WO2022000138A1 - Photographing control method and apparatus, and gimbal and photographing system - Google Patents

Abstract

A photographing control method and apparatus, and a gimbal and a photographing system. The method comprises: when a gimbal is in a preset photographing mode, controlling the gimbal to be successively in a plurality of preset attitudes indicated by the preset photographing mode; when the gimbal is in each of the preset attitudes, acquiring a photographing instruction input by a user; and controlling, according to the photographing instruction, a photographing apparatus on the gimbal to perform photographing. In the present application, when images at a plurality of angles are photographed and acquired by means of a gimbal, photographing is triggered by a user at each preset attitude of the gimbal, such that the user can perform photographing after confirming the composition of a picture. Therefore, poor images can be effectively reduced, such that a target image obtained after the images in the plurality of angles are spliced subsequently can achieve an expected effect relatively easily.

Description

Translated fromChinese

拍摄控制方法和装置、云台、拍摄系统Shooting control method and device, pan/tilt head, and shooting system技术领域technical field

本申请涉及拍摄领域，尤其涉及一种拍摄控制方法和装置、云台、拍摄系统。The present application relates to the field of photography, and in particular, to a photography control method and device, a pan/tilt head, and a photography system.

背景技术Background technique

目前，一些云台具有一键实现多角度拍摄，后续可以将拍摄获得的多角度的图像再拼接成一张图像的功能，例如180°(单位：度)合成全景图像。用户在使用多角度拍摄功能时，先将云台固定在三脚架或其它物体上，再进行一次点击而触发拍摄，云台将自动转动到一组特定的角度，拍摄一组图像，后续可将这组图像进行合成，这种拍摄方式适用于拍摄静止景物。当被拍目标物体为动态的，且每个角度均需要构图时，由于现有多角度拍摄功能仅在拍摄前进行一次触发，在云台转动后，云台大都采用到位方式触发搭载在云台上的拍摄装置进行拍摄，被拍目标物体需要估计云台的实时角度或云台到达预定角度的时间，这种方式不仅难度大，而且估计准确度低，云台的转动角度与用户期望的构图难以对应，导致后续拼接获得的图像难以到达预期效果。At present, some PTZs have the function of realizing multi-angle shooting with one key, and then stitching the multi-angle images obtained by shooting into one image, for example, 180° (unit: degree) to synthesize a panoramic image. When the user uses the multi-angle shooting function, first fix the gimbal on a tripod or other object, and then click once to trigger the shooting. The gimbal will automatically rotate to a specific angle to shoot a set of images. This set of images is composited, and this shooting method is suitable for shooting still scenes. When the target object to be photographed is dynamic and every angle needs to be framed, since the existing multi-angle shooting function is only triggered once before shooting, after the gimbal is rotated, most of the gimbal is triggered in place and mounted on the gimbal. For shooting with the camera on the top of the camera, the target object to be photographed needs to estimate the real-time angle of the gimbal or the time when the gimbal reaches the predetermined angle. This method is not only difficult, but also has low estimation accuracy. It is difficult to correspond, which makes it difficult for the images obtained by subsequent stitching to achieve the expected effect.

发明内容SUMMARY OF THE INVENTION

本申请提供一种拍摄控制方法和装置、云台、拍摄系统。The present application provides a shooting control method and device, a pan-tilt head, and a shooting system.

第一方面，本申请实施例提供一种拍摄控制方法，所述方法包括：In a first aspect, an embodiment of the present application provides a shooting control method, the method includes:

在云台处于预设拍摄模式时，控制所述云台依次处于所述预设拍摄模式指示的多个预设姿态；When the gimbal is in a preset shooting mode, controlling the gimbal to be sequentially in a plurality of preset postures indicated by the preset shooting mode;

在所述云台处于每一所述预设姿态时，获取用户输入的拍摄指令；When the gimbal is in each of the preset postures, acquiring a shooting instruction input by the user;

根据所述拍摄指令，控制所述云台上的拍摄装置进行拍摄。According to the shooting instruction, the shooting device on the PTZ is controlled to shoot.

第二方面，本申请实施例提供一种拍摄控制装置，所述拍摄控制装置包括：In a second aspect, an embodiment of the present application provides a shooting control device, where the shooting control device includes:

存储装置，用于存储程序指令；以及a storage device for storing program instructions; and

一个或多个处理器，调用所述存储装置中存储的程序指令，当所述程序指令被执行时，所述一个或多个处理器单独地或共同地被配置成用于实施如下操作：One or more processors that invoke program instructions stored in the storage device, the one or more processors, when executed, are individually or collectively configured to perform the following operations:

在云台处于预设拍摄模式时，控制所述云台依次处于所述预设拍摄模式指示的多个预设姿态；When the gimbal is in a preset shooting mode, controlling the gimbal to be sequentially in a plurality of preset postures indicated by the preset shooting mode;

在所述云台处于每一所述预设姿态时，获取用户输入的拍摄指令；When the gimbal is in each of the preset postures, acquiring a shooting instruction input by the user;

根据所述拍摄指令，控制所述云台上的拍摄装置进行拍摄。According to the shooting instruction, the shooting device on the PTZ is controlled to shoot.

第三方面，本申请实施例提供一种云台，所述云台包括：In a third aspect, an embodiment of the present application provides a pan-tilt head, the pan-tilt head comprising:

承载部，用于搭载拍摄装置；和a carrying portion for carrying the photographing device; and

第二方面所述的拍摄控制装置，能够与所述拍摄装置进行通信。The imaging control device according to the second aspect can communicate with the imaging device.

第四方面，本申请实施例提供拍摄系统，所述拍摄系统包括：In a fourth aspect, an embodiment of the present application provides a shooting system, where the shooting system includes:

第三方面所述的云台；和The gimbal of the third aspect; and

拍摄装置，搭载在所述云台上。A photographing device is mounted on the platform.

根据本申请实施例提供的技术方案，本申请在通过云台拍摄获取多角度的图像时，在云台的每个预设姿态均通过用户触发而进行拍摄，使得用户能够确认构图后再进行拍摄，如此，可以有效减少废片，这样后续将多角度的图像拼接后获得的目标图像会比较容易满足预期效果。According to the technical solutions provided by the embodiments of the present application, when the multi-angle images are obtained by shooting on the gimbal, the user triggers the shooting at each preset posture of the gimbal, so that the user can confirm the composition before shooting. , in this way, waste pieces can be effectively reduced, so that the target image obtained after splicing multi-angle images in the future will be easier to meet the expected effect.

附图说明Description of drawings

为了更清楚地说明本申请实施例中的技术方案，下面将对实施例描述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申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。In order to illustrate the technical solutions in the embodiments of the present application more clearly, the following briefly introduces the drawings that are used in the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can also be obtained from these drawings without creative labor.

图1是本申请一实施例中的拍摄控制方法的方法流程示意图；FIG. 1 is a schematic flowchart of a method for controlling a shooting in an embodiment of the present application;

图2A是本申请一实施例中的拍摄过程示意图；2A is a schematic diagram of a photographing process in an embodiment of the present application;

图2B是本申请另一实施例中的拍摄过程示意图；2B is a schematic diagram of a photographing process in another embodiment of the present application;

图2C是本申请另一实施例中的拍摄过程示意图；2C is a schematic diagram of a photographing process in another embodiment of the present application;

图3A是图2A所示的实施例中捕捉的多张图像拼接后获得的目标图像的示意图；3A is a schematic diagram of a target image obtained after splicing a plurality of images captured in the embodiment shown in FIG. 2A;

图3B是图2B所示的实施例中捕捉的多张图像拼接后获得的目标图像的示意图；3B is a schematic diagram of a target image obtained after splicing multiple images captured in the embodiment shown in FIG. 2B;

图3C是图2C所示的实施例中捕捉的多张图像拼接后获得的目标图像的示意图；3C is a schematic diagram of a target image obtained after stitching a plurality of images captured in the embodiment shown in FIG. 2C;

图4是是本申请一实施例中的图像获取方法的方法流程示意图；4 is a schematic flowchart of an image acquisition method in an embodiment of the present application;

图5是本申请一实施例中的拍摄控制装置的结构框图；5 is a structural block diagram of a photographing control device in an embodiment of the present application;

图6是本申请一实施例中的拍摄系统的结构框图。FIG. 6 is a structural block diagram of a photographing system in an embodiment of the present application.

具体实施方式detailed description

目前，在通过云台的多角度拍摄功能拍摄动态的目标物体，且对云台的每个角度(即一组特定的角度中的每个角度)均需要构图时，由于现有多角度拍摄功能仅在拍摄前进行一次触发，在云台转动后，云台大都采用到位方式触发搭载在云台上的拍摄装置进行拍摄，被拍目标物体需要估计云台的实时角度或云台到达预定角度的时间，这种方式不仅难度大，而且估计准确度低，云台的转动角度与用户的期望构图难以对 应，导致后续拼接获得的图像难以到达预期效果。At present, when shooting a dynamic target object through the multi-angle shooting function of the gimbal, and each angle of the gimbal (that is, each angle in a set of specific angles) needs to be framed, due to the existing multi-angle shooting function It is only triggered once before shooting. After the gimbal is rotated, most of the gimbal uses the in-position method to trigger the shooting device mounted on the gimbal to shoot. The target object to be photographed needs to estimate the real-time angle of the gimbal or the time when the gimbal reaches a predetermined angle. This method is not only difficult, but also has low estimation accuracy. It is difficult for the rotation angle of the gimbal to correspond to the user's desired composition, which makes it difficult for the images obtained by subsequent stitching to achieve the desired effect.

示例性的，若用户需要利用云台进行自拍，且用户需要在每个角度摆出不同的姿势，以将用户在不同位置、不同姿势的图像合成一张，这需要用户事先标记位置点，用户还需要估计云台的实时角度或云台到达预定角度的时间，并在云台转动至每个角度进行拍摄前，快速走到位置点摆好对应角度的姿势，这样操作起来非常麻烦，难度大且估计准确度低，云台的转动角度与用户期望的构图难以对应，后续的拼接图像难以达到用户所需的效果。Exemplarily, if the user needs to use the pan/tilt to take a selfie, and the user needs to pose different poses at each angle to combine images of the user in different positions and poses into one image, the user needs to mark the position points in advance, and the user It is also necessary to estimate the real-time angle of the gimbal or the time when the gimbal reaches the predetermined angle, and before the gimbal rotates to each angle for shooting, quickly go to the position point to pose the corresponding angle, which is very troublesome, difficult and difficult to operate. The estimation accuracy is low, the rotation angle of the gimbal is difficult to correspond to the composition expected by the user, and the subsequent stitched images are difficult to achieve the effect required by the user.

对于此，本申请实施例在通过云台拍摄获取多角度的图像时，在云台的每个预设姿态均通过用户触发而进行拍摄，使得用户能够确认构图后再进行拍摄，如此，可以有效减少废片，这样后续将多角度的图像拼接后获得的目标图像会比较容易满足预期效果。In this regard, in the embodiment of the present application, when capturing images from multiple angles through the gimbal, each preset posture of the gimbal is triggered by the user to shoot, so that the user can confirm the composition and then shoot. In this way, it can effectively Reduce waste, so that the target image obtained after splicing multi-angle images will be easier to meet the expected effect.

下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

需要说明的是，在不冲突的情况下，下述的实施例及实施方式中的特征可以相互组合。It should be noted that, in the case of no conflict, the features in the following embodiments and implementations can be combined with each other.

本申请实施例的云台可为手持云台，也可为机载云台。其中，机载云台可包括搭载在可移动平台上的云台，例如无人飞行器或有人飞行器上的云台，无人飞行器可为无人机或其他类型的无人飞行器。另外，云台可以为单轴云台、两轴云台、三轴云台或其他多轴云台。The gimbal in the embodiment of the present application may be a handheld gimbal or an airborne gimbal. Wherein, the airborne pan/tilt may include a pan/tilt mounted on a movable platform, such as a pan/tilt on an unmanned aerial vehicle or a manned aerial vehicle, and the unmanned aerial vehicle may be an unmanned aerial vehicle or other types of unmanned aerial vehicles. In addition, the gimbal can be a single-axis gimbal, a two-axis gimbal, a three-axis gimbal or other multi-axis gimbal.

图1是本申请一实施例中的拍摄控制方法的方法流程示意图；本申请实施例的拍摄控制方法的执行主体可为云台，如执行主体可为云台的控制器或设于云台的其他控制器，当然，执行主体不限于云台，也可以为诸如云台上的拍摄装置，或其它独立于云台或拍摄装置的电子设备，如云台或拍摄装置的控制设备。请参见图1，本申请实施例的拍摄控制方法可包括S101～S103。1 is a schematic flow chart of a method of a shooting control method in an embodiment of the present application; the execution subject of the shooting control method in the embodiment of the present application may be a pan/tilt, for example, the execution subject may be a controller of the pan/tilt or a controller located in the pan/tilt. Other controllers, of course, the execution subject is not limited to the pan/tilt, but can also be a camera on the pan/tilt, or other electronic devices independent of the pan/tilt or the camera, such as a control device of the pan/tilt or the camera. Referring to FIG. 1 , the shooting control method according to the embodiment of the present application may include S101 to S103.

其中，在S101中，在云台处于预设拍摄模式时，控制云台依次处于预设拍摄模式指示的多个预设姿态；Wherein, in S101, when the gimbal is in the preset shooting mode, the gimbal is controlled to be in a plurality of preset postures indicated by the preset shooting mode in sequence;

在S102中，在云台处于每一所述预设姿态时，获取用户输入的拍摄指令；In S102, when the gimbal is in each of the preset postures, obtain a shooting instruction input by the user;

在S103中，根据所述拍摄指令，控制所述云台上的拍摄装置进行拍摄。In S103, according to the shooting instruction, the shooting device on the pan/tilt head is controlled to shoot.

本申请实施例中，每个预设姿态的拍摄均由用户触发，多个预设姿态的拍摄为异步触发，示例性的，在预设拍摄模式下，拍摄开始后，云台转到第一个预设姿态，等待用户触发拍摄第一张图像，在用户触发拍摄装置进行第一次拍摄后，云台自动转动 至第二个预设姿态，等待用户触发拍摄第二张图像，在用户触发拍摄装置进行第二次拍摄后，云台自动转动至第三个预设姿态，依此类推，直至拍摄完所有预设姿态的图像。In the embodiment of the present application, the shooting of each preset posture is triggered by the user, and the shooting of multiple preset postures is triggered asynchronously. Exemplarily, in the preset shooting mode, after the shooting starts, the pan/tilt moves to the first A preset posture, waiting for the user to trigger the shooting of the first image, after the user triggers the shooting device to take the first shot, the gimbal automatically rotates to the second preset posture, waiting for the user to trigger the shooting of the second image, when the user triggers the shooting of the second image After the shooting device performs the second shooting, the gimbal automatically rotates to the third preset attitude, and so on, until all images of the preset attitude are shot.

云台可包括一种或多种预设拍摄模式，示例性的，预设拍摄模式可包括第一拍摄模式和/或第二拍摄模式；示例性的，云台可包括第一模式、第二模块、第三模式、第四模式和第五模式中的一种或多种；当然，预设拍摄模式也可包括其他拍摄模式。需要说明的是，当预设拍摄模式包括多种时，在同一时刻，云台可处于一种预设拍摄模式进行拍摄。The gimbal may include one or more preset shooting modes. Exemplarily, the preset shooting modes may include a first shooting mode and/or a second shooting mode; One or more of the module, the third mode, the fourth mode and the fifth mode; of course, the preset shooting mode may also include other shooting modes. It should be noted that when there are multiple preset shooting modes, at the same time, the gimbal can be in one preset shooting mode to shoot.

本申请实施例的预设姿态可包括偏航角度、俯仰角度和横滚角度中的至少一种，使得每一图像达到不同的拍摄效果，这样，在对多张具有不同拍摄效果的图像进行拼接后获得的目标图像可达到不同的效果。示例性的，在一些实施例中，预设拍摄模式为第一模式，预设姿态为偏航角度，即在云台处于第一模式时，只需调节云台的偏航角度，云台的横滚角度和俯仰角度保持不变，如此，可拍摄背景在水平方向上逐渐变化的多张图像，这样，在对多张图像沿着水平方向进行拼接后获得的目标图像的背景可在水平方向上呈现逐渐变化的效果。示例性的，参见图2A，在云台处于第一模式时，控制云台依次处于姿势11对应的偏航角度11、姿势12对应的偏航角度12、姿势13对应的偏航角度13、姿势14对应的偏航角度14和姿势15对应的偏航角度15，并且，云台的横滚角度和俯仰角度始终保持不变，从而拍摄出背景在水平方向上逐渐变化的多张图像，在对多张图像沿着水平方向进行拼接后获得的目标图像如图3A。The preset posture in this embodiment of the present application may include at least one of a yaw angle, a pitch angle, and a roll angle, so that each image achieves a different shooting effect. In this way, when stitching multiple images with different shooting effects The target image obtained later can achieve different effects. Exemplarily, in some embodiments, the preset shooting mode is the first mode, and the preset attitude is the yaw angle, that is, when the gimbal is in the first mode, it is only necessary to adjust the yaw angle of the gimbal, and the The roll angle and pitch angle remain unchanged. In this way, multiple images with the background gradually changing in the horizontal direction can be taken. In this way, the background of the target image obtained after stitching the multiple images along the horizontal direction can be horizontal. The effect is gradually changing. 2A , when the gimbal is in the first mode, the gimbal is controlled to be in theyaw angle 11 corresponding to theposture 11, theyaw angle 12 corresponding to theposture 12, theyaw angle 13 corresponding to theposture 13, and the posture. Theyaw angle 14 corresponding to 14 and the yaw angle 15 corresponding to the posture 15, and the roll angle and pitch angle of the gimbal remain unchanged, so as to capture multiple images with the background gradually changing in the horizontal direction. The target image obtained after stitching multiple images along the horizontal direction is shown in Figure 3A.

在另外一些实施例中，预设拍摄模式为第二模式，预设姿态为俯仰角度，即在云台处于第二模式时，只需调节云台的俯仰角度，云台的横滚角度和俯仰角度保持不变，如此，可拍摄背景在竖直方向上逐渐变化的多张图像，如背景由地面逐渐变化成天空的多张图像，这样，在对多张图像沿着竖直方向进行拼接后获得的目标图像的背景可在竖直方向上呈逐渐变化的效果。示例性的，请参见图2B，在云台处于第二模式时，控制云台依次处于姿势21对应的俯仰角度21、姿势22对应的俯仰角度22、姿势23对应的俯仰角度23，并且，云台的横滚角度和偏航角度始终保持不变，从而拍摄出背景在竖直方向上逐渐变化的多张图像，在对多张图像沿着竖直方向进行拼接后获得的目标图像如图3B。In some other embodiments, the preset shooting mode is the second mode, and the preset attitude is the pitch angle, that is, when the gimbal is in the second mode, it is only necessary to adjust the pitch angle of the gimbal, the roll angle and the pitch of the gimbal. The angle remains the same. In this way, multiple images with the background gradually changing in the vertical direction can be taken, such as multiple images where the background gradually changes from the ground to the sky. In this way, after stitching the multiple images along the vertical direction The background of the obtained target image can be gradually changed in the vertical direction. 2B, when the gimbal is in the second mode, the gimbal is controlled to be in the pitch angle 21 corresponding to the posture 21, the pitch angle 22 corresponding to the posture 22, and the pitch angle 23 corresponding to the posture 23, and the cloud The roll angle and yaw angle of the stage remain unchanged, so that multiple images with the background gradually changing in the vertical direction are captured. The target image obtained after stitching the multiple images along the vertical direction is shown in Figure 3B .

在另外一些实施例中，预设拍摄模式为第三模式，预设姿态为横滚角度，即在云台处于第三模式时，只需调节云台的横滚角度，云台的偏航角度和俯仰角度保持不变，如此，可拍摄背景沿着横滚方向逐渐变化的效果，这样，在对多张图像沿着横滚方向进行拼接后获得的目标图像的背景可在横滚方向上呈逐渐变化的效果。In some other embodiments, the preset shooting mode is the third mode, and the preset attitude is the roll angle, that is, when the gimbal is in the third mode, only the roll angle of the gimbal and the yaw angle of the gimbal need to be adjusted. and the pitch angle remain unchanged, so that the effect of the background gradually changing along the roll direction can be captured. In this way, the background of the target image obtained after splicing multiple images along the roll direction can be displayed in the roll direction. gradually changing effect.

在另外一些实施例中，预设拍摄模式为第四模式，预设姿态包括偏航角度和俯仰角度，即在云台处于第四模式时，调节云台的偏航角度和俯仰角度，云台的横滚角度 保持不变。如此，示例性的，当被拍目标对象包括多个，多个被拍目标对象在同一时刻的摆拍位置沿着拍摄装置的拍摄方向(如镜头的光轴方向)并排，且多个被拍目标对象在不同时刻的摆拍位置沿着水平圆弧方向排布，即被拍目标对象的摆拍轨迹呈波浪形时，若仅调节云台的偏航角度，而保持云台的横滚角度和俯仰角度不变，则可能只会拍摄到沿着拍摄装置的拍摄方向并排的多个轨迹点中最靠近云台的轨迹点处的被拍目标对象，同一排的其他轨迹点处的被拍目标对象均被该排中最靠近云台的轨迹点处的被拍目标对象遮挡而无法被拍摄到，因此，本实施例可通过调节云台的偏航角度和俯仰角度，并保持云台的横滚角度不变或者微调横滚角度(微调的作用是增稳)，即可拍摄到沿着拍摄装置的拍摄方向并排的多个轨迹点中每一轨迹点处的被拍目标对象的图像，且拍摄获得的图像中的被拍目标对象不存在遮挡，示例性的，请参见图2C，在云台处于第四模式时，控制云台依次处于姿势31对应的偏航角度A和俯仰角度D、姿势32对应的偏航角度A和俯仰角度E、姿势33对应的偏航角度A和俯仰角度F、姿势34对应的偏航角度B和俯仰角度D、姿势35对应的偏航角度B和俯仰角度E、姿势36对应的偏航角度B和俯仰角度F、姿势37对应的偏航角度C和俯仰角度D、姿势38对应的偏航角度C和俯仰角度E、姿势39对应的偏航角度C和俯仰角度F，并且，云台的横滚始终保持不变或者变化较小以实现增稳，从而拍摄出相对到沿着拍摄装置的拍摄方向并排的多个轨迹点中每一轨迹点处的被拍目标对象的图像，且拍摄获得的图像中的被拍目标对象不存在遮挡，在对多张图像沿着诸如相对各图像的拍摄顺序的相反顺序进行拼接后获得的目标图像如图3C。当然，第四模式也适应于获取九宫格图像，且不限于九宫格图像。In some other embodiments, the preset shooting mode is the fourth mode, and the preset posture includes the yaw angle and the pitch angle, that is, when the gimbal is in the fourth mode, the yaw angle and pitch angle of the gimbal are adjusted, and the gimbal The roll angle remains unchanged. In this way, exemplarily, when there are multiple target objects to be photographed, the posing positions of the multiple target objects at the same moment are side by side along the photographing direction of the photographing device (such as the optical axis direction of the lens), and the multiple photographed target objects are side by side. The swing positions of the target objects at different times are arranged along the horizontal arc direction, that is, when the swing trajectory of the target object is wavy, if only the yaw angle of the gimbal is adjusted, the roll angle of the gimbal is maintained. and the tilt angle remain unchanged, only the target object at the track point closest to the gimbal among the multiple track points that are side by side along the shooting direction of the camera may be captured, and the target object at other track points in the same row may be captured. The target objects are blocked by the target object at the trajectory point closest to the gimbal in the row and cannot be photographed. Therefore, in this embodiment, the yaw angle and pitch angle of the gimbal can be adjusted, and the gimbal's yaw and pitch angles can be adjusted. If the roll angle remains unchanged or the roll angle is fine-tuned (the function of fine-tuning is to increase stability), the image of the target object to be photographed at each track point of the multiple track points side by side along the shooting direction of the shooting device can be captured. And there is no occlusion of the target object in the image obtained by shooting. For an example, please refer to FIG. 2C. When the gimbal is in the fourth mode, the gimbal is controlled to be in the yaw angle A and pitch angle D corresponding to the posture 31 in turn. , yaw angle A and pitch angle E corresponding to posture 32, yaw angle A and pitch angle F corresponding to posture 33, yaw angle B and pitch angle D corresponding to posture 34, yaw angle B and pitch angle corresponding to posture 35 Angle E, yaw angle B and pitch angle F corresponding to posture 36, yaw angle C and pitch angle D corresponding to posture 37, yaw angle C and pitch angle E corresponding to posture 38, yaw angle C corresponding to posture 39 and the pitch angle F, and the roll of the gimbal remains the same or changes little to achieve stabilization, so as to shoot the relative to each of the multiple track points side by side along the shooting direction of the shooting device. The image of the photographed target object, and the photographed target object in the obtained image is not occluded, the target image obtained after splicing multiple images in a reverse order such as relative to the photographing order of each image is shown in Figure 3C. Of course, the fourth mode is also suitable for acquiring a nine-square image, and is not limited to a nine-square image.

在另外一些实施例中，预设拍摄模式为第五模式，预设姿态包括偏航角度和横滚角度，即在云台处于第五模式时，调节云台的偏航角度和横滚角度，云台的俯仰角度保持不变，如此，当被拍目标对象的摆拍轨迹呈弧形时，若仅调节云台的偏航角度，而保持云台的横滚角度和俯仰角度不变，则一些轨迹点处的被拍目标对象会由于被遮挡而拍摄不到，通过调节云台的偏航角度和横滚角度，并保存俯仰角度不变，即可拍摄到每一轨迹点处的被拍目标对象的图像，且拍摄获得的图像中的被拍目标对象不存在遮挡。In some other embodiments, the preset shooting mode is the fifth mode, and the preset attitude includes the yaw angle and the roll angle, that is, when the gimbal is in the fifth mode, the yaw angle and the roll angle of the gimbal are adjusted, The pitch angle of the gimbal remains unchanged. In this way, when the swing trajectory of the target object is arc-shaped, if only the yaw angle of the gimbal is adjusted and the roll and pitch angles of the gimbal remain unchanged, then The target object to be photographed at some track points will not be photographed due to being blocked. By adjusting the yaw angle and roll angle of the gimbal, and keeping the pitch angle unchanged, the photographed object at each track point can be photographed. The image of the target object, and there is no occlusion of the target object in the image obtained by shooting.

此外，在一些预设拍摄模式下，预设姿态可包括横滚角度和俯仰角度，即调节云台的横滚角度和俯仰角度，云台的偏航角度保持不变，从而达到预期的拍摄效果，本申请实施例对此不作具体说明。In addition, in some preset shooting modes, the preset attitude can include roll angle and pitch angle, that is, the roll angle and pitch angle of the gimbal are adjusted, and the yaw angle of the gimbal remains unchanged, so as to achieve the desired shooting effect. , which is not specifically described in this embodiment of the present application.

可以理解的，第一模式、第二模式、第三模式、第四模式和第五模式均适用于自拍和他拍的使用场景，也即，本申请实施例中，第一模式、第二模式、第三模式、第四模式和第五模式与被拍目标对象的摆拍轨迹相关，而与对被拍目标对象进行自拍还是他拍无关。It can be understood that the first mode, the second mode, the third mode, the fourth mode, and the fifth mode are all applicable to the use scenarios of Selfie and other shooting, that is, in the embodiment of the present application, the first mode, the second mode , the third mode, the fourth mode, and the fifth mode are related to the posing trajectory of the target object to be photographed, and have nothing to do with taking a selfie of the target object or taking a selfie.

本申请实施例中，预设姿态的大小(即预设姿态包含的横滚角度、偏航角度和俯 仰角度中的至少一种的大小)可与合成图像的需求相关，如需要180°合成偏航方向的全景图像时，多个预设姿态的偏航角度需要覆盖0°～180°的范围；又如，120°(即第一张图像对应的预设姿态的偏航角度与最后一张图像对应的预设姿态的偏航角度之间的角度差为120°)合成偏航方向的图像时，多个偏航角度需要覆盖0°～120°的角度范围，等等。In this embodiment of the present application, the size of the preset attitude (that is, the size of at least one of the roll angle, yaw angle, and pitch angle included in the preset attitude) may be related to the requirements of the composite image. For example, if a 180° composite offset is required For a panoramic image of the heading direction, the yaw angles of multiple preset attitudes need to cover the range of 0° to 180°; for another example, 120° (that is, the yaw angle of the preset attitude corresponding to the first image and the last image The angle difference between the yaw angles of the preset poses corresponding to the images is 120°.) When synthesizing images in the yaw direction, multiple yaw angles need to cover the angular range of 0° to 120°, and so on.

本申请实施例的预设姿态可为默认姿态，也可由用户预先设定。示例性的，在一些实施例中，预设姿态为默认姿态，示例性的，预设姿态为偏航角度，在180°合成偏航方向的全景图像时，偏航角度可包括0°、30°、60°、90°、120°、150°和180°；当然，在180°合成偏航方向的全景图像时，偏航角度也可以包括其他默认角度大小，只要默认角度覆盖0°～180°的角度范围即可。The preset posture in this embodiment of the present application may be a default posture, or may be preset by a user. Exemplarily, in some embodiments, the preset attitude is a default attitude, and for example, the preset attitude is a yaw angle. When synthesizing a panoramic image in a yaw direction at 180°, the yaw angle may include 0°, 30°, and 30°. °, 60°, 90°, 120°, 150°, and 180°; of course, when synthesizing a panoramic image in the yaw direction at 180°, the yaw angle can also include other default angle sizes, as long as the default angle covers 0°～180° ° angle range is sufficient.

在另外一些实施例中，预设姿态由用户预先设定，用户需要在第一次触发拍摄装置拍摄前设定预设姿态的大小。本实施例中，预设姿态的大小、方向和/或数量由用户预先设定，以满足不同的拍摄需求，示例性的，预设姿态的大小、方向和数量均由用户预先设定；示例性的，预设姿态的数量固定，预设姿态的大小和/或方向由用户预先设定；示例性的，预设姿态的方向固定，预设姿态的大小和/或数量由用户预先设定，等等。示例性的，在180°合成偏航方向的全景图像时，用户需要在第一次触发拍摄装置拍摄前，将偏航角度设置成0°、30°、60°、90°、120°、150°和180°；当然，在180°合成偏航方向的全景图像时，用户也可偏航角度设置成其他角度大小，只要多个偏航角度覆盖0°～180°的角度范围即可。In other embodiments, the preset posture is preset by the user, and the user needs to set the size of the preset posture before triggering the photographing device for the first time. In this embodiment, the size, direction and/or number of the preset gestures are preset by the user to meet different shooting requirements. Exemplarily, the size, direction and number of the preset gestures are preset by the user; example Typically, the number of preset gestures is fixed, and the size and/or direction of the preset gestures are preset by the user; exemplary, the direction of the preset gestures is fixed, and the size and/or number of the preset gestures are preset by the user ,etc. Exemplarily, when synthesizing a panoramic image in a yaw direction at 180°, the user needs to set the yaw angle to 0°, 30°, 60°, 90°, 120°, 150° before triggering the shooting device to shoot for the first time. ° and 180°; of course, when synthesizing a panoramic image in the yaw direction at 180°, the user can also set the yaw angle to other angles, as long as multiple yaw angles cover the angular range of 0° to 180°.

示例性的，在一些实施例中，预设拍摄模式可包括第一拍摄模式，第一拍摄模式的拍摄指令由用户远程输入，即通过用户远程触发拍摄装置拍摄。可选的，用户远程触发的方式可适用于自拍，即拍摄指令的触发对象为图像中的被拍目标对象。其中，远程输入的信息可包括图像中的被拍目标对象的姿态动作和语音信息中的至少一种，相应地，拍摄指令可包括预设姿势动作和预设语音信息中的至少一种，从而通过被拍目标对象的姿态动作和语音信息中的至少一种触发拍摄装置拍摄。示例性的，远程输入的信息为被拍目标对象的姿态动作，拍摄指令为预设姿势动作，从而通过预设姿势动作远程触发拍摄装置拍摄；示例性的，远程输入的信息为被拍目标对象的语音信息，拍摄指令为预设语音信息，从而通过预设语音信息远程触发拍摄装置拍摄；示例性的，远程输入的信息包括被拍目标对象的姿态动作和语音信息，拍摄指令包括预设姿态动态和预设语音信息，从而通过预设姿势动作和预设语音信息共同远程触发拍摄装置拍摄。Exemplarily, in some embodiments, the preset shooting mode may include a first shooting mode, and the shooting instruction of the first shooting mode is remotely input by the user, that is, the shooting device is remotely triggered by the user to shoot. Optionally, the method of remote triggering by the user may be suitable for taking a selfie, that is, the triggering object of the shooting instruction is the target object to be shot in the image. Wherein, the information input remotely may include at least one of gesture actions and voice information of the target object being photographed in the image, and correspondingly, the shooting instructions may include at least one of preset gesture actions and preset voice information, so that The photographing device is triggered to photograph by at least one of gesture action and voice information of the photographed target object. Exemplarily, the remotely input information is the gesture action of the target object to be photographed, and the shooting instruction is a preset gesture action, thereby remotely triggering the photographing device through the preset gesture action; exemplarily, the remotely input information is the target object to be photographed. voice information, the shooting instruction is preset voice information, so that the shooting device is remotely triggered to shoot through the preset voice information; Exemplarily, the remotely input information includes the gesture action and voice information of the target object to be photographed, and the shooting instruction includes the preset gesture Dynamic and preset voice information, so as to remotely trigger the shooting device to shoot through the preset gesture action and preset voice information.

示例性的，以云台作为执行主体对拍摄指令的获取方式进行说明。Exemplarily, the way of acquiring the shooting instruction is described by taking the pan/tilt as the execution subject.

云台获取拍摄指令的方式可包括多种，比如，云台先获取远程输入的信息，再根据远程输入的信息判断是否获取到拍摄指令；或者，外部拍摄指令由拍摄装置或外部 装置发送，其中，拍摄装置或外部装置可先获取远程输入的信息，再根据远程输入的信息判断是否获取到拍摄指令，若获取到拍摄指令，则发送拍摄指令至云台。There are various ways for the PTZ to obtain the shooting instruction. For example, the PTZ first obtains the information input from the remote, and then judges whether the shooting instruction is obtained according to the information input from the remote; or, the external shooting instruction is sent by the shooting device or the external device, wherein , the shooting device or the external device can first obtain the information input from the remote, and then judge whether to obtain the shooting instruction according to the information input remotely, and send the shooting instruction to the pan/tilt if the shooting instruction is obtained.

示例性的，云台先获取远程输入的信息，再根据远程输入的信息判断是否获取到拍摄指令，例如，在一些实施例中，远程输入信息包括图像中的被拍目标对象的姿态动作，若图像中的被拍目标对象的姿态动作与预设姿势动作一致，则判断获取到拍摄指令；若图像中的被拍目标对象的姿态动作与预设姿势动作不一致，则继续获取远程输入的信息，直至判断获取到拍摄指令。云台可预设存储预设姿势动作，如通过数据库方式存储预设姿势动作，或通过其他方式存储预设姿势动作。另外，预设姿势动作可包括多个，当图像中的被拍目标对象的姿态动作与其中一个预设姿势动作相同时，判断获取到拍摄指令；当图像中的被拍目标对象的姿态动作不同于所有预设姿势动作时，继续获取远程输入的信息，直至判断获取到拍摄指令。Exemplarily, the pan/tilt first obtains the remotely input information, and then judges whether to obtain the shooting instruction according to the remotely input information. If the posture action of the target object to be photographed in the image is consistent with the preset posture action, then it is judged that the shooting instruction is obtained; Until it is determined that the shooting instruction is obtained. The gimbal can preset and store preset posture actions, such as storing preset posture actions in a database, or storing preset posture actions in other ways. In addition, the preset gesture actions may include multiple ones. When the gesture action of the target object to be photographed in the image is the same as one of the preset gesture actions, it is determined that a shooting instruction is obtained; when the gesture actions of the target object to be photographed in the image are different When all preset postures are performed, continue to obtain the information input from the remote until it is determined that a shooting instruction is obtained.

在一些实施例中，远程输入信息包括图像中的被拍目标对象的语音信息，若图像中的被拍目标对象的语音信息与预设语音信息一致，则判断获取到拍摄指令；若图像中的被拍目标对象的语音信息与预设语音信息不一致，则继续获取远程输入的信息，直至判断获取到拍摄指令。云台可预设存储预设语音信息，如通过数据库方式存储预设语音信息，或通过其他方式存储预设语音信息。另外，预设语音信息可包括多个，当图像中的被拍目标对象的语音信息与其中一个预设语音信息相同时，判断获取到拍摄指令；当图像中的被拍目标对象的语音信息不同于所有预设语音信息时，继续获取远程输入的信息，直至判断获取到拍摄指令。In some embodiments, the remote input information includes the voice information of the target object to be photographed in the image. If the voice information of the target object to be photographed in the image is consistent with the preset voice information, it is determined that a shooting instruction is obtained; If the voice information of the target object to be photographed is inconsistent with the preset voice information, the remotely input information is continued to be obtained until it is determined that a photographing instruction is obtained. The PTZ can preset and store preset voice information, such as storing preset voice information in a database, or storing preset voice information in other ways. In addition, the preset voice information may include multiple pieces. When the voice information of the target object to be photographed in the image is the same as one of the preset voice information, it is determined that a shooting instruction is obtained; when the voice information of the target object to be photographed in the image is different In the case of all preset voice information, continue to acquire information input remotely until it is determined that a shooting instruction is acquired.

在一些实施例中，远程输入信息包括图像中的被拍目标对象的姿态动作和语音信息，若图像中的被拍目标对象的姿态动作与预设姿势动作一致，且图像中的被拍目标对象的语音信息与预设语音信息一致，则判断获取到拍摄指令；若图像中的被拍目标对象的姿态动作与预设姿势动作不一致，或者，图像中的被拍目标对象的语音信息与预设语音信息不一致，则继续获取远程输入的信息，直至判断获取到拍摄指令。In some embodiments, the remote input information includes gestures and voice information of the target object to be photographed in the image. If the voice information of the target object in the image is consistent with the preset voice information, it is judged that the shooting instruction is obtained; if the gesture action of the target object in the image is inconsistent with the preset gesture action, or the voice information of the target object in the image is inconsistent with the preset gesture action If the voice information is inconsistent, continue to obtain remotely input information until it is determined that a shooting instruction is obtained.

拍摄装置或外部装置获取远程输入的信息，并根据远程输入的信息判断是否获取到拍摄指令的过程与云台获取远程输入的信息，并根据远程输入的信息判断是否获取到拍摄指令的过程相类似，可参见上述实施例中相应部分的描述。The process of acquiring remotely inputted information by a photographing device or an external device, and judging whether a photographing instruction has been acquired based on the remotely inputted information is similar to the process of the PTZ acquiring remotely inputted information and judging whether a photographing instruction has been acquired based on the remotely inputted information. , please refer to the description of the corresponding part in the above embodiment.

其中，远程输入的信息的识别方式也可包括多种，示例性的，远程输入信息包括图像中的被拍目标对象的姿态动作，可对拍摄装置捕捉的实时图像进行图像识别，获得图像中的被拍目标对象的姿态动作，可采用现有的姿势动作识别算法对拍摄装置捕捉的实时图像进行图像识别，本申请对图像识别算法不作具体限定。Wherein, the identification methods of the remotely input information may also include various methods. Exemplarily, the remote input information includes the gesture action of the object being photographed in the image. For the gesture action of the target object to be photographed, the existing gesture action recognition algorithm can be used to perform image recognition on the real-time image captured by the photographing device, and the present application does not specifically limit the image recognition algorithm.

示例性的，远程输入信息包括图像中的被拍目标对象的语音信息，可通过云台和/或拍摄装置上的语音获取装置采集图像中的被拍目标对象的语音信息，再基于语义识别算法识别语音信息的内容，语义识别算法可采用现有算法，本申请对此不作具体限 定。云台获取图像中的被拍目标对象的姿态动作的方式可包括但不限于如下方式：Exemplarily, the remote input information includes the voice information of the target object to be photographed in the image, and the voice information of the target object to be photographed in the image can be collected by the pan-tilt and/or the voice acquisition device on the photographing device, and then based on the semantic recognition algorithm. To recognize the content of the speech information, the semantic recognition algorithm may adopt an existing algorithm, which is not specifically limited in this application. The way that the gimbal obtains the gesture action of the target object in the image may include but is not limited to the following ways:

方式一、云台先获取拍摄装置捕捉的实时图像，再对拍摄装置捕捉的实时图像进行图像识别，获得图像中的被拍目标对象的姿态动作。Mode 1: The PTZ first obtains the real-time image captured by the photographing device, and then performs image recognition on the real-time image captured by the photographing device to obtain the gesture and movement of the target object in the image.

方式二、拍摄装置和/或外部装置获取拍摄装置捕捉的实时图像，对拍摄装置捕捉的实时图像进行图像识别，获得图像中的被拍目标对象的姿态动作，并将识别的图像中的被拍目标对象的姿态动作发送给云台。本实施例中，外部装置可包括图像处理装置。Mode 2: The photographing device and/or an external device acquires the real-time image captured by the photographing device, performs image recognition on the real-time image captured by the photographing device, obtains the gesture and movement of the photographed target object in the image, and identifies the photographed object in the identified image. The gesture action of the target object is sent to the gimbal. In this embodiment, the external device may include an image processing device.

云台获取图像中的被拍目标对象的语音信息的方式可包括但不限于如下方式：The way that the PTZ obtains the voice information of the target object in the image may include but is not limited to the following ways:

方式一、云台先获取云台和/或拍摄装置上的语音获取装置采集图像中的被拍目标对象的语音信息，再基于语义识别算法识别语音信息的内容。Manner 1: The PTZ first acquires the voice information of the target object captured in the image collected by the voice acquisition device on the PTZ and/or the photographing device, and then recognizes the content of the voice information based on a semantic recognition algorithm.

方式二、拍摄装置和/或外部装置先获取云台和/或拍摄装置上的语音获取装置采集图像中的被拍目标对象的语音信息，再基于语义识别算法识别语音信息的内容，并将识别到的语音信息的内容发送给云台。本实施例中，外部装置可包括语音获取装置。Mode 2: The camera and/or the external device first acquires the voice information of the target object captured in the image collected by the pan-tilt and/or the voice acquisition device on the camera, and then recognizes the content of the voice information based on the semantic recognition algorithm, and recognizes the voice information. The content of the received voice message is sent to the PTZ. In this embodiment, the external device may include a voice acquisition device.

下面，以预设姿势动作、预设语音信息分别远程触发拍摄装置拍摄为例进行说明。Hereinafter, the description will be given by taking the preset gesture action and the preset voice information as an example of remotely triggering the shooting by the shooting device respectively.

预设姿势动作可以根据需要设定，示例性的，预设姿势动作包括预设手势动作，可选的，不同预设姿态的预设手势动作为同一手势动作，即在每个预设姿态，被拍目标对象通过同一手势动作触发拍摄装置拍摄，示例性的，在每个预设姿态，被拍目标对象均通过“竖起大拇指”的手势触发拍摄装置拍摄。The preset gesture actions can be set as required. Exemplarily, the preset gesture actions include preset gesture actions. Optionally, the preset gesture actions of different preset poses are the same gesture action, that is, in each preset pose, The photographed target object triggers the photographing device to photograph through the same gesture action. Exemplarily, in each preset posture, the photographed target object triggers the photographing device to photograph through the gesture of "thumbs up".

可选的，不同预设姿态的预设手势动作各不相同，即在每个预设姿态，被拍目标对象通过对应的手势动作触发拍摄装置拍摄，示例性的，在预设姿态1，被拍目标对象通过手势1触发拍摄装置拍摄；在预设姿态2，被拍对象通过手势2触发拍摄；在预设姿态3，被拍目标对象通过手势3触发拍摄，其中，手势1、手势2、手势3各不相同，例如，手势1为“竖起大拇指”、手势2为“竖起同一只手的大拇指和食指”，手势3为“竖起同一只手的食指和中指”；当然，手势1、手势2、手势3也可以为其他手势。Optionally, the preset gesture actions of different preset postures are different, that is, in each preset posture, the target object to be photographed triggers the photographing device to shoot through the corresponding gesture action. Shooting the target object triggers the shooting by thegesture 1; in the preset posture 2, the photographed object triggers the shooting through the gesture 2; in the preset posture 3, the photographed target object triggers the shooting through the gesture 3, wherein thegesture 1, the gesture 2, the Gesture 3 is different, for example,gesture 1 is "thumbs up", gesture 2 is "thumb and index finger of the same hand", and gesture 3 is "index and middle finger of the same hand"; of course ,Gesture 1, Gesture 2, and Gesture 3 can also be other gestures.

可选的，不同预设姿态的预设手势动作中的一部分不相同，示例性的，在预设姿态1，被拍目标对象通过手势1触发拍摄装置拍摄；在预设姿态2，被拍对象通过手势2触发拍摄；在预设姿态3，被拍目标对象通过手势1触发拍摄。手势1可为“竖起大拇指”、手势2为“竖起同一只手的大拇指和食指”；当然，手势1和手势2也可以为其他手势。Optionally, some of the preset gesture actions of different preset postures are different. Exemplarily, inpreset posture 1, the photographed target object triggers the photographing device to shoot throughgesture 1; in preset posture 2, the photographed object is photographed. Shooting is triggered by gesture 2; in preset pose 3, the target object to be photographed is triggered bygesture 1 to shoot.Gesture 1 can be "thumbs up", and gesture 2 is "raise thumb and index finger of the same hand"; of course,gesture 1 and gesture 2 can also be other gestures.

应当理解的是，预设姿势动作不限于预设手势动作，也可以为其他，如预设肢体动作。It should be understood that the preset gesture action is not limited to a preset gesture action, and may also be other, such as a preset body action.

预设语音信息也可以根据需要设定，示例性的，预设语音信息包括“云台和/或拍 摄装置的标识信息，拍照”，当识别到“云台和/或拍摄装置的标识信息，拍照”的声音内容时，控制拍摄装置拍摄，其中，标识信息可为身份信息ID(Identity document)或其他能够唯一表征云台和/或拍摄装置的信息；示例性的，预设语音信息包括“茄子”，当识别到“茄子”的声音内容时，控制拍摄装置拍摄。应当理解的是，预设语音信息还可以包括其他声音内容，不限于上述列举的声音内容。The preset voice information can also be set as required. Exemplarily, the preset voice information includes “identification information of the PTZ and/or the photographing device, take a picture”, when “identification information of the PTZ and/or the photographing device, When taking a picture of the sound content of "photographing", control the shooting device to shoot, wherein the identification information may be an identity information ID (Identity document) or other information that can uniquely characterize the pan-tilt and/or the shooting device; exemplarily, the preset voice information includes " "Eggplant", when the sound content of "Eggplant" is recognized, the camera is controlled to shoot. It should be understood that the preset voice information may also include other sound content, which is not limited to the sound content listed above.

此外，远程输入的信息还可包括其他，如被拍目标对象通过操作遥控器触发拍摄装置拍摄，远程输入的信息包括用户操作遥控器时产生的拍摄指令，该遥控器与云台或拍摄装置远程通信连接。In addition, the information input remotely may also include other information, such as the target object being photographed triggering the photographing device by operating the remote control, and the information input remotely includes the photographing instructions generated when the user operates the remote control, the remote control is connected to the pan/tilt or the photographing device remotely. communication connection.

进一步的，在一些实施例中，在第一拍摄模式下，在云台处于每一预设姿态时，获取用户输入的拍摄指令之后，根据拍摄指令，控制云台上的拍摄装置进行拍摄之前，进行预设时长的倒计时。也即，每一图像的拍摄均分别在获取到拍摄指令后再进行预设时长的倒计时后触发，倒计时是为了留有时间给被拍目标对象摆动作，示例性的，被拍目标对象为自拍者，自拍者通过手势1远程触发拍摄装置拍摄，在识别到手势1后，再进行预设时长的倒计时后触发拍摄装置拍摄，在预设时长的时间段内，自拍者可从手势1的动作切换成其他动作，如跳跃，从而得到期望拍摄效果。预设时长的大小可根据需要设定，如10秒或其他时长大小。Further, in some embodiments, in the first shooting mode, when the gimbal is in each preset posture, after acquiring the shooting instruction input by the user, before controlling the shooting device on the gimbal to shoot according to the shooting instruction, Countdown to a preset duration. That is, the shooting of each image is triggered after a countdown with a preset duration is performed after the shooting instruction is obtained. The countdown is to leave time for the target object to be photographed. Exemplarily, the target object to be photographed is a selfie. In other words, the Selfie remotely triggers the shooting device to shoot throughgesture 1, and after recognizinggesture 1, the shooting device is triggered to shoot after a countdown of a preset duration. Switch to other actions, such as jumping, to get the desired shot. The size of the preset duration can be set as required, such as 10 seconds or other durations.

更进一步的，在一些实施例中，拍摄控制方法还可包括：在进行预设时长的倒计时的过程中，输出第一提示信息，从而通过第一提示信息提示被拍目标对象在倒计时结束前摆出需要的动作。本实施例中，云台可通过云台或拍摄装置上的显示屏和/或云台或拍摄装置上的指示灯输出第一提示信息，也可以通过其他方式输出第一提示信息，如语音方式。第一提示信息可用于指示倒计时的剩余时间，也可用于指示倒计时的其他信息，如第一提示信息可用于指示倒计时的开始时刻和倒计时的结束时刻。示例性的，第一提示信息用于指示倒计时的剩余时间，从而提示被拍目标对象在剩余时间内摆出需要的动作，示例性的，预设时长为10秒，云台在倒计时时，通过云台或拍摄装置上的显示屏依次输出9->8->…->1->0的数字和/或通过云台或拍摄装置上的指示灯每秒闪烁一次，以指示倒计时的剩余时间。Further, in some embodiments, the shooting control method may further include: during the countdown of the preset duration, outputting first prompt information, so as to prompt the target object to swing before the countdown ends through the first prompt information. Take the required action. In this embodiment, the PTZ can output the first prompt information through the display screen on the PTZ or the photographing device and/or the indicator light on the PTZ or the photographing device, and can also output the first prompt information in other ways, such as voice. . The first prompt information may be used to indicate the remaining time of the countdown, and may also be used to indicate other information of the countdown. For example, the first prompt information may be used to indicate the start time of the countdown and the end time of the countdown. Exemplarily, the first prompt information is used to indicate the remaining time of the countdown, so as to prompt the target object to perform a required action during the remaining time. Exemplarily, the preset time length is 10 seconds. The display screen on the gimbal or camera sequentially outputs the numbers 9->8->…->1->0 and/or flashes once per second through the indicator light on the gimbal or camera to indicate the remaining time in the countdown .

示例性的，请参见图2A，云台处于第一拍摄模式拍摄，预设姿态包括偏航角度1、偏航角度2、偏航角度3、偏航角度4和偏航角度5，且需要实现的拍摄效果包括：被拍目标对象在第一张图像中的姿势为姿势11，在第二张图像中的姿势为姿势12，在第三张图像中的姿势为姿势13，在第四张图像中的姿势为姿势14，在第五张图像中的姿势为姿势15。拍摄过程可包括：云台转动至偏航角度1时，被拍目标对象做出第一预设手势动作，云台识别到第一预设手势动作后，倒计时10秒，在倒计时10秒的时间段内，云台静止，被拍目标对象摆出姿势11，倒计时10秒结束时，云台触发拍摄装置拍摄，获得第一张图像；在获得第一张图像后，云台转动至偏航角度2，当云台转动至偏航角度2时，被拍目标对象做出第二预设手势动作，云台识别到第二预设手势 动作后，倒计时10秒，在倒计时10秒的时间段内，云台静止，被拍目标对象摆出姿势12，倒计时10秒结束时，云台触发拍摄装置拍摄，获得第二张图像；在获得第二张图像后，云台转动至偏航角度3，当云台转动至偏航角度3时，被拍目标对象做出第三预设手势动作，云台识别到第三预设手势动作后，倒计时10秒，在倒计时10秒的时间段内，云台静止，被拍目标对象摆出姿势13，倒计时10秒结束时，云台触发拍摄装置拍摄，获得第三张图像；在获得第三张图像后，云台转动至偏航角度4，当云台转动至偏航角度4时，被拍目标对象做出第四预设手势动作，云台识别到第四预设手势动作后，倒计时10秒，在倒计时10秒的时间段内，云台静止，被拍目标对象摆出姿势14，倒计时10秒结束时，云台触发拍摄装置拍摄，获得第四张图像；在获得第四张图像后，云台转动至偏航角度5，当云台转动至偏航角度5时，被拍目标对象做出第五预设手势动作，云台识别到第五预设手势动作后，倒计时10秒，在倒计时10秒的时间段内，云台静止，被拍目标对象摆出姿势15，倒计时10秒结束时，云台触发拍摄装置拍摄，获得第五张图像，至此，拍摄结束。其中，第一预设手势动作、第二预设手势动作、第三预设手势动作、第四预设手势动作及第五预设手势动作可相同，也可至少部分不相同。2A, the gimbal is in the first shooting mode, and the preset posture includesyaw angle 1, yaw angle 2, yaw angle 3, yaw angle 4 and yaw angle 5, and needs to be realized. The shooting effects include: the pose of the target object in the first image ispose 11, the pose in the second image ispose 12, the pose in the third image ispose 13, and the pose in the fourth image ispose 13. The pose in ispose 14 and the pose in the fifth image is pose 15. The shooting process may include: when the gimbal is rotated to the yaw angle of 1, the target object to be photographed makes a first preset gesture action, after the gimbal recognizes the first preset gesture action, a countdown of 10 seconds, and the countdown time of 10 seconds. During the segment, the gimbal is still, and the object to be photographed poses 11. At the end of the 10-second countdown, the gimbal triggers the shooting device to shoot and obtains the first image; after the first image is obtained, the gimbal rotates to the yaw angle 2. When the gimbal rotates to the yaw angle 2, the target object to be photographed makes the second preset gesture. After the gimbal recognizes the second preset gesture, it counts down for 10 seconds, within the time period of the countdown of 10 seconds. , the gimbal is still, and the target object to be photographed poses 12. When the countdown is over for 10 seconds, the gimbal triggers the shooting device to shoot, and the second image is obtained; after the second image is obtained, the gimbal rotates to the yaw angle 3. When the gimbal rotates to the yaw angle of 3, the target object to be photographed makes a third preset gesture. After the gimbal recognizes the third preset gesture, a countdown of 10 seconds is performed. The stage is still, and the target object poses 13. When the 10-second countdown ends, the gimbal triggers the shooting device to shoot, and the third image is obtained; after the third image is obtained, the gimbal rotates to the yaw angle 4. When the cloud When the stage rotates to the yaw angle of 4, the target object to be photographed makes the fourth preset gesture. After the gimbal recognizes the fourth preset gesture, the gimbal will count down for 10 seconds. During the countdown period of 10 seconds, the gimbal will stand still. , the target object to be photographed poses 14, when the 10-second countdown is over, the gimbal triggers the shooting device to shoot, and the fourth image is obtained; after the fourth image is obtained, the gimbal rotates to the yaw angle 5, when the gimbal rotates When the yaw angle is 5, the target object to be photographed makes the fifth preset gesture. After the gimbal recognizes the fifth preset gesture, it counts down 10 seconds. The target object poses a pose 15, and when the 10-second countdown ends, the gimbal triggers the shooting device to shoot, and a fifth image is obtained. At this point, the shooting ends. Wherein, the first predetermined gesture action, the second predetermined gesture action, the third predetermined gesture action, the fourth predetermined gesture action, and the fifth predetermined gesture action may be the same, or at least partially different.

示例性的，在一些实施例中，预设拍摄模式包括第二拍摄模式，第二拍摄模式的拍摄指令由用户触发控制件时产生，即通过用户手动触发拍摄装置拍摄，该控制件远离被拍目标对象，且直接或通过连接件连接于所述云台和/或所述拍摄装置。可选的，第二拍摄模式的拍摄指令的触发者与图像中的被拍目标对象可以不相同，这种触发方式可适用于他拍。其中，控制件可设于拍摄装置、云台的手持件、云台的控制配件中的至少一个上，示例性的，控制件可包括拍摄装置的快门、手持件上的控制部(可包括设于手持件上的实体控制部或手持件上的显示屏显示的虚拟控制部)、控制配件上控制部(可包括设于控制配件上的实体控制部或控制配件的显示屏显示的虚拟控制部)中的至少一种。其中，手持件可包括手柄、手环或其他手持件，控制配件可包括云台的遥控器或者手机、手环等能够控制云台的控制终端，还可以包括诸如具有多功能设置的跟焦轮。Exemplarily, in some embodiments, the preset shooting mode includes a second shooting mode, and the shooting instruction of the second shooting mode is generated when the user triggers a control element, that is, the user manually triggers the shooting device to shoot, and the control element is far away from the object being shot. The target object is connected to the pan/tilt head and/or the photographing device directly or through a connector. Optionally, the trigger of the shooting instruction in the second shooting mode may be different from the target object to be shot in the image, and this triggering manner may be applicable to other shootings. Wherein, the control member may be provided on at least one of the photographing device, the handpiece of the gimbal, and the control accessory of the gimbal. Exemplarily, the control member may include a shutter of the photographing device, a control part on the handpiece (which may include a device The physical control part on the handpiece or the virtual control part displayed on the display screen of the handpiece), the control part on the control accessory (which may include the physical control part on the control accessory or the virtual control part displayed on the display screen of the control accessory) ) at least one of them. Wherein, the handpiece may include a handle, a wristband or other handpieces, and the control accessories may include a remote control of the gimbal or a control terminal capable of controlling the gimbal, such as a mobile phone and a wristband, and may also include a follow focus wheel with multi-function settings, for example. .

当预设拍摄模式包括多种时，不同预设拍摄模式的拍摄指令的触发方式和/或触发对象可不相同。示例性的，在一些实施例中，不同预设拍摄模式的拍摄指令的触发方式不相同，如上述实施例中列举的第一拍摄模式和第二拍摄模式，第一拍摄模式和第二拍摄模式的触发方式不相同。When multiple preset shooting modes are included, the triggering methods and/or triggering objects of shooting instructions of different preset shooting modes may be different. Exemplarily, in some embodiments, the triggering modes of the shooting instructions of different preset shooting modes are different, such as the first shooting mode and the second shooting mode listed in the above embodiment, the first shooting mode and the second shooting mode. The triggering method is different.

在一些实施例中，不同预设拍摄模式的拍摄指令的触发对象不相同，示例性的，预设拍摄模式可包括自拍模式和他拍拍模式，自拍模式中拍摄指令的触发对象为图像中的被拍目标对象，他拍模式中拍摄指令的触发对象不为图像中的被拍目标对象。用户可根据需要触发云台处于其中一种预设拍摄模式进行拍摄，从而满足不同的拍摄需求，示例性的，在人手不足，需要自拍时，可触发云台处于自拍模式；示例性的，在 人手足够时，可触发云台处于他拍模式。In some embodiments, the trigger objects of the shooting instructions in different preset shooting modes are different. Exemplarily, the preset shooting modes may include Selfie mode and other shooting modes, and the trigger objects of the shooting instructions in the Selfie mode are the images in the image The target object to be photographed, the triggering object of the shooting instruction in the other shooting mode is not the target object to be photographed in the image. The user can trigger the gimbal to be in one of the preset shooting modes to shoot according to needs, so as to meet different shooting needs. Exemplarily, when there is a shortage of manpower and self-portrait is required, the gimbal can be triggered to be in the Selfie mode; When there are enough hands, the gimbal can be triggered to be in other shooting mode.

示例性的，预设拍摄模式包括第一拍摄模式和第二拍摄模式，第一拍摄模式中的拍摄指令为用户远程输入，第二拍摄模式中的拍摄指令为用户触发控制件产生，第一拍摄模式包括自拍模式，第二拍摄模式包括非自拍模式，如他拍模式。Exemplarily, the preset shooting mode includes a first shooting mode and a second shooting mode, the shooting instruction in the first shooting mode is remotely input by the user, the shooting instruction in the second shooting mode is generated by the user triggering the control element, and the first shooting The mode includes a Selfie mode, and the second shooting mode includes a non-Selfie mode, such as a self-portrait mode.

进一步可选的，多张图像包括在云台处于第一拍摄模式和/或第二拍摄模式时，拍摄装置捕捉的图像。示例性的，多张图像中的每张图像均为云台处于第一拍摄模式时，拍摄装置捕捉的图像，可在拍摄第一张图像之前，由用户预先将云台的拍摄模式设定为第一拍摄模式；示例性的，多张图像中的每张图像均为云台处于第二拍摄模式时，拍摄装置捕捉的图像，可在拍摄第一张图像之前，由用户预先将云台的拍摄模式设定为第二拍摄模式；示例性的，多张图像中的一部分图像为云台处于第一拍摄模式时，拍摄装置捕捉的图像，多张图像中的另一部分图像为云台处于第二拍摄模式时，拍摄装置捕捉的图像。当多张图像包括在云台处于第一拍摄模式和第二拍摄模式时，拍摄装置捕捉的图像时，可以在拍摄过程中切换云台的拍摄模式，比如，在拍摄每一张图像之前，由用户将云台的拍摄模式设定为第一拍摄模式或第二拍摄模式；又如，在拍摄第一张图像之前，可由用户预先将各个预设姿态对应的拍摄模式设定为第一拍摄模式或第二拍摄模式，在拍摄过程中，云台自动切换至各个预设姿态对应的拍摄模式，可选的，云台转动至各个预设姿态之后，获取拍摄指令之前，控制云台处于对应的拍摄模式。Further optionally, the plurality of images include images captured by the photographing device when the gimbal is in the first photographing mode and/or the second photographing mode. Exemplarily, each image in the plurality of images is an image captured by the camera when the gimbal is in the first shooting mode. Before shooting the first image, the user may pre-set the shooting mode of the gimbal to: The first shooting mode; exemplarily, each image in the multiple images is an image captured by the shooting device when the gimbal is in the second shooting mode. The shooting mode is set to the second shooting mode; exemplarily, a part of the images in the multiple images is an image captured by the camera when the gimbal is in the first shooting mode, and another part of the images in the multiple images is that the gimbal is in the first shooting mode. In the second shooting mode, the shooting device captures the image. When the multiple images include the images captured by the camera when the gimbal is in the first shooting mode and the second shooting mode, the shooting mode of the gimbal can be switched during the shooting process. The user sets the shooting mode of the gimbal to the first shooting mode or the second shooting mode; for another example, before shooting the first image, the user can set the shooting mode corresponding to each preset posture to the first shooting mode in advance Or the second shooting mode, during the shooting process, the gimbal automatically switches to the shooting mode corresponding to each preset posture. shooting mode.

示例性的，请参见图2A、图2B、图2C，云台为手持云台，拍摄装置可包括前置摄像头、后置摄像头和显示屏幕，前置摄像头位于显示屏幕一侧，在第一拍摄模式下，通过前置摄像头拍摄，借助于显示屏幕，适用于自拍；在第二拍摄模式下，通过后置摄像头拍摄，适用于他拍。2A, 2B, and 2C, the PTZ is a handheld PTZ, and the shooting device may include a front camera, a rear camera, and a display screen. The front camera is located on one side of the display screen. In the second shooting mode, shooting through the front camera, with the help of the display screen, is suitable for selfies; in the second shooting mode, shooting through the rear camera is suitable for other shooting.

另外，本申请实施例中，拍摄装置在相邻预设姿态处捕捉的图像之间的重叠率大于预设重叠率阈值，这样，在进行拼接后，可使得拼接出的目标图像中相邻两张图像的拼接处的图像信息较连贯，防止由于拍摄装置在相邻预设姿态处捕捉的图像之间的重叠率较小导致相邻两张图像的拼接处的图像信息突兀，影响目标图像的视觉效果。其中，预设重叠率阈值的大小可根据需要设置，示例性的，预设重叠率阈值为30％或其他数值大小。In addition, in the embodiment of the present application, the overlap ratio between the images captured by the photographing device at the adjacent preset postures is greater than the preset overlap ratio threshold. In this way, after the splicing, the adjacent two adjacent images in the spliced target images can be The image information at the splicing place of the two images is more coherent, preventing the image information at the splicing place of two adjacent images from being abrupt due to the small overlap rate between the images captured by the photographing device at the adjacent preset postures, which affects the image quality of the target image. Visual effects. Wherein, the size of the preset overlap ratio threshold can be set as required. Exemplarily, the preset overlap ratio threshold is 30% or other numerical values.

应当理解的是，本申请实施例中，拍摄装置在相邻预设姿态处捕捉的图像之间的重叠率是小于100％的，拍摄装置在相邻预设姿态处捕捉的图像之间的重叠率越大，相邻预设姿态处捕捉的图像之间的重合度越高，拼接出的目标图像中相邻两张图像的拼接处的图像信息连贯性越强。综合考虑拼接后图像信息的连贯性、拍摄所需覆盖的角度需求、拍摄张数等因素，可将拍摄装置在相邻预设姿态处捕捉的图像之间的重叠率设置成大于30％，并小于60％。It should be understood that, in this embodiment of the present application, the overlap rate between images captured by the photographing device at adjacent preset postures is less than 100%, and the overlap between images captured by the photographing device at adjacent preset postures The larger the ratio, the higher the degree of coincidence between the images captured at adjacent preset poses, and the stronger the image information coherence at the splicing of two adjacent images in the spliced target image. Considering the coherence of image information after splicing, the angle requirements to be covered for shooting, the number of shots and other factors, the overlap rate between the images captured by the camera at adjacent preset poses can be set to be greater than 30%, and less than 60%.

拍摄装置在相邻预设姿态处捕捉的图像之间的重叠率的大小可为默认数值大小，也可由用户预先设定。示例性的，拍摄装置在相邻预设姿态处捕捉的图像之间的重叠率的大小为默认数数值大小，如45％；示例性的，拍摄装置在相邻预设姿态处捕捉的图像之间的重叠率的大小由用户预先设定，例如在第一次触发拍摄装置拍摄前，将拍摄装置在相邻预设姿态处捕捉的图像之间的重叠率设置为35％。The size of the overlap ratio between the images captured by the photographing device at adjacent preset poses may be a default value, or may be preset by a user. Exemplarily, the size of the overlap ratio between the images captured by the photographing device at adjacent preset poses is a default value, such as 45%; The size of the overlap ratio between the two is preset by the user. For example, before triggering the shooting device for the first time, the overlap ratio between the images captured by the shooting device at adjacent preset poses is set to 35%.

其中，拍摄装置捕捉多张图像时的变焦倍数大小相等，这样，多张图像中的背景大小一致，多张图像拼接获得的目标图像的背景也不会太突兀。需要说明的是，本申请实施例中，拍摄装置捕捉多张图像时的变焦倍数大小相等是指：拍摄装置捕捉多张图像时的变焦倍数在允许的误差范围内可认为是大小相等的。Wherein, when the photographing device captures multiple images, the zoom multiples are the same, so that the backgrounds in the multiple images are of the same size, and the background of the target image obtained by splicing multiple images will not be too obtrusive. It should be noted that, in the embodiment of the present application, the zoom magnifications when the photographing device captures multiple images are equal in size means that the zoom magnifications when the photographing device captures multiple images can be considered to be equal in size within the allowable error range.

本申请实施例中，被拍目标对象的数量可以为一个，也可以为多个。另外，被拍目标对象可以包括人、动物或其他生命物体。In this embodiment of the present application, the number of the target object to be photographed may be one or multiple. In addition, the photographed target objects may include people, animals or other living objects.

其中，当被拍目标对象的数量为多个对象时，在第一拍摄模式下，可由被拍目标对象中任一个对象远程输入拍摄指令。进一步的，在第一拍摄模式下，多张图像的拍摄指令可由同一对象远程输入，或者多张图像的拍摄指令至少部分图像的拍摄指令由不同的对象远程输入。Wherein, when the number of the target objects to be photographed is a plurality of objects, in the first shooting mode, a shooting instruction can be remotely inputted by any one of the target objects to be photographed. Further, in the first shooting mode, the shooting instructions of multiple images can be remotely input by the same object, or the shooting instructions of at least part of the images can be remotely input by different objects.

多张图像中的被拍目标对象可为同一对象，或者多张图像中的被拍目标对象至少部分不相同。示例性的，在一些实施例中，多张图像中的被拍目标对象为同一对象，当被拍目标对象的数量为多个时，多张图像中的被拍目标对象为同一对象是指：多张图像中的被拍目标对象不变，示例性的，被拍目标对象包括对象A和对象B，则每张图像中的被拍目标对象均包括对象A和对象B。通过本申请实施例的拍摄控制方法，可让用户轻松拍摄出一种“同一画面不同位置出现同一对象”的图像。The photographed target objects in the multiple images may be the same object, or the photographed target objects in the multiple images are at least partially different. Exemplarily, in some embodiments, the photographed target object in the multiple images is the same object, and when the number of photographed target objects is multiple, the photographed target object in the multiple images is the same object means: The photographed target objects in the multiple images remain unchanged. Exemplarily, the photographed target objects include object A and object B, and the photographed target objects in each image include both object A and object B. With the shooting control method of the embodiment of the present application, a user can easily shoot an image in which "the same object appears in different positions on the same screen".

在另外一些实施例中，多张图像中的被拍目标对象至少部分不相同，示例性的，第一张图像的被拍目标对象包括对象A，第二张图像的被拍目标对象包括对象A和对象B，第三张图像包括对象B。In other embodiments, the target objects to be photographed in the multiple images are at least partially different. Exemplarily, the target object to be photographed in the first image includes object A, and the target object to be photographed in the second image includes object A. and object B, the third image includes object B.

另外，每一图像中的被拍目标对象在图像中的位置为默认位置或由用户预先设定。示例性的，每一图像中的被拍目标对象在图像中的位置为默认位置，如每一图像中的被拍目标对象在图像中的位置默认为图像的中心，可选的，每一图像中的被拍目标对象的中心与图像的中心重合；应当理解的是，每一图像中的被拍目标对象在图像中的位置也可默认为图像的其他位置，如每一图像中的被拍目标对象的中心位于图像高度方向的1/3处。需要说明的是，当被拍目标对象包括多个对象时，被拍目标对象的中心可以包括但不限定为多个对象的几何中心，也即在被拍目标对象包括多个对象时，确定被拍目标对象在图像中的位置可以不仅仅基于多个对象的几何中心。In addition, the position of the target object in each image in the image is a default position or preset by the user. Exemplarily, the position of the target object in each image in the image is the default position, for example, the position of the target object in each image in the image is the center of the image by default. Optionally, each image The center of the target object in the image coincides with the center of the image; it should be understood that the position of the target object in each image in the image can also be defaulted to other positions in the image, such as the target object in each image. The center of the target object is located at 1/3 of the height of the image. It should be noted that, when the target object to be photographed includes multiple objects, the center of the target object to be photographed may include, but is not limited to, the geometric centers of the multiple objects, that is, when the target object to be photographed includes multiple objects, it is determined that the The location of the target object in the image can be based on more than just the geometric centers of the objects.

示例性的，每一图像中的被拍目标对象在图像中的位置由用户预先设定，多张图像中的被拍目标对象在图像中的位置可设置成不同的位置，也可设置成同一位置，从 而满足不同的拍摄需求。示例性的，第一张图像中的被拍目标对象的中心与第一张图像的中心重合，第二张图像中的被拍目标对象的中心位于第二张图像高度方向的1/3处；示例性的，第一张图像中的被拍目标对象的中心与第一张图像的中心重合，第二张图像中的被拍目标对象的中心与第二张图像的中心重合。可在拍摄第一张图像前，由用户设定好每一图像中的被拍目标对象在图像中的位置，也可在每一图像拍摄前，由用户设定该张图像中的被拍目标对象在该张图像中的位置。Exemplarily, the position of the target object in each image in the image is preset by the user, and the positions of the target object in the images in multiple images can be set to different positions, or can be set to the same position. location to meet different shooting needs. Exemplarily, the center of the target object to be photographed in the first image coincides with the center of the first image, and the center of the target object to be photographed in the second image is located at 1/3 of the height direction of the second image; Exemplarily, the center of the target object in the first image coincides with the center of the first image, and the center of the target object in the second image coincides with the center of the second image. The position of the target object in each image can be set by the user before the first image is taken, or the target in the image can be set by the user before each image is taken. The position of the object in this image.

另外，每一图像中的被拍目标对象与拍摄装置之间距离可以根据拍摄需求设定，需要说明的是，每一图像中的被拍目标对象与拍摄装置之间的距离是指拍摄每一图像前，现实世界中的被拍目标对象与拍摄装置之间的距离。其中，被拍目标对象与拍摄装置之间的距离可为被拍目标对象与拍摄装置之间的镜头之间的距离，也可为被拍目标对象与拍摄装置的其他位置之间的距离。In addition, the distance between the target object to be photographed and the photographing device in each image can be set according to the shooting requirements. It should be noted that the distance between the target object to be photographed and the photographing device in each image refers to the The distance between the object being photographed in the real world and the camera before the image. The distance between the photographed target object and the photographing device may be the distance between the photographed target object and the lens of the photographing device, or may be the distance between the photographed target object and other positions of the photographing device.

示例性的，在一些实施例中，每一图像中的被拍目标对象与拍摄装置之间的距离不变，这样，多张图像中的被拍目标对象在图像中的尺寸大小会大致相同，这样，将多张图像拼接后获得的目标图像中不同位置的被拍目标对象的尺寸大小也相同。本实施例中，拍摄时，每一图像中的被拍目标对象在现实世界中的位置均位于同一圆弧或圆上，该圆弧或圆以拍摄装置为圆心。Exemplarily, in some embodiments, the distance between the target object to be photographed and the photographing device in each image is unchanged, so that the size of the target object to be photographed in the images will be approximately the same, In this way, the sizes of the target objects at different positions in the target image obtained by splicing multiple images are also the same. In this embodiment, when shooting, the position of the target object in each image in the real world is located on the same arc or circle, and the arc or circle is centered on the shooting device.

在另外一些实施例中，多张图像中的被拍目标对象与拍摄装置之间的距离至少部分不相同，即多张图像中的被拍目标对象与拍摄装置之间的距离为变化的，这样，多张图像中的被拍目标对象在图像中的尺寸大小也是变化的。示例性的，多张图像中的被拍目标对象与拍摄装置之间的距离大小是渐变的，如逐渐增大和/或逐渐减小，示例性的，多张图像中的被拍目标对象与拍摄装置之间的距离逐渐增大，从而使得拼接出的目标图像中不同位置的目标对象呈现尺寸逐渐增大的效果；示例性的，多张图像中的被拍目标对象与拍摄装置之间的距离逐渐减小，从而使得拼接出的目标图像中不同位置的目标对象呈现尺寸逐渐减小的效果；示例性的，多张图像中的被拍目标对象与拍摄装置之间的距离先逐渐增大，再逐渐减小，从而使得拼接出的目标图像中不同位置的目标对象呈现尺寸先逐渐增大，再逐渐减小的效果；示例性的，多张图像中的被拍目标对象与拍摄装置之间的距离先逐渐减小，再逐渐增大，从而使得拼接出的目标图像中不同位置的目标对象呈现尺寸先逐渐减小，再逐渐增大的效果。示例性的，请参见图2A，拍摄时，多张图像中的被拍目标对象在现实世界中的位置形成的轨迹可以为一椭圆的一部分；当然，在拍摄时，多张图像中的被拍目标对象在现实世界中的位置形成的轨迹也可以为其他轨迹，只需使得多张图像中的被拍目标对象与拍摄装置之间的距离为变化的即可，如图2B，拍摄时，多张图像中的被拍目标对象在现实世界中的位置形成一直线轨迹。In some other embodiments, the distances between the photographed target objects and the photographing device in the multiple images are at least partially different, that is, the distances between the photographed target objects and the photographing devices in the multiple images vary, so that , the size of the target object in the multiple images also changes in the image. Exemplarily, the distance between the target object to be photographed and the photographing device in the multiple images is gradually changing, such as gradually increasing and/or decreasing. The distance between the devices gradually increases, so that the target objects in different positions in the spliced target image show the effect of gradually increasing in size; exemplarily, the distance between the target object to be photographed and the photographing device in the multiple images gradually decrease, so that the target objects in different positions in the spliced target image show the effect of gradually decreasing in size; exemplarily, the distance between the target object to be photographed and the photographing device in the multiple images gradually increases first, and then gradually decrease, so that the size of the target objects in different positions in the spliced target image gradually increases first and then decreases gradually; The distance gradually decreases first, and then increases gradually, so that the size of the target objects in different positions in the spliced target image first gradually decreases, and then gradually increases. Exemplarily, please refer to FIG. 2A , when shooting, the trajectory formed by the position of the target object in the multiple images in the real world may be a part of an ellipse; The trajectory formed by the position of the target object in the real world can also be other trajectories, as long as the distance between the target object to be photographed and the photographing device in multiple images varies, as shown in Figure 2B, when photographing, more The position of the target object in the image in the real world forms a linear trajectory.

本申请实施例中，由于在云台处于每一预设姿态时，不会立即获取到拍摄指令，因此，在云台处于每一预设姿态时，获取用户输入的拍摄指令的实现过程可包括：在 云台处于每一预设姿态时，等待获取用户输入的拍摄指令。可以理解的，在一些情况下，在云台处于每一预设姿态时，即获取到拍摄指令，此时，无需等待获取用户输入的拍摄指令。In the embodiment of the present application, since the shooting instructions are not immediately obtained when the gimbal is in each preset posture, the implementation process of acquiring the shooting instructions input by the user when the gimbal is in each preset posture may include: : When the gimbal is in each preset posture, wait to obtain the shooting instruction input by the user. It can be understood that, in some cases, when the pan/tilt head is in each preset posture, the shooting instruction is acquired, and at this time, there is no need to wait for acquiring the shooting instruction input by the user.

进一步的，在等待获取用户输入的拍摄指令的时间内，控制云台保持在预设姿态，这样，可以将云台稳定保持在预设姿态，在获取到拍摄指令后，根据拍摄指令，控制拍摄装置进行拍摄即可。Further, during the time of waiting to obtain the shooting instruction input by the user, the gimbal is controlled to maintain the preset attitude, so that the gimbal can be stably maintained in the preset attitude, and after the shooting instruction is obtained, the shooting instruction is controlled according to the shooting instruction. The device can shoot.

在一些情况下，获取拍摄指令可能存在超时的情况，对于超时情况，可根据需要选择相应的超时策略，示例性的，在一些实施例中，若超过预设时间未获取到用户输入的拍摄指令，则在控制拍摄装置在云台处于当前的预设姿态进行拍摄后，控制云台处于下一个预设姿态，也即，即使获取拍摄指令存在超时，也会继续拍摄云台当前的预设姿态对应的图像，从而确保后续拼接时图像的完整性或者后续拼接对图像张数的要求；在另外一些实施例中，若超过预设时间未获取到用户输入的拍摄指令，则自动退出预设拍摄模式，另外，可在自动退出预设拍摄模式时，输出提示消息以提示用户自动退出的原因，即超过预设时间未获取到用户输入的拍摄指令。In some cases, the acquisition of the shooting instruction may be overtime. For the overtime situation, a corresponding timeout policy can be selected as needed. Exemplarily, in some embodiments, if the shooting instruction input by the user is not acquired after a preset time , then after controlling the shooting device to shoot when the gimbal is in the current preset posture, control the gimbal to be in the next preset posture, that is, even if there is a timeout in obtaining the shooting instruction, it will continue to shoot the current preset posture of the gimbal corresponding images, so as to ensure the integrity of the images during subsequent splicing or the requirements for the number of images in subsequent splicing; in other embodiments, if the shooting instruction input by the user is not obtained after the preset time, the preset shooting is automatically exited In addition, when automatically exiting the preset shooting mode, a prompt message can be output to prompt the user the reason for the automatic exit, that is, the shooting instruction input by the user has not been obtained after the preset time.

可以理解的，预设时长可以根据需要设定，示例性的，预设时长为10秒或其他。It can be understood that the preset duration can be set as required, and for example, the preset duration is 10 seconds or others.

被拍目标对象在现实世界中的位置可预先标记，也可不预先标记。无论是预先标记被拍目标对象在现实世界中的位置，还是不预先标记被拍目标对象在现实世界中的位置，均可在获取云台上的拍摄装置捕捉的每一图像之前，提示被拍目标对象进行位置调整，以使得每一图像均达到预期拍摄效果。The location of the object being photographed in the real world may or may not be pre-marked. Whether it is to pre-mark the position of the target object in the real world or not to pre-mark the position of the target object in the real world, before each image captured by the camera on the PTZ is captured, a reminder can be made to be captured. The position of the target object is adjusted so that each image achieves the desired shooting effect.

示例性的，在一些实施例中，在根据拍摄指令，控制云台上的拍摄装置进行拍摄之前之前，输出第二提示信息，例如，可以通过云台和/或拍摄装置的显示屏以文字/图形等方式输出第二提示信息，也可以通过云台和/或拍摄装置的指示灯输出第二提示信息，或者通过其他方式输出第二提示信息。Exemplarily, in some embodiments, before controlling the photographing device on the pan/tilt head to perform shooting according to the shooting instruction, output the second prompt information, for example, it may be displayed in text/ The second prompt information is output by means of graphics, etc., the second prompt information can also be output through the indicator light of the pan/tilt and/or the photographing device, or the second prompt information can be output by other means.

其中，第二提示信息用于指示图像中的被拍目标对象当前在拍摄装置捕捉的实时图像中的位置，以提示被拍目标对象期望的第一移动信息，被拍目标对象在获得第一移动信息后，可在现实世界中进行位置调整，使得最终捕捉的每一图像中的被拍目标对象在图像中的位置均与期望的构图位置尽量重合。The second prompt information is used to indicate the current position of the target object in the image in the real-time image captured by the photographing device, so as to prompt the desired first movement information of the target object. After the information is obtained, the position can be adjusted in the real world, so that the position of the target object in each image finally captured in the image coincides with the desired composition position as much as possible.

第一移动信息可为基于被拍目标对象当前在拍摄装置捕捉的实时图像中的位置确定，可选的，第一移动信息为基于被拍目标对象当前在拍摄装置捕捉的实时图像中的位置与实时图像的预设位置之间的偏差确定，本实施例中，期望的构图位置即为预设位置，多张图像的期望的构图位置可以相同，至少部分图像的期望的构图位置也可以不同。其中，预设位置可为默认位置，也可为拍摄第一张图像之前，由用户预先设定的位置，还可以为拍摄每一张图像之前，由用户预先设定的位置。可选的，第一移动信息为沿第一方向的移动信息，第一方向与第二方向大致垂直，第二方向为被拍目标 对象与拍摄装置的连线方向，如被拍目标对象的中心与拍摄装置的镜头的中心的连线方向。可以理解的是，第一移动信息也可以为其他方向的移动信息，如多张图像中的被拍目标对象在现实世界中的位置形成的轨迹为一圆弧，则第一移动信息为圆弧的弧线方向。The first movement information may be determined based on the current position of the target object to be photographed in the real-time image captured by the photographing device. Optionally, the first movement information may be determined based on the current position of the target object being photographed in the real-time image captured by the photographing device. The deviation between the preset positions of the real-time images is determined. In this embodiment, the desired composition position is the preset position. The desired composition positions of multiple images may be the same, and the desired composition positions of at least some of the images may also be different. The preset position may be a default position, a position preset by a user before shooting the first image, or a position preset by a user before shooting each image. Optionally, the first movement information is movement information along a first direction, the first direction is substantially perpendicular to the second direction, and the second direction is the direction of the line connecting the photographed target object and the photographing device, such as the center of the photographed target object. The direction of the line connecting the center of the lens of the camera. It can be understood that the first movement information can also be movement information in other directions. For example, the trajectory formed by the position of the target object in the real world in the multiple images is an arc, and the first movement information is an arc. direction of the arc.

为方便描述，本文中，以被拍目标对象作为参照物，将第一方向称作为被拍目标对象的左右方向，将第二方向称作为被拍目标对象的前后方向，并将被拍目标对象当前在拍摄装置捕捉的实时图像中的位置与实时图像的预设位置之间的偏差称作为第一偏差。For the convenience of description, in this paper, the target object to be photographed is used as a reference, the first direction is referred to as the left and right direction of the target object to be photographed, and the second direction is referred to as the front and rear direction of the target object to be photographed. The deviation between the current position in the real-time image captured by the photographing device and the preset position of the real-time image is referred to as the first deviation.

第一偏差可包括被拍目标对象当前在拍摄装置捕捉的实时图像中的位置与实时图像的预设位置之间的偏差大小和/或偏差方向，可选的，在一些实施例中，第一偏差包括偏差大小，示例性的，被拍目标对象在获得第一偏差的偏差大小后，可选择向左移动第一偏差的偏差大小的距离，此时，若云台仍然输出第二提示信息，则被拍目标对象需要向右移动第一偏差的偏差大小两倍大小的距离，从而使得被拍目标对象当前在拍摄装置捕捉的实时图像中的位置与实时图像的预设位置之间的不存在位置偏差；若云台停止输出第二提示信息或输出用于指示被拍目标对象当前在拍摄装置捕捉的实时图像中的位置与实时图像的预设位置之间的不存在位置偏差的提示信息，则被拍目标对象停止左右移动。The first deviation may include the deviation size and/or deviation direction between the current position of the target object in the real-time image captured by the photographing device and the preset position of the real-time image. Optionally, in some embodiments, the first deviation The deviation includes the deviation size. Exemplarily, after obtaining the deviation size of the first deviation, the target object to be photographed can choose to move the distance of the deviation size of the first deviation to the left. At this time, if the gimbal still outputs the second prompt information, Then the target object to be photographed needs to move to the right by a distance twice the size of the deviation of the first deviation, so that there is no difference between the current position of the target object in the real-time image captured by the photographing device and the preset position of the real-time image. Position deviation; if the gimbal stops outputting the second prompt information or outputting prompt information indicating that there is no position deviation between the current position of the target object in the real-time image captured by the shooting device and the preset position of the real-time image, Then the target object to be photographed stops moving left and right.

在一些实施例中，第一偏差包括偏差方向，被拍目标对象在获得第一偏差的偏差方向后，往第一偏差的偏差方向移动，直至云台停止输出第二提示信息或输出用于指示被拍目标对象当前在拍摄装置捕捉的实时图像中的位置与实时图像的预设位置之间的不存在位置偏差的提示信息，被拍目标对象停止左右移动。In some embodiments, the first deviation includes a deviation direction. After obtaining the deviation direction of the first deviation, the target object to be photographed moves in the deviation direction of the first deviation, until the gimbal stops outputting the second prompt information or outputs the output for indicating The prompt information indicating that there is no positional deviation between the current position of the target object in the real-time image captured by the photographing device and the preset position of the real-time image, the target object stops moving left and right.

在一些实施例中，第一偏差包括偏差大小和偏差方向，被拍目标对象在获得第一偏差的偏差大小和偏差方向后，往第一偏差的偏差方向移动第一偏差的偏差大小的距离，即可使得被拍目标对象当前在拍摄装置捕捉的实时图像中的位置与实时图像的预设位置之间的不存在位置偏差，实现被拍目标对象在左右方向上的位置的快速调节。In some embodiments, the first deviation includes a deviation magnitude and a deviation direction, and after obtaining the deviation magnitude and deviation direction of the first deviation, the target object moves a distance of the deviation magnitude of the first deviation in the deviation direction of the first deviation, That is, there is no positional deviation between the current position of the target object in the real-time image captured by the photographing device and the preset position of the real-time image, so as to realize rapid adjustment of the position of the target object in the left and right directions.

另外，可选的，当被拍目标对象当前在拍摄装置捕捉的实时图像中的位置与实时图像的预设位置之间的不存在位置偏差时，云台停止输出第二提示信息；可选的，当被拍目标对象当前在拍摄装置捕捉的实时图像中的位置与实时图像的预设位置之间的不存在位置偏差时，云台输出用于指示被拍目标对象当前在拍摄装置捕捉的实时图像中的位置与实时图像的预设位置之间的不存在位置偏差的提示信息。In addition, optionally, when there is no positional deviation between the current position of the target object in the real-time image captured by the shooting device and the preset position of the real-time image, the PTZ stops outputting the second prompt information; optional When there is no positional deviation between the current position of the target object in the real-time image captured by the shooting device and the preset position of the real-time image, the pan/tilt output is used to indicate that the target object is currently captured in the real-time image by the shooting device. The prompt information that there is no positional deviation between the position in the image and the preset position of the real-time image.

进一步的，在一些实施例中，在输出第二提示信息之前，输出第三提示信息，例如，可以通过云台和/或拍摄装置的显示屏以文字/图形等方式输出第三提示信息，也可以通过云台和/或拍摄装置的指示灯输出第三提示信息，或者通过其他方式输出第三提示信息。Further, in some embodiments, before outputting the second prompt information, output the third prompt information, for example, the third prompt information may be output in the form of text/graphics through the display screen of the pan/tilt and/or the photographing device, or The third prompt information may be output through the indicator light of the pan/tilt and/or the photographing device, or the third prompt information may be output in other ways.

其中，第三提示信息用于指示图像中的被拍目标对象当前进入拍摄装置的实时图像中，从而在被拍目标对象进入镜头时，给被拍目标对象一个提示。The third prompt information is used to indicate that the photographed target object in the image is currently entering the real-time image of the photographing device, so that when the photographed target object enters the lens, a prompt is given to the photographed target object.

在一些实施例中，在根据拍摄指令，控制云台上的拍摄装置进行拍摄之前之前，输出第四提示信息，例如，可以通过云台和/或拍摄装置的显示屏以文字/图形等方式输出第四提示信息，也可以通过云台和/或拍摄装置的指示灯输出第四提示信息，或者通过其他方式输出第四提示信息。In some embodiments, before controlling the photographing device on the PTZ to shoot according to the shooting instruction, the fourth prompt information is output, for example, it can be output in the form of text/graphics through the display screen of the PTZ and/or the photographing device. For the fourth prompt information, the fourth prompt information may also be output through the indicator light of the pan/tilt and/or the photographing device, or the fourth prompt information may be output in other ways.

其中，第四提示信息用于指示图像中的被拍目标对象当前处于拍摄装置的实时图像中的尺寸，以提示被拍目标对象期望的第二移动信息，被拍目标对象在获得第二移动信息后，可在现实世界中进行位置调整，使得每一图像中的被拍目标对象在图像中的尺寸与期望的构图尺寸大小尽量一致。The fourth prompt information is used to indicate the size of the target object in the image currently in the real-time image of the shooting device, so as to prompt the second movement information expected by the target object. Afterwards, position adjustment can be performed in the real world, so that the size of the target object in each image in the image is as consistent as possible with the size of the desired composition.

示例性的，第二移动信息为基于被拍目标对象当前在拍摄装置捕捉的实时图像中的尺寸确定，可选的，第二移动信息为基于被拍目标对象当前在拍摄装置捕捉的实时图像中的尺寸与实时图像中的预设尺寸之间的偏差确定，即期望的构图尺寸为预设尺寸，多张图像的期望的构图尺寸可以相同，至少部分图像的期望的构图尺寸也可以不同。其中，预设尺寸可为默认尺寸，也可为拍摄第一张图像之前，由用户预先设定的尺寸大小，还可以为拍摄每一张图像之前，由用户预先设定的尺寸大小。可选的，第二移动信息为沿第二方向的移动信息，第二方向为被拍目标对象与拍摄装置的连线方向，如被拍目标对象的中心与拍摄装置的镜头的中心的连线方向。Exemplarily, the second movement information is determined based on the size of the target object currently in the real-time image captured by the photographing device. The deviation between the size of the real-time image and the preset size in the real-time image is determined, that is, the desired composition size is the preset size, the desired composition size of multiple images may be the same, and the desired composition size of at least some images may also be different. The preset size may be a default size, a size preset by a user before shooting the first image, or a size preset by a user before shooting each image. Optionally, the second movement information is movement information along a second direction, and the second direction is the direction of the line connecting the target object to be photographed and the photographing device, such as the connecting line between the center of the target object and the center of the lens of the photographing device. direction.

为方便描述，本文中，将被拍目标对象当前在拍摄装置捕捉的实时图像中的尺寸与实时图像中的预设尺寸之间的偏差称作为第二偏差。For convenience of description, herein, the deviation between the current size of the target object in the real-time image captured by the photographing device and the preset size in the real-time image is referred to as the second deviation.

第二偏差可包括被拍目标对象当前在拍摄装置捕捉的实时图像中的尺寸与实时图像中的预设尺寸之间的偏差大小和/或偏差方向，可选的，在一些实施例中，第二偏差包括偏差大小，示例性的，被拍目标对象在获得第二偏差的偏差大小后，可选择向前移动第二偏差的偏差大小的距离，此时，若云台仍然输出第四提示信息，则被拍目标对象需要向后移动第二偏差的偏差大小两倍大小的距离，从而使得被拍目标对象当前在拍摄装置捕捉的实时图像中的尺寸与实时图像中的预设尺寸之间的不存在尺寸偏差；若云台停止输出第四提示信息或输出用于指示被拍目标对象当前在拍摄装置捕捉的实时图像中的尺寸与实时图像中的预设尺寸之间的不存在尺寸偏差的提示信息，则被拍目标对象停止前后移动。The second deviation may include the deviation size and/or deviation direction between the current size of the target object in the real-time image captured by the photographing device and the preset size in the real-time image. Optionally, in some embodiments, the first deviation The second deviation includes the deviation. Exemplarily, after obtaining the deviation of the second deviation, the target object to be photographed can choose to move forward by the deviation of the second deviation. At this time, if the gimbal still outputs the fourth prompt information , then the target object needs to move backward by a distance twice the size of the deviation of the second deviation, so that the difference between the current size of the target object in the real-time image captured by the shooting device and the preset size in the real-time image is There is no size deviation; if the gimbal stops outputting the fourth prompt information or outputs a message indicating that there is no size deviation between the size of the target object currently in the real-time image captured by the camera and the preset size in the real-time image If the prompt message is displayed, the target object to be photographed stops moving back and forth.

在一些实施例中，第二偏差包括偏差方向，被拍目标对象在获得第二偏差的偏差方向后，往第二偏差的偏差方向移动，直至云台停止输出第四提示信息或输出用于指示被被拍目标对象当前在拍摄装置捕捉的实时图像中的尺寸与实时图像中的预设尺寸之间的不存在尺寸偏差的提示信息，被拍目标对象停止前后移动。In some embodiments, the second deviation includes a deviation direction. After obtaining the deviation direction of the second deviation, the target object to be photographed moves in the deviation direction of the second deviation, until the gimbal stops outputting the fourth prompt information or outputs it for indicating Prompt information indicating that there is no size deviation between the size of the target object currently captured in the real-time image captured by the photographing device and the preset size in the real-time image, and the target object stops moving back and forth.

在一些实施例中，第二偏差包括偏差大小和偏差方向，被拍目标对象在获得第二 偏差的偏差大小和偏差方向后，往第二偏差的偏差方向移动第二偏差的偏差大小的距离，即可使得被拍目标对象当前在拍摄装置捕捉的实时图像中的尺寸与实时图像中的预设尺寸之间的不存在尺寸偏差，实现被拍目标对象在前后方向上的位置的快速调节。In some embodiments, the second deviation includes a deviation magnitude and a deviation direction, and after obtaining the deviation magnitude and deviation direction of the second deviation, the target object moves a distance of the deviation magnitude of the second deviation in the deviation direction of the second deviation, That is, there is no size deviation between the size of the target object currently in the real-time image captured by the photographing device and the preset size in the real-time image, and the position of the target object in the front-rear direction can be quickly adjusted.

另外，可选的，当被拍目标对象当前在拍摄装置捕捉的实时图像中的尺寸与实时图像中的预设尺寸之间的不存在尺寸偏差时，云台停止输出第四提示信息；可选的，当被拍目标对象当前在拍摄装置捕捉的实时图像中的尺寸与实时图像中的预设尺寸之间的不存在尺寸偏差时，云台输出用于指示被拍目标对象当前在拍摄装置捕捉的实时图像中的尺寸与实时图像中的预设尺寸之间的不存在尺寸偏差的提示信息。In addition, optionally, when there is no size deviation between the size of the target object currently in the real-time image captured by the shooting device and the preset size in the real-time image, the PTZ stops outputting the fourth prompt information; optional When there is no size deviation between the size of the target object currently in the real-time image captured by the shooting device and the preset size in the real-time image, the gimbal output is used to indicate that the target object is currently captured by the shooting device. The prompt information that there is no size deviation between the size in the real-time image and the preset size in the real-time image.

可以理解的是，上述提示被拍目标对象进行位置调整的实施例可以进行组合。It can be understood that, the above-mentioned embodiments of prompting the target object to adjust the position can be combined.

还需要说明的是，当云台为手持云台，且云台处于自拍模式时，在拍摄第一张图像之前，需要将云台固定在三脚架或其他物体上，以防止云台晃动。It should also be noted that when the gimbal is a handheld gimbal and the gimbal is in selfie mode, before taking the first image, the gimbal needs to be fixed on a tripod or other object to prevent the gimbal from shaking.

另外，在一些实施例中，在根据拍摄指令，控制云台上的拍摄装置进行拍摄之后，将拍摄装置在多个预设姿态处拍摄获得的图像进行拼接，获得目标图像。图3A即为对图2A所示实施例获得的第一张图像、第二张图像、第三张图像、第四张图像和第五张图像进行拼接获得的目标图像；图3B即为对图2B所示实施例获得的三张图像进行拼接获得的目标图像；图3C即为对图2C所示实施例获得的九张图像进行拼接获得的目标图像。可以理解的是，可采用现有图像拼接算法将多张图像进行拼接，本申请对拼接算法不做具体限定。In addition, in some embodiments, after controlling the photographing device on the pan/tilt head to photograph according to the photographing instruction, the images obtained by photographing the photographing device at a plurality of preset postures are spliced to obtain the target image. Fig. 3A is a target image obtained by splicing the first image, the second image, the third image, the fourth image and the fifth image obtained in the embodiment shown in Fig. 2A; 2B is a target image obtained by splicing the three images obtained in the embodiment shown in FIG. 2B ; FIG. 3C is a target image obtained by splicing the nine images obtained in the embodiment shown in FIG. 2C . It can be understood that the existing image splicing algorithm can be used to splicing multiple images, and this application does not specifically limit the splicing algorithm.

需要说明的是，拼接的过程除了放在云台中，也可放在拍摄装置或其他装置中。It should be noted that the splicing process can be placed in a camera device or other devices in addition to the gimbal.

示例性的，对于集成有拍摄装置的云台，云台可与其他装置通信，云台在获取到多个预设姿态的图像后，可将多个预设姿态的图像发送给其他装置，由其他装置对多个预设姿态的图像进行拼接，获得目标图像。Exemplarily, for a PTZ integrated with a photographing device, the PTZ can communicate with other devices, and after the PTZ acquires images of multiple preset poses, it can send images of multiple preset poses to other devices, and the Other devices stitch images of multiple preset poses to obtain a target image.

对于未集成拍摄装置的云台，如拍摄装置为手机或相机，云台在获取到多个预设姿态的图像后，可将多个预设姿态的图像发送给手机或相机，由手机或相机对多个预设姿态的图像进行拼接，获得目标图像。For a gimbal without an integrated camera, if the camera is a mobile phone or a camera, after the gimbal acquires images of multiple preset poses, the gimbal can send the images of multiple preset poses to the phone or camera, and the phone or camera A target image is obtained by stitching images of multiple preset poses.

可以理解，对于云台是否集成有拍摄装置，云台均有可能与其它装置通信。例如，云台集成有拍摄装置，云台可以通过无线或有线连接诸如手机的电子设备，以通过该电子设备进行图像拼接、图像显示或对拍摄装置、云台的控制。又例如，云台未集成有拍摄装置，拍摄装置为相机，云台可以通过有线或无线连接诸如手机的电子设备，以通过该电子设备进行图像拼接、图像显示或对相机、云台的控制。It can be understood that whether the pan/tilt is integrated with a photographing device, the pan/tilt may communicate with other devices. For example, the PTZ is integrated with a photographing device, and the PTZ can be connected to an electronic device such as a mobile phone wirelessly or wiredly, so as to perform image stitching, image display, or control of the photographing device and the PTZ through the electronic device. For another example, the PTZ does not integrate a photographing device, and the photographing device is a camera. The PTZ can be wired or wirelessly connected to an electronic device such as a mobile phone to perform image stitching, image display, or control of the camera and the PTZ through the electronic device.

进一步的，在一些实施例中，输出目标图像以显示。其中，对于自带显示屏的云台，可通过云台自带的显示屏显示目标图像；对于自身未设置显示屏的云台，可通过外部显示装置显示目标图像，该外部显示装置可为搭载在云台上的拍摄装置，也可为 其他能够与云台通信且具备显示功能的装置。Further, in some embodiments, the target image is output for display. Among them, for the PTZ with its own display screen, the target image can be displayed through the display screen provided by the PTZ itself; for the PTZ without its own display screen, the target image can be displayed through an external display device, and the external display device can be equipped with The photographing device on the PTZ can also be other devices that can communicate with the PTZ and have a display function.

进一步的，本申请实施例还可以提供一种图像获取方法，本申请实施例的图像获取方法的执行主体可为云台，如执行主体可为云台的控制器或设于云台的其他控制器，当然，执行主体不限于云台，也可以为诸如云台上的拍摄装置，或其它独立于云台或拍摄装置的电子设备，如云台或拍摄装置的控制设备。请参见图4，本申请实施例的图像获取方法可包括S401～S402：Further, the embodiments of the present application may further provide an image acquisition method, and the execution subject of the image acquisition method in the embodiments of the present application may be a pan-tilt, for example, the execution subject may be a controller of the pan-tilt or other controls provided in the pan-tilt. Of course, the execution subject is not limited to the PTZ, and can also be a camera on the PTZ, or other electronic devices independent of the PTZ or the camera, such as a control device of the PTZ or the camera. Referring to FIG. 4 , the image acquisition method in this embodiment of the present application may include S401 to S402:

在S401中，在云台处于预设拍摄模式时，获取云台上的拍摄装置捕捉的多张图像，每一图像的拍摄均分别由用户输入的拍摄指令触发，预设拍摄模式用于指示云台包括多个预设姿态，且在各个预设姿态处分别获取拍摄指令；In S401, when the gimbal is in a preset shooting mode, a plurality of images captured by a shooting device on the gimbal are acquired, the shooting of each image is triggered by a shooting instruction input by a user, and the preset shooting mode is used to indicate the cloud The stage includes a plurality of preset postures, and respectively obtains shooting instructions at each preset posture;

在S402中，将多张图像进行拼接，获得目标图像。In S402, a plurality of images are stitched to obtain a target image.

对于图4所示实施例的具体说明可参见上述图1-图3A所示实施例的内容，此处不再具体限定。For the specific description of the embodiment shown in FIG. 4 , reference may be made to the content of the embodiment shown in FIG. 1 to FIG. 3A above, which is not specifically limited here.

对应于上述实施例的拍摄控制方法，本申请实施例提供一种拍摄控制装置，请参见图5，本申请实施例的拍摄控制装置可包括存储装置和处理器，处理器可包括一个或多个。Corresponding to the shooting control method of the above-mentioned embodiment, the embodiment of the present application provides a shooting control device, please refer to FIG. 5 , the shooting control device of the embodiment of the present application may include a storage device and a processor, and the processor may include one or more .

其中，存储装置，用于存储程序指令。所述存储装置存储所述拍摄控制方法的可执行指令计算机程序，所述存储装置可以包括至少一种类型的存储介质，存储介质包括闪存、硬盘、多媒体卡、卡型存储器(例如，SD或DX存储器等等)、随机访问存储器(RAM)、静态随机访问存储器(SRAM)、只读存储器(ROM)、电可擦除可编程只读存储器(EEPROM)、可编程只读存储器(PROM)、磁性存储器、磁盘、光盘等等。而且，所述拍摄控制装置可以与通过网络连接执行存储器的存储功能的网络存储装置协作。存储器可以是拍摄控制装置的内部存储单元，例如拍摄控制装置的硬盘或内存。存储器也可以是拍摄控制装置的外部存储设备，例如拍摄控制装置上配备的插接式硬盘，智能存储卡(Smart Media Card,SMC)，安全数字(Secure Digital,SD)卡，闪存卡(Flash Card)等。进一步的，存储器还可以既包括拍摄控制装置的内部存储单元也包括外部存储设备。存储器用于存储计算机程序以及设备所需的其他程序和数据。存储器还可以用于暂时地存储已经输出或者将要输出的数据。The storage device is used for storing program instructions. The storage device stores an executable instruction computer program of the shooting control method, and the storage device may include at least one type of storage medium, and the storage medium includes a flash memory, a hard disk, a multimedia card, and a card-type memory (for example, SD or DX). memory, etc.), random access memory (RAM), static random access memory (SRAM), read only memory (ROM), electrically erasable programmable read only memory (EEPROM), programmable read only memory (PROM), magnetic memory, magnetic disk, optical disk, etc. Also, the photographing control device may cooperate with a network storage device that performs the storage function of the memory through a network connection. The memory may be an internal storage unit of the photographing control device, such as a hard disk or a memory of the photographing control device. The memory can also be an external storage device of the shooting control device, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, and a flash memory card (Flash Card) equipped on the shooting control device. )Wait. Further, the memory may also include both an internal storage unit of the photographing control apparatus and an external storage device. Memory is used to store computer programs and other programs and data required by the device. The memory may also be used to temporarily store data that has been or will be output.

一个或多个处理器，调用存储装置中存储的程序指令，当程序指令被执行时，一个或多个处理器单独地或共同地被配置成用于实施如下操作：在云台处于预设拍摄模式时，获取云台上的拍摄装置捕捉的多张图像，每一图像的拍摄均分别由用户输入的拍摄指令触发，预设拍摄模式用于指示云台包括多个预设姿态，且在各个预设姿态处分别获取拍摄指令；将多张图像进行拼接，获得目标图像。One or more processors that invoke program instructions stored in the storage device, and when the program instructions are executed, the one or more processors are individually or collectively configured to perform the following operations: the pan/tilt head is in a preset shot In mode, multiple images captured by the camera on the gimbal are acquired, and the shooting of each image is triggered by a shooting instruction input by the user. The preset shooting mode is used to indicate that the gimbal includes multiple preset postures, and the The shooting instructions are obtained respectively at the preset posture; the target image is obtained by splicing multiple images.

本实施例的处理器可以实现如本申请图1所示实施例的拍摄控制方法，可参见上述实施例的拍摄控制方法对本实施例的拍摄控制装置进行说明。The processor of this embodiment can implement the photographing control method of the embodiment shown in FIG. 1 of the present application, and the photographing control apparatus of this embodiment can be described with reference to the photographing control method of the foregoing embodiment.

所述处理器可以是中央处理单元(Central Processing Unit，CPU)，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)、现场可编程门阵列(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。The processor may be a central processing unit (Central Processing Unit, CPU), or other general-purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuit (Application Specific Integrated Circuit, ASIC), field Field-Programmable Gate Array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

对应于上述实施例的图像获取方法，本申请实施例提供一种图像获取装置，本申请实施例的图像获取装置可包括存储装置和处理器，处理器可包括一个或多个。该一个或多个处理器被配置为实现上述实施例的图像获取方法。Corresponding to the image acquisition methods of the above embodiments, the embodiments of the present application provide an image acquisition apparatus. The image acquisition apparatuses of the embodiments of the present application may include a storage device and a processor, and the processors may include one or more processors. The one or more processors are configured to implement the image acquisition methods of the above-described embodiments.

其中，关于图像获取装置中的存储装置和处理器的说明可参照拍摄控制装置中的存储装置和处理器的相应说明，此处不再赘述。For the description of the storage device and the processor in the image acquisition device, reference may be made to the corresponding description of the storage device and the processor in the photographing control device, which will not be repeated here.

进一步的，对应于上述实施例的拍摄控制装置，本申请实施例还提供一种云台，请参见图2A和图5，本申请实施例的云台100可包括承载部110和上述实施例的拍摄控制装置。其中，承载部110用于搭载拍摄装置200，拍摄控制装置能够与拍摄装置进行通信。Further, corresponding to the shooting control device of the above-mentioned embodiment, the embodiment of the present application further provides a pan-tilt head, please refer to FIG. 2A and FIG. 5 , thepan-tilt head 100 of the Shooting controls. The carryingportion 110 is used to mount the photographingdevice 200, and the photographing control device can communicate with the photographing device.

其中，云台100可以为手持云台，也可以为机载云台。Thegimbal 100 may be a handheld gimbal or an airborne gimbal.

拍摄装置200可为手机或相机等具有拍摄功能的电子设备，也可以为集成于云台上的图像传感器。The photographingdevice 200 may be an electronic device with a photographing function such as a mobile phone or a camera, and may also be an image sensor integrated on a PTZ.

对应于上述实施例的图像获取装置，本申请实施例还提供一种云台，本申请实施例的云台可包括承载部和上述实施例的图像获取装置。承载部用于搭载拍摄装置,图像获取装置能够与拍摄装置进行通信。Corresponding to the image acquisition apparatus of the above-mentioned embodiments, the embodiments of the present application further provide a pan/tilt head, and the pan-tilt head of the embodiments of the present application may include a bearing portion and the image acquisition apparatus of the above-mentioned embodiments. The carrying portion is used for carrying a photographing device, and the image acquiring device can communicate with the photographing device.

其中，云台可以为手持云台，也可以为机载云台。The gimbal may be a handheld gimbal or an airborne gimbal.

拍摄装置可为手机或相机等具有拍摄功能的电子设备，也可以为集成于云台上的图像传感器。The photographing device may be an electronic device with a photographing function, such as a mobile phone or a camera, or an image sensor integrated on the PTZ.

进一步的，对应于上述实施例的包括拍摄控制装置的云台100，本申请实施例还提供一种拍摄系统，请再次参见图6，本申请实施例的拍摄系统可包括上述实施例的云台100和搭载在云台上的拍摄装置200。Further, corresponding to the pan/tilt head 100 including the photographing control device in the above-mentioned embodiment, an embodiment of the present application further provides a photographing system. Please refer to FIG. 6 again. 100 and theimaging device 200 mounted on the head.

对应于上述实施例的包括图像获取装置的云台，本申请实施例还提供一种拍摄系统，本申请实施例的拍摄系统可包括上述实施例的云台和搭载在云台上的拍摄装置。Corresponding to the pan/tilt including the image acquisition device in the above embodiment, the embodiment of the present application further provides a photographing system, and the photographing system in the embodiment of the present application may include the pan/tilt in the above embodiment and a photographing device mounted on the pan/tilt.

对应于上述实施例的图像获取装置，本申请实施例还提供一种拍摄系统，本申请实施例的拍摄系统可包括云台和上述实施例的图像获取装置。云台用于搭载图像获取装置，图像获取装置具有拍摄功能。Corresponding to the image acquisition device of the above embodiment, the embodiment of the present application further provides a photographing system, and the photographing system of the embodiment of the present application may include a pan/tilt and the image acquisition device of the above embodiment. The PTZ is used to carry an image acquisition device, and the image acquisition device has a shooting function.

此外，对应于上述实施例的拍摄控制方法，本申请实施例还提供一种计算机可读 存储介质，其上存储有计算机程序，该程序被处理器执行时实现上述实施例的拍摄控制方法的步骤。In addition, corresponding to the shooting control method of the above-mentioned embodiment, the embodiment of the present application further provides a computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, realizes the steps of the shooting control method of the above-mentioned embodiment. .

对应于上述实施例的图像获取方法，本申请实施例还提供一种计算机可读存储介质，其上存储有计算机程序，该程序被处理器执行时实现上述实施例的图像获取方法的步骤。Corresponding to the image acquisition method of the above-mentioned embodiment, the embodiment of the present application further provides a computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, implements the steps of the image acquisition method of the above-mentioned embodiment.

所述计算机可读存储介质可以是前述任一实施例所述的云台的内部存储单元，例如硬盘或内存。所述计算机可读存储介质也可以是云台的外部存储设备，例如所述设备上配备的插接式硬盘、智能存储卡(Smart Media Card，SMC)、SD卡、闪存卡(Flash Card)等。进一步的，所述计算机可读存储介质还可以既包括云台的内部存储单元也包括外部存储设备。所述计算机可读存储介质用于存储所述计算机程序以及所述云台所需的其他程序和数据，还可以用于暂时地存储已经输出或者将要输出的数据。The computer-readable storage medium may be an internal storage unit of the PTZ described in any of the foregoing embodiments, such as a hard disk or a memory. The computer-readable storage medium can also be an external storage device of the PTZ, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), an SD card, a flash memory card (Flash Card), etc. that are equipped on the device. . Further, the computer-readable storage medium may also include both an internal storage unit of the PTZ and an external storage device. The computer-readable storage medium is used to store the computer program and other programs and data required by the PTZ, and can also be used to temporarily store data that has been output or will be output.

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。Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be implemented by instructing relevant hardware through a computer program, and the program can be stored in a computer-readable storage medium. During execution, the processes of the embodiments of the above-mentioned methods may be included. 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) or the like.

以上所揭露的仅为本申请部分实施例而已，当然不能以此来限定本申请之权利范围，因此依本申请权利要求所作的等同变化，仍属本申请所涵盖的范围。The above disclosure is only a part of the embodiments of the present application, of course, the scope of the rights of the present application cannot be limited by this, so the equivalent changes made according to the claims of the present application are still within the scope of the present application.

Claims (70)

Translated fromChinese

一种拍摄控制方法，其特征在于，所述方法包括：A shooting control method, characterized in that the method comprises:在云台处于预设拍摄模式时，控制所述云台依次处于所述预设拍摄模式指示的多个预设姿态；When the gimbal is in a preset shooting mode, controlling the gimbal to be sequentially in a plurality of preset postures indicated by the preset shooting mode;在所述云台处于每一所述预设姿态时，获取用户输入的拍摄指令；When the gimbal is in each of the preset postures, acquiring a shooting instruction input by the user;根据所述拍摄指令，控制所述云台上的拍摄装置进行拍摄。According to the shooting instruction, the shooting device on the PTZ is controlled to shoot.根据权利要求1所述的方法，其特征在于，所述预设姿态为默认姿态；或者，The method according to claim 1, wherein the preset posture is a default posture; or,所述预设姿态由用户预先设定。The preset posture is preset by the user.根据权利要求2所述的方法，其特征在于，所述预设姿态的大小、方向和/或数量由用户预先设定。The method according to claim 2, wherein the size, direction and/or number of the preset gestures are preset by a user.根据权利要求1所述的方法，其特征在于，所述预设姿态包括横滚角度、偏航角度和俯仰角度中的至少一种。The method according to claim 1, wherein the preset attitude comprises at least one of a roll angle, a yaw angle and a pitch angle.根据权利要求4所述的方法，其特征在于，所述预设拍摄模式为第一模式，所述预设姿态为偏航角度；或者，The method according to claim 4, wherein the preset shooting mode is a first mode, and the preset attitude is a yaw angle; or,所述预设拍摄模式为第二模式，所述预设姿态为俯仰角度；或者，The preset shooting mode is the second mode, and the preset attitude is the pitch angle; or,所述预设拍摄模式为第三模式，所述预设姿态为横滚角度；或者，The preset shooting mode is a third mode, and the preset posture is a roll angle; or,所述预设拍摄模式为第四模式，所述预设姿态包括偏航角度和俯仰角度；或者，The preset shooting mode is a fourth mode, and the preset posture includes a yaw angle and a pitch angle; or,所述预设拍摄模式为第五模式，所述预设姿态包括偏航角度和横滚角度。The preset shooting mode is a fifth mode, and the preset posture includes a yaw angle and a roll angle.根据权利要求1所述的方法，其特征在于，在所述云台处于每一所述预设姿态时，获取用户输入的拍摄指令，包括：The method according to claim 1, wherein when the gimbal is in each of the preset postures, acquiring a shooting instruction input by a user comprises:在所述云台处于每一所述预设姿态时，等待获取用户输入的拍摄指令。When the pan/tilt head is in each of the preset postures, waiting to obtain a shooting instruction input by the user.根据权利要求6所述的方法，其特征在于，还包括：The method of claim 6, further comprising:若超过预设时间未获取到用户输入的拍摄指令，则在控制所述拍摄装置在所述云台处于当前的所述预设姿态进行拍摄后，控制所述云台处于下一个所述预设姿态。If the shooting instruction input by the user is not obtained after the preset time, after controlling the shooting device to shoot when the gimbal is in the current preset posture, control the gimbal to be in the next preset attitude.根据权利要求6所述的方法，其特征在于，还包括：The method of claim 6, further comprising:若超过预设时间未获取到用户输入的拍摄指令，则自动退出所述预设拍摄模式。If the shooting instruction input by the user is not obtained after the preset time, the preset shooting mode is automatically exited.根据权利要求6所述的方法，其特征在于，还包括：The method of claim 6, further comprising:在等待获取用户输入的拍摄指令的时间内，控制所述云台保持在所述预设姿态。During the time of waiting to obtain the shooting instruction input by the user, the gimbal is controlled to maintain the preset posture.根据权利要求1所述的方法，其特征在于，所述拍摄装置在相邻所述预设姿态处拍摄获得的图像之间的重叠率大于预设重叠率阈值。The method according to claim 1, characterized in that, an overlap ratio between the images captured by the photographing device at adjacent preset postures is greater than a preset overlap ratio threshold.根据权利要求10所述的方法，其特征在于，所述重叠率的大小为默认数值大小或由用户预先设定。The method according to claim 10, wherein the size of the overlap ratio is a default value or preset by a user.根据权利要求1所述的方法，其特征在于，所述拍摄装置在多个所述预设姿态处进行拍摄时的变焦倍数大小相等。The method according to claim 1, characterized in that, the zoom magnifications of the photographing device when photographing at a plurality of the preset postures are the same.根据权利要求1所述的方法，其特征在于，所述拍摄装置在多个所述预设姿态处拍摄获得的图像中的被拍目标对象为同一对象；或者，The method according to claim 1, wherein the target object to be photographed in the images obtained by the photographing device at a plurality of the preset postures is the same object; or,所述拍摄装置在多个所述预设姿态处拍摄获得的图像中的被拍目标对象至少部分不相同。The photographed target objects in the images obtained by photographing the plurality of preset postures by the photographing device are at least partially different.根据权利要求1或13所述的方法，其特征在于，所述拍摄装置在每一所述预设姿态处拍摄获得的图像中的被拍目标对象在所述图像中的位置为默认位置或由用户预先设定。The method according to claim 1 or 13, characterized in that, the position of the target object in the image obtained by the photographing device at each preset posture is the default position or the position of the target object in the image. User preset.根据权利要求1或13所述的方法，其特征在于，所述拍摄装置在每一所述预设姿态处拍摄获得的图像中的被拍目标对象与所述拍摄装置之间的距离不变；或者，The method according to claim 1 or 13, wherein the distance between the target object to be photographed and the photographing device in the image obtained by the photographing device at each of the preset postures is unchanged; or,所述拍摄装置在多个所述预设姿态处拍摄获得的图像中的被拍目标对象与所述拍摄装置之间的距离逐渐增大和/或逐渐减小。The distance between the object to be photographed and the photographing device in the images obtained by photographing the photographing device at a plurality of the preset postures gradually increases and/or decreases gradually.根据权利要求1所述的方法，其特征在于，所述预设拍摄模式包括多种，不同所述预设拍摄模式的拍摄指令的触发方式不相同。The method according to claim 1, wherein the preset shooting modes include multiple types, and the triggering modes of shooting instructions of different preset shooting modes are different.根据权利要求1或16所述的方法，其特征在于，所述预设拍摄模式包括第一拍摄模式，所述拍摄指令由用户远程输入。The method according to claim 1 or 16, wherein the preset shooting mode includes a first shooting mode, and the shooting instruction is remotely input by a user.根据权利要求17所述的方法，其特征在于，所述远程输入的信息包括所述拍摄装置拍摄获得的图像中的被拍目标对象的姿态动作和语音信息中的至少一种；The method according to claim 17, wherein the remotely input information includes at least one of gesture action and voice information of the target object in the image captured by the photographing device;所述拍摄指令包括预设姿势动作和预设语音信息中的至少一种。The shooting instruction includes at least one of a preset gesture action and preset voice information.根据权利要求18所述的方法，其特征在于，所述预设姿势动作包括预设手势动作。The method according to claim 18, wherein the preset gesture action comprises a preset gesture action.根据权利要求17所述的方法，其特征在于，所述在所述云台处于每一所述预设姿态时，获取用户输入的拍摄指令之后，根据所述拍摄指令，控制所述云台上的拍摄装置进行拍摄之前，还包括：The method according to claim 17, wherein after acquiring a shooting instruction input by a user when the gimbal is in each of the preset postures, controlling the gimbal on the gimbal according to the shooting instruction Before shooting with the shooting device, it also includes:进行预设时长的倒计时。Countdown to a preset duration.根据权利要求20所述的方法，其特征在于，还包括：The method of claim 20, further comprising:在进行所述预设时长的倒计时的过程中，输出第一提示信息；In the process of counting down the preset duration, outputting first prompt information;其中，所述第一提示信息用于指示所述倒计时的剩余时间。Wherein, the first prompt information is used to indicate the remaining time of the countdown.根据权利要求1或16所述的方法，其特征在于，所述预设拍摄模式包括第二拍摄模式，所述拍摄指令由用户触发所述拍摄装置、所述云台的手持件、所述云台的控制配件中的至少一个上的控制件时产生，所述拍摄指令的触发者与所述拍摄装置拍摄获得图像中的被拍目标对象不相同。The method according to claim 1 or 16, wherein the preset shooting mode includes a second shooting mode, and the shooting instruction is triggered by the user to trigger the shooting device, the handpiece of the PTZ, the cloud It is generated when a control element on at least one of the control accessories of the stage is generated, and the trigger of the photographing instruction is different from the target object to be photographed in the image obtained by the photographing device.根据权利要求1或16所述的方法，其特征在于，所述预设拍摄模式包括多种，不同所述预设拍摄模式的拍摄指令的触发对象不相同。The method according to claim 1 or 16, wherein the preset shooting modes include multiple types, and the trigger objects of shooting instructions of different preset shooting modes are different.根据权利要求23所述的方法，其特征在于，所述预设拍摄模式包括自拍模式和他拍拍模式，所述自拍模式中所述拍摄指令的触发对象为所述拍摄装置拍摄获得的图像中的被拍目标对象，所述他拍模式中所述拍摄指令的触发对象不为所述拍摄装置拍摄获得的图像中的被拍目标对象。The method according to claim 23, wherein the preset shooting mode includes a Selfie mode and another shooting mode, and the trigger object of the shooting instruction in the Selfie mode is the image obtained by the shooting device. The target object to be photographed, the triggering object of the photographing instruction in the other shooting mode is not the target object to be photographed in the image captured by the photographing device.根据权利要求24所述的方法，其特征在于，所述预设拍摄模式包括第一拍摄 模式和第二拍摄模式，所述第一拍摄模式中的所述拍摄指令为用户远程输入，所述第二拍摄模式中的所述拍摄指令为用户触发控制件产生；The method according to claim 24, wherein the preset shooting mode includes a first shooting mode and a second shooting mode, the shooting instruction in the first shooting mode is a remote input by a user, the first shooting mode The shooting instructions in the two shooting modes are generated by the user triggering the control element;所述第一拍摄模式包括所述自拍模式，所述第二拍摄模式包括所述他拍模式。The first shooting mode includes the Selfie mode, and the second shooting mode includes the other shooting mode.根据权利要求25所述的方法，其特征在于，所述拍摄装置在多个所述预设姿态处拍摄获得的图像包括在所述云台处于所述第一拍摄模式和/或所述第二拍摄模式时，所述拍摄装置拍摄获得的图像。The method according to claim 25, wherein the images obtained by the photographing device photographing at a plurality of the preset postures include when the pan/tilt head is in the first photographing mode and/or the second photographing mode. In the shooting mode, the shooting device shoots the obtained image.根据权利要求1所述的方法，其特征在于，所述根据所述拍摄指令，控制所述云台上的拍摄装置进行拍摄之前，还包括：The method according to claim 1, wherein before the controlling the photographing device on the PTZ to photograph according to the photographing instruction, the method further comprises:输出第二提示信息；output the second prompt information;其中，所述第二提示信息用于指示所述拍摄装置拍摄获得的图像中的被拍目标对象当前在所述拍摄装置捕捉的实时图像中的位置，以提示所述被拍目标对象期望的第一移动信息。Wherein, the second prompt information is used to indicate the current position of the target object in the image captured by the photographing device in the real-time image captured by the photographing device, so as to prompt the desired first a mobile message.根据权利要求27所述的方法，其特征在于，所述第一移动信息为基于所述被拍目标对象当前在所述拍摄装置捕捉的实时图像中的位置与所述实时图像的预设位置之间的偏差确定。The method according to claim 27, wherein the first movement information is based on a difference between a current position of the target object in the real-time image captured by the photographing device and a preset position of the real-time image. The difference between is determined.根据权利要求28所述的方法，其特征在于，所述第一移动信息为沿第一方向的移动信息，所述第一方向与第二方向大致垂直，所述第二方向为所述被拍目标对象与所述拍摄装置的连线方向。The method according to claim 28, wherein the first movement information is movement information along a first direction, the first direction is substantially perpendicular to a second direction, and the second direction is the captured image The connection direction between the target object and the photographing device.根据权利要求27所述的方法，其特征在于，所述输出第二提示信息之前，还包括：The method according to claim 27, wherein before the outputting the second prompt information, the method further comprises:输出第三提示信息；Output the third prompt information;其中，所述第三提示信息用于指示所述拍摄装置拍摄获得的图像中的被拍目标对象当前进入所述拍摄装置捕捉的实时图像中。The third prompt information is used to indicate that the target object in the image captured by the photographing device currently enters the real-time image captured by the photographing device.根据权利要求1所述的方法，其特征在于，所述根据所述拍摄指令，控制所述云台上的拍摄装置进行拍摄之前，还包括：The method according to claim 1, wherein before the controlling the photographing device on the PTZ to photograph according to the photographing instruction, the method further comprises:输出第四提示信息；Output the fourth prompt message;其中，所述第四提示信息用于指示所述拍摄装置拍摄获得的图像中的被拍目标对象当前处于所述拍摄装置捕捉的实时图像中的尺寸，以提示所述被拍目标对象期望的第二移动信息。Wherein, the fourth prompt information is used to indicate the size of the target object currently in the real-time image captured by the shooting device in the image obtained by the shooting device, so as to prompt the desired first target object to be shot. 2. Mobile information.根据权利要求31所述的方法，其特征在于，所述第二移动信息为基于所述被拍目标对象当前在所述拍摄装置捕捉的实时图像中的尺寸与所述实时图像中的预设尺寸之间的偏差确定。The method according to claim 31, wherein the second movement information is based on a current size of the target object in the real-time image captured by the photographing device and a preset size in the real-time image The difference between is determined.根据权利要求32所述的方法，其特征在于，所述第二移动信息为沿第二方向的移动信息，所述第二方向为所述被拍目标对象与所述拍摄装置的连线方向。The method according to claim 32, wherein the second movement information is movement information along a second direction, and the second direction is a connection direction between the photographed target object and the photographing device.根据权利要求1所述的方法，其特征在于，所述根据所述拍摄指令，控制所述云台上的拍摄装置进行拍摄之后，还包括：The method according to claim 1, characterized in that, after controlling the photographing device on the gimbal to photograph according to the photographing instruction, the method further comprises:将所述拍摄装置在多个所述预设姿态处拍摄获得的图像进行拼接，获得目标图像。A target image is obtained by splicing the images obtained by the photographing device at a plurality of the preset postures.一种拍摄控制装置，其特征在于，所述拍摄控制装置包括：A shooting control device, characterized in that, the shooting control device comprises:存储装置，用于存储程序指令；以及a storage device for storing program instructions; and一个或多个处理器，调用所述存储装置中存储的程序指令，当所述程序指令被执行时，所述一个或多个处理器单独地或共同地被配置成用于实施如下操作：One or more processors that invoke program instructions stored in the storage device, the one or more processors, when executed, are individually or collectively configured to perform the following operations:在云台处于预设拍摄模式时，控制所述云台依次处于所述预设拍摄模式指示的多个预设姿态；When the gimbal is in a preset shooting mode, controlling the gimbal to be sequentially in a plurality of preset postures indicated by the preset shooting mode;在所述云台处于每一所述预设姿态时，获取用户输入的拍摄指令；When the gimbal is in each of the preset postures, acquiring a shooting instruction input by the user;根据所述拍摄指令，控制所述云台上的拍摄装置进行拍摄。According to the shooting instruction, the shooting device on the PTZ is controlled to shoot.根据权利要求35所述的拍摄控制装置，其特征在于，所述预设姿态为默认姿态；或者，The photographing control device according to claim 35, wherein the preset posture is a default posture; or,所述预设姿态由用户预先设定。The preset posture is preset by the user.根据权利要求36所述的拍摄控制装置，其特征在于，所述预设姿态的大小、方向和/或数量由用户预先设定。The photographing control device according to claim 36, wherein the size, direction and/or number of the preset gestures are preset by a user.根据权利要求35所述的拍摄控制装置，其特征在于，所述预设姿态包括横滚角度、偏航角度和俯仰角度中的至少一种。The photographing control device according to claim 35, wherein the preset posture includes at least one of a roll angle, a yaw angle and a pitch angle.根据权利要求38所述的拍摄控制装置，其特征在于，所述预设拍摄模式为第一模式，所述预设姿态为偏航角度；或者，The photographing control device according to claim 38, wherein the preset photographing mode is a first mode, and the preset attitude is a yaw angle; or,所述预设拍摄模式为第二模式，所述预设姿态为俯仰角度；或者，The preset shooting mode is the second mode, and the preset attitude is the pitch angle; or,所述预设拍摄模式为第三模式，所述预设姿态为横滚角度；或者，The preset shooting mode is a third mode, and the preset posture is a roll angle; or,所述预设拍摄模式为第四模式，所述预设姿态包括偏航角度和俯仰角度；或者，The preset shooting mode is a fourth mode, and the preset posture includes a yaw angle and a pitch angle; or,所述预设拍摄模式为第五模式，所述预设姿态包括偏航角度和横滚角度。The preset shooting mode is a fifth mode, and the preset posture includes a yaw angle and a roll angle.根据权利要求35所述的拍摄控制装置，其特征在于，所述一个或多个处理器在所述云台处于每一所述预设姿态时，获取用户输入的拍摄指令时，单独地或共同地被进一步配置成用于实施如下操作：The photographing control device according to claim 35, wherein the one or more processors individually or jointly when acquiring the photographing instruction input by the user when the pan/tilt head is in each of the preset postures The ground is further configured to perform the following operations:在所述云台处于每一所述预设姿态时，等待获取用户输入的拍摄指令。When the pan/tilt head is in each of the preset postures, it waits to obtain a shooting instruction input by the user.根据权利要求40所述的拍摄控制装置，其特征在于，所述一个或多个处理器单独地或共同地还被配置成用于实施如下操作：41. The capture control apparatus of claim 40, wherein the one or more processors, individually or collectively, are further configured to perform the following operations:若超过预设时间未获取到用户输入的拍摄指令，则在控制所述拍摄装置在所述云台处于当前的所述预设姿态进行拍摄后，控制所述云台处于下一个所述预设姿态。If the shooting instruction input by the user is not obtained after the preset time, after controlling the shooting device to shoot when the gimbal is in the current preset posture, control the gimbal to be in the next preset attitude.根据权利要求40所述的拍摄控制装置，其特征在于，所述一个或多个处理器单独地或共同地还被配置成用于实施如下操作：41. The capture control apparatus of claim 40, wherein the one or more processors, individually or collectively, are further configured to perform the following operations:若超过预设时间未获取到用户输入的拍摄指令，则自动退出所述预设拍摄模式。If the shooting instruction input by the user is not obtained after the preset time, the preset shooting mode is automatically exited.根据权利要求40所述的拍摄控制装置，其特征在于，所述一个或多个处理器单独地或共同地还被配置成用于实施如下操作：41. The capture control apparatus of claim 40, wherein the one or more processors, individually or collectively, are further configured to perform the following operations:在等待获取用户输入的拍摄指令的时间内，控制所述云台保持在所述预设姿态。During the time of waiting to obtain the shooting instruction input by the user, the gimbal is controlled to maintain the preset posture.根据权利要求35所述的拍摄控制装置，其特征在于，所述拍摄装置在相邻所述预设姿态处拍摄获得的图像之间的重叠率大于预设重叠率阈值。The photographing control device according to claim 35, wherein the overlap ratio between the images obtained by photographing the photographing device at adjacent preset postures is greater than a preset overlap ratio threshold.根据权利要求44所述的拍摄控制装置，其特征在于，所述重叠率的大小为默认数值大小或由用户预先设定。The photographing control device according to claim 44, wherein the size of the overlap ratio is a default value or is preset by a user.根据权利要求35所述的拍摄控制装置，其特征在于，所述拍摄装置在多个所述预设姿态处进行拍摄时的变焦倍数大小相等。The photographing control device according to claim 35, characterized in that, the zoom magnifications of the photographing device when photographing at a plurality of the preset postures are the same.根据权利要求35所述的拍摄控制装置，其特征在于，所述拍摄装置在多个所述预设姿态处拍摄获得的图像中的被拍目标对象为同一对象；或者，The photographing control device according to claim 35, wherein the target object to be photographed in the images obtained by the photographing device at a plurality of the preset postures is the same object; or,所述拍摄装置在多个所述预设姿态处拍摄获得的图像中的被拍目标对象至少部分不相同。The photographed target objects in the images obtained by photographing the plurality of preset postures by the photographing device are at least partially different.根据权利要求35或47所述的拍摄控制装置，其特征在于，所述拍摄装置在每一所述预设姿态处拍摄获得的图像中的被拍目标对象在所述图像中的位置为默认位置或由用户预先设定。The photographing control device according to claim 35 or 47, wherein the position of the target object in the image obtained by photographing the photographing device at each preset posture is a default position or preset by the user.根据权利要求35或47所述的拍摄控制装置，其特征在于，所述拍摄装置在每一所述预设姿态处拍摄获得的图像中的被拍目标对象与所述拍摄装置之间的距离不变；或者，The photographing control device according to claim 35 or 47, wherein the distance between the target object to be photographed and the photographing device in the image obtained by photographing the photographing device at each of the preset postures is not equal to change; or,所述拍摄装置在多个所述预设姿态处拍摄获得的图像中的被拍目标对象与所述拍摄装置之间的距离逐渐增大和/或逐渐减小。The distance between the object to be photographed and the photographing device in the images obtained by photographing the photographing device at a plurality of the preset postures gradually increases and/or decreases gradually.根据权利要求35所述的拍摄控制装置，其特征在于，所述预设拍摄模式包括多种，不同所述预设拍摄模式的拍摄指令的触发方式不相同。The photographing control device according to claim 35, wherein the preset photographing modes include multiple types, and the triggering modes of the photographing instructions of the different preset photographing modes are different.根据权利要求35或50所述的拍摄控制装置，其特征在于，所述预设拍摄模式包括第一拍摄模式，所述拍摄指令由用户远程输入。The photographing control device according to claim 35 or 50, wherein the preset photographing mode includes a first photographing mode, and the photographing instruction is remotely input by a user.根据权利要求51所述的拍摄控制装置，其特征在于，所述远程输入的信息包括所述拍摄装置拍摄获得的图像中的被拍目标对象的姿态动作和语音信息中的至少一种；The photographing control device according to claim 51, wherein the information input from the remote comprises at least one of the gesture action and voice information of the target object in the image obtained by the photographing device;所述拍摄指令包括预设姿势动作和预设语音信息中的至少一种。The shooting instruction includes at least one of a preset gesture action and preset voice information.根据权利要求52所述的拍摄控制装置，其特征在于，所述预设姿势动作包括预设手势动作。The photographing control device according to claim 52, wherein the preset gesture action comprises a preset gesture action.根据权利要求51所述的拍摄控制装置，其特征在于，所述一个或多个处理器在所述云台处于每一所述预设姿态时，获取用户输入的拍摄指令之后，根据所述拍摄指令，控制所述云台上的拍摄装置进行拍摄之前，单独地或共同地还被配置成用于实施如下操作：The photographing control device according to claim 51, wherein the one or more processors acquire a photographing instruction input by a user when the pan/tilt head is in each of the preset postures, and perform the photographing according to the photographing instruction. The instructions, before controlling the photographing device on the PTZ to perform photographing, are individually or collectively configured to perform the following operations:进行预设时长的倒计时。Countdown to a preset duration.根据权利要求54所述的拍摄控制装置，其特征在于，所述一个或多个处理器单独地或共同地还被配置成用于实施如下操作：54. The capture control apparatus of claim 54, wherein the one or more processors, individually or collectively, are further configured to:在进行所述预设时长的倒计时的过程中，输出第一提示信息；In the process of counting down the preset duration, outputting first prompt information;其中，所述第一提示信息用于指示所述倒计时的剩余时间。Wherein, the first prompt information is used to indicate the remaining time of the countdown.根据权利要求35或50所述的拍摄控制装置，其特征在于，所述预设拍摄模式包括第二拍摄模式，所述拍摄指令由用户触发所述拍摄装置、所述云台的手持件、所述云台的控制配件中的至少一个上的控制件时产生，所述拍摄指令的触发者与所述拍摄装置拍摄获得图像中的被拍目标对象不相同。The photographing control device according to claim 35 or 50, wherein the preset photographing mode includes a second photographing mode, and the photographing instruction is triggered by a user on the photographing device, the handpiece of the gimbal, the It is generated when the control member on at least one of the control accessories of the pan/tilt head is generated, and the trigger of the shooting instruction is different from the target object to be shot in the image obtained by the shooting device.根据权利要求35或50所述的拍摄控制装置，其特征在于，所述预设拍摄模式包括多种，不同所述预设拍摄模式的拍摄指令的触发对象不相同。The shooting control device according to claim 35 or 50, wherein the preset shooting modes include multiple types, and the trigger objects of shooting instructions of different preset shooting modes are different.根据权利要求57所述的拍摄控制装置，其特征在于，所述预设拍摄模式包括自拍模式和他拍拍模式，所述自拍模式中所述拍摄指令的触发对象为所述拍摄装置拍摄获得的图像中的被拍目标对象，所述他拍模式中所述拍摄指令的触发对象不为所述拍摄装置拍摄获得的图像中的被拍目标对象。The shooting control device according to claim 57, wherein the preset shooting modes include a Selfie mode and another shooting mode, and the trigger object of the shooting instruction in the self-portrait mode is obtained by the shooting device. The photographed target object in the image, the triggering object of the photographing instruction in the other shooting mode is not the photographed target object in the image obtained by the photographing device.根据权利要求58所述的拍摄控制装置，其特征在于，所述预设拍摄模式包括第一拍摄模式和第二拍摄模式，所述第一拍摄模式中的所述拍摄指令为用户远程输入，所述第二拍摄模式中的所述拍摄指令为用户触发控制件产生；The photographing control device according to claim 58, wherein the preset photographing mode includes a first photographing mode and a second photographing mode, and the photographing instruction in the first photographing mode is a remote input by a user, and the The shooting instruction in the second shooting mode is generated by a user triggering a control;所述第一拍摄模式包括所述自拍模式，所述第二拍摄模式包括所述他拍模式。The first shooting mode includes the Selfie mode, and the second shooting mode includes the other shooting mode.根据权利要求59所述的拍摄控制装置，其特征在于，所述拍摄装置在多个所述预设姿态处拍摄获得的图像包括在所述云台处于所述第一拍摄模式和/或所述第二拍摄模式时，所述拍摄装置拍摄获得的图像。The photographing control device according to claim 59, wherein the images obtained by the photographing device by photographing at a plurality of the preset attitudes include when the pan/tilt head is in the first photographing mode and/or the In the second shooting mode, the shooting device shoots the obtained image.根据权利要求35所述的拍摄控制装置，其特征在于，所述一个或多个处理器在根据所述拍摄指令，控制所述云台上的拍摄装置进行拍摄之前，单独地或共同地还被配置成用于实施如下操作：The photographing control device according to claim 35, wherein before the one or more processors control the photographing device on the pan/tilt head to photograph according to the photographing instruction, individually or jointly Configured to do the following:输出第二提示信息；output the second prompt information;其中，所述第二提示信息用于指示所述拍摄装置拍摄获得的图像中的被拍目标对象当前在所述拍摄装置捕捉的实时图像中的位置，以提示所述被拍目标对象期望的第一移动信息。Wherein, the second prompt information is used to indicate the current position of the target object in the image captured by the photographing device in the real-time image captured by the photographing device, so as to prompt the desired first a mobile message.根据权利要求61所述的拍摄控制装置，其特征在于，所述第一移动信息为基于所述被拍目标对象当前在所述拍摄装置捕捉的实时图像中的位置与所述实时图像的预设位置之间的偏差确定。The shooting control device according to claim 61, wherein the first movement information is a preset based on the current position of the target object in the real-time image captured by the shooting device and the real-time image The deviation between the positions is determined.根据权利要求62所述的拍摄控制装置，其特征在于，所述第一移动信息为沿第一方向的移动信息，所述第一方向与第二方向大致垂直，所述第二方向为所述被拍目标对象与所述拍摄装置的连线方向。The photographing control device according to claim 62, wherein the first movement information is movement information along a first direction, the first direction is substantially perpendicular to the second direction, and the second direction is the The connection direction of the photographed target object and the photographing device.根据权利要求61所述的拍摄控制装置，其特征在于，所述一个或多个处理器在输出第二提示信息之前，单独地或共同地还被配置成用于实施如下操作：The photographing control device according to claim 61, wherein before outputting the second prompt information, the one or more processors are further configured, individually or jointly, to perform the following operations:输出第三提示信息；Output the third prompt information;其中，所述第三提示信息用于指示所述拍摄装置拍摄获得的图像中的被拍目标对象当前进入所述拍摄装置捕捉的实时图像中。The third prompt information is used to indicate that the target object in the image captured by the photographing device currently enters the real-time image captured by the photographing device.根据权利要求35所述的拍摄控制装置，其特征在于，所述一个或多个处理器在根据所述拍摄指令，控制所述云台上的拍摄装置进行拍摄之前，单独地或共同地还被配置成用于实施如下操作：The photographing control device according to claim 35, wherein before the one or more processors control the photographing device on the pan/tilt head to photograph according to the photographing instruction, individually or jointly Configured to do the following:输出第四提示信息；Output the fourth prompt message;其中，所述第四提示信息用于指示所述拍摄装置拍摄获得的图像中的被拍目标对象当前处于所述拍摄装置捕捉的实时图像中的尺寸，以提示所述被拍目标对象期望的第二移动信息。Wherein, the fourth prompt information is used to indicate the size of the target object currently in the real-time image captured by the shooting device in the image obtained by the shooting device, so as to prompt the desired first target object to be shot. 2. Mobile information.根据权利要求65所述的拍摄控制装置，其特征在于，所述第二移动信息为基于所述被拍目标对象当前在所述拍摄装置捕捉的实时图像中的尺寸与所述实时图像中的预设尺寸之间的偏差确定。The photographing control device according to claim 65, wherein the second movement information is based on the current size of the target object to be photographed in the real-time image captured by the photographing device and a preset value in the real-time image. The deviation between the set dimensions is determined.根据权利要求66所述的拍摄控制装置，其特征在于，所述第二移动信息为沿第二方向的移动信息，所述第二方向为所述被拍目标对象与所述拍摄装置的连线方向。The photographing control device according to claim 66, wherein the second movement information is movement information along a second direction, and the second direction is the connection between the photographed target object and the photographing device direction.根据权利要求35所述的拍摄控制装置，其特征在于，所述一个或多个处理器在根据所述拍摄指令，控制所述云台上的拍摄装置进行拍摄之后，单独地或共同地还被配置成用于实施如下操作：The photographing control device according to claim 35, wherein after the one or more processors control the photographing device on the pan/tilt head to photograph according to the photographing instruction, individually or jointly Configured to do the following:将所述拍摄装置在多个所述预设姿态处拍摄获得的图像进行拼接，获得目标图像。A target image is obtained by splicing the images obtained by the photographing device at a plurality of the preset postures.一种云台，其特征在于，所述云台包括：A pan-tilt, characterized in that the pan-tilt comprises:承载部，用于搭载拍摄装置；和a carrying portion for carrying the photographing device; and权利要求35至68任一项所述的拍摄控制装置，能够与所述拍摄装置进行通信。The imaging control device according to any one of claims 35 to 68, capable of communicating with the imaging device.一种拍摄系统，其特征在于，所述拍摄系统包括：A photographing system, characterized in that the photographing system comprises:权利要求69所述的云台；和The head of claim 69; and拍摄装置，搭载在所述云台上。A photographing device is mounted on the platform.

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