WO2020087344A1

WO2020087344A1 - Video capturing method and apparatus, and control device

Info

Publication number: WO2020087344A1
Application number: PCT/CN2018/113004
Authority: WO
Inventors: 郝祎; 苏铁
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2018-10-31
Filing date: 2018-10-31
Publication date: 2020-05-07
Also published as: CN110785990A

Abstract

Provided is a video capturing method and apparatus, and a control device, wherein the method comprises: obtaining a capturing control parameter (S201), the capturing control parameter comprising a rotation parameter for a rotating shaft of a gimbal and a target capturing parameter for the video capturing apparatus, the video capturing apparatus being mounted on the gimbal device; and if a capturing activation command is detected, controlling the rotating shaft to rotate according to the rotation parameter, adjusting a capturing parameter of the capturing apparatus according to the target capturing parameter, and capturing a video (S202), wherein the capturing apparatus captures the video during the adjustment of the capturing parameter and the rotation of the rotating shaft. The embodiments of the present invention can control a video capturing method, satisfy user needs for automatic capturing control, and thus provide a much wider variety of video effects.

Description

一种视频拍摄方法、装置及控制设备Video shooting method, device and control equipment

技术领域Technical field

本发明涉及电子技术领域，尤其涉及一种视频拍摄方法、装置及控制设备。The present invention relates to the field of electronic technology, and in particular, to a video shooting method, device, and control device.

背景技术Background technique

随着电子技术以及人们生活水平的提高，用来进行视频拍摄的拍摄设备已经得到了极大的普及，大到各种能够完成高质量电影拍摄的摄像机，小到便于携带的针孔摄像头，可以全方位的满足各种各样的用户的视频拍摄需求。With the improvement of electronic technology and people's living standards, the shooting equipment used for video shooting has been greatly popularized, ranging from various cameras that can complete high-quality movie shooting to small pinhole cameras that are easy to carry. Fully meet the video shooting needs of various users.

目前在拍摄过程中，一般是通过用户手持拍摄设备的方式拍摄镜头前方的包括景物、人物等对象的图像。为了方便拍摄，还可以设置一个云台设备来固定拍摄设备，例如自拍杆、三轴台等设备，其中，三轴云台设备还可以起到增稳的目的，使得拍摄设备在拍摄过程中不会抖动，不会影响图像的效果。At present, in the shooting process, the image of objects including sceneries, people and other objects in front of the lens is generally shot by the user holding the shooting device. In order to facilitate shooting, a pan-tilt device can also be set to fix the shooting device, such as a selfie stick, three-axis table, etc. Among them, the three-axis pan-tilt device can also serve to enhance the stability, so that the shooting device does not Will dither and will not affect the effect of the image.

对于拍摄得到视频，目前一般是通过后期软件制作的方式来得到各种所需效果的视频，而如何在视频拍摄的过程中直接得到某些特殊效果的视频成为研究的热点问题。For the video obtained by shooting, at present, the video of various desired effects is generally obtained through the post-production software, and how to directly obtain the video of some special effects in the process of video shooting has become a hot issue of research.

发明内容Summary of the invention

本发明实施例提供了一种视频拍摄方法、装置及控制设备，可进行自动化视频拍摄使得视频效果更加多样化。Embodiments of the present invention provide a video shooting method, device, and control device, which can perform automatic video shooting to make video effects more diversified.

本发明实施例第一方面提供了一种视频拍摄方法，该方法包括：获取拍摄控制参数，拍摄控制参数包括云台设备的旋转轴的旋转参数以及拍摄设备的目标拍摄参数，拍摄设备挂设于云台设备上；若检测到拍摄启动指令，则根据旋转参数控制旋转轴进行旋转，根据目标拍摄参数对拍摄设备的拍摄参数进行调节，并拍摄视频；其中，拍摄设备在拍摄参数调节以及旋转轴旋转的过程中进行视频拍摄。A first aspect of an embodiment of the present invention provides a video shooting method. The method includes: acquiring shooting control parameters including shooting axis rotation parameters of a pan-tilt device and target shooting parameters of the shooting device. The shooting device is mounted on On the gimbal device; if a shooting start instruction is detected, the rotation axis is controlled to rotate according to the rotation parameters, the shooting parameters of the shooting device are adjusted according to the target shooting parameters, and the video is shot; wherein, the shooting device adjusts the shooting parameters and the rotation axis Video shooting during rotation.

本发明实施例第二方面公开了一种视频拍摄装置，该装置包括：获取单元，用于获取拍摄控制参数，所述拍摄控制参数包括云台设备的旋转轴的旋转参数以及拍摄设备的目标拍摄参数，所述拍摄设备挂设于所述云台设备上；处理单元，用于若检测到拍摄启动指令，则根据所述旋转参数控制所述旋转轴进行旋转，根据所述目标拍摄参数对所述拍摄设备的拍摄参数进行调节，并拍摄视频；其中，所述拍摄设备在拍摄参数调节以及所述旋转轴旋转的过程中进行视频拍摄。A second aspect of an embodiment of the present invention discloses a video shooting apparatus. The apparatus includes: an acquisition unit for acquiring shooting control parameters, the shooting control parameters including a rotation parameter of a rotation axis of a gimbal device and a target shooting of the shooting device Parameters, the shooting device is hung on the pan / tilt device; the processing unit is used to control the rotation axis to rotate according to the rotation parameter if a shooting start instruction is detected, and to adjust the position according to the target shooting parameter Adjusting the shooting parameters of the shooting device and shooting a video; wherein, the shooting device performs video shooting during the adjustment of the shooting parameters and the rotation of the rotation axis.

本发明实施例第三方面公开了一种控制设备，包括：处理器，所述处理器用于：A third aspect of an embodiment of the present invention discloses a control device, including: a processor, where the processor is used to:

获取拍摄控制参数，所述拍摄控制参数包括云台设备的旋转轴的旋转参数以及拍摄设备的目标拍摄参数，所述拍摄设备挂设于所述云台设备上；若检测到拍摄启动指令，则根据所述旋转参数控制所述旋转轴进行旋转，根据所述目标拍摄参数对所述拍摄设备的拍摄参数进行调节，并拍摄视频；其中，所述拍摄设备在拍摄参数调节以及所述旋转轴旋转的过程中进行视频拍摄。Obtain shooting control parameters, which include the rotation parameters of the rotation axis of the gimbal device and the target shooting parameters of the shooting device, and the shooting device is mounted on the gimbal device; if a shooting start instruction is detected, Controlling the rotation axis to rotate according to the rotation parameters, adjusting the shooting parameters of the shooting device according to the target shooting parameters, and shooting video; wherein, the shooting device adjusts the shooting parameters and the rotation axis rotates Video shooting during the process.

本发明实施例第四方面公开了一种计算机可读存储介质，所述计算机可读存储介质中存储有计算机程序，所述计算机程序被处理器执行时实现如上述第一方面所述方法的步骤。According to a fourth aspect of the embodiments of the present invention, a computer-readable storage medium is disclosed. The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, steps of the method according to the first aspect described above are implemented .

本发明实施例中，先获取旋转参数以及目标拍摄参数，然后根据旋转参数控制旋转轴进行旋转，根据目标拍摄参数对拍摄设备的拍摄参数进行调节，并拍摄视频，其中，拍摄设备在拍摄参数调节以及旋转轴旋转的过程中进行视频拍摄。采用上述方式可以对视频的拍摄方式进行控制，满足了用户对拍摄控制的自动化需求，使得视频效果更加多样化。In the embodiment of the present invention, the rotation parameters and the target shooting parameters are first obtained, and then the rotation axis is controlled to rotate according to the rotation parameters, the shooting parameters of the shooting device are adjusted according to the target shooting parameters, and the video is shot, wherein the shooting device adjusts the shooting parameters And video shooting during the rotation of the rotating shaft. The above-mentioned methods can be used to control the shooting mode of the video, which satisfies the user's automation requirements for shooting control, and makes the video effect more diversified.

附图说明BRIEF DESCRIPTION

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，下面描述中的附图仅仅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。In order to more clearly explain the embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required in the embodiments. Obviously, the drawings in the following description are only some of the present invention. For the embodiment, for those of ordinary skill in the art, without paying any creative labor, other drawings may be obtained based on these drawings.

图1是本发明实施例的一种装配了拍摄设备的云台设备示意图；1 is a schematic diagram of a pan-tilt device equipped with a shooting device according to an embodiment of the present invention;

图2是本发明实施例的一种视频拍摄方法的流程示意图；2 is a schematic flowchart of a video shooting method according to an embodiment of the present invention;

图3是本发明实施例的一种用户界面的示意图；3 is a schematic diagram of a user interface according to an embodiment of the present invention;

图4是本发明实施例的一种视频拍摄装置的结构示意图；4 is a schematic structural diagram of a video shooting device according to an embodiment of the present invention;

图5是本发明实施例的一种控制设备的结构示意图。5 is a schematic structural diagram of a control device according to an embodiment of the present invention.

具体实施方式detailed description

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。The technical solutions in the embodiments of the present invention will be described clearly and completely in conjunction with the drawings in the embodiments of the present invention.

在本发明实施例中，拍摄设备可以是指各种能够固定在云台设备上的相机，例如能够固定在云台上的单反相机、摄像机、具有拍照功能的手机等等。而所述的云台设备可以是指能够在偏航轴、横滚轴和俯仰轴中的任意一个或者多个轴上转动的云台，如图1所示，示出了一个三轴云台设备和摄像设备之间的关系，在图1所示的架构中，可以根据需要，通过控制云台设备102三个轴对应的电机转动的方式，使得摄像设备101能够在三个轴向上转动。In the embodiment of the present invention, the shooting device may refer to various cameras that can be fixed on the gimbal device, such as a SLR camera, a video camera, and a mobile phone with a camera function that can be fixed on the gimbal. The gimbal device may refer to a gimbal capable of rotating on any one or more of the yaw axis, roll axis, and pitch axis. As shown in FIG. 1, a three-axis gimbal is shown The relationship between the device and the camera device, in the architecture shown in FIG. 1, the camera device 101 can be rotated in three axes by controlling the rotation of the motors corresponding to the three axes of the gimbal device 102 as needed. .

同时，在图1中所示的摄像设备101的拍摄参数也可以根据需要进行设定，所述拍摄参数包括变焦参数、跟焦参数和曝光参数等等相机拍摄视频时所用的参数，在一个实施例中，所述拍摄设备101可以为一个智能的摄像装置，其能够接收到由控制设备发送的控制指令，进而对摄像设备的这些拍摄参数进行连续变化控制或者离散变化控制，例如，按照固定的变化速度将变焦参数(即焦距)从20毫米匀速地变化到50毫米或者在20毫米、30毫米、50毫米等离散参数之间进行离散变化；又例如将跟焦参数从10％匀速变化到100％或者离散变化。在另一个实施例中，所述摄像设备可以为焦距(变焦参数)和物距(跟焦参数)可调的相机，例如常见的带有变焦环和对焦环的单反相机等等，通过设置一个拍摄参数调节设备来转动变焦环和/或对焦环，进而达到对这类相机的拍摄参数的控制。该拍摄参数调节设备例如可以为一个带有电动马达的设备，通过该设备的马达的转动来带动变焦环和/或对焦环的转动，从而达到调节变焦参数和/或跟焦参数完成线性变化或者离散变化。At the same time, the shooting parameters of the camera device 101 shown in FIG. 1 can also be set as needed. The shooting parameters include zoom parameters, follow focus parameters, and exposure parameters. The parameters used by the camera when shooting video are implemented in one implementation. For example, the shooting device 101 may be an intelligent camera device, which can receive control commands sent by the control device, and then perform continuous change control or discrete change control on these shooting parameters of the camera device, for example, according to a fixed The speed of change changes the zoom parameter (ie, focal length) from 20 mm to 50 mm at a constant speed or discretely changes between discrete parameters such as 20 mm, 30 mm, and 50 mm; for example, changes the follow focus parameter from 10% to 100 % Or discrete change. In another embodiment, the camera device may be a camera with adjustable focal length (zoom parameter) and object distance (follow focus parameter), such as a common SLR camera with a zoom ring and a focus ring, etc., by setting a Shooting parameter adjustment equipment to rotate the zoom ring and / or focus ring, so as to achieve control of the shooting parameters of such cameras. The shooting parameter adjustment device may be, for example, a device with an electric motor, and the rotation of the motor of the device drives the rotation of the zoom ring and / or the focus ring, so as to achieve the adjustment of the zoom parameter and / or the follow focus parameter to complete the linear change or Discrete changes.

请参见图2，是本发明实施例的一种视频拍摄方法的流程示意图，本发明实施例的所述方法可以由一个控制设备来执行。在一个实施例中，该控制设备是一个单独的带有控制器和控制接口的设备。该控制设备能够与诸如图1所示的云台设备102通信，用来控制云台设备102在一个或者多个轴向上转动，该控制设备也可以直接或者间接地与诸如图1所示的摄像设备101通信，用来控制所述摄像设备101的拍摄参数，或者该控制设备与上述提及的拍摄参数调节设备相连，通过对电动马达等部件的控制来实现摄像设备101的拍摄参数的控制。当然，所述的控制设备也可以内置到云台设备中，作为云台设备的一部分一方面能够控制云台设备的一个或者多个旋转轴旋转，另一方面可以控制摄像设备的拍摄参数的调整。本发明实施例的所述方法包括如下步骤。Please refer to FIG. 2, which is a schematic flowchart of a video shooting method according to an embodiment of the present invention. The method according to the embodiment of the present invention may be executed by a control device. In one embodiment, the control device is a separate device with a controller and a control interface. The control device can communicate with the pan-tilt device 102 such as shown in FIG. 1 to control the pan-tilt device 102 to rotate in one or more axial directions. The control device can also directly or indirectly communicate with the device such as shown in FIG. 1 The camera device 101 communicates to control the shooting parameters of the camera device 101, or the control device is connected to the shooting parameter adjustment device mentioned above, and controls the shooting parameters of the camera device 101 by controlling the electric motor and other components . Of course, the control device can also be built into the gimbal device. As part of the gimbal device, it can control the rotation of one or more rotation axes of the gimbal device. On the other hand, it can control the adjustment of the shooting parameters of the camera device. . The method of the embodiment of the present invention includes the following steps.

S201：获取拍摄控制参数，所述拍摄控制参数包括云台设备的旋转轴的旋转参数以及拍摄设备的目标拍摄参数，所述拍摄设备挂设于所述云台设备上。S201: Obtain shooting control parameters, which include rotation parameters of the rotation axis of the gimbal device and target shooting parameters of the shooting device, and the shooting device is mounted on the gimbal device.

所述拍摄控制参数可以在控制设备上直接进行设置。在一个实施例中，所述控制设备可以为一个带有触摸屏的智能终端，在该控制设备上运行一个带有用户界面的应用APP，通过该用户界面接收用户设置的拍摄控制参数，并通过APP进行处理后执行后续的控制处理。在一个实施例中，所述旋转参数包括旋转起始角度、旋转结束角度、旋转速度、旋转时长和旋转方向中的任意一种或者多种。所述目标拍摄参数包括变焦参数、跟焦参数和曝光参数中的任意一种或者多种。The shooting control parameters can be directly set on the control device. In an embodiment, the control device may be a smart terminal with a touch screen, an application APP with a user interface is run on the control device, and the shooting control parameters set by the user are received through the user interface, and through the APP After processing, the subsequent control processing is executed. In one embodiment, the rotation parameter includes any one or more of a rotation start angle, a rotation end angle, a rotation speed, a rotation duration, and a rotation direction. The target shooting parameters include any one or more of zoom parameters, follow focus parameters and exposure parameters.

在一个实施例中，如图3所示，是本发明实施例的一种用户界面的示意图，在该用户界面上包括对云台设备的旋转轴的选择参数进行设置的第一设置区301，用于对拍摄设备的拍摄参数进行设置的第二设置区302，以及用于对中间参数进行设置的第三设置区303。其中，第三设置区303用于设置旋转轴的旋转中间角度，以及用于设置拍摄设备的中间拍摄参数。该旋转中间角度包括一个或者多个角度，该中间拍摄参数包括一个或者多个拍摄参数。需要说明的是，第三设置区303为可选的。在一个实施例中，该用户界面还可以包括中间拍摄参数设置选项，当检测到用户针对该中间拍摄参数设置选项的点击操作时，才显示该第三设置区303。在一个实施例中，当检测到需要设置相应旋转参数或者拍摄参数的各个中间参数时，才显示第三设置区303。否则，不显示所述第三设置区303。可以设置一个按钮，在检测到用户点击了该按钮后，表明用户希望设置中间参数，显示所述第三设置区303。In one embodiment, as shown in FIG. 3, it is a schematic diagram of a user interface according to an embodiment of the present invention. The user interface includes a first setting area 301 for setting a selection parameter of a rotation axis of a pan / tilt device, A second setting area 302 for setting shooting parameters of the shooting device, and a third setting area 303 for setting intermediate parameters. Among them, the third setting area 303 is used to set the middle rotation angle of the rotation axis and to set the middle shooting parameters of the shooting device. The intermediate rotation angle includes one or more angles, and the intermediate shooting parameters include one or more shooting parameters. It should be noted that the third setting area 303 is optional. In one embodiment, the user interface may further include an intermediate shooting parameter setting option, and the third setting area 303 is displayed only when a user's click operation on the intermediate shooting parameter setting option is detected. In one embodiment, the third setting area 303 is displayed only when it is detected that each intermediate parameter of the corresponding rotation parameter or shooting parameter needs to be set. Otherwise, the third setting area 303 is not displayed. A button may be set. After detecting that the user clicks the button, it indicates that the user wishes to set an intermediate parameter, and the third setting area 303 is displayed.

如图3所示，在第一设置区301中，用户可以从俯仰Pitch轴、横滚Roll轴以及偏航Yaw轴中选择需要旋转的一个或者多个目标旋转轴，可以设置旋转方向，包括选择顺时针旋转方向或者逆时针旋转方向，同时可以设置选择的旋转起始角度和旋转结束角度。在其他实施例中，所述第一设置区301中还可以包括关于旋转速度的设置，或者旋转时长的设置。基于设置的旋转速度(一个角速度)，可以控制相应的目标旋转轴在旋转起始角度和旋转结束角度之间按照该旋转速度匀速转动。基于设置的旋转时长，可以控制相应的目标旋转轴在旋转起始角度和旋转结束角度以匀速或者离散的速度值进行转动，但从旋转起始角度转动到旋转结束角度所消耗的时长与设置的旋转时长相同。在一个实施例中，在第一设置区301中还可以设置一个确认开关，在完成一个旋转轴的设置后，可以通过点击该确认开关完成对该个旋转轴的设置，进而继续对下一个旋转轴的旋转参数进行设置，以便于根据一个或者多个旋转轴设置的旋转参数对云台设备相应的旋转轴进行控制。例如，在完成对Pitch轴的旋转参数设置并点击确认按钮后，可以再次选择Roll轴的旋转参数设置，后续会得到Pitch轴的旋转参数和Roll轴的旋转参数。As shown in FIG. 3, in the first setting area 301, the user can select one or more target rotation axes from the pitch pitch axis, roll axis and yaw axis, and can set the rotation direction, including selection Rotate clockwise or counterclockwise. At the same time, you can set the selected rotation start angle and rotation end angle. In other embodiments, the first setting area 301 may further include a setting about a rotation speed or a setting of a rotation duration. Based on the set rotation speed (an angular speed), the corresponding target rotation axis can be controlled to rotate at a constant speed according to the rotation speed between the rotation start angle and the rotation end angle. Based on the set rotation duration, the corresponding target rotation axis can be controlled to rotate at a constant speed or a discrete speed value at the rotation start angle and rotation end angle, but the time spent from the rotation start angle to the rotation end angle and the set The rotation duration is the same. In one embodiment, a confirmation switch can also be set in the first setting area 301. After setting a rotation axis, you can click the confirmation switch to complete the setting of the rotation axis, and then continue to the next rotation The rotation parameters of the axis are set so as to control the corresponding rotation axis of the gimbal device according to the rotation parameters set by one or more rotation axes. For example, after completing the setting of the rotation parameters of the pitch axis and clicking the confirm button, you can select the rotation parameter settings of the roll axis again, and the rotation parameters of the pitch axis and the rotation parameters of the roll axis will be obtained later.

在其他实施例中，还可以设置物理按键和旋钮的方式来完成对各个旋转轴的旋转参数的设置，例如采用旋钮来完成设置，旋钮旋转的方向和角度对应于对相应旋转轴的。In other embodiments, physical keys and knobs can also be set to complete the setting of the rotation parameters of each rotation axis, for example, a knob is used to complete the setting, and the direction and angle of rotation of the knob correspond to the corresponding rotation axis.

同样如图3所述，在第二设置区302上可以对拍摄设备的拍摄参数进行设置，主要包括对变焦参数进行设置，即在所述第二设置区302上设置起始焦距和结束焦距，以便于在视频拍摄过程中能够在起始焦距和结束焦距之间进行焦距变化，达到镜头拉远和拉近的效果；对跟焦参数进行设置，即在第二设置区302上设置起始焦点和结束焦点，焦点的设置可以通过1％到100％来量化，达到拍摄的视频逐渐清晰和逐渐模糊的效果，或者保证某个拍摄对象例如人在靠近或者远离镜头时，能够以目标对象确定焦点，保证拍摄到的目标对象是清晰的；对曝光参数进行设置，即在所述第二设置区302上设置起始曝光量和结束曝光量，使得拍摄到的视频能够在不同的曝光量下进行，达到视频帧的明暗程度逐渐变化的效果。进一步地，在其他实施例中，还可以根据需要对延时拍摄、视频拍摄模式等其他各种可供设置的拍摄参数进行设置。在S201中，可以仅对部分的拍摄参数进行设置，将设置得到的相应拍摄参数作为目标拍摄参数，例如仅设置了变焦参数，则目标拍摄参数为变焦参数，其他拍摄参数以相机当前的相应参数为准或者使用默认参数或者使用智能匹配的参数，例如设置了变焦参数后，焦点是自动进行调焦确定的。As also shown in FIG. 3, the shooting parameters of the shooting device can be set on the second setting area 302, which mainly includes setting the zoom parameters, that is, setting the starting focal length and the ending focal length on the second setting area 302, In order to be able to change the focal length between the starting focal length and the ending focal length during video shooting, to achieve the effect of zooming out and zooming in the lens; set the follow focus parameters, that is, set the starting focus on the second setting area 302 And end focus, the focus setting can be quantified from 1% to 100%, to achieve the effect of gradually clearing and blurring the captured video, or to ensure that a certain subject, such as a person, approaches or moves away from the lens, can determine the focus with the target object To ensure that the captured target object is clear; set the exposure parameters, that is, set the starting exposure and the ending exposure on the second setting area 302, so that the captured video can be performed at different exposures To achieve the effect of gradually changing the brightness and darkness of the video frame. Further, in other embodiments, various other shooting parameters that can be set, such as time-lapse shooting and video shooting mode, can also be set as needed. In S201, only part of the shooting parameters can be set, and the corresponding shooting parameters obtained as the target shooting parameters, for example, if only the zoom parameter is set, the target shooting parameter is the zoom parameter, and the other shooting parameters are based on the current corresponding parameters of the camera The default parameters or smart matching parameters are used, for example, after setting the zoom parameters, the focus is automatically determined by focusing.

在图3中是以滑动按钮和滑轨的组合进行的示意，在其他实施例中，还可以通过模拟旋钮进行拍摄参数的设置、或者是输入具体数字的形式进行拍摄参数的设置。例如，可以在焦距的输入框中分别输入20和50的数字，相当于将变焦参数设置为在20毫米到50毫米之间变化等。FIG. 3 is a schematic illustration of a combination of a sliding button and a sliding rail. In other embodiments, the shooting parameters can also be set by analog knobs, or the shooting parameters can be set by inputting specific numbers. For example, you can enter the numbers 20 and 50 in the input box of the focal length, which is equivalent to setting the zoom parameter to vary between 20 mm and 50 mm.

S202：若检测到拍摄启动指令，则根据所述旋转参数控制所述旋转轴进行旋转，根据所述目标拍摄参数对所述拍摄设备的拍摄参数进行调节，并拍摄视频；其中，所述拍摄设备在拍摄参数调节以及所述旋转轴旋转的过程中进行视频拍摄。S202: If a shooting start instruction is detected, the rotation axis is controlled to rotate according to the rotation parameter, the shooting parameter of the shooting device is adjusted according to the target shooting parameter, and a video is shot; wherein, the shooting device Video shooting is performed during the adjustment of shooting parameters and the rotation of the rotation axis.

在S201中得到旋转参数和目标拍摄参数后，即可分别对云台设备和拍摄设备进行控制。一旦检测到拍摄启动指令，则通过旋转参数相应地调整云台设备上的相应旋转轴的旋转角度、旋转方向和/或旋转时长等等，通过目标拍摄参数相应地调整拍摄设备的变焦参数、跟焦参数和/或曝光参数等等。经过如图3所示的用户界面对旋转参数和拍摄参数的设置后，在视频拍摄过程中，各个时间节点对应的旋转轴的旋转角度不同，和/或，各个时间节点对应的拍摄参数不同。After the rotation parameters and the target shooting parameters are obtained in S201, the gimbal device and the shooting device can be controlled separately. Once the shooting start instruction is detected, the rotation angle, rotation direction and / or rotation duration of the corresponding rotation axis on the gimbal device are adjusted accordingly through the rotation parameters, and the zoom parameters and tracking parameters of the shooting device are adjusted accordingly through the target shooting parameters Focus parameters and / or exposure parameters, etc. After setting the rotation parameters and the shooting parameters in the user interface shown in FIG. 3, during the video shooting process, the rotation angle of the rotation axis corresponding to each time node is different, and / or the shooting parameters corresponding to each time node are different.

通过单独对旋转轴的控制达到在Pitch轴、Yaw轴以及Roll轴中的任意一个或者多个轴上进行旋转拍摄视频的目的，实现旋转拍摄的视频效果。通过单独控制拍摄设备的拍摄参数来达到在不同焦距、不同焦点以及不同曝光量中的任意一种或多种下进行视频拍摄的目的，实现镜头拉远或拉近的视频效果，实现在模糊与清晰之间变化的视频效果，实现在明亮与较暗之间变化的视频效果。也可以通过组合的方式来实现其他视频效果，例如在Roll轴上达到旋转拍摄的效果的同时进行变焦控制，以同时实现镜头拉远和/或拉近的视频效果。By individually controlling the rotation axis, the purpose of rotating and shooting video on any one or more of the Pitch axis, Yaw axis, and Roll axis can be achieved to achieve the video effect of rotation shooting. By separately controlling the shooting parameters of the shooting equipment to achieve the purpose of video shooting at any one or more of different focal lengths, different focal points, and different exposures, the video effect of zooming in or zooming out of the lens is achieved, and blurring and A video effect that changes between clarity, to achieve a video effect that changes between bright and dark. Other video effects can also be achieved through combination, such as zooming control while achieving the effect of rotating shooting on the Roll axis, so as to achieve the video effect of zooming out and / or zooming in at the same time.

在一个实施例中，控制设备可以与云台设备和拍摄设备分别建立通信连接。控制设备可以基于用户设置的旋转参数和目标拍摄参数，实时生成旋转控制指令发送给云台设备以实时控制云台设备，实时生成拍摄控制指令发送给拍摄设备以实时控制拍摄设备。具体的，所述控制设备将旋转控制指令发送给所述云台设备，所述旋转控制指令是根据所述旋转参数得到的，所述旋转控制指令用于指示所述云台设备根据所述旋转参数控制所述旋转轴进行旋转。所述控制设备将拍摄控制指令发送给所述拍摄设备，所述拍摄控制指令是根据所述目标拍摄参数生成的，所述拍摄控制指令用于指示所述拍摄设备根据所述目标拍摄参数进行拍摄参数调节。In one embodiment, the control device may establish a communication connection with the pan-tilt device and the shooting device, respectively. The control device may generate a rotation control instruction in real time and send it to the PTZ device to control the PTZ device in real time based on the rotation parameter and the target shooting parameter set by the user, and send a shooting control instruction in real time to the shooting device to control the shooting device in real time. Specifically, the control device sends a rotation control instruction to the pan / tilt device, the rotation control instruction is obtained according to the rotation parameter, and the rotation control instruction is used to instruct the pan / tilt device according to the rotation The parameter controls the rotation axis to rotate. The control device sends a shooting control instruction to the shooting device, the shooting control instruction is generated according to the target shooting parameter, and the shooting control instruction is used to instruct the shooting device to shoot according to the target shooting parameter Parameter adjustment.

控制设备也可以实时将旋转参数和目标拍摄参数直接发送给云台设备和拍摄设备，由云台设备直接基于旋转参数进行旋转轴的旋转控制，拍摄设备直接基于目标拍摄参数对拍摄进行控制，例如基于跟焦参数自动跟焦、基于变焦参数自动变焦等等。The control device can also send the rotation parameters and the target shooting parameters directly to the PTZ device and the shooting device in real time. The PTZ device directly controls the rotation of the rotation axis based on the rotation parameters, and the shooting device directly controls the shooting based on the target shooting parameters, for example Auto follow focus based on follow focus parameters, auto zoom based on zoom parameters, etc.

在一个实施例中，控制设备可以通过云台设备来向拍摄设备发送目标拍摄参数或者拍摄控制指令。具体的，所述控制设备将拍摄控制指令发送给所述云台设备，所述拍摄控制指令是根据所述目标拍摄参数生成的，所述拍摄控制指令用于指示所述云台设备将所述拍摄控制指令发送给拍摄设备以使所述拍摄设备根据所述目标拍摄参数进行拍摄参数调节。所述云台设备与所述拍摄设备之间建立有通信连接，所述拍摄设备在接收到所述云台设备发送的拍摄控制指令之后，根据所述目标拍摄参数进行拍摄参数调节。所述控制设备将携带目标拍摄参数的指令发送给所述云台设备，所述指令用于指示所述云台设备将所述目标拍摄参数发送给拍摄设备以使所述拍摄设备根据所述目标拍摄参数进行拍摄参数调节。所述拍摄设备在接收到所述云台设备发送的目标拍摄参数之后，根据所述目标拍摄参数进行拍摄参数调节。In one embodiment, the control device may send target shooting parameters or shooting control instructions to the shooting device through the pan-tilt device. Specifically, the control device sends a shooting control instruction to the PTZ device, the shooting control instruction is generated according to the target shooting parameter, and the shooting control instruction is used to instruct the PTZ device to send the The shooting control instruction is sent to the shooting device to make the shooting device adjust shooting parameters according to the target shooting parameter. A communication connection is established between the pan-tilt device and the shooting device. After receiving the shooting control instruction sent by the pan-tilt device, the shooting device adjusts shooting parameters according to the target shooting parameter. The control device sends an instruction carrying a target shooting parameter to the PTZ device, and the instruction is used to instruct the PTZ device to send the target shooting parameter to the shooting device so that the shooting device according to the target Shooting parameters to adjust shooting parameters. After receiving the target shooting parameters sent by the PTZ device, the shooting device adjusts the shooting parameters according to the target shooting parameters.

在一个实施例中，对于拍摄设备的拍摄参数进行调节可以通过一个参数调节设备来实现，即控制设备可以是根据所述目标拍摄参数控制拍摄参数调节设备对所述拍摄设备的拍摄参数进行调节。如上所述，该参数调节设备可以为一个带电动马达的可控设备，参数调节设备通过带动拍摄设备的变焦环和对焦环等部件实现对拍摄设备的焦距和/或焦点等拍摄参数的调节。In one embodiment, the adjustment of the shooting parameters of the shooting device may be achieved by a parameter adjustment device, that is, the control device may control the shooting parameter adjustment device to adjust the shooting parameters of the shooting device according to the target shooting parameter. As mentioned above, the parameter adjustment device may be a controllable device with an electric motor. The parameter adjustment device adjusts the shooting parameters such as the focal length and / or focus of the shooting device by driving the zoom ring and the focus ring of the shooting device.

在设置目标拍摄参数时，还可以根据需要设置目标拍摄参数的拍摄参数变化速度或者拍摄参数调节时长，基于拍摄参数变化速度可以使得焦距、焦点、或曝光量等目标拍摄参数可以基于该拍摄参数变化速度进行匀速变化；或者，在获取到拍摄参数调节时长后，根据所述目标拍摄参数以及拍摄参数调节时长确定拍摄参数变化特征；根据所述拍摄参数变化特征对所述拍摄设备的拍摄参数进行调节，所述拍摄参数变化特征可以是根据拍摄参数调节时长、起始焦距、结束焦距计算得到的焦距变化速度；或者所述拍摄参数变化特征可以是根据拍摄参数调节时长、起始焦点、结束焦点计算得到的焦点变化速度；或者所述拍摄参数变化特征可以是根据拍摄参数调节时长、起始曝光量、结束曝光量计算得到的曝光量变化速度。When setting the target shooting parameters, you can also set the shooting parameter change speed or the shooting parameter adjustment time according to the needs. Based on the shooting parameter change speed, the target shooting parameters such as focal length, focus, or exposure can be changed based on the shooting parameters Change the speed at a constant speed; or, after acquiring the shooting parameter adjustment duration, determine the shooting parameter variation characteristics according to the target shooting parameters and the shooting parameter adjustment duration; adjust the shooting parameters of the shooting device according to the shooting parameter variation characteristics , The shooting parameter change characteristic may be a focal length change speed calculated according to shooting parameter adjustment duration, starting focal length, and ending focal length calculation; or the shooting parameter change characteristic may be adjusting time duration, starting focus, end focus calculation according to shooting parameter The obtained focus change speed; or the shooting parameter change characteristic may be the exposure amount change speed calculated according to the shooting parameter adjustment duration, the initial exposure amount, and the end exposure amount.

在一个实施例中，云台设备的旋转轴开始旋转的时间，与拍摄设备开始调节拍摄参数的时间可以不同；云台设备的旋转轴结束旋转的时间，与拍摄设备终止调节拍摄参数的时间也可以不同。例如，云台设备的旋转轴开始旋转第一预设时长后，拍摄设备才开始调节拍摄参数；云台设备的旋转轴结束旋转后，拍摄设备还可以继续进行拍摄参数调节，并在云台设备的旋转轴结束旋转第二预设时长后，拍摄设备才终止调节拍摄参数。需要说明的是，云台设备的旋转轴开始旋转的时间以及结束旋转的时间，拍摄设备开始调节拍摄参数的时间以及终止调节拍摄参数的时间可以是控制设备的用户在设置拍摄控制参数时设定的。In one embodiment, the time when the rotation axis of the pan / tilt device starts to rotate may be different from the time when the shooting device starts to adjust the shooting parameters; the time when the rotation axis of the pan / tilt device ends to rotate, and the time when the shooting device stops adjusting the shooting parameters Can be different. For example, after the rotation axis of the gimbal device starts to rotate for the first preset duration, the shooting device starts to adjust the shooting parameters; after the rotation axis of the gimbal device ends, the shooting device can continue to adjust the shooting parameters, and the gimbal device After the rotation axis of the end rotates for the second preset duration, the shooting device stops adjusting the shooting parameters. It should be noted that the time when the rotation axis of the gimbal device starts to rotate and the time to end the rotation, the time when the shooting device starts adjusting the shooting parameters and the time when it stops adjusting the shooting parameters can be set by the user of the control device when setting the shooting control parameters of.

在另一个实施例中，云台设备的旋转轴开始旋转的时间，与拍摄设备开始调节拍摄参数的时间可以相同；云台设备的旋转轴结束旋转的时间，与拍摄设备终止调节拍摄参数的时间也可以相同；或者说，云台设备的旋转轴旋转，与拍摄设备的拍摄参数调节是同步进行的。在其他实施例中，目标拍摄参数与旋转轴的旋转角度可以具有对应关系。例如，目标起始拍摄参数与旋转起始角度对应，目标终止拍摄参数与旋转结束角度对应，目标中间拍摄参数与旋转中间角度对应。In another embodiment, the time when the rotation axis of the gimbal device starts to rotate may be the same as the time when the shooting device starts to adjust the shooting parameters; It can also be the same; in other words, the rotation axis of the gimbal device rotates in synchronization with the shooting parameter adjustment of the shooting device. In other embodiments, the target shooting parameter and the rotation angle of the rotation axis may have a corresponding relationship. For example, the target start shooting parameter corresponds to the rotation start angle, the target end shooting parameter corresponds to the rotation end angle, and the target middle shooting parameter corresponds to the rotation middle angle.

在一个实施例中，若该旋转参数包括旋转起始角度和旋转结束角度，则控制设备可以控制所述旋转轴在旋转起始角度和旋转结束角度之间线性旋转。在另一个实施例中，若该旋转参数包括旋转起始角度、旋转结束角度和旋转中间角度，则控制设备可以控制所述旋转轴在旋转起始角度和旋转中间角度之间、各个旋转中间角度之间、旋转中间角度和旋转结束角度之间均线性旋转。In one embodiment, if the rotation parameter includes a rotation start angle and a rotation end angle, the control device may control the rotation axis to rotate linearly between the rotation start angle and the rotation end angle. In another embodiment, if the rotation parameter includes a rotation start angle, a rotation end angle, and an intermediate rotation angle, the control device may control the rotation axis between the rotation start angle and the rotation intermediate angle, and each rotation intermediate angle Between, the middle angle of rotation and the end angle of rotation are all linearly rotated.

在一个实施例中，用户设置的旋转参数包括旋转角度，所述旋转角度包括旋转起始角度、旋转结束角度以及旋转中间角度中的任意一个或者多个。所述旋转中间角度包括一个或者多个角度。其中，所述旋转参数还包括多个旋转速度。该多个旋转速度分别与两个旋转角度对应。举例来说，假设该旋转角度包括旋转起始角度、旋转结束角度以及一个旋转中间角度，该旋转速度包括第一旋转速度和第二旋转速度。该第一旋转速度与该起始旋转角度以及该旋转中间角度对应，该第二旋转速度与该旋转中间角度以及旋转结束角度对应。则控制设备可以控制旋转轴按照第一旋转速度从该起始旋转角度旋转到该旋转中间角度处，控制旋转轴按照第二旋转速度从该旋转中间角度旋转到该结束旋转角度处。需要说明的是，该第一旋转速度所指示的速度值可以是固定的，也可以是变化的；该第二旋转速度所指示的速度值可以是固定的，也可以是变化的。In one embodiment, the rotation parameter set by the user includes a rotation angle, and the rotation angle includes any one or more of a rotation start angle, a rotation end angle, and a rotation intermediate angle. The intermediate rotation angle includes one or more angles. Wherein, the rotation parameter further includes multiple rotation speeds. The multiple rotation speeds respectively correspond to two rotation angles. For example, assume that the rotation angle includes a rotation start angle, a rotation end angle, and a middle rotation angle, and the rotation speed includes a first rotation speed and a second rotation speed. The first rotation speed corresponds to the initial rotation angle and the intermediate rotation angle, and the second rotation speed corresponds to the intermediate rotation angle and the end rotation angle. Then, the control device may control the rotation shaft to rotate from the starting rotation angle to the middle rotation angle according to the first rotation speed, and control the rotation shaft to rotate from the middle rotation angle to the end rotation angle according to the second rotation speed. It should be noted that the speed value indicated by the first rotation speed may be fixed or may be changed; the speed value indicated by the second rotation speed may be fixed or may be changed.

在另一个实施例中，所述旋转参数还包括多个旋转时长。该多个旋转时长分别与两个旋转角度对应。举例来说，假设该旋转角度包括旋转起始角度为、旋转结束角度以及一个旋转中间角度，该旋转时长包括第一旋转时长和第二旋转时长。该第一旋转时长与该起始旋转角度以及该旋转中间角度对应，该第二旋转时长与该旋转中间角度以及旋转结束角度对应。则控制设备可以控制旋转轴从该起始旋转角度旋转到该旋转中间角度处的旋转时长为该第一旋转时长，控制旋转轴从该旋转中间角度旋转到该结束旋转角度处的旋转时长为该第二旋转时长。In another embodiment, the rotation parameter further includes multiple rotation durations. The multiple rotation durations respectively correspond to two rotation angles. For example, assume that the rotation angle includes a rotation start angle, a rotation end angle, and a middle rotation angle, and the rotation duration includes a first rotation duration and a second rotation duration. The first rotation duration corresponds to the initial rotation angle and the intermediate rotation angle, and the second rotation duration corresponds to the intermediate rotation angle and the end rotation angle. Then, the control device may control the rotation duration of the rotation axis from the starting rotation angle to the middle rotation angle to be the first rotation duration, and control the rotation duration of the rotation axis from the middle rotation angle to the end rotation angle to be The second rotation duration.

在另一个实施例中，所述旋转参数还包括多个旋转方向。该多个旋转方向分别与两个旋转角度对应。举例来说，假设该旋转角度包括旋转起始角度为、旋转结束角度以及一个旋转中间角度，该旋转方向包括第一旋转方向(例如顺时针)和第二旋转方向(例如逆时针)。该第一旋转方向与该起始旋转角度以及该旋转中间角度对应，该第二旋转方向与该旋转中间角度以及旋转结束角度对应。则控制设备可以控制旋转轴按照第一旋转方向从该起始旋转角度旋转到该旋转中间角度处，控制旋转轴按照第二旋转方向从该旋转中间角度旋转到该结束旋转角度处。In another embodiment, the rotation parameter further includes multiple rotation directions. The multiple rotation directions respectively correspond to two rotation angles. For example, assume that the rotation angle includes a rotation start angle, a rotation end angle, and a middle rotation angle. The rotation direction includes a first rotation direction (for example, clockwise) and a second rotation direction (for example, counterclockwise). The first rotation direction corresponds to the initial rotation angle and the intermediate rotation angle, and the second rotation direction corresponds to the intermediate rotation angle and the end rotation angle. Then, the control device may control the rotation shaft to rotate from the starting rotation angle to the middle rotation angle according to the first rotation direction, and control the rotation shaft to rotate from the middle rotation angle to the end rotation angle according to the second rotation direction.

在一个实施例中，若该目标拍摄参数包括目标起始拍摄参数和目标终止拍摄参数，则控制设备可以在目标起始拍摄参数和目标终止拍摄参数之间线性调节所述拍摄设备的拍摄参数；也即是说，控制拍摄设备的拍摄参数从该目标起始拍摄参数线性变化至该目标终止拍摄参数。在另一个实施例中，若该目标拍摄参数包括目标起始拍摄参数、目标终止拍摄参数和目标中间拍摄参数，则控制设备可以在该目标起始拍摄参数和目标中间拍摄参数之间、各个中间拍摄参数之间、目标中间拍摄参数和目标终止拍摄参数之间均线性调节所述拍摄设备的拍摄参数。其中，每两个拍摄参数之间的线性关系可以相同，也可以不同。In one embodiment, if the target shooting parameters include target start shooting parameters and target end shooting parameters, the control device may linearly adjust the shooting parameters of the shooting device between the target start shooting parameters and the target end shooting parameters; That is to say, the shooting parameters of the shooting device are controlled to change linearly from the target start shooting parameter to the target end shooting parameter. In another embodiment, if the target shooting parameters include a target start shooting parameter, a target end shooting parameter, and a target intermediate shooting parameter, the control device may be between the target start shooting parameter and the target intermediate shooting parameter, each intermediate The shooting parameters of the shooting device are linearly adjusted between shooting parameters, between the target shooting parameters and the target termination shooting parameters. Among them, the linear relationship between each two shooting parameters may be the same or different.

请参见图4，是本发明实施例的一种视频拍摄装置的结构示意图，该视频拍摄装置至少包括：Please refer to FIG. 4, which is a schematic structural diagram of a video shooting device according to an embodiment of the present invention. The video shooting device includes at least:

获取单元401，用于获取拍摄控制参数，所述拍摄控制参数包括云台设备的旋转轴的旋转参数以及拍摄设备的目标拍摄参数，所述拍摄设备挂设于所述云台设备上；The obtaining unit 401 is used to obtain shooting control parameters, which include rotation parameters of the rotation axis of the gimbal device and target shooting parameters of the shooting device, and the shooting device is mounted on the gimbal device;

处理单元402，用于若检测到拍摄启动指令，则根据所述旋转参数控制所述旋转轴进行旋转，根据所述目标拍摄参数对所述拍摄设备的拍摄参数进行调节，并拍摄视频；The processing unit 402 is configured to, if a shooting start instruction is detected, control the rotation axis to rotate according to the rotation parameter, adjust the shooting parameter of the shooting device according to the target shooting parameter, and shoot a video;

其中，所述拍摄设备在拍摄参数调节以及所述旋转轴旋转的过程中进行视频拍摄。Wherein, the shooting device performs video shooting during the adjustment of shooting parameters and the rotation of the rotation axis.

在一个实施例中，视频拍摄过程中各个时间节点对应的旋转轴的旋转角度不同，和/或，各个时间节点对应的目标拍摄参数不同。In one embodiment, the rotation angle of the rotation axis corresponding to each time node during video shooting is different, and / or the target shooting parameters corresponding to each time node are different.

在一个实施例中，该视频拍摄装置还包括收发单元403，具体用于：将旋转控制指令发送给所述云台设备，所述旋转控制指令是根据所述旋转参数得到的，所述旋转控制指令用于指示所述云台设备根据所述旋转参数控制所述旋转轴进行旋转。In one embodiment, the video shooting apparatus further includes a transceiver unit 403, which is specifically configured to: send a rotation control instruction to the pan / tilt device, the rotation control instruction is obtained according to the rotation parameter, and the rotation control The instruction is used to instruct the gimbal device to control the rotation axis to rotate according to the rotation parameter.

在一个实施例中，所述收发单元403，还用于：将拍摄控制指令发送给所述拍摄设备，所述拍摄控制指令是根据所述目标拍摄参数生成的，所述拍摄控制指令用于指示所述拍摄设备根据所述目标拍摄参数进行拍摄参数调节。In one embodiment, the transceiver unit 403 is further configured to: send a shooting control instruction to the shooting device, the shooting control instruction is generated according to the target shooting parameter, and the shooting control instruction is used to instruct The shooting device adjusts shooting parameters according to the target shooting parameters.

在一个实施例中，所述收发单元403，具体用于：将拍摄控制指令发送给所述云台设备，所述拍摄控制指令是根据所述目标拍摄参数生成的，所述拍摄控制指令用于指示所述云台设备将所述拍摄控制指令发送给所述拍摄设备以使所述拍摄设备根据所述目标拍摄参数进行拍摄参数调节。In one embodiment, the transceiver unit 403 is specifically configured to: send a shooting control instruction to the PTZ device, the shooting control instruction is generated according to the target shooting parameter, and the shooting control instruction is used to Instructing the pan / tilt device to send the shooting control instruction to the shooting device so that the shooting device performs shooting parameter adjustment according to the target shooting parameter.

在一个实施例中，所述处理单元402，具体用于：根据所述目标拍摄参数控制拍摄参数调节设备对所述拍摄设备的拍摄参数进行调节。In one embodiment, the processing unit 402 is specifically configured to: control the shooting parameter adjustment device according to the target shooting parameter to adjust the shooting parameter of the shooting device.

在一个实施例中，所述获取单元401，还用于获取拍摄参数调节时长；In one embodiment, the obtaining unit 401 is further used to obtain the shooting parameter adjustment duration;

所述处理单元402，还用于：根据所述目标拍摄参数以及拍摄参数调节时长确定拍摄参数变化特征；根据所述拍摄参数变化特征对所述拍摄设备的拍摄参数进行调节。The processing unit 402 is further configured to: determine a shooting parameter change characteristic according to the target shooting parameter and the shooting parameter adjustment time; adjust the shooting parameter of the shooting device according to the shooting parameter change characteristic.

在一个实施例中，所述旋转轴包括俯仰轴、横滚轴和偏航轴中的任意一个。In one embodiment, the rotation axis includes any one of a pitch axis, a roll axis, and a yaw axis.

在一个实施例中，所述旋转参数包括旋转起始角度、旋转结束角度、旋转速度、旋转时长和旋转方向中的任意一个或者多个。In one embodiment, the rotation parameter includes any one or more of a rotation start angle, a rotation end angle, a rotation speed, a rotation duration, and a rotation direction.

在一个实施例中，所述旋转参数包括旋转角度，所述旋转角度包括旋转起始角度、旋转结束角度以及旋转中间角度中的任意一个或者多个，其中，所述旋转中间角度包括一个或者多个角度；In one embodiment, the rotation parameter includes a rotation angle, and the rotation angle includes any one or more of a rotation start angle, a rotation end angle, and an intermediate rotation angle, where the intermediate rotation angle includes one or more Angles

和/或，所述旋转参数包括：多个旋转速度；And / or, the rotation parameters include: multiple rotation speeds;

和/或，所述旋转参数包括：多个旋转时长；And / or, the rotation parameters include: multiple rotation durations;

和/或，所述旋转参数包括：多个旋转方向。And / or, the rotation parameter includes: multiple rotation directions.

在一个实施例中，所述处理单元402，具体用于：In one embodiment, the processing unit 402 is specifically configured to:

若所述旋转参数包括旋转起始角度和旋转结束角度，则控制所述旋转轴在旋转起始角度和旋转结束角度之间线性旋转；If the rotation parameter includes a rotation start angle and a rotation end angle, the rotation axis is controlled to rotate linearly between the rotation start angle and the rotation end angle;

或者，若所述旋转参数包括旋转起始角度、旋转结束角度和旋转中间角度，则控制所述旋转轴在旋转起始角度和旋转中间角度之间、各个旋转中间角度之间、旋转中间角度和旋转结束角度之间均线性旋转。Or, if the rotation parameters include a rotation start angle, a rotation end angle, and an intermediate rotation angle, the rotation axis is controlled between the rotation start angle and the rotation intermediate angle, between each rotation intermediate angle, the rotation intermediate angle, and Linear rotation between the end angles of rotation.

在一个实施例中，所述目标拍摄参数包括目标起始拍摄参数和目标终止拍摄参数中的任意一个或者多个。In one embodiment, the target shooting parameters include any one or more of a target start shooting parameter and a target end shooting parameter.

在一个实施例中，所述目标拍摄参数包括目标起始拍摄参数、目标终止拍摄参数以及目标中间拍摄参数中的任意一个或者多个，其中，所述目标中间拍摄参数包括一个或者多个拍摄参数。In one embodiment, the target shooting parameters include any one or more of a target start shooting parameter, a target end shooting parameter, and a target intermediate shooting parameter, where the target intermediate shooting parameter includes one or more shooting parameters .

若所述目标拍摄参数包括目标起始拍摄参数和目标终止拍摄参数，则在目标起始拍摄参数和目标终止拍摄参数之间线性调节所述拍摄设备的拍摄参数；If the target shooting parameters include a target start shooting parameter and a target end shooting parameter, the shooting parameters of the shooting device are linearly adjusted between the target start shooting parameter and the target end shooting parameter;

或者，若所述目标拍摄参数包括目标起始拍摄参数、目标终止拍摄参数和目标中间拍摄参数，则在目标起始拍摄参数和目标中间拍摄参数之间、各个中间拍摄参数之间、目标中间拍摄参数和目标终止拍摄参数之间均线性调节所述拍摄设备的拍摄参数。Or, if the target shooting parameters include a target start shooting parameter, a target end shooting parameter, and a target intermediate shooting parameter, then between the target start shooting parameter and the target intermediate shooting parameter, between each intermediate shooting parameter, and the target intermediate shooting The shooting parameters of the shooting device are linearly adjusted between the parameters and the target shooting parameters.

在一个实施例中，所述目标拍摄参数包括变焦参数、跟焦参数和曝光参数中的任意一种或者多种。In one embodiment, the target shooting parameters include any one or more of zoom parameters, follow focus parameters, and exposure parameters.

可以理解的是，本发明实施例的视频拍摄装置的各功能单元的功能可根据上述方法实施例中的方法具体实现，其具体实现过程可以参照上述方法实施例的相关描述，此处不再赘述。It can be understood that the functions of each functional unit of the video shooting device of the embodiment of the present invention may be specifically implemented according to the method in the above method embodiment, and the specific implementation process may refer to the related description of the above method embodiment, which will not be repeated here. .

请参阅图5，图5为本发明实施例提供的一种控制设备的结构示意图。本实施例中所描述的控制设备，包括：处理器501、通信接口502、存储装置503。其中，处理器501、通信接口502、存储器503可通过总线或其他方式连接，本发明实施例以通过总线连接为例。Please refer to FIG. 5, which is a schematic structural diagram of a control device according to an embodiment of the present invention. The control device described in this embodiment includes: a processor 501, a communication interface 502, and a storage device 503. The processor 501, the communication interface 502, and the memory 503 may be connected through a bus or in other ways. The embodiment of the present invention takes connection through a bus as an example.

所述处理器501可以是中央处理器(central processing unit，CPU)。所述处理器501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)等。上述PLD可以是现场可编程逻辑门阵列(field-programmable gate array，FPGA)，通用阵列逻辑(generic array logic，GAL)等。The processor 501 may be a central processing unit (central processing unit, CPU). The processor 501 may further include a hardware chip. The above-mentioned hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (programmable logic device, PLD), or the like. The PLD can be a field-programmable gate array (field-programmable gate array, FPGA), a general-purpose array logic (generic array logic, GAL), and so on.

所述存储装置503可以包括易失性存储器(volatile memory)，例如随机存取存储器(random-access memory，RAM)；存储装置503也可以包括非易失性存储器(non-volatile memory)，例如快闪存储器(flash memory)，固态硬盘(solid-state drive，SSD)等；存储装置503还可以包括上述种类的存储器的组合。所述通信接口502可以用于收发信息或信令的交互，以及信号的接收和传递。所述控制设备通过所述通信接口502与云台设备和/或拍摄设备建立通信连接。The storage device 503 may include volatile memory (volatile memory), such as random-access memory (RAM); the storage device 503 may also include non-volatile memory (non-volatile memory), such as fast A flash memory (flash memory), a solid-state drive (SSD), etc .; the storage device 503 may also include a combination of the above types of memories. The communication interface 502 can be used for the interaction of receiving and sending information or signaling, and the reception and transmission of signals. The control device establishes a communication connection with the PTZ device and / or the shooting device through the communication interface 502.

可选地，所述存储装置503还用于存储程序指令。所述存储装置501可以调用所述程序指令，实现如本申请图2实施例中所示的视频拍摄方法。当所述程序指令被执行时，所述处理器501用于：Optionally, the storage device 503 is also used to store program instructions. The storage device 501 can call the program instructions to implement the video shooting method shown in the embodiment of FIG. 2 of the present application. When the program instructions are executed, the processor 501 is used to:

获取拍摄控制参数，所述拍摄控制参数包括云台设备的旋转轴的旋转参数以及拍摄设备的目标拍摄参数，所述拍摄设备挂设于所述云台设备上；Obtain shooting control parameters, which include rotation parameters of the rotation axis of the pan-tilt device and target shooting parameters of the shooting device, and the shooting device is hung on the pan-tilt device;

若检测到拍摄启动指令，则根据所述旋转参数控制所述旋转轴进行旋转，根据所述目标拍摄参数对所述拍摄设备的拍摄参数进行调节，并拍摄视频；If a shooting start instruction is detected, the rotation axis is controlled to rotate according to the rotation parameter, the shooting parameter of the shooting device is adjusted according to the target shooting parameter, and a video is shot;

在一个实施例中，处理器501根据所述旋转参数控制所述旋转轴进行旋转时，具体用于：通过所述通信接口502将旋转控制指令发送给所述云台设备，所述旋转控制指令是根据所述旋转参数得到的，所述旋转控制指令用于指示所述云台设备根据所述旋转参数控制所述旋转轴进行旋转。In one embodiment, when the processor 501 controls the rotation axis to rotate according to the rotation parameter, it is specifically used to: send a rotation control instruction to the PTZ device through the communication interface 502, and the rotation control instruction It is obtained according to the rotation parameter, and the rotation control instruction is used to instruct the gimbal device to control the rotation axis to rotate according to the rotation parameter.

在一个实施例中，处理器501根据所述目标拍摄参数对所述拍摄设备的拍摄参数进行调节时，具体用于：通过所述通信接口502将拍摄控制指令发送给所述拍摄设备，所述拍摄控制指令是根据所述目标拍摄参数生成的，所述拍摄控制指令用于指示所述拍摄设备根据所述目标拍摄参数进行拍摄参数调节。In one embodiment, when the processor 501 adjusts the shooting parameters of the shooting device according to the target shooting parameters, it is specifically used to: send a shooting control instruction to the shooting device through the communication interface 502, the The shooting control instruction is generated according to the target shooting parameter, and the shooting control instruction is used to instruct the shooting device to perform shooting parameter adjustment according to the target shooting parameter.

在一个实施例中，处理器501根据所述目标拍摄参数对所述拍摄设备的拍摄参数进行调节时，具体用于：通过所述通信接口502将拍摄控制指令发送给所述云台设备，所述拍摄控制指令是根据所述目标拍摄参数生成的，所述拍摄控制指令用于指示所述云台设备将所述拍摄控制指令发送给所述拍摄设备以使所述拍摄设备根据所述目标拍摄参数进行拍摄参数调节。In one embodiment, when the processor 501 adjusts the shooting parameters of the shooting device according to the target shooting parameters, it is specifically used to: send a shooting control instruction to the cloud platform device through the communication interface 502. The shooting control instruction is generated according to the target shooting parameter, and the shooting control instruction is used to instruct the pan / tilt device to send the shooting control instruction to the shooting device to cause the shooting device to shoot according to the target Parameters to adjust shooting parameters.

在一个实施例中，所述处理器501根据所述目标拍摄参数对所述拍摄设备的拍摄参数进行调节时，具体用于：根据所述目标拍摄参数控制拍摄参数调节设备对所述拍摄设备的拍摄参数进行调节。In one embodiment, when the processor 501 adjusts the shooting parameters of the shooting device according to the target shooting parameters, it is specifically used to: control the shooting parameter adjustment device to the shooting device according to the target shooting parameters Adjust the shooting parameters.

在一个实施例中，所述处理器501根据所述目标拍摄参数对所述拍摄设备的拍摄参数进行调节时，具体用于：获取拍摄参数调节时长；根据所述目标拍摄参数以及拍摄参数调节时长确定拍摄参数变化特征；根据所述拍摄参数变化特征对所述拍摄设备的拍摄参数进行调节。In one embodiment, when the processor 501 adjusts the shooting parameters of the shooting device according to the target shooting parameters, it is specifically used to: obtain the shooting parameter adjustment duration; adjust the shooting duration according to the target shooting parameters and the shooting parameters Determining the changing characteristics of the shooting parameters; adjusting the shooting parameters of the shooting device according to the changing characteristics of the shooting parameters.

在一个实施例中，所述处理器501根据所述旋转参数控制所述旋转轴进行旋转时，具体用于：若所述旋转参数包括旋转起始角度和旋转结束角度，则控制所述旋转轴在旋转起始角度和旋转结束角度之间线性旋转；In one embodiment, when the processor 501 controls the rotation axis to rotate according to the rotation parameter, it is specifically used to control the rotation axis if the rotation parameter includes a rotation start angle and a rotation end angle Linear rotation between the start angle of rotation and the end angle of rotation;

在一个实施例中，所述处理器根据所述目标拍摄参数对所述拍摄设备的拍摄参数进行调节时，具体用于：若所述目标拍摄参数包括目标起始拍摄参数和目标终止拍摄参数，则在目标起始拍摄参数和目标终止拍摄参数之间线性调节所述拍摄设备的拍摄参数；In one embodiment, when the processor adjusts the shooting parameters of the shooting device according to the target shooting parameters, it is specifically used to: if the target shooting parameters include a target start shooting parameter and a target end shooting parameter, Then linearly adjust the shooting parameters of the shooting device between the target start shooting parameters and the target end shooting parameters;

具体实现中，本发明实施例中所描述的处理器501、通信接口502、存储装置503可执行本发明实施例提供的一种视频拍摄方法中所描述的实现方式，在此不再赘述。In a specific implementation, the processor 501, the communication interface 502, and the storage device 503 described in the embodiment of the present invention can execute the implementation described in a video shooting method provided in the embodiment of the present invention, and details are not described herein again.

本发明实施例中，先获取旋转参数以及目标拍摄参数，然后根据旋转参数控制旋转轴进行旋转，根据目标拍摄参数对拍摄设备的拍摄参数进行调节，并拍摄视频，其中，拍摄设备在拍摄参数调节以及旋转轴旋转的过程中进行视频拍摄。采用上述方式可以对视频的拍摄方式进行控制，满足了用户对拍摄控制的自动化需求，使得视频效果更加多样化。In the embodiment of the present invention, the rotation parameters and the target shooting parameters are first obtained, and then the rotation axis is controlled to rotate according to the rotation parameters, the shooting parameters of the shooting device are adjusted according to the target shooting parameters, and the video is shot. And video shooting during the rotation of the rotating shaft. The above-mentioned methods can be used to control the shooting mode of the video, which satisfies the user's automation requirements for shooting control, and makes the video effect more diversified.

本发明实施例还提供一种计算机可读存储介质，所述计算机可读存储介质中存储有指令，当其在计算机上运行时，使得计算机执行上述方法实施例所述的视频拍摄方法。Embodiments of the present invention also provide a computer-readable storage medium that stores instructions, which when executed on a computer, causes the computer to execute the video shooting method described in the foregoing method embodiments.

本发明实施例还提供一种包含指令的计算机程序产品，当其在计算机上运行时，使得计算机执行上述方法实施例所述的视频拍摄方法。An embodiment of the present invention also provides a computer program product containing instructions, which when run on a computer, causes the computer to execute the video shooting method described in the above method embodiments.

本领域普通技术人员可以理解实现上述实施例方法中的全部或部分流程，是可以通过计算机程序来指令相关的硬件来完成，所述的程序可存储于一计算机可读取存储介质中，该程序在执行时，可包括如上述各方法的实施例的流程。其中，所述的存储介质可为磁碟、光盘、只读存储记忆体(Read-Only Memory，ROM)或随机存储记忆体(Random Access Memory，RAM)等。A person of ordinary skill in the art may understand that all or part of the processes in the method of the foregoing embodiments may be completed by instructing relevant hardware through a computer program, and the program may be stored in a computer-readable storage medium. During execution, the process of the above method embodiments may be included. Wherein, the storage medium may be a magnetic disk, an optical disk, a read-only memory (Read-Only Memory, ROM) or a random access memory (Random Access Memory, RAM), etc.

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。The above disclosure is only part of the embodiments of the present invention, and of course it cannot be used to limit the scope of the present invention. Therefore, equivalent changes made according to the claims of the present invention still fall within the scope of the present invention.

Claims

一种视频拍摄方法，应用于控制设备，其特征在于，所述方法包括：A video shooting method applied to control equipment, characterized in that the method includes:

获取拍摄控制参数，所述拍摄控制参数包括云台设备的旋转轴的旋转参数以及拍摄设备的目标拍摄参数，所述拍摄设备挂设于所述云台设备上；Obtain shooting control parameters, which include rotation parameters of the rotation axis of the gimbal device and target shooting parameters of the shooting device, and the shooting device is mounted on the gimbal device;

若检测到拍摄启动指令，则根据所述旋转参数控制所述旋转轴进行旋转，根据所述目标拍摄参数对所述拍摄设备的拍摄参数进行调节，并拍摄视频；If a shooting start instruction is detected, the rotation axis is controlled to rotate according to the rotation parameter, the shooting parameter of the shooting device is adjusted according to the target shooting parameter, and a video is shot;

其中，所述拍摄设备在拍摄参数调节以及所述旋转轴旋转的过程中进行视频拍摄。Wherein, the shooting device performs video shooting during the adjustment of shooting parameters and the rotation of the rotation axis.
根据权利要求1所述的方法，其特征在于，视频拍摄过程中各个时间节点对应的旋转轴的旋转角度不同，和/或，各个时间节点对应的目标拍摄参数不同。The method according to claim 1, wherein the rotation angle of the rotation axis corresponding to each time node during video shooting is different, and / or the target shooting parameters corresponding to each time node are different.
根据权利要求1或2所述的方法，其特征在于，所述根据所述旋转参数控制所述旋转轴进行旋转，包括：The method according to claim 1 or 2, wherein the controlling the rotation axis to rotate according to the rotation parameter includes:

将旋转控制指令发送给所述云台设备，所述旋转控制指令是根据所述旋转参数得到的，所述旋转控制指令用于指示所述云台设备根据所述旋转参数控制所述旋转轴进行旋转。Sending a rotation control instruction to the pan-tilt device, the rotation control instruction is obtained according to the rotation parameter, and the rotation control instruction is used to instruct the pan-tilt device to control the rotation axis according to the rotation parameter Spin.
根据权利要求1或2所述的方法，其特征在于，所述根据所述目标拍摄参数对所述拍摄设备的拍摄参数进行调节，包括：The method according to claim 1 or 2, wherein the adjusting the shooting parameters of the shooting device according to the target shooting parameters includes:

将拍摄控制指令发送给所述拍摄设备，所述拍摄控制指令是根据所述目标拍摄参数生成的，所述拍摄控制指令用于指示所述拍摄设备根据所述目标拍摄参数进行拍摄参数调节。Sending a shooting control instruction to the shooting device, the shooting control instruction is generated according to the target shooting parameter, and the shooting control instruction is used to instruct the shooting device to perform shooting parameter adjustment according to the target shooting parameter.
根据权利要求1或2所述的方法，其特征在于，所述根据所述目标拍摄参数对所述拍摄设备的拍摄参数进行调节，包括：The method according to claim 1 or 2, wherein the adjusting the shooting parameters of the shooting device according to the target shooting parameters includes:

将拍摄控制指令发送给所述云台设备，所述拍摄控制指令是根据所述目标拍摄参数生成的，所述拍摄控制指令用于指示所述云台设备将所述拍摄控制指令发送给所述拍摄设备以使所述拍摄设备根据所述目标拍摄参数进行拍摄参数调节。Sending a shooting control instruction to the PTZ device, the shooting control instruction is generated according to the target shooting parameter, the shooting control instruction is used to instruct the PTZ device to send the shooting control instruction to the A shooting device so that the shooting device adjusts shooting parameters according to the target shooting parameters.
根据权利要求1或2所述的方法，其特征在于，所述根据所述目标拍摄参数对所述拍摄设备的拍摄参数进行调节，包括：The method according to claim 1 or 2, wherein the adjusting the shooting parameters of the shooting device according to the target shooting parameters includes:

根据所述目标拍摄参数控制拍摄参数调节设备对所述拍摄设备的拍摄参数进行调节。The shooting parameter adjustment device is controlled according to the target shooting parameter to adjust the shooting parameter of the shooting device.
根据权利要求1或2所述的方法，其特征在于，所述根据所述目标拍摄参数对所述拍摄设备的拍摄参数进行调节，包括：The method according to claim 1 or 2, wherein the adjusting the shooting parameters of the shooting device according to the target shooting parameters includes:

获取拍摄参数调节时长；Obtain the shooting parameter adjustment duration;

根据所述目标拍摄参数以及拍摄参数调节时长确定拍摄参数变化特征；Determine the changing characteristics of the shooting parameters according to the target shooting parameters and the shooting parameter adjustment duration;

根据所述拍摄参数变化特征对所述拍摄设备的拍摄参数进行调节。The shooting parameters of the shooting device are adjusted according to the changing characteristics of the shooting parameters.
根据权利要求1至7中任一项所述的方法，其特征在于，所述旋转轴包括俯仰轴、横滚轴和偏航轴中的任意一个。The method according to any one of claims 1 to 7, wherein the rotation axis includes any one of a pitch axis, a roll axis, and a yaw axis.
根据权利要求1至8中任一项所述的方法，其特征在于，所述旋转参数包括旋转起始角度、旋转结束角度、旋转速度、旋转时长和旋转方向中的任意一个或者多个。The method according to any one of claims 1 to 8, wherein the rotation parameter includes any one or more of a rotation start angle, a rotation end angle, a rotation speed, a rotation duration, and a rotation direction.
根据权利要求1至8中任一项所述的方法，其特征在于，所述旋转参数包括旋转角度，所述旋转角度包括旋转起始角度、旋转结束角度以及旋转中间角度中的任意一个或者多个，其中，所述旋转中间角度包括一个或者多个角度；The method according to any one of claims 1 to 8, wherein the rotation parameter includes a rotation angle, and the rotation angle includes any one or more of a rotation start angle, a rotation end angle, and a rotation intermediate angle , Wherein the intermediate rotation angle includes one or more angles;

和/或，所述旋转参数包括：多个旋转速度；And / or, the rotation parameters include: multiple rotation speeds;

和/或，所述旋转参数包括：多个旋转时长；And / or, the rotation parameters include: multiple rotation durations;

和/或，所述旋转参数包括：多个旋转方向。And / or, the rotation parameter includes: multiple rotation directions.
根据权利要求9或10所述的方法，其特征在于，所述根据所述旋转参数控制所述旋转轴进行旋转，包括：The method according to claim 9 or 10, wherein the controlling the rotation axis to rotate according to the rotation parameter includes:

若所述旋转参数包括旋转起始角度和旋转结束角度，则控制所述旋转轴在旋转起始角度和旋转结束角度之间线性旋转；If the rotation parameter includes a rotation start angle and a rotation end angle, the rotation axis is controlled to rotate linearly between the rotation start angle and the rotation end angle;

或者，or,

若所述旋转参数包括旋转起始角度、旋转结束角度和旋转中间角度，则控制所述旋转轴在旋转起始角度和旋转中间角度之间、各个旋转中间角度之间、旋转中间角度和旋转结束角度之间均线性旋转。If the rotation parameters include a rotation start angle, a rotation end angle, and a rotation middle angle, the rotation axis is controlled between the rotation start angle and the rotation middle angle, between each rotation middle angle, the rotation middle angle, and the rotation end Linear rotation between angles.
根据权利要求1至11中任一项所述的方法，其特征在于，所述目标拍摄参数包括目标起始拍摄参数和目标终止拍摄参数中的任意一个或者多个。The method according to any one of claims 1 to 11, wherein the target shooting parameters include any one or more of a target start shooting parameter and a target end shooting parameter.
根据权利要求1至11中任一项所述的方法，其特征在于，所述目标拍摄参数包括目标起始拍摄参数、目标终止拍摄参数以及目标中间拍摄参数中的任意一个或者多个，其中，所述目标中间拍摄参数包括一个或者多个拍摄参数。The method according to any one of claims 1 to 11, wherein the target shooting parameters include any one or more of a target start shooting parameter, a target end shooting parameter, and a target intermediate shooting parameter, wherein, The target intermediate shooting parameters include one or more shooting parameters.
根据权利要求12或13所述的方法，其特征在于，所述根据所述目标拍摄参数对所述拍摄设备的拍摄参数进行调节，包括：The method according to claim 12 or 13, wherein the adjusting the shooting parameters of the shooting device according to the target shooting parameters includes:

若所述目标拍摄参数包括目标起始拍摄参数和目标终止拍摄参数，则在目标起始拍摄参数和目标终止拍摄参数之间线性调节所述拍摄设备的拍摄参数；If the target shooting parameters include a target start shooting parameter and a target end shooting parameter, the shooting parameters of the shooting device are linearly adjusted between the target start shooting parameter and the target end shooting parameter;

或者，or,

若所述目标拍摄参数包括目标起始拍摄参数、目标终止拍摄参数和目标中间拍摄参数，则在目标起始拍摄参数和目标中间拍摄参数之间、各个中间拍摄参数之间、目标中间拍摄参数和目标终止拍摄参数之间均线性调节所述拍摄设备的拍摄参数。If the target shooting parameters include a target start shooting parameter, a target end shooting parameter and a target intermediate shooting parameter, then between the target start shooting parameter and the target intermediate shooting parameter, between each intermediate shooting parameter, the target intermediate shooting parameter and The shooting parameters of the shooting device are linearly adjusted between the shooting parameters of the target termination.
根据权利要求1至14中任一项所述的方法，其特征在于，所述目标拍摄参数包括变焦参数、跟焦参数和曝光参数中的任意一种或者多种。The method according to any one of claims 1 to 14, wherein the target shooting parameters include any one or more of zoom parameters, follow focus parameters, and exposure parameters.
一种视频拍摄装置，其特征在于，所述装置包括：A video shooting device, characterized in that the device includes:

获取单元，用于获取拍摄控制参数，所述拍摄控制参数包括云台设备的旋转轴的旋转参数以及拍摄设备的目标拍摄参数，所述拍摄设备挂设于所述云台设备上；An obtaining unit, configured to obtain shooting control parameters including rotation parameters of the rotation axis of the gimbal device and target shooting parameters of the shooting device, and the shooting device is mounted on the gimbal device;

处理单元，用于若检测到拍摄启动指令，则根据所述旋转参数控制所述旋转轴进行旋转，根据所述目标拍摄参数对所述拍摄设备的拍摄参数进行调节，并拍摄视频；The processing unit is configured to control the rotation axis to rotate according to the rotation parameter if a shooting start instruction is detected, adjust the shooting parameter of the shooting device according to the target shooting parameter, and shoot a video;

其中，所述拍摄设备在拍摄参数调节以及所述旋转轴旋转的过程中进行视频拍摄。Wherein, the shooting device performs video shooting during the adjustment of shooting parameters and the rotation of the rotation axis.
一种控制设备，其特征在于，包括：处理器，所述处理器用于：A control device, comprising: a processor, the processor is used for:

获取拍摄控制参数，所述拍摄控制参数包括云台设备的旋转轴的旋转参数以及拍摄设备的目标拍摄参数，所述拍摄设备挂设于所述云台设备上；Obtain shooting control parameters, which include rotation parameters of the rotation axis of the gimbal device and target shooting parameters of the shooting device, and the shooting device is mounted on the gimbal device;

若检测到拍摄启动指令，则根据所述旋转参数控制所述旋转轴进行旋转，根据所述目标拍摄参数对所述拍摄设备的拍摄参数进行调节，并拍摄视频；If a shooting start instruction is detected, the rotation axis is controlled to rotate according to the rotation parameter, the shooting parameter of the shooting device is adjusted according to the target shooting parameter, and a video is shot;

其中，所述拍摄设备在拍摄参数调节以及所述旋转轴旋转的过程中进行视频拍摄。Wherein, the shooting device performs video shooting during the adjustment of shooting parameters and the rotation of the rotation axis.
根据权利要求17所述的控制设备，其特征在于，视频拍摄过程中各个时间节点对应的旋转轴的旋转角度不同，和/或，各个时间节点对应的目标拍摄参数不同。The control device according to claim 17, wherein the rotation angle of the rotation axis corresponding to each time node during video shooting is different, and / or the target shooting parameters corresponding to each time node are different.
根据权利要求17或18所述的控制设备，其特征在于，所述处理器还包括通信接口，所述控制设备通过所述通信接口与所述云台设备建立通信连接；The control device according to claim 17 or 18, wherein the processor further comprises a communication interface, and the control device establishes a communication connection with the pan / tilt device through the communication interface;

所述处理器根据所述旋转参数控制所述旋转轴进行旋转时，具体用于：When the processor controls the rotation axis to rotate according to the rotation parameter, it is specifically used to:

通过所述通信接口将旋转控制指令发送给所述云台设备，所述旋转控制指令是根据所述旋转参数得到的，所述旋转控制指令用于指示所述云台设备根据所述旋转参数控制所述旋转轴进行旋转。Sending a rotation control instruction to the PTZ device through the communication interface, the rotation control instruction is obtained according to the rotation parameter, and the rotation control instruction is used to instruct the PTZ device to control according to the rotation parameter The rotating shaft rotates.
根据权利要求17或18所述的控制设备，其特征在于，所述处理器还包括通信接口，所述控制设备通过所述通信接口与所述拍摄设备建立通信连接；The control device according to claim 17 or 18, wherein the processor further comprises a communication interface, and the control device establishes a communication connection with the shooting device through the communication interface;

所述处理器根据所述目标拍摄参数对所述拍摄设备的拍摄参数进行调节时，具体用于：When the processor adjusts the shooting parameters of the shooting device according to the target shooting parameters, it is specifically used to:

通过所述通信接口将拍摄控制指令发送给所述拍摄设备，所述拍摄控制指令是根据所述目标拍摄参数生成的，所述拍摄控制指令用于指示所述拍摄设备根据所述目标拍摄参数进行拍摄参数调节。Sending a shooting control instruction to the shooting device through the communication interface, the shooting control instruction is generated according to the target shooting parameter, and the shooting control instruction is used to instruct the shooting device to perform according to the target shooting parameter Shooting parameter adjustment.
根据权利要求17或18所述的控制设备，其特征在于，所述处理器还包括通信接口，所述控制设备通过所述通信接口与所述云台设备建立通信连接；The control device according to claim 17 or 18, wherein the processor further comprises a communication interface, and the control device establishes a communication connection with the pan / tilt device through the communication interface;

所述处理器根据所述目标拍摄参数对所述拍摄设备的拍摄参数进行调节时，具体用于：When the processor adjusts the shooting parameters of the shooting device according to the target shooting parameters, it is specifically used to:

通过所述通信接口将拍摄控制指令发送给所述云台设备，所述拍摄控制指令是根据所述目标拍摄参数生成的，所述拍摄控制指令用于指示所述云台设备将所述拍摄控制指令发送给所述拍摄设备以使所述拍摄设备根据所述目标拍摄参数进行拍摄参数调节。Sending a shooting control instruction to the PTZ device through the communication interface, the shooting control instruction is generated according to the target shooting parameter, and the shooting control instruction is used to instruct the PTZ device to control the shooting An instruction is sent to the shooting device to cause the shooting device to adjust shooting parameters according to the target shooting parameters.
根据权利要求17或18所述的控制设备，其特征在于，所述处理器根据所述目标拍摄参数对所述拍摄设备的拍摄参数进行调节时，具体用于：The control device according to claim 17 or 18, wherein when the processor adjusts the shooting parameters of the shooting device according to the target shooting parameters, it is specifically used to:

根据所述目标拍摄参数控制拍摄参数调节设备对所述拍摄设备的拍摄参数进行调节。The shooting parameter adjustment device is controlled according to the target shooting parameter to adjust the shooting parameter of the shooting device.
根据权利要求17或18所述的控制设备，其特征在于，所述处理器根据所述目标拍摄参数对所述拍摄设备的拍摄参数进行调节时，具体用于：The control device according to claim 17 or 18, wherein when the processor adjusts the shooting parameters of the shooting device according to the target shooting parameters, it is specifically used to:

获取拍摄参数调节时长；Obtain the shooting parameter adjustment duration;

根据所述目标拍摄参数以及拍摄参数调节时长确定拍摄参数变化特征；Determine the changing characteristics of the shooting parameters according to the target shooting parameters and the shooting parameter adjustment duration;

根据所述拍摄参数变化特征对所述拍摄设备的拍摄参数进行调节。The shooting parameters of the shooting device are adjusted according to the changing characteristics of the shooting parameters.
根据权利要求17至23中任一项所述的控制设备，其特征在于，所述旋转轴包括俯仰轴、横滚轴和偏航轴中的任意一个。The control device according to any one of claims 17 to 23, wherein the rotation axis includes any one of a pitch axis, a roll axis, and a yaw axis.
根据权利要求17至24中任一项所述的控制设备，其特征在于，所述旋转参数包括旋转起始角度、旋转结束角度、旋转速度、旋转时长和旋转方向中的任意一个或者多个。The control device according to any one of claims 17 to 24, wherein the rotation parameter includes any one or more of a rotation start angle, a rotation end angle, a rotation speed, a rotation duration, and a rotation direction.
根据权利要求17至24中任一项所述的控制设备，其特征在于，所述旋转参数包括旋转角度，所述旋转角度包括旋转起始角度、旋转结束角度以及旋转中间角度中的任意一个或者多个，其中，所述旋转中间角度包括一个或者多个角度；The control device according to any one of claims 17 to 24, wherein the rotation parameter includes a rotation angle, and the rotation angle includes any one of a rotation start angle, a rotation end angle, and a rotation intermediate angle or Multiple, wherein the intermediate rotation angle includes one or more angles;

和/或，所述旋转参数包括：多个旋转速度；And / or, the rotation parameters include: multiple rotation speeds;

和/或，所述旋转参数包括：多个旋转时长；And / or, the rotation parameters include: multiple rotation durations;

和/或，所述旋转参数包括：多个旋转方向。And / or, the rotation parameter includes: multiple rotation directions.
根据权利要求25或26所述的控制设备，其特征在于，所述处理器根据所述旋转参数控制所述旋转轴进行旋转时，具体用于：The control device according to claim 25 or 26, wherein when the processor controls the rotation axis to rotate according to the rotation parameter, it is specifically used to:

若所述旋转参数包括旋转起始角度和旋转结束角度，则控制所述旋转轴在旋转起始角度和旋转结束角度之间线性旋转；If the rotation parameter includes a rotation start angle and a rotation end angle, the rotation axis is controlled to rotate linearly between the rotation start angle and the rotation end angle;

或者，or,

若所述旋转参数包括旋转起始角度、旋转结束角度和旋转中间角度，则控制所述旋转轴在旋转起始角度和旋转中间角度之间、各个旋转中间角度之间、旋转中间角度和旋转结束角度之间均线性旋转。If the rotation parameters include a rotation start angle, a rotation end angle, and a rotation middle angle, the rotation axis is controlled between the rotation start angle and the rotation middle angle, between each rotation middle angle, the rotation middle angle, and the rotation end Linear rotation between angles.
根据权利要求17至27中任一项所述的控制设备，其特征在于，所述目标拍摄参数包括目标起始拍摄参数和目标终止拍摄参数中的任意一个或者多个。The control device according to any one of claims 17 to 27, wherein the target shooting parameters include any one or more of a target start shooting parameter and a target end shooting parameter.
根据权利要求17至27中任一项所述的控制设备，其特征在于，所述目标拍摄参数包括目标起始拍摄参数、目标终止拍摄参数以及目标中间拍摄参数中的任意一个或者多个，其中，所述目标中间拍摄参数包括一个或者多个拍摄参数。The control device according to any one of claims 17 to 27, wherein the target shooting parameters include any one or more of a target start shooting parameter, a target end shooting parameter, and a target intermediate shooting parameter, wherein , The target intermediate shooting parameter includes one or more shooting parameters.
根据权利要求28或29所述的控制设备，其特征在于，所述处理器根据所述目标拍摄参数对所述拍摄设备的拍摄参数进行调节时，具体用于：The control device according to claim 28 or 29, wherein when the processor adjusts the shooting parameters of the shooting device according to the target shooting parameters, it is specifically used to:

若所述目标拍摄参数包括目标起始拍摄参数和目标终止拍摄参数，则在目标起始拍摄参数和目标终止拍摄参数之间线性调节所述拍摄设备的拍摄参数；If the target shooting parameters include a target start shooting parameter and a target end shooting parameter, the shooting parameters of the shooting device are linearly adjusted between the target start shooting parameter and the target end shooting parameter;

或者，or,

若所述目标拍摄参数包括目标起始拍摄参数、目标终止拍摄参数和目标中间拍摄参数，则在目标起始拍摄参数和目标中间拍摄参数之间、各个中间拍摄参数之间、目标中间拍摄参数和目标终止拍摄参数之间均线性调节所述拍摄设备的拍摄参数。If the target shooting parameters include a target start shooting parameter, a target end shooting parameter and a target intermediate shooting parameter, then between the target start shooting parameter and the target intermediate shooting parameter, between each intermediate shooting parameter, the target intermediate shooting parameter and The shooting parameters of the shooting device are linearly adjusted between the shooting parameters of the target termination.
根据权利要求17至30中任一项所述的控制设备，其特征在于，所述目标拍摄参数包括变焦参数、跟焦参数和曝光参数中的任意一种或者多种。The control device according to any one of claims 17 to 30, wherein the target shooting parameter includes any one or more of a zoom parameter, a follow focus parameter, and an exposure parameter.
一种计算机可读存储介质，所述计算机可读存储介质中存储有计算机程序，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15中任一项所述方法的步骤。A computer-readable storage medium storing a computer program in the computer-readable storage medium, characterized in that when the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 15 are implemented .