CN112153245B - Control method and camera - Google Patents
Control method and camera Download PDFInfo
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- CN112153245B CN112153245B CN201910558084.3A CN201910558084A CN112153245B CN 112153245 B CN112153245 B CN 112153245B CN 201910558084 A CN201910558084 A CN 201910558084A CN 112153245 B CN112153245 B CN 112153245B
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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
- H04N23/50—Constructional details
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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
- H04N23/65—Control of camera operation in relation to power supply
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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
- H04N23/65—Control of camera operation in relation to power supply
- H04N23/651—Control of camera operation in relation to power supply for reducing power consumption by affecting camera operations, e.g. sleep mode, hibernation mode or power off of selective parts of the camera
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Abstract
The application discloses a control method and a camera. Wherein, a camera includes: a main processor; a microprocessor, responsive to a wake-up indication to the camera, to wake-up the main processor; wherein the main processor is configured to: after being awakened by the microprocessor, the code of first control software is loaded, wherein the first control software is used for controlling hardware resources related to an image acquisition function in the camera to execute an image acquisition task, and the hardware resources comprise: the camera lens, the image sensor, the image signal processor and the digital signal processor; after the code of the first control software is loaded, controlling the lens, the image sensor, the image signal processor and the digital signal processor to execute the image acquisition task so as to generate image data, and loading the code of second control software, wherein the code amount of the second control software is larger than that of the first control software; the image data is controlled and processed by the second control software.
Description
Technical Field
The present application relates to the field of image acquisition technologies, and in particular, to a control method and a camera.
Background
Image acquisition devices such as cameras can be widely applied in various scenes. In some scenarios, the image capture device is powered by batteries, solar energy, or the like. In order to save power, the image capture device is typically in a sleep state when not required to operate. When core tasks such as image acquisition and the like need to be carried out, the image acquisition equipment responds to the awakening operation to load an operating system for executing all tasks of the image acquisition equipment, and the core tasks can be executed only after the operating system is loaded. The image acquisition device has a long time from the start of waking up to the start of executing the core task.
Disclosure of Invention
Therefore, the control scheme of the camera is provided, and the starting speed of the camera for executing core tasks such as image acquisition and the like can be increased.
According to an aspect of the present application, there is provided a camera including:
a main processor;
a microprocessor that wakes up the main processor in response to a wake-up indication to the camera;
wherein the main processor is configured to:
after being awakened by the microprocessor, loading code of first control software, wherein the first control software is used for controlling hardware resources related to image acquisition functions in the camera to execute image acquisition tasks, and the hardware resources comprise: the camera lens, the image sensor, the image signal processor and the digital signal processor;
after the code of the first control software is loaded, controlling the lens, the image sensor, the image signal processor and the digital signal processor to execute the image acquisition task so as to generate image data, and loading the code of second control software, wherein the code amount of the second control software is larger than that of the first control software;
executing, by the first control software, the image acquisition task during loading of the code of the second control software;
and after the code of the second control software is loaded, taking over the image acquisition task by the second control software.
In some embodiments, the main processor is further configured to: after the code of the second control software is loaded, the image data is controlled and processed by the second control software.
In some embodiments, the camera further comprises a trigger sensor for generating a wake-up indication for the camera; wherein the microprocessor is further configured to: receiving the wake-up indication.
In some embodiments, the main processor is further configured to: logging off the second control software after the task in the second control software is completed; the microprocessor is further configured to: and turning off the main processor, the lens, the image sensor, the image signal processor and the digital signal processor.
In some embodiments, the second in-control-software task comprises the image acquisition task that takes over, and the second in-control-software task further comprises at least one of: performing target detection on the image data through an artificial intelligence processor, transmitting a result of the target detection through a communication module, and generating a log record of the result of the target detection.
In some embodiments, the image capture task comprises a grab or video operation.
In some embodiments, the main processor executes the code loading the second control software according to: and loading a kernel, a file system, a peripheral driver, a protocol stack and a service function module corresponding to the second control software.
In some embodiments, the main processor performs the controlling and processing of the image data by the second control software according to: acquiring a storage address of the image data from the first control software by the second control software; and controlling and processing the image data by the second control software according to the storage address.
In some embodiments, the microprocessor is further configured to: and responding to the awakening instruction of the camera, and performing power-on operation on the hardware resource.
According to an aspect of the present application, there is provided a control method of a camera, including:
receiving a wake-up indication for the camera;
in response to the wake-up indication, loading code of first control software, wherein the first control software is configured to control hardware resources related to image acquisition in the camera and perform image acquisition tasks, wherein the hardware resources include: the camera lens, the image sensor, the image signal processor and the digital signal processor;
after the code of the first control software is loaded, executing the image acquisition task based on the first control software to obtain image data, and loading the code of second control software, wherein the code amount of the second control software is larger than that of the first control software;
executing, by the first control software, the image acquisition task during loading of the code of the second control software;
and after the code of the second control software is loaded, taking over the image acquisition task by the second control software.
In summary, by loading the first control software before loading the second control software, the control scheme according to the present application can quickly start and execute the image capturing task from the hibernation state, thereby increasing the starting speed of executing the core task. For example, in application scenes of protecting wild animals and plants, crops, public facilities and the like, the control scheme of the application can quickly start the first control software to execute core tasks such as an image acquisition task and the like, so that the real-time performance of the camera for executing the core tasks can be greatly improved, and the user experience degree is further greatly improved. Particularly, in a scene needing to monitor an emergency, the control scheme of the application can be quickly started and can be used for carrying out image acquisition (such as image capture or video capture) on the emergency, so that image information about the emergency can be immediately acquired, and the response speed of the camera to the emergency is further improved. In addition, by concurrently executing the image acquisition task and loading the second control software, the control scheme of the application can switch from the first operation to the second control software without affecting the execution of the image acquisition task, so that the camera can be switched from a state of only supporting the core task (i.e. the image acquisition task) to a state of supporting all tasks. In addition, the control scheme of the application can control the camera to enter the dormant state after the task in the second control software is executed, so that the energy consumption is saved.
Drawings
FIG. 1 shows a schematic view of a camera according to some embodiments of the present application;
FIG. 2 illustrates a schematic structural view of a camera 100 according to some embodiments of the present application;
fig. 3 shows a schematic view of the camera 100 after loading the first control software 111 according to some embodiments of the present application;
FIG. 4 illustrates a schematic view of the camera 100 after loading the second control software 112 according to some embodiments of the present application;
FIG. 5 illustrates a schematic diagram of the camera 100 after the second control software 112 takes over the image data, according to some embodiments of the present application;
FIG. 6 illustrates a flow chart of a control method 600 according to some embodiments of the present application.
Description of reference numerals:
100 vidicon
101 main processor
102 microprocessor
103 lens
104 image sensor
105 image signal processor
106 digital signal processor
107 random access memory
108 non-volatile memory
109 communication module
110 artificial intelligence processor
111 first control software
112 second control software
113 image data
114 trigger sensor
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is further described in detail below by referring to the accompanying drawings and examples.
Fig. 1 shows a schematic view of a camera according to some embodiments of the present application. As shown in fig. 1, the camera 100 may perform a variety of functional tasks, such as image capture (e.g., tasks such as capturing pictures and capturing videos), image preview, video playback, video search, object recognition, network communication, logging, and firmware upgrade. The camera 100 of the present application is not limited to the structure shown in fig. 1, and may be various types of image pickup devices. The camera 100 may perform the functional tasks supported by the camera 100 through a piece of control software (e.g., an embedded software system). Depending on the functional requirements, some of the functional tasks supported by the camera 100 may be referred to as core tasks (which may also be referred to as critical tasks). The image acquisition task may for example be considered as a core task, but is not limited thereto.
It should be noted that the control software supporting the entire functions of the video camera 100 may be referred to as a full system. In other words, the system-wide is a system that supports the full-function service of the camera 100.
In addition, the camera 100 of the embodiment of the present application may further include a small system. Here, the small system is a compact system suitable for being executed by the video camera 100. A small system may be a software system that only supports one or more core tasks of the camera 100. For example, a small system may only support high real-time functional tasks (e.g., snap or video operations) of the camera 100. Because the small system supports less functional tasks than the full system, the small system requires less software and hardware resources than the full system. Thus, the camera 100 is faster to load a small system than a large system. The present application provides a control scheme for a video camera 100, which can load a small system first when the video camera 100 is started up or started from a hibernation state. The camera 100 may perform core tasks supported by the small system and load the full system after the small system is loaded. After the full system is loaded, the camera 100 may execute the full system and take over tasks in the small system from the full system.
It should be noted that the camera 100 according to the embodiment of the present application may execute the system-wide task after the system-wide task is started, and log off the system-wide task after the system-wide task is completed, and enter the sleep state. Here, the system-wide task refers to a task that needs to be executed after the system-wide start. The system-wide task may include, for example, analyzing images captured by the small system or videos recorded by the small system. In some embodiments, after the system is started, the camera 100 may perform artificial intelligence analysis (e.g., target recognition, etc.) or other required services on the captured images or recorded videos, which is not limited in this application.
In summary, the video camera 100 of the present application can increase the starting speed of the video camera 100 executing the core task by loading the small system before loading the whole system. Particularly, in a scene where an emergency needs to be monitored, the camera 100 of the present application can be quickly started and perform image acquisition (for example, capturing a picture or capturing a video) on the emergency, so that image information about the emergency can be immediately acquired, and the response speed of the camera to the emergency is further improved. In addition, by executing the core task and loading the entire system concurrently, the video camera 100 of the present application can switch from the small system to the entire system without affecting the execution of the core task, so that the video camera 100 can switch from a state of supporting only the core task to a state of supporting all tasks. In addition, the camera of the application can enter a dormant state after the execution of the task in the second control software is finished, so that the energy consumption is saved.
Fig. 2 shows a schematic structural diagram of a camera 100 according to some embodiments of the present application. As shown in fig. 2, the camera 100 may include, but is not limited to: a main Processor 101, a microprocessor 102 and a lens 103, an Image sensor 104, an Image Signal Processor (ISP) 105, a Digital Signal Processor (DSP) 106, a random access memory 107, a nonvolatile memory 108, a communication module 109, an artificial intelligence Processor 110, and a trigger sensor 114.
The main processor 101 is, for example, a central processing unit. The microprocessor 102 is, for example, a Microcontroller Unit (Microcontroller Unit) processor. The power consumption of the microprocessor 102 may be less than that of the main processor 102. The random access memory 107 may be, for example, DRAM, SRAM, DDR RAM, or other random access solid state memory devices. The non-volatile memory 108 may be, for example, a magnetic disk storage device, an optical disk storage device, a flash memory device, or other non-volatile solid-state storage device. The artificial intelligence processor 110 is a processor that can execute artificial intelligence algorithms, such as but not limited to a Graphics Processor (GPU). The communication module 109 may be various circuit modules for communication, such as a 4G chip and a WIFI chip. The trigger sensor 114 refers to a sensor for waking up the camera 110, such as an infrared sensor, a smoke sensor, a temperature sensor, a sound sensor, a distance sensor, and the like.
While the camera 100 is in the sleep state, the camera 100 may leave the microprocessor 102 and the trigger sensor 114 powered up, while leaving other hardware resources powered down. The microprocessor 102 may wait to receive a wake-up indication to trigger the sensor 114 to the camera 100. Here, the trigger sensor 114 may send a wake-up indication to the microprocessor 102 after being triggered. The wake-up finger is an indication signal such as a pulse signal.
The microprocessor 102 may receive a wake-up indication to the camera 100 and wake-up the main processor 101 in response to the wake-up indication to the camera 100. In addition, the microprocessor 102 may also power up a number of other hardware resources in the camera 100. For example, the microprocessor 102 may power up hardware such as the lens 103, the image sensor 104, the image signal processor 105, the digital signal processor 106, the random access memory 107, the nonvolatile memory 108, the communication module 109, and the artificial intelligence processor 110.
The main processor 101 may load the code of the first control software 111 after being woken up. The first control software is, for example, a small system. In some embodiments, the main processor 101 may retrieve the resources of the first control software from the non-volatile memory 108 and load into the random access memory 107. The first control software is used to control the hardware resources related to image acquisition in the camera 100 to perform the image acquisition task. Here, the hardware resources related to image acquisition may include, for example, a lens 103, an image sensor 104, an image signal processor 105, and a digital signal processor 106.
After the first control software is loaded, the main processor 101 may obtain image data by executing an image capturing task based on the first control software, and load a code of the second control software. Wherein the second control software is more functional than the first control software. The code amount of the second control software 112 is larger than that of the first control software 111. The second control software is for example system wide. In some embodiments, the main processor 101 may perform a capture operation or a video recording operation based on the first control software 111 to obtain the image data. In some embodiments, during the loading of the code of the second control software, the main processor 101 may perform the image capturing task by the first control software until the second control software 112 controls and processes the image capturing task.
After the code of the second control software is loaded, the main processor 101 may take over tasks (e.g., image capturing task) and image data in the first control software through the second control software 112. Here, after the main processor 101 takes over the image data, the image data may be analyzed, for example, an operation such as object recognition may be performed on the image data.
In summary, by loading the first control software before loading the second control software, the camera 100 according to the present application can quickly start and execute the image capturing task from the hibernation state, thereby increasing the starting speed of executing the core task. For example, in application scenes of protecting wild animals and plants, crops, public facilities and the like, the camera 100 of the present application can quickly start the first control software to execute core tasks such as an image acquisition task and the like, so that the real-time performance of the camera 100 in executing the core tasks can be greatly improved, and further, the user experience degree can be greatly improved. Particularly, in a scene where an emergency needs to be monitored, the camera 100 of the present application can be quickly started and perform image acquisition (for example, capturing a picture or capturing a video) on the emergency, so that image information about the emergency can be immediately acquired, and the response speed of the camera to the emergency is further improved.
In addition, by concurrently executing the image capturing task and loading the second control software 112, the camera 100 of the present application can switch from the first control software 111 to the second control software 112 without affecting the execution of the image capturing task, so that the camera 100 can be switched from a state supporting only the core task (i.e., the image capturing task) to a state supporting all tasks.
Fig. 3 shows a schematic diagram of the video camera 100 after loading the first control software 111. Based on the first control software 111, the main processor 101 can start and control hardware resources related to image acquisition to generate image data. In some embodiments, the main processor 101 may control the lens 103 through the image signal processor 105. For example, the image signal processor 105 may adjust parameters such as the focal length and the photographing angle of the lens 103. The image sensor 104 may generate raw image data. The image signal processor 105 may process the raw image data, and may perform operations such as automatic exposure control, automatic gain control, automatic white balance control, color correction, and dead pixel removal. The digital signal processor 106 may perform a snapshot or a video snapshot on the image data processed by the image signal processor 105, so that image data, such as the image data 113 in fig. 4, may be generated.
The main processor 101 may load the second control software while performing the image acquisition task. In some embodiments, the main processor 101 may load a kernel, a file system, a peripheral driver (e.g., a driver of the communication module 109), a protocol stack (e.g., a WEB protocol, an ONVIF protocol, GB/T28181, etc.), and a business function module corresponding to the second control software. Here, the services related to the service function module may include, for example: preview, record, search, playback, alarm, firmware upgrade, log, user interaction, and the like.
For example, fig. 4 shows a schematic diagram of the main processor 101 after loading the second control software 112. On this basis, the main processor 101 can take over the tasks in the image data 113 and the first control software 111 through the second control software 112. For example, fig. 5 shows a schematic view of the camera 100 after the second control software 112 takes over the image data according to some embodiments of the present application. As shown in fig. 5, the main processor 101 may cause the second control software 112 to acquire the storage address of the image data from the first control software 111. The second control software 112 may control and process the image data 113 according to the memory address.
In some embodiments, the main processor 101 may execute the task in the second control software 112 and log off the second control software 112 after completing the task in the second control software 112. Here, the task in the second control software 112 refers to a task that the video camera 100 needs to perform after the second control software 112 is loaded. The embodiment of the application can configure the task in the second control software according to the service requirement. In some embodiments, the task in the second control software 112 is, for example, to perform an image capturing task, perform object detection on the image data 113 through the artificial intelligence processor 110, transmit the result of the object detection through the communication module 109, and generate a log of the result of the object detection, or other business functions that need to be performed, which is not limited in this application. After the main processor 101 logs off the second control software 112, the microprocessor 102 may shut down the main processor 101, the lens 103, the image sensor 104, the image signal processor 105, the digital signal processor 106, the random access memory 107, the non-volatile memory 108, the communication module 109, the artificial intelligence processor 110, and the trigger sensor 114. In short, the video camera 100 enters the sleep state by logging off the second control software 112 and shutting down various hardware resources. In this way, the controller 102 may shut down hardware resources that consume higher power, thereby saving power consumption. Additionally, the trigger sensor 114 may remain in a powered-on operating state when the camera 110 enters a sleep state and wait to be triggered.
In summary, the main processor 101 may control the task in the first control software 111 through the second control software 112 after the second control software 112 is started. The second control software 112 may perform more tasks than the first control software 111. For example, the second control software 112 may control the artificial intelligence processor 110 to perform the target recognition task. The second control software 112 may also control the communication module 109 to output a video stream to a Network Video Recorder (NVR) or the like. In addition, the embodiment of the present application may control the video camera 100 to enter the sleep state after the task in the second control software 112 is completed, thereby saving energy consumption.
FIG. 6 illustrates a flow chart of a control method 600 according to some embodiments of the present application. The control method 600 may be performed by, for example, the video camera 100, but is not limited thereto.
As shown in fig. 6, in step S601, a wake-up instruction for the camera is received. Here, the wake-up indication may be generated by the trigger sensor 114, for example. The microprocessor 102 may receive a wake-up indication.
In some embodiments, step S601 may also perform a power-on operation on hardware resources in the video camera 100.
In step S602, the code 111 of the first control software is loaded in response to the wake-up instruction. The first control software 111 is used for controlling hardware resources related to image acquisition in the camera and executing image acquisition tasks. In some embodiments, the microprocessor 102 may wake up the main processor 101 in response to a wake up indication to the camera. The main processor 101 may load the code of the second control software 112 in the random access memory 107.
In step S603, after the first control software 111 is loaded, image data is obtained based on the first control software 111 performing an image capturing task, and the second control software 112 is loaded. Wherein the second control software 112 supports more functions than the first control software 111. The code amount of the second control software 112 is larger than that of the first control software 111. In some embodiments, step S603 may activate and control the lens 103, the image sensor 104, the image signal processor 105, and the digital signal processor 106 to generate image data. In some embodiments, based on the first control software 111, step S603 may perform a snapshot operation or a video snapshot operation, resulting in the image data. In some embodiments, step S603 may load a kernel, a file system, a peripheral driver, a protocol stack, and a service function module corresponding to the second control software. In some embodiments, during the loading of the code of the second control software 112, step S603 may perform the image capturing task based on the first control software 111 until the image capturing task is controlled by the second control software 112.
In step S604, after the code of the second control software 112 is loaded, the task and image data in the first control software 111 are controlled by the second control software 112. In some embodiments, step S604 may cause the second control software 112 to acquire the storage address of the image data from the first control software 111. In this way, step S604 can control and process the image data 113 according to the storage address by the second control software 112. In some embodiments, step S604 may further analyze the image data after acquiring the storage address of the image data. For example, step S604 may perform an analysis operation such as object recognition on the image data.
In summary, by loading the first control software 111 before loading the second control software 112, the control method 600 according to the present application can quickly start and execute the image capturing task from the sleep state, thereby increasing the starting speed of executing the core task. For example, in an application scenario of protecting wild animals and plants, crops, public facilities, and the like, the control method 600 of the present application may quickly start the first control software 111 to execute core tasks such as an image acquisition task, so as to greatly improve the real-time performance of the camera 100 in executing the core tasks, and further greatly improve the user experience. Particularly, in a scene where an emergency needs to be monitored, the control method 600 of the present application can be quickly started and perform image acquisition (for example, capturing a picture or capturing a video) on the emergency, so that image information about the emergency can be immediately acquired, and the response speed of the camera to the emergency is further improved.
In some embodiments, the camera 100 may execute tasks in the second control software 112 after loading the code of the second control software 112. Here, the task in the second control software 112 includes, for example, at least one of: performing image acquisition tasks, performing object detection on the image data 113 by the artificial intelligence processor 110, transmitting results of the object detection by the communication module 109, and generating a log record of the results of the object detection. The method 600 may further include step S605, after completing the task in the second control software 112, logging off the second control software 112 and shutting down a plurality of hardware resources in the video camera 100. In some embodiments, the primary processor 101 may log off the second control software 112. The microprocessor 102 may shut down the main processor 101, the lens 103, the image sensor 104, the image signal processor 105, the digital signal processor 106, the random access memory 107, the nonvolatile memory 108, the communication module 109, the artificial intelligence processor 110, and the trigger sensor 114 after the main processor 101 logs off the second control software 112. Thus, the control method 600 of the present application can shut down hardware resources with higher power consumption, thereby saving power consumption.
More specific implementations of the method 600 are consistent with the implementation of the camera 100 of fig. 3 and will not be described in detail herein.
The above description is only exemplary of the present application and should not be taken as limiting the present application, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the scope of the present application.
Claims (10)
1. A camera, comprising:
a main processor (101);
a microprocessor (102) that wakes up the main processor (101) in response to a wake-up indication to the camera;
wherein the main processor (101) is configured to:
after being woken up by the microprocessor (102), loading code of first control software (111), wherein the first control software (111) is used for controlling hardware resources related to image acquisition functions in the camera to execute image acquisition tasks, and the hardware resources comprise: a lens (103), an image sensor (104), an image signal processor (105) and a digital signal processor (106);
after the code of the first control software (111) is loaded, controlling the lens (103), the image sensor (104), the image signal processor (105) and the digital signal processor (106) to execute the image acquisition task to generate image data (113), and loading the code of second control software (112), wherein the code amount of the second control software (112) is larger than that of the first control software (111);
-performing, by the first control software (111), the image acquisition task during the loading of the code of the second control software (112);
-taking over the image acquisition task by the second control software (112) after loading the code of the second control software (112).
2. The camera of claim 1, wherein the main processor (101) is further configured to:
after loading the code of the second control software (112), the image data (113) is controlled and processed by the second control software (112).
3. The camera of claim 1,
further comprising a trigger sensor (114) for generating a wake-up indication for the camera;
wherein the microprocessor (102) is further configured to: receiving the wake-up indication.
4. The camera of claim 1,
the main processor is further to: logging off the second control software (112) after the task in the second control software (112) is completed;
the microprocessor (102) is further configured to: turning off the main processor (101), lens (103), image sensor (104), image signal processor (105) and digital signal processor (106).
5. The camera according to claim 4, characterized in that the task in the second control software (112) comprises the image acquisition task taking over, and in that the task in the second control software (112) further comprises at least one of: target detection is performed on the image data (113) by an artificial intelligence processor (110), results of the target detection are transmitted by a communication module (109), and a log of the results of the target detection is generated.
6. The camera of claim 1, wherein the image acquisition task comprises a grab or video operation.
7. The camera of claim 1, wherein the main processor (101) executes the code loading the second control software (112) according to:
and loading a kernel, a file system, a peripheral driver, a protocol stack and a service function module corresponding to the second control software (112).
8. The camera according to claim 1, characterized in that the main processor (101) performs the control and processing of the image data (113) by the second control software (112) according to:
acquiring, by the second control software (112), a storage address of the image data from the first control software (111);
controlling and processing the image data (113) by the second control software (112) according to the memory address.
9. The camera of claim 1, wherein the microprocessor (102) is further configured to:
and responding to the awakening instruction of the camera, and performing power-on operation on the hardware resource.
10. A control method of a camera, characterized by comprising:
receiving (S601) a wake-up indication for a camera;
in response to the wake-up indication, loading (S602) code of first control software, wherein the first control software is configured to control hardware resources related to image acquisition in the camera and perform image acquisition tasks, wherein the hardware resources include: a lens (103), an image sensor (104), an image signal processor (105) and a digital signal processor (106);
after the code of the first control software is loaded, executing (S603) the image acquisition task based on the first control software to obtain image data, and loading the code of second control software, wherein the code amount of the second control software is larger than that of the first control software;
executing, by the first control software, the image acquisition task during loading of the code of the second control software;
and after the code of the second control software is loaded, taking over the image acquisition task by the second control software.
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