CN110113542B

CN110113542B - Anti-shake method and apparatus, electronic device, computer-readable storage medium

Info

Publication number: CN110113542B
Application number: CN201910561251.XA
Authority: CN
Inventors: 韦怡; 张海裕; 徐锐; 陈嘉伟; 杨鑫; 周彦汝
Original assignee: Guangdong Oppo Mobile Telecommunications Corp Ltd
Current assignee: Guangdong Oppo Mobile Telecommunications Corp Ltd
Priority date: 2019-06-26
Filing date: 2019-06-26
Publication date: 2021-05-11
Anticipated expiration: 2039-06-26
Also published as: CN110113542A

Abstract

The application relates to an anti-shake method, an anti-shake device, an electronic device and a computer-readable storage medium. The method comprises the following steps: acquiring angular velocity data of the gyroscope; acquiring acceleration data of the accelerometer; binding the angular velocity data and the acceleration data through the inertia measurer to obtain bound data, and sending the bound data to the driver; unbinding the bound data through a driver to obtain the angular velocity data and the acceleration data; and carrying out anti-shake processing according to the angular velocity data and the acceleration data after unbinding. The anti-shake method, the anti-shake device, the electronic equipment and the computer-readable storage medium can improve the anti-shake accuracy.

Description

Anti-shake method and apparatus, electronic device, computer-readable storage medium

Technical Field

The present application relates to the field of computers, and in particular, to an anti-shake method, an anti-shake apparatus, an electronic device, and a computer-readable storage medium.

Background

With the development of computer technology, various anti-shake technologies, such as electronic anti-shake, optical anti-shake, etc., have appeared. In the traditional anti-shake technology, the camera is compensated through the detected angular velocity data, so that the image shot by the camera is kept stable as much as possible, the definition of the image is ensured, and the image blur caused by shake is effectively overcome.

However, the conventional anti-shake technology has the problem of inaccurate anti-shake.

Disclosure of Invention

The embodiment of the application provides an anti-shake method, an anti-shake device, electronic equipment and a computer-readable storage medium, and the anti-shake accuracy can be improved.

An anti-shake method applied to an electronic device including an inertial measurer and a driver, the inertial measurer including a gyroscope and an accelerometer, comprising:

acquiring angular velocity data of the gyroscope;

acquiring acceleration data of the accelerometer;

binding the angular velocity data and the acceleration data through the inertia measurer to obtain bound data, and sending the bound data to the driver;

unbinding the bound data through a driver to obtain the angular velocity data and the acceleration data;

and carrying out anti-shake processing according to the angular velocity data and the acceleration data after unbinding.

An anti-shake apparatus applied to an electronic device including an inertial measurer and a driver, the inertial measurer including a gyroscope and an accelerometer, comprising:

the angular velocity data acquisition module is used for acquiring angular velocity data of the gyroscope;

the acceleration data acquisition module is used for acquiring acceleration data of the accelerometer;

the binding module is used for binding the angular velocity data and the acceleration data through the inertia measurer to obtain bound data and sending the bound data to the driver;

the unbinding module is used for unbinding the bound data through a driver to obtain the angular velocity data and the acceleration data;

and the anti-shake processing module is used for carrying out anti-shake processing according to the angular velocity data and the acceleration data after unbinding.

An electronic device comprises a memory and a processor, wherein the memory stores a computer program, and the computer program, when executed by the processor, causes the processor to execute the steps of the anti-shake method.

A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the above-mentioned method.

The anti-shake method and device, the electronic device and the computer readable storage medium can be used for acquiring angular velocity data of a gyroscope and acceleration data of an accelerometer, binding the angular velocity data and the acceleration data through an inertia measurer, sending the bound data to a driver, unbinding the bound data through the driver to obtain the angular velocity data and the acceleration data, and enabling the angular velocity data obtained after unbinding to correspond to the acceleration data, so that the problem that the angular velocity data and the acceleration data received by the driver do not correspond when one of the data is delayed is avoided, anti-shake processing is performed according to the unbound corresponding angular velocity data and acceleration data, and anti-shake accuracy can be improved.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

FIG. 1 is a diagram of an exemplary anti-shaking method;

FIG. 2 is a schematic diagram of an image processing circuit in one embodiment;

FIG. 3 is a flow chart of an anti-shaking method in one embodiment;

FIG. 4 is a diagram illustrating compensation for lens blur according to an embodiment;

FIG. 5 is a schematic diagram of an embodiment of an inertial measurement unit;

FIG. 6 is a diagram illustrating a format of attribute data in angular velocity data according to an embodiment;

FIG. 7 is a diagram illustrating a format of attribute data in acceleration data according to an embodiment;

FIG. 8 is a flow diagram of the check data volume step in one embodiment;

FIG. 9 is a schematic illustration of an anti-shake process in one embodiment;

FIG. 10 is a schematic diagram showing an internal configuration of an electronic apparatus according to an embodiment;

FIG. 11 is a block diagram showing the structure of an anti-shake apparatus according to an embodiment;

fig. 12 is a schematic view of the internal structure of the electronic device in another embodiment.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

It will be understood that, as used herein, the terms "first," "second," and the like may be used herein to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish one element from another. For example, a first check value may be referred to as a second check value, and similarly, a second check value may be referred to as a first check value, without departing from the scope of the present application. Both the first check value and the second check value are check values, but they are not the same check value.

Fig. 1 is a schematic application environment diagram of the anti-shake method in one embodiment. As shown in fig. 1, the application environment includes an electronic device 10, where the electronic device 10 includes an inertial measurement unit and a driver, and the inertial measurement unit includes a gyroscope and an accelerometer. The electronic device 10 acquires angular velocity data of the gyroscope; acquiring acceleration data of an accelerometer; binding the angular velocity data and the acceleration data through an inertia measurer to obtain bound data, and sending the bound data to a driver; unbinding the bound data through a driver to obtain angular velocity data and acceleration data; and performing anti-shake processing according to the unbound angular velocity data and acceleration data. In another embodiment, the electronic device 10 may further include a camera 104. The electronic device 10 may be a mobile phone, a computer, a wearable device, a personal digital assistant, and the like, which is not limited herein.

The embodiment of the application provides electronic equipment. The electronic device includes therein an Image processing circuit, which may be implemented using hardware and/or software components, and may include various processing units defining an ISP (Image signal processing) pipeline. FIG. 2 is a schematic diagram of an image processing circuit in one embodiment. As shown in fig. 2, for convenience of explanation, only aspects of the image processing technology related to the embodiments of the present application are shown.

As shown in fig. 2, the image processing circuit includes an ISP processor 240 and control logic 250. The image data captured by the imaging device 210 is first processed by the ISP processor 240, and the ISP processor 240 analyzes the image data to capture image statistics that may be used to determine and/or control one or more parameters of the imaging device 210. The imaging device 210 may include a camera having one or more lenses 212 and an image sensor 214. The image sensor 214 may include an array of color filters (e.g., Bayer filters), and the image sensor 214 may acquire light intensity and wavelength information captured with each imaging pixel of the image sensor 214 and provide a set of raw image data that may be processed by the ISP processor 240. The sensor 220 (e.g., gyroscope, hall sensor, accelerometer) may provide parameters of the acquired image processing (e.g., anti-shake parameters) to the ISP processor 240 based on the type of interface of the sensor 220. The sensor 220 interface may utilize an SMIA (Standard Mobile imaging Architecture) interface, other serial or parallel camera interfaces, or a combination of the above.

In addition, the image sensor 214 may also send raw image data to the sensor 220, the sensor 220 may provide the raw image data to the ISP processor 240 based on the sensor 220 interface type, or the sensor 220 may store the raw image data in the image memory 230.

The ISP processor 240 processes the raw image data pixel by pixel in a variety of formats. For example, each image pixel may have a bit depth of 8, 10, 12, or 14 bits, and the ISP processor 240 may perform one or more image processing operations on the raw image data, gathering statistical information about the image data. Wherein the image processing operations may be performed with the same or different bit depth precision.

The ISP processor 240 may also receive image data from the image memory 230. For example, the sensor 220 interface sends raw image data to the image memory 230, and the raw image data in the image memory 230 is then provided to the ISP processor 240 for processing. The image memory 230 may be a part of a memory device, a storage device, or a separate dedicated memory within an electronic device, and may include a DMA (Direct memory access) feature.

Upon receiving raw image data from image sensor 214 interface or from sensor 220 interface or from image memory 230, ISP processor 240 may perform one or more image processing operations, such as temporal filtering. The processed image data may be sent to image memory 230 for additional processing before being displayed. ISP processor 240 receives processed data from image memory 230 and performs image data processing on the processed data in the raw domain and in the RGB and YCbCr color spaces. The image data processed by ISP processor 240 may be output to display 260 for viewing by a user and/or further processed by a Graphics Processing Unit (GPU). Further, the output of the ISP processor 240 may also be sent to the image memory 230, and the display 260 may read image data from the image memory 230. In one embodiment, image memory 230 may be configured to implement one or more frame buffers.

The statistics determined by ISP processor 240 may be sent to control logic 250 unit. For example, the statistical data may include image sensor 214 statistics such as gyroscope vibration frequency, auto-exposure, auto-white balance, auto-focus, flicker detection, black level compensation, lens 212 shading correction, and the like. Control logic 250 may include a processor and/or microcontroller that executes one or more routines (e.g., firmware) that may determine control parameters of imaging device 210 and ISP processor 240 based on the received statistical data. For example, the control parameters of the imaging device 210 may include sensor 220 control parameters (e.g., gain, integration time for exposure control, anti-shake parameters, etc.), camera flash control parameters, camera anti-shake displacement parameters, lens 212 control parameters (e.g., focal length for focusing or zooming), or a combination of these parameters. The ISP control parameters may include gain levels and color correction matrices for automatic white balance and color adjustment (e.g., during RGB processing), as well as lens 212 shading correction parameters.

In one embodiment, the sensor 220 may be an inertial measurer, which may include a gyroscope and an accelerometer. The method includes the steps of acquiring angular velocity data of a gyroscope, acquiring acceleration data of an accelerometer, binding the angular velocity data and the acceleration data through an inertial measurer, sending the bound angular velocity data and the acceleration data to an ISP processor 240 for processing, and sending processed data, namely compensation data to a control logic unit 250. After receiving the compensation data, the control logic 250 performs an anti-shake process on the lens 212 (lens) in the imaging device 210 according to the compensation data. A clearer image can be obtained through the anti-shake processed lens 212 and the image sensor 214, and the image can be sent to the ISP processor 240 for processing, such as filtering, beautifying, and the like. The ISP processor 240 may send the processed image to the image memory 230 for storage, or send the processed image to the display 260 for display on the display interface of the electronic device.

In one embodiment, the sensor 220 may also comprise a hall sensor. The position data of the lens 212 is acquired by the hall sensor and transmitted to the ISP processor 240. The ISP processor 240 may determine a second compensation amount based on the position data and the compensation data acquired in real time and transmit the second compensation amount to the control logic 250. Control logic 250 controls lens 212 to move according to the second compensation amount.

FIG. 3 is a flowchart of an anti-shaking method according to an embodiment. The anti-shake method in this embodiment is described by taking the electronic device in fig. 1 as an example. As shown in fig. 3, the anti-shake method is applied to an electronic device including an inertial measurer and a driver, the inertial measurer including a gyroscope and an accelerometer, including steps 302 to 310.

Step 302, angular velocity data of a gyroscope is obtained.

An Inertial Measurement Unit (IMU) includes a gyroscope and an accelerometer, and can measure a motion state of an electronic device. The gyroscope is also called as an angular velocity sensor, and can measure the rotation angular velocity of the electronic equipment during deflection and inclination. The gyroscopes include a fiber optic gyroscope, a laser gyroscope, a MEMS (Micro Electro Mechanical systems) gyroscope, and the like.

Angular velocity refers to a vector that describes in physics the angle an object turns through per unit time as well as the direction of the turn. The angular velocity data refers to the angle the electronic device has turned per unit time and the direction of the turn. The larger the angular velocity data is, the larger the angle indicating that the electronic device is rotated is, and the larger the direction of the rotation is, the larger the shake of the electronic device is.

At step 304, acceleration data of the accelerometer is acquired.

The accelerometer may measure acceleration of the electronic device. Acceleration, which is the ratio of the amount of change in speed to the time it takes for this change to occur, is a physical quantity that describes how fast the speed of the electronic device changes. When the acceleration is larger, the speed of the electronic equipment is changed faster. The acceleration data measured by the accelerometer may be angular acceleration data or translational acceleration data, but is not limited thereto.

The larger the acceleration data is, the faster the speed change of the electronic device per unit time is indicated, and the larger the jitter of the electronic device is.

And step 306, binding the angular velocity data and the acceleration data through the inertial measurer to obtain bound data, and sending the bound data to the driver.

The angular velocity data and the acceleration data are bound by the inertial measurer, and the bound angular velocity data and the bound acceleration data are sent to the driver as a whole.

The angular velocity data and the acceleration data are bound through the inertia measurer, the angular velocity data and the acceleration data can be connected end to end, the angular velocity data and the acceleration data can be stored in one data packet, a corresponding relation can be established between the angular velocity data and the acceleration data, and for example, the angular velocity data and the acceleration data are marked with the same label. The application does not limit the specific binding mode and can set according to the user requirement.

In one embodiment, the anti-shake method further includes: and compressing the bound data and sending the compressed data to the driver.

It can be understood that, when the bound data is large, the time for sending the bound data to the driver is long, and a packet loss event is likely to occur in the sending process, so that the data received by the driver is incomplete. Therefore, in order to ensure that the drive can receive the complete data quickly, the bound data can be compressed and then transmitted.

In one embodiment, the anti-shake method further includes: the compressed data is encrypted and the encrypted data is sent to the drive.

In order to ensure the security of data and the security during data transmission, the compressed data may be encrypted and sent to the drive.

And 308, unbinding the bound data through a driver to obtain angular velocity data and acceleration data.

The driver can obtain anti-shake data according to the angular velocity data and the acceleration data, so that the electronic equipment is prevented from shaking. In the driver, a feedback controller and a DSP (Digital signal processing) controller may be included. The feedback controller is used for feeding back the output data to the input interface so as to influence the result of the next output data. Feedback controllers such as positive feedback controllers, negative feedback controllers, which may be PID (proportional, integral, differential) controllers, etc. The DSP controller can perform digital signal processing, such as recognition processing, unbinding processing, decompression processing and the like, on the angular velocity data and the acceleration data.

Wherein, the positive feedback controller means that the output data is fed back to the input interface, and further facilitates the next output data. If the output data A is fed back to the input interface, the output data A is further increased to B after passing through the positive feedback controller, the output data B is fed back to the input interface, and the output data A is further increased to C after passing through the positive feedback controller. The negative feedback controller means that the output data is fed back to the input interface, and the next output data is suppressed. If the output data D is fed back to the input interface, the output data is reduced to E after passing through the negative feedback controller, then the output data E is fed back to the input interface, and the output data is reduced to F after passing through the negative feedback controller. The PID controller can correct output data and output the data according to preset data through proportional, differential and integral control.

After the driver receives the bound data sent by the inertia measurer, the bound data can be unbound to obtain angular velocity data and acceleration data. It will be appreciated that the unbinding algorithm in the drive corresponds to the binding algorithm in the inertial measurer.

In one embodiment, when the data received by the driver is data that is bound and compressed in sequence, the compressed data may be decompressed, and then the decompressed data may be unbound to obtain the angular velocity data and the acceleration data.

In one embodiment, when the data received by the driver is data that is bound, compressed, and encrypted in sequence, the encrypted data may be decrypted, the decrypted data may be decompressed, and the decompressed data may be unbound to obtain the angular velocity data and the acceleration data.

It will be appreciated that the unbinding algorithm in the drive corresponds to the binding algorithm in the inertial measurer; the decompression algorithm in the driver corresponds to the compression algorithm in the inertia measurer; the decryption algorithm in the drive corresponds to the encryption algorithm in the inertia measurer.

And step 310, performing anti-shake processing according to the unbound angular velocity data and acceleration data.

The shaking of the electronic equipment on the angle can be acquired through the angular velocity data, the speed of the shaking of the electronic equipment on the angle can be acquired through the acceleration data, and the speed of the shaking of the electronic equipment in the translation direction can also be acquired. The translation direction may be a horizontal direction or a vertical direction, but is not limited thereto.

Therefore, according to the angular velocity data and the acceleration data after unbinding, the anti-shake can be performed not only in the angle but also in the translational direction. As shown in fig. 4, the unbundled angular velocity data and acceleration data can compensate not only the shake generated when the lens 402 rotates along the X, Y, Z axis, but also the shake generated when the lens is translated along the X, Y, Z axis, thereby improving the accuracy of anti-shake.

According to the anti-shaking method, the angular velocity data of the gyroscope and the acceleration data of the accelerometer are obtained, the angular velocity data and the acceleration data are bound through the inertia measurer and are sent to the driver, the bound data are unbound through the driver to obtain the angular velocity data and the acceleration data, the angular velocity data obtained after the binding is corresponding to the acceleration data, the problem that the angular velocity data and the acceleration data are respectively sent to the driver is avoided, when one of the data is delayed, the angular velocity data and the acceleration data received by the driver do not correspond to each other is solved, anti-shaking processing is conducted according to the corresponding angular velocity data and the corresponding acceleration data after the binding is removed, and anti-shaking accuracy can be improved.

In one embodiment, the inertia measurer includes a first-in first-out memory, and binds the angular velocity data and the acceleration data by the inertia measurer to obtain bound data, including: and connecting the angular velocity data and the acceleration data end to end through a first-in first-out memory according to the received sequence of the angular velocity data and the acceleration data to obtain the bound data.

A First-in First-out memory (FIFO) refers to that data stored First is Output First. In the first-in first-out memory, the angular velocity data and the acceleration data can be connected end to end according to the receiving sequence to obtain the bound data.

Specifically, when the time stamp of the angular velocity data and the time stamp of the acceleration data are both within a preset time range, the angular velocity data and the acceleration data are connected end to obtain the bound data.

The time stamp of the angular velocity data indicates the time when the angular velocity data is collected by the gyroscope, and the time stamp of the acceleration data indicates the time when the acceleration data is collected by the accelerometer. The smaller the preset time range is, the closer the acquisition time of the bound angular velocity data and the acquisition time of the acceleration data are, and the more accurate the anti-shake processing is performed according to the angular velocity data and the acceleration data.

In one embodiment, as shown in fig. 5, the inertial measurer 50 includes a gyroscope 502, an accelerometer 504, a first-in-first-out memory 506, and an SPI (Serial Peripheral Interface) Interface 508. The gyroscope 502 sends the collected angular velocity data to the first-in-first-out memory 506, and the accelerometer 504 sends the collected acceleration data to the first-in-first-out memory 506. The fifo 506 may connect the angular velocity data and the acceleration data end to end according to the received sequence of the angular velocity data and the acceleration data to obtain bound data, and then send the bound data to the SPI 508. The SPI interface 508 is connected to the driver, and the SPI interface 508 can send the bound data to the driver after receiving the bound data.

According to the anti-shaking method, the angular velocity data and the acceleration data are connected end to end according to the receiving sequence of the angular velocity data and the acceleration data through the first-in first-out memory, the bound data are obtained, and the anti-shaking accuracy can be improved.

In one embodiment, unbinding the bound data by the driver to obtain angular velocity data and acceleration data includes: and identifying the angular velocity data identifier and the acceleration data identifier in the bound data through the driver to obtain the angular velocity data and the acceleration data.

Attribute data is included in the angular velocity data. The attribute data is used to indicate an attribute of the angular velocity data, such as an angular velocity data identification, a data amount of the angular velocity data, a time stamp of the angular velocity data, and the like. Similarly, the acceleration data includes attribute data. The attribute data is used to indicate the attribute of the acceleration data, such as the acceleration data identification, the data amount of the acceleration data, the time stamp of the acceleration data, and the like.

Fig. 6 is a schematic diagram showing the format of attribute data in angular velocity data. Wherein OX55 refers to a packet header of angular velocity data, 0X52 refers to an identifier of the angular velocity data, GxL refers to an X-axis angular velocity low byte in the gyroscope, GxH refers to an X-axis angular velocity high byte in the gyroscope, GyL refers to a y-axis angular velocity low byte in the gyroscope, GyH refers to a y-axis angular velocity high byte in the gyroscope, GzL refers to a Z-axis angular velocity low byte in the gyroscope, GzH refers to a Z-axis angular velocity high byte in the gyroscope, and Sum refers to a check value of the angular velocity data.

Fig. 7 is a schematic diagram showing the format of attribute data in the acceleration data. Wherein OX55 refers to a packet header of acceleration data, 0X51 refers to an identifier of the acceleration data, AxL refers to an X-axis acceleration low byte in the gyroscope, AxH refers to an X-axis acceleration high byte in the gyroscope, AyL refers to a y-axis acceleration low byte in the gyroscope, AyH refers to a y-axis acceleration high byte in the gyroscope, AzL refers to a Z-axis acceleration low byte in the gyroscope, AzH refers to a Z-axis acceleration high byte in the gyroscope, and Sum refers to a check value of the acceleration data.

After the driver receives the bound data, the angular velocity data identifier and the acceleration data identifier in the bound data can be identified, so that the bound data is unbound to obtain the angular velocity data and the acceleration data.

According to the anti-shaking method, the angular velocity data identifier and the acceleration data identifier in the bound data are identified by the driver to obtain the corresponding angular velocity data and acceleration data, so that the anti-shaking accuracy can be improved according to the angular velocity data and the acceleration data.

In one embodiment, as shown in fig. 8, the angular velocity data includes a first check value and first data, the acceleration data includes a second check value and second data, the first data refers to a magnitude and a direction of an angular velocity, and the second data refers to a magnitude and a direction of an acceleration, the method further includes:

a first data amount of the first data and a second data amount of the second data are determined by the driver, step 802.

The angular velocity data includes a first check value and first data, and the first check value is attribute data of the first data in the angular velocity data, and refers to a check value of a data amount of the first data. The acceleration data includes a second check value and second data, and the second check value is attribute data of the second data in the acceleration data, and refers to a check value of a data amount of the second data.

After the driver obtains the angular velocity data by recognizing the angular velocity data identifier, the driver can acquire first data in the angular velocity data and count the data amount of the first data. Specifically, when the gyroscope is a three-axis gyroscope, the gyroscope includes an X-axis, a Y-axis, and a Z-axis. The data amount of the first data may include angular velocity data of the electronic device on an X-axis, angular velocity data on a Y-axis, and angular velocity data on a Z-axis. The first data amount may be the sum of the data amount of the angular velocity data on the X-axis, the angular velocity data on the Y-axis, and the angular velocity data on the Z-axis.

Similarly, after the driver obtains the acceleration data by recognizing the acceleration data identifier, the driver can obtain second data in the acceleration data, and count the data amount of the second data. Specifically, the data amount of the second data may be a sum of the data amount of the angular acceleration data and the data amount of the translational acceleration data. The data amount of the translational acceleration data may include a data amount of acceleration data in a horizontal direction and a data amount of acceleration data in a vertical direction. As shown in fig. 4, the horizontal direction includes an X-axis direction and a Y-axis direction, and the vertical direction includes a Z-axis direction. The acceleration data in the horizontal direction, i.e., the acceleration data in the X-axis direction and the acceleration data in the Y-axis direction, and the acceleration data in the vertical direction, i.e., the acceleration data in the Z-axis direction.

And step 804, acquiring a first check value in the angular velocity data and a second check value in the acceleration data.

And acquiring a first check value in the angular velocity data, wherein the first check value is attribute data of the first data in the angular velocity data and refers to a check value of the data quantity of the first data. And acquiring a second check value in the acceleration data, wherein the second check value is the attribute data of the second data in the acceleration data and refers to the check value of the data volume of the second data.

In step 806, when the first data amount is consistent with the first check value, the data amount of the first data is checked successfully.

It is understood that the first check value is a value of the data amount of the first data in the angular velocity data before binding. When the first data amount of the first data is determined to be consistent with the first verification value by the driver, the first data is not lost, and the verification of the data amount of the first data is successful.

When it is determined by the driver that the first data amount of the first data coincides with the first check value, it indicates that the first data is lost or that the first data has an error. Specifically, when it is determined by the driver that a first data amount of the first data is smaller than a first check value, it indicates that the first data is lost; when it is determined by the driver that the first data amount of the first data is greater than the first check value, indicating that the data amount of the first data is increased, an error may occur in the binding or transmission of the first data.

And 808, when the second data volume is consistent with the second check value, successfully checking the data volume of the second data.

It is understood that the second check value is a value of the data amount of the second data in the acceleration data before binding. When it is determined by the drive that the second data amount of the second data coincides with the second check value, indicating that the second data is not lost, the check on the data amount of the second data is successful.

When it is determined by the drive that the second data amount of the second data coincides with the second check value, it indicates that the second data is lost or that there is an error in the second data. Specifically, when it is determined by the driver that a second data amount of the second data is smaller than a second check value, it indicates that the second data is lost; when it is determined by the driver that the second data amount of the second data is greater than the second check value, indicating that the data amount of the second data is increased, an error may occur in the binding or transmission of the second data.

In the anti-shake method, the driver determines a first data volume of the first data and a second data volume of the second data, and obtains a first check value in the angular velocity data and a second check value in the acceleration data, and when the first data volume is consistent with the first check value, the data volume of the first data is checked successfully; when the second data volume is consistent with the second check value, the data volume of the second data is successfully checked, the data volume of the first data and the data volume of the second data are checked, the problem that anti-shaking errors exist due to the fact that anti-shaking is conducted according to the angular velocity data and the acceleration data under the conditions that packet loss, errors and the like happen to the first data or the second data can be avoided, and accuracy of anti-shaking is improved.

In one embodiment, the driver includes a feedback controller for performing anti-shake processing based on the unbound angular velocity data and acceleration data, including: obtaining compensation data according to the unbound angular velocity data and acceleration data; and sending the compensation data to a feedback controller for anti-shake processing.

The driver can obtain anti-shake data according to the angular velocity data and the acceleration data, so that the electronic equipment is prevented from shaking. In the driver, a feedback controller and a DSP controller may be included. The feedback controller can be a positive feedback controller, a negative feedback controller, a PID controller, etc. The DSP controller can perform digital signal processing, such as recognition processing, unbinding processing, decompression processing and the like, on the angular velocity data and the acceleration data.

Specifically, the inertial measurer may send the bound data to a DSP controller in the drive. The DSP controller may unbind the bound data to obtain angular velocity data and acceleration data, obtain compensation data according to the angular velocity data and the acceleration data, and send the compensation data to the feedback controller in the driver. After the feedback controller receives the compensation data, anti-shake processing can be carried out according to the compensation data.

According to the anti-shaking method, the compensation data are obtained according to the unbound angular velocity data and the acceleration data, and the compensation data are sent to the feedback controller for anti-shaking processing, so that the anti-shaking accuracy can be improved.

In one embodiment, the sending the compensation data to the feedback controller for anti-shake processing includes: sending the compensation data to a feedback controller; determining, by the feedback controller, a first compensation amount based on the compensation data and sending the first compensation amount to the motor; the lens is moved by the motor according to the first compensation amount.

A coil is wound in a motor in the electronic equipment, and after current is introduced into the coil, Lorentz force can be generated and can push a lens to move, namely the motor refers to a device for converting electric energy into mechanical energy. The magnitude of the current led into the motor is adjusted, so that the Lorentz force is adjusted, and the lens can be pushed by different distances to realize anti-shaking.

The feedback controller may determine a first compensation amount based on the compensation data and send the first compensation amount to the motor. The first compensation quantity can be the magnitude of current, and the motor acquires the current that first compensation quantity corresponds, and then produces corresponding lorentz force to promote the camera lens and remove, realized anti-shake.

According to the anti-shake method, the compensation data are sent to the feedback controller, the first compensation quantity is determined through the feedback controller based on the compensation data, the first compensation quantity is sent to the motor, the lens is moved through the motor according to the first compensation quantity, and anti-shake accuracy can be improved.

In one embodiment, the method further comprises: the position data of the lens is acquired in real time through the Hall sensor, and the position data is fed back to the feedback controller; acquiring compensation data sent by a driver in real time through a feedback controller; determining a second compensation amount based on the position data and the compensation data acquired in real time, and sending the second compensation amount to the motor; and moving the lens according to the second compensation amount through the motor.

A hall sensor refers to a device that measures positional data. The position data of the lens can be acquired in real time through the Hall sensor, and the position data is fed back to the feedback controller. Wherein the position data may be represented in spatial coordinates. A space coordinate system is established in the space where the lens is located, such as an X axis, a Y axis and a Z axis. As position data (3,5, -8) of the lens, indicating the position where the lens is located: the X-axis is 3, the Y-axis is 5 and the Z-axis is-8.

The compensation data transmitted by the driver is acquired in real time by the feedback controller, and a second compensation amount can be determined based on the position data and the compensation data of the lens acquired in real time and transmitted to the motor. After the motor receives the second compensation amount, the lens can be moved according to the second compensation amount. Wherein the second compensation amount may be a magnitude of the current. The motor obtains the current that the second offset corresponds, can turn into mechanical energy with the electric energy, produces the lorentz force promptly to promote the camera lens and remove.

As shown in fig. 9, the input, i.e., compensation data, 902 is a PID controller, i.e., proportional, integral, and derivative adjustments, 904 is a motor, 906 is a hall sensor, and the output is the lorentz force generated by the motor. When the lens is pushed to move by the lorentz force generated by the motor 904, the position data of the lens can be acquired in real time by the hall sensor 906 and sent to the PID controller 902. The PID controller 902 takes the input of the driver, i.e., the compensation data and the position data sent by the hall sensor 906 in real time, can perform proportional adjustment, integral adjustment, and derivative adjustment based on the position data and the compensation data, determines a second compensation amount, and sends the second compensation amount to the motor 904. Wherein the second compensation amount may be a magnitude of the current. The motor 904 obtains a corresponding current according to the second compensation amount, and a lorentz force can be generated after the current is introduced to a coil in the motor, so that the lens is pushed to move.

FIG. 10 is a diagram illustrating an internal structure of an electronic device according to an embodiment. The camera module 1002 includes a driver 1006, a hall sensor 1008, a motor 1010, and

lenses

1012 and 1004, which are inertia measuring devices. The inertial measurer 1004 binds the angular velocity data and the acceleration data and sends them to the driver 1006. After the driver 1006 obtains the bound data, the bound data is unbinded to obtain angular velocity data and acceleration data, and compensation data is obtained according to the angular velocity data and the acceleration data, and is sent to a feedback controller in the driver. The feedback controller acquires the compensation data in real time and the position data of the lens sent by the hall sensor 1008 in real time, determines a second compensation amount, and sends the second compensation amount to the motor 1010. The motor 1010 can obtain corresponding current according to the second compensation amount, and converts the electric energy into mechanical energy, that is, lorentz force is generated, so that the lens 1012 is pushed to move, and anti-shake is realized.

It should be understood that, although the steps in the flowcharts of fig. 3 and 8 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 3 and 8 may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performing the sub-steps or stages is not necessarily sequential, but may be performed alternately or alternately with other steps or at least some of the sub-steps or stages of other steps.

Fig. 11 is a block diagram of the anti-shake apparatus according to an embodiment. As shown in fig. 8, there is provided an anti-shake apparatus 1100 including: an angular velocity data acquisition module 1102, an acceleration data acquisition module 1104, a binding module 1106, a unbinding module 1108, and an anti-shake processing module 1110, wherein:

an angular velocity data obtaining module 1102, configured to obtain angular velocity data of the gyroscope.

And an acceleration data acquiring module 1104, configured to acquire acceleration data of the accelerometer.

A binding module 1106, configured to bind the angular velocity data and the acceleration data by using an inertial measurer to obtain bound data, and send the bound data to a driver.

The unbinding module 1108 is configured to unbind the bound data by using a driver to obtain angular velocity data and acceleration data;

and an anti-shake processing module 1110, configured to perform anti-shake processing according to the unbound angular velocity data and acceleration data.

Above-mentioned anti-shake device, the angular velocity data of acquisition gyroscope and the acceleration data of accelerometer, bind angular velocity data and acceleration data through the inertia caliber, and data transmission after will binding to the driver, unbind the data after binding through the driver and obtain angular velocity data and acceleration data, the angular velocity data that obtain after unbinding corresponds with the acceleration data, avoided sending angular velocity data and acceleration data to the driver respectively, cause the angular velocity data and the problem that the acceleration data that the driver received do not correspond when one of them data takes place to postpone, thereby carry out anti-shake according to the corresponding angular velocity data and the acceleration data after unbinding and handle, the accuracy of anti-shake can be improved.

In an embodiment, the binding module 1106 is further configured to connect the angular velocity data and the acceleration data end to end according to the received sequence of the angular velocity data and the acceleration data through a first-in first-out memory, so as to obtain the bound data.

In one embodiment, the unbinding module 1108 is further configured to recognize the angular velocity data identifier and the acceleration data identifier in the bound data through the driver, so as to obtain the angular velocity data and the acceleration data.

In one embodiment, the anti-shake apparatus further includes a verification module, configured to determine, by the driver, a first data amount of the first data and a second data amount of the second data; acquiring a first check value in the angular velocity data and a second check value in the acceleration data; when the first data volume is consistent with the first check value, the data volume of the first data is checked successfully; and when the second data volume is consistent with the second check value, the data volume of the second data is checked successfully.

In one embodiment, the anti-shake processing module 1110 is further configured to obtain compensation data according to the unbound angular velocity data and acceleration data; and sending the compensation data to a feedback controller for anti-shake processing.

In one embodiment, the anti-shake processing module 1110 is further configured to send compensation data to a feedback controller; determining, by the feedback controller, a first compensation amount based on the compensation data and sending the first compensation amount to the motor; the lens is moved by the motor according to the first compensation amount.

In one embodiment, the anti-shake processing module 1110 is further configured to obtain position data of the lens in real time through a hall sensor, and feed back the position data to the feedback controller; acquiring compensation data sent by a driver in real time through a feedback controller; determining a second compensation amount based on the position data and the compensation data acquired in real time, and sending the second compensation amount to the motor; and moving the lens according to the second compensation amount through the motor.

The division of each module in the anti-shake apparatus is only for illustration, and in other embodiments, the anti-shake apparatus may be divided into different modules as needed to complete all or part of the functions of the anti-shake apparatus.

Fig. 12 is a schematic diagram of an internal structure of an electronic device in one embodiment. As shown in fig. 12, the electronic device includes a processor and a memory connected by a system bus. Wherein, the processor is used for providing calculation and control capability and supporting the operation of the whole electronic equipment. The memory may include a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The computer program can be executed by a processor for implementing an anti-shake method provided in the following embodiments. The internal memory provides a cached execution environment for the operating system computer programs in the non-volatile storage medium. The electronic device may be a mobile phone, a tablet computer, or a personal digital assistant or a wearable device, etc.

The implementation of each module in the anti-shake apparatus provided in the embodiment of the present application may be in the form of a computer program. The computer program may be run on a terminal or a server. The program modules constituted by the computer program may be stored on the memory of the terminal or the server. Which when executed by a processor, performs the steps of the method described in the embodiments of the present application.

The embodiment of the application also provides a computer readable storage medium. One or more non-transitory computer-readable storage media containing computer-executable instructions that, when executed by one or more processors, cause the processors to perform the steps of the anti-shake method.

A computer program product comprising instructions which, when run on a computer, cause the computer to perform an anti-shake method.

Any reference to memory, storage, database, or other medium used by embodiments of the present application may include non-volatile and/or volatile memory. Suitable non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM), which acts as external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms, such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), Enhanced SDRAM (ESDRAM), synchronous Link (Synchlink) DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and bus dynamic RAM (RDRAM).

The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present application. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. An anti-shake method applied to an electronic device including an inertial measurer and a driver, the inertial measurer including a gyroscope, an accelerometer, and a first-in-first-out memory, the method comprising:

acquiring angular velocity data of the gyroscope;

acquiring acceleration data of the accelerometer;

connecting the angular velocity data and the acceleration data end to end through the first-in first-out memory according to the received sequence of the angular velocity data and the acceleration data to obtain bound data, and sending the bound data to the driver as a whole;

identifying an angular velocity data identifier and an acceleration data identifier in the bound data through a driver to obtain the angular velocity data and the acceleration data; the angular velocity data comprises a first check value and first data, the acceleration data comprises a second check value and second data, the first data refers to the magnitude and the direction of the angular velocity, and the second data refers to the magnitude and the direction of the acceleration;

determining, by the driver, a first data amount of the first data and a second data amount of the second data; the first data amount is a sum of a data amount of angular velocity data on an X axis, a data amount of angular velocity data on a Y axis, and a data amount of angular velocity data on a Z axis; the data amount of the second data is a sum of a data amount of angular acceleration data and a data amount of translational acceleration data;

acquiring a first check value in the angular velocity data and a second check value in the acceleration data;

when the first data volume is consistent with the first check value, the data volume of the first data is checked successfully;

when the second data volume is consistent with the second check value, the data volume of the second data is checked successfully;

2. The method of claim 1, further comprising:

and compressing the bound data, and sending the compressed data to the driver.

3. The method according to claim 1, wherein a feedback controller is included in the driver, and the anti-shake processing according to the unbound angular velocity data and the acceleration data comprises:

obtaining compensation data according to the unbound angular velocity data and the acceleration data;

and sending the compensation data to the feedback controller for anti-shake processing.

4. The method of claim 3, wherein sending the compensation data to the feedback controller for anti-shake processing comprises:

sending the compensation data to the feedback controller;

determining, by the feedback controller, a first compensation amount based on the compensation data and sending the first compensation amount to a motor;

and moving the lens according to the first compensation amount through the motor.

5. The method of claim 4, further comprising:

acquiring position data of the lens in real time through a Hall sensor, and feeding back the position data to the feedback controller;

acquiring compensation data sent by the driver in real time through the feedback controller;

determining a second compensation amount based on the position data and the compensation data acquired in real time, and sending the second compensation amount to a motor;

and moving the lens according to the second compensation amount through the motor.

6. An anti-shake apparatus applied to an electronic device including an inertial measurer and a driver, the inertial measurer including a gyroscope, an accelerometer, and a first-in first-out memory, the apparatus comprising:

the binding module is used for connecting the angular velocity data and the acceleration data end to end through the first-in first-out memory according to the received sequence of the angular velocity data and the acceleration data to obtain bound data, and sending the bound data to the driver as a whole;

the unbinding module is used for identifying an angular velocity data identifier and an acceleration data identifier in the bound data through a driver to obtain the angular velocity data and the acceleration data; the angular velocity data comprises a first check value and first data, the acceleration data comprises a second check value and second data, the first data refers to the magnitude and the direction of the angular velocity, and the second data refers to the magnitude and the direction of the acceleration;

a verification module to determine, by the driver, a first data amount of the first data and a second data amount of the second data; the first data amount is a sum of a data amount of angular velocity data on an X axis, a data amount of angular velocity data on a Y axis, and a data amount of angular velocity data on a Z axis; the data amount of the second data is a sum of a data amount of angular acceleration data and a data amount of translational acceleration data; acquiring a first check value in the angular velocity data and a second check value in the acceleration data; when the first data volume is consistent with the first check value, the data volume of the first data is checked successfully; when the second data volume is consistent with the second check value, the data volume of the second data is checked successfully;

7. The device according to claim 6, wherein the driver comprises a feedback controller, and the anti-shake processing module is further configured to obtain compensation data according to the unbound angular velocity data and the acceleration data; and sending the compensation data to the feedback controller for anti-shake processing.

8. The apparatus of claim 7, wherein the anti-shake processing module is further configured to send the compensation data to the feedback controller; determining, by the feedback controller, a first compensation amount based on the compensation data and sending the first compensation amount to a motor; and moving the lens according to the first compensation amount through the motor.

9. An electronic device comprising a memory and a processor, the memory having stored therein a computer program that, when executed by the processor, causes the processor to perform the steps of the anti-shake method according to any one of claims 1 to 5.

10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 5.