CN110113542A - Anti-fluttering method and device, electronic equipment, computer readable storage medium - Google Patents
Anti-fluttering method and device, electronic equipment, computer readable storage medium Download PDFInfo
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- CN110113542A CN110113542A CN201910561251.XA CN201910561251A CN110113542A CN 110113542 A CN110113542 A CN 110113542A CN 201910561251 A CN201910561251 A CN 201910561251A CN 110113542 A CN110113542 A CN 110113542A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/68—Control of cameras or camera modules for stable pick-up of the scene, e.g. compensating for camera body vibrations
- H04N23/682—Vibration or motion blur correction
- H04N23/683—Vibration or motion blur correction performed by a processor, e.g. controlling the readout of an image memory
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/68—Control of cameras or camera modules for stable pick-up of the scene, e.g. compensating for camera body vibrations
- H04N23/682—Vibration or motion blur correction
- H04N23/685—Vibration or motion blur correction performed by mechanical compensation
- H04N23/687—Vibration or motion blur correction performed by mechanical compensation by shifting the lens or sensor position
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- Signal Processing (AREA)
- Gyroscopes (AREA)
- Studio Devices (AREA)
Abstract
This application involves a kind of anti-fluttering method, device, electronic equipment, computer readable storage mediums.Method includes: the angular velocity data for obtaining the gyroscope；Obtain the acceleration information of the accelerometer；The angular velocity data and acceleration information are bound by the inertia survey meter, the data after being bound, and the data after the binding are sent to the driver；The data after the binding are unbinded by driver to obtain the angular velocity data and the acceleration information；According to after unbundlings the angular velocity data and the acceleration information carry out stabilization processing.The accuracy of stabilization can be improved in above-mentioned anti-fluttering method, device, electronic equipment, computer readable storage medium.
Description
Technical field
This application involves computer field, more particularly to a kind of anti-fluttering method, device, electronic equipment, computer-readable
Storage medium.
Background technique
With the development of computer technology, there are various stabilization technologies, such as electronic flutter-proof, optical anti-vibration.In tradition
Stabilization technology in, camera is compensated by the angular velocity data of detection, make camera shoot image keep as far as possible
Stablize, to ensure that the clarity of image, effectively overcomes the image generated by shake fuzzy.
However, there is stabilization inaccuracy in traditional stabilization technology.
Summary of the invention
The embodiment of the present application provides a kind of anti-fluttering method, device, electronic equipment, computer readable storage medium, Ke Yiti
The accuracy of high stabilization.
A kind of anti-fluttering method, applied to the electronic equipment comprising inertia survey meter and driver, the inertia survey meter packet
Include gyroscope and accelerometer, comprising:
Obtain the angular velocity data of the gyroscope；
Obtain the acceleration information of the accelerometer；
The angular velocity data and acceleration information are bound by the inertia survey meter, the number after being bound
According to, and the data after the binding are sent to the driver；
The data after the binding are unbinded by driver to obtain the angular velocity data and the acceleration degree
According to；
According to after unbundlings the angular velocity data and the acceleration information carry out stabilization processing.
A kind of anti-shake apparatus, applied to the electronic equipment comprising inertia survey meter and driver, the inertia survey meter packet
Include gyroscope and accelerometer, comprising:
Angular velocity data obtains module, for obtaining the angular velocity data of the gyroscope；
Acceleration information obtains module, for obtaining the acceleration information of the accelerometer；
Binding module, for the angular velocity data and acceleration information to be bound by the inertia survey meter,
Data after being bound, and the data after the binding are sent to the driver；
Unbind module, for by driver to the data after the binding unbinded to obtain the angular velocity data with
The acceleration information；
Stabilization processing module, for according to after unbundlings the angular velocity data and the acceleration information carry out stabilization at
Reason.
A kind of electronic equipment, including memory and processor store computer program, the calculating in the memory
When machine program is executed by the processor, so that the step of processor executes above-mentioned anti-fluttering method.
A kind of computer readable storage medium, is stored thereon with computer program, and the computer program is held by processor
The step of above-mentioned method is realized when row.
Above-mentioned anti-fluttering method and device, electronic equipment, computer readable storage medium, obtain the angular velocity data of gyroscope
With the acceleration information of accelerometer, angular velocity data and acceleration information are bound by inertia survey meter, and will be tied up
Data after fixed are sent to driver, are unbinded to obtain angular velocity data and acceleration to the data after binding by driver
Data, the angular velocity data obtained after unbundlings is corresponding with acceleration information, avoids angular velocity data and acceleration information
It is respectively sent to driver, the received angular velocity data of driver is caused when one of data postpone and accelerates degree
According to not corresponding problem, thus according to after unbundlings corresponding angular velocity data and acceleration information carry out stabilization processing, can
To improve the accuracy of stabilization.
Detailed description of the invention
In order to illustrate the technical solutions in the embodiments of the present application or in the prior art more clearly, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of application for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is the applied environment figure of anti-fluttering method in one embodiment；
Fig. 2 is the schematic diagram of image processing circuit in one embodiment；
Fig. 3 is the flow chart of anti-fluttering method in one embodiment；
Fig. 4 is the schematic diagram of compensation camera lens shake in one embodiment；
Fig. 5 is the structural schematic diagram of inertia survey meter in one embodiment；
Fig. 6 is the form schematic diagram of the attribute data in one embodiment in angular velocity data；
Fig. 7 is the form schematic diagram of the attribute data in one embodiment in acceleration information；
Fig. 8 is the flow chart that data volume step is verified in one embodiment；
Fig. 9 is the schematic diagram of stabilization processing in one embodiment；
Figure 10 is the schematic diagram of internal structure of electronic equipment in one embodiment；
Figure 11 is the structural block diagram of anti-shake apparatus in one embodiment；
Figure 12 is the schematic diagram of internal structure of electronic equipment in another embodiment.
Specific embodiment
It is with reference to the accompanying drawings and embodiments, right in order to which the objects, technical solutions and advantages of the application are more clearly understood
The application is further elaborated.It should be appreciated that specific embodiment described herein is only used to explain the application, and
It is not used in restriction the application.
It is appreciated that term " first " used in this application, " second " etc. can be used to describe various elements herein,
But these elements should not be limited by these terms.These terms are only used to distinguish the first element from the other element.Citing comes
It says, in the case where not departing from scope of the present application, the first check value can be known as the second check value, and similarly, can incite somebody to action
Second check value is known as the first check value.First check value and the second check value both check value, but it is not same school
Test value.
Fig. 1 is the application environment schematic diagram of anti-fluttering method in one embodiment.As shown in Figure 1, the application environment includes electricity
Sub- equipment 10 includes inertia survey meter and driver in electronic equipment 10, includes gyroscope and accelerometer in inertia survey meter.
The angular velocity data of the acquisition gyroscope of electronic equipment 10；Obtain the acceleration information of accelerometer；By inertia survey meter by angle
Speed data and acceleration information are bound, the data after being bound, and the data after binding are sent to driver；It is logical
Device of overdriving is unbinded to obtain angular velocity data and acceleration information to the data after binding；According to the angular speed number after unbundlings
Stabilization processing is carried out according to acceleration information.In another embodiment, electronic equipment 10 can also include camera 104.
Wherein, electronic equipment 10 can be for mobile phone, computer, wearable device, personal digital assistant etc., it is not limited here.
The embodiment of the present application provides a kind of electronic equipment.It include image processing circuit, image procossing in above-mentioned electronic equipment
Circuit can use hardware and or software component realization, it may include define ISP (Image SignalProcessing, image letter
Number processing) pipeline various processing units.Fig. 2 is the schematic diagram of image processing circuit in one embodiment.As shown in Fig. 2, being
Convenient for explanation, the various aspects of image processing techniques relevant to the embodiment of the present application are only shown.
As shown in Fig. 2, image processing circuit includes ISP processor 240 and control logic device 250.Imaging device 210 captures
Image data handled first by ISP processor 240, ISP processor 240 to image data analyzed with capture can be used for really
The image statistics of fixed and/or imaging device 210 one or more control parameters.Imaging device 210 may include having one
The camera of a or multiple lens 212 and imaging sensor 214.Imaging sensor 214 may include colour filter array (such as
Bayer filter), imaging sensor 214 can obtain the luminous intensity captured with each imaging pixel of imaging sensor 214 and wavelength
Information, and the one group of raw image data that can be handled by ISP processor 240 is provided.Sensor 220 (such as gyroscope, hall sensing
Device, accelerometer) parameter (such as stabilization parameter) of the image procossing of acquisition can be supplied to based on 220 interface type of sensor
ISP processor 240.220 interface of sensor can use SMIA (Standard MobileImaging Architecture, mark
The mobile Imager Architecture of standard) interface, other serial or parallel camera interfaces or above-mentioned interface combination.
In addition, raw image data can also be sent to sensor 220 by imaging sensor 214, sensor 220 can be based on biography
Raw image data is supplied to ISP processor 240 to 220 interface type of sensor or sensor 220 deposits raw image data
It stores up in video memory 230.
ISP processor 240 handles raw image data pixel by pixel in various formats.For example, each image pixel can
Bit depth with 8,10,12 or 14 bits, ISP processor 240 can carry out raw image data at one or more images
Reason operation, statistical information of the collection about image data.Wherein, image processing operations can be by identical or different bit depth precision
It carries out.
ISP processor 240 can also receive image data from video memory 230.For example, 220 interface of sensor will be original
Image data is sent to video memory 230, and the raw image data in video memory 230 is available to ISP processor 240
It is for processing.Video memory 230 can be independent special in a part, storage equipment or electronic equipment of memory device
It with memory, and may include DMA (Direct MemoryAccess, direct direct memory access (DMA)) feature.
When receiving from 214 interface of imaging sensor or from 220 interface of sensor or from video memory 230
When raw image data, ISP processor 240 can carry out one or more image processing operations, such as time-domain filtering.Treated schemes
As data can be transmitted to video memory 230, to carry out other processing before shown.ISP processor 240 is from image
Memory 230 receives processing data, and carries out in original domain and in RGB and YCbCr color space to the processing data
Image real time transfer.Treated that image data may be output to display 260 for ISP processor 240, for user's viewing and/or
It is further processed by graphics engine or GPU (Graphics Processing Unit, graphics processor).In addition, ISP processor
240 output also can be transmitted to video memory 230, and display 260 can read image data from video memory 230.?
In one embodiment, video memory 230 can be configured to realize one or more frame buffers.
The statistical data that ISP processor 240 determines, which can be transmitted, gives control logic device Unit 250.For example, statistical data can wrap
Include vibration frequency, automatic exposure, automatic white balance, automatic focusing, the flicker detection, black level compensation, 212 yin of lens of gyroscope
214 statistical informations of imaging sensors such as shadow correction.Control logic device 250 may include executing one or more routines (such as firmware)
Processor and/or microcontroller, one or more routines can statistical data based on the received, determine the control of imaging device 210
The control parameter of parameter and ISP processor 240.For example, the control parameter of imaging device 210 may include the control ginseng of sensor 220
Number (such as gain, the time of integration of spectrum assignment, stabilization parameter etc.), camera flash control parameter, camera stabilization displacement
The combination of parameter, 212 control parameter of lens (such as focusing or zoom focal length) or these parameters.ISP control parameter may include
Gain level and color correction matrix and lens for automatic white balance and color adjustment (for example, during RGB processing)
212 shadow correction parameters.
In one embodiment, sensor 220 can be inertia survey meter, and inertia survey meter may include gyroscope and add
Speedometer.The angular velocity data for obtaining gyroscope, obtains the acceleration information of accelerometer, by inertia survey meter by angular speed
Data and acceleration information carry out binding and are sent to ISP processor 240 and are handled, and will treated data, i.e. compensation number
According to being sent to control logic device 250.After control logic device 250 receives offset data, according to offset data to imaging device 210
In lens 212 (camera lens) carry out stabilization processing.It is available by stabilization treated lens 212 and imaging sensor 214
Figure can be sent to ISP processor 240 and handled by the image being more clear, such as filtering processing, U.S. face processing.ISP
Processor 240 can will treated that image is sent to video memory 230 stores, can also will treated image hair
It send to display 260, shows on the display interface of electronic equipment.
In one embodiment, sensor 220 can also include Hall sensor.Lens are obtained by Hall sensor
212 position data, and position data is sent to ISP processor 240.ISP processor 240 can be based on the position obtained in real time
It sets data and offset data determines the second compensation rate, and the second compensation rate is sent to control logic device 250.Control logic device
250, which control lens 212 according to the second compensation rate, is moved.
Fig. 3 is the flow chart of anti-fluttering method in one embodiment.Anti-fluttering method in the present embodiment, to run in Fig. 1
Electronic equipment on for be described.As shown in figure 3, anti-fluttering method is applied to the electronics comprising inertia survey meter and driver
Equipment, inertia survey meter include gyroscope and accelerometer, including step 302 is to step 310.
Step 302, the angular velocity data of gyroscope is obtained.
It include gyroscope and accelerometer in inertia survey meter (Inertial measurement unit, IMU), it can be with
Measure the motion state of electronic equipment.Wherein, gyroscope is called angular-rate sensor, can measure electronic equipment deflection, inclination
When rotational angular velocity.Gyroscope includes fibre optic gyroscope, lasergyro, MEMS (Micro Electro Mechanical
Systems, microelectromechanical systems) gyroscope etc..
Angular speed refers to describing the angle turned within the unit time when object rotation and rotation in physics
The vector in direction.The direction of angle and rotation that the electronic equipment that angular velocity data refers to turns within the unit time.Angular speed
Data are bigger, indicate that the angle of electronic equipment rotation is bigger, the direction of rotation is bigger, then the shake of electronic equipment is bigger.
Step 304, the acceleration information of accelerometer is obtained.
Accelerometer can measure the acceleration of electronic equipment.Acceleration refers to velocity variable and this variation occurs
The ratio of time used is the physical quantity for describing electronic equipment velocity variations speed.When acceleration is bigger, electronic equipment is indicated
Velocity variations are faster.The acceleration information of accelerometer measures can be angular acceleration data, be also possible to translational acceleration degree
According to without being limited thereto.
Acceleration information is bigger, indicate electronic equipment within the unit time velocity variations it is faster, then electronic equipment is trembled
It is dynamic bigger.
Step 306, angular velocity data and acceleration information are bound by inertia survey meter, the number after being bound
According to, and the data after binding are sent to driver.
Angular velocity data and acceleration information are bound by inertia survey meter, the angular velocity data after binding and
Acceleration information is sent to driver as a whole.
Angular velocity data and acceleration information are bound by inertia survey meter, can be angular velocity data and added
Speed data carries out head and the tail connection, is also possible to for angular velocity data and acceleration information being stored in a data packet, may be used also
To be that angular velocity data and acceleration information establish corresponding relationship, as angular velocity data and acceleration information label are same
Label.The application does not limit specific binding mode, can be set according to user.
In one embodiment, above-mentioned anti-fluttering method further include: compress the data after binding, and will be compressed
Data are sent to driver.
It is understood that when the data after binding are larger, by the data after binding be sent to the duration of driver compared with
It is long, then it is easy to happen packet loss event in transmission process, causes the received data of driver imperfect.Therefore, in order to guarantee to drive
Dynamic device can receive complete data quickly, the data after binding can be compressed, then by compressed data into
Row is sent.
In one embodiment, above-mentioned anti-fluttering method further include: encrypt compressed data, and will be encrypted
Data are sent to driver.
The safety in safety and data transmission procedure in order to guarantee data, compressed data can be carried out
Encryption, and encrypted data are sent to driver.
Step 308, the data after binding are unbinded to obtain angular velocity data and acceleration information by driver.
The data of stabilization can be calculated in driver according to angular velocity data and acceleration information, thus to electronic equipment
Carry out stabilization.In the drive, feedback controller and DSP (Digital SignalProcessing, digital signal be may include
Processing) controller.The data feedback that feedback controller is used to export is to input interface, to influence the data exported next time
Result.Feedback controller such as positive feedback controller, negative feedback control device, negative feedback control device can be PID
(proportion, integral, differential, ratio, integral, differential) controller etc..It can be right by dsp controller
Angular velocity data and acceleration information carry out Digital Signal Processing, such as identifying processing, unbundlings processing, decompression processing etc..
Wherein, the data feedback that positive feedback controller refers to output further promotes next time defeated to input interface
Data out.If output data A feeds back to input interface, then after positive feedback controller further by output data improve to
B, then output data B is fed back into input interface, further output data is improved to C using positive feedback controller.It is negative anti-
The data feedback that feedback controller refers to output inhibits the data exported next time to input interface instead.Such as output data D
Input interface is fed back to, then output data is reduced to E after negative feedback control device, then output data E is fed back into input
Output data is reduced to F using after negative feedback control device by interface.PID controller, can by ratio, differential, integration control
It is exported with correcting output data according to preset data.
After driver receives the data after the binding of inertia survey meter transmission, the data after the binding can be solved
It ties up, obtains angular velocity data and acceleration information.It is understood that in unbundlings algorithm and inertia survey meter in driver
It is corresponding to bind algorithm.
It in one embodiment, can be with when the data that driver receives are successively by binding, compressed data
Compressed data are decompressed, then the data after decompression are unbinded, obtain angular velocity data and acceleration information.
In one embodiment, when the data that driver receives are successively by binding, compression, encrypted data
When, encrypted data can be decrypted, then the data after decryption are decompressed, then the data after decompression are solved
It ties up, obtains angular velocity data and acceleration information.
It is understood that the unbundlings algorithm in driver and the binding algorithm in inertia survey meter are corresponding；Driver
In decompression algorithm and inertia survey meter in compression algorithm it is corresponding；In decipherment algorithm and inertia survey meter in driver
Encryption Algorithm is corresponding.
Step 310, according to after unbundlings angular velocity data and acceleration information carry out stabilization processing.
It is available by acceleration information by the available shake to electronic equipment in angle of angular velocity data
The speed for the speed shaken in angle to electronic equipment, it is also available to arrive the buffeting speed of electronic equipment in a transverse direction
Speed.Wherein, translation direction can be horizontally oriented, and be also possible to vertical direction, without being limited thereto.
Therefore, according to the angular velocity data and acceleration information after unbundlings, stabilization can be not only carried out in angle, may be used also
To carry out stabilization in a transverse direction.As shown in figure 4, according to after unbundlings angular velocity data and acceleration information can not only mend
The shake generated when repaying camera lens 402 along X, Y, Z axis rotation, can also compensate for shake when translating along X, Y, Z axis, improves stabilization
Accuracy.
Above-mentioned anti-fluttering method obtains the angular velocity data of gyroscope and the acceleration information of accelerometer, is surveyed by inertia
Measuring device binds angular velocity data and acceleration information, and the data after binding are sent to driver, passes through driver
Data after binding are unbinded to obtain angular velocity data and acceleration information, the angular velocity data obtained after unbundlings and acceleration
Degree is avoided angular velocity data and acceleration information being respectively sent to driver according to corresponding, when one of data are sent out
The problem for causing the received angular velocity data of driver and acceleration information not to correspond to when raw delay, thus according to the phase after unbundlings
Corresponding angular velocity data and acceleration information carry out stabilization processing, and the accuracy of stabilization can be improved.
In one embodiment, inertia survey meter includes pushup storage, by inertia survey meter by angular speed number
Bound according to acceleration information, the data after being bound, comprising: by pushup storage by angular velocity data and
Angular velocity data is carried out head and the tail with acceleration information and connected, after obtaining binding by acceleration information according to received sequencing
Data.
Pushup storage (First Input First Output, FIFO) refers to that the data first stored are first defeated
Out.It, can be by angular velocity data and acceleration information according to received sequencing, by angular speed in pushup storage
Data carry out head and the tail with acceleration information and connect, the data after being bound.
It specifically, can be according to the timestamp of angular velocity data and the timestamp of acceleration information, when angular velocity data
When the timestamp of timestamp and acceleration information is respectively positioned in preset time range, angular velocity data and acceleration information are carried out
Head and the tail connect, the data after being bound.
At the time of the timestamp of angular velocity data indicates gyroscope acquisition angular velocity data, the timestamp table of acceleration information
At the time of showing that accelerometer acquires acceleration information.Preset time range is smaller, then the acquisition for the angular velocity data bound
Moment and the acquisition moment of acceleration information are closer, then it is more quasi- to carry out stabilization processing according to angular velocity data and acceleration information
Really.
In one embodiment, as shown in figure 5, containing gyroscope 502, accelerometer 504, elder generation in inertia survey meter 50
Enter and first goes out memory 506, SPI (Serial Peripheral Interface, Serial Peripheral Interface (SPI)) interface 508.Gyroscope
The angular velocity data of acquisition is sent to pushup storage 506 by 502, and accelerometer 504 sends out the acceleration information of acquisition
It send to pushup storage 506.Then pushup storage 506 can be by angular velocity data and acceleration information according to reception
Sequencing, angular velocity data and acceleration information are subjected to head and the tail and connected, data after being bound, then will be after binding
Data are sent to SPI interface 508.SPI interface 508 is connect with driver, then after SPI interface 508 receives the data after binding,
Data after binding can be sent to driver.
Above-mentioned anti-fluttering method, by pushup storage by angular velocity data and acceleration information according to received successive
Sequentially, angular velocity data is carried out head and the tail with acceleration information to connect, the accurate of stabilization can be improved in the data after being bound
Property.
In one embodiment, the data after binding are unbinded to obtain angular velocity data and acceleration by driver
Data, comprising: by the angular velocity data mark and acceleration information mark in the data after driver identification binding, obtain angle
Speed data and acceleration information.
Attribute data is contained in angular velocity data.Attribute data is used to indicate the attribute of angular velocity data, such as angle speed
Spend Data Identification, the data volume of angular velocity data, timestamp of angular velocity data etc..Similarly, include in acceleration information
Attribute data.Attribute data is used to indicate the attribute of acceleration information, such as acceleration information mark, the data of acceleration information
Amount, timestamp of acceleration information etc..
It is illustrated in figure 6 the form schematic diagram of the attribute data in angular velocity data.Wherein, OX55 refers to angular speed number
According to packet header, 0X52 refers to the mark of angular velocity data, and GxL refers to that the X-axis angular speed low byte in gyroscope, GxH refer to
Be X-axis angular speed high byte in gyroscope, GyL refers to that the y-axis angular speed low byte in gyroscope, GyH refer to top
Y-axis angular speed high byte in spiral shell instrument, GzL refer to that the Z axis angular speed low byte in gyroscope, GzH refer in gyroscope
Z axis angular speed high byte, Sum refers to the check value of angular velocity data.
It is illustrated in figure 7 the form schematic diagram of the attribute data in acceleration information.Wherein, OX55 refers to accelerating degree
According to packet header, 0X51 refers to the mark of acceleration information, and AxL refers to that the X-axis acceleration low byte in gyroscope, AxH refer to
Be X-axis acceleration high byte in gyroscope, AyL refers to that the y-axis acceleration low byte in gyroscope, AyH refer to top
Y-axis acceleration high byte in spiral shell instrument, AzL refer to that the Z axis acceleration low byte in gyroscope, AzH refer in gyroscope
Z axis acceleration high byte, Sum refers to the check value of acceleration information.
Angular velocity data mark after data after driver receives binding, in the data after can identifying binding
It is identified with acceleration information, so that the data after binding be unbinded, obtains angular velocity data and acceleration information.
Above-mentioned anti-fluttering method passes through the angular velocity data mark and acceleration information in the data after driver identification binding
Mark, obtains corresponding angular velocity data and acceleration information, then can be improved according to angular velocity data and acceleration information
The accuracy of stabilization.
In one embodiment, as shown in figure 8, including the first check value and the first data, acceleration in angular velocity data
It include the second check value and the second data in data, the first data refer to the size and Orientation of angular speed, and the second data, which refer to, to be added
The size and Orientation of speed, the above method further include:
Step 802, the first data volume of the first data and the second data volume of the second data are determined by driver.
It include the first check value and the first data in angular velocity data, the first check value is first in angular velocity data
The attribute data of data refers to the check value of the data volume of the first data.Include the second check value and the in acceleration information
Two data, the second check value are the attribute data of the second data in acceleration information, refer to the data volume of the second data
Check value.
Driver is by identifying that angular velocity data identifies after obtaining angular velocity data, the in available angular velocity data
One data, and count the data volume of the first data.Specifically, when gyroscope be three axis gyroscope when, i.e., comprising X-axis, Y-axis and
Z axis.The data volume of first data may include angular velocity data of the electronic equipment in X-axis, the angular velocity data in Y-axis and
Angular velocity data on Z axis.Then the first data volume can be the angular speed in the data volume of the angular velocity data in X-axis, Y-axis
The summation of angular velocity data in data and Z axis.
Similarly, driver is by identifying that acceleration information identifies after obtaining acceleration information, available acceleration degree
The second data in, and count the data volume of the second data.Specifically, the data volume of the second data can be angular acceleration number
According to data volume and translational acceleration data data volume summation.Wherein, the data volume of translational acceleration data can wrap
Include the data volume of the data volume of the acceleration information of horizontal direction and the acceleration information of vertical direction.As shown in figure 4, level side
To including X-direction and Y direction, Z-direction is vertically included.Then acceleration information, that is, X-direction of horizontal direction
The acceleration information of acceleration information and Y direction, acceleration information, that is, Z-direction acceleration information of vertical direction.
Step 804, the second check value in the first check value and acceleration information in angular velocity data is obtained.
The first check value in angular velocity data is obtained, the first check value is the category of the first data in angular velocity data
Property data, refer to the check value of the data volume of the first data.Obtain the second check value in acceleration information, the second check value
The attribute data of the second data as in acceleration information, refers to the check value of the data volume of the second data.
Step 806, when the first data volume is consistent with the first check value, the data volume of the first data is verified successfully.
It is understood that the first check value be binding before angular velocity data in the first data data volume value.
When the first data volume for determining the first data by driver is consistent with the first check value, indicate that the first data are not lost,
The data volume of first data is verified successfully.
When the first data volume for determining the first data by driver is consistent with the first check value, indicate that the first data are lost
There are mistakes for mistake or the first data.Specifically, when determining the first data volume of the first data less than the first school by driver
When testing value, the first loss of data is indicated；When the first data volume for determining the first data by driver is greater than the first check value,
Indicate that the data volume of the first data increases, then during binding or transmission mistake occurs for possible first data.
Step 808, when the second data volume is consistent with the second check value, the data volume of the second data is verified successfully.
It is understood that the second check value be binding before acceleration information in the second data data volume value.
When the second data volume for determining the second data by driver is consistent with the second check value, indicate that the second data are not lost,
The data volume of second data is verified successfully.
When the second data volume for determining the second data by driver is consistent with the second check value, indicate that the second data are lost
There are mistakes for mistake or the second data.Specifically, when determining the second data volume of the second data less than the second school by driver
When testing value, the second loss of data is indicated；When the second data volume for determining the second data by driver is greater than the second check value,
Indicate that the data volume of the second data increases, then during binding or transmission mistake occurs for possible second data.
Above-mentioned anti-fluttering method determines the first data volume of the first data and the second data of the second data by driver
Amount, and obtains the first check value in angular velocity data and the second check value in acceleration information, when the first data volume and the
When one check value is consistent, the data volume of the first data is verified successfully；When the second data volume is consistent with the second check value, to
The data volume of two data verifies successfully, and the data volume of data volume and the second data to the first data verifies, can be to avoid
Stabilization is carried out according to angular velocity data and acceleration information when packet loss, mistake occur for the first data or the second data,
And there is a problem of stabilization mistake, improve the accuracy of stabilization.
It in one embodiment, include feedback controller in driver, according to the angular velocity data and acceleration after unbundlings
Data carry out stabilization processing, comprising: according to after unbundlings angular velocity data and acceleration information obtain offset data；Number will be compensated
Stabilization processing is carried out according to feedback controller is sent to.
The data of stabilization can be calculated in driver according to angular velocity data and acceleration information, thus to electronic equipment
Carry out stabilization.In the drive, feedback controller and dsp controller be may include.Feedback controller such as positive feedback controller is born
Feedback controller, negative feedback control device can be PID controller etc..It can be with angular velocity data and acceleration by dsp controller
Degree is handled according to Digital Signal Processing, such as identifying processing, unbundlings are carried out, decompression processing etc..
Specifically, the data after binding can be sent to the dsp controller in driver by inertia survey meter.Then DSP is controlled
Device processed can be unbinded to obtain angular velocity data and acceleration information to the data after binding, further according to angular velocity data and be added
Speed data obtains offset data, and offset data is sent to the feedback controller in driver.Feedback controller receives
After offset data, stabilization processing can be carried out according to offset data.
Above-mentioned anti-fluttering method, according to after unbundlings angular velocity data and acceleration information obtain offset data, number will be compensated
Stabilization processing is carried out according to feedback controller is sent to, the accuracy of stabilization can be improved.
In one embodiment, offset data is sent to feedback controller and carries out stabilization processing, comprising: by offset data
It is sent to feedback controller；The first compensation rate is determined based on offset data by feedback controller, and the first compensation rate is sent
To motor；Camera lens is moved according to the first compensation rate by motor.
Coil is wound in motor in electronic equipment, coil can produce Lorentz force after being passed through electric current, the Lorentz
Power can push camera lens to be moved, i.e. the motor device that refers to converting electrical energy into mechanical energy.Lead to by adjusting in motor
The size of the electric current entered, so as to adjust the size of Lorentz force, so as to push different distances to realize stabilization on camera lens.
Feedback controller can determine the first compensation rate based on offset data, and the first compensation rate is sent to motor.The
One compensation rate can be the size of electric current, and motor gets the corresponding electric current of the first compensation rate, and then generates corresponding Lorentz
Power realizes stabilization so that camera lens be pushed to be moved.
Offset data is sent to feedback controller by above-mentioned anti-fluttering method, and it is true to be based on offset data by feedback controller
Fixed first compensation rate, and the first compensation rate is sent to motor, camera lens is moved according to the first compensation rate by motor, it can
To improve the accuracy of stabilization.
In one embodiment, the above method further include: obtain the position data of camera lens in real time by Hall sensor, and
Position data is fed back into feedback controller；Obtain the offset data of driver transmission in real time by feedback controller；Based on reality
When the position data that obtains and offset data determine the second compensation rate, and the second compensation rate is sent to motor；Pass through motor root
Camera lens is moved according to the second compensation rate.
Hall sensor refers to the device of measurement position data.The position of camera lens can be obtained in real time by Hall sensor
Data are set, and position data is fed back into feedback controller.Wherein, position data can be indicated with space coordinate.In camera lens institute
Space coordinates are established in the space at place, such as establish X-axis, Y-axis and Z axis.Such as the position data (3,5, -8) of camera lens, camera lens institute is indicated
The position at place: X-axis 3, Y-axis is 5 and Z axis is -8.
Obtain the offset data of driver transmission, and the position based on the camera lens obtained in real time in real time by feedback controller
Data and offset data can determine the second compensation rate, and the second compensation rate is sent to motor.Motor receives the second compensation
After amount, camera lens can be moved according to the second compensation rate.Wherein, the second compensation rate can be the size of electric current.Motor obtains
The corresponding electric current of the second compensation rate is taken, mechanical energy can be converted electrical energy into, is i.e. generation Lorentz force, so that camera lens be pushed to carry out
It is mobile.
As shown in figure 9, input is offset data, 902 be PID controller, i.e. proportion adjustment, integral adjustment and differential tune
Section, 904 be motor, and 906 be Hall sensor, exports the Lorentz force generated for motor.When the Lorentz force that motor 904 generates
When camera lens being pushed to be moved, the position data of camera lens can be obtained in real time by Hall sensor 906, and position data is sent out
It send to PID controller 902.PID controller 902 obtains the input of driver in real time, i.e. offset data and Hall sensor 906 is real
When the position data that sends, proportion adjustment, integral adjustment and differential can be carried out according to position data and offset data and adjusted, really
Fixed second compensation rate, and the second compensation rate is sent to motor 904.Wherein, the second compensation rate can be the size of electric current.Motor
904 obtain corresponding electric current according to the second compensation rate, and the coil in motor can produce Lorentz force after being passed through electric current, to push away
Index glass head is moved.
Such as the internal structure chart that Figure 10 is electronic equipment in one embodiment.Wherein, it 1002 refers to camera module, takes the photograph
As including driver 1006 in head mould group 1002, Hall sensor 1008, motor 1010, camera lens 1012,1004 refers to inertia
Measuring appliance.Inertia survey meter 1004 is sent to driver 1006 after being bound angular velocity data and acceleration information.Driving
After device 1006 gets the data of binding, the data of binding are unbinded to obtain angular velocity data and acceleration information, and root
Offset data is obtained according to angular velocity data and acceleration information, feedback controller offset data being sent in driver.Instead
The position data for the camera lens that feedback controller obtains offset data in real time and Hall sensor 1008 is sent in real time, and determine the
Second compensation rate is sent to motor 1010 by two compensation rates.Motor 1010 arrives corresponding electricity according to the second compensation rate is available
Stream, converts electrical energy into mechanical energy, that is, produces Lorentz force, pushes camera lens 1012 to be moved, to realize stabilization.
It should be understood that although each step in the flow chart of Fig. 3 and Fig. 8 is successively shown according to the instruction of arrow,
But these steps are not that the inevitable sequence according to arrow instruction successively executes.Unless expressly state otherwise herein, these
There is no stringent sequences to limit for the execution of step, these steps can execute in other order.Moreover, in Fig. 3 and Fig. 8
At least part step may include that perhaps these sub-steps of multiple stages or stage are not necessarily same to multiple sub-steps
One moment executed completion, but can execute at different times, and the execution in these sub-steps or stage sequence is also not necessarily
Be successively carry out, but can at least part of the sub-step or stage of other steps or other steps in turn or
Alternately execute.
Figure 11 is the structural block diagram of the anti-shake apparatus of one embodiment.As shown in figure 8, providing a kind of anti-shake apparatus
1100, comprising: angular velocity data obtains module 1102, acceleration information obtains module 1104, binding module 1106, unbundlings module
1108 and stabilization processing module 1110, in which:
Angular velocity data obtains module 1102, for obtaining the angular velocity data of gyroscope.
Acceleration information obtains module 1104, for obtaining the acceleration information of accelerometer.
Binding module 1106 is obtained for being bound angular velocity data and acceleration information by inertia survey meter
Data after binding, and the data after binding are sent to driver.
Module 1108 is unbinded, for being unbinded to obtain angular velocity data and acceleration to the data after binding by driver
Degree evidence；
Stabilization processing module 1110, for according to after unbundlings angular velocity data and acceleration information carry out stabilization processing.
Above-mentioned anti-shake apparatus obtains the angular velocity data of gyroscope and the acceleration information of accelerometer, is surveyed by inertia
Measuring device binds angular velocity data and acceleration information, and the data after binding are sent to driver, passes through driver
Data after binding are unbinded to obtain angular velocity data and acceleration information, the angular velocity data obtained after unbundlings and acceleration
Degree is avoided angular velocity data and acceleration information being respectively sent to driver according to corresponding, when one of data are sent out
The problem for causing the received angular velocity data of driver and acceleration information not to correspond to when raw delay, thus according to the phase after unbundlings
Corresponding angular velocity data and acceleration information carry out stabilization processing, and the accuracy of stabilization can be improved.
In one embodiment, above-mentioned binding module 1106 be also used to angular velocity data through pushup storage and
Angular velocity data is carried out head and the tail with acceleration information and connected, after obtaining binding by acceleration information according to received sequencing
Data.
In one embodiment, above-mentioned unbundlings module 1108 is also used to identify the angle in the data after binding by driver
Speed data mark and acceleration information mark, obtain angular velocity data and acceleration information.
In one embodiment, above-mentioned anti-shake apparatus further includes correction verification module, for determining the first data by driver
The first data volume and the second data the second data volume；It obtains in the first check value and acceleration information in angular velocity data
The second check value；When the first data volume is consistent with the first check value, the data volume of the first data is verified successfully；When second
When data volume is consistent with the second check value, the data volume of the second data is verified successfully.
In one embodiment, above-mentioned stabilization processing module 1110 be also used to according to after unbundlings angular velocity data and acceleration
Degree evidence obtains offset data；Offset data is sent to feedback controller and carries out stabilization processing.
In one embodiment, above-mentioned stabilization processing module 1110 is also used to offset data being sent to feedback controller；
The first compensation rate is determined based on offset data by feedback controller, and the first compensation rate is sent to motor；Pass through motor root
Camera lens is moved according to the first compensation rate.
In one embodiment, above-mentioned stabilization processing module 1110 is also used to obtain camera lens in real time by Hall sensor
Position data, and position data is fed back into feedback controller；Obtain the compensation of driver transmission in real time by feedback controller
Data；The second compensation rate is determined based on the position data and offset data obtained in real time, and the second compensation rate is sent to motor；
Camera lens is moved according to the second compensation rate by motor.
The division of modules is only used for for example, in other embodiments, can fill stabilization in above-mentioned anti-shake apparatus
It sets and is divided into different modules as required, to complete all or part of function of above-mentioned anti-shake apparatus.
Figure 12 is the schematic diagram of internal structure of electronic equipment in one embodiment.As shown in figure 12, which includes
The processor and memory connected by system bus.Wherein, for the processor for providing calculating and control ability, support is entire
The operation of electronic equipment.Memory may include non-volatile memory medium and built-in storage.Non-volatile memory medium is stored with
Operating system and computer program.The computer program can be performed by processor, for realizing following each embodiment institute
A kind of anti-fluttering method provided.Built-in storage provides high speed for the operating system computer program in non-volatile memory medium and delays
The running environment deposited.The electronic equipment can be mobile phone, tablet computer or personal digital assistant or wearable device etc..
Realizing for the modules in anti-shake apparatus provided in the embodiment of the present application can be the form of computer program.It should
Computer program can be run in terminal or server.The program module that the computer program is constituted is storable in terminal or service
On the memory of device.When the computer program is executed by processor, realize the embodiment of the present application described in method the step of.
The embodiment of the present application also provides a kind of computer readable storage mediums.One or more is executable comprising computer
The non-volatile computer readable storage medium storing program for executing of instruction, when the computer executable instructions are executed by one or more processors
When, so that the step of processor executes anti-fluttering method.
A kind of computer program product comprising instruction, when run on a computer, so that computer executes stabilization
Method.
It may include non-to any reference of memory, storage, database or other media used in the embodiment of the present application
Volatibility and/or volatile memory.Suitable nonvolatile memory may include read-only memory (ROM), programming ROM
(PROM), electrically programmable ROM (EPROM), electrically erasable ROM (EEPROM) or flash memory.Volatile memory may include
Random access memory (RAM), it is used as external cache.By way of illustration and not limitation, RAM in a variety of forms may be used
, such as static state RAM (SRAM), dynamic ram (DRAM), synchronous dram (SDRAM), double data rate sdram (DDR SDRAM),
Enhanced SDRAM (ESDRAM), synchronization link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM
(RDRAM), direct memory bus dynamic ram (DRDRAM) and memory bus dynamic ram (RDRAM).
The several embodiments of the application above described embodiment only expresses, the description thereof is more specific and detailed, but simultaneously
The limitation to the application the scope of the patents therefore cannot be interpreted as.It should be pointed out that for those of ordinary skill in the art
For, without departing from the concept of this application, various modifications and improvements can be made, these belong to the guarantor of the application
Protect range.Therefore, the scope of protection shall be subject to the appended claims for the application patent.
Claims (10)
1. a kind of anti-fluttering method, applied to the electronic equipment comprising inertia survey meter and driver, the inertia survey meter includes
Gyroscope and accelerometer characterized by comprising
Obtain the angular velocity data of the gyroscope；
Obtain the acceleration information of the accelerometer；
The angular velocity data and acceleration information are bound by the inertia survey meter, the data after being bound,
And the data after the binding are sent to the driver；
The data after the binding are unbinded by driver to obtain the angular velocity data and the acceleration information；
According to after unbundlings the angular velocity data and the acceleration information carry out stabilization processing.
2. the method according to claim 1, wherein the inertia survey meter includes pushup storage, institute
It states and is bound the angular velocity data and the acceleration information by the inertia survey meter, the number after being bound
According to, comprising:
By the pushup storage by the angular velocity data and the acceleration information according to received sequencing,
The angular velocity data is carried out head and the tail with the acceleration information to connect, the data after being bound.
3. according to the method described in claim 2, it is characterized in that, described carry out the data after the binding by driver
Unbundlings obtain the angular velocity data and the acceleration information, comprising:
The angular velocity data mark and acceleration information mark in the data after the binding are identified by driver, are obtained described
Angular velocity data and the acceleration information.
4. according to the method described in claim 3, it is characterized in that, including the first check value and first in the angular velocity data
Data, include the second check value and the second data in the acceleration information, first data refer to angular speed size and
Direction, second data refer to the size and Orientation of acceleration；The method also includes:
The first data volume of first data and the second data volume of second data are determined by the driver；
Obtain the second check value in the first check value and the acceleration information in the angular velocity data；
When first data volume is consistent with first check value, the data volume of first data is verified successfully；
When second data volume is consistent with second check value, the data volume of second data is verified successfully.
5. the method according to claim 1, wherein including feedback controller, the basis in the driver
The angular velocity data and the acceleration information after unbundlings carry out stabilization processing, comprising:
According to after unbundlings the angular velocity data and the acceleration information obtain offset data；
The offset data is sent to the feedback controller and carries out stabilization processing.
6. according to the method described in claim 5, it is characterized in that, described be sent to the feedback control for the offset data
Device carries out stabilization processing, comprising:
The offset data is sent to the feedback controller；
The first compensation rate is determined based on the offset data by the feedback controller, and first compensation rate is sent to
Motor；
Camera lens is moved according to first compensation rate by the motor.
7. according to the method described in claim 6, it is characterized in that, the method also includes:
It obtains the position data of the camera lens in real time by Hall sensor, and the position data is fed back into the feedback and is controlled
Device processed；
The offset data that the driver is sent is obtained in real time by the feedback controller；
The second compensation rate is determined based on the position data and the offset data obtained in real time, and by second compensation rate
It is sent to motor；
The camera lens is moved according to second compensation rate by the motor.
8. a kind of anti-shake apparatus, applied to the electronic equipment comprising inertia survey meter and driver, the inertia survey meter includes
Gyroscope and accelerometer characterized by comprising
Angular velocity data obtains module, for obtaining the angular velocity data of the gyroscope；
Acceleration information obtains module, for obtaining the acceleration information of the accelerometer；
Binding module is obtained for being bound the angular velocity data and acceleration information by the inertia survey meter
Data after binding, and the data after the binding are sent to the driver；
Module is unbinded, for being unbinded to obtain the angular velocity data and described to the data after the binding by driver
Acceleration information；
Stabilization processing module, for according to after unbundlings the angular velocity data and the acceleration information carry out stabilization processing.
9. a kind of electronic equipment, including memory and processor, computer program, the computer are stored in the memory
When program is executed by the processor, so that the processor executes the anti-fluttering method as described in any one of claims 1 to 7
The step of.
10. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the computer program
The step of method as described in any one of claims 1 to 7 is realized when being executed by processor.
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