CN113994657B - Track delay shooting method and device, cradle head camera, unmanned aerial vehicle and handheld cradle head - Google Patents

Abstract

The embodiment of the application discloses a track delay shooting method, which comprises the following steps: acquiring a delay shooting configuration parameter, wherein the delay shooting configuration parameter is used for determining a motion track of a motion main body and shooting parameters of a shooting device, and the motion main body is used for carrying the shooting device; and controlling the moving body to move according to the movement track and controlling the shooting device to shoot according to the shooting parameters, wherein the moving body is controlled to stop moving or to move at a reduced speed in an exposure time period of the shooting device. The track delay shooting method disclosed by the embodiment of the application solves the technical problem that the image shot by the track delay shooting is not clear.

Description

Track time-lapse photography method, device, pan/tilt camera, drone and handheld pan/tilt

Technical field

The present application relates to the technical field of time-lapse photography, and in particular to a trajectory time-lapse photography method and device, a gimbal camera, a drone, a handheld gimbal, and a computer-readable storage medium.

Background technique

Track time-lapse photography means that the shooting device can move according to the trajectory during the time-lapse shooting process. Therefore, the area captured by the shooting device can change and a larger area can be captured. However, in some cases, the images captured by trajectory time-lapse photography may not be clear.

Contents of the invention

In view of this, embodiments of the present application provide a trajectory time-lapse photography method, device, gimbal camera, drone, handheld gimbal and computer-readable storage medium. One of the purposes of the embodiments of the present application is to solve the problem of trajectory delay. Technical problems caused by unclear images taken during photography.

The first aspect of the embodiment of the present application provides a trajectory time-lapse photography method, including:

Obtaining time-lapse photography configuration parameters, the time-lapse photography configuration parameters are used to determine the movement trajectory of the moving subject and the shooting parameters of the shooting device, and the moving body is used to carry the shooting device;

The moving body is controlled to move according to the motion trajectory and the shooting device is controlled to shoot according to the shooting parameters, wherein the moving body is controlled to stop moving or slow down during the exposure time period of the shooting device.

The second aspect of the embodiment of the present application provides a trajectory time-lapse shooting device, including: a processor and a memory storing a computer program. The processor implements the following steps when executing the computer program:

Obtaining time-lapse photography configuration parameters, the time-lapse photography configuration parameters are used to determine the movement trajectory of the moving subject and the shooting parameters of the shooting device, and the moving body is used to carry the shooting device;

The moving body is controlled to move according to the motion trajectory and the shooting device is controlled to shoot according to the shooting parameters, wherein the moving body is controlled to stop moving or slow down during the exposure time period of the shooting device.

The third aspect of the embodiment of the present application provides a PTZ camera, including:

handle;

A pan/tilt connected to the handle;

A camera mounted on the gimbal;

A processor and a memory storing a computer program, the processor implements the following steps when executing the computer program:

Obtain the time-lapse camera configuration parameters, which are used to determine the motion trajectory of the gimbal and the shooting parameters of the camera;

The pan-tilt is controlled to move according to the motion trajectory and the camera is controlled to shoot according to the shooting parameters, wherein the pan-tilt is controlled to stop moving or slow down during the exposure time period of the camera.

The fourth aspect of the embodiment of the present application provides a drone, including:

organism;

A power device connected to the body;

A pan/tilt connected to the body;

A camera mounted on the gimbal;

A processor and a memory storing a computer program, the processor implements the following steps when executing the computer program:

Obtain time-lapse camera configuration parameters, which are used to determine the movement trajectory of the moving subject and the shooting parameters of the shooting device, and the moving body includes the drone or the gimbal;

The moving body is controlled to move according to the motion trajectory and the shooting device is controlled to shoot according to the shooting parameters, wherein the moving body is controlled to stop moving or slow down during the exposure time period of the shooting device.

The fifth aspect of the embodiment of the present application provides a handheld pan/tilt, including:

hand-held part;

A pan/tilt connected to the handheld unit;

A holder connected to the pan/tilt for carrying shooting equipment;

A communication interface for communicating with the shooting device;

A processor and a memory storing a computer program, the processor implements the following steps when executing the computer program:

Obtain time-lapse camera configuration parameters, which are used to determine the motion trajectory of the pan/tilt and the shooting parameters of the shooting equipment;

The pan-tilt is controlled to move according to the motion trajectory and the photography device is controlled to shoot according to the photography parameters, wherein the pan-tilt is controlled to stop moving or slow down during the exposure time period of the photography device.

The sixth aspect of the embodiment of the present application provides a computer-readable storage medium. The computer-readable storage medium stores a computer program. When the computer program is executed by a processor, the trajectory time-lapse photography method provided by the embodiment of the present application is implemented. .

The trajectory time-lapse photography method provided by the embodiment of the present application can control the moving subject to stop or slow down the movement during the exposure time period of the photography device during the trajectory time-lapse photography process. Therefore, the photography device can be stationary or only during the exposure. It has a very low movement speed, which greatly reduces the motion blur in the captured images, making the captured trajectory time-lapse video clearer.

Description of the drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments will be briefly introduced below. 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 be obtained based on these drawings without exerting any creative effort.

Figure 1 is a schematic diagram of a scene in which a gimbal camera provided by an embodiment of the present application performs trajectory time-lapse photography.

Figure 2 is a schematic diagram of a scene in which a drone performs trajectory time-lapse photography provided by an embodiment of the present application.

Figure 3 is a flow chart of a trajectory time-lapse photography method provided by an embodiment of the present application.

Figure 4 is a structural diagram of a trajectory time-lapse photography device provided by an embodiment of the present application.

Figure 5 is a schematic structural diagram of a pan/tilt camera provided by an embodiment of the present application.

Figure 6 is a schematic structural diagram of an unmanned aerial vehicle provided by an embodiment of the present application.

Figure 7 is a schematic structural diagram of a handheld pan/tilt provided by an embodiment of the present application.

Detailed ways

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of this application.

Time-lapse shooting is a shooting technology that can compress a long time in reality into a short-time video. Here, the short-time video can be called a time-lapse video. Time-lapse videos can be obtained in a variety of ways. In one implementation, a video can be captured at a normal frame rate, and then frames can be extracted from the video, and a time-lapse video can be generated using the image group obtained by extracting frames. In one implementation, the shooting duration and shooting interval can be set before shooting. For example, a shooting duration of 10 minutes and a shooting interval of 5 seconds can be set. Then after starting shooting, the shooting device can set the shooting time within 10 minutes. Images are taken at intervals of 5 seconds. After the shooting is completed, a time-lapse video can be generated using the captured images.

Track time-lapse photography can be considered an extension of time-lapse photography. In time-lapse photography, the shooting device is usually fixed in one position to shoot the same area, but in track time-lapse photography, the shooting device is not stationary, and the area captured by the shooting device is not fixed either. of. Specifically, in one example, the shooting device can be mounted on a pan/tilt, and during the trajectory time-lapse photography process, the pan/tilt can move according to a determined movement trajectory, and the filming device can capture different areas driven by the pan/tilt. Take the shot. Reference may be made to FIG. 1 , which is a schematic diagram of a scene in which a gimbal camera provided by an embodiment of the present application performs trajectory time-lapse photography. As shown in Figure 1, the pan/tilt of the pan/tilt camera can rotate, so the camera's viewing area (black box in the picture) can change.

It can be understood that the above-mentioned time-lapse photography method of the trajectory of the movement of the camera equipped with a pan/tilt can be implemented on equipment or a combination of equipment including a pan/tilt and a photography device, such as a pan/tilt camera, a handheld pan/tilt (which can be combined with a mobile phone, SLR cameras and other shooting equipment combinations), etc., can also be implemented on movable platforms including gimbals and shooting devices, such as drones, unmanned vehicles, robots, etc.

In one example, trajectory time-lapse photography can also use the movable platform itself to drive the movement of the shooting device. Taking drones as an example, during trajectory time-lapse photography, the moving subject can be a drone, and the drone can fly according to a determined movement trajectory. During the flight, the shooting device can capture different images under the guidance of the drone. area for shooting. Reference may be made to FIG. 2 , which is a schematic diagram of a scene of a drone performing trajectory time-lapse photography provided by an embodiment of the present application.

Track time-lapse photography can capture a larger spatial range than traditional time-lapse photography, but in some cases, the images captured by track time-lapse photography may not be clear.

The applicant found through research that the reason why the images obtained by trajectory time-lapse shooting are unclear is due to motion blur. Take the gimbal and the shooting device as an example. Since the gimbal and the shooting device are two independent modules or systems in one device, or they directly belong to different devices, the work between the gimbal and the shooting device is independent of each other. , that is, the gimbal is only responsible for moving according to the movement trajectory, and the shooting device is only responsible for shooting according to the set shooting interval, shooting duration, etc. In this way, when the shooting device is exposed, the gimbal will still maintain its original motion state, which will Introduces motion blur into images captured by the camera. Moreover, if the exposure time of the shooting device is longer, or the gimbal moves faster, the motion blur introduced will be greater.

For the situation of the movable platform and the shooting device, it is similar to the situation of the pan/tilt and the shooting device. That is, if the movable platform still maintains its original motion state when the shooting device is exposed, motion blur will also be introduced into the captured image, resulting in the final result. The trajectory time-lapse video is not clear.

To this end, embodiments of the present application provide a method for tracking time-lapse photography. Refer to Figure 3 , which is a flow chart of a method for tracking time-lapse photography provided by embodiments of the present application. The method may include the following steps:

S302. Obtain time-lapse photography configuration parameters.

S304. Determine the movement trajectory of the moving subject and the shooting parameters of the shooting device according to the time-lapse photography configuration parameters.

Time-lapse photography configuration parameters can be used to determine the trajectory of a moving subject. In one implementation, the time-lapse photography configuration parameters may include at least point information of the starting point and the end point of the motion trajectory. For example, the time-lapse photography configuration parameters may include point information of the starting point, the end point, and one or several intermediate points of the motion trajectory.

As can be seen from the previous article, the moving subject of trajectory motion can be a gimbal or a movable platform such as a drone. If the moving subject is a pan/tilt, the position information of each point may include the pose information of the pan/tilt at that point. If the moving subject is a drone, the point information of each point may include the three-dimensional position information of the drone at that point, for example, it may be three-dimensional space coordinates.

The point information of the starting point, end point and intermediate point of the motion trajectory can be set by the user. For equipment including a PTZ, such as a PTZ camera, a handheld PTZ, etc., such equipment can be called a PTZ device. The PTZ device can be equipped with a physical joystick or button for controlling the PTZ, or it can be equipped with a touch screen. The touch screen can provide users with virtual joysticks or buttons for controlling the gimbal through the touch screen. When setting the point information, the user can control the gimbal to the desired posture through the physical or virtual joystick or buttons, and set the current posture of the gimbal after the gimbal moves to the desired posture. It is the point information of the starting point, end point or intermediate point. In one example, the PTZ device can also communicate with mobile terminals such as mobile phones, tablets, and computers. The mobile terminal can be installed with an application program (APP) that can interact with the PTZ device, so that the user can also input data through the application program. Point information, correspondingly, the PTZ device can obtain the point information input by the user by interacting with the application on the mobile terminal. Of course, the user can also directly swing the pan/tilt to set the starting point or end point.

For a movable platform, a drone can be used as an example. When the user sets the point information, in one implementation, the drone can be controlled by the control device to fly to the desired point, and the current position obtained by positioning the aircraft can be determined. The three-dimensional position information of the point is determined as the point information of the starting point, end point or intermediate point. In one implementation, the user can also directly input the three-dimensional location information of the starting point, end point or intermediate point in the application program of the mobile terminal.

There are many ways the motion trajectory can pass through the set points. In one implementation, the motion trajectory can pass through each set point in the form of a polyline. In one implementation, the motion trajectory can pass through each set point in the form of a curve.

The time-lapse photography configuration parameters can also be used to determine the shooting parameters of the shooting device. In one embodiment, the shooting parameters of the shooting device may include at least a shooting interval and a shooting duration. Here, the shooting duration and shooting interval can be set by the user. For example, the user can input the desired shooting duration and shooting interval through the application on the mobile terminal or the touch screen on the gimbal device.

After the time-lapse photography configuration parameters are determined, the shooting device can be controlled to start shooting according to the start shooting instruction triggered by the user. The trigger condition for the start shooting instruction can be, for example, that the user clicks the shooting button after switching to the track time-lapse shooting mode.

S306. Control the moving body to move according to the motion trajectory and control the shooting device to shoot according to the shooting parameters, wherein the moving body is controlled to stop moving or slow down during the exposure time period of the shooting device. sports.

As can be seen from the above, the moving subject can be a pan/tilt or a movable platform. Therefore, the shooting device can be mounted on the moving subject. Therefore, the shooting device and the moving subject are synchronized in motion. That is, when the moving subject moves, the shooting device Also in motion, when the moving subject stops or slows down, the shooting device also stops or slows down.

During the trajectory time-lapse shooting process, the shooting device can capture multiple images through multiple exposures. Therefore, the shooting duration of the shooting device can include exposure time periods of multiple shooting devices. When the exposure time period of the shooting device is about to enter, the moving subject can be controlled to stop moving or slow down, so that the moving subject stops or moves at a speed lower than the threshold during the exposure time period of the shooting device. In other time periods outside the exposure time period of the device, the moving subject can be controlled to resume movement according to the movement trajectory at the target movement speed.

After the shooting is completed, the captured images can be used to generate a trajectory time-lapse video. Specifically, the image can be transmitted to a video encoder for encoding to generate a trajectory time-lapse video. The captured images can also be stored as image groups to facilitate users to use the stored image groups for later video editing.

The trajectory time-lapse photography method provided by the embodiment of the present application can control the moving subject to stop or slow down the movement during the exposure time period of the photography device during the trajectory time-lapse photography process. Therefore, the photography device can be stationary or only during the exposure. It has a very low movement speed, which greatly reduces the motion blur in the captured images, making the captured trajectory time-lapse video clearer.

There are many feasible implementation methods to realize that the moving subject stops or moves at a speed lower than the threshold within the exposure time period of the shooting device. In one embodiment, the exposure time period of the shooting device can be determined before the shooting starts, and the motion trajectory can be determined based on the exposure time period of the shooting device. Therefore, according to the instructions in the motion trajectory, the exposure time period of the shooting device can be determined. Control the moving subject to stop or slow down during the time period, and control the moving subject to move at the target movement speed at other times outside the exposure time period, so that the moving subject stops or moves at a speed lower than the threshold during the exposure time period of the shooting device .

In order to determine the exposure time period of the shooting device before the shooting starts, the shooting duration, shooting interval and the exposure duration of each exposure need to be determined before the shooting starts. The shooting duration and shooting interval are shooting parameters of the shooting device, which can be determined based on the user's input before shooting starts. In some cases, the exposure duration of each exposure can also be shooting parameters that can be determined before shooting starts.

When shooting time-lapse videos, in order to achieve different video effects, users can set the shooting device to different gears. Specifically, if the user hopes that the brightness of the picture in the time-lapse video can follow changes in ambient light brightness, the shooting device can be set to the manual gear. In the manual gear, the exposure parameters of the shooting device are fixed to the initial values set by the user. That is, during the entire shooting process, the shutter speed of the shooting device remains unchanged, and the exposure duration of each exposure is a fixed value. If the user hopes that the brightness of the picture in the time-lapse video can be automatically adjusted as the ambient light brightness changes, the shooting device can be set to the automatic gear. In the automatic gear, the automatic exposure algorithm of the shooting device can adjust the exposure in real time based on the metering results. Parameters, in other words, the shutter speed of the shooting device may change during the shooting process, that is, the exposure duration of each exposure of the shooting device is no longer a fixed value.

Therefore, if before starting shooting, it is determined that the shooting device is set to manual gear or the shutter speed of the shooting device is locked, the exposure duration of each exposure of the shooting device can be a fixed value, which can be used together with the shooting interval and shooting duration as the shooting The parameters are obtained before shooting, so that based on these shooting parameters, the exposure time period of the shooting device can be accurately determined. The determined exposure time period can be used to determine the motion trajectory, so that the motion trajectory can be used to instruct the moving subject to stop moving or slow down the movement within the exposure time period of the shooting device.

It should be noted that in the above embodiment, the exposure time period of the photographing device needs to be determined in advance, so the system clocks of the moving subject and the photographing device should be synchronized. During specific implementation, the shooting device system and the moving subject system can interact through the IEEE1588 protocol to achieve clock synchronization.

In order to make the movement of the captured trajectory time-lapse video smooth and smooth, the movement speed of the moving subject should be as stable as possible. For example, an ideal situation is that the moving subject can move at a constant speed at other times outside the exposure time period of the shooting device. . For convenience, other times outside the exposure time period of the shooting device can be called motion time periods.

In order to enable the moving subject to move at a constant speed within the movement period and to complete the entire movement trajectory within the set shooting duration, the length of the movement period and the total displacement corresponding to the movement trajectory can be predetermined (the total displacement can be Angle can also be a distance). The total displacement of the motion trajectory can be calculated after the point information of the starting point, end point, intermediate point, etc. is determined. As for the duration of the motion period, in one embodiment, when the exposure duration of each exposure of the shooting device is fixed, the exposure time period of the shooting device can be determined in advance, and the remaining motion time periods can also be determined in advance, and then, The target movement speed of the moving subject can be calculated based on the length of the movement period and the total displacement corresponding to the movement trajectory. The target movement speed can be a fixed movement speed, which can be used to control the moving subject to the fixed movement speed during the movement period. The movement speed is uniform, so that the captured trajectory time-lapse video can be smooth and smooth.

The moving subject stops or moves at a speed lower than the threshold within the exposure time period of the shooting device, which can also be implemented through another implementation. Specifically, the exposure time period of the photographing device may not be determined before the photographing is started. Instead, the moment when the photographing device starts or ends the exposure is determined according to the instructions of the photographing device after the photographing is started. Therefore, when it is determined that the photographing device starts to expose, The moving subject can be controlled to stop moving or slow down, and when it is determined that the shooting device has ended exposure, the moving subject can be controlled to resume movement. Here, the recovery movement may be to resume movement of the moving subject at the target movement speed. If the movement subject stops moving when the shooting device starts to expose, the recovery movement may be to resume movement at the target movement speed from stillness. If the movement subject is at If the shooting device is moving at a reduced speed when it starts to expose, the recovery movement may be to increase the lower movement speed of the moving subject to the target movement speed.

Determining the moment when the photographing device starts or ends the exposure can be implemented in various ways. In one implementation, the chip of the shooting device (for example, it can be an ISP chip) can send a corresponding notification when the exposure is about to start or when the exposure is about to end. After obtaining the notification from the shooting device, the control chip of the moving subject can send a notification according to the notification. The content controls the moving subject to stop moving, slow down the movement, or resume movement. In one implementation, a hardware IO connection between the chip of the shooting device and the control chip of the moving subject can be established in advance, so that the chip of the shooting device can change the output level when the shooting device is about to start or end the exposure. , to inform the control chip of the moving subject of the exposure status of the shooting device. For example, the chip of the shooting device can output a high level to the control chip of the moving subject when the shooting device starts to expose, and output a low level to the control chip of the moving subject when the shooting device ends the exposure. Thus, the control chip of the moving subject can The control chip can control the moving body to stop or slow down or resume movement based on the detected level changes.

Among the two implementations provided above for determining the moment when the shooting device starts or ends the exposure, the second implementation communicates the exposure status of the shooting device through the level changes of the hardware IO between the shooting device and the moving subject. Therefore, compared with the method of software notification in the first embodiment, the communication delay can be effectively reduced, making the linkage between the moving subject and the shooting device closer.

As can be seen from the above, during time-lapse photography, if the shooting device is in manual gear, the shutter speed of the shooting device can remain unchanged, and the exposure time of each exposure of the shooting device is fixed. However, if the shooting device is in automatic gear, Then, the exposure duration of each exposure of the photographing device will be determined based on the photometry result of the photographing device, that is, the exposure duration of each exposure of the photographing device is no longer fixed. When the exposure time of each exposure of the shooting device is not fixed, the remaining shooting time after each exposure is also different. At this time, if the moving subject is still moving at the original target movement speed, it may not be possible to complete the entire shooting time within the remaining shooting time. Movement trajectory. Considering this problem, in one embodiment, after each shooting device ends exposure, it may be determined whether to adjust the current target movement speed based on the remaining shooting duration and the remaining displacement amount of the movement trajectory.

It should be noted that the target movement speed may be the movement speed that the moving subject should reach during the movement time period other than the exposure time period of the shooting device. Since the moving subject stops moving or slows down during the exposure period of the shooting device, after the shooting device ends the exposure, the current actual moving speed of the moving subject is 0 or very low. Therefore, it is necessary to adjust its current movement. speed. The target movement speed does not refer to the actual movement speed of the moving subject, but the movement speed that the moving subject should reach during the movement period. Whether the target movement speed needs to be adjusted can be determined based on the remaining displacement of the movement trajectory and the remaining shooting time. .

If based on the remaining displacement of the motion trajectory and the remaining shooting time, it is determined that the moving subject will not be able to complete the motion trajectory within the remaining shooting time if the moving subject moves at the current target speed, the current target speed can be increased. If you move at the movement speed, the moving subject will complete the movement trajectory in advance, you can reduce the current target movement speed. If it is determined to move at the current target movement speed, the moving subject can complete the movement trajectory just at the end of the shooting, and there is no need to adjust the current target movement. speed.

Considering that if the current target movement speed is adjusted too much, the movement speed of the moving subject in different movement time periods will differ greatly, resulting in the captured trajectory time-lapse video being fast and slow in the picture movement and not smooth. , therefore, in one implementation, if it is determined to adjust the current target movement speed, and the calculated speed adjustment amount is greater than the preset threshold, it can be determined whether to adjust the shooting duration in the shooting parameters. For example, if the current target movement speed needs to be increased, and the speed to be increased is greater than a preset threshold, it can be determined whether to extend the shooting duration.

As for whether to adjust the shooting duration, in one implementation, you can first determine the duration that needs to be adjusted. If the duration that needs to be adjusted is within the preset duration range, the shooting duration can be adjusted. If the duration that needs to be adjusted is If the duration is outside the preset duration range, the shooting duration does not need to be adjusted. Take the above example of needing to extend the shooting duration. If it is determined that the duration that needs to be extended is 10 seconds, and the preset duration range is within 15 seconds, then the shooting duration can be extended. If it is determined that the duration that needs to be extended is 20 seconds, then It can be determined that the shooting duration will not be extended.

It can be understood that if the implementation is selected to determine the moment when the photography device starts or ends the exposure in real time according to the instructions of the photography device during the photography process, there is no need to determine the exposure time period of the photography device in advance, and there is no need to determine the exposure time period of each exposure of the photography device. The exposure duration is a fixed value. However, in one implementation, the movement of the moving subject can also be planned in advance before the shooting starts, so that the target movement speed during the movement of the moving subject does not need to be adjusted too much. The advance planning of the movement of the moving subject may include planning of the initial target movement speed of the moving subject.

In one implementation, the initial target movement speed can be set based on experience, for example, the default speed of the system can be directly used. In one implementation, the initial target movement speed can be determined based on the movement trajectory, the shooting interval and shooting duration in the shooting parameters, and the estimated exposure duration of each exposure. Specifically, the estimated exposure time of each exposure can be determined based on the photometry results of the entire scene. According to the shooting duration and shooting interval, the moment when the shooting device starts to expose each time can be determined. According to the estimated exposure time of each exposure The exposure time period of the shooting device can be calculated, and then the length of the movement time period other than the exposure time period can be determined. The initial target movement speed can be determined based on the total displacement corresponding to the movement trajectory and the length of the movement time period.

During the exposure period of the shooting device, in addition to controlling the moving subject to stop or slow down the movement, the shooting device can also be stabilized. If the moving subject is a gimbal, you can control the gimbal to stop moving when the shooting device is exposed, and stabilize the shooting device to its maximum capacity. If the moving subject is a movable platform such as a drone, when the shooting device is exposed, , you can also use the gimbal to stabilize the shooting device. At the same time, you can also initiate more stabilization measures, such as stabilizing the rotation speed of the drone blades.

The trajectory time-lapse photography method provided by the embodiment of the present application can control the moving subject to stop or slow down the movement during the exposure time period of the photography device during the trajectory time-lapse photography process. Therefore, the photography device can be stationary or only during the exposure. It has a very low movement speed, which greatly reduces the motion blur in the captured images, making the captured trajectory time-lapse video clearer. In addition, the movement speed of the moving subject during the shooting process can be adjusted in advance or in real time, so that the moving subject can complete the movement trajectory at a stable movement speed within the shooting duration, making the final trajectory time-lapse video captured smoother in screen movement. and smooth.

The above is an explanation of the trajectory time-lapse photography method provided by the embodiment of the present application. Please refer to FIG. 4 below, which is a structural diagram of a trajectory time-lapse shooting device provided by an embodiment of the present application. The apparatus may include a processor 410 and a memory 420 having a computer program. The processor may perform the following steps when executing the computer program:

Obtaining time-lapse photography configuration parameters, the time-lapse photography configuration parameters are used to determine the movement trajectory of the moving subject and the shooting parameters of the shooting device, and the moving body is used to carry the shooting device;

The moving body is controlled to move according to the motion trajectory and the shooting device is controlled to shoot according to the shooting parameters, wherein the moving body is controlled to stop moving or slow down during the exposure time period of the shooting device.

Optionally, the movement trajectory is determined at least based on the exposure time period of the photography device, wherein the movement trajectory is used to indicate that the moving subject stops moving or slows down during the exposure time period of the photography device. .

Optionally, the exposure time period of the photographing device is determined according to the photographing parameters of the photographing device.

Optionally, the shooting parameters include shooting duration, shooting interval, and exposure duration of each exposure.

Optionally, the exposure duration of each exposure is a fixed value.

Optionally, the movement trajectory is also used to indicate that the moving subject moves at a target movement speed outside the exposure time period of the shooting device.

Optionally, the target movement speed is a fixed movement speed.

Optionally, the fixed movement speed is determined based on the total displacement corresponding to the movement trajectory and the duration of other times outside the exposure time period.

Optionally, the moving subject is synchronized with the system clock of the shooting device.

Optionally, when controlling the moving subject to stop moving or slowing down the movement during the exposure time period of the shooting device, the processor is configured to control the moving body to stop moving when it is determined that the shooting device begins to expose. Or slow down the movement, and when it is determined that the shooting device has completed the exposure, the moving subject is controlled to resume movement.

Optionally, the moment when the photographing device starts or ends the exposure is determined based on a notification sent by the photographing device.

Optionally, the moment when the photographing device starts or ends the exposure is determined based on the level of the chip output of the photographing device.

Optionally, the exposure duration of each exposure is determined based on the photometry results.

Optionally, the processor is also configured to determine whether to adjust the current target movement speed of the moving subject based on the remaining shooting duration and the remaining displacement amount of the movement trajectory after each exposure of the shooting device. .

Optionally, the processor is further configured to determine whether to adjust the shooting duration in the shooting parameters if the determined adjustment amount to the current target movement speed is greater than a preset threshold.

Optionally, the initial target movement speed of the moving subject is determined based on the movement trajectory, the shooting interval of the shooting device, the shooting duration, and the estimated exposure duration of each exposure.

Optionally, the processor is further configured to stabilize the shooting device within the exposure time period of the shooting device.

Optionally, the time-lapse photography configuration parameters include point information of the starting point and end point of the motion trajectory.

Optionally, the point information includes pose information of a gimbal or three-dimensional position information of a drone.

Optionally, the processor is also configured to generate a trajectory time-lapse video using the captured images after the shooting is completed.

Optionally, the moving body includes a movable platform or cloud platform.

For the specific implementation of the trajectory time-lapse photography devices of the various embodiments provided above, reference can be made to the relevant descriptions in the foregoing, and will not be described again here.

The trajectory time-lapse photography device provided by the embodiment of the present application can control the moving subject to stop or slow down the movement during the exposure time period of the photography device during the trajectory time-lapse photography process. Therefore, the photography device can be still or only during the exposure. It has a very low movement speed, which greatly reduces the motion blur in the captured images, making the captured trajectory time-lapse video clearer.

Please refer to FIG. 5 below. FIG. 5 is a schematic structural diagram of a pan/tilt camera provided by an embodiment of the present application. The PTZ camera includes:

handle 510;

A pan/tilt 520 connected to the handle;

A camera 530 mounted on the gimbal;

The processor 540 has a memory 550 for a computer program. The processor implements the following steps when executing the computer program:

Obtain the time-lapse camera configuration parameters, which are used to determine the motion trajectory of the gimbal and the shooting parameters of the camera;

The pan-tilt is controlled to move according to the motion trajectory and the camera is controlled to shoot according to the shooting parameters, wherein the pan-tilt is controlled to stop moving or slow down during the exposure time period of the camera.

Optionally, the motion trajectory is determined based on at least the exposure time period of the camera, wherein during the exposure time period of the camera, the motion trajectory is used to instruct the pan/tilt to stop moving or slow down.

Optionally, the exposure time period of the camera is determined based on the shooting parameters of the camera.

Optionally, the shooting parameters include shooting duration, shooting interval, and exposure duration of each exposure.

Optionally, the exposure duration of each exposure is a fixed value.

Optionally, the movement trajectory is also used to instruct the pan/tilt to move at a target movement speed outside the exposure time period of the camera.

Optionally, the target movement speed is a fixed movement speed.

Optionally, the fixed movement speed is determined based on the total displacement corresponding to the movement trajectory and the duration of other times outside the exposure time period.

Optionally, the pan/tilt is synchronized with the system clock of the camera.

Optionally, when controlling the pan/tilt to stop moving or decelerating during the camera's exposure time period, the processor is configured to control the pan/tilt to stop moving or decelerating when it is determined that the camera begins to expose. When it is determined that the camera has completed the exposure, the pan/tilt is controlled to resume movement.

Optionally, the moment when the camera starts or ends the exposure is determined based on a notification sent by the camera.

Optionally, the moment when the camera starts or ends the exposure is determined based on the level of the chip output of the camera.

Optionally, the exposure duration of each exposure is determined based on the photometry results.

Optionally, the processor is also configured to determine whether to adjust the current target movement speed of the pan/tilt based on the remaining shooting duration and the remaining displacement of the movement trajectory after each exposure of the camera.

Optionally, the processor is further configured to determine whether to adjust the shooting duration in the shooting parameters if the determined adjustment amount to the current target movement speed is greater than a preset threshold.

Optionally, the initial target movement speed of the pan/tilt is determined based on the movement trajectory, the shooting interval of the camera, the shooting duration, and the estimated exposure duration of each exposure.

Optionally, the processor is also configured to stabilize the camera within the exposure time period of the camera.

Optionally, the time-lapse photography configuration parameters include point information of the starting point and end point of the motion trajectory.

Optionally, the point information includes pose information of the pan/tilt.

Optionally, the processor is also configured to generate a trajectory time-lapse video using the captured images after the shooting is completed.

For the specific implementation of the gimbal cameras of the various embodiments provided above, please refer to the relevant descriptions in the foregoing articles, and will not be described again here.

The gimbal camera provided in the embodiment of the present application can control the gimbal to stop or slow down during the exposure time period of the camera during the trajectory time-lapse shooting process. Therefore, the camera can be stationary or have only a very low speed during the exposure. The speed of movement greatly reduces the motion blur in the captured images, making the captured trajectory time-lapse video clearer.

Please refer to Figure 6 below, which is a schematic structural diagram of a drone provided by an embodiment of the present application. The drone includes:

Body 610;

A power device 620 connected to the body;

A pan/tilt 630 connected to the body;

The shooting device 640 mounted on the cloud platform;

The processor 650 and the memory 660 store the computer program. The processor implements the following steps when executing the computer program:

Obtain time-lapse camera configuration parameters, which are used to determine the movement trajectory of the moving subject and the shooting parameters of the shooting device, and the moving body includes the drone or the gimbal;

The moving body is controlled to move according to the motion trajectory and the shooting device is controlled to shoot according to the shooting parameters, wherein the moving body is controlled to stop moving or slow down during the exposure time period of the shooting device.

Optionally, the movement trajectory is determined at least based on the exposure time period of the photography device, wherein the movement trajectory is used to indicate that the moving subject stops moving or slows down during the exposure time period of the photography device. .

Optionally, the exposure time period of the photographing device is determined according to the photographing parameters of the photographing device.

Optionally, the shooting parameters include shooting duration, shooting interval, and exposure duration of each exposure.

Optionally, the exposure duration of each exposure is a fixed value.

Optionally, the movement trajectory is also used to indicate that the moving subject moves at a target movement speed outside the exposure time period of the shooting device.

Optionally, the target movement speed is a fixed movement speed.

Optionally, the fixed movement speed is determined based on the total displacement corresponding to the movement trajectory and the duration of other times outside the exposure time period.

Optionally, the moving subject is synchronized with the system clock of the shooting device.

Optionally, when controlling the moving subject to stop moving or slowing down the movement during the exposure time period of the shooting device, the processor is configured to control the moving body to stop moving when it is determined that the shooting device begins to expose. Or slow down the movement, and when it is determined that the shooting device has completed the exposure, the moving subject is controlled to resume movement.

Optionally, the moment when the photographing device starts or ends the exposure is determined based on a notification sent by the photographing device.

Optionally, the moment when the photographing device starts or ends the exposure is determined based on the level of the chip output of the photographing device.

Optionally, the exposure duration of each exposure is determined based on the photometry results.

Optionally, the processor is also configured to determine whether to adjust the current target movement speed of the moving subject based on the remaining shooting duration and the remaining displacement amount of the movement trajectory after each exposure of the shooting device. .

Optionally, the processor is further configured to determine whether to adjust the shooting duration in the shooting parameters if the determined adjustment amount to the current target movement speed is greater than a preset threshold.

Optionally, the initial target movement speed of the moving subject is determined based on the movement trajectory, the estimated exposure duration of each exposure, the shooting interval and the shooting duration in the shooting parameters.

Optionally, the processor is further configured to stabilize the shooting device within the exposure time period of the shooting device.

Optionally, the time-lapse photography configuration parameters include point information of the starting point and end point of the motion trajectory.

Optionally, the point information includes pose information of a gimbal or three-dimensional position information of a drone.

Optionally, the processor is also configured to generate a trajectory time-lapse video using the captured images after the shooting is completed.

For the specific implementation of the drones in the various embodiments provided above, please refer to the relevant descriptions in the previous paragraphs, and will not be described again here.

The drone provided by the embodiment of the present application can control the moving subject to stop or slow down during the exposure time period of the shooting device during the trajectory time-lapse shooting process. Therefore, the shooting device can be stationary or only have a very small speed during the exposure. The low movement speed greatly reduces the motion blur in the captured images, making the captured trajectory time-lapse video clearer.

Please refer to FIG. 7 below. FIG. 7 is a schematic structural diagram of a handheld pan/tilt provided by an embodiment of the present application. This handheld pan/tilt includes:

Handheld part 711;

A pan/tilt 712 connected to the handheld portion 711;

The holder 713 connected to the pan/tilt is used to carry the shooting equipment 720;

A communication interface for communicating with the shooting device;

A processor and a memory storing a computer program, the processor implements the following steps when executing the computer program:

Obtain time-lapse camera configuration parameters, which are used to determine the motion trajectory of the pan/tilt and the shooting parameters of the shooting equipment;

The pan-tilt is controlled to move according to the motion trajectory and the photography device is controlled to shoot according to the photography parameters, wherein the pan-tilt is controlled to stop moving or slow down during the exposure time period of the photography device.

Optionally, the movement trajectory is determined at least based on the exposure time period of the photography device, wherein the movement trajectory is used to indicate that the pan/tilt stops moving or slows down during the exposure time period of the photography equipment. .

Optionally, the exposure time period of the photographing device is determined according to the photographing parameters of the photographing device.

Optionally, the shooting parameters include shooting duration, shooting interval, and exposure duration of each exposure.

Optionally, the exposure duration of each exposure is a fixed value.

Optionally, the movement trajectory is also used to instruct the pan/tilt to move at a target movement speed outside the exposure time period of the shooting device.

Optionally, the target movement speed is a fixed movement speed.

Optionally, the fixed movement speed is determined based on the total displacement corresponding to the movement trajectory and the duration of other times outside the exposure time period.

Optionally, the PTZ is synchronized with the system clock of the shooting device.

Optionally, when the processor controls the pan/tilt to stop moving or slow down during the exposure time period of the shooting device, it is used to control the pan/tilt to stop moving when it is determined that the shooting device starts to expose. Or slow down the movement, and when it is determined that the shooting device has completed the exposure, the pan/tilt is controlled to resume movement.

Optionally, the moment when the photographing device starts or ends the exposure is determined based on a notification sent by the photographing device.

Optionally, the moment when the photographing device starts or ends the exposure is determined based on the level of the chip output of the photographing device.

Optionally, the exposure duration of each exposure is determined based on the photometry results.

Optionally, the processor is also configured to determine whether to adjust the current target movement speed of the pan/tilt based on the remaining shooting duration and the remaining displacement of the movement trajectory after each exposure of the shooting device. .

Optionally, the processor is further configured to determine whether to adjust the shooting duration in the shooting parameters if the determined adjustment amount to the current target movement speed is greater than a preset threshold.

Optionally, the initial target movement speed of the pan/tilt is determined based on the movement trajectory, the shooting interval of the shooting device, the shooting duration, and the estimated exposure duration of each exposure.

Optionally, the processor is further configured to stabilize the photographing device within the exposure time period of the photographing device.

Optionally, the time-lapse photography configuration parameters include point information of the starting point and end point of the motion trajectory.

Optionally, the point information includes pose information of the pan/tilt.

Optionally, the processor is also configured to generate a trajectory time-lapse video using the captured images after the shooting is completed.

For the specific implementation of the handheld pan/tilt platform in the various embodiments provided above, please refer to the relevant descriptions in the foregoing text, and will not be described again here.

The handheld pan/tilt provided by the embodiment of the present application can control the pan/tilt to stop or slow down during the exposure time period of the shooting device during the trajectory time-lapse shooting process. Therefore, the shooting device can be stationary or only have a very small speed during the exposure. The low movement speed greatly reduces the motion blur in the captured images, making the captured trajectory time-lapse video clearer.

Embodiments of the present application also provide a computer-readable storage medium. The computer-readable storage medium stores a computer program. When the computer program is executed by a processor, the trajectory time-lapse photography method provided by the embodiment of the present application is implemented.

The above provides multiple implementation modes for the methods of the embodiments of the present application. On the basis that there is no conflict or contradiction, those skilled in the art can freely select or combine these implementation modes according to the actual situation, thereby forming various different embodiments. Due to space limitations, this application document does not fully describe various embodiments. However, it can be understood that various combinations of embodiments also fall within the scope of the disclosure of the embodiments of this application.

Embodiments of the present application may take the form of a computer program product implemented on one or more storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing program code. Storage media available for computers include permanent and non-permanent, removable and non-removable media, and can be implemented by any method or technology to store information. Information may be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to: phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, Magnetic tape cassettes, tape magnetic disk storage or other magnetic storage devices or any other non-transmission medium can be used to store information that can be accessed by a computing device.

It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that these entities or operations are mutually exclusive. any such actual relationship or sequence exists between them. The terms "comprises," "comprises," or any other variation thereof are intended to cover a non-exclusive inclusion such that a process, method, article or apparatus including a list of elements includes not only those elements but also others not expressly listed elements, or elements inherent to such process, method, article or equipment. Without further limitation, an element defined by the statement "comprises a..." does not exclude the presence of additional identical elements in a process, method, article, or apparatus that includes the stated element.

The methods and devices provided by the embodiments of the present application have been introduced in detail above. Specific examples are used in this article to illustrate the principles and implementations of the present application. The description of the above embodiments is only used to help understand the methods and methods of the present application. The core idea; at the same time, for those of ordinary skill in the field, there will be changes in the specific implementation and application scope based on the ideas of this application. In summary, the content of this description should not be understood as a limitation of this application. .

Claims (98)

1. A track delay shooting method, comprising:

acquiring a delay shooting configuration parameter, wherein the delay shooting configuration parameter is used for determining a motion track of a motion main body and shooting parameters of a shooting device, and the motion main body is used for carrying the shooting device;

controlling the moving body to move according to the movement track and controlling the shooting device to shoot according to the shooting parameters, wherein the moving body is controlled to stop moving or to move at a reduced speed in an exposure time period of the shooting device;

the controlling the moving body to stop moving or to slow down moving in the exposure period of the photographing device includes:

and when the shooting device is determined to start exposure, controlling the moving body to stop moving or to move at a reduced speed, and when the shooting device is determined to end exposure, controlling the moving body to resume moving.

2. The method of claim 1, wherein the motion profile is determined based at least on an exposure period of the camera, wherein the motion profile is used to instruct the moving body to stop or slow down during the exposure period of the camera.

3. The method of claim 2, wherein the exposure period of the camera is determined based on a camera parameter of the camera.

4. A method according to claim 3, wherein the photographing parameters include photographing duration, photographing interval, and exposure duration per exposure.

5. The method of claim 4, wherein the exposure time period for each exposure is a fixed value.

6. The method of claim 2, wherein the motion profile is further used to indicate that the moving body is moving at a target motion speed outside an exposure period of the camera.

7. The method of claim 6, wherein the target movement speed is a fixed movement speed.

8. The method of claim 7, wherein the fixed movement speed is determined based on a total displacement amount corresponding to the movement trajectory and a duration of time other than the exposure time period.

9. The method of claim 2, wherein the moving body is synchronized with a system clock of the camera.

10. The method of claim 1, wherein the moment at which the camera begins or ends exposure is determined based on a notification sent by the camera.

11. The method of claim 1, wherein the moment when the photographing device starts or ends exposure is determined according to the level of the chip output of the photographing device.

12. The method of claim 1, wherein the exposure time period for each exposure is determined based on a photometric result.

13. The method according to claim 1, wherein the method further comprises:

after the shooting device finishes exposure each time, determining whether to adjust the current target movement speed of the moving body according to the residual shooting time length and the residual displacement of the movement track.

14. The method of claim 13, wherein the method further comprises:

if the determined adjustment amount of the current target movement speed is larger than a preset threshold value, determining whether to adjust shooting duration in the shooting parameters.

15. The method of claim 13, wherein the initial target movement speed of the moving body is determined according to the movement trajectory, the estimated exposure time period for each exposure, the photographing interval and the photographing time period in the photographing parameters.

16. The method according to claim 1, wherein the method further comprises:

and stabilizing the shooting device in the exposure time period of the shooting device.

17. The method of claim 1, wherein the delay profile includes point location information for a start point and an end point of the motion profile.

18. The method of claim 17, wherein the point location information comprises pose information of a pan-tilt or three-dimensional position information of a drone.

19. The method according to claim 1, wherein the method further comprises:

after the shooting is completed, a track delay video is generated by using the shot image.

20. The method of claim 1, wherein the moving body comprises a movable platform or a pan-tilt.

21. A track delay shooting device, comprising: a processor and a memory storing a computer program, the processor implementing the following steps when executing the computer program:

acquiring a delay shooting configuration parameter, wherein the delay shooting configuration parameter is used for determining a motion track of a motion main body and shooting parameters of a shooting device, and the motion main body is used for carrying the shooting device;

Controlling the moving body to move according to the movement track and controlling the shooting device to shoot according to the shooting parameters, wherein the moving body is controlled to stop moving or to move at a reduced speed in an exposure time period of the shooting device;

the processor is used for controlling the moving body to stop moving or to move in a speed reducing mode when the exposure time period of the shooting device is shortened, controlling the moving body to stop moving or move in a speed reducing mode when the shooting device is determined to start exposing, and controlling the moving body to resume moving when the shooting device is determined to end exposing.

22. The apparatus of claim 21, wherein the motion profile is determined based at least on an exposure period of the camera, wherein the motion profile is used to instruct the moving body to stop or slow down during the exposure period of the camera.

23. The apparatus of claim 22, wherein the exposure period of the camera is determined based on a camera parameter of the camera.

24. The apparatus of claim 23, wherein the photographing parameters include a photographing duration, a photographing interval, and an exposure duration for each exposure.

25. The apparatus of claim 24, wherein the exposure time period for each exposure is a fixed value.

26. The apparatus of claim 22, wherein the motion profile is further used to indicate that the moving body is moving at a target motion speed outside an exposure period of the camera.

27. The apparatus of claim 26, wherein the target movement speed is a fixed movement speed.

28. The apparatus of claim 27, wherein the fixed motion speed is determined based on a total displacement corresponding to the motion profile and a duration of time other than the exposure time period.

29. The device of claim 22, wherein the moving body is synchronized with a system clock of the camera.

30. The apparatus of claim 21, wherein the moment at which the camera starts or ends exposure is determined based on a notification sent by the camera.

31. The apparatus of claim 21, wherein the moment when the photographing apparatus starts or ends exposure is determined according to a level of a chip output of the photographing apparatus.

32. The apparatus of claim 21, wherein the exposure time period for each exposure is determined based on a photometric result.

33. The apparatus of claim 21, wherein the processor is further configured to determine whether to adjust the current target movement speed of the moving body according to a remaining photographing duration and a remaining displacement amount of the movement track after each exposure of the photographing apparatus is completed.

34. The apparatus of claim 33, wherein the processor is further configured to determine whether to adjust the photographing duration in the photographing parameters if the determined adjustment to the current target movement speed is greater than a preset threshold.

35. The apparatus of claim 33, wherein the initial target movement speed of the moving body is determined according to the movement trajectory, a photographing interval of the photographing apparatus, a photographing duration, and an estimated exposure duration per exposure.

36. The apparatus of claim 21, wherein the processor is further configured to destabilize the camera during an exposure period of the camera.

37. The apparatus of claim 21, wherein the delay profile comprises point location information for a start point and an end point of the motion profile.

38. The apparatus of claim 37, wherein the point location information comprises pose information of a pan-tilt or three-dimensional position information of a drone.

39. The apparatus of claim 21, wherein the processor is further configured to generate the track delay video from the captured image after the capturing is completed.

40. The apparatus of claim 21, wherein the moving body comprises a movable platform or a cradle head.

41. A pan-tilt camera, comprising:

a handle;

the cradle head is connected with the handle;

a camera mounted on the pan/tilt head;

a processor and a memory storing a computer program, the processor implementing the following steps when executing the computer program:

acquiring a delay shooting configuration parameter, wherein the delay shooting configuration parameter is used for determining a motion track of the cradle head and shooting parameters of the camera;

controlling the cradle head to move according to the movement track and controlling the camera to shoot according to the shooting parameters, wherein the cradle head is controlled to stop moving or to slow down moving in the exposure time period of the camera;

The processor is used for controlling the cradle head to stop moving or to move in a speed reducing mode when the cradle head is controlled to stop moving or move in a speed reducing mode in the exposure time period of the camera, and controlling the cradle head to resume moving when the camera is determined to end exposure.

42. A pan-tilt camera according to claim 41, wherein the motion profile is determined based at least on an exposure period of the camera, wherein the motion profile is used to indicate that the pan-tilt stops moving or slows down moving during the exposure period of the camera.

43. A pan-tilt camera as defined in claim 42, wherein the exposure period of the camera is determined based on a photographing parameter of the camera.

44. A pan-tilt camera according to claim 43, wherein the photographing parameters include photographing duration, photographing interval, and exposure duration for each exposure.

45. A pan-tilt camera according to claim 44, wherein the exposure time period of each exposure is a fixed value.

46. A pan-tilt camera as recited in claim 42, wherein the motion profile is further used to indicate that the pan-tilt is moving at a target motion rate outside of an exposure period of the camera.

47. A pan-tilt camera according to claim 46, wherein the target movement speed is a fixed movement speed.

48. A pan-tilt camera according to claim 47, wherein the fixed motion speed is determined based on a total displacement corresponding to the motion profile and a duration of time other than the exposure time period.

49. A pan-tilt camera as defined in claim 42, wherein the pan-tilt is synchronized with a system clock of the camera.

50. A pan-tilt camera as defined in claim 41, wherein the moment at which the camera begins or ends exposure is determined based on a notification sent by the camera.

51. A pan-tilt camera according to claim 41, wherein the moment at which the camera starts or ends exposure is determined according to the level of the chip output of the camera.

52. A pan-tilt camera according to claim 41, wherein the exposure time period of each exposure is determined based on the photometric result.

53. A pan-tilt camera according to claim 41, wherein the processor is further configured to determine whether to adjust the current target movement speed of the pan-tilt based on a remaining shooting time period and a remaining displacement of the movement track after each exposure of the camera is completed.

54. A pan-tilt camera according to claim 53, wherein the processor is further configured to determine whether to adjust the length of the shot duration in the shot parameters if the determined amount of adjustment to the current target movement speed is greater than a predetermined threshold.

55. A pan-tilt camera according to claim 53, wherein the initial target movement speed of the pan-tilt is determined based on the movement trajectory, the camera's shooting interval, the shooting duration, and the estimated exposure duration per exposure.

56. A pan-tilt camera as defined in claim 41, wherein the processor is further configured to stabilize the camera during an exposure period of the camera.

57. A pan-tilt camera according to claim 41, wherein the time-lapse camera configuration parameters include point location information of a start point and an end point of the motion profile.

58. The pan-tilt camera of claim 57, wherein the point location information includes pose information of the pan-tilt.

59. A pan-tilt camera as defined in claim 41, wherein the processor is further configured to generate a track delay video from the captured image after the capturing is completed.

60. An unmanned aerial vehicle, comprising:

a body;

a power device connected with the machine body;

the cradle head is connected with the machine body;

a photographing device mounted on the cradle head;

a processor and a memory storing a computer program, the processor implementing the following steps when executing the computer program:

acquiring a delay shooting configuration parameter, wherein the delay shooting configuration parameter is used for determining a motion trail of a moving main body and shooting parameters of the shooting device, and the moving main body comprises the unmanned aerial vehicle or the cradle head;

controlling the moving body to move according to the movement track and controlling the shooting device to shoot according to the shooting parameters, wherein the moving body is controlled to stop moving or to move at a reduced speed in an exposure time period of the shooting device;

the processor is used for controlling the moving body to stop moving or to move in a speed reducing mode when the exposure time period of the shooting device is shortened, controlling the moving body to stop moving or move in a speed reducing mode when the shooting device is determined to start exposing, and controlling the moving body to resume moving when the shooting device is determined to end exposing.

61. The unmanned aerial vehicle of claim 60, wherein the motion profile is determined based at least on an exposure period of the camera, wherein the motion profile is used to instruct the moving subject to stop or slow down during the exposure period of the camera.

62. The unmanned aerial vehicle of claim 61, wherein the exposure period of the camera is determined from a camera parameter of the camera.

63. The drone of claim 62, wherein the shooting parameters include a shooting duration, a shooting interval, and an exposure duration for each exposure.

64. The unmanned aerial vehicle of claim 63, wherein the exposure time period for each exposure is a fixed value.

65. The unmanned aerial vehicle of claim 61, wherein the motion profile is further configured to instruct the moving body to move at a target motion speed outside of an exposure period of the camera.

66. The unmanned aerial vehicle of claim 65, wherein the target speed of movement is a fixed speed of movement.

67. The unmanned aerial vehicle of claim 66, wherein the fixed speed of movement is determined from a total amount of displacement corresponding to the trajectory of movement and a duration of time other than the exposure time period.

68. The drone of claim 61, wherein the moving body is synchronized with a system clock of the camera.

69. The unmanned aerial vehicle of claim 60, wherein the timing at which the camera begins or ends exposure is determined based on a notification sent by the camera.

70. The unmanned aerial vehicle of claim 60, wherein the timing at which the camera begins or ends exposure is determined based on the level of the output of the camera's chip.

71. The unmanned aerial vehicle of claim 60, wherein the exposure time period for each exposure is determined from a photometric result.

72. The unmanned aerial vehicle of claim 60, wherein the processor is further configured to determine whether to adjust the current target movement speed of the moving subject based on the remaining shooting time period and the remaining displacement of the movement track after each of the shots has ended exposure.

73. The unmanned aerial vehicle of claim 72, wherein the processor is further configured to determine whether to adjust the length of the shot in the shot parameters if the determined amount of adjustment to the current target speed of movement is greater than a preset threshold.

74. The unmanned aerial vehicle of claim 72, wherein the initial target movement speed of the moving subject is determined from the movement trajectory, an estimated exposure time for each exposure, a shooting interval and a shooting time in the shooting parameters.

75. The unmanned aerial vehicle of claim 60, wherein the processor is further configured to stabilize the camera during an exposure time period of the camera.

76. The unmanned aerial vehicle of claim 60, wherein the delay profile comprises point location information for a start point and an end point of the motion profile.

77. The unmanned aerial vehicle of claim 76, wherein the point location information comprises pose information of a pan-tilt or three-dimensional position information of the unmanned aerial vehicle.

78. The unmanned aerial vehicle of claim 60, wherein the processor is further configured to generate a trajectory delay video from the captured image after the capturing is completed.

79. A handheld cradle head, comprising:

a hand-held part;

a cradle head connected with the hand-held part;

the holder is connected with the cradle head and used for carrying shooting equipment;

A communication interface for communicating with the photographing apparatus;

a processor and a memory storing a computer program, the processor implementing the following steps when executing the computer program:

acquiring a delay shooting configuration parameter, wherein the delay shooting configuration parameter is used for determining a motion track of the cradle head and shooting parameters of shooting equipment;

controlling the cradle head to move according to the movement track and controlling the shooting equipment to shoot according to the shooting parameters, wherein the cradle head is controlled to stop moving or to slow down moving in the exposure time period of the shooting equipment;

the processor is used for controlling the cradle head to stop moving or to move in a speed reducing mode when the cradle head is controlled to stop moving or move in a speed reducing mode in the exposure time period of the shooting equipment, controlling the cradle head to stop moving or move in a speed reducing mode when the shooting equipment is determined to start exposure, and controlling the cradle head to resume moving when the shooting equipment is determined to end exposure.

80. The handheld cradle head of claim 79, wherein the motion profile is determined from at least an exposure period of the capture device, wherein the motion profile is used to instruct the cradle head to stop or slow down during the exposure period of the capture device.

81. The holder of claim 80, wherein the exposure period of the photographing apparatus is determined based on photographing parameters of the photographing apparatus.

82. The holder of claim 81, wherein the photographing parameters include photographing duration, photographing interval, and exposure duration for each exposure.

83. The holder of claim 82, wherein the exposure time for each exposure is a fixed value.

84. The handheld cradle head of claim 80, wherein the motion profile is further configured to instruct the cradle head to move at a target motion rate outside an exposure time period of the capture device.

85. The holder of claim 84, wherein the target movement speed is a fixed movement speed.

86. The holder of claim 85, wherein the fixed motion speed is determined based on a total displacement corresponding to the motion profile and a duration of time other than the exposure time period.

87. The handheld cradle head of claim 80, wherein the cradle head is synchronized with a system clock of the capture device.

88. The holder of claim 79, wherein the moment at which the photographing apparatus starts or ends exposure is determined based on a notification sent by the photographing apparatus.

89. The holder of claim 79, wherein the moment when the photographing apparatus starts or ends exposure is determined according to the level of the chip output of the photographing apparatus.

90. The holder of claim 79, wherein the exposure time for each exposure is determined based on the photometric result.

91. The holder of claim 79, wherein the processor is further configured to determine whether to adjust the current target movement speed of the holder according to a remaining shooting duration and a remaining displacement of the movement track after each exposure of the shooting device is completed.

92. The holder of claim 91, wherein the processor is further configured to determine whether to adjust the shooting time period in the shooting parameters if the determined adjustment to the current target movement speed is greater than a preset threshold.

93. The handheld cradle head of claim 91, wherein the initial target movement speed of the cradle head is determined from the movement trajectory, the shooting interval of the shooting device, the shooting time period, and the estimated exposure time period per exposure.

94. The handheld cradle head of claim 79, wherein the processor is further configured to stabilize the capture device during an exposure time period of the capture device.

95. The handheld cradle head of claim 79, wherein the time-lapse camera configuration parameters include point location information for a start point and an end point of the motion profile.

96. The handheld cradle head of claim 95, wherein the point location information comprises pose information of the cradle head.

97. The holder of claim 79, wherein the processor is further configured to generate a track delay video from the captured image after the capturing is completed.

98. A computer readable storage medium, characterized in that the computer readable storage medium stores a computer program, which when executed by a processor implements the trajectory delay shooting method of any one of claims 1 to 20.