WO2021249642A1

WO2021249642A1 - Shake compensation apparatus, photographing apparatus, control method, movable platform, and computer-readable medium

Info

Publication number: WO2021249642A1
Application number: PCT/EP2020/066159
Authority: WO
Inventors: Tomas Johansson
Original assignee: Victor Hasselblad Ab
Priority date: 2020-06-11
Filing date: 2020-06-11
Publication date: 2021-12-16
Also published as: EP3987345A1; CN114303363A

Abstract

The present application provides a shake compensation apparatus, a photographing apparatus, a control method, a movable platform, and a computer-readable medium, which can solve the problem of a photographing apparatus producing a reaction force during shake compensation. The shake compensation apparatus comprises a shake compensation assembly and a drive assembly, wherein the shake compensation assembly comprises a compensation member and a balance member; and the drive assembly is configured to drive the compensation member and the balance member to synchronously move in opposite directions for shake compensation.

Description

Shake compensation apparatus, photographing apparatus, control method, movable platform, and computer-readable medium

Technical Field

The present application relates to the technical field of photography, and in particular to a shake compensation apparatus, a photographing apparatus, a control method, a movable platform, and a computer-readable medium.

Background Art

Photographing effects tend to be affected if a camera shakes during photographing, for example, causing problems of blurred images. In order to overcome the influence of shaking, the camera may be provided with a shake compensation apparatus. The shake compensation apparatus generally comprises a movable shake compensation member, and the influence of the camera shake can be compensated by the movement of the shake compensation member. Generally, the shake compensation member is fixedly connected to an actuating mechanism, and the movement of the actuating mechanism causes the shake compensation member to move in the same direction.

However, driving the actuating mechanism to move the shake compensation member often generates a certain reverse action force. For example, when the camera shakes by moving horizontally to the right, the actuating mechanism drives the shake compensation member to move horizontally to the left for shake compensation, and the actuating mechanism and the shake compensation member produce a reaction force to the right during the movement to the left. A user tends to feel the jittering caused by the reaction force when photographing with the camera in hand, and the jittering may aggravate the shake and affect the compensation effect, and thus affect the user experience. Summary of the Invention

Embodiments of the present application provide a shake compensation apparatus, a photographing apparatus, a control method, a movable platform, and a computer-readable medium, which can solve the problem of a photographing apparatus producing a reaction force during shake compensation.

In a first aspect, an embodiment of the present application provides a shake compensation apparatus for a photographing apparatus, the shake compensation apparatus comprising a controller, a shake compensation assembly and a drive assembly, wherein the shake compensation assembly comprises a compensation member and a balance member; and the controller is configured to determine shake parameters of the photographing apparatus, and control the drive assembly according to the shake parameters to drive the compensation member and the balance member to synchronously move in opposite directions for shake compensation. In a second aspect, an embodiment of the present application further provides a shake compensation apparatus for a photographing apparatus, the shake compensation apparatus comprising: a shake compensation assembly and a drive assembly, wherein the shake compensation assembly comprises a compensation member and a balance member; and the drive assembly is configured to drive the compensation member and the balance member to synchronously move in opposite directions for shake compensation.

In a third aspect, an embodiment of the present application provides a photographing apparatus, comprising a shake compensation apparatus as provided in the first aspect.

In a fourth aspect, an embodiment of the present application provides a photographing apparatus, comprising a shake compensation apparatus as provided in the second aspect. In a fifth aspect, an embodiment of the present application provides a control method, wherein the method is applied to a shake compensation apparatus performing image stabilization for a photographing apparatus, the shake compensation apparatus includes a shake compensation apparatus with a shake compensation assembly and a drive assembly, the shake compensation assembly comprising a compensation member and a balance member, and the method comprises: determining shake parameters of the photographing apparatus; and controlling the drive assembly according to the shake parameters to drive the compensation member and the balance member to synchronously move in opposite directions for shake compensation.

In a sixth aspect, an embodiment of the present application provides a movable platform, comprising: a movable platform body and a shake compensation apparatus as provided in the first aspect, wherein the shake compensation apparatus is mounted on the movable platform body.

In a seventh aspect, an embodiment of the present application provides a movable platform, comprising: a movable platform body and a shake compensation apparatus as provided in the second aspect, wherein the shake compensation apparatus is mounted on the movable platform body.

In an eighth aspect, an embodiment of the present application provides a readable storage medium, wherein a computer program is stored on the readable storage medium; and the control method as provided in the fifth aspect is implemented when the computer program is executed.

In the shake compensation apparatus, the photographing apparatus, the control method, the movable platform, and the computer-readable medium provided in the embodiments of the present application, when performing the shake compensation function, the compensation member and the balance member are synchronously moved in opposite directions, and the reverse action forces generated by the compensation member and the balance member during the movement are therefore also in opposite directions. The two reaction forces cancel each other out, and the reaction force of the photographing apparatus as a whole to the outside is therefore reduced during shake compensation, thus improving the shake compensation effect and the user experience. In addition, by way of driving an actuating mechanism to move the shake compensation member in the same direction, the mass may increase due to the connection structure between the actuating mechanism and the shake compensation member, and the drive force needs to drive the overall movement of the actuating mechanism and the shake compensation member, so that a greater drive force is required. In the technical solutions of the present application, there is no need to provide a connection structure between the compensation member and the balance member for driving the two to move in the same direction, and the required drive force is therefore also small, so that the power consumption can be reduced, and the heat generated inside the photographing apparatus can be reduced to ameliorate the problem.

Brief Description of the Drawings

In order to illustrate the technical solutions of the embodiments of the present application or of the prior art more clearly, a brief introduction to the drawings to be used in describing the embodiments or the prior art is provided below. Obviously, the drawings in the following description show some of the embodiments of the present application, and those of ordinary skill in the art would be able to derive other drawings from these drawings without involving any inventive effort. Fig. 1 is a schematic architectural diagram of an unmanned flight system according to an embodiment of the present application;

Fig. 2 is a schematic structural diagram of a shake compensation apparatus provided in an embodiment of the present application;

Fig. 3 is a schematic structural diagram of a shake compensation apparatus provided in an embodiment of the present application;

Fig. 4 is a schematic structural diagram of a shake compensation apparatus provided in an embodiment of the present application;

Fig. 5 is a schematic structural diagram of a shake compensation apparatus provided in an embodiment of the present application; Fig. 6 is a schematic structural diagram of a shake compensation apparatus provided in an embodiment of the present application; Fig. 7 is a schematic structural diagram of a shake compensation apparatus provided in an embodiment of the present application;

Fig. 8 is a schematic structural diagram of a shake compensation apparatus provided in an embodiment of the present application; Fig. 9 is a schematic structural diagram of a shake compensation apparatus provided in an embodiment of the present application;

Fig. 10 is a schematic structural diagram of a shake compensation apparatus provided in an embodiment of the present application;

Fig. 11 is a schematic structural diagram of a shake compensation apparatus provided in an embodiment of the present application;

Fig. 12 is a schematic structural diagram of a shake compensation apparatus provided in an embodiment of the present application;

Fig. 13 is a schematic structural diagram of a shake compensation apparatus provided in an embodiment of the present application; Fig. 14 is a schematic structural diagram of a shake compensation apparatus provided in an embodiment of the present application; and

Fig. 15 is a schematic flowchart of a control method provided in an embodiment of the present application. Detailed Description of Embodiments

In order to make the objects, technical solutions and advantages of embodiments of the present application clearer, the technical solutions in the embodiments of the present application are clearly and completely described below with reference to the drawings for the embodiments of the present application. Apparently, the described embodiments are some of, rather than all of, the embodiments of the present application. Based on the embodiments given in the present application, all other embodiments that would be obtained by those of ordinary skill in the art without expending inventive effort shall all fall within the scope of protection of the present application. Embodiments of the present application provide a shake compensation apparatus, a photographing apparatus, a control method, a movable platform, and a computer-readable medium.

The shake compensation apparatus is configured to perform a shake compensation function, and may be applied to a photographing apparatus, a movable platform, etc.

The photographing apparatus may be a digital camera, a video camera, a mobile phone, a tablet computer and other apparatuses with a photographing function. The movable platform may be a hand-held phone, a hand-held gimbal, an unmanned aerial vehicle, an unmanned vehicle, an unmanned ship, a robot, an autonomous vehicle, etc. The following description of the movable platform of the present application takes an unmanned aerial vehicle as an example. It will be apparent to those skilled in the art that other types of unmanned aerial vehicles can be used without limitation, and embodiments of the present application can be applied to various types of unmanned aerial vehicles. As an example, the unmanned aerial vehicle may be a small or large unmanned aerial vehicle. In some embodiments, the unmanned aerial vehicle may be an unmanned rotorcraft, for example, an unmanned multi-rotor aircraft propelled via air by a plurality of propelling devices, but embodiments of the present application are not limited thereto, and the unmanned aerial vehicles may also be other types of unmanned aerial vehicles.

The shake compensation apparatus in the embodiment of the present application may be used for electronic image capture, and could also be used for chemical image capture. Fig. 1 is a schematic architectural diagram of an unmanned flight system according to an embodiment of the present application. This embodiment is illustrated by taking the unmanned rotorcraft as an example.

An unmanned flight system 100 may comprise an unmanned aerial vehicle 110, a display device 130 and a remote control device 140. The unmanned aerial vehicle 110 may comprise a power system 150, a flight control system 160, a frame, and a gimbal 120 carried on the frame. The unmanned aerial vehicle 110 may communicate wirelessly with the remote control device 140 and the display device 130.

The frame may comprise a body and a stand (also known as a landing gear). The body may comprise a central frame and one or more arms connected to the central frame, the one or more arms extending radially from the central frame. The stand is connected to the body for a supporting purpose when the unmanned aerial vehicle 110 is landing.

The power system 150 may comprise one or more electronic speed controllers (referred to as ESCs) 151, one or more propellers 153, and one or more electric motors 152 corresponding to the one or more propellers 153, wherein the electric motor 152 is connected between the electronic speed controller 151 and the propeller 153, and the electric motor 152 and the propeller 153 are provided on the arm of the unmanned aerial vehicle 110; and the electronic speed controller 151 is configured to receive a driving signal generated by the flight control system 160 and supply, according to the driving signal, a driving current to the electric motor 152 to control the rotation speed of the electric motor 152. The electric motor 152 is configured to drive the rotation of the propeller to provide power for the flight of unmanned aerial vehicle 110, which enables the unmanned aerial vehicle 110 to move in one or more degrees of freedom. In some embodiments, the unmanned aerial vehicle 110 may rotate about one or more axes of rotation. As an example, the axes of rotation may include a roll axis, a yaw axis, and a pitch axis. It should be understood that the electric motor 152 may be a DC electric motor or an AC electric motor. In addition, the electric motor 152 may be a brushless electric motor or a brushed electric motor.

The flight control system 160 may comprise a flight controller 161 and a sensing system 162. The sensing system 162 is configured to measure attitude information of the unmanned aerial vehicle, that is, position information and state information of the unmanned aerial vehicle 110 in space, such as three-dimensional position, three-dimensional angle, three-dimensional velocity, three-dimensional acceleration, and three-dimensional angular velocity. The sensing system 162 can include, for example, at least one of a gyroscope, an ultrasonic sensor, an electronic compass, an Inertial Measurement Unit (IMU), a vision sensor, a global navigation satellite system, a barometer, or other sensors. As an example, the global navigation satellite system may be a Global Positioning System (GPS). The flight controller 161 is configured to control the flight of the unmanned aerial vehicle 110, for example, the flight of the unmanned aerial vehicle 110 can be controlled based on the attitude information measured by the sensing system 162. It should be understood that the flight controller 161 may control the unmanned aerial vehicle 110 in accordance with pre-programmed program instructions, or may control the unmanned aerial vehicle 110 in response to one or more remote control signals from the remote control device 140.

The gimbal 120 may comprise one or more electric motors 122. The gimbal 120 is configured to carry a photographing apparatus 123. The flight controller 161 can control the motion of the gimbal 120 via the electric motor 122. Optionally, as another embodiment, the gimbal 120 may further comprise a controller for controlling the motion of the gimbal 120 by controlling the electric motor 122. It should be understood that the gimbal 120 may be independent of the unmanned aerial vehicle 110 or part of the unmanned aerial vehicle 110. It should be understood that the electric motor 122 may be a DC electric motor or an AC electric motor. In addition, the electric motor 122 may be a brushless electric motor or a brushed electric motor. It should also be understood that the gimbal may be located at the top or bottom of the unmanned aerial vehicle.

The photographing apparatus 123 may be, for example, a device for capturing an image, such as a camera or a video camera, and the photographing apparatus 123 may communicate with the flight controller and perform photographing under the control of the flight controller. The photographing apparatus 123 of this embodiment comprises at least a photosensitive element, which may be, for example, a Complementary Metal Oxide Semiconductor (CMOS) sensor or a Charge-coupled Device (CCD) sensor. It can be understood that the photographing apparatus 123 may also be directly fixed to the unmanned aerial vehicle 110, so that the gimbal 120 can be omitted. The shake compensation apparatus in the embodiment of the present application may be provided in the body of the photographing apparatus 123. For example, the shake compensation apparatus may comprise the photosensitive element described above, and the shake compensation apparatus performs the shake compensation function by driving the photosensitive element to move.

Alternatively, the shake compensation apparatus in the embodiment of the present application may be provided in a lens of the photographing apparatus 123. For example, the shake compensation apparatus may comprise a lens piece, and the shake compensation apparatus performs the shake compensation function by driving the lens piece to move.

The display device 130 is located on a ground-based terminal of the unmanned flight system 100, can communicate wirelessly with the unmanned aerial vehicle 110, and can be configured to display the attitude information of the unmanned aerial vehicle 110. In addition, an image captured by the photographing apparatus can also be displayed on the display device 130. It should be understood that the display device 130 may be a separate device or may be integrated into the remote control device 140.

The remote control device 140 is located on the ground-based terminal of the unmanned flight system 100, and can communicate wirelessly with the unmanned aerial vehicle 110 for remote manipulation of the unmanned aerial vehicle 110.

It should be understood that the nomenclature for the components of the unmanned flight system is for the purpose of identification only and should not be construed as limiting the embodiments of the present application.

An embodiment of the present application provides a shake compensation apparatus. Fig. 2 is a schematic structural diagram of a shake compensation apparatus provided in an embodiment of the present application. Referring to Fig. 2, the shake compensation apparatus 20 comprises a shake compensation assembly 22 and a drive assembly 21. The shake compensation assembly 22 comprises a compensation member 221 and a balance member 222. The drive assembly 21 is configured to drive the compensation member 221 and the balance member 222 to synchronously move in opposite directions for shake compensation. The shake compensation apparatus 20 may be applied to a photographing apparatus. The photographing apparatus may comprise a body and a lens. The body may be detachable from or integrated with the lens. As an example, the photographing apparatus can be applied to a hand-held device with a photographing function, including, but not limited to, a mobile phone, a tablet computer, a digital camera, etc. In the case of the mobile phone, the lens and the body are generally integrally formed and non-detachable. For the digital camera, the lens and the body can be either detachable and replaceable, or integrally formed and non-detachable.

In one embodiment, the shake compensation apparatus 20 may be applied to an Optical Image Stabilization (OIS) system of the photographing apparatus.

For example, the shake compensation apparatus 20 is provided in a lens of the photographing apparatus, and the compensation member 221 comprises a lens piece. The drive assembly 21 can drive the compensation member 221 and the balance member 222 to synchronously move in opposite directions. As the balance member 222 moves, the lens piece also moves reversely to achieve the effect of optical image stabilization.

In one embodiment, the shake compensation apparatus 20 may be applied to an In-Body Image Stabilization (IBIS) system of the photographing apparatus.

For example, the shake compensation apparatus 20 is provided in the body of the photographing apparatus, and the compensation member 221 comprises an image sensor (i.e. a photosensitive element). The image sensor includes, but is not limited to, a CMOS image sensor, a CCD sensor, etc. The drive assembly 21 can drive the compensation member 221 and the balance member 222 to synchronously move in opposite directions. As the balance member 222 moves, the image sensor also moves reversely to achieve the effect of in-body image stabilization.

In the process of performing the shake compensation function, the compensation member 221 and the balance member 222 are synchronously moved in opposite directions, and the reverse action forces generated by the compensation member 221 and the balance member 222 during the movement are therefore also synchronized and in opposite directions. The two reaction forces cancel each other out, and the reaction force of the photographing apparatus as a whole to the outside during the shake compensation process is therefore reduced.

In order to realize the shake compensation function, the movement direction of the compensation member 221 needs to meet certain conditions. In one embodiment, in the process of performing the shake compensation function, the drive assembly 21 drives the compensation member 221 to move in an opposite direction relative to the shaking direction to compensate for the influence of the shake of the photographing apparatus on the image quality.

When the drive assembly 21 drives the compensation member 221, the balance member 222 is synchronously driven to move in the shaking direction, such that the compensation member 221 and the balance member 222 are synchronously moved in opposite directions, thereby weakening or offsetting the reaction force generated by each other.

The shaking direction of the photographing apparatus may be a horizontal shaking direction. For convenience of description, in the embodiment of the present application, the horizontal shaking direction is referred to as an X direction. Taking an application scenario where a user holds a photographing apparatus for photographing as an example, it is assumed that the shaking direction of the photographing apparatus is directed horizontally to the right, that is, the X direction is directed horizontally to the right. In this case, the drive assembly 21 drives the compensation member 221 to move horizontally to the left to achieve the shake compensation effect. As the drive assembly 21 drives the compensation member 221, the balance member 222 is synchronously driven to move horizontally to the right, so as to reduce the reaction force of the photographing apparatus as a whole to the outside.

The shaking direction of the photographing apparatus may alternatively be a vertical shaking direction. For convenience of description, in the embodiment of the present application, the vertical shaking direction is referred to as a Y direction. Taking an application scenario where a user holds a photographing apparatus for photographing as an example, it is assumed that the shaking direction of the photographing apparatus is directed upwardly in the vertical direction, that is, the Y direction is directed upwardly in a vertical direction. In this case, the drive assembly 21 drives the compensation member 221 to move downwardly in the vertical direction, and synchronously drives the balance member 222 to move upwardly in the vertical direction. In one embodiment, the compensation member 221 and the balance member

222 can be relatively moved in the X direction and the Y direction, and are oppositely arranged and maintained at a fixed distance from each other in an optical axis direction. For convenience of description, in the embodiment of the present application, the optical axis direction is referred to as a Z direction, By way of example, referring to the view of the Y-Z plane of the shake compensation assembly 22 shown in Fig. 3, the shake compensation apparatus 20 further comprises a limiting structure (Fig. 3 shows a case where the limiting structure comprises a number of springs 31).

The limiting structure is configured to apply action forces to the compensation member 221 and the balance member 222 such that the two approach each other in the Z direction. Balls 32 are provided between the compensation member 221 and the balance member 222, and the compensation member 221 and the balance member 222 are subjected to the action forces from the limiting structure to approach each other in the Z direction to clamp the balls 32 between the compensation member 221 and the balance member 222.

The limiting structure and the balls 32 enable the compensation member 221 and the balance member 222 to be relatively moved in the X direction and the Y direction, and maintained at a fixed distance from each other in the Z direction. For example, the limiting structure may comprise a number of springs 31 provided between the compensation member 221 and the balance member 222. The compensation member 221 and the balance member 222 are subjected to pulling forces from the springs 31 to clamp the balls 32 between the compensation member 221 and the balance member 222.

Alternatively, the shake compensation apparatus 20 can be used for orthogonal movements in X direction or Y direction. And it can also be used for minor rotational shakes in X-Y plane, which is accomplished by dividing one of the drive member for X direction or Y direction into two. Then, the minor rotational shakes can be compensated by driving these two drive members with individual forces.

In particular, Fig. 3 is merely a schematic illustration of applying the action forces to the compensation member 221 and the balance member 222 by the limiting structure (the springs 31) and the balls 32, but not an illustration of the number of the spring 31 and the balls 32. The number of the balls 32 is represented by K, where K may be 3 or more, and the K balls 32 are not collinear. The number of the spring 31 may be one or more. In one embodiment, the number of the springs

31 may be equal to that of the balls 32. When the number of the springs 31 is 3 or more, the positions of these springs 31 are not collinear. The springs 31 are positioned such that the action forces between the compensation member 221 and balance member 222 and each ball 32 are advantageously equal, that is, the action forces inside the shake compensation apparatus 20 are symmetrically distributed.

Referring to Fig. 1, it is assumed that an action force F₁ is applied to the compensation member 221, and an action force F₂ is applied to the balance member 222, where F₁ and F₂ have opposite directions, and F₁ and F₂ have non-zero components in the X-Y plane. Under the action of F₁ and F₂, the compensation member 221 and the balance member 222 overcome the friction forces with the balls 32 and produce a relative displacement in the X-Y plane, but are always maintained at a fixed distance from each other (the diameter of the balls 32) in the Z direction.

Referring to the Y-Z plane view shown in Fig. 3, the movable range of the balls

32 can be limited to a certain range by a groove 33, and the size of the range in the Y direction is indicated by L in Fig. 3. In order to reduce or eliminate the reaction force of the photographing apparatus as a whole to the outside during the shake compensation process, it is necessary to ensure that the compensation member 221 and the balance member 222 are synchronously moved in opposite directions.

The synchronization of the movements of the compensation member 221 and the balance member 222 can be achieved by means of software control. For example, the drive assembly 21 comprises a first drive member and a second drive member (not shown in Fig. 2), and the control software synchronously triggers the first drive member and the second drive member to apply drive forces to the compensation member 221 and the balance member 222, respectively. Specifically, the first drive member applies an action force to the compensation member 221 in the opposite direction relative to the shaking direction so as to drive the compensation member 221 to move in the opposite direction relative to the shaking direction, and the second drive member synchronously applies an action force to the balance member 222 in the same direction as the shaking direction so as to drive the balance member 222 to move in the shaking direction.

The action force applied by the first drive member to the balance member 222 and the action force applied by the second drive member to the compensation member 221 may be close to or equal to each other in magnitude. The first drive member and the second drive member may use the same design and be controlled by the same control algorithm to ensure that the drive forces applied to the balance member 222 and the compensation member 221 are as equal as possible.

Further, the mass of the compensation member 221 and the mass of the balance member 222 are close to or equal to each other. Since the two are subjected to drive forces of equal magnitudes and opposite directions, and the masses of the two are close to or equal to each other, the shake compensation apparatus 20 as a whole is in a balanced state in the process of performing the shake compensation function, so that the reaction force of the photographing apparatus as a whole to the outside is reduced or eliminated as much as possible.

Alternatively, the mass of the compensation member 221 and the mass of the balance member 222 could not be close to or equal to each other. That is, if the ratio of movement for the balance member 222 and the compensation member 221 is unequal, the shake compensation apparatus 20 would be balanced as long as the ratio of movement times the weight for the balance member 222 and the compensation member 221 could be equal.

The synchronization of the movements of the compensation member 221 and the balance member 222 can also be achieved by way of maintaining the linkage between the two. For example, the shake compensation apparatus 20 comprises a linkage structure. The compensation member 221 and the balance member 222 are both connected to the linkage structure to maintain linkage, and the linkage structure can help maintain the matching of the shaking direction and the compensation direction, while preventing the offset of the compensation direction.

By way of example, embodiments of the present application provide three designs of the linkage structure, and taking the shake compensation in the Y direction as an example, the specific description is as follows.

Referring to a design shown in Fig. 4, the linkage structure comprises a gear 41. The gear 41 is provided between the compensation member 221 and the balance member 222, and the respective contact points of the compensation member 221 and the balance member 222 with the gear 41 are located at two ends of a diameter of the gear 41.

The compensation member 221 and the balance member 222 can respectively mesh with the gear 41, and the drive assembly 21 can drive the gear 41 to rotate. As the gear 41 rotates, the compensation member 221 and the balance member 222 can be driven to synchronously move in opposite directions.

The mass of the compensation member 221 and the mass of the balance member 222 may be equal to each other. In this case, the mass of the shake compensation apparatus 20 is symmetrically distributed, and the action forces inside the shake compensation apparatus 20 are also symmetrically distributed, which helps the shake compensation apparatus 20 as a whole maintain a balanced state, such that the reaction force of the photographing apparatus as a whole to the outside is reduced or eliminated as much as possible. Referring to a design shown in Fig. 5, the linkage structure comprises a lever assembly 51. The lever assembly 51 comprises a fulcrum and a connecting rod rotatable about the fulcrum, and the compensation member 221 and the balance member 222 are respectively connected to two ends of the connecting rod.

The drive assembly 21 can drive the connecting rod to rotate. As the connecting rod rotates, the compensation member 221 and the balance member 222 are driven to synchronously move in opposite directions. The mass ratio of the compensation member 221 to the balance member 222 may be equal to the ratio of a first length to a second length. The first length is the length from the end of the connecting rod connected to the balance member 222 to the fulcrum, and the second length is the length from the end of the connecting rod connected to the compensation member 221 to the fulcrum.

According to the above proportional relationship, the product of the mass of the compensation member 221 and the second length is equal to the product of the mass of the balance member 222 and the first length. In a static state, the two ends of the lever can keep balanced. When performing the shake compensation function, as the lever assembly 51 rotates, moments equal to each other in magnitude are applied to the compensation member 221 and the balance member 222, and the shake compensation apparatus 20 as a whole can therefore maintain a balanced state, so that the reaction force of the photographing apparatus as a whole to the outside is reduced or eliminated as much as possible.

The mass of the compensation member 221 and the mass of the balance member 222 may be equal to each other. In this case, the first length is equal to the second length, that is, the fulcrum of the lever assembly 51 is located at the midpoint of the connecting rod. In this case, the mass of the shake compensation apparatus 20 is symmetrically distributed, and the action forces inside the shake compensation apparatus 20 are also symmetrically distributed, which helps to further reduce the reaction force of the photographing apparatus as a whole to the outside.

In the traditional design, by way of driving an actuating mechanism to move the shake compensation member in the same direction, the mass may increase due to the connection structure between the actuating mechanism and the shake compensation member, and the drive force needs to drive the overall movement of the actuating mechanism and the shake compensation member, so that a greater drive force is required. In the design of driving the compensation member 221 and the balance member 222 by means of the lever assembly 51, since the moments generated by the gravities of the compensation member 221 and the balance member 222 at both ends of the connecting rod cancel each other out, the drive assembly 21 only needs to provide a very small drive force to drive the connecting rod to rotate, so that the power consumption can be reduced, and the heat generated inside the photographing apparatus can be reduced to ameliorate the problem. The design of using the gear 41 to drive the compensation member 221 and the balance member 222, and the following design of using pulleys to drive the compensation member 221 and the balance member 222 can also bring about a similar effect, which will not be repeated here.

Referring to a design shown in Fig. 6, the linkage structure comprises a first pulley 61 and a second pulley 62. The first pulley 61 and the second pulley 62 are connected via an annular structure 63 extending across the first pulley 61 and the second pulley 62, and the compensation member 221 and the balance member 222 are respectively connected to the annular structure 63 and are respectively located on two sides of the first pulley 61 and the second pulley 62.

Referring to Fig. 7, in one embodiment, the annular structure 63 comprises a first connection belt 631 and a second connection belt 632, the compensation member 221 is provided with a connection member 71, and the balance member 222 is provided with a connection member 72. The first connection belt 631 extends across the first pulley 61, and the second connection belt 632 extends across the second pulley 62. A first end of the first connection belt 631 and a first end of the second connection belt 632 are connected to the connection member 71 of the compensation member 221, and a second end of the first connection belt 631 and a second end of the second connection belt 632 are connected to the connection member 72 of the balance member 222.

Referring to Fig. 8, in one embodiment, the first end of the first connection belt 631 may be connected to a first connection member 81 of the compensation member 221, and the first end of the second connection belt 632 may be connected to a second connection member 82 of the compensation member 221, the second end of the first connection belt 631 may be connected to a first connection member 83 of the balance member 222, and the second end of the second connection belt 632 may be connected to a second connection member 84 of the balance member

222. There are many options for the positions of the connection members of the compensation member 221 and the balance member 222. For example, in the examples shown in Figs. 7 and 8, the respective connection members of the compensation member 221 and the balance member 222 are provided at corresponding positions on two opposite surfaces of the compensation member 221 and the balance member 222. Referring to Fig. 9, the first connection member 81 and the second connection member 82 of the compensation member 221 may be respectively provided on upper and lower end surfaces of the compensation member 221, and the first connection member 83 and the second connection member 84 of the balance member 222 may be respectively provided at corresponding positions on upper and lower end surfaces of the balance member 222.

The shake compensation apparatus 20 may comprise two sets of pulleys for synchronously driving the compensation member 221 or the balance member 222 to move in one direction. Fig. 10 is a schematic diagram of two sets of pulleys driving the compensation member 221 and the balance member 222 in the Y direction. Each of the two sets of pulleys comprises the structure shown in Figs. 6-9, which will not be repeated here. The use of the two sets of pulleys can increase the stability of the shake compensation apparatus 20 to reduce the reaction force of the photographing apparatus as a whole to the outside.

Further, the shake compensation apparatus 20 may further comprise one or two sets of pulleys (not shown in Fig. 10) for driving the movement of the compensation member 221 and the balance member 222 in the X direction. The one or two sets of pulleys that drive the movement of the compensation member 221 and the balance member 222 in the X direction may also comprise the structure shown in Figs. 6-9, which will not be repeated here.

In order to enable the compensation member 221 and the balance member 222 to move relatively in the X direction and the Y direction at the same time, the connection belts connecting the pulleys may be elastic, or the connection members of the compensation member 221 and the balance member 222 may be elastic.

For example, referring to the schematic diagram of the linkage structure shown in Fig. 7, one of the first connection belt 631 and the second connection belt 632 is at least partially elastic. Referring to the schematic diagrams of the linkage structure shown in Figs. 8 and 9, the first end of the second connection belt 632 is provided with a spring 821, and the spring 821 is connected to the second connection member 82 of the compensation member 221; and the second end of the second connection belt 632 is provided with a spring 841, and the spring 841 is connected to the second connection member 84 of the balance member 222.

Alternatively, the connection parts between the respective connection members of the compensation member 221 and the balance member 222 and the first connection belt 631 or the second connection belt 632 are elastic. Referring to the schematic diagrams of the linkage structure shown in Figs. 8 and 9, a spring 821 is provided at the connection part between the first end of the second connection belt 632 and the second connection member 82 of the compensation member 221, and a spring 841 is provided at a connection part between the second end of the second connection belt 632 and the second connection member 84 of the balance member 222. It can be understood that when the connection parts between the respective connection members of the compensation member 221 and the balance member 222 and the first connection belt 631 or the second connection belt 632 are elastic, the connection members may be partially elastic, and the elastic portion is connected to the first connection belt 631 or the second connection belt 632. It can be understood that when one of the first connection belt 631 and the second connection belt 632 is at least partially elastic, or the connection parts between the respective connection members of the compensation member 221 and the balance member 222 and the first connection belt 631 or the second connection belt 632 are elastic, there may be only one connection member of the compensation member 221 or only one connection member of the balance member 222. For example, the compensation member 221 is provided with the second connection member 82, and the balance member 222 is provided with the second connection member 84.

Referring to Fig. 10, it is assumed that an action force F₁ is applied to the compensation member 221, and an action force F₂ is applied to the balance member 222, where F₁ and F₂ have opposite directions, and F₁ and F₂ have non-zero components in both the X and Y directions. The components of F₁ and F₂ in the X direction will cause the compensation member 221 and the balance member 222 to be relatively displaced in the X direction. At the same time, due to the elasticity of the connection belt or the connection parts, the components of F₁ and F₂ in the Y direction will cause the compensation member 221 and the balance member 222 to be relatively displaced in the Y direction.

The mass of the compensation member 221 and the balance member 222 may be equal. In the static state, the gravities on two sides of the pulley are equal, and the balanced state can therefore be maintained. When performing the shake compensation function, the drive assembly 21 only needs to provide a very small drive force to drive the compensation member 221 and the balance member 222 to move, so that the power consumption can be reduced, and the heat generated inside the photographing apparatus can be reduced to ameliorate the problem.

Since the compensation member 221 and the balance member 222 are both connected to the linkage structure, the drive assembly 21 can drive one of the compensation member 221, the balance member 222, and the linkage structure to achieve the linkage effect of the three.

In one embodiment, the drive assembly 21 drives the linkage structure to synchronously move the compensation member 221 and the balance member 222 in opposite directions.

Taking the case where the linkage structure comprises the first pulley 61 and the second pulley 62 as an example, the drive assembly 21 can drive the rotation of one of the first pulley 61 and the second pulley 62 to synchronously move the compensation member 221 and the balance member 222 in opposite directions in the X-Y plane.

In one embodiment, the drive assembly 21 drives the movement of a driving member, which is one of the compensation member 221 and the balance member 222. The driving member drives the driven member to move synchronously and reversely by means of the linkage structure. The driven member is the other of the compensation member 221 and the balance member 222. Taking the case where the linkage structure comprises the first pulley 61 and the second pulley 62 as an example, referring to Fig. 11, the shake compensation apparatus 20 comprises a first fixed bracket 11-1, and the first pulley 61 and the second pulley 62 may be fixed to the first fixed bracket 11-1. Of course, the linkage structure with the first pulley 61 and the second pulley 62, for example, may not be fixed to the first fixed bracket 11-1. The first fixed bracket 11-1 is fixedly provided inside the photographing apparatus.

The drive assembly 21 comprises a first magnet (not shown in Fig. 11) and a first coil (not shown in Fig. 11). One of the first magnet and the first coil is fixed to the first fixed bracket 11-1. The other of the first magnet and the first coil is fixed to the compensation member 221 or the balance member 222. It can be understood that the drive assembly 21 may be other than comprising the magnet and the coil, as long as the compensation member 221 and the balance member 222 can synchronously move in opposite directions, which is not specifically limited here.

For example, referring to Fig. 12, the first magnet 12-1 is fixed to the first fixed bracket 11-1, and the first coil 12-2 is fixed to the balance member 222. When the first coil 12-2 is energized, an electromagnetic force between the first coil 12-2 and the first magnet 12-1 can drive the balance member 222 to move, and the balance member 222 drives the compensation member 221 to move synchronously and reversely by means of the pulleys.

In one embodiment, the drive assembly 21 drives the compensation member 221 and the balance member 222 to synchronously move in opposite directions.

Taking the case where the linkage structure comprises the first pulley 61 and the second pulley 62 as an example, referring to Fig. 13, the shake compensation apparatus 20 comprises a second fixed bracket 13-1, and the first pulley 61 and the second pulley 62 are fixed to the second fixed bracket 13-1. The drive assembly 21 comprises a second magnet 13-2 and a second coil 13-3. The second magnet 13-2 is fixed to the compensation member 221, and the second coil 13-3 is fixed to the balance member 222 (the installation positions of the second magnet 13-2 and the second coil 13-3 can be exchanged). When the second coil 13-3 is energized, an electromagnetic force between the second coil 13-3 and the second magnet 13-2 can drive the compensation member 221 and the balance member 222 to synchronously move in opposite directions. The second fixed bracket 13-1 is fixedly provided inside the photographing apparatus.

In the shake compensation apparatus provided in the embodiment of the present application, when performing the shake compensation function, the compensation member and the balance member are synchronously moved in opposite directions, and the reverse action forces generated by the compensation member and the balance member during the movement are therefore also in opposite directions. The two reaction forces cancel each other out, and the reaction force of the photographing apparatus as a whole to the outside during the shake compensation process is therefore reduced, thereby improving the shake compensation effect and the user experience.

In addition, in the technical solution of the present application, the drive assembly only needs to provide a relatively small drive force to drive the compensation member and the balance member to move, so that the power consumption can be reduced, and the heat generated inside the photographing apparatus can be reduced to ameliorate the problem.

An embodiment of the present application further provides a shake compensation apparatus, which is applied to a photographing apparatus. Referring to Fig. 14, the shake compensation apparatus 1401 comprises a controller 1402, a drive assembly 1403, and a shake compensation assembly 1404. The shake compensation assembly 1404 comprises a compensation member 1405 and a balance member 1406.

The controller 1402 is configured to determine shake parameters of the photographing apparatus, and control the drive assembly 1403 according to the shake parameters to drive the compensation member 1405 and the balance member 1406 to synchronously move in opposite directions for shake compensation.

In one embodiment, the photographing apparatus comprises an accelerometer, a gyroscope, and other sensors that can be configured to detect the movement direction, the acceleration, and the spatial posture of the photographing apparatus. The shake parameters may be sensor parameters received by the controller 1402 from these sensors.

The controller 1402 may determine the shaking direction according to the shake parameters, and control the drive assembly 1403 according to the shaking direction to drive the compensation member 1405 to move in an opposite direction relative to the shaking direction and synchronously drive the balance member 1406 to move in the shaking direction.

The shaking direction comprises at least one of the X direction or the Y direction. The X direction is the horizontal shaking direction, and the Y direction is the vertical shaking direction.

In one embodiment, the drive assembly 1403 comprises a first drive member and a second drive member.

The controller 1402 is configured to control the first drive member to apply an action force to the compensation member 1405 in the opposite direction relative to the shaking direction, and to control the second drive member to synchronously apply an action force to the balance member 1406 in the same direction as the shaking direction.

In one embodiment, the action force applied by the first drive member to the balance member 1406 and the action force applied by the second drive member to the compensation member 1405 are equal to each other in magnitude.

In one embodiment, the shake compensation apparatus 1401 further comprises a linkage structure, and the compensation member 1405 and the balance member 1406 are both connected to the linkage structure to maintain linkage.

In one embodiment, the controller 1402 is configured to control the drive assembly 1403 to drive the linkage structure to synchronously move the compensation member 1405 and the balance member 1406 in opposite directions.

In one embodiment, the controller 1402 is configured to control the drive assembly 1403 to drive the movement of a driving member, which is one of the compensation member 1405 and the balance member 1406. The driving member is configured to drive the driven member to move synchronously and reversely by means of the linkage structure. The driven member is the other of the compensation member 1405 and the balance member 1406.

In one embodiment, the shake compensation apparatus 1401 further comprises a first fixed bracket, and the drive assembly 1403 further comprises a first magnet and a first coil.

One of the first magnet and the first coil is fixed to the first fixed bracket, and the other of the first magnet and the first coil is fixed to the compensation member 1405 or the balance member 1406.

In one embodiment, the drive assembly 1403 comprises a second magnet and a second coil.

One of the second magnet and the second coil is fixed to the compensation member 1405, and the other of the second magnet and the second coil is fixed to the balance member 1406.

In one embodiment, the shake compensation apparatus 1401 further comprises a second fixed bracket, and the linkage structure is provided on the second fixed bracket.

In one embodiment, the linkage structure comprises a first pulley and a second pulley.

The first pulley and the second pulley are connected via an annular structure extending across the first pulley and the second pulley, and the compensation member 1405 and the balance member 1406 are respectively connected to the annular structure and are respectively located on two sides of the first pulley.

In one embodiment, the annular structure comprises a first connection belt and a second connection belt.

The compensation member 1405 and the balance member 1406 are respectively provided with connection members.

The first connection belt extends across the first pulley, and the second connection belt extends across the second pulley. Two ends of the first connection belt are respectively connected to the respective connection members of the compensation member 1405 and the balance member 1406, and two ends of the second connection belt are respectively connected to the respective connection members of the compensation member 1405 and the balance member 1406.

In one embodiment, one of the first connection belt and the second connection belt is at least partially elastic.

In one embodiment, the connection parts between the respective connection members of the compensation member 1405 and the balance member 1406 and the first connection belt or the second connection belt are elastic.

In one embodiment, the linkage structure comprises a lever assembly. The lever assembly comprises a fulcrum and a connecting rod rotatable about the fulcrum.

The compensation member 1405 and the balance member 1406 are respectively connected to two ends of the connecting rod.

In one embodiment, the mass ratio of the compensation member 1405 to the balance member 1406 is equal to the ratio of a first length to a second length.

The first length is the length from the end of the connecting rod connected to the balance member 1406 to the fulcrum, and the second length is the length from the end of the connecting rod connected to the compensation member 1405 to the fulcrum.

In one embodiment, the linkage structure comprises a gear.

The gear is provided between the compensation member 1405 and the balance member 1406, and the respective contact points of the compensation member 1405 and the balance member 1406 with the gear are located at two ends of a diameter of the gear.

In one embodiment, the compensation member 1405 and the balance member 1406 are oppositely arranged and maintained at a fixed distance from each other in the Z direction. The Z direction is the optical axis direction.

In one embodiment, the shake compensation apparatus 1401 further comprises a limiting structure, and balls are provided between the compensation member 1405 and the balance member 1406.

The compensation member 1405 and the balance member 1406 are subjected to the action forces from the limiting structure to approach each other in the Z direction to clamp the balls between the compensation member and the balance member. The limiting structure and the balls enable the compensation member 1405 and the balance member 1406 to be relatively moved in the X direction and the Y direction and maintained at a fixed distance from each other in the Z direction.

In one embodiment, the mass of the compensation member 1405 and the mass of the balance member 1406 are equal to each other.

In one embodiment, the compensation member 1405 comprises an image sensor.

In one embodiment, the compensation member 1405 comprises a lens piece.

An embodiment of the present application further provides a photographing apparatus, comprising a shake compensation apparatus as shown in Figs. 2-13.

An embodiment of the present application further provides a photographing apparatus, comprising a shake compensation apparatus as shown in Fig. 14.

An embodiment of the present application further provides a movable platform, comprising: a movable platform body and a shake compensation apparatus as shown in Figs. 2-13, wherein the shake compensation apparatus is mounted on the movable platform body.

An embodiment of the present application further provides a movable platform, comprising: a movable platform body and a shake compensation apparatus as shown in Fig. 14, wherein the shake compensation apparatus is mounted on the movable platform body.

The movable platform may be a hand-held phone, a hand-held gimbal, an unmanned aerial vehicle, an unmanned vehicle, an unmanned ship, a robot, an autonomous vehicle, etc.

The movable platform comprises a photographing apparatus, which comprises a shake compensation apparatus. The photographing apparatus may be a video camera installed or integrated on the body of the movable platform, or may be a photographing apparatus indirectly connected to the movable platform body via a gimbal, such as a camera carried on the gimbal.

An embodiment of the present application further provides a control method, which is applied to a shake compensation apparatus performing image stabilization for a photographing apparatus. The shake compensation apparatus includes a shake compensation apparatus with a shake compensation assembly and a drive assembly, wherein the shake compensation assembly comprises a compensation member and a balance member.

Referring to Fig. 15, the control method comprises:

S1501 : determining shake parameters of the photographing apparatus.

In one embodiment, the photographing apparatus comprises an accelerometer, a gyroscope, and other sensors that can be configured to detect the movement direction, the acceleration, and the spatial posture of the photographing apparatus. The shake parameters may be sensor parameters received from these sensors.

S1502: controlling the drive assembly according to the shake parameters to drive the compensation member and the balance member to synchronously move in opposite directions for shake compensation.

In one embodiment, the control method comprises: determining a shaking direction according to the shake parameters, and controlling the drive assembly according to the shaking direction to drive the compensation member to move in an opposite direction relative to the shaking direction and synchronously drive the balance member to move in the shaking direction.

In one embodiment, the drive assembly comprises a first drive member and a second drive member.

The control method comprises: controlling the first drive member to apply an action force to the balance member in the same direction as the shaking direction, and controlling the second drive member to synchronously apply an action force to the compensation member in the opposite direction relative to the shaking direction.

In one embodiment, the action force applied by the first drive member to the balance member and the action force applied by the second drive member to the compensation member are equal to each other in magnitude.

In one embodiment, the shake compensation apparatus further comprises a linkage structure. Both the compensation member and the balance member are connected to the linkage structure to maintain linkage. In one embodiment, controlling the drive assembly according to the shaking direction to drive the compensation member to move in an opposite direction relative to the shaking direction and synchronously drive the balance member to move in the shaking direction comprises: controlling the drive assembly according to the shaking direction to drive the linkage structure to synchronously move the compensation member and the balance member in opposite directions.

In one embodiment, the control method comprises: controlling the drive assembly according to the shaking direction to drive the compensation member and the balance member to synchronously move in opposite directions.

In one embodiment, the control method comprises: controlling the drive assembly according to the shaking direction to drive the movement of a driving member, such that the driving member drives a driven member to move synchronously and reversely by means of the linkage structure, wherein the driving member is one of the compensation member and the balance member, and the driven member is the other of the compensation member and the balance member.

In one embodiment, the mass of the compensation member and the mass of the balance member are equal to each other.

In one embodiment, the compensation member comprises an image sensor.

In one embodiment, the compensation member comprises a lens piece.

An embodiment of the present application further provides a readable storage medium having a computer program stored thereon which, when being executed, implements a control method shown in Fig. 15.

In the shake compensation apparatus, the photographing apparatus, the control method, the movable platform, and the computer-readable medium provided in the embodiments of the present application, when performing the shake compensation function, the compensation member and the balance member are synchronously moved in opposite directions, and the reverse action forces generated by the compensation member and the balance member during the movement are therefore also in opposite directions. The two reaction forces cancel each other out, and the reaction force of the photographing apparatus as a whole to the outside is therefore reduced during shake compensation, thus improving the shake compensation effect and the user experience. That is, it reduces the unpleasant noise when manually handling the photographing apparatus with the shake compensation apparatus in an off status. Then, if a sensor assembly are shaking around inside the photographing apparatus, it’s not so easy to shake the sensor assembly by hand with the shake compensation apparatus.

In addition, in the technical solution of the present application, the drive assembly only needs to provide a relatively small drive force to drive the compensation member and the balance member to move, so that the power consumption can be reduced, and the heat generated inside the photographing apparatus can be reduced to ameliorate the problem, and the size of the shake compensation apparatus can be reduced. Further, since the needed acceleration is lower than 1G due to the design of the shake compensation apparatus, the whole power to move the compensation member and the balance member is reduced. And compared to the traditional technical solution, the shake compensation apparatus also reduces the power needed to hold the compensation member steady in a mid-position when anti-shake is not enabled. And the technical solution of the present application could be used for orthogonal movements or minor rotational shakes in the X direction or the Y direction, so that it also makes the control easier and could be not dependent on the shaking direction of the photographing apparatus.

Claims

1. A shake compensation apparatus for a photographing apparatus, the shake compensation apparatus comprising a controller, a shake compensation assembly and a drive assembly, wherein the shake compensation assembly comprises a compensation member and a balance member; and the controller is configured to determine shake parameters of the photographing apparatus, and control the drive assembly according to the shake parameters to drive the compensation member and the balance member to synchronously move in opposite directions for shake compensation.

2. The shake compensation apparatus of claim 1, wherein the controller is configured to determine a shaking direction according to the shake parameters, and control the drive assembly according to the shaking direction to drive the compensation member to move in an opposite direction relative to the shaking direction and synchronously drive the balance member to move in the shaking direction.

3. The shake compensation apparatus of claim 2, wherein the drive assembly comprises a first drive member and a second drive member; and the controller is configured to control the first drive member to apply an action force to the compensation member in the opposite direction relative to the shaking direction, and to control the second drive member to synchronously apply an action force to the balance member in the same direction as the shaking direction.

4. The shake compensation apparatus of claim 3, wherein the action force applied by the first drive member to the balance member and the action force applied by the second drive member to the compensation member are equal to each other in magnitude.

5. The shake compensation apparatus of claim 2, wherein the shake compensation apparatus further comprises a linkage structure, and the compensation member and the balance member are both connected to the linkage structure to maintain linkage.

6. The shake compensation apparatus of claim 5, wherein the controller is configured to control the drive assembly to drive the linkage structure to synchronously move the compensation member and the balance member in opposite directions.

7. The shake compensation apparatus of claim 5, wherein the controller is configured to control the drive assembly to drive the movement of a driving member, which is one of the compensation member and the balance member; and the driving member is configured to drive a driven member to move synchronously and reversely by means of the linkage structure, the driven member being the other of the compensation member and the balance member.

8. The shake compensation apparatus of claim 7, wherein the shake compensation apparatus further comprises a first fixed bracket, and the drive assembly comprises a first magnet and a first coil; and one of the first magnet and the first coil is fixed to the first fixed bracket, and the other of the first magnet and the first coil is fixed to the compensation member or the balance member.

9. The shake compensation apparatus of claim 5, wherein the drive assembly comprises a second magnet and a second coil; and one of the second magnet and the second coil is fixed to the compensation member, and the other of the second magnet and the second coil is fixed to the balance member.

10. The shake compensation apparatus of claim 9, wherein the shake compensation apparatus further comprises a second fixed bracket, and the linkage structure is provided on the second fixed bracket.

11. The shake compensation apparatus of any one of claims 5-10, wherein the linkage structure comprises a first pulley and a second pulley; and the first pulley and the second pulley are connected via an annular structure extending across the first pulley and the second pulley, and the compensation member and the balance member are respectively connected to the annular structure and are respectively located on two sides of the first pulley and the second pulley.

12. The shake compensation apparatus of claim 11, wherein the annular structure comprises a first connection and a second connection; the compensation member and the balance member are respectively provided with connection members; and the first connection extends across the first pulley, the second connection extends across the second pulley, two ends of the first connection are respectively connected to the respective connection members of the compensation member and the balance member, and two ends of the second connection are respectively connected to the respective connection members of the compensation member and the balance member.

13. The shake compensation apparatus of claim 12, wherein one of the first connection and the second connection is at least partially elastic; or the connection parts between the respective connection members of the compensation member and the balance member and the first connection or the second connection are elastic.

14. The shake compensation apparatus of any one of claims 5-10, wherein the linkage structure comprises a lever assembly, which comprises a fulcrum and a connecting rod rotatable about the fulcrum; and the compensation member and the balance member are respectively connected to two ends of the connecting rod.

15. The shake compensation apparatus of claim 14, wherein the mass ratio of the compensation member to the balance member is equal to the ratio of a first length to a second length; and the first length is the length from the end of the connecting rod that is connected to the balance member to the fulcrum, and the second length is the length from the end of the connecting rod that is connected to the compensation member to the fulcrum.

16. The shake compensation apparatus of any one of claims 5-10, wherein the linkage structure comprises a gear; and the gear is provided between the compensation member and the balance member, and the respective contact points of the compensation member and the balance member with the gear are located at two ends of a diameter of the gear.

17. The shake compensation apparatus of any one of claims 2-10, wherein the shaking direction comprises at least one of an X direction or a Y direction, the X direction being a horizontal shaking direction, and the Y direction being a vertical shaking direction.

18. The shake compensation apparatus of claim 17, wherein the compensation member and the balance member are oppositely arranged and maintained at a fixed distance from each other in a Z direction, the Z direction being an optical axis direction.

19. The shake compensation apparatus of claim 18, wherein the shake compensation apparatus further comprises a limiting structure, and balls are provided between the compensation member and the balance member; and the compensation member and the balance member approach each other in the Z direction under action forces from the limiting structure to clamp the balls between the compensation member and the balance member, and the limiting structure and the balls enable the compensation member and the balance member to be moved relative to each other in the X direction and the Y direction and maintained at a fixed distance from each other in the Z direction.

20. The shake compensation apparatus of any one of claims 1-10, wherein the mass of the compensation member and the mass of the balance member are equal to each other.

21. The shake compensation apparatus of any one of claims 1-10, wherein the compensation member comprises an image sensor.

22. The shake compensation apparatus of any one of claims 1-10, wherein the compensation member comprises a lens piece.

23. A shake compensation apparatus for a photographing apparatus, comprising: a shake compensation assembly and a drive assembly, wherein the shake compensation assembly comprises a compensation member and a balance member; and the drive assembly is configured to drive the compensation member and the balance member to synchronously move in opposite directions for shake compensation.

24. The shake compensation apparatus of claim 23, wherein the drive assembly is configured to drive the compensation member to move in an opposite direction relative to the shaking direction and synchronously drive the balance member to move in the shaking direction.

25. The shake compensation apparatus of claim 24, wherein the drive assembly comprises a first drive member and a second drive member; the first drive member is configured to apply an action force to the compensation member in the opposite direction relative to the shaking direction; and the second drive member is configured to synchronously apply an action force to the balance member in the same direction as the shaking direction.

26. The shake compensation apparatus of claim 25, wherein the action force applied by the first drive member to the balance member and the action force applied by the second drive member to the compensation member are equal to each other in magnitude.

27. The shake compensation apparatus of claim 24, wherein the shake compensation apparatus further comprises a linkage structure, and the compensation member and the balance member are both connected to the linkage structure to maintain linkage.

28. The shake compensation apparatus of claim 27, wherein the drive assembly is configured to drive the linkage structure to synchronously move the compensation member and the balance member in opposite directions.

29. The shake compensation apparatus of claim 27, wherein the drive assembly is configured to drive the movement of a driving member, which is one of the compensation member and the balance member; and the driving member is configured to drive a driven member to move synchronously and reversely by means of the linkage structure, the driven member being the other of the compensation member and the balance member.

30. The shake compensation apparatus of claim 29, wherein the shake compensation apparatus further comprises a first fixed bracket, and the drive assembly comprises a first magnet and a first coil; and one of the first magnet and the first coil is fixed to the first fixed bracket, and the other of the first magnet and the first coil is fixed to the compensation member or the balance member.

31. The shake compensation apparatus of claim 27, wherein the drive assembly comprises: a second magnet and a second coil; and one of the second magnet and the second coil is fixed to the compensation member, and the other of the second magnet and the second coil is fixed to the balance member.

32. The shake compensation apparatus of claim 31, wherein the shake compensation apparatus further comprises a second fixed bracket, and the linkage structure is provided on the second fixed bracket.

33. The shake compensation apparatus of any one of claims 27-32, wherein the linkage structure comprises a first pulley and a second pulley; and the first pulley and the second pulley are connected via an annular structure extending across the first pulley and the second pulley, and the compensation member and the balance member are respectively connected to the annular structure and are respectively located on two sides of the first pulley and the second pulley.

34. The shake compensation apparatus of claim 33, wherein the annular structure comprises a first connection and a second connection; the compensation member and the balance member are respectively provided with connection members; and the first connection extends across the first pulley, the second connection extends across the second pulley, two ends of the first connection are respectively connected to the respective connection members of the compensation member and the balance member, and two ends of the second connection are respectively connected to the respective connection members of the compensation member and the balance member.

35. The shake compensation apparatus of claim 34, wherein one of the first connection and the second connection is at least partially elastic; or the connection parts between the respective connection members of the compensation member and the balance member and the first connection or the second connection are elastic.

36. The shake compensation apparatus of any one of claims 27-32, wherein the linkage structure comprises a lever assembly, which comprises a fulcrum and a connecting rod rotatable about the fulcrum; and the compensation member and the balance member are respectively connected to two ends of the connecting rod.

37. The shake compensation apparatus of claim 36, wherein the mass ratio of the compensation member to the balance member is equal to the ratio of a first length to a second length; and the first length is the length from the end of the connecting rod connected to the balance member to the fulcrum, and the second length is the length from the end of the connecting rod connected to the compensation member to the fulcrum.

38. The shake compensation apparatus of any one of claims 27-32, wherein the linkage structure comprises a gear; and the gear is provided between the compensation member and the balance member, and the respective contact points of the compensation member and the balance member with the gear are located at two ends of a diameter of the gear.

39. The shake compensation apparatus of any one of claims 24-32, wherein the shaking direction comprises at least one of an X direction or a Y direction, the X direction being a horizontal shaking direction, and the Y direction being a vertical shaking direction.

40. The shake compensation apparatus of claim 39, wherein the compensation member and the balance member are oppositely arranged and maintained at a fixed distance from each other in a Z direction, the Z direction being an optical axis direction,

41. The shake compensation apparatus of claim 40, wherein the shake compensation apparatus further comprises a limiting structure, and balls are provided between the compensation member and the balance member; and the compensation member and the balance member are subjected to action forces from the limiting structure to approach each other in the Z direction to clamp the balls between the compensation member and the balance member, and the limiting structure and the balls enable the compensation member and the balance member to be relatively moved in the X direction and the Y direction and maintained at a fixed distance from each other in the Z direction.

42. The shake compensation apparatus of any one of claims 23-32, wherein the mass of the compensation member and the mass of the balance member are equal to each other.

43. The shake compensation apparatus of any one of claims 23-32, wherein the compensation member comprises an image sensor.

44. The shake compensation apparatus of any one of claims 23-32, wherein the compensation member comprises a lens piece.

45. A photographing apparatus, comprising a shake compensation apparatus of any one of claims 1-22.

46. A photographing apparatus, comprising a shake compensation apparatus of any one of claims 23-44.

47. A control method, which is applied to a shake compensation apparatus for image stabilization of a photographing apparatus, the shake compensation apparatus including a shake compensation apparatus with a shake compensation assembly and a drive assembly, the shake compensation assembly comprising a compensation member and a balance member, the method comprising: determining shake parameters of the photographing apparatus; and controlling the drive assembly according to the shake parameters to drive the compensation member and the balance member to synchronously move in opposite directions for shake compensation.

48. The method of claim 47, wherein controlling the drive assembly according to the shake parameters to drive the compensation member and the balance member to synchronously move in opposite directions comprises: determining a shaking direction according to the shake parameters; and controlling the drive assembly according to the shaking direction to drive the compensation member to move in an opposite direction relative to the shaking direction and synchronously drive the balance member to move in the shaking direction.

49. The method of claim 48, wherein the drive assembly comprises a first drive member and a second drive member; and controlling the drive assembly according to the shaking direction comprises: controlling the first drive member to apply an action force to the balance member in the same direction as the shaking direction, and controlling the second drive member to synchronously apply an action force to the compensation member in the opposite direction relative to the shaking direction.

50. The method of claim 49, wherein the action force applied by the first drive member to the balance member and the action force applied by the second drive member to the compensation member are equal to each other in magnitude.

51. The method of claim 48, wherein the shake compensation apparatus further comprises a linkage structure, and the compensation member and the balance member are both connected to the linkage structure to maintain linkage.

52. The method of claim 51, wherein controlling the drive assembly according to the shaking direction to drive the compensation member to move in an opposite direction relative to the shaking direction and synchronously drive the balance member to move in the shaking direction comprises: controlling the drive assembly according to the shaking direction to drive the linkage structure to synchronously move the compensation member and the balance member in opposite directions.

53. The method of claim 51, wherein controlling the drive assembly according to the shaking direction to drive the compensation member to move in an opposite direction relative to the shaking direction and synchronously drive the balance member to move in the shaking direction comprises: controlling the drive assembly according to the shaking direction to drive the compensation member and the balance member to synchronously move in opposite directions.

54. The method of claim, wherein controlling the drive assembly according to the shaking direction to drive the compensation member to move in an opposite direction relative to the shaking direction and synchronously drive the balance member to move in the shaking direction comprises: controlling the drive assembly according to the shaking direction to drive the movement of a driving member, such that the driving member drives a driven member to move synchronously and reversely by means of the linkage structure, the driving member being one of the compensation member and the balance member, and the driven member being the other of the compensation member and the balance member.

55. The method of any one of claims 47-54, wherein the mass of the compensation member and the mass of the balance member are equal to each other.

56. The method of any one of claims 47-54, wherein the compensation member comprises an image sensor.

57. The method of any one of claims 47-54, wherein the compensation member comprises a lens piece.

58. A movable platform, comprising: a movable platform body and a shake compensation apparatus of any one of claims 1-22, wherein the shake compensation apparatus is mounted on the movable platform body.

59. A movable platform, comprising: a movable platform body and a shake compensation apparatus of any one of claims 23-44, wherein the shake compensation apparatus is mounted on the movable platform body.

60. A readable storage medium, comprising a computer program stored thereon that implements a control method of any one of claims 47-57 when executed.