无需在生成视频后再经过后期处理来改变播放速度，因此，本实施例提高了调整视频的播放速度的效率，而且操作更简便。
可选地，本实施例中的无人机在生成播放速度加快或减慢的视频后，可以发送给控制终端，或者，也可以发送给其它设备(例如云端服务器)，或者，无人机也可以保存生成的视频。下面以无人机将视频发送给控制终端为例进行说明，即本实施例还可以包括：
S205、无人机将所述视频发送给控制终端。相应地，控制终端接收无人机发送的所述视频。
本实施例中，无人机将生成的播放速度加快或减慢的视频发送给控制终端，控制终端接收无人机发送的播放速度加快或减慢的视频。
S206、控制终端保存所述视频。
本实施例中，控制终端接收到无人机发送的该视频后，保存该视频。
S207、控制终端在检测到分享操作后，对所述视频进行分享。
本实施例中，控制终端在接收到无人机发送的该视频后，用户可以对该视频进行分享。在用户需要对视频进行分享时，用户可以对交互装置进行分享操作。而控制终端可以通过交互装置检测分享操作，在通过交互装置检测到用户的分享操作后，对该视频进行分享，例如：控制终端可以将该视频发布到网络(例如社交网站，或者社交APP等)。
因此，采用本实施例的方案来改变视频的播放速度，可以快速获得播放速度变速的视频，因此可以实现快速分享该视频，也易于分享视频。
需要说明的是，S207在执行S205之后执行即可，S207的执行可以不受 限于S206。
下面对无人机根据第一帧率生成播放速度加快或减慢的视频进行描述。
若第一帧率大于预设帧率，则无人机生成播放速度加快的视频，也就是，无人机以预设帧率拍摄图像，假设预设帧率为30帧/秒，即无人机每秒拍摄30帧图像，无人机根据第一帧率，对以该预设帧率拍摄获得的图像进行抽帧处理，将抽帧处理后的图像生成播放速度加快的视频。
在一种可能的实现方式中，无人机根据第一帧率和预设帧率，确定抽帧间隔数，该抽帧间隔数表示每隔N帧抽取T帧，所述N、T为大于等于1的整数，然后无人机根据该抽帧间隔数，对以预设帧率拍摄获得的图像进行抽帧处理。其中，预设帧率例如为30帧/秒，第一帧率例如为150帧/秒，针对视频的播放速度为150帧/秒，说明每一秒要播放完无人机拍摄的150帧图像，因此，本实施例将无人机在5秒内拍摄获得的150帧图像进行抽帧处理，其中，无人机根据预设帧率为30帧/秒和第一帧率为150帧/秒，获得第一帧率/预设帧率，根据第一帧率/预设帧率的值，确定(T+N)/N，即150/30＝(4+1)/1，即确定每隔1帧抽取4帧，然后无人机对以30帧/秒拍摄获得的图像，以每隔1帧抽取4帧进行抽帧处理(例如无人机获得了第1帧至第5帧图像，无人机从第1帧至第5帧图像中，抽取第2帧至第5帧图像，保留第1帧图像)，从而将每5秒拍摄获得的150帧图像处理为30帧图像，假设无人机共拍摄了1分钟的图像(即无人机共采集了1800帧图像)，即经过上述抽帧处理后，获得360帧图像，即生成12秒的视频，也就是每秒播放30帧图像的视频。可选地，在控制终端接收无人机发送的该视频后，控制终端检测到播放操作，控制终端对所述视频进行播放，在对视频播放的过程中，实际上控制终端每秒播放30帧，共计播放12秒，在此过程中，相当于共计12秒播放完无人机1分钟拍摄到的图像，因此看起来，视频的播放速度得到加快。
其中，第一帧率大于预设帧率，由于第一帧率/预设帧率等于(T+N)/N，所以当第一帧率/预设帧率大于2时，T大于N；当第一帧率/预设帧率等于2时，T等于N；当第一帧率/预设帧率小于2时，T小于N。
若第一帧率小于预设帧率，则无人机生成播放速度减慢的视频。
在一些实施例中，无人机以预设帧率拍摄图像，无人机根据第一帧率，从以该预设帧率拍摄获得的图像中抽取出M帧图像，再根据该M帧图像， 生成播放速度减快的视频。
其中，无人机抽取出M帧图像的一种可能的实现方式为：无人机根据所述第一帧率和所述预设帧率，确定抽帧间隔数，所述抽帧间隔数表示每隔Q帧抽取K帧，所述Q、K为大于等于1的整数，Q小于或等于K；然后无人机以每隔Q帧图像抽取K帧的方式，从以所述预设帧率拍摄获得的图像中，抽取出M帧图像。
其中，预设帧率例如为30帧/秒，第一帧率例如为6帧/秒，针对视频的播放速度为6帧/秒，说明每一秒要播放无人机拍摄的6帧图像，因此，本实施例将无人机在每秒内拍摄获得的30帧图像进行抽帧处理，其中，无人机根据预设帧率为30帧/秒和第一帧率为6帧/秒，获得预设帧率/第一帧率，根据预设帧率/第一帧率的值，确定(Q+K)/K，即30/6＝(4+1)/1，即确定每隔4帧抽取1帧，然后无人机对以30帧/秒拍摄获得的图像，以每隔4帧抽取1帧(例如无人机获得了第1帧至第5帧图像，无人机从第1帧至第5帧图像中，抽取第5帧图像，以获得第5帧图像)，从而从每秒拍摄获得的30帧图像中抽取出6帧图像，假设无人机共拍摄了1分钟的图像(即无人机共采集了1800帧图像)，采用每隔4帧抽取1帧的方式，可以从上述1800帧图像中抽取出360帧图像。在另一种可能的实现方式中，也可以不采用每隔4帧抽取1帧的方式，而是随机从1800帧图像中间隔抽取360帧图像。
在另一些实施例中，在无人机的拍摄装置以所述预设帧率拍摄图像的过程中，无人机根据所述第一帧率，控制所述拍摄装置采集M帧图像；然后无人机根据所述M帧图像，生成播放速度减慢的视频。
其中，在所述无人机的拍摄装置以所述预设帧率拍摄图像的过程中，根据所述第一帧率，控制所述拍摄装置采集M帧图像的一种可能的实现方式为：根据所述第一帧率和所述预设帧率，确定采集帧数，所述采集帧数表示每不隔Q帧采集K帧，所述Q、K为大于等于1的整数；在所述无人机的拍摄装置以所述预设帧率拍摄图像的过程中，控制所述拍摄装置每隔拍摄Q帧采集K帧图像，以获得M帧图像。
其中，预设帧率例如为30帧/秒，第一帧率例如为6帧/秒，针对视频的播放速度为6帧/秒，说明每一秒要播放无人机拍摄的6帧图像，因此，无人机在每秒内可以拍摄30帧图像，但是采集6帧图像，其它24帧图像无需采 集。其中，无人机根据预设帧率为30帧/秒和第一帧率为6帧/秒，获得预设帧率/第一帧率，根据预设帧率/第一帧率的值，确定(Q+K)/K，即30/6＝(4+1)/1，即确定每隔4帧采集1帧，然后无人机对以30帧/秒进行拍摄，每隔4帧拍摄获得1帧(例如无人机拍摄第1帧至第5帧图像，无人机在拍摄第1帧至第4帧图像时不采集这些图像，而是在拍摄第5帧图像时采集该第5帧图像)，从而从每秒拍摄30帧图像中的过程中每秒采集6帧图像，假设无人机共拍摄了1分钟(即无人机共拍摄了1800帧)，采用每隔4帧采集1帧的方式，可以从上述1800帧中拍摄获得360帧图像。在另一种可能的实现方式中，也可以不采用每隔4帧采集1帧的方式，而是随机从1分钟的拍摄过程中间隔采集360帧图像。
在第一帧率小于预设帧率的上述各实施例中，由于预设帧率/第一帧率等于(Q+K)/K，所以当预设帧率/第一帧率大于2时，Q大于K；当预设帧率/第一帧率等于2时，Q等于K；当预设帧率/第一帧率小于2时，Q小于K。
在上述各实施例中，根据获得的M帧图像，生成播放速度减慢的视频的一种可能的实现方式为：将M帧图像中的每K帧图像复制处理为Q+K帧图像，将复制处理后的图像生成播放速度减慢的视频。以上述实施例中每隔3帧获得1帧的方式为例，在无人机拍摄1分钟后共获得360帧图像，该360帧图像相当于12秒的视频，然后无人机将360帧图像复制处理为1800帧图像(例如将每一帧图像复制4帧图像，共获得完全相同的5帧图像)，根据1800帧图像生成1分钟的视频，生成的视频也就是每秒播放30帧图像的视频，只是每5帧图像为同一帧图像，相当于每播放5帧的图像的时间播放同一帧图像。可选地，在控制终端接收无人机发送的该视频后，控制终端检测到播放操作，控制终端对所述视频进行播放，在对视频播放的过程中，实际上控制终端每秒播放30帧，共计1分钟播放，在此过程中，相当于共计1分钟播放完无人机1分钟拍摄到的图像，但是实际上播放的是无人机部分拍摄到的图像，因此看起来，视频的播放速度得到减慢。
在上述各实施例的基础上，在一些实施例中，控制终端在向无人机发送视频拍摄指令之前，还检测开始拍摄视频操作。然后无人机在检测到所述开始拍摄视频操作时，向所述无人机发送视频拍摄指令。具体地，控制终端在检测视频播放速度控制操作，并根据该视频播放速度控制操作确定视频的播 放速度为第一帧率之后，控制终端还检测开始拍摄操作，当用户想要控制无人机根据该第一帧率生成视频时，用户可以对交互装置进行开始视频拍摄操作，例如：控制终端可以显示开始的图标(如图3和图4所示)，用户可以通过交互装置对该开始的图标进行触点操作。然后控制终端在检测到该开始视频拍摄操作时，向无人机发送视频拍摄指令。可选地，在用户点击开始的图标之后，该开始的图标可以变更为结束的图标，当用户想要结束拍摄时，用户可以对该结束的图标进行触点操作，以向控制终端执行结束拍摄操作，控制终端检测到结束拍摄操作，向无人机发送结束拍摄指令，无人机接收到结束拍摄指令后，控制拍摄装置停止拍摄图像，然后生成一段完整的视频。
在上述各实施例的基础上，在一些实施例中，在无人机进行拍摄的过程中，用户可以控制无人机随时暂停拍摄。具体地，在无人机的拍摄装置根据该预设帧率拍摄图像的过程中，控制终端检测暂停视频拍摄操作；当用户需要控制无人机暂停视频拍摄时，用户可以对交互装置进行暂停视频拍摄操作，例如：控制终端可以在无人机进行拍摄时显示暂停的图标(如图)，用户可以通过交互装置对该暂停的图标进行触点操作。相应地，控制终端可以通过交互装置检测到暂停视频拍摄操作，在检测到该暂停视频拍摄操作时，向无人机发送暂停视频拍摄指令，相应地，无人机接收控制终端发送的暂停视频拍摄指令，并根据该暂停视频拍摄指令，控制拍摄装置暂停拍摄图像。可选地，该开始的图标可以变更为结束的图标之后，当用户点击暂停的图标之后，该结束的图标又可以变更为开始的图标。
可选地，本实施例在无人机控制拍摄装置暂停拍摄图像之后，还可以再次执行上述各实施例的方案，再次执行上述实施例的方案时，用户可以将视频的播放速度调整为第二帧率，该第二帧率可以不等于第一帧率。这样在无人机控制拍摄装置结束拍摄图像之后，生成的视频中可以包括多段播放速度加快或减慢的视频，例如：生成的视频中前一段为播放速度减慢的视频，中间一段为正常播放速度的视频，后一段为播放速度加快的视频；或者，生成的视频中前一段为播放速度极慢的视频，中间一段为播放速度慢速的视频，后一段为播放速度正常的视频。需要说明的是，本实施例中不限于这些举例。总之，通过上述方案，生成的视频不再只局限于播放速度加快或减慢，而是可以包括多段播放速度不同的视频，因此生成的视频更加精彩、有趣。
可选地，上述各实施例不同的是，在另一种实现方案中，控制终端检测到视频播放速度控制操作，并根据所述视频播放速度控制操作，确定视频的播放速度为第一帧率，然后向无人机发送视频拍摄指令，该视频拍摄指令用于指示无人机根据所述预设帧率拍摄图像。相应地，无人机接收控制终端发送的视频拍摄指令后，根据该预设帧率拍摄图像，并将根据预设帧率拍摄获得的图像发送给控制终端，控制终端再根据第一帧率以及无人机发送的根据预设帧率拍摄获得的图像，生成播放速度加快或减慢的视频。其中，控制终端生成播放速度加快或减慢的视频，可以参见上述无人机生成播放速度加快或减慢的视频的具体实现过程，此处不再赘述。
本发明实施例中还提供了一种计算机存储介质，该计算机存储介质中存储有程序指令，所述程序执行时可包括上述各实施例中的视频播放速度控制方法的部分或全部步骤。
图5为本发明一实施例提供的控制终端的一种结构示意图，如图5所示，本实施例的控制终端500可以用于控制可移动平台，控制终端500可以包括：交互装置501、第一处理器502和第一通信装置503，交互装置501、第一处理器502和第一通信装置503可以通过总线通信连接。上述第一处理器502可以是中央处理单元(Central Processing Unit，CPU)，该第一处理器502还可以是其他通用处理器、数字信号处理器(Digital Signal Processor，DSP)、专用集成电路(Application Specific Integrated Circuit，ASIC)、现成可编程门阵列(Field-Programmable Gate Array，FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件等。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等。可选地，本实施例的控制终端还可以包括：第一存储器504，所述第一存储器504与上述部件之间可以通过总线通信连接。
交互装置501，用于检测到视频播放速度控制操作。
第一处理器502，用于根据所述视频播放速度控制操作，确定视频的播放速度为第一帧率，所述第一帧率大于或小于预设帧率。
第一通信装置503，用于向所述可移动平台发送视频拍摄指令，所述视频拍摄指令用于指示可移动平台根据所述预设帧率拍摄图像并根据所述第一帧率生成播放速度加快或减慢的视频。
可选地，所述第一通信装置503，还用于在向所述可移动平台发送视频拍摄指令之后，接收所述可移动平台发送的播放速度加快或减慢的视频，所述视频为所述可移动平台根据所述第一帧率生成的。
可选地，第一存储器504，用于保存所述视频。
可选地，所述交互装置501，还用于检测分享操作。
所述第一处理器502，还用于在所述交互装置501检测到分享操作后，对所述视频进行分享。
可选地，所述交互装置501，还用于检测播放操作。所述第一处理器502，还用于在所述交互装置501检测到播放操作后，对所述视频进行播放。
可选地，所述交互装置501，还用于在所述第一通信装置503向所述可移动平台发送视频拍摄指令之前，检测开始拍摄视频操作。所述第一通信装置503，具体用于在所述交互装置501检测到所述开始拍摄视频操作时，向所述可移动平台发送视频拍摄指令。
可选地，所述交互装置501，还用于在所述可移动平台根据所述预设帧率拍摄图像的过程中，检测暂停视频拍摄操作。所述第一通信装置503，还用于在所述交互装置501检测到所述暂停视频拍摄操作时，向所述可移动平台发送暂停视频拍摄指令，所述暂停视频拍摄指令用于指示所述可移动平台暂停拍摄图像。
可选地，第一存储器504还用于存储程序代码，当程序代码被执行时，所述控制终端500可以实现上述控制终端的技术方案。
本实施例的控制终端，可以用于执行本发明上述各方法实施例中控制终端的技术方案，其实现原理和技术效果类似，此处不再赘述。
图6为本发明一实施例提供的可移动平台的一种结构示意图，如图6所示，本实施例的可移动平台600可以包括：第二通信装置601、第二处理器602和拍摄装置603，第二通信装置601、第二处理器602和拍摄装置603可以通过总线通信连接。上述第二处理器602可以是CPU，该第二处理器602还可以是其他通用处理器、DSP、ASIC、FPGA或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件等。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等。
其中，第二通信装置601，用于接收可移动平台的控制终端发送的视频 拍摄指令，所述视频拍摄指令用于指示可移动平台根据预设帧率拍摄图像并根据第一帧率生成视频，所述第一帧率小于或大于所述预设帧率。
第二处理器602，用于控制所述拍摄装置603以所述预设帧率拍摄图像，并根据所述第一帧率生成播放速度加快或减慢的视频。
可选地，所述第二通信装置601，还用于在所述第二处理器602根据所述第一帧率生成视频之后，将所述视频发送给所述控制终端。
可选地，所述第二处理器602，具体用于：若所述第一帧率大于所述预设帧率，则根据所述第一帧率，对以所述预设帧率拍摄获得的图像进行抽帧处理，将抽帧处理后的图像生成播放速度加快的所述视频。
可选地，所述第二处理器602，具体用于：根据所述第一帧率和所述预设帧率，确定抽帧间隔数，所述抽帧间隔数表示每隔N帧抽取T帧，所述N、T为大于等于1的整数；根据所述抽帧间隔数，对以所述预设帧率拍摄获得的图像进行抽帧处理。
可选地，当所述第一帧率与所述预设帧率的比值大于2时，T大于N。当所述第一帧率与所述预设帧率的比值等于2时，T等于N。当所述第一帧率与所述预设帧率的比值2时，T小于N。
可选地，所述第二处理器602，具体用于：
若所述第一帧率小于所述预设帧率，则根据所述第一帧率，从以所述预设帧率拍摄获得的图像中抽取出M帧图像，M为大于等于1的整数；
根据所述M帧图像，生成播放速度减慢的视频。
可选地，所述第二处理器602，具体用于：
根据所述第一帧率和所述预设帧率，确定抽帧间隔数，所述抽帧间隔数表示每隔Q帧抽取K帧，所述Q、K为大于等于1的整数；
以每隔Q帧图像抽取K帧的方式，从以所述预设帧率拍摄获得的图像中，抽取出M帧图像。
可选地，所述第二处理器602，具体用于：
若所述第一帧率小于所述预设帧率，则在所述拍摄装置603以所述预设帧率拍摄图像的过程中，根据所述第一帧率，控制所述拍摄装置采集M帧图像，M为大于等于1的整数；根据所述M帧图像，生成播放速度减慢的视频。
可选地，所述第二处理器602，具体用于：
根据所述第一帧率和所述预设帧率，确定采集帧数，所述采集帧数表示每隔Q帧采集K帧，所述Q、K为大于等于1的整数；
在所述拍摄装置603以所述预设帧率拍摄图像的过程中，控制所述拍摄装置603每隔Q帧采集K帧图像，以获得M帧图像。
可选地，当所述预设帧率与所述第一帧率的比值大于2时，Q大于K。当所述预设帧率与所述第一帧率的比值等于2时，Q等于K。当所述预设帧率与所述第一帧率的比值小于2时，Q小于K。
可选地，所述第二处理器602，具体用于：
将M帧图像中的每K帧图像复制处理为Q+K帧图像，
将复制处理后的图像生成播放速度减慢的视频。
可选地，所述第二通信装置601，还用于在所述拍摄装置603进行拍摄图像的过程中，接收所述控制终端发送的暂停视频拍摄指令，所述暂停视频拍摄指令是所述控制终端通过检测暂停视频拍摄操作确定的。
所述第二处理器602，还用于根据所述暂停视频拍摄指令，控制所述拍摄装置603暂停拍摄图像。
可选地，本实施例的可移动平台600还可以包括第二存储器(图中未示出)，第二存储器用于存储程序代码，当程序代码被执行时，所述可移动平台600可以实现上述无人机的技术方案。
本实施例的可移动平台，可以用于执行本发明上述各方法实施例中无人机的技术方案，其实现原理和技术效果类似，此处不再赘述。
图7为本发明一实施例提供的视频播放速度控制系统的一种结构示意图，如图7所示，本实施例的视频播放速度控制系统700可以包括：控制终端701和可移动平台702。控制终端701与可移动平台702可以通过有线通信链路或无线通信链路进行通信。
所述控制终端701，用于检测到视频播放速度控制操作；根据所述视频播放速度控制操作，确定视频的播放速度为第一帧率，所述第一帧率大于或小于预设帧率；向所述可移动平台702发送视频拍摄指令，所述视频拍摄指令用于指示所述可移动平台702根据所述预设帧率拍摄图像并根据所述第一帧率生成播放速度加快或减慢的视频。所述可移动平台702，用于接收所述控制终端701发送的所述视频拍摄指令，控制所述可移动平台702的拍摄装 置以所述预设帧率拍摄图像，并根据所述第一帧率生成播放速度加快或减慢的视频。
可选地，所述可移动平台702，还用于根据所述第一帧率生成所述视频之后，将所述视频发送给所述控制终端701。所述控制终端701，还用于向可移动平台702发送视频拍摄指令之后，接收所述可移动平台702发送的播放速度加快或减慢的视频。
可选地，所述控制终端701，还用于保存所述视频。
可选地，所述控制终端701，还用于在检测到分享操作后，对所述视频进行分享。
可选地，所述控制终端701，还用于在检测到播放操作后，对所述视频进行播放。
可选地，所述可移动平台702在根据所述第一帧率生成所述视频时，具体用于：若所述第一帧率大于所述预设帧率，则根据所述第一帧率，对以所述预设帧率拍摄获得的图像进行抽帧处理，将抽帧处理后的图像生成播放速度加快的所述视频。
可选地，所述可移动平台702在根据所述第一帧率，对以所述预设帧率拍摄获得的图像进行抽帧处理时，具体用于：根据所述第一帧率和所述预设帧率，确定抽帧间隔数，所述抽帧间隔数表示每隔N帧抽取T帧，所述N、T为大于等于1的整数；以及根据所述抽帧间隔数，对以所述预设帧率拍摄获得的图像进行抽帧处理。
可选地，当所述第一帧率与所述预设帧率的比值大于2时，T大于N。当所述第一帧率与所述预设帧率的比值等于2时，T等于N。当所述第一帧率与所述预设帧率的比值2时，T小于N。
可选地，所述可移动平台702在根据所述第一帧率生成所述视频时，具体用于：若所述第一帧率小于所述预设帧率，则根据所述第一帧率，从以所述预设帧率拍摄获得的图像中抽取出M帧图像，M为大于等于1的整数；根据所述M帧图像，生成播放速度减慢的视频。
可选地，所述可移动平台702在根据所述第一帧率，从以所述预设帧率拍摄获得的图像中抽取出M帧图像时，具体用于：根据所述第一帧率和所述预设帧率，确定抽帧间隔数，所述抽帧间隔数表示每隔Q帧抽取K帧，所述 Q、K为大于等于1的整数；以及以每隔Q帧图像抽取K帧的方式，从以所述预设帧率拍摄获得的图像中，抽取出M帧图像。
可选地，所述可移动平台702在根据所述第一帧率生成所述视频时，具体用于：若所述第一帧率小于所述预设帧率，则在所述可移动平台的拍摄装置以所述预设帧率拍摄图像的过程中，根据所述第一帧率，控制所述拍摄装置采集M帧图像，M为大于等于1的整数；以及根据所述M帧图像，生成播放速度减慢的视频。
可选地，所述可移动平台702在所述可移动平台702的拍摄装置以所述预设帧率拍摄图像的过程中，根据所述第一帧率，控制所述拍摄装置采集M帧图像时，具体用于：根据所述第一帧率和所述预设帧率，确定采集帧数，所述采集帧数表示每隔Q帧采集K帧，所述Q、K为大于等于1的整数；以及在所述可移动平台702的拍摄装置以所述预设帧率拍摄图像的过程中，控制所述拍摄装置每隔Q帧采集K帧图像，以获得M帧图像。
可选地，当所述预设帧率与所述第一帧率的比值大于2时，Q大于K。当所述预设帧率与所述第一帧率的比值等于2时，Q等于K。当所述预设帧率与所述第一帧率的比值小于2时，Q小于K。
可选地，所述可移动平台702在根据所述M帧图像，生成播放速度减慢的视频时，具体用于：将M帧图像中的每K帧图像复制处理为Q+K帧图像，将复制处理后的图像生成播放速度减慢的视频。
可选地，所述控制终端701，还用于在向可移动平台702发送视频拍摄指令之前，检测开始拍摄视频操作。相应地，所述控制终端701在向可移动平台702发送视频拍摄指令时，具体用于：在检测到所述开始拍摄视频操作时，向所述可移动平台702发送视频拍摄指令。
可选地，所述控制终端701还用于：在所述可移动平台702根据所述预设帧率拍摄图像的过程中，检测暂停视频拍摄操作；在检测到所述暂停视频拍摄操作时，向所述可移动平台702发送暂停视频拍摄指令，所述暂停视频拍摄指令用于指示所述可移动平台702暂停拍摄图像；
所述可移动平台702，还用于在所述可移动平台702的拍摄装置进行拍摄图像的过程中，接收所述控制终端701发送的暂停视频拍摄指令，所述暂停视频拍摄指令是所述控制终端701通过检测暂停视频拍摄操作确定的；根 据所述暂停视频拍摄指令，控制所述拍摄装置暂停拍摄图像。
综上所述，本实施例提供的视频播放速度控制系统可以在可移动平台拍摄过程中，控制可移动平台生成播放速度变速的视频，无需在生成视频后再经过后期处理来改变播放速度，因此，提高了调整视频的播放速度的效率，而且操作更简便。另外，生成的视频可以包括多段播放速度不同的视频，因此生成的视频更加精彩、有趣。
其中，控制终端701可以采用图5所示实施例的结构，其对应地，可以执行上述各方法实施例中控制终端的技术方案，其实现原理和技术效果类似，此处不再赘述。可移动平台702可以采用图6所示实施例的结构，其对应地，可以执行上述各方法实施例中无人机的技术方案，其实现原理和技术效果类似，此处不再赘述。
本领域普通技术人员可以理解：实现上述方法实施例的全部或部分步骤可以通过程序指令相关的硬件来完成，前述的程序可以存储于一计算机可读取存储介质中，该程序在执行时，执行包括上述方法实施例的步骤；而前述的存储介质包括：只读内存(Read-Only Memory，ROM)、随机存取存储器(Random Access Memory，RAM)、磁碟或者光盘等各种可以存储程序代码的介质。
最后应说明的是：以上各实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述各实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的范围。

Claims (54)

  1. 一种视频播放速度控制方法，其特征在于，应用于控制终端，包括：
    检测到视频播放速度控制操作；
    根据所述视频播放速度控制操作，确定视频的播放速度为第一帧率，所述第一帧率大于或小于预设帧率；
    向可移动平台发送视频拍摄指令，所述视频拍摄指令用于指示可移动平台根据所述预设帧率拍摄图像并根据所述第一帧率生成播放速度加快或减慢的视频。
  2. 根据权利要求1所述的方法，其特征在于，所述向可移动平台发送视频拍摄指令之后，还包括：
    接收所述可移动平台发送的播放速度加快或减慢的视频，所述视频为所述可移动平台根据所述第一帧率生成的。
  3. 根据权利要求2所述的方法，其特征在于，还包括：
    保存所述视频。
  4. 根据权利要求2或3所述的方法，其特征在于，还包括：
    在检测到分享操作后，对所述视频进行分享。
  5. 根据权利要求2-4任一项所述的方法，其特征在于，还包括：
    在检测到播放操作后，对所述视频进行播放。
  6. 根据权利要求1-5任一项所述的方法，其特征在于，所述向可移动平台发送视频拍摄指令之前，还包括：
    检测开始拍摄视频操作；
    所述向可移动平台发送视频拍摄指令，包括：
    在检测到所述开始拍摄视频操作时，向所述可移动平台发送视频拍摄指令。
  7. 根据权利要求1-6任一项所述的方法，其特征在于，还包括：
    在所述可移动平台根据所述预设帧率拍摄图像的过程中，检测暂停视频拍摄操作；
    在检测到所述暂停视频拍摄操作时，向所述可移动平台发送暂停视频拍摄指令，所述暂停视频拍摄指令用于指示所述可移动平台暂停拍摄图像。
  8. 一种视频播放速度控制方法，其特征在于，应用于可移动平台，包括：
    接收可移动平台的控制终端发送的视频拍摄指令，所述视频拍摄指令用于指示可移动平台根据预设帧率拍摄图像并根据第一帧率生成视频，所述第一帧率小于或大于所述预设帧率；
    控制所述可移动平台的拍摄装置以所述预设帧率拍摄图像，并根据所述第一帧率生成播放速度加快或减慢的视频。
  9. 根据权利要求8所述的方法，其特征在于，根据所述第一帧率生成所述视频之后，还包括：
    将所述视频发送给所述控制终端。
  10. 根据权利要求8或9所述的方法，其特征在于，若所述第一帧率大于所述预设帧率，则根据所述第一帧率生成所述视频，包括：
    根据所述第一帧率，对以所述预设帧率拍摄获得的图像进行抽帧处理，将抽帧处理后的图像生成播放速度加快的所述视频。
  11. 根据权利要求10所述的方法，其特征在于，所述根据所述第一帧率，对以所述预设帧率拍摄获得的图像进行抽帧处理，包括：
    根据所述第一帧率和所述预设帧率，确定抽帧间隔数，所述抽帧间隔数表示每隔N帧抽取T帧，所述N、T为大于等于1的整数；
    根据所述抽帧间隔数，对以所述预设帧率拍摄获得的图像进行抽帧处理。
  12. 根据权利要求11所述的方法，其特征在于，
    当所述第一帧率与所述预设帧率的比值大于2时，T大于N；
    当所述第一帧率与所述预设帧率的比值等于2时，T等于N；
    当所述第一帧率与所述预设帧率的比值2时，T小于N。
  13. 根据权利要求8或9所述的方法，其特征在于，若所述第一帧率小于所述预设帧率，则根据所述第一帧率生成所述视频，包括：
    根据所述第一帧率，从以所述预设帧率拍摄获得的图像中抽取出M帧图像，M为大于等于1的整数；
    根据所述M帧图像，生成播放速度减慢的视频。
  14. 根据权利要求13所述的方法，其特征在于，所述根据所述第一帧率，从以所述预设帧率拍摄获得的图像中抽取出M帧图像，包括：
    根据所述第一帧率和所述预设帧率，确定抽帧间隔数，所述抽帧间隔数表示每隔Q帧抽取K帧，所述Q、K为大于等于1的整数；
    以每隔Q帧图像抽取K帧的方式，从以所述预设帧率拍摄获得的图像中，抽取出M帧图像。
  15. 根据权利要求8或9所述的方法，其特征在于，若所述第一帧率小于所述预设帧率，则根据所述第一帧率生成所述视频，包括：
    在所述可移动平台的拍摄装置以所述预设帧率拍摄图像的过程中，根据所述第一帧率，控制所述拍摄装置采集M帧图像，M为大于等于1的整数；
    根据所述M帧图像，生成播放速度减慢的视频。
  16. 根据权利要求15所述的方法，其特征在于，在所述可移动平台的拍摄装置以所述预设帧率拍摄图像的过程中，根据所述第一帧率，控制所述拍摄装置采集M帧图像，包括：
    根据所述第一帧率和所述预设帧率，确定采集帧数，所述采集帧数表示每隔Q帧采集K帧，所述Q、K为大于等于1的整数；
    在所述可移动平台的拍摄装置以所述预设帧率拍摄图像的过程中，控制所述拍摄装置每隔Q帧采集K帧图像，以获得M帧图像。
  17. 根据权利要求13或15所述的方法，其特征在于，
    当所述预设帧率与所述第一帧率的比值大于2时，Q大于K；
    当所述预设帧率与所述第一帧率的比值等于2时，Q等于K；
    当所述预设帧率与所述第一帧率的比值小于2时，Q小于K。
  18. 根据权利要求14或16或17所述的方法，其特征在于，根据所述M帧图像，生成播放速度减慢的视频，包括：
    将M帧图像中的每K帧图像复制处理为Q+K帧图像，
    将复制处理后的图像生成播放速度减慢的视频。
  19. 根据权利要求8-18任一项所述的方法，其特征在于，还包括：
    在所述可移动平台的拍摄装置进行拍摄图像的过程中，接收所述控制终端发送的暂停视频拍摄指令，所述暂停视频拍摄指令是所述控制终端通过检测暂停视频拍摄操作确定的；
    根据所述暂停视频拍摄指令，控制所述拍摄装置暂停拍摄图像。
  20. 一种控制终端，其特征在于，包括：
    交互装置，用于检测到视频播放速度控制操作；
    第一处理器，用于根据所述视频播放速度控制操作，确定视频的播放速 度为第一帧率，所述第一帧率大于或小于预设帧率；
    第一通信装置，用于向可移动平台发送视频拍摄指令，所述视频拍摄指令用于指示可移动平台根据所述预设帧率拍摄图像并根据所述第一帧率生成播放速度加快或减慢的视频。
  21. 根据权利要求20所述的控制终端，其特征在于，所述第一通信装置，还用于在向所述可移动平台发送视频拍摄指令之后，接收所述可移动平台发送的播放速度加快或减慢的视频，所述视频为所述可移动平台根据所述第一帧率生成的。
  22. 根据权利要求21所述的控制终端，其特征在于，还包括：
    第一存储器，用于保存所述视频。
  23. 根据权利要求21或22所述的控制终端，其特征在于，
    所述交互装置，还用于检测分享操作；
    所述第一处理器，还用于在所述交互装置检测到分享操作后，对所述视频进行分享。
  24. 根据权利要求21-23任一项所述的控制终端，其特征在于，
    所述交互装置，还用于检测播放操作；
    所述第一处理器，还用于在所述交互装置检测到播放操作后，对所述视频进行播放。
  25. 根据权利要求20-24任一项所述的控制终端，其特征在于，
    所述交互装置，还用于在所述第一通信装置向所述可移动平台发送视频拍摄指令之前，检测开始拍摄视频操作；
    所述第一通信装置，具体用于在所述交互装置检测到所述开始拍摄视频操作时，向所述可移动平台发送视频拍摄指令。
  26. 根据权利要求20-25任一项所述的控制终端，其特征在于，
    所述交互装置，还用于在所述可移动平台根据所述预设帧率拍摄图像的过程中，检测暂停视频拍摄操作；
    所述第一通信装置，还用于在所述交互装置检测到所述暂停视频拍摄操作时，向所述可移动平台发送暂停视频拍摄指令，所述暂停视频拍摄指令用于指示所述可移动平台暂停拍摄图像。
  27. 一种可移动平台，其特征在于，包括：
    第二通信装置，用于接收可移动平台的控制终端发送的视频拍摄指令，所述视频拍摄指令用于指示可移动平台根据预设帧率拍摄图像并根据第一帧率生成视频，所述第一帧率小于或大于所述预设帧率；
    第二处理器，用于控制所述可移动平台的拍摄装置以所述预设帧率拍摄图像，并根据所述第一帧率生成播放速度加快或减慢的视频。
  28. 根据权利要求27所述的可移动平台，其特征在于，
    所述第二通信装置，还用于在所述第二处理器根据所述第一帧率生成视频之后，将所述视频发送给所述控制终端。
  29. 根据权利要求27或28所述的可移动平台，其特征在于，所述第二处理器，具体用于：
    若所述第一帧率大于所述预设帧率，则根据所述第一帧率，对以所述预设帧率拍摄获得的图像进行抽帧处理，将抽帧处理后的图像生成播放速度加快的所述视频。
  30. 根据权利要求29所述的可移动平台，其特征在于，所述第二处理器，具体用于：
    根据所述第一帧率和所述预设帧率，确定抽帧间隔数，所述抽帧间隔数表示每隔N帧抽取T帧，所述N、T为大于等于1的整数；
    根据所述抽帧间隔数，对以所述预设帧率拍摄获得的图像进行抽帧处理。
  31. 根据权利要求30所述的可移动平台，其特征在于，
    当所述第一帧率与所述预设帧率的比值大于2时，T大于N；
    当所述第一帧率与所述预设帧率的比值等于2时，T等于N；
    当所述第一帧率与所述预设帧率的比值2时，T小于N。
  32. 根据权利要求27或28所述的可移动平台，其特征在于，所述第二处理器，具体用于：
    若所述第一帧率小于所述预设帧率，则根据所述第一帧率，从以所述预设帧率拍摄获得的图像中抽取出M帧图像，M为大于等于1的整数；
    根据所述M帧图像，生成播放速度减慢的视频。
  33. 根据权利要求32所述的可移动平台，其特征在于，所述第二处理器，具体用于：
    根据所述第一帧率和所述预设帧率，确定抽帧间隔数，所述抽帧间隔数 表示每隔Q帧抽取K帧，所述Q、K为大于等于1的整数；
    以每隔Q帧图像抽取K帧的方式，从以所述预设帧率拍摄获得的图像中，抽取出M帧图像。
  34. 根据权利要求27或28所述的可移动平台，其特征在于，所述第二处理器，具体用于：
    若所述第一帧率小于所述预设帧率，则在所述可移动平台的拍摄装置以所述预设帧率拍摄图像的过程中，根据所述第一帧率，控制所述拍摄装置采集M帧图像，M为大于等于1的整数；
    根据所述M帧图像，生成播放速度减慢的视频。
  35. 根据权利要求34所述的可移动平台，其特征在于，所述第二处理器，具体用于：
    根据所述第一帧率和所述预设帧率，确定采集帧数，所述采集帧数表示每隔Q帧采集K帧，所述Q、K为大于等于1的整数；
    在所述可移动平台的拍摄装置以所述预设帧率拍摄图像的过程中，控制所述拍摄装置每隔Q帧采集K帧图像，以获得M帧图像。
  36. 根据权利要求33或35所述的可移动平台，其特征在于，
    当所述预设帧率与所述第一帧率的比值大于2时，Q大于K；
    当所述预设帧率与所述第一帧率的比值等于2时，Q等于K；
    当所述预设帧率与所述第一帧率的比值小于2时，Q小于K。
  37. 根据权利要求33或35或36所述的可移动平台，其特征在于，所述第二处理器，具体用于：
    将M帧图像中的每K帧图像复制处理为Q+K帧图像，
    将复制处理后的图像生成播放速度减慢的视频。
  38. 根据权利要求27-37任一项所述的可移动平台，其特征在于，
    所述第二通信装置，还用于在所述拍摄装置进行拍摄图像的过程中，接收所述控制终端发送的暂停视频拍摄指令，所述暂停视频拍摄指令是所述控制终端通过检测暂停视频拍摄操作确定的；
    所述第二处理器，还用于根据所述暂停视频拍摄指令，控制所述拍摄装置暂停拍摄图像。
  39. 一种视频播放速度控制系统，其特征在于，包括：控制终端和可移 动平台；
    所述控制终端，用于检测到视频播放速度控制操作；根据所述视频播放速度控制操作，确定视频的播放速度为第一帧率，所述第一帧率大于或小于预设帧率；向所述可移动平台发送视频拍摄指令，所述视频拍摄指令用于指示所述可移动平台根据所述预设帧率拍摄图像并根据所述第一帧率生成播放速度加快或减慢的视频；
    所述可移动平台，用于接收所述控制终端发送的所述视频拍摄指令，控制所述可移动平台的拍摄装置以所述预设帧率拍摄图像，并根据所述第一帧率生成播放速度加快或减慢的视频。
  40. 根据权利要求39所述的系统，其特征在于，
    所述可移动平台，还用于根据所述第一帧率生成所述视频之后，将所述视频发送给所述控制终端；
    所述控制终端，还用于向可移动平台发送视频拍摄指令之后，接收所述可移动平台发送的播放速度加快或减慢的视频。
  41. 根据权利要求40所述的系统，其特征在于，所述控制终端，还用于保存所述视频。
  42. 根据权利要求40或41所述的系统，其特征在于，所述控制终端，还用于在检测到分享操作后，对所述视频进行分享。
  43. 根据权利要求40-42任一项所述的系统，其特征在于，所述控制终端，还用于在检测到播放操作后，对所述视频进行播放。
  44. 根据权利要求39-43任一项所述的系统，其特征在于，
    所述可移动平台在根据所述第一帧率生成所述视频时，具体用于：若所述第一帧率大于所述预设帧率，则根据所述第一帧率，对以所述预设帧率拍摄获得的图像进行抽帧处理，将抽帧处理后的图像生成播放速度加快的所述视频。
  45. 根据权利要求44所述的系统，其特征在于，所述可移动平台在根据所述第一帧率，对以所述预设帧率拍摄获得的图像进行抽帧处理时，具体用于：
    根据所述第一帧率和所述预设帧率，确定抽帧间隔数，所述抽帧间隔数表示每隔N帧抽取T帧，所述N、T为大于等于1的整数；
    根据所述抽帧间隔数，对以所述预设帧率拍摄获得的图像进行抽帧处理。
  46. 根据权利要求45所述的系统，其特征在于，
    当所述第一帧率与所述预设帧率的比值大于2时，T大于N；
    当所述第一帧率与所述预设帧率的比值等于2时，T等于N；
    当所述第一帧率与所述预设帧率的比值2时，T小于N。
  47. 根据权利要求39-43任一项所述的系统，其特征在于，所述可移动平台在根据所述第一帧率生成所述视频时，具体用于：若所述第一帧率小于所述预设帧率，则根据所述第一帧率，从以所述预设帧率拍摄获得的图像中抽取出M帧图像，M为大于等于1的整数；根据所述M帧图像，生成播放速度减慢的视频。
  48. 根据权利要求47所述的系统，其特征在于，所述可移动平台在根据所述第一帧率，从以所述预设帧率拍摄获得的图像中抽取出M帧图像时，具体用于：
    根据所述第一帧率和所述预设帧率，确定抽帧间隔数，所述抽帧间隔数表示每隔Q帧抽取K帧，所述Q、K为大于等于1的整数；
    以每隔Q帧图像抽取K帧的方式，从以所述预设帧率拍摄获得的图像中，抽取出M帧图像。
  49. 根据权利要求39-43任一项所述的系统，其特征在于，所述可移动平台在根据所述第一帧率生成所述视频时，具体用于：
    若所述第一帧率小于所述预设帧率，则在所述可移动平台的拍摄装置以所述预设帧率拍摄图像的过程中，根据所述第一帧率，控制所述拍摄装置采集M帧图像，M为大于等于1的整数；
    根据所述M帧图像，生成播放速度减慢的视频。
  50. 根据权利要求49所述的系统，其特征在于，所述可移动平台在所述可移动平台的拍摄装置以所述预设帧率拍摄图像的过程中，根据所述第一帧率，控制所述拍摄装置采集M帧图像时，具体用于：
    根据所述第一帧率和所述预设帧率，确定采集帧数，所述采集帧数表示每隔Q帧采集K帧，所述Q、K为大于等于1的整数；
    在所述可移动平台的拍摄装置以所述预设帧率拍摄图像的过程中，控制所述拍摄装置每隔Q帧采集K帧图像，以获得M帧图像。
  51. 根据权利要求48或50所述的系统，其特征在于，
    当所述预设帧率与所述第一帧率的比值大于2时，Q大于K；
    当所述预设帧率与所述第一帧率的比值等于2时，Q等于K；
    当所述预设帧率与所述第一帧率的比值小于2时，Q小于K。
  52. 根据权利要求48或50或51所述的系统，其特征在于，所述可移动平台在根据所述M帧图像，生成播放速度减慢的视频时，具体用于：
    将M帧图像中的每K帧图像复制处理为Q+K帧图像，
    将复制处理后的图像生成播放速度减慢的视频。
  53. 根据权利要求39-52任一项所述的系统，其特征在于，所述控制终端，还用于在向可移动平台发送视频拍摄指令之前，检测开始拍摄视频操作；
    所述控制终端在向可移动平台发送视频拍摄指令时，具体用于：在检测到所述开始拍摄视频操作时，向所述可移动平台发送视频拍摄指令。
  54. 根据权利要求39-53任一项所述的系统，其特征在于，
    所述控制终端，还用于在所述可移动平台根据所述预设帧率拍摄图像的过程中，检测暂停视频拍摄操作；在检测到所述暂停视频拍摄操作时，向所述可移动平台发送暂停视频拍摄指令，所述暂停视频拍摄指令用于指示所述可移动平台暂停拍摄图像；
    所述可移动平台，还用于在所述可移动平台的拍摄装置进行拍摄图像的过程中，接收所述控制终端发送的暂停视频拍摄指令，所述暂停视频拍摄指令是所述控制终端通过检测暂停视频拍摄操作确定的；根据所述暂停视频拍摄指令，控制所述拍摄装置暂停拍摄图像。
PCT/CN2018/097095 2018-07-25 2018-07-25 视频播放速度控制方法及系统、控制终端和可移动平台 WO2020019212A1 (zh)

Priority Applications (3)

Application Number Priority Date Filing Date Title
PCT/CN2018/097095 WO2020019212A1 (zh) 2018-07-25 2018-07-25 视频播放速度控制方法及系统、控制终端和可移动平台
CN201880041838.1A CN110892731B (zh) 2018-07-25 2018-07-25 视频播放速度控制方法及系统、控制终端和可移动平台
US17/121,745 US20210289133A1 (en) 2018-07-25 2020-12-14 Method and system of controlling video play speed, control terminal and mobile platform

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2018/097095 WO2020019212A1 (zh) 2018-07-25 2018-07-25 视频播放速度控制方法及系统、控制终端和可移动平台

Related Child Applications (1)

Application Number Title Priority Date Filing Date
US17/121,745 Continuation US20210289133A1 (en) 2018-07-25 2020-12-14 Method and system of controlling video play speed, control terminal and mobile platform

Publications (1)

Publication Number Publication Date
WO2020019212A1 true WO2020019212A1 (zh) 2020-01-30

Family

ID=69180321

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2018/097095 WO2020019212A1 (zh) 2018-07-25 2018-07-25 视频播放速度控制方法及系统、控制终端和可移动平台

Country Status (3)

Country Link
US (1) US20210289133A1 (zh)
CN (1) CN110892731B (zh)
WO (1) WO2020019212A1 (zh)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113841385A (zh) * 2020-07-31 2021-12-24 深圳市大疆创新科技有限公司 一种图像处理方法、图像控制方法及相关设备
CN112468743A (zh) * 2020-11-09 2021-03-09 泓准达科技(上海)有限公司 一种热点变化过程的显示方法、装置、介质及电子设备
CN112653920B (zh) 2020-12-18 2022-05-24 北京字跳网络技术有限公司 视频处理方法、装置、设备及存储介质
WO2022133782A1 (zh) * 2020-12-23 2022-06-30 深圳市大疆创新科技有限公司 视频传输方法及系统、视频处理方法及装置、播放终端、可移动平台

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006033033A (ja) * 2004-07-12 2006-02-02 Konica Minolta Photo Imaging Inc 動画再生方法、動画再生プログラムおよび撮像装置
CN106162022A (zh) * 2015-04-08 2016-11-23 深圳市尼得科技有限公司 一种快速播放视频的方法、系统及移动终端
CN106803856A (zh) * 2016-12-09 2017-06-06 重庆零度智控智能科技有限公司 视频播放控制方法和装置
WO2017123474A1 (en) * 2016-01-15 2017-07-20 Vid Scale, Inc. System and method for operating a video player displaying trick play videos

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1761058B1 (en) * 2005-08-31 2009-12-16 Luc Van Quickelberge Method and device for reproducing at a different rate that from the recording
CN101808233A (zh) * 2009-02-18 2010-08-18 杭州海康威视数字技术股份有限公司 一种通用的手机视频监控实现系统和方法
CN102045540A (zh) * 2009-10-20 2011-05-04 华为软件技术有限公司 视频监控方法、系统及设备
CN102271280A (zh) * 2011-07-20 2011-12-07 宝利微电子系统控股公司 一种数字音视频变速播放的方法和装置
CN104539837A (zh) * 2014-11-28 2015-04-22 广东欧珀移动通信有限公司 一种录制变速回放视频的方法及装置
CN105120337A (zh) * 2015-08-28 2015-12-02 小米科技有限责任公司 视频特效处理方法、装置及终端设备
CN109074629A (zh) * 2015-10-29 2018-12-21 Oy沃肯视觉有限公司 使用联网照相机对关注的区域进行视频摄像
CN105578051A (zh) * 2015-12-30 2016-05-11 小米科技有限责任公司 图像捕捉方法和装置
CN105791705B (zh) * 2016-05-26 2019-06-11 厦门美图之家科技有限公司 适用于移动式延时摄影的视频防抖方法、系统及拍摄终端
CN107124624B (zh) * 2017-04-21 2022-09-23 腾讯科技（深圳）有限公司 视频数据生成的方法和装置

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006033033A (ja) * 2004-07-12 2006-02-02 Konica Minolta Photo Imaging Inc 動画再生方法、動画再生プログラムおよび撮像装置
CN106162022A (zh) * 2015-04-08 2016-11-23 深圳市尼得科技有限公司 一种快速播放视频的方法、系统及移动终端
WO2017123474A1 (en) * 2016-01-15 2017-07-20 Vid Scale, Inc. System and method for operating a video player displaying trick play videos
CN106803856A (zh) * 2016-12-09 2017-06-06 重庆零度智控智能科技有限公司 视频播放控制方法和装置

Also Published As

Publication number Publication date
CN110892731A (zh) 2020-03-17
CN110892731B (zh) 2022-01-25
US20210289133A1 (en) 2021-09-16

Similar Documents

Publication Publication Date Title
WO2020019212A1 (zh) 视频播放速度控制方法及系统、控制终端和可移动平台
WO2018098784A1 (zh) 无人机的控制方法、装置、设备和无人机的控制系统
WO2019227441A1 (zh) 可移动平台的拍摄控制方法和设备
US11798172B2 (en) Maximum temperature point tracking method, device and unmanned aerial vehicle
CN110771137A (zh) 延时拍摄控制方法和设备
WO2018053846A1 (zh) 对焦方法、摄像装置和无人机
CN108521864B (zh) 成像控制方法、成像装置和无人机
WO2020019106A1 (zh) 云台和无人机控制方法、云台及无人机
JP2017072986A (ja) 自律飛行装置、自律飛行装置の制御方法及びプログラム
CN111345033A (zh) 参数同步方法、拍摄装置和可移动平台
WO2020172800A1 (zh) 可移动平台的巡检控制方法和可移动平台
US20200366844A1 (en) Image stabilization control method, photographing device and mobile platform
WO2021217371A1 (zh) 可移动平台的控制方法和装置
WO2020133410A1 (zh) 一种拍摄方法及装置
WO2020062089A1 (zh) 磁传感器校准方法以及可移动平台
WO2019241970A1 (zh) 无人机的扬声器控制方法和设备
WO2019104684A1 (zh) 无人机的控制方法、装置和系统
US20210136340A1 (en) Color temperature adjustment method, control terminal, and movable platform
WO2021168821A1 (zh) 可移动平台的控制方法和设备
JP2019097137A (ja) 生成装置、生成システム、撮像システム、移動体、生成方法、及びプログラム
US20200027238A1 (en) Method for merging images and unmanned aerial vehicle
CN112166597A (zh) 图像处理方法、设备和可移动平台
WO2019227279A1 (zh) 降噪方法、装置和无人机
WO2022041013A1 (zh) 控制方法、手持云台、系统及计算机可读存储介质
WO2019134142A1 (zh) 无人机的控制方法、无人机系统和控制设备

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 18927569

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 18927569

Country of ref document: EP

Kind code of ref document: A1