Shooting control method, movable platform, control device and storage medium

Abstract

A shooting control method, a movable platform, a control device and a storage medium, wherein a shooting control method may include: the movable platform receives shooting parameters about at least one track point sent by a control terminal (301), then obtains the posture data of each track point contained in the at least one track point (302), establishes a corresponding relationship between the shooting parameters of each track point and the corresponding posture data of each track point (303), and when it is detected that the current running posture of the movable platform matches the target posture data, controls the shooting device to shoot through the shooting parameters corresponding to the target posture data (304). By adopting the embodiment of the present invention, the shooting parameters of the shooting device are dynamically adjusted so as to obtain a shooting image with a preset effect.

Description

Technical Field

[0001] The present invention relates to the field of communication technology, and in particular to a shooting control method, a movable platform, a control device and a storage medium. Background Art

[0002] When using a mobile platform for time-lapse shooting and trajectory shooting, the usual method is to stabilize the shooting device on the gimbal and control the rotation of the gimbal to complete the shooting of different shooting scenes. After starting the shooting, the shooting parameters of the shooting device cannot be adjusted. In this case, the shooting parameters of the shooting device during the shooting process are automatically adjusted by the shooting device according to the shooting scene. This may cause the image effect finally captured by the shooting device to be not what the user expects. Therefore, in the field of using a mobile platform for shooting, there is an urgent need for an effective shooting control method to achieve dynamic adjustment of shooting parameters, so as to obtain the expected shooting image. Summary of the invention

[0003] The embodiments of the present invention provide a shooting control method, a movable platform, a control device and a storage medium, which realize dynamic adjustment of shooting parameters of a shooting device so as to obtain a shooting image with a preset effect.

[0004] In a first aspect, an embodiment of the present invention provides a shooting control method, characterized in that the method includes:

[0005] receiving shooting parameters about at least one trajectory point sent by the control end;

[0006] Acquire posture data of each track point of the movable platform included in the at least one track point;

[0007] For any trajectory point among the trajectory points, establishing a corresponding relationship between the shooting parameters of the trajectory point and the posture data of the trajectory point;

[0008] When it is detected that the current running posture of the movable platform matches the target posture data, the shooting device is controlled to shoot according to the shooting parameters corresponding to the target posture data.

[0009] In a second aspect, an embodiment of the present invention provides a mobile platform, characterized in that the mobile platform includes a memory and a processor, the memory and the processor are connected via a bus, the memory is used to store program code, the processor is used to call the program code, and when the program code is executed, it is used to execute the shooting control method provided by the embodiment of the present invention.

[0010] Correspondingly, an embodiment of the present invention further provides a computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program, the computer program includes program instructions, and when the program instructions are executed by a processor, the processor executes the shooting control method of the first aspect mentioned above. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0012] Figure 1 A structural diagram of a shooting control system provided by an embodiment of the present invention;

[0013] Figure 2 A schematic diagram of a flow chart of a shooting control method provided by an embodiment of the present invention;

[0014] Figure 3 A schematic flow chart of another shooting control method provided by an embodiment of the present invention;

[0015] Figure 4 A schematic diagram of a method for setting a corresponding relationship between trajectory points and posture data provided by an embodiment of the present invention;

[0016] Figure 5 A schematic flow chart of another shooting control method provided by an embodiment of the present invention;

[0017] Figure 6 A schematic flow chart of another shooting control method provided by an embodiment of the present invention;

[0018] Figure 7 A schematic diagram of a method for setting a corresponding relationship between trajectory points and shooting parameters provided by an embodiment of the present invention;

[0019] Figure 8 A schematic diagram of the structure of a movable platform provided for the implementation of the invention;

[0020] Fig. 9 A schematic diagram of the structure of a control terminal provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0021] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0022] The embodiment of the present invention provides a shooting control method, which can be applied to a mobile platform, wherein a shooting device is configured in the mobile platform, and the shooting control method is mainly used to set shooting parameters for the shooting device in the mobile platform, and then the mobile platform controls the shooting device to shoot with the set shooting parameters, so that the shooting device shoots images that meet the expected effect. The mobile platform may include at least one of a drone and a car.

[0023] In one embodiment, the movable platform may further include a pan-tilt head, and the shooting device is fixed on the movable platform via the pan-tilt head, so that when the movable platform shakes, the shooting device may not also shake and affect the shooting effect. After starting time-lapse photography or trajectory photography, the movable platform controls the pan-tilt head to ensure the stability of the shooting device. Specifically, the movable platform uses an inertial sensor and / or a gyroscope to detect the posture of the movable platform, and controls the posture of the pan-tilt head according to the detected posture of the movable platform to offset the influence of the shaking of the movable platform on the stability of the shooting device, so that the shooting device is always in a stable state. After the shooting device starts shooting, the movable platform controls the pan-tilt head to ensure the stability of the shooting device. If the shooting parameters of the shooting device are adjusted at this time, the shooting device will shake, thereby affecting the final shooting effect. Obviously, if you want to adjust the shooting parameters of the shooting device, you can only adjust it before the shooting device starts shooting. However, since the shooting scenes to be shot by the shooting device are different, the shooting parameters set before shooting may not be suitable for all shooting scenes. Therefore, a shooting parameter control method proposed in an embodiment of the present invention realizes setting corresponding shooting parameters for different shooting scenes before the shooting device starts shooting, so as to obtain the expected captured image.

[0024] It should be noted that different shooting scenes captured by the shooting device mean different images to be shot. The intersection of two diagonal lines in the image to be shot is called the trajectory point of the movable platform. In other words, the images captured by the shooting device are different when the movable platform moves to different trajectory points.

[0025] refer to Figure 1 , is a structural diagram of a shooting parameter control system provided by an embodiment of the present invention, comprising Figure 1It can be seen that the shooting parameter control system may include a movable platform 10 and a control terminal 20, wherein the movable platform 10 is connected to the control terminal 20, and the movable platform 10 includes a pan-tilt head 101, a motor 102, and a shooting device 103, wherein the shooting device 103 is configured on the pan-tilt head 101. The control terminal 20 may be one or more terminal devices such as a mobile phone, a computer, and a parameter adjustment screen, and the control terminal 20 and the movable platform 10 may be connected by wireless, Bluetooth, or the like. The control terminal 20 is mainly used to set the shooting parameters of the shooting device, and the control terminal 20 may include a display device 201. The shooting device 103 is mainly used to monitor the mobile environment of the movable platform 10, time-lapse photography, and trajectory photography, etc. In the embodiment of the present invention, the shooting device 103 is mainly used for time-lapse photography and trajectory photography.

[0026] The pan / tilt platform 101 is used to mount the shooting device 103, the motor 102 is connected to the shooting device 103, and the movable platform 10 can adjust the shooting parameters of the shooting device 103 by controlling the motor 102. In other embodiments, the movable platform 10 can also adjust the shooting parameters of the shooting device 103 by controlling the shooting device 103.

[0027] In one embodiment, Figure 1 The workflow of the shooting parameter control system shown can be found in Figure 2 .Depend on Figure 2As can be seen from the figure, the control end 20 sets a plurality of track points for the movable platform 10 according to the received track point selection operation in step 201, and when receiving the shooting parameter setting operation about the track point, the control end 20 sets the corresponding shooting parameters for each track point in step 202, and then sends the shooting parameters of each track point to the movable platform 10 in step 203. The movable platform 10 stores the received shooting parameters of each track point in the database, and then obtains the pre-stored posture data of each track point in step 204. Further, the movable platform 10 establishes the corresponding relationship between the shooting parameters of each track point and the posture data of each track point in step 205 according to the received shooting parameters of each track point and the acquired posture data of each track point. The movable platform 10 can control the shooting device to shoot at different track points with the shooting parameters corresponding to the track point based on the corresponding relationship. Specifically, the movable platform monitors the running posture of the movable platform 10 in real time. If it is detected that the current running posture matches the target posture data, and the target posture data is the posture data corresponding to any of the above-mentioned trajectory points, then the shooting parameters corresponding to the target posture data are found through the correspondence between the shooting parameters of the above-mentioned trajectory points and the posture data of the trajectory points. Then, in step 206, the movable platform controls the shooting device to shoot with the shooting parameters corresponding to the target posture data, thereby realizing dynamic adjustment of the shooting parameters of the shooting device according to the shooting scene and improving the shooting efficiency.

[0028] Below through Figure 3 and Figure 6 The shooting control method performed by the movable platform and the control terminal is introduced in detail.

[0029] See also Figure 3 , is a shooting control method provided by an embodiment of the present invention, the shooting control method can be used for Figure 1 The shooting control system shown in the figure can also be applied to Figure 2 In the shooting control method shown, Figure 3 The shooting method shown can be performed by a movable platform, and the shooting control method may include the following steps:

[0030] Step 301: Receive shooting parameters about at least one trajectory point sent by a control terminal.

[0031] In one embodiment, the track point can be understood as the intersection of two diagonal lines in the image to be captured; the shooting parameter refers to the parameter of the shooting device of the movable platform when capturing an image, and the shooting parameter may include any one or more of the focus, focal length, and exposure value. In the implementation of the present invention, any one of the at least one track point of the movable platform is set by the control end when receiving a track point selection operation, and the shooting parameter of any one of the at least one track point is set by the control end when receiving a shooting parameter setting operation for the track point. After the movable platform receives the shooting parameter of at least one track point, when the movable platform moves to a certain track point, the movable platform can control the shooting device to shoot with the shooting parameter corresponding to the track point, so as to obtain the expected captured image.

[0032] For example, the shooting parameters of at least one trajectory point received by the movable platform may be "the focus of the first trajectory point is XX, the focal length is XX, and the exposure value is XX; the focus of the second trajectory point is XX, the focal length is XX; the focus of the third trajectory point is XX, the focal length is XX, and the exposure value is XX..."

[0033] Step 302: Acquire posture data of each track point of the movable platform included in the at least one track point.

[0034] In one embodiment, the posture data of each track point is also the posture data of the movable platform when the movable platform moves to each track point. The posture data may include horizontal posture data and / or vertical posture data. The horizontal posture data refers to the angle, translation distance, and running speed of the movable platform in the horizontal direction, and the vertical posture data refers to the angle, translation distance, and running speed of the movable platform in the vertical direction. The above-mentioned posture data can be collected by a posture sensor. The posture sensor may include an inertial sensor and a gyroscope. The inertial sensor is mainly used to detect and measure acceleration, tilt, impact, vibration and other data. The gyroscope is also called an angular motion detection device and is mainly used to measure angles.

[0035] In one embodiment, the movable platform may pre-store a correspondence between at least one trajectory point and posture data, and step 302 obtains the posture data of each trajectory point included in the at least one trajectory point of the movable platform, including: collecting the posture data of the movable platform at each trajectory point through a posture sensor, wherein any one of the trajectory points is determined by the control end when a trajectory point selection operation is detected.

[0036] In one embodiment, the mobile platform can set the corresponding relationship between at least one track point and posture data in the following manner: the user controls the movement of the mobile platform through a control device matched with the mobile platform, and the control end displays the operation status of the mobile platform through a display device of the control end, and the user can view the real-time movement status of the mobile platform through the display device; when the mobile platform moves to a certain track point, the user adjusts the posture of the mobile platform through a remote control device matched with the mobile platform, such as a remote control, and inputs a confirmation operation to confirm the posture of the mobile platform after the adjustment is completed; at this time, the control end sends a posture confirmation instruction to the mobile platform according to the confirmation operation; after the mobile platform receives the posture confirmation instruction from the control end, the posture sensor is called to obtain the current posture data of the mobile platform, and the obtained current posture data is used as the posture data corresponding to the certain track point, and any track point is associated with the current posture data and stored in a database, and the specific storage form can be such as "the posture data of the first track point is XX". Using the above method, the mobile platform can set and store multiple sets of corresponding relationships between track points and posture data.

[0037] For example, refer to Figure 4 A method for setting posture data of each track point on a mobile platform provided by an embodiment of the present invention, Figure 4It is assumed that the movable platform is a drone 401, the remote control device matched with the drone 401 is a remote control 402, and the control end is a terminal 403 with a display screen. It is assumed that the trajectory point of the drone pre-set by the terminal 403 is as shown by the black solid circle 4031 in the terminal 403. The user controls the drone 401 to fly through the remote control 402, and the specific flight situation of the drone 401 is displayed on the display screen of the terminal 403 (the white solid circle in the terminal 403 indicates the location of the drone). When the user observes that the drone 401 flies to the first trajectory point among the preset trajectory points, the user can adjust the posture of the drone 401 at the first trajectory point through the remote control 402. For example, the user controls the drone to turn upward by 30° through the remote control. It should be noted that in the embodiment of the present invention, the user controls the posture of the drone 4001 at the first trajectory point through the remote control 402 in order to achieve that when the drone 4010 is in a certain posture, the image captured by the shooting device on the drone 401 includes the things that the user expects to capture. After the user adjusts the posture of the drone 401 at the first trajectory point, the user can input a confirmation operation through the remote control 402 or the terminal 403. Preferably, the user inputs the confirmation operation through the terminal 403; when the terminal 403 receives the user's confirmation operation, it sends a posture confirmation instruction to the drone 401 based on the confirmation operation. At this time, the drone 401 calls the posture sensor to obtain the current posture data of the drone 401, and uses the current posture data as the posture data corresponding to the first trajectory point.

[0038] It should be noted that the above description and examples are only one possible implementation method provided by the embodiment of the present invention on how to set the corresponding relationship between trajectory points and posture data. The embodiment of the present invention does not specifically limit the specific method for setting the corresponding relationship between trajectory points and posture data.

[0039] Step 303: For any trajectory point among the trajectory points, a corresponding relationship between the shooting parameters of the trajectory point and the posture data of the trajectory point is established.

[0040] In one embodiment, when the movable platform is running, the user can observe which trajectory point the movable platform is running to through the display device of the control end, but the movable platform cannot directly determine which trajectory point it is currently running to based on the running situation, and can only determine which trajectory point the movable platform is currently running to through the posture of the movable platform. Specifically, the movable platform can detect the running posture of the movable platform in real time during operation, and determine whether the movable platform is currently running to a preset trajectory point through the correspondence between the running posture and the trajectory point stored in advance.

[0041] In the implementation of the present invention, the implementation method for dynamically adjusting the shooting parameters of the shooting device of the movable platform is to set different shooting parameters for different track points of the movable platform, and when the movable platform runs to a certain track point, the shooting device is controlled to shoot with the shooting parameters corresponding to the track point. When the movable platform searches for the shooting parameters corresponding to the track point according to the track point, it is first necessary to determine the track point where the movable platform is currently located based on the correspondence between the track point and the posture data. After determining the current track point, the shooting parameters corresponding to the current track point are determined based on the correspondence between the track point and the posture data. In the embodiment of the present invention, in order to simplify the above operations and improve shooting efficiency, after receiving the shooting parameters of at least one track point and the posture data of at least one track point obtained, the movable platform establishes the correspondence between the shooting parameters of at least one track point and the posture data. In this way, the movable platform can directly determine the shooting parameters of the shooting device when shooting according to the current running posture.

[0042] In one embodiment, the implementation method of establishing the corresponding relationship between the shooting parameters of the trajectory point and the posture data of the trajectory point for any of the trajectory points can be: obtaining the posture data corresponding to any of the trajectory points, and obtaining the shooting parameters corresponding to any of the trajectory points, and storing the posture data and the shooting parameters in association. For example, the posture data of any of the trajectory points is "the angle in the horizontal direction is 30°, and the angle in the vertical direction is 60°", and the shooting parameters of any of the trajectory points are "the focus is XX, the focal length is XX, and the exposure value is XX". For any of the trajectory points, the corresponding relationship between the posture data and the shooting parameters is "when the posture is 30° in the horizontal direction and 60° in the vertical direction, the shooting parameters are focus XX, focal length XX, and exposure value XX".

[0043] Step 304: When it is detected that the current running posture of the movable platform matches the target posture data, the shooting device is controlled to shoot according to shooting parameters corresponding to the target posture data.

[0044] In one embodiment, when the movable platform controls the shooting device during the shooting process, the movable platform monitors and obtains the current running posture of the movable platform in real time, and matches the obtained current running posture with each posture data in the database. If the current running posture successfully matches the target posture data in the database, indicating that the current running position of the movable platform is a certain trajectory point among at least one trajectory point, the movable platform determines the shooting parameters corresponding to the target posture data according to the corresponding relationship between the posture data and the shooting parameters established in step 303, and then controls the shooting device to shoot with the shooting parameters corresponding to the target posture.

[0045] In one embodiment, the movable platform includes, in addition to a shooting device and a pan / tilt for stabilizing the shooting device, a motor, which can adjust the shooting parameters of the shooting device when receiving an adjustment instruction. Therefore, a feasible implementation of step 304 of controlling the shooting device to shoot by the shooting parameters corresponding to the target posture data is: sending a first shooting parameter adjustment instruction to the motor according to the shooting parameters corresponding to the target posture data, so that the motor adjusts the shooting parameters of the shooting device according to the first shooting parameter adjustment instruction; controlling the shooting device to shoot based on the adjusted shooting parameters; wherein the first shooting parameter adjustment instruction is used to instruct the motor to perform one or more of the following operations: adjusting the focus of the camera to the target focus, adjusting the focal length of the camera to the target focal length, and adjusting the exposure value of the camera to the target exposure value.

[0046] Among them, the target focus, target focal length and target exposure value refer to the shooting parameters corresponding to the target posture data, and in the following description, the target focus, target focal length and target exposure value are referred to as target shooting parameters; the first shooting parameter adjustment instruction sent by the movable platform to the motor may include the adjustment parameters corresponding to the first shooting parameter adjustment instruction, and the adjustment parameters corresponding to the first shooting parameter adjustment instruction include one or more of adjusting focus, adjusting focal length and adjusting exposure value, and the adjustment parameters corresponding to the first shooting parameter adjustment instruction are determined by the movable platform according to the current shooting parameters of the shooting device and the target shooting parameters. In one embodiment, the motor can directly control the shooting parameters of the shooting device, such as the motor is connected to the adjustable shooting parameter component in the shooting device through a hard line, and the motor controls the change of the adjustment shooting parameter component through the hard line to adjust the shooting parameters of the shooting device. In this case, the movable platform determines the adjustment parameters corresponding to the first shooting parameter adjustment instruction according to the current shooting parameters of the shooting device and the target shooting parameters in the following manner: for the same shooting parameter, calculate the difference information between the target shooting parameter and the current shooting parameter; determine the adjustment parameters corresponding to the first shooting parameter adjustment instruction according to the difference information. The difference information may include the difference between the target shooting parameter and the current shooting parameter. Assuming that for the focal length, if the target focal length is 20 mm and the current focal length is 15 mm, the adjusted focal length is 5 mm.

[0047] In other embodiments, the motor can also control the shooting device to adjust the shooting parameters by an indirect control method. For example, a shooting parameter adjustment component is configured on the motor, and the shooting parameter adjustment component on the motor can be connected to the shooting parameter adjustment component on the shooting device by a hard wire. After the motor receives the shooting parameter adjustment instruction from the movable platform, it can first control the shooting parameter adjustment component to rotate, and then drive the shooting parameter adjustment component on the shooting device to change to complete the shooting parameter adjustment of the shooting device. In this case, the movable platform determines the adjustment parameter corresponding to the first shooting parameter adjustment instruction according to the current shooting parameter of the shooting device and the target shooting parameter. The method can be: determine the adjustment parameter corresponding to the first shooting parameter adjustment instruction according to the proportional relationship between the shooting device and the motor, the current shooting parameter, and the target shooting parameter.

[0048] The proportional relationship between the camera device and the motor can be understood as the camera parameter adjustment component on the camera device changes the camera parameter by one unit, and the corresponding camera parameter component on the motor should change the corresponding camera parameter by several units. In other words, it can also be understood that when the camera parameter is directly adjusted by controlling the camera device, the camera device increases or decreases a certain camera parameter by one unit. At this time, when the camera parameter is adjusted by the camera parameter adjustment component on the motor, the motor needs to control the camera parameter adjustment component included therein to increase or decrease the camera parameter by several units. For example, assuming that the corresponding relationship between the camera device and the motor is 2:1 when adjusting the focal length, it can be understood that for the focal length, if the camera parameter adjustment component of the camera device increases the focal length by 4mm, the corresponding camera parameter adjustment component of the motor should increase the focal length by 2mm.

[0049] In one embodiment, the proportional relationship between the camera and the motor can be determined based on the physical structure of the camera and the performance of the motor. In other embodiments, the proportional relationship can also be set based on other factors. By adjusting the shooting parameters of the camera through the above method, the performance of the camera and the motor itself is comprehensively considered to ensure the accuracy of the adjustment.

[0050] In one embodiment, another feasible implementation of step 304 of controlling the shooting device to shoot by the shooting parameters corresponding to the target posture data is: sending the shooting parameters corresponding to the target posture data to the shooting device, so that the shooting device adjusts the current shooting parameters to the shooting parameters corresponding to the target posture data; and controlling the shooting device to shoot based on the adjusted shooting parameters. That is, the movable platform directly sends the shooting parameters corresponding to the target posture data to the shooting device, so that the shooting device automatically adjusts the current shooting parameters to the shooting parameters corresponding to the target posture data according to the shooting parameters, and then the shooting device can shoot according to the shooting parameters.

[0051] In one embodiment, after the mobile platform executes step 304, it can also monitor the shooting status of the shooting device during the shooting process of the shooting device, and then send the shooting status to the control end, so that the control end can adjust the shooting parameters of the shooting device based on the shooting status. Specifically, the method of adjusting the shooting parameters according to the shooting status may include: Figure 5 The steps shown are as follows: Step 501, sending the shooting status of the shooting device to the control end; Step 502, receiving the second shooting parameter adjustment instruction sent by the control end, the second shooting parameter adjustment instruction is determined by the control end when the shooting parameter adjustment operation is detected; Step 503, adjusting the shooting parameters of the shooting device according to the second shooting parameter adjustment instruction. Wherein, the second shooting parameter adjustment instruction is determined by the control end when the shooting parameter adjustment operation is detected. The movable platform transmits the shooting status of the shooting device to the control end, and the control end can display the shooting status to the user through the display device, so as to determine whether the shooting parameters of the current shooting device need to be adjusted according to the shooting status. If adjustment is required, the user inputs the adjustment operation through the control end, and the control end instructs the movable platform to adjust the current shooting parameters based on the adjustment operation; if adjustment is not required, the user can perform no operation.

[0052] In one embodiment, the movable platform adjusts the shooting parameters of the shooting device based on the second shooting parameter adjustment instruction, which can be divided into two situations. One is that when the shooting device is in the process of shooting, the movable platform adjusts the current shooting parameters of the shooting device based on the second shooting parameter adjustment instruction; the other is that when the shooting device completes shooting, the movable platform updates the correspondence between the posture data and the shooting parameters of some trajectory points based on the second shooting parameter adjustment instruction, so that when the movable platform re-shoots according to the previously set trajectory points, if the running posture of the movable platform matches a certain posture data with the modified correspondence, the shooting device is controlled to shoot according to the configuration parameters corresponding to the updated posture data.

[0053] In one embodiment, whether the movable platform is shooting or has finished shooting can be determined by monitoring the shooting state of the movable platform, and the shooting state includes shooting progress, and the shooting progress can be used to indicate whether the shooting of the movable platform is completed. Optionally, in an embodiment of the present invention, the shooting device is mainly used for time-lapse photography. In this case, the shooting progress is related to the setting of the shooting device in advance by the control end, and the setting of the shooting device in advance by the control end may include setting one or more of the information such as the sensor size of the shooting device, the time interval of time-lapse shooting, the frame rate of the captured image, and the time-lapse shooting duration. Specifically, the shooting progress is related to the preset time-lapse shooting duration. In one embodiment, the movable platform compares the time duration of the current shooting of the monitoring movable platform with the preset time-lapse shooting duration to determine the shooting progress. In one embodiment, the shooting progress is expressed in the form of progress percentage, such as 50% shooting progress, indicating that the shooting is half completed, or the shooting progress can also be expressed in the form of the ratio of the completion duration to the total duration, such as 20 minutes / 60 minutes shooting progress means that the preset time-lapse shooting duration is 60 minutes, and 20 minutes have been shot so far.

[0054] In one embodiment, the second shooting parameter adjustment instruction includes the trajectory points of the shooting parameters to be adjusted and the corresponding adjustment parameters. If the shooting progress in the shooting state indicates that the shooting device has completed shooting, the step 403 of adjusting the shooting parameters of the shooting device according to the second shooting parameter adjustment instruction includes: updating the shooting parameters corresponding to the posture data of the trajectory points of the shooting parameters to be adjusted according to the second shooting parameter adjustment instruction; in the process of re-passing through each of the trajectory points, if the current running posture of the movable platform matches the posture data of the trajectory points of the shooting parameters to be adjusted, then controlling the shooting device to shoot according to the updated shooting parameters corresponding to the trajectory points of the shooting parameters to be adjusted. Wherein, the process of re-passing through each of the trajectory points means that after the shooting device has completed a time-lapse shooting, and after the movable platform has updated the shooting parameters corresponding to the posture data of the trajectory points of the shooting parameters to be adjusted, the shooting device shoots again according to the original trajectory points.

[0055] For example, assuming that the shooting parameters corresponding to the target posture data in the correspondence between the posture data and the shooting parameters established by the movable platform through steps 301 to 303 are "60 degrees in the horizontal direction and 30 degrees in the vertical direction", assuming that when the shooting of the shooting device is completed based on the above correspondence, the movable platform receives a second shooting parameter adjustment instruction for the target trajectory point corresponding to the target posture data, and the target trajectory point is the trajectory point for which the shooting parameters need to be adjusted. Assuming that the second shooting parameter adjustment instruction includes the adjustment parameters of "horizontal angle of 45 degrees and vertical angle of 20 degrees", the movable platform updates the correspondence between the target posture data and the shooting parameters of the target trajectory point from "60 degrees in the horizontal direction and 30 degrees in the vertical direction" to "45 degrees in the horizontal direction and 20 degrees in the vertical direction". After updating the correspondence between the target posture data and the shooting parameters of the target trajectory point, the movable platform moves according to the same trajectory point as before to complete the control of the shooting device to shoot. When it is detected again that the running posture of the movable platform matches the target posture data, the movable platform controls the shooting device to shoot according to the shooting parameters corresponding to the updated target posture data, namely, a horizontal angle of 45 degrees and a vertical angle of 20 degrees.

[0056] In another embodiment, if the shooting progress in the shooting state indicates that the shooting device is in the shooting process, the step 403 of adjusting the shooting parameters of the shooting device based on the second shooting parameter adjustment instruction includes: adjusting the current shooting parameters of the shooting device to the adjustment parameters, so that the shooting device shoots with the adjustment parameters. That is, if the shooting device receives the second shooting parameter adjustment instruction during the shooting process, the current shooting parameters are adjusted according to the second shooting parameter adjustment instruction to achieve the purpose of correcting the shooting parameters according to the shooting state.

[0057] In one embodiment, when the shooting device is controlled to shoot by the shooting parameters corresponding to the target posture data in step 304, the movable platform moves from one trajectory point to another trajectory point at a constant speed. Specifically, the shooting parameters corresponding to the target posture data are used to control the shooting device to shoot, including: obtaining the first trajectory point and the second trajectory point of the movable platform, the first trajectory point and the second trajectory point are trajectory points belonging to the at least one trajectory point; determining a reference trajectory point and the shooting parameters corresponding to the reference trajectory point, the shooting parameters corresponding to the reference trajectory point are greater than the shooting parameters of the first trajectory point and less than the shooting parameters of the second trajectory point; in the process of moving from the first trajectory point to the second trajectory point through the reference trajectory point, the shooting parameters corresponding to the first trajectory point, the shooting parameters corresponding to the reference trajectory point, and the shooting parameters corresponding to the second trajectory point are used to control the shooting device to shoot.

[0058] The first track point and the second track point are track points belonging to the at least one track point, and the first track point and the second track point are adjacent track points, and there is no other track point belonging to the at least one track point between the first track point and the second track point. In other words, during the operation of the movable platform, after passing the first track point, it then runs to the second track point. The reference track point is a track point in the middle position of the track between the first track point and the second track point, and the shooting parameter corresponding to the reference track point is greater than the shooting parameter of the first track point and less than the shooting parameter of the second track point.

[0059] In one embodiment, in addition to setting at least one trajectory point for the movable platform to move, the control end can also set the running time required for the movable platform to run between two adjacent trajectory points, so that the movable platform can control the movable platform to run at a uniform speed between every two adjacent trajectory points based on the running time. In the process of moving from the first trajectory point to the second trajectory point through the reference trajectory point, controlling the shooting device to shoot through the shooting parameters corresponding to the first trajectory point, the shooting parameters corresponding to the reference trajectory point, and the shooting parameters corresponding to the second trajectory point can be understood as: the movable platform moves from the first trajectory point to the second trajectory point at a uniform speed, and the movable platform changes from the first trajectory point to the second trajectory point at a uniform speed, including: the movable platform runs at a uniform running speed, and also includes the movable platform controlling the shooting parameters of the shooting device to change from the shooting parameters of the first trajectory point to the shooting parameters of the second trajectory point at a uniform speed.

[0060] For example, assuming that the shooting parameters of the first track point of the movable platform are no translation in the horizontal direction and a horizontal angle of 60 degrees, and the shooting parameters of the second track point are a translation of 6 cm in the preset direction in the horizontal direction and a horizontal angle of 120 degrees, and assuming that the time required for the movable platform to move from the first track point to the second track point is 10 minutes, then the movable platform changes from the first track point to the second track point at a uniform speed in the following manner: translation along the preset direction at 1 cm per minute, and rotation of the movable platform at a horizontal angle of 6 degrees per minute.

[0061] It should be noted that the movable platform is set to run from the first track point to the second track point at a uniform speed to avoid a sudden change of the movable platform causing a huge shake of the movable platform, thereby affecting the shooting effect of the shooting device.

[0062] In an embodiment of the present invention, after the movable platform obtains the shooting parameters of at least one trajectory point and the posture data of the at least one trajectory point, a corresponding relationship between the posture data of the at least one trajectory point and the shooting parameters is established, and the current running posture of the movable platform is monitored in real time, and the current running posture is matched with the above-mentioned posture data. If the current running posture matches the target posture data in the posture data, the shooting device is controlled to shoot through the shooting parameters corresponding to the target posture data, thereby realizing dynamic adjustment of the shooting parameters of the shooting device and improving shooting efficiency.

[0063] refer to Figure 6 , is another shooting control method provided by an embodiment of the present invention, the shooting control method can be used for Figure 1 The shooting control system shown in the figure can also be applied to Figure 2 In the shooting control method shown, the shooting control method can be executed by a control device, and the shooting control method may include the following steps:

[0064] Step 601: When a track point selection operation is detected, the current position of the movable platform is set as a track point, and the number of the track point is at least one;

[0065] In one embodiment, the control terminal can set at least one track point for the movable platform. The control terminal can set the track point for the movable platform in the following manner: the user controls the movable platform to perform video framing, such as the user controls the movement of the movable platform through a remote control device matched with the movable platform, and the user can also observe the running status of the movable platform through a display device of the control terminal; when the movable platform is monitored to run to the target position, the user can input a track point selection operation, and after the control terminal receives the track point selection operation input by the user, the control terminal sets the target position as a track point of the movable platform. The control terminal can set at least one track point through the above method. The track point selection operation can refer to one or more of a click operation, a press operation, and a slide operation input by the user at a preset position of the control terminal.

[0066] Step 602: when a shooting parameter setting operation on the track point is detected, setting shooting parameters of each track point;

[0067] In one embodiment, after the control end sets at least one track point, it can also receive a shooting parameter setting operation input by the user for each track point, and set corresponding shooting parameters for each track point according to the shooting parameter setting operation. The shooting parameter setting operation may refer to one or more operations such as sliding, clicking, and pressing input by the user at a preset position.

[0068] In one embodiment, the control end sets corresponding shooting parameters for each track point according to the shooting parameter setting operation as follows: after the control end receives the track point selection operation of the user, a shooting parameter setting window corresponding to the track point can be displayed, and the user inputs the shooting parameter setting operation through the shooting parameter setting window, and the control end sets the shooting parameters corresponding to the track point according to the shooting parameter setting operation of the user.

[0069] For example, see Figure 7 A schematic diagram of a method for setting a trajectory point and its corresponding shooting parameters at a control terminal provided by an embodiment of the present invention, wherein Figure 7 In the example, a user controls the operation of a movable platform (taking a drone as an example) 701 through a remote control device 702, such as a remote controller, which matches the movable platform. At the same time, the drone 701 sends the real-time operation status of the movable platform to the control terminal 703, and the control terminal 703 displays the operation status data through a display screen. When the control terminal 703 receives a track point selection operation input by the user, for example, when the movable platform runs to point A, the user inputs a track point selection operation, the control terminal 703 sets point A as a track point, and displays a shooting parameter setting window 704 corresponding to the track point. The shooting parameter setting window may include one or more of a focus parameter setting, a focal length parameter setting, and an exposure value parameter setting. Assuming that the user inputs the focus, focal length, and exposure value in the shooting parameter setting window and clicks to confirm the setting, that is, the user inputs the shooting parameter setting operation, the control terminal uses the shooting parameters corresponding to the shooting parameter setting operation as the shooting parameters corresponding to the track point.

[0070] Step 603: Send the shooting parameters of the trajectory points to the movable platform.

[0071] In one embodiment, the control end sends at least one trajectory point and its corresponding relationship set in step 601 and step 602 to the movable platform, so that the movable platform can dynamically adjust the shooting parameters of the shooting device.

[0072] In one embodiment, when the movable platform controls the shooting device to start shooting, the control end may also receive the shooting status of the shooting device monitored by the shooting device; display the shooting status; when a shooting parameter adjustment operation in response to the shooting status input is detected, the control end sends a second shooting parameter adjustment instruction to the movable platform, so that the movable platform can adjust the shooting parameters according to the second shooting parameter adjustment instruction. The shooting parameter adjustment operation detected by the control end is an operation indicating adjustment of shooting parameters.

[0073] In one embodiment, the control end may also set the setting operation of the shooting device of the movable platform when performing time-lapse shooting, including an operation for instructing the control end to set the time-lapse shooting duration; the control end may set the time-lapse shooting duration of the movable platform when performing time-lapse shooting according to the setting operation. In another embodiment, the setting operation may also include one or more of the sensor size of the shooting device, the time interval of the time-lapse shooting, and the frame rate of the captured image, and the control end may set one or more of the sensor size, the time interval of the time-lapse shooting, and the frame rate of the captured image for the shooting device according to the setting operation.

[0074] In an embodiment of the present invention, the control end establishes a correspondence between each trajectory point and the shooting parameter according to the user's trajectory point selection operation and shooting parameter setting operation, and sends the trajectory point and its corresponding shooting parameter to the movable platform, so that the movable platform controls the shooting device to dynamically adjust the shooting parameters during the shooting process, thereby ensuring that the image captured by the shooting device meets the expected effect and improving the shooting efficiency.

[0075] refer to Figure 8 , is a movable platform provided by an embodiment of the present invention, such as Figure 8 The mobile platform may include: a memory 801 and a processor 802, wherein the memory 801 and the processor 802 are connected via a bus 803, the memory 801 stores program codes, and the processor 802 calls the program codes in the memory.

[0076] The memory 801 may include a volatile memory (volatile memory), such as a random-access memory (RAM); the memory 801 may also include a non-volatile memory (non-volatile memory), such as a flash memory, a solid-state drive (SSD), etc.; the memory 801 may also include a combination of the above types of memory.

[0077] The processor 802 may be a central processing unit (CPU). The processor 802 may further include a hardware chip. The hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), etc. The PLD may be a field-programmable gate array (FPGA), a generic array logic (GAL), etc. The processor 802 may also be a combination of the above structures.

[0078] In the embodiment of the present invention, the memory 801 is used to store a computer program, the computer program includes program instructions, and the processor 802 is used to execute the program instructions stored in the memory 801 to implement the above Figure 3 The steps of the corresponding method in the embodiment shown are:

[0079] When the program code is executed, the processor 802 performs the following operations:

[0080] receiving shooting parameters about at least one trajectory point sent by the control end;

[0081] Acquire posture data of each track point of the movable platform included in the at least one track point;

[0082] For any trajectory point among the trajectory points, establishing a corresponding relationship between the shooting parameters of the trajectory point and the posture data of the trajectory point;

[0083] When it is detected that the current running posture of the movable platform matches the target posture data, the shooting device is controlled to shoot according to the shooting parameters corresponding to the target posture data.

[0084] Optionally, when acquiring the posture data of each track point included in the at least one track point of the movable platform, the processor 802 performs the following operations:

[0085] The posture data of the movable platform at each track point is collected by a posture sensor, wherein any track point among the track points is determined by the control end when a track point selection operation is detected.

[0086] Optionally, when the processor 802 controls the photographing device to shoot using the photographing parameters corresponding to the target posture data, the processor 802 performs the following operations:

[0087] Sending a first shooting parameter adjustment instruction to the motor according to the shooting parameter corresponding to the target posture data, so that the motor adjusts the shooting parameter of the shooting device according to the first shooting parameter adjustment instruction;

[0088] Controlling the photographing device to shoot based on the adjusted photographing parameters;

[0089] Among them, the first shooting parameter adjustment instruction is used to instruct the motor to perform one or more of the following operations: adjusting the focus of the camera to the target focus, adjusting the focal length of the camera to the target focal length, and adjusting the exposure value of the camera to the target exposure value.

[0090] Optionally, when the processor 802 controls the photographing device to shoot using the photographing parameters corresponding to the target posture data, the processor 802 performs the following operations:

[0091] Sending the shooting parameters corresponding to the target posture data to the shooting device, so that the device adjusts the current shooting parameters to the shooting parameters corresponding to the target posture data;

[0092] The photographing device is controlled to perform photographing based on the adjusted photographing parameters.

[0093] Optionally, the shooting parameters corresponding to the target posture data include one or more of the following: focus, focal length, and exposure value.

[0094] Optionally, when the program code is executed, the processor 802 performs the following operations:

[0095] Sending the shooting status of the shooting device to the control end;

[0096] receiving a second shooting parameter adjustment instruction sent by the control end, where the second shooting parameter adjustment instruction is determined by the control end when a shooting parameter adjustment operation is detected;

[0097] The shooting parameters of the shooting device are adjusted according to the second shooting parameter adjustment instruction.

[0098] Optionally, the second shooting parameter adjustment instruction includes a trajectory point of the shooting parameter to be adjusted and its corresponding adjustment parameter, and the shooting status includes shooting progress;

[0099] When the processor 802 adjusts the shooting parameters of the shooting device according to the second shooting parameter adjustment instruction, the processor 802 performs the following operations:

[0100] If the shooting progress indicates that the shooting device has completed shooting, then updating the shooting parameters corresponding to the posture data of the trajectory point whose shooting parameters need to be adjusted according to the second shooting parameter adjustment instruction;

[0101] In the process of re-passing each of the trajectory points, if the current running posture of the movable platform matches the posture data of the trajectory point whose shooting parameters need to be adjusted, the shooting device is controlled to shoot according to the updated shooting parameters corresponding to the trajectory point whose shooting parameters need to be adjusted.

[0102] Optionally, the second shooting parameter adjustment instruction includes an adjustment parameter, and the processor 802 adjusts the shooting parameter of the shooting device based on the second shooting parameter adjustment instruction, and performs the following operations:

[0103] If the shooting progress indicates that the shooting device is in the shooting process, the current shooting parameters of the shooting device are adjusted to the adjustment parameters, so that the shooting device shoots with the adjustment parameters.

[0104] Optionally, when the processor 802 controls the photographing device to shoot using the photographing parameters corresponding to the target posture data, the processor 802 performs the following operations:

[0105] Acquire a first trajectory point and a second trajectory point of the movable platform, wherein the first trajectory point and the second trajectory point are trajectory points in the at least one trajectory point;

[0106] Determine a reference trajectory point and a shooting parameter corresponding to the reference trajectory point, wherein the shooting parameter corresponding to the reference trajectory point is greater than the shooting parameter of the first trajectory point and less than the shooting parameter of the second trajectory point;

[0107] In the process of moving from the first trajectory point to the second trajectory point through the reference trajectory point, the shooting device is controlled to shoot through the shooting parameters corresponding to the first trajectory point, the shooting parameters corresponding to the reference trajectory point and the shooting parameters corresponding to the second trajectory point.

[0108] refer to Fig. 9 , is a structural diagram of a control device provided in an embodiment of the present invention, the control device includes a memory 901 and a processor 902, wherein the memory 901 and the processor 902 are connected via a bus 903, the memory 901 stores program code, and the processor 902 calls the program code in the memory.

[0109] The memory 901 may include a volatile memory, such as a random access memory RAM, or a non-volatile memory, such as a flash memory, a solid state drive SSD, etc. The memory 901 may also include a combination of the above-mentioned types of memory.

[0110] The processor 902 may be a central processing unit (CPU). The processor 902 may further include a hardware chip. The hardware chip may be an application specific integrated circuit (ASIC), a programmable logic device (PLD), etc. The PLD may be a field programmable logic gate array (FPGA), a general purpose array logic (GAL), etc. The processor 902 may also be a combination of the above structures.

[0111] In the embodiment of the present invention, the memory 901 is used to store a computer program, the computer program includes program instructions, and the processor 902 is used to execute the program instructions stored in the memory 901 to implement the above Figure 6 The steps of the corresponding method in the embodiment shown are:

[0112] When the program code is executed, the processor 902 performs the following operations:

[0113] When a track point selection operation is detected, the current position of the movable platform is set as a track point, and the number of the track point is at least one;

[0114] When a shooting parameter setting operation on the track point is detected, setting the shooting parameters of each of the track points;

[0115] The shooting parameters of the trajectory points are sent to the movable platform.

[0116] Optionally, when the program code is executed, the processor 902 further performs the following operations:

[0117] Receiving the shooting status of the shooting device monitored by the movable platform;

[0118] Displaying the shooting status;

[0119] When a shooting parameter adjustment operation in response to the shooting status input is detected, a second shooting parameter adjustment instruction is sent to the movable platform.

[0120] Optionally, when the program code is executed, the processor 902 further performs the following operations:

[0121] Detect the setting operation of time-lapse shooting;

[0122] Set the time-lapse shooting duration according to the setting operation.

[0123] In the several embodiments provided by the present invention, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0124] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0125] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of hardware plus software functional units.

[0126] A person skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program, and the program can be stored in a computer-readable storage medium, and when the program is executed, it can include the processes of the embodiments of the above-mentioned methods. The storage medium can be a disk, an optical disk, a read-only memory (ROM) or a random access memory (RAM), etc.

[0127] The above disclosure is only part of the embodiments of the present invention, which certainly cannot be used to limit the scope of the present invention. Therefore, equivalent changes made according to the claims of the present invention are still within the scope of the present invention.

Claims

1. A shooting control method, characterized in that: The shooting control method is applied to a movable platform, and the movable platform is equipped with a shooting device. The method comprises: Receiving shooting parameters about at least two track points sent by the control end; the track points are set by the control end according to the current position of the movable platform when the track point selection operation is detected, and the shooting parameters are set by the control end according to the shooting parameter setting operation about the track points; Acquire posture data of each trajectory point of the movable platform included in the at least two trajectory points; For any trajectory point among the trajectory points, establishing a corresponding relationship between the shooting parameters of the trajectory point and the posture data of the trajectory point; When it is detected that the current running posture of the movable platform matches the target posture data, the shooting device is controlled to shoot according to the shooting parameters corresponding to the target posture data.

2. The method according to claim 1, characterized in that The step of obtaining the posture data of each track point of the movable platform included in the at least two track points includes: The posture data of the movable platform at each track point is collected by a posture sensor, wherein any track point among the track points is determined by the control end when a track point selection operation is detected.

3. The method according to claim 1, characterized in that The movable platform is also equipped with a motor, and the shooting device is controlled to shoot by shooting parameters corresponding to the target posture data, including: Sending a first shooting parameter adjustment instruction to the motor according to the shooting parameter corresponding to the target posture data, so that the motor adjusts the shooting parameter of the shooting device according to the first shooting parameter adjustment instruction; Controlling the photographing device to shoot based on the adjusted photographing parameters; Among them, the first shooting parameter adjustment instruction is used to instruct the motor to perform one or more of the following operations: adjusting the focus of the shooting device to the target focus, adjusting the focal length of the shooting device to the target focal length, and adjusting the exposure value of the shooting device to the target exposure value.

4. The method according to claim 1, characterized in that The step of controlling the shooting device to shoot by using shooting parameters corresponding to the target posture data includes: Sending the shooting parameters corresponding to the target posture data to the shooting device, so that the shooting device adjusts the current shooting parameters to the shooting parameters corresponding to the target posture data; The photographing device is controlled to perform photographing based on the adjusted photographing parameters.

5. The method according to claim 3 or 4, characterized in that The shooting parameters corresponding to the target posture data include one or more of the following: focus, focal length, and exposure value.

6. The method according to claim 5, characterized in that The method further comprises: Sending the shooting status of the shooting device to the control end; receiving a second shooting parameter adjustment instruction sent by the control end, where the second shooting parameter adjustment instruction is determined by the control end when a shooting parameter adjustment operation is detected; The shooting parameters of the shooting device are adjusted according to the second shooting parameter adjustment instruction.

7. The method according to claim 6, characterized in that The second shooting parameter adjustment instruction includes the trajectory point of the shooting parameter to be adjusted and the corresponding adjustment parameter, and the shooting status includes the shooting progress; The step of adjusting the shooting parameters of the shooting device according to the second shooting parameter adjustment instruction includes: If the shooting progress indicates that the shooting device has completed shooting, then updating the shooting parameters corresponding to the posture data of the trajectory point whose shooting parameters need to be adjusted according to the second shooting parameter adjustment instruction; In the process of re-passing each of the trajectory points, if the current running posture of the movable platform matches the posture data of the trajectory point whose shooting parameters need to be adjusted, the shooting device is controlled to shoot according to the updated shooting parameters corresponding to the trajectory point whose shooting parameters need to be adjusted.

8. The method according to claim 6, characterized in that The shooting parameter adjustment instruction includes an adjustment parameter, the shooting status includes a shooting progress, and adjusting the shooting parameter of the shooting device according to the second shooting parameter adjustment instruction includes: If the shooting progress indicates that the shooting device is in the shooting process, the current shooting parameters of the shooting device are adjusted to the adjustment parameters, so that the shooting device shoots with the adjustment parameters.

9. The method according to claim 1, characterized in that The step of controlling the shooting device to shoot by using shooting parameters corresponding to the target posture data includes: Acquire a first trajectory point and a second trajectory point of the movable platform, wherein the first trajectory point and the second trajectory point are trajectory points among the at least two trajectory points; Determine a reference trajectory point and a shooting parameter corresponding to the reference trajectory point, wherein the shooting parameter corresponding to the reference trajectory point is greater than the shooting parameter of the first trajectory point and less than the shooting parameter of the second trajectory point; In the process of moving from the first trajectory point to the second trajectory point via the reference trajectory point, the shooting device is controlled to shoot by using the shooting parameters corresponding to the first trajectory point, the shooting parameters corresponding to the reference trajectory point, and the shooting parameters corresponding to the second trajectory point; or Acquire a first trajectory point and a second trajectory point of the movable platform, wherein the first trajectory point and the second trajectory point are trajectory points among the at least two trajectory points; In the process of moving from the first trajectory point to the second trajectory point via the reference trajectory point, the shooting parameters of the shooting device are controlled to gradually change from the shooting parameters corresponding to the first trajectory point to the shooting parameters corresponding to the second trajectory point.

10. A movable platform, characterized in that: Including memory and processor: The memory is used to store program code; The processor calls the program code, and when the program code is executed, is used to execute the shooting control method according to any one of claims 1 to 9.

11. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, wherein the computer program includes program instructions, and when the program instructions are executed by a processor, the processor executes the shooting control method according to any one of claims 1 to 9.

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