CN109040573B

CN109040573B - Method and apparatus for correcting shake

Info

Publication number: CN109040573B
Application number: CN201710427325.1A
Authority: CN
Inventors: 廖可; 宫卫涛; 王炜; 于海华
Original assignee: Ricoh Co Ltd
Current assignee: Ricoh Co Ltd
Priority date: 2017-06-08
Filing date: 2017-06-08
Publication date: 2021-06-01
Anticipated expiration: 2037-06-08
Also published as: CN109040573A

Abstract

A shake correction method and a shake correction apparatus are disclosed. The shake correction method includes: after the electronic device is connected with the shake correction device, the magnetic field generating device is started to generate a magnetic field, and the overall gravity center of the electronic device, the connecting piece and the balance terminal which are connected with each other is adjusted through the acting force of the magnetic field on the balance terminal so as to keep the balance between gravity and magnetic field force; obtaining an initial image when the balance terminal is located at an initial position and a detection image thereafter based on photoelectric detection; when the initial image is different from the detection image, determining a motion mode and a motion amount of the balance terminal based on the difference; and adjusting the magnetic field based on the motion pattern and the motion amount to restore the balance terminal to an initial position.

Description

Method and apparatus for correcting shake

Technical Field

The present invention relates to an anti-shake technique, and more particularly, to a shake correction method and a shake correction apparatus based on photoelectric detection and magnetic levitation.

Background

Most of the current anti-shake techniques are applied to camera devices. The camera anti-shake technology mainly comprises the following steps:

1. optical anti-shake (OIS) is based on the principle that a gyroscope in a lens detects a small movement, and transmits a signal to a microprocessor to immediately calculate a displacement to be compensated, and then compensates the movement according to the shake direction and the displacement of the lens through a compensation lens set, thereby effectively overcoming image blur caused by vibration of a camera.

2. The sensor anti-shake (CCD/CMOS) is characterized in that a CCD is arranged on a support capable of moving up and down and left and right, whether shake exists or not is detected firstly, and the shake detection is basically the same as that of other companies due to the use of a gyro sensor. The sensor then detects the direction, speed, and amount of movement … … of the shake. The detected signal is processed to calculate the CCD shift amount that can sufficiently cancel the shake.

3. Electronic anti-shake (pure software), whose basic principle is to perform image analysis for an area of about 2/3 on the CCD and then compensate with the image of the edge according to the shake.

Since some electronic devices, such as cameras, do not include an anti-shake device, an external anti-shake device must be used. The external anti-shake equipment can be a boka camera stabilizer (Steadicam), a rocker arm, a handheld holder and the like.

In existing external anti-shake devices, such as handheld heads, attention is usually paid to the correction of two or three of pitch (rotation around the y-axis, also called pitch angle), yaw (rotation around the z-axis, also called yaw angle), roll (rotation around the x-axis, also called roll angle). Throughout this specification, the x-axis, the y-axis define a horizontal plane, and the z-axis represents a direction perpendicular to the horizontal plane (as shown in fig. 1). For vibration, especially vibration in the z-axis direction, the existing handheld pan-tilt usually employs a damping component such as a damping ball or a rubber ball to absorb the vibration. However, it is difficult for such a cushioning member to accurately control the amount of rebound of a cushioning member such as a damping ball, a rubber ball, or the like.

In addition, the anti-shake technique can also be applied to devices other than cameras, such as anti-shake spoons for parkinson patients. In this anti-shake spoon, vibration, in particular in the z-axis direction, is of interest, rather than rotation. However, since the spoon corrects the hand of the parkinson patient for a large shake using the acceleration sensor, it is difficult to achieve a required correction accuracy for a minute shake.

Disclosure of Invention

In view of the above circumstances, it is desirable to provide a shake correction method and a shake correction apparatus capable of accurately correcting vibration, particularly in the z-axis direction.

According to an aspect of the present invention, there is provided a shake correction method applied to a shake correction apparatus detachably connectable to an electronic apparatus for correcting a shake of the electronic apparatus when connected to the electronic apparatus, the shake correction apparatus including: a balance terminal; a connector including a first end fixedly connected with the balance terminal and a second end detachably connectable with the electronic device; and a case, wherein a first end of the connecting member is located inside the case and a second end of the connecting member is located outside the case, and further comprising a magnetic field generating device inside the case, the shake correction method comprising: after the electronic device is connected with the shake correction device, the magnetic field generating device is started to generate a magnetic field, and the overall gravity center of the electronic device, the connecting piece and the balance terminal which are connected with each other is adjusted through the acting force of the magnetic field on the balance terminal so as to keep the balance between gravity and magnetic field force; obtaining an initial image when the balance terminal is located at an initial position and a detection image thereafter based on photoelectric detection; when the initial image is different from the detection image, determining a motion mode and a motion amount of the balance terminal based on the difference; and adjusting the magnetic field based on the motion pattern and the motion amount to restore the balance terminal to an initial position.

Preferably, in the shake correction method according to the embodiment of the invention, at least one parallel light source for emitting light of at least one wavelength band is provided in the housing, the at least one parallel light source being disposed in a relative positional relationship with at least one of an x-axis, a y-axis, and a z-axis, wherein the step of "obtaining an initial image when the balance terminal is located at an initial position and a detection image thereafter based on photodetection" further includes: when the balance terminal is located at an initial position, shooting at least one initial image formed by light emitted by the at least one parallel light source; and shooting at least one detection image formed by the light emitted by the at least one parallel light source, wherein the at least one initial image and the at least one detection image are shot to correspond to at least one of an x axis, a y axis and a z axis, and a shielding area caused by a balance terminal in the box body exists in the at least one initial image and the at least one detection image.

Preferably, in a shake correction method according to an embodiment of the present invention, the step of "when the initial image is different from the detection image, determining a motion pattern and a motion amount of the balance terminal based on the difference" further includes: comparing the at least one initial image with the at least one detection image, and judging whether the central point of the shielding area deviates or not; when the center point of the shielding area deviates, determining that the motion mode of the balance terminal is vibration; and determining an offset amount of a center point of the shielded area as a vibration amount in a direction of an axis corresponding to an image in which the shielded area is located.

Preferably, the shake correction method according to an embodiment of the present invention may further include: based on the initial position of the balance terminal, presetting and storing a plurality of motion patterns based thereon, wherein the motion patterns are associated with lengths of shielding regions corresponding to respective axes and rotation amounts corresponding to the respective axes, wherein the step of determining the motion pattern and the motion amount of the balance terminal based on the difference when the initial image is different from the detection image further comprises: comparing the at least one initial image with the at least one detection image to determine whether the length of the occlusion region changes; when the length of the shielding area is changed, determining that the motion mode of the balance terminal is rotation; and matching the length of the shielding area in the at least one detection image with the preset length of the shielding area corresponding to each axis in the same time window so as to estimate the rotation amount corresponding to each axis.

According to another aspect of the present invention, there is provided a shake correction apparatus detachably connectable to an electronic apparatus for correcting shake of the electronic apparatus when connected to the electronic apparatus, the shake correction apparatus comprising: a balance terminal; a connector including a first end fixedly connected with the balance terminal and a second end detachably connectable with the electronic device; the box body comprises an opening part, and a supporting component is arranged on the opening part and used for supporting the connecting piece, so that the first end of the connecting piece is positioned in the box body, and the second end of the connecting piece is positioned outside the box body; the magnetic field generating device is positioned in the box body and used for generating a magnetic field and adjusting the overall gravity center of the electronic equipment, the connecting piece and the balance terminal which are connected with each other through the acting force of the magnetic field on the balance terminal so as to keep the balance between gravity and magnetic field force; a photoelectric detection device, located in the box body, for obtaining an initial image when the balance terminal is located at an initial position and a detection image thereafter; processing means, located in the box, for determining a motion mode and a motion amount of the balancing terminal based on the difference by comparing the initial image with the detection image and when the initial image is different from the detection image; and a magnetic field control device, located in the box, for adjusting a magnetic field based on the motion pattern and the motion amount, and restoring the balance terminal to an initial position, wherein when the shake correction apparatus is not powered on, the balance terminal is suspended in the box by a supporting force of the supporting component to the first end of the connecting piece, and when the shake correction apparatus is powered on, the balance terminal is suspended in the box by a magnetic field force of the magnetic field generation device to the balance terminal.

Preferably, in a shake correction apparatus according to an embodiment of the present invention, the photodetection device further includes: at least one parallel light source, which is used for emitting light of at least one wave band and is arranged according to the relative position relation of at least one of the x axis, the y axis and the z axis; at least one light sensor disposed in parallel corresponding to the at least one parallel light source for capturing an image formed by light emitted from the at least one parallel light source, wherein the at least one light sensor obtains at least one initial image when the balance terminal is located at an initial position, and thereafter the at least one light sensor obtains at least one detection image, wherein the at least one initial image and the at least one detection image captured each correspond to at least one of an x-axis, a y-axis, and a z-axis, and a blocking area caused by the balance terminal within the housing exists in the at least one initial image and the at least one detection image.

Preferably, in a shake correction apparatus according to an embodiment of the present invention, the photodetection device further includes: at least one parallel light source, which is used for emitting light of at least one wave band and is arranged according to the relative position relation of at least one of the x axis, the y axis and the z axis; at least one reflector, disposed corresponding to the at least one collimated light source, for reflecting light emitted from the at least one collimated light source; at least one light sensor placed at the same position as the at least one parallel light source for taking an image formed by the light reflected by the at least one mirror, wherein when the balance terminal is located at an initial position, the at least one light sensor obtains at least one initial image, and thereafter, the at least one light sensor obtains at least one detection image, wherein the at least one initial image and the at least one detection image taken each correspond to at least one of an x-axis, a y-axis, and a z-axis, and a blocking area caused by the balance terminal within the housing exists in the at least one initial image and the at least one detection image.

Preferably, in the shake correction apparatus according to the embodiment of the present invention, the processing device is further configured to: comparing the at least one initial image with the at least one detection image, and judging whether the central point of the shielding area deviates or not; when the center point of the shielding area deviates, determining that the motion mode of the balance terminal is vibration; and determining an offset amount of a center point of the shielded area as a vibration amount in a direction of an axis corresponding to an image in which the shielded area is located.

Preferably, the shake correction apparatus according to an embodiment of the present invention may further include: a storage device for storing a plurality of movement patterns based on an initial position of the balance terminal in advance, wherein the movement patterns are associated with lengths of the shielding areas corresponding to the respective axes and rotation amounts corresponding to the respective axes, wherein the processing device is further configured to: comparing the at least one initial image with the at least one detection image to determine whether the length of the occlusion region changes; when the length of the shielding area is changed, determining that the motion mode of the balance terminal is rotation; and matching the length of the shielding area in the at least one detection image with the preset length of the shielding area corresponding to each axis in the same time window so as to estimate the rotation amount corresponding to each axis.

By the shake correction method and the shake correction apparatus according to the embodiments of the present invention, the anti-shake damping is performed by using the photo-electric detection and the magnetic levitation adjustment, and not only the rotation in pitch, yaw, and roll directions can be accurately corrected, but also the vibration in x, y, and z-axis directions can be accurately corrected. In photoelectric detection, interference of a magnetic field and an electric field is avoided, and the accuracy is high. Further, the shake correction can be performed at high speed and more flexibly based on the magnetic levitation. For example, corrections may be selectively performed for vibrations and/or rotations based on user-specific usage scenarios.

Drawings

FIG. 1 illustrates a coordinate system according to the present invention;

fig. 2 is a flowchart showing a procedure of a shake correction method according to the present invention;

fig. 3 shows three initial images obtained by shooting in a case where three parallel light sources are provided;

fig. 4 shows a first example of three detection images obtained by shooting in a case where three parallel light sources are provided;

fig. 5 shows a second example of three detection images obtained by shooting in a case where three parallel light sources are provided;

fig. 6 shows the change in the projected length on the x and y axes caused when the balanced terminal is rotated centering on the z axis;

fig. 7 shows a sectional view of the balanced terminal in the xy plane when the balanced terminal is rotated at the z-axis center;

fig. 8 is a functional block diagram showing a configuration of a shake correction apparatus according to an embodiment of the present invention;

fig. 9 is a schematic configuration diagram showing a shake correction apparatus in a case where three parallel light sources are provided; and

fig. 10 shows an example of the configuration of a magnetic field generation device according to an embodiment of the present invention.

Detailed Description

Various preferred embodiments of the present invention will be described below with reference to the accompanying drawings. The following description with reference to the accompanying drawings is provided to assist in understanding the exemplary embodiments of the invention as defined by the claims and their equivalents. It includes various specific details to assist understanding, but they are to be construed as merely illustrative. Accordingly, those skilled in the art will recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of the present invention. Also, in order to make the description clearer and simpler, a detailed description of functions and configurations well known in the art will be omitted.

First, a shake correction method according to an embodiment of the present invention will be described with reference to fig. 2. The shake correction method can be applied to a shake correction apparatus. The shake correction apparatus is detachably connectable to an electronic apparatus for correcting shake of the electronic apparatus when connected to the electronic apparatus. Dithering here includes vibration and/or rotation.

In addition, it should be noted that the electronic device is not limited to a camera, but may be any other type of portable device. Moreover, the shake correction method according to the invention can be applied to any scene needing to correct micro-shake, and is not limited to camera anti-shake.

For convenience of description of each step in the shake correction method, the configuration of the shake correction apparatus will be briefly described. Specific details about the shake correction apparatus will be described later. The shake correction apparatus includes: a balance terminal; a connector including a first end fixedly connected with the balance terminal and a second end detachably connectable with the electronic device; and a case, wherein a first end of the connecting member is located inside the case and a second end of the connecting member is located outside the case, and further comprising a magnetic field generating device inside the case.

If it is desired to correct the shake of the electronic apparatus by the shake correction apparatus, the electronic apparatus needs to be connected to the shake correction apparatus first.

As shown in fig. 2, the shake correction method includes the following steps.

First, in step S201, after the electronic device is connected to the shake correction apparatus, the magnetic field generating device is activated to generate a magnetic field, and the overall center of gravity of the electronic device, the connector, and the balance terminal connected to each other is adjusted by the force of the magnetic field on the balance terminal to maintain the balance between the gravity and the magnetic field force. That is, it is necessary to power on the shake correction apparatus after the shake correction apparatus is connected to the electronic apparatus. Each time a different electronic apparatus is connected to the shake correction apparatus or the same electronic apparatus is connected again after being disconnected from the shake correction apparatus, the center of gravity of the whole is readjusted to reach a state of equilibrium. As will be described in detail below, a rigid connection is made between the electronic device and the balanced terminal. That is, after the electronic apparatus is connected to the shake correction apparatus, any shake of the electronic apparatus is transferred to the balance terminal and is reflected as a shake of the balance terminal.

Next, in step S202, based on the photodetection, an initial image when the balance terminal is located at the initial position is obtained. The position where the balance terminal is located when no shake occurs after the electronic apparatus and the shake correction apparatus are initially connected is defined as an initial position.

Then, in step S203, a detection image is obtained based on the photodetection. The detection image is an image shot at any time point after the initial image is obtained. If the electronic device shakes, the balance terminal will be deviated from the initial position, and the detected image is different from the initial image. And if the electronic device is not shaken, the balance terminal is not deviated from the initial position, so that the detected image is identical to the initial image. And, after obtaining the initial image, the detection image is acquired every predetermined period of time.

Then, in step S204, by comparing the initial image with the detection image, it is determined whether or not there is a difference.

If it is determined as yes in step S204, the process proceeds to step S205. In step S205, the movement pattern and the movement amount of the balance terminal are determined based on the difference.

Then, in step S206, the magnetic field is adjusted based on the movement pattern and the movement amount, and the balance terminal is returned to the initial position. Specifically, after the movement pattern and the movement amount are determined, the magnetic field is controlled so as to move the balance terminal in a pattern opposite to the determined movement pattern based on the determined movement amount, that is: the magnetic field is controlled so that the balance terminal moves in a reverse process to the shaking process, thereby restoring to the original position.

If no at step S204, the process returns to step S203 to continue acquisition of new detection images at intervals of a predetermined period of time.

By this time, the complete one-time shake correction processing is ended, and the balance terminal is returned to the initial position. And the process returns to step S203 to perform the next shake correction process.

In the shake correction method according to the present invention, the anti-shake vibration reduction is performed by the photodetection and the magnetic levitation adjustment, and not only the rotation in the pitch, yaw, and roll directions can be accurately corrected, but also the vibration in the x, y, and z-axis directions can be accurately corrected.

In addition, although not shown in fig. 2, as a possible embodiment, PID control may also be employed in the process of shake correction. A PID controller (proportional-integral-derivative controller) is a common feedback loop component in industrial control applications, consisting of a proportional unit P, an integral unit I and a derivative unit D. By means of PID control, the data can be compared with reference values and the differences used for calculating new input values. The purpose is to let the data of the system reach or remain at the reference value. In the shake correction method according to the present invention, after the amount of movement of the balance terminal that needs to be adjusted is determined, the balance terminal may be gradually adjusted back and feedback-monitored using PID control to ensure that the balance terminal does not overshoot due to inertia.

Of course, in the shake correction method according to the present invention, whether vibration elimination or rotation elimination is performed depends on the characteristics of the electronic device mounted on the balance terminal. If vibration elimination is a major problem for electronic devices, the shake correction method mainly corrects for vibrations. The vibration correction may be a correction for vibration in a direction along at least one of the x, y, z axes. For example, the shake correction method according to the present invention may be vibration elimination of a single axis, or vibration elimination of multiple axes (two axes or three axes). On the other hand, if rotation elimination is a main problem to be solved for the electronic apparatus, the shake correction method mainly corrects for rotation. The rotation correction may be a correction for rotation in a direction along at least one of pitch, yaw, roll directions. Alternatively, if vibration elimination and rotation elimination are both issues to be solved for the electronic apparatus, the shake correction method corrects for both vibration and rotation. That is, the detection and adjustment process may be simplified or personalized as appropriate, depending on the characteristics of the electronic device.

Next, a specific embodiment of the shake correction method according to the present invention will be described. In the shake correction apparatus, at least one parallel light source for emitting light of at least one wavelength band is provided in a case, and the at least one parallel light source is disposed in a relative positional relationship with at least one of an x-axis, a y-axis, and a z-axis. For example, only one parallel light source may be provided in the housing, and the parallel light sources may be arranged in the direction of one of the x-axis, y-axis, and z-axis. For example, one parallel light source may be arranged in the z-axis direction. Or two parallel light sources can be arranged in the box body to emit light with two different wave bands, so that the light with the different wave bands cannot interfere with each other. The two parallel light sources are arranged in a relative positional relationship of two axes among the x-axis, the y-axis, and the z-axis. Or, three parallel light sources can be arranged in the box body to emit light of three different wave bands, and the three parallel light sources are arranged according to the relative position relation of the x axis, the y axis and the z axis.

In this case, the step S202 of "obtaining an initial image when the balanced terminal is located at the initial position based on photodetection" described hereinabove further includes: when the balance terminal is located at the initial position, at least one initial image formed by the light emitted by the at least one parallel light source is photographed. Also, the step S203 of "obtaining a detection image based on photodetection" described hereinabove further includes: after the balancing terminal is moved, at least one detection image formed by the light emitted from the at least one parallel light source is photographed.

Wherein the at least one initial image and the at least one detection image are taken to correspond to at least one of an x-axis, a y-axis, and a z-axis. For example, if the initial image and the detection image are images formed by taking light emitted by a parallel light source corresponding to the z-axis, the initial image and the detection image are considered to correspond to the z-axis.

And, there is a shadow region caused by the balanced terminals within the box in both at least one initial image and at least one.

Fig. 3 shows three initial images obtained by shooting in a case where three parallel light sources are provided. In fig. 3, the three initial images correspond to the x-axis, the y-axis, and the z-axis, respectively, and are images obtained by photographing light of different wavelength bands (for example, the three initial images are different in color) represented by differences in gray scale. The black area indicates a shielding area formed by shielding the balanced terminal in the case. The white dots represent the center point of the occlusion region.

Since the electronic device is rigidly connected to the balanced terminals, any movement of the electronic device (including vibration and rotation) will be reflected as a movement of the balanced terminals. Movement of the balanced terminals within the housing will result in a change in the shielded area. The change in the shielded area will reflect the movement pattern and amount of the balanced terminal.

Specifically, in this case, the step S205 of "determining the motion pattern and the motion amount of the balance terminal based on the difference" described above when the initial image is different from the detection image further includes: comparing the at least one initial image with the at least one detection image, and judging whether the central point of the shielding area deviates or not; when the center point of the shielding area deviates, determining the motion mode of the balance terminal as vibration; and determining an offset amount of a center point of the blocked area as a vibration amount in a direction of an axis corresponding to the image in which the blocked area is located.

For example, fig. 4 shows a first example of three detection images obtained by shooting in a case where three parallel light sources are provided. As can be seen by correspondingly comparing the three detected images in fig. 4 with the three initial images in fig. 3, respectively, only the center point of the occlusion region corresponding to the z-axis is shifted in the positive z-axis direction. In this case, the motion pattern of the balance terminal is determined as vibration in the positive z-axis direction, and the amount of deviation of the center point of the shield area is determined as the amount of vibration in the z-axis direction. In other words, fig. 4 shows a case where only the vibration in the z-axis direction exists.

In addition, fig. 5 shows a second example of three detection images obtained by shooting in the case where three parallel light sources are provided. As can be seen by comparing the three detected images in fig. 5 with the three initial images in fig. 3, respectively, the length of the occlusion region corresponding to the x-axis and the y-axis changes. To facilitate the movement pattern of the balanced terminal in this case, fig. 6 shows the change of the projection length on the x and y axes caused when the balanced terminal is rotated centering on the z axis. Therefore, once the length of the shielding region of the detection image is changed compared with the initial image, the balance terminal can be judged to be rotated. Fig. 5 and 6 show the simplest rotation of the balanced terminals only about one axis along the z-axis. Of course, in actual practice, there may be more complex multi-axis directional rotation. This will result in a change in the length of the occlusion region in the x, y, z axes.

The motion pattern of the rotation is more complex than that of the vibration. Therefore, the rotation pattern of the balance terminal is estimated by matching with a plurality of preset motion patterns.

Specifically, the shake correction method according to the present invention further includes the steps of: and presetting and storing a plurality of motion modes based on the initial position of the balance terminal, wherein the motion modes are associated with the length of the shielding area corresponding to each shaft and the rotation amount corresponding to each shaft.

The step S205 of "determining the motion pattern and the motion amount of the balance terminal based on the difference when the initial image and the detection image are different" described hereinabove further includes: comparing the at least one initial image with the at least one detection image to determine whether the length of the occlusion region changes; when the length of the shielding area is changed, determining that the motion mode of the balance terminal is rotation; and matching the length of the shielding area in the at least one detection image with the preset length of the shielding area corresponding to each axis in the same time window so as to estimate the rotation amount corresponding to each axis. By matching the detected image with a preset motion pattern, the calculation process can be simplified.

Here, it should be noted that when the balance terminal is rotated, the change in the image exhibits a certain periodic property. Since the photoelectric sensor performing the photoelectric detection performs data acquisition (multiple time windows) for multiple times, in order to ensure the accuracy and the correspondence of the data, the detection images within the same time window need to be matched with the preset motion pattern.

Only vibration and only rotation are shown in the above fig. 4 and 5, respectively. However, it will be appreciated that in practice it is often the case that there is both vibration and rotation. In the case where both vibration and rotation are present at the same time, the correction of vibration and the correction of rotation described hereinabove will be performed separately. Wherein the correction of the vibration and the correction of the rotation may be performed in parallel or in series.

In addition, before matching the length of the occlusion region in at least one of the detection images with the preset length of the occlusion region corresponding to each axis, as a possible implementation, noise points can be further removed based on specific constraints.

The case where the balance terminal is rotated around the z-axis will be described as an example. Fig. 7 shows a cross-sectional view of the balanced terminal in the xy plane. As shown in fig. 7, the cross section of the balanced terminal is rectangular, and four end points of the rectangle are defined by 1, 2, 3, 4, respectively, the length of the balanced terminal is denoted by L, and the width of the balanced terminal is denoted by S.

It can be determined based on the rotation law of the balanced terminal that the following constraints of the equation set need to be satisfied during the rotation of the balanced terminal:

wherein y1, y2, y3 and y4 respectively represent the y-axis coordinates of the

endpoints

1, 2, 3 and 4, and x1, x2, x3 and x4 respectively represent the x-axis coordinates of the

endpoints

1, 2, 3 and 4. y1 to y3 indicate that y1 and y3 are in point symmetry with respect to the center point of the balanced terminal, y2 to y4 indicate that y2 and y4 are in point symmetry with respect to the center point of the balanced terminal, x1 to x3 indicate that x1 and x3 are in point symmetry with respect to the center point of the balanced terminal, and x2 to x4 indicate that x2 and x4 are in point symmetry with respect to the center point of the balanced terminal.

By eliminating noise that does not satisfy the above equation set constraints prior to matching, the accuracy of the estimated motion pattern can be improved.

In the above, the specific flow of the shake correction method according to the embodiment of the present invention has been described in detail with reference to fig. 2 to 7. Next, a specific configuration of a shake correction apparatus according to an embodiment of the present invention corresponding to this shake correction method will be described with reference to fig. 8.

Fig. 8 is a functional block diagram showing the configuration of a shake correction apparatus according to an embodiment of the present invention. The shake correction apparatus according to the embodiment of the present invention is detachably connectable to an electronic apparatus for correcting shake of the electronic apparatus when connected to the electronic apparatus. As shown in fig. 8, the shake correction apparatus 800 includes: balanced terminal 801, connector 802, box 803, magnetic field generating device 804, photoelectric detection device 805, processing device 806 and magnetic field control device 807.

When the balanced terminal 801 is in a magnetic field, a magnetic force generated thereto by the magnetic field can be induced.

The connector 802 includes a first end fixedly connected with the balanced terminal and a second end detachably connectable with the electronic device.

The box 803 includes an opening portion, and a support assembly is disposed on the opening portion for supporting the connecting member such that a first end of the connecting member is located inside the box and a second end of the connecting member is located outside the box. For example, the support member may be a ring of gum cover connected to the connector.

The magnetic field generating device 804 is located in the box, and is configured to generate a magnetic field, and adjust an overall center of gravity of the electronic device, the connecting member, and the balanced terminal, which are connected to each other, by an acting force of the magnetic field on the balanced terminal, so as to maintain a balance between gravity and a magnetic field force.

A photo-detection device 805 is located within the housing for obtaining an initial image when the balanced terminal is at an initial position and a detection image thereafter.

Processing means 806 are located within the housing for determining the movement pattern and the amount of movement of the balancing terminal by comparing the initial image with the detection image.

A magnetic field control device 807 is located in the housing for adjusting the magnetic field based on the movement pattern and the movement amount to restore the balance terminal to the initial position.

Wherein, when the shake correcting apparatus 800 is not powered on, the balanced terminal is suspended in the case by the supporting force of the supporting member to the first end of the connecting member. That is to say, the supporting component on the box can guarantee that the connecting piece and the balanced terminal are unlikely to fall into the box when the equipment is not powered on. And when the shake correction apparatus 800 is powered on, the balanced terminal is suspended in the case by the magnetic force of the magnetic field generation device thereto. At this time, the supporting force of the supporting component to the connecting piece and the balance terminal can be ignored.

In the shake correction apparatus according to the present invention, the anti-shake vibration damping is performed by the photodetection and the magnetic levitation adjustment, and not only the rotation in the pitch, yaw, and roll directions can be accurately corrected, but also the vibration in the x, y, and z-axis directions can be accurately corrected.

In addition, although not shown in fig. 8, as a possible embodiment, the shake correction apparatus 800 may further include a PID controller composed of a proportional unit P, an integral unit I, and a differential unit D. The PID controller can compare the data to a reference value and use the difference to calculate a new input value. The purpose is to let the data of the system reach or remain at the reference value. In the shake correction apparatus according to the present invention, after the amount of movement of the balance terminal that needs to be adjusted is determined by the processing means 806, the magnetic field control means 807 may control the magnetic field generated by the magnetic field generating means 804 to gradually adjust back the balance terminal, and perform feedback monitoring using a PID controller to ensure that the balance terminal does not overshoot due to inertia.

Of course, in the shake correction apparatus according to the present invention, as described hereinabove, whether vibration elimination or rotation elimination is performed depends on the characteristics of the electronic apparatus mounted on the balance terminal. If vibration elimination is a major problem for electronic devices, the shake correction device mainly corrects for vibration. The vibration correction may be a correction for vibration in a direction along at least one of the x, y, z axes. For example, the shake correction apparatus according to the present invention may be single-axis vibration elimination, or multi-axis (two-axis or three-axis) vibration elimination. On the other hand, if rotation elimination is a main problem to be solved for the electronic apparatus, the shake correction apparatus mainly corrects for rotation. The rotation correction may be a correction for rotation in a direction along at least one of pitch, yaw, roll directions. Alternatively, if vibration elimination and rotation elimination are both issues to be solved for the electronic apparatus, the shake correction method corrects for both vibration and rotation. That is, the detection and adjustment process may be simplified or personalized as appropriate, depending on the characteristics of the electronic device.

Next, a specific embodiment of the shake correction apparatus according to the present invention will be described. The photo detection device 805 may further include: at least one parallel light source, which is used for emitting light of at least one wave band and is arranged according to the relative position relation of at least one of the x axis, the y axis and the z axis; and the at least one light sensor is arranged in parallel corresponding to the at least one parallel light source and is used for shooting an image formed by the light emitted by the at least one parallel light source.

Wherein when the balance terminal is located at an initial position, the at least one photosensor obtains at least one initial image, and thereafter, the at least one photosensor obtains at least one detection image. And the at least one initial image and the at least one detection image which are shot correspond to at least one of an x axis, a y axis and a z axis, and a shielding area caused by a balance terminal in the box body exists in the at least one initial image and the at least one detection image.

For example, only one parallel light source may be provided in the housing, and the parallel light sources may be arranged in the direction of one of the x-axis, y-axis, and z-axis. For example, one parallel light source may be arranged in the z-axis direction. Or two parallel light sources can be arranged in the box body to emit light with two different wave bands, so that the light with the different wave bands cannot interfere with each other. The two parallel light sources are arranged in a relative positional relationship of two axes among the x-axis, the y-axis, and the z-axis. Or, three parallel light sources can be arranged in the box body to emit light of three different wave bands, and the three parallel light sources are arranged according to the relative position relation of the x axis, the y axis and the z axis.

Fig. 9 shows a schematic configuration diagram of a shake correction apparatus in the case where three parallel light sources are provided. Also shown in fig. 9 is an electronic apparatus connected to the shake correction apparatus, wherein the electronic apparatus is a camera device. In fig. 9, the magnetic field generating device, the photodetecting device, the processing device, and the magnetic field control device are not shown.

As shown in fig. 9, the three parallel light sources are arranged in a relative positional relationship of the x-axis, the y-axis, and the z-axis, and emit parallel lights of different wavelength bands. In fig. 9, light of different wavelength bands is represented by different gray scales. Although the photodetection means is not depicted in fig. 9, the photodetection means may be provided corresponding to the parallel light source at the

marked positions

1, 2, 3. Since only a linear parallel light source needs to be photographed, the photodetection device may be a linear sensor in order to reduce costs. For example, the photodetection device may be a linear CCD (charge coupled device), a CMOS (non-metal oxide semiconductor), a PSD, or the like. And, the collimated light source and the photo detection device must be perfectly parallel.

However, in practice, ensuring that the collimated light source is perfectly parallel to the photodetecting device in the shake correction apparatus is not favorable for implementation. Therefore, alternatively, it is also possible to place the collimated light source and the photodetection device at the same position (substantially at the same position without shielding the collimated light source), reflect the light emitted from the collimated light source with a mirror, and photograph an image formed by the reflected light with the photodetection device.

Specifically, in this case, the detection device further includes: at least one parallel light source, which is used for emitting light of at least one wave band and is arranged according to the relative position relation of at least one of the x axis, the y axis and the z axis; at least one reflector, disposed corresponding to the at least one collimated light source, for reflecting light emitted from the at least one collimated light source; at least one light sensor placed at the same position as the at least one parallel light source for photographing an image formed by the light reflected by the at least one mirror.

The processing device 806 may be further configured to: comparing the at least one initial image with the at least one detection image, and judging whether the central point of the shielding area deviates or not; when the center point of the shielding area deviates, determining that the motion mode of the balance terminal is vibration; and determining an offset amount of a center point of the shielded area as a vibration amount in a direction of an axis corresponding to an image in which the shielded area is located.

The above is the operation of the processing apparatus when the motion mode of the balance terminal is vibration. Next, the operation of the processing device when the movement pattern of the balance terminal is rotation will be described.

In this case, the shake correction apparatus 800 may further include: and a storage device (not shown) for storing in advance a plurality of movement patterns based on the initial position of the balance terminal, wherein the movement patterns are associated with the length of the shielding region corresponding to each axis and the rotation amount corresponding to each axis.

Wherein the processing device 806 may be further configured to: comparing the at least one initial image with the at least one detection image to determine whether the length of the occlusion region changes; when the length of the shielding area is changed, determining that the motion mode of the balance terminal is rotation; and matching the length of the shielding area in the at least one detection image with the preset length of the shielding area corresponding to each axis in the same time window so as to estimate the rotation amount corresponding to each axis.

In addition, before matching the length of the occlusion region in the at least one detection image with the preset length of the occlusion region corresponding to each axis, as a possible implementation, the processing device 806 may be further configured to reject noise based on a specific constraint.

The operations of the respective means included in the shake correction apparatus completely correspond to the respective steps in the shake correction method described hereinabove. Therefore, details thereof will not be described again for the sake of avoiding redundancy.

In addition, fig. 10 shows an example of the configuration of the magnetic field generation device according to the embodiment of the present invention. As shown in fig. 10, the magnetic field generating means may include four sub-means. Of course, the number of sub-devices is merely an example. The magnetic field control means may control the intensity of the magnetic field generated by the plurality of sub-means, respectively. For example, when the balanced terminal has a positive vibration along the z-axis, the magnetic field control device may uniformly reduce the magnetic field intensity generated by the plurality of sub-devices, thereby enabling the balanced terminal to fall back along the z-axis to return to the original position. For another example, when the balance terminal rotates, the magnetic field control device may control the magnetic field of one part of the sub-devices to be constant or decreased, and the magnetic field of another part of the sub-devices to be increased, so that the balance terminal can rotate in the opposite direction to return to the original position.

Fig. 10 shows only the case where the magnetic field force is directed vertically upward. However, the present invention is not limited thereto. The magnetic field generating device can generate magnetic fields in various directions. For example, the magnetic field generating device may generate a magnetic field force in an x-axis direction or a y-axis direction to the balanced terminal, in addition to the magnetic field force in the z-axis direction to the balanced terminal.

Hereinabove, the shake correction method and the shake correction apparatus according to the embodiments of the present invention have been described in detail with reference to fig. 1 to 10. By the shake correction method and the shake correction apparatus according to the embodiments of the present invention, the anti-shake damping is performed by using the photo-electric detection and the magnetic levitation adjustment, and not only the rotation in pitch, yaw, and roll directions can be accurately corrected, but also the vibration in x, y, and z-axis directions can be accurately corrected. In photoelectric detection, interference of a magnetic field and an electric field is avoided, and the accuracy is high. Further, the shake correction can be performed at high speed and more flexibly based on the magnetic levitation. For example, corrections may be selectively performed for vibrations and/or rotations based on user-specific usage scenarios.

It should be noted that, in the present specification, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

Finally, it should be noted that the series of processes described above includes not only processes performed in time series in the order described herein, but also processes performed in parallel or individually, rather than in time series.

Through the above description of the embodiments, those skilled in the art will clearly understand that the present invention may be implemented by software plus a necessary hardware platform, and may also be implemented by software entirely. With this understanding in mind, all or part of the technical solutions of the present invention that contribute to the background can be embodied in the form of a software product, which can be stored in a storage medium, such as a ROM/RAM, a magnetic disk, an optical disk, etc., and includes instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods according to the embodiments or some parts of the embodiments of the present invention.

The present invention has been described in detail, and the principle and embodiments of the present invention are explained herein by using specific examples, which are only used to help understand the method and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.

Claims

1. A shake correction method applied to a shake correction apparatus detachably connectable to an electronic apparatus for correcting shake of the electronic apparatus when connected to the electronic apparatus, the shake correction apparatus comprising: a balance terminal; a connector including a first end fixedly connected with the balance terminal and a second end detachably connectable with the electronic device; and a case, wherein a first end of the connecting member is located inside the case and a second end of the connecting member is located outside the case, and further comprising a magnetic field generating device inside the case,

the shake correction method includes:

after the electronic device is connected with the shake correction device, the magnetic field generating device is started to generate a magnetic field, and the overall gravity center of the electronic device, the connecting piece and the balance terminal which are connected with each other is adjusted through the acting force of the magnetic field on the balance terminal so as to keep the balance between gravity and magnetic field force;

obtaining an initial image when the balance terminal is located at an initial position and a detection image thereafter based on photoelectric detection;

when the initial image is different from the detection image, determining a motion mode and a motion amount of the balance terminal based on the difference; and

adjusting a magnetic field based on the movement pattern and the movement amount to return the balance terminal to an initial position;

wherein at least one parallel light source is arranged in the box body and used for emitting light of at least one wave band, the at least one parallel light source is arranged according to the relative position relation of at least one of an x axis, a y axis and a z axis,

wherein the step of "obtaining an initial image when the balance terminal is located at an initial position and a detection image thereafter based on photodetection" further includes:

when the balance terminal is located at an initial position, shooting at least one initial image formed by light emitted by the at least one parallel light source;

taking at least one inspection image formed by the light emitted by the at least one collimated light source,

wherein the at least one initial image and the at least one detection image taken both correspond to at least one of an x-axis, a y-axis, and a z-axis, and a blocked area caused by a balanced terminal within the case exists in both the at least one initial image and the at least one detection image.

2. The shake correction method according to claim 1, wherein the step of determining the movement pattern and the movement amount of the balance terminal based on the difference when the initial image is different from the detection image further comprises:

comparing the at least one initial image with the at least one detection image, and judging whether the central point of the shielding area deviates or not;

when the center point of the shielding area deviates, determining that the motion mode of the balance terminal is vibration; and

determining an offset amount of a center point of the shielded area as a vibration amount in a direction of an axis corresponding to an image in which the shielded area is located.

3. The shake correction method according to claim 1, further comprising:

presetting and storing a plurality of movement patterns based on the initial position of the balance terminal, wherein the movement patterns are associated with the length of the shielding area corresponding to each shaft and the rotation amount corresponding to each shaft,

wherein the step of determining the motion pattern and the motion amount of the balance terminal based on the difference when the initial image is different from the detection image further comprises:

comparing the at least one initial image with the at least one detection image to determine whether the length of the occlusion region changes;

when the length of the shielding area is changed, determining that the motion mode of the balance terminal is rotation; and

and matching the length of the shielding area in the at least one detection image with the preset length of the shielding area corresponding to each axis in the same time window so as to estimate the rotation amount corresponding to each axis.

4. A shake correction apparatus detachably connectable with an electronic apparatus for correcting shake of the electronic apparatus when connected with the electronic apparatus, the shake correction apparatus comprising:

a balance terminal;

a connector including a first end fixedly connected with the balance terminal and a second end detachably connectable with the electronic device;

the box body comprises an opening part, and a supporting component is arranged on the opening part and used for supporting the connecting piece, so that the first end of the connecting piece is positioned in the box body, and the second end of the connecting piece is positioned outside the box body;

the magnetic field generating device is positioned in the box body and used for generating a magnetic field and adjusting the overall gravity center of the electronic equipment, the connecting piece and the balance terminal which are connected with each other through the acting force of the magnetic field on the balance terminal so as to keep the balance between gravity and magnetic field force;

a photoelectric detection device, located in the box body, for obtaining an initial image when the balance terminal is located at an initial position and a detection image thereafter;

processing means, located in the box, for determining a motion mode and a motion amount of the balancing terminal based on the difference by comparing the initial image with the detection image and when the initial image is different from the detection image; and

a magnetic field control device located in the case and configured to adjust a magnetic field based on the movement pattern and the amount of movement and return the balance terminal to an initial position,

when the shake correcting device is not powered on, the balance terminal is suspended in the box body through the supporting force of the supporting component to the first end of the connecting piece, and when the shake correcting device is powered on, the balance terminal is suspended in the box body through the magnetic field force of the magnetic field generating device to the balance terminal;

wherein the photodetection device further comprises:

at least one parallel light source, which is used for emitting light of at least one wave band and is arranged according to the relative position relation of at least one of the x axis, the y axis and the z axis;

at least one light sensor disposed in parallel corresponding to the at least one parallel light source for photographing an image formed by light emitted from the at least one parallel light source,

wherein the at least one photosensor obtains at least one initial image when the balanced terminal is at an initial position, and thereafter, the at least one photosensor obtains at least one detection image,

wherein the at least one initial image and the at least one detection image taken each correspond to at least one of an x-axis, a y-axis, and a z-axis, and a blocked area caused by a balanced terminal within the case exists in each of the at least one initial image and the at least one detection image.

5. The shake correction apparatus according to claim 4, wherein the photodetecting means further comprises:

at least one reflector, disposed corresponding to the at least one collimated light source, for reflecting light emitted from the at least one collimated light source;

at least one light sensor placed at the same position as the at least one parallel light source for taking an image formed by the light reflected by the at least one mirror,

wherein when the balanced terminal is located at an initial position, the at least one photosensor obtains at least one initial image, and thereafter, the at least one photosensor obtains at least one detection image.

6. The shake correcting apparatus according to claim 4 or 5, wherein the processing device is further configured to:

7. The shake correcting apparatus according to claim 6, further comprising:

a storage means for storing in advance a plurality of movement patterns based on an initial position of the balance terminal, wherein the movement patterns are associated with lengths of the shielding areas corresponding to the respective axes and rotation amounts corresponding to the respective axes,

wherein the processing device is further configured to: