CN114338994A - Optical anti-shake method, optical anti-shake apparatus, electronic device, and computer-readable storage medium - Google Patents
Optical anti-shake method, optical anti-shake apparatus, electronic device, and computer-readable storage medium Download PDFInfo
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Abstract
The application relates to an optical anti-shake method, an optical anti-shake apparatus, an electronic device, and a storage medium. The method is applied to a camera module, the camera module comprises a lens motor and a photosensitive chip motor, and the method comprises the following steps: acquiring anti-shake compensation information of the camera module; respectively determining a lens compensation amount of the lens motor and a chip compensation amount of the photosensitive chip motor based on the anti-shake compensation information; and controlling the lens motor to drive the lens to perform jitter compensation based on the lens compensation amount, and controlling the photosensitive chip motor to drive the photosensitive chip to perform jitter compensation based on the chip compensation amount. The method can be used for more accurately performing optical anti-shake.
Description
Technical Field
The present disclosure relates to the field of computer technologies, and in particular, to an optical anti-shake method and apparatus, an electronic device, and a computer-readable storage medium.
Background
With the development of imaging technology, people often shoot images or videos through image acquisition equipment such as a camera on electronic equipment and record various information. In the process of shooting, the external shake brings the shake of a shot picture, and the motion blur of the image is caused. In order to ensure the quality of shooting, the shooting process needs to be anti-shake.
However, the conventional anti-shake scheme usually only adopts a motor to drive the lens for anti-shake, and the problem that the optical anti-shake is not accurate enough exists.
Disclosure of Invention
The embodiment of the application provides an optical anti-shake method, an optical anti-shake device, electronic equipment and a computer-readable storage medium, and optical anti-shake can be performed more accurately.
An optical anti-shake method is applied to a camera module, wherein the camera module comprises a lens motor and a photosensitive chip motor, and the method comprises the following steps:
acquiring anti-shake compensation information of the camera module;
respectively determining a lens compensation amount of the lens motor and a chip compensation amount of the photosensitive chip motor based on the anti-shake compensation information;
and controlling the lens motor to drive the lens to perform jitter compensation based on the lens compensation amount, and controlling the photosensitive chip motor to drive the photosensitive chip to perform jitter compensation based on the chip compensation amount.
The utility model provides an optics anti-shake device, is applied to the module of making a video recording, the module of making a video recording includes camera lens motor and sensitization chip motor, the device includes:
the acquisition module is used for acquiring anti-shake compensation information of the camera module;
the compensation amount determining module is used for respectively determining the lens compensation amount of the lens motor and the chip compensation amount of the photosensitive chip motor based on the anti-shake compensation information;
and the jitter compensation module is used for controlling the lens motor to drive the lens to perform jitter compensation based on the lens compensation amount and controlling the photosensitive chip motor to drive the photosensitive chip to perform jitter compensation based on the chip compensation amount.
An electronic device comprising 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 perform the steps of the optical anti-shake method as described above.
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 as described above.
The optical anti-shake method, the optical anti-shake device, the electronic equipment and the computer-readable storage medium are applied to a camera module, wherein the camera module comprises a lens motor and a photosensitive chip motor and is used for acquiring anti-shake compensation information of the camera module; the lens compensation amount of the lens motor and the chip compensation amount of the photosensitive chip motor can be respectively determined based on the anti-shake compensation information, so that the lens motor is controlled to drive the lens to perform shake compensation based on the lens compensation amount, the photosensitive chip motor is controlled to drive the photosensitive chip to perform shake compensation based on the chip compensation amount, the shake compensation of the lens and the shake compensation of the photosensitive chip are combined, light can accurately pass through the lens and can be more accurately projected onto the photosensitive chip, and therefore the lens module can be more accurately optically anti-shake to generate a clearer image.
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 schematic diagram of an electronic device in one embodiment;
FIG. 2 is a flow chart of an optical anti-shake method according to an embodiment;
FIG. 3 is a block diagram of a lens module according to an embodiment;
FIG. 4 is a flowchart illustrating steps performed in an embodiment to obtain anti-shake compensation information for a camera module;
FIG. 5 is a flowchart that illustrates steps in one embodiment for determining anti-shake compensation information based on current attitude information and current time-of-day filter attitude information;
FIG. 6 is a schematic diagram of one embodiment in which the lens is pushed in a linear stroke;
FIG. 7 is a schematic diagram of another embodiment in which the lens is pushed in a linear stroke;
FIG. 8 is a flowchart illustrating an optical anti-shake method according to another embodiment;
FIG. 9 is a block diagram showing the structure of an optical anti-shake apparatus according to an embodiment;
fig. 10 is a block diagram showing an internal configuration of an electronic apparatus in one 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 client may be referred to as a second client, and similarly, a second client may be referred to as a first client, without departing from the scope of the present application. Both the first client and the second client are clients, but they are not the same client.
In one embodiment, as shown in fig. 1, the electronic device 100 includes a mobile phone, a tablet computer, a notebook computer, a teller machine, a gate, a smart watch, a head-up display device, etc., and it is understood that the electronic device 100 may also be any other device with image processing function. The electronic device 100 includes a camera module 20, a processor 30, and a housing 40. The camera module 20 and the processor 30 are both disposed in the casing 40, and the casing 40 can also be used to mount functional modules of the electronic device 100, such as a power supply device and a communication device, so that the casing 40 provides protection against dust, falling, water, and the like for the functional modules.
The camera module 20 may be a front camera module, a rear camera module, a side camera module, a screen camera module, etc., without limitation. The camera module 20 includes a lens, an optical anti-shake device, an image sensor 21, and the like, when the camera module 20 takes an image, light passes through the lens and reaches the image sensor 21, and the image sensor 21 is configured to convert an optical signal irradiated onto the image sensor 21 into an electrical signal.
FIG. 2 is a flowchart illustrating an optical anti-shake method according to an embodiment. The optical anti-shake method in this embodiment is described by taking a camera module running on the electronic device in fig. 1 as an example, where the camera module includes a lens motor and a photosensitive chip motor. As shown in fig. 2, the optical anti-shake method includes steps 202 to 206.
The module of making a video recording refers to including a plurality of components and parts to a plurality of components and parts are mutually supported in order to realize the module of making a video recording.
As shown in fig. 3, the camera module includes a lens motor and a photosensitive chip motor, and further includes a lens, a filter, a photosensitive chip, a bracket 1, a bracket 2, and a circuit board (PCB). The lens motor is used for driving the lens to move in XYZ directions. The photosensitive chip motor is used for driving the photosensitive chip to move in the XYZ direction. The lens is used for collecting optical signals and comprises a plurality of lenses. The optical filter is used for filtering infrared light. The photosensitive chip is used for sensing optical signals. The support 1 is used for carrying the filter. The bracket 2 is used for bearing connection between the lens motor and the photosensitive chip motor. The circuit board is used for transmitting signals. The movement of the lens and the photosensitive chip may include auto-focusing and optical anti-shake, among others.
The anti-shake compensation information may include a total anti-shake compensation amount including a lens compensation amount of the lens motor and a chip compensation amount of the photo sensor chip motor. The anti-shake compensation information can further comprise a total anti-shake compensation required stroke, and the total anti-shake compensation required stroke comprises a lens motor anti-shake compensation required stroke and a photosensitive chip motor anti-shake compensation required stroke. It can be understood that the stroke required for the lens motor anti-shake compensation is less than or equal to the first anti-shake compensation stroke of the lens motor, i.e. the stroke required for the lens motor anti-shake compensation is less than or equal to the maximum stroke of the lens motor. The stroke required by the anti-shake compensation of the photosensitive chip motor is less than or equal to the second anti-shake compensation stroke of the photosensitive chip motor, namely the maximum stroke of the photosensitive chip motor.
In one embodiment, the electronic device acquires shake information through a sensor, and determines anti-shake compensation information of the camera module based on the shake information. The sensors include a gyroscope, an inertial sensor, and the like.
In another embodiment, the electronic device may determine the anti-shake compensation information based on the current pose information at the current time and the filtered pose information corresponding to the preamble time at the current time.
The current posture information refers to information representing the posture of the camera module at the current moment, and the current posture information may include at least one of exposure time and motion speed. The exposure time is the time for which the shutter is opened in order to project light onto the photosensitive surface of the photosensitive chip, and is the time interval from the opening to the closing of the shutter. The motion speed refers to a speed generated by a motion state of the camera module at the current moment, and the motion speed may include at least one of an angular speed and an acceleration. The angular velocity can be converted into a rotation matrix of the camera module under the world coordinate system. Therefore, the rotation matrix can be used for representing the current attitude information of the camera module. The preamble time refers to a time before the current time, and may be a time before the current time, a plurality of times before the current time, for example, two times before, three times before, and the like, but is not limited thereto.
In other embodiments, the electronic device may also obtain the anti-shake compensation information of the camera module in other manners, which is not limited herein.
And 204, respectively determining the lens compensation amount of the lens motor and the chip compensation amount of the photosensitive chip motor based on the anti-shake compensation information.
The lens compensation amount is an amount by which the lens motor is to compensate for the shake. The chip compensation amount is the amount that the photosensitive chip motor is to compensate for the dither.
In one embodiment, the electronic device may determine a lens compensation amount of the lens motor and a chip compensation amount of the photo sensor chip motor, respectively, based on a total compensation amount in the anti-shake compensation information. Wherein the sum of the lens compensation amount and the chip compensation amount is equal to the total compensation amount. The allocation mode can be random allocation; the lens compensation amount of the lens motor and the chip compensation amount of the photosensitive chip motor can be respectively distributed according to the proportion between the first anti-shake compensation stroke of the lens motor and the second anti-shake compensation stroke of the photosensitive chip motor; other methods are also possible, and are not limited herein. And step 206, controlling the lens motor to drive the lens to perform shake compensation based on the lens compensation amount, and controlling the photosensitive chip motor to drive the photosensitive chip to perform shake compensation based on the chip compensation amount.
It can be understood that, light projects to the photosensitive chip through the lens, then the lens motor drives the lens to perform shake compensation, more accurate light can be collected through the lens, and the photosensitive chip motor drives the photosensitive chip to perform shake compensation, so that light can be projected to the photosensitive surface of the photosensitive chip more accurately, and shake compensation of the whole lens module is realized.
In one embodiment, a lens target stroke position is determined based on a lens compensation amount of a lens motor and a gain value corresponding to the lens motor, and the lens motor is controlled to drive a lens to move to the lens target stroke position; and determining a chip target stroke position based on the chip compensation amount of the photosensitive chip motor and the gain value corresponding to the photosensitive chip motor, and controlling the photosensitive chip motor to drive the photosensitive chip to move to the chip target stroke position.
The target lens stroke position refers to a position of the lens after anti-shake compensation, that is, a position of the lens after shake generated by the lens is eliminated. The target stroke position of the chip refers to the position of the chip after anti-shake compensation, namely the position of the photosensitive chip after shake generated by the photosensitive chip is eliminated.
The gain value corresponding to the lens motor and the gain value corresponding to the photosensitive chip motor are parameters of the lens motor and the photosensitive chip motor, and the electronic equipment can be called from the locally stored parameters.
Specifically, the electronic device multiplies the lens compensation amount by a gain value corresponding to the lens motor, and then determines a target lens stroke position based on the current stroke position of the lens plus the product. Similarly, the electronic device multiplies the chip compensation amount by a gain value corresponding to the motor of the photosensitive chip, and then determines the target stroke position of the chip based on the current stroke position of the photosensitive chip plus the product. In other embodiments, the electronic device may also calculate the compensation amount and the gain value by using other calculation methods, such as summation, weighted product, and the like, which is not limited herein.
In another embodiment, a lens target stroke position of the lens is determined according to the current stroke position of the lens and the lens compensation amount, and a lens motor is controlled to drive the lens to move to the lens target stroke position; and determining the chip target stroke position of the photosensitive chip according to the current stroke position of the photosensitive chip and the chip compensation amount, and controlling a photosensitive chip motor to drive the photosensitive chip to move to the chip target stroke position.
An isp (image Signal processing) processor or a central processing unit of the electronic device calculates a lens target stroke position of the lens according to a current stroke position of the lens and the lens compensation amount. The ISP processor or the central processing unit of the electronic equipment controls the lens motor to drive the lens, and the lens is moved from the current stroke position to the target stroke position of the lens so as to eliminate the jitter generated by the lens.
Similarly, the ISP processor or the central processing unit of the electronic device calculates the chip target stroke position of the photosensitive chip according to the current stroke position of the photosensitive chip and the chip compensation amount. The ISP processor or the central processing unit of the electronic equipment controls the photosensitive chip motor to drive the photosensitive chip to move from the current stroke position to the chip target stroke position so as to eliminate the jitter generated by the photosensitive chip.
In one embodiment, an ISP processor or central processor of the electronic device calculates a lens target stroke position of the lens in the X direction based on a current stroke position of the lens in the X direction and a lens compensation amount in the X direction. And calculating the lens target stroke position of the lens in the Y direction according to the current stroke position of the lens in the Y direction and the lens compensation amount in the Y direction. An ISP processor or a central processor of the electronic device controls a lens motor to drive the lens so that the lens moves to a lens target stroke position in the X direction and a lens target stroke position in the Y direction.
Similarly, the ISP processor or the central processing unit of the electronic device calculates the chip target stroke position of the photosensitive chip in the X direction according to the current stroke position of the photosensitive chip in the X direction and the chip compensation amount in the X direction. And calculating the chip target stroke position of the photosensitive chip in the Y direction according to the current stroke position of the photosensitive chip in the Y direction and the chip compensation amount in the Y direction. An ISP processor or a central processing unit of the electronic equipment controls a photosensitive chip motor to drive the photosensitive chip, so that the photosensitive chip moves to a chip target stroke position in the X direction and a chip target stroke position in the Y direction.
Further, fusing the current stroke position of the lens and the stroke required by the lens anti-shake compensation to obtain the target stroke position of the lens; and fusing the current stroke position of the photosensitive chip and the stroke required by the chip anti-shake compensation to obtain the target stroke position of the chip.
Specifically, an ISP processor or a central processing unit of the electronic device may determine a current stroke position of the lens and a current stroke position of the photosensitive chip, respectively; fusing the current stroke position of the lens and the anti-shake compensation stroke of the lens, and obtaining the target stroke position of the lens through the fusion; and fusing the current stroke position of the photosensitive chip and the chip anti-shake compensation stroke, and obtaining the target stroke position of the chip through fusion.
In one embodiment, the fusion process may be a Kalman filtering process. The ISP processor or the central processing unit of the electronic equipment can carry out Kalman filtering processing on the current stroke position of the lens and the stroke required by the lens anti-shake compensation to obtain the target stroke position of the lens. Further, the current stroke position of the lens and the stroke required by the lens anti-shake compensation can be input into a Kalman filter, and the target stroke position of the lens is output through the Kalman filter. The ISP processor or the central processing unit of the electronic equipment can carry out Kalman filtering processing on the current travel position of the photosensitive chip and the travel required by chip anti-shake compensation to obtain the target travel position of the chip. Further, the current travel position of the photosensitive chip and the travel required by the chip anti-shake compensation can be input into a Kalman filter, and the target travel position of the chip is output through the Kalman filter.
The optical anti-shake method is applied to a camera module, wherein the camera module comprises a lens motor and a photosensitive chip motor and is used for acquiring anti-shake compensation information of the camera module; the lens compensation amount of the lens motor and the chip compensation amount of the photosensitive chip motor can be respectively determined based on the anti-shake compensation information, then, the lens motor is controlled to drive the lens to perform shake compensation based on the lens compensation amount, the photosensitive chip motor is controlled to drive the photosensitive chip to perform shake compensation based on the chip compensation amount, the shake compensation of the lens and the shake compensation of the photosensitive chip are combined, so that light can more accurately pass through the lens and can be more accurately projected onto the photosensitive chip, more accurate shake compensation is realized, and clearer images are generated.
In one embodiment, the determining the lens compensation amount of the lens motor and the chip compensation amount of the photosensitive chip motor respectively based on the anti-shake compensation information comprises: in the first anti-shake mode, acquiring a first anti-shake compensation stroke of a lens motor and a second anti-shake compensation stroke of a photosensitive chip motor; determining a lens compensation amount of a lens motor from the anti-shake compensation information based on the first anti-shake compensation stroke, and determining a chip compensation amount of a photosensitive chip motor from the anti-shake compensation information based on the second anti-shake compensation stroke; the anti-shake compensation stroke is positively correlated with the compensation quantity.
The first anti-shake mode may be a default mode or a normal mode. That is, in a normal case, the first anti-shake mode is adopted for shake compensation. In other cases, the user's designation may be received to enter the first anti-shake mode.
The first anti-shake compensation stroke is a maximum anti-shake compensation stroke of the lens motor. The second anti-shake compensation stroke is the maximum anti-shake compensation stroke of the photosensitive chip motor. It can be understood that the first anti-shake compensation stroke is a hardware parameter of the lens motor itself, and the electronic device can directly obtain the first anti-shake compensation stroke from various parameters of the lens motor. Similarly, the second anti-shake compensation stroke is a hardware parameter of the photosensitive chip motor, and the electronic device can directly obtain the second anti-shake compensation stroke from each parameter of the photosensitive chip motor.
In one embodiment, determining a lens compensation amount of a lens motor from anti-shake compensation information based on a first anti-shake compensation stroke and determining a chip compensation amount of a photo-sensitive chip motor from anti-shake compensation information based on a second anti-shake compensation stroke includes: determining a total anti-shake compensation stroke based on the first anti-shake compensation stroke and the second anti-shake compensation stroke, and determining a first proportion of the first anti-shake compensation stroke in the total anti-shake compensation stroke and a second proportion of the second anti-shake compensation stroke in the total anti-shake compensation stroke; and determining a first proportion of the total anti-shake compensation amount corresponding to the anti-shake compensation information as a lens compensation amount of the lens motor, and determining a second proportion of the total anti-shake compensation amount corresponding to the anti-shake compensation information as a chip compensation amount of the photosensitive chip motor.
The total anti-shake compensation stroke is the sum of the first anti-shake compensation stroke and the second anti-shake compensation stroke.
For example, if the first anti-shake compensation stroke of the lens motor is 150 μm, the second anti-shake compensation stroke of the photo sensor chip motor is 200 μm, the total anti-shake compensation stroke is 350 μm, the total compensation amount is 140 μm, the first ratio of the first anti-shake compensation stroke in the total anti-shake compensation stroke is 3/7, the second ratio of the second anti-shake compensation stroke in the total anti-shake compensation stroke is 4/7, the lens compensation amount of the lens motor is 140 × 3/7 ═ 60 μm, and the chip compensation amount of the photo sensor chip motor is 140 × 4/7 ═ 80 μm.
In another embodiment, determining a lens compensation amount of a lens motor from anti-shake compensation information based on a first anti-shake compensation stroke and determining a chip compensation amount of a photo-sensitive chip motor from anti-shake compensation information based on a second anti-shake compensation stroke includes: comparing the first anti-shake compensation stroke with the second anti-shake compensation stroke to determine a larger anti-shake compensation stroke and a smaller anti-shake compensation stroke; determining the compensation quantity determined by the larger anti-shake compensation stroke as a first compensation quantity, and determining the compensation quantity determined by the smaller anti-shake compensation stroke as a second compensation quantity; wherein the first compensation amount is greater than the second compensation amount, and a sum of the first compensation amount and the second compensation amount is equal to the total compensation amount.
It is understood that the total compensation amount may be divided into a first compensation amount and a second compensation amount in the electronic device, the first compensation amount is greater than the second compensation amount, and the sum of the first compensation amount and the second compensation amount is equal to the total compensation amount. And determining a larger anti-shake compensation stroke and a smaller anti-shake compensation stroke from the first anti-shake compensation stroke and the second anti-shake compensation stroke, distributing the first compensation amount to the motor corresponding to the larger anti-shake compensation stroke, and distributing the second compensation amount to the motor corresponding to the smaller anti-shake compensation stroke.
For example, the total compensation amount is 100 μm, the total compensation amount is divided into 60 μm and 40 μm, the motor corresponding to the larger anti-shake compensation stroke is the lens motor, and the photo chip motor corresponding to the smaller anti-shake compensation stroke is the lens compensation amount of 60 μm, and the chip compensation amount of the photo chip motor is 40 μm.
In other embodiments, the electronic device may also determine the lens compensation amount of the lens motor and the chip compensation amount of the photo sensor chip motor in other manners, which is not limited herein.
In this embodiment, under first anti-shake mode, through the first anti-shake compensation stroke of lens motor and the second anti-shake compensation stroke of sensitization chip motor, can accurately determine the lens compensation volume of lens motor and the chip compensation volume of sensitization chip motor, anti-shake compensation stroke is positive correlation with the compensation volume, great compensation is carried out to great anti-shake compensation stroke, less compensation stroke carries out less compensation, can avoid the compensation volume to be greater than the stroke that corresponds, thereby realize more accurate optics anti-shake.
In one embodiment, the determining the lens compensation amount of the lens motor and the chip compensation amount of the photosensitive chip motor respectively based on the anti-shake compensation information comprises: in a second anti-shake mode, acquiring a first priority of a lens motor and a second priority of a photosensitive chip motor; respectively determining lens compensation quantity of a lens motor and chip compensation quantity of a photosensitive chip motor from the anti-shake compensation information based on the first priority and the second priority; the priority is positively correlated with the amount of compensation.
At least one motor of the lens motor and the photosensitive chip motor has a higher anti-shake requirement in the second anti-shake mode than in the first anti-shake mode.
The second anti-shake mode is the priority mode. And if the anti-shake requirement of at least one of the lens motor and the photosensitive chip motor in the second anti-shake mode is higher than that in the first anti-shake mode, entering the second anti-shake mode. Further, if it is detected that one of the lens motor and the photo sensor chip motor needs to perform shake compensation in the rotation direction, the second anti-shake mode is entered. It can be understood that if the motor needs to perform shake compensation in the rotation direction, there is a need for sufficient space in the rotation direction, and the demand for shake compensation is high, so that the second anti-shake mode is entered. The rotation direction may be an X-axis direction, a Y-axis direction, a Z-axis direction, or other angular directions in an X/Y/Z coordinate system, which is not limited herein.
In the electronic equipment, the relation between the shake compensation condition of a lens motor and the priority is preset, and if the lens motor only needs to translate for shake compensation, the first priority of the lens motor is obtained based on the relation; if the sensor chip motor needs to perform shake compensation in the rotation direction, a second priority of the sensor chip motor is obtained based on the relationship. The priority is positively correlated with the compensation amount, that is, the higher the priority of the motor is, the higher the compensation amount for the shake compensation by the translation of the motor is. The direction of translation may be any one or more of an X direction, a Y direction, and a Z direction, and the direction of translation may also be other directions, which is not limited herein.
In this embodiment, in the second anti-shake mode, the first priority of the lens motor and the second priority of the photo sensor chip motor are obtained, and then the lens compensation amount of the lens motor and the chip compensation amount of the photo sensor chip motor can be accurately determined based on the first priority and the second priority.
In one embodiment, the method further comprises: if one of the lens motor and the photosensitive chip motor is detected to need shake compensation in the rotating direction, entering a second anti-shake mode; respectively determining the lens compensation amount of the lens motor and the chip compensation amount of the photosensitive chip motor from the anti-shake compensation information based on the first priority and the second priority, comprising: acquiring the maximum compensation amount of the translation of the motor with higher priority in the first priority and the second priority; wherein the priority of the motor requiring shake compensation in the rotational direction is lower than the priority of the motor not requiring shake compensation in the rotational direction; and determining the lens compensation amount of the lens motor and the chip compensation amount of the photosensitive chip motor based on the total anti-shake compensation amount corresponding to the maximum compensation amount and the anti-shake compensation information.
The priority is positively correlated with the compensation amount, so that the compensation amount corresponding to the motor with higher priority is larger, and the compensation amount corresponding to the motor with lower priority is smaller.
It is understood that, if one of the lens motor and the photo sensor chip motor requires shake compensation in the rotational direction, the motor that does not require shake compensation in the rotational direction needs to allocate more compensation amount for the translation, thereby ensuring that the motor that requires shake compensation in the rotational direction has enough space in the rotational direction, and therefore the priority of the motor that requires shake compensation in the rotational direction is lower than the priority of the motor that does not require shake compensation in the rotational direction, and the priority of the motor that does not require shake compensation in the rotational direction has higher for shake compensation.
Further, the electronic device may control the higher priority motor and the lower priority motor for jitter compensation at the same time; or the motor with higher priority can be controlled to carry out jitter compensation firstly, and then the motor with lower priority can be controlled to carry out jitter compensation.
In this embodiment, after entering the second anti-shake mode, the maximum compensation amount for the translation of the motor with the higher priority of the first priority and the second priority is obtained; more space can be left in the rotation direction for the motor that needs to perform the shake compensation in the rotation direction based on the total anti-shake compensation amount corresponding to the maximum compensation amount and the anti-shake compensation information, thereby performing the shake compensation more accurately.
In one embodiment, determining the lens compensation amount of the lens motor and the chip compensation amount of the photo sensor chip motor based on the maximum compensation amount and the total anti-shake compensation amount corresponding to the anti-shake compensation information comprises: if the maximum compensation amount is larger than or equal to the total anti-shake compensation amount corresponding to the anti-shake compensation information, determining the compensation amount of the translation of the motor with higher priority as the total anti-shake compensation amount, and determining the compensation amount of the translation of the motor with lower priority as zero; the control camera lens motor drives the camera lens based on camera lens compensation volume and carries out the shake compensation, and control sensitization chip motor drives sensitization chip based on chip compensation volume and carries out the shake compensation, includes: if the motor with higher priority is the lens motor, controlling the lens motor to drive the lens to perform shake compensation according to the total anti-shake compensation amount, acquiring the rotation compensation amount, and controlling the photosensitive chip motor to perform shake compensation in the rotation direction according to the rotation compensation amount; and if the motor with higher priority is the photosensitive chip motor, controlling the photosensitive chip motor to drive the lens to perform shake compensation according to the total anti-shake compensation amount, acquiring the rotation compensation amount, and controlling the lens motor to perform shake compensation in the rotation direction according to the rotation compensation amount. The electronic device acquires a rotation angle through the inertial sensor, and acquires a rotation compensation amount based on the rotation angle. The inertial sensor is a sensor, mainly used for detecting and measuring acceleration, inclination, impact, vibration, rotation and multiple degrees of freedom (DoF) motion, and is an important part for solving navigation, orientation and motion carrier control. The inertial sensors may include gyroscopes, acceleration sensors, and the like. In one embodiment, the electronic device may determine the rotation angle as a rotation compensation amount. In another embodiment, the electronic device may further multiply the rotation angle by a preset weighting factor to obtain the rotation compensation amount. In other embodiments, the electronic device may also acquire the rotation compensation amount in other manners, which is not limited herein.
If the maximum compensation amount is greater than or equal to the total anti-shake compensation amount corresponding to the anti-shake compensation information, the total anti-shake compensation amount is subjected to shake compensation in the higher-priority motor translation, and the compensation amount of the lower-priority motor translation is zero, so that the lower priority motor translation has enough space in the rotation direction to perform shake compensation.
And if detecting that one of the lens motor and the photosensitive chip motor needs to perform shake compensation in the rotating direction, acquiring a rotation compensation amount of the lens motor and the photosensitive chip motor which needs to perform shake compensation in the rotating direction, and controlling the motor which needs to perform shake compensation in the rotating direction according to the rotation compensation amount to perform shake compensation in the rotating direction.
In this embodiment, if the maximum compensation amount is greater than or equal to the total anti-shake compensation amount corresponding to the anti-shake compensation information, the compensation amount for the higher priority motor translation may be the total anti-shake compensation amount, and the compensation amount for the lower priority motor translation is zero, so as to ensure that the lower priority motor has enough space in the rotation direction for shake compensation, thereby implementing that the camera module performs optical anti-shake more accurately.
In another embodiment, determining the lens compensation amount of the lens motor and the chip compensation amount of the photo sensor chip motor based on the maximum compensation amount and the total anti-shake compensation amount corresponding to the anti-shake compensation information comprises: if the maximum compensation amount is smaller than the total anti-shake compensation amount corresponding to the anti-shake compensation information, determining the compensation amount of the motor translation with higher priority as the maximum compensation amount, and the compensation amount of the motor translation with lower priority as the difference between the total anti-shake compensation amount and the maximum compensation amount; the control camera lens motor drives the camera lens based on camera lens compensation volume and carries out the shake compensation, and control sensitization chip motor drives sensitization chip based on chip compensation volume and carries out the shake compensation, includes: if the motor with higher priority is the lens motor, controlling the lens motor to drive the lens to perform shake compensation according to the maximum compensation amount, controlling the photosensitive chip motor to drive the photosensitive chip to perform shake compensation according to the difference value, acquiring the rotation compensation amount, and controlling the photosensitive chip motor to perform shake compensation in the rotation direction according to the rotation compensation amount; and if the motor with higher priority is the photosensitive chip motor, controlling the photosensitive chip motor to drive the photosensitive chip to perform jitter compensation according to the maximum compensation amount, controlling the lens motor to drive the lens to perform jitter compensation according to the difference value, acquiring the rotation compensation amount, and controlling the lens motor to perform jitter compensation in the rotation direction according to the rotation compensation amount.
If the maximum compensation amount is smaller than the total anti-shake compensation amount corresponding to the anti-shake compensation information, that is, even if the motor with higher priority translates to compensate the maximum compensation amount, the compensation amount of the motor with higher priority translates is still the remaining total anti-shake compensation amount, so the compensation amount of the motor with higher priority translates is determined as the maximum compensation amount of the motor with higher priority, and the compensation amount of the motor with lower priority translates is determined as the difference between the total anti-shake compensation amount and the maximum compensation amount, so as to ensure that the camera module has the maximum space in the rotation direction to perform shake compensation, thereby realizing that the camera module performs optical anti-shake more accurately.
In one embodiment, the acquiring anti-shake compensation information of the camera module comprises:
The current posture information refers to information representing the posture of the camera module at the current moment, and the current posture information may include at least one of exposure time and motion speed. The exposure time is the time for which the shutter is opened in order to project light onto the photosensitive surface of the photosensitive chip, and is the time interval from the opening to the closing of the shutter. The motion speed refers to a speed generated by a motion state of the camera module at the current moment, and the motion speed may include at least one of an angular speed and an acceleration. The angular velocity can be converted into a rotation matrix of the camera module under the world coordinate system. Therefore, the rotation matrix can be used for representing the current attitude information of the camera module.
Specifically, the ISP processor or the central processing unit of the electronic device may detect at least one of an exposure time and a movement speed of the camera module at the current time, and use the at least one of the exposure time and the movement speed as the current posture information. Further, at least one of the angular velocity and the acceleration of the camera module at the current time can be detected, and the at least one of the angular velocity and the acceleration at the current time is used as the motion velocity at the current time. Angular velocity can be detected by a Gyro (Gyro) sensor, and acceleration can be detected by an acceleration (Acc) sensor. The gyroscope sensor is a simple and easy-to-use control system based on free space movement and gesture positioning, and the acceleration sensor is a sensor capable of measuring acceleration.
In one embodiment, the ISP processor or the central processing unit of the electronic device may determine the motion speed of the camera module at the current moment through the acceleration of the camera module at the current moment.
In one embodiment, an ISP processor or a central processing unit of the electronic device may detect an angular velocity of the camera module through a gyroscope sensor to obtain an angular velocity of the camera module at a current time, and use current angular velocity information as a motion velocity of the camera module. Furthermore, an ISP processor or a central processing unit of the electronic device may obtain the three-axis angular velocity of the camera module through the gyroscope sensor, and output the three-axis angular velocity after performing correction and integration processing on the three-axis angular velocity in a time domain. And taking the triaxial angular velocity of the current moment as the motion velocity of the camera module at the current moment.
Or, the ISP processor or the central processing unit of the electronic device may detect the acceleration of the camera module through the acceleration sensor to obtain the acceleration of the camera module at the current moment, and the acceleration at the current moment is used as the motion speed of the camera module at the current moment.
And step 404, acquiring anti-shake intensity information corresponding to the current attitude information, wherein the anti-shake intensity information is positively correlated with the current attitude information.
Specifically, anti-shake intensity information corresponding to different attitude information is pre-configured in the electronic device, and the attitude information and the corresponding anti-shake intensity information have a positive correlation. For example, the posture information is represented by a specific numerical value, and when the anti-shake intensity information is represented by an anti-shake intensity value, the larger the numerical value representing the posture information is, the larger the corresponding anti-shake intensity value is; the smaller the numerical value of the representation attitude information is, the smaller the corresponding anti-shake intensity value is.
The ISP processor or the central processing unit of the electronic device may obtain the anti-shake intensity information corresponding to the current attitude information according to the current attitude information of the camera module at the current time.
And step 406, determining anti-shake compensation information based on the anti-shake intensity information, the current attitude information and the filtering attitude information corresponding to the preamble time of the current time.
The preamble time refers to a time before the current time, and may be a time before the current time, a plurality of times before the current time, for example, two times before, three times before, and the like, but is not limited thereto.
Specifically, an ISP processor or a central processing unit of the electronic device may obtain filtering attitude information corresponding to a preamble time of a current time, and determine anti-shake compensation information according to filtering attitude information corresponding to the preamble time based on the anti-shake intensity information, the current attitude information, and the current time. For example, the anti-shake compensation information is determined based on the anti-shake intensity information, the current attitude information, and the filter attitude information corresponding to the time immediately before the current time.
Further, an ISP processor or a central processing unit of the electronic device may obtain the posture information corresponding to the preamble time of the current time, and perform filtering processing on the posture information of the preamble time to obtain filtering posture information corresponding to the preamble time.
In this embodiment, the current posture information of the camera module at the current moment is determined to acquire the anti-shake intensity information positively correlated with the current posture information, so that the anti-shake intensity information can be adapted based on the current posture information. Based on the anti-shake intensity information, the current attitude information and the filtering attitude information corresponding to the preorder moment of the current moment, the anti-shake compensation information can be accurately determined, so that more accurate compensation quantities can be respectively distributed to the lens motor and the photosensitive chip motor according to the anti-shake compensation information, and the optical anti-shake is more accurate. And moreover, based on the current posture information, the appropriate anti-shake intensity information is adapted, and corresponding anti-shake compensation processing can be carried out on various scenes such as easily generated motion blur and not easily generated motion blur, so that different shake scenes can be effectively adapted.
In one embodiment, the current pose information includes a motion speed and an exposure time, and the anti-shake intensity information includes an anti-shake intensity value; acquiring anti-shake intensity information corresponding to the current attitude information, including: according to the module of making a video recording at the present moment's at least one kind in velocity of motion and the exposure time obtains corresponding anti-shake intensity value, velocity of motion, exposure time all with anti-shake intensity value positive correlation.
Specifically, the electronic device may be configured with a mapping relationship between the movement speed and the anti-shake intensity value, or a mapping relationship between the exposure time and the anti-shake intensity value, and may also be configured with a mapping relationship between the movement speed, the exposure time, and the anti-shake intensity value. The motion speed is positively correlated with the anti-shake intensity value, and the exposure time is positively correlated with the anti-shake intensity value.
The ISP processor or the central processing unit of the electronic equipment can detect at least one of the exposure time and the movement speed of the camera module at the current moment, and can obtain a corresponding anti-shake intensity value according to at least one of the movement speed and the exposure time.
In one embodiment, the electronic device is pre-configured with anti-shake intensity values corresponding to different exposure times. The ISP processor or the central processing unit of the electronic equipment can detect the exposure time of the camera module at the current moment, and acquire the anti-shake intensity value corresponding to the exposure time based on the mapping relation between the exposure time and the anti-shake intensity value.
In one embodiment, anti-shake intensity values corresponding to different movement speeds are pre-configured in the electronic device. The ISP processor or the central processing unit of the electronic equipment can detect the movement speed of the camera module at the current moment, and the anti-shake intensity value corresponding to the movement speed is obtained based on the mapping relation between the movement speed and the anti-shake intensity value.
In one embodiment, an ISP processor or a central processing unit of the electronic device may detect an exposure time and a movement speed of the camera module at a current time, and obtain a corresponding anti-shake intensity value based on a mapping relationship between the exposure time and the anti-shake intensity value, a mapping relationship between the movement speed and the anti-shake intensity value, or any one of the mapping relationships between the movement speed, the exposure time, and the anti-shake intensity value.
When the moving speed is small or the exposure time is short, motion blur is not easily generated, and the generated shake is small. When the moving speed is large or the exposure time is long, motion blur is easily generated, that is, the generated jitter is large. In this embodiment, the predetermined mapping relation of movement speed, exposure time and anti-shake intensity value ensures movement speed, exposure time all is with anti-shake intensity value positive correlation, the anti-shake intensity value that corresponds is obtained to at least one kind in the movement speed of module at the present moment and the exposure time according to making a video recording, make movement speed less or the exposure time is short time, a less anti-shake intensity value of adaptation, can calculate and obtain less anti-shake compensation volume, can accurately carry out anti-shake compensation to the scene that is difficult to produce motion blur, make the camera lens keep at the most compensation state. When the motion speed is high or the exposure time is long, a large anti-shake intensity value is adapted, a large anti-shake compensation amount can be calculated, anti-shake compensation can be accurately performed on a scene with motion blur, and the lens is kept in the most compensation state.
In one embodiment, determining anti-shake compensation information based on the anti-shake intensity information, the current attitude information, and the filtering attitude information corresponding to the preamble time of the current time includes: determining filtering attitude information at the current moment based on the anti-shake intensity information, the current attitude information and the filtering attitude information corresponding to the preorder moment at the current moment; and determining anti-shake compensation information based on the current attitude information and the filtering attitude information at the current moment.
Determining filtering attitude information at the current moment based on the anti-shake intensity information, the current attitude information and the filtering attitude information corresponding to the preorder moment at the current moment; and determining anti-shake compensation information based on the current attitude information and the filtering attitude information at the current moment.
Specifically, the ISP processor or the central processing unit of the electronic device may perform attitude fusion processing on the current attitude information and the filter attitude information at the current time based on the anti-shake intensity information, the current attitude information, and the filter attitude information corresponding to the preamble time at the current time, so as to obtain the filter attitude information at the current time. An ISP processor or central processor of the electronic device may determine a difference between the current pose information and the filtered pose information at the current time and determine anti-shake compensation information based on the difference. The anti-shake compensation information is information for compensating for shake generated by the camera module.
In one embodiment, the anti-shake strength information may be used as weight information of the current posture information, and the weight information corresponding to the filtering posture information at the preamble time may be determined based on the anti-shake strength information. The weight information of the current attitude information can represent the weight occupied by the current attitude information in the attitude fusion process, and the weight information corresponding to the filtering attitude information at the preorder moment can represent the weight occupied by the filtering attitude information at the preorder moment in the attitude fusion process. The ISP processor or the central processing unit of the electronic device may perform attitude fusion processing on the current attitude information and the filter attitude information at the preamble time based on the current attitude information and the corresponding weight information, and obtain the filter attitude information at the current time.
In one embodiment, the attitude fusion process may be a Kalman filtering process, which may be implemented by a Kalman filter. Kalman filtering (Kalman filtering) is an algorithm that uses a linear system state equation to optimally estimate the state of a system by inputting and outputting observation data through the system. The optimal estimation can also be seen as a filtering process, since the observed data includes the effects of noise and interference in the system. The Kalman filter is a recursive filter proposed by Kalman (Kalman) for a time-varying linear system. The system can be described by a differential equation model containing orthogonal state variables, and the filter is used for estimating future errors by combining the past measurement estimation errors into new measurement errors.
In this embodiment, based on the anti-shake intensity information, the current attitude information, and the filtering attitude information corresponding to the preamble time of the current time, the filtering attitude information of the current time can be accurately determined, so that the anti-shake compensation information can be accurately determined according to the difference between the current attitude information and the filtering attitude information of the current time, and shake compensation can be realized.
In one embodiment, as shown in fig. 5, the anti-shake compensation information includes a total anti-shake compensation amount and a total anti-shake compensation required stroke; determining anti-shake compensation information based on the current attitude information and the filtering attitude information at the current moment, including:
Specifically, the anti-shake compensation information includes a total anti-shake compensation amount and a total anti-shake compensation required stroke. The total anti-shake compensation quantity represents a numerical value for compensating the shake generated by the camera module. It is understood that the total anti-shake compensation amount includes a lens compensation amount of the lens motor and a chip compensation amount of the photo sensor chip motor. The total anti-shake compensation required stroke comprises a first anti-shake compensation stroke of the lens motor and a second anti-shake compensation stroke of the photosensitive chip motor.
The electronic equipment realizes optical anti-shake by pushing the lens and the photosensitive chip, the lens can be pushed in a first direction and a second direction, and the first direction is perpendicular to the second direction. Also, the photosensitive chip may be urged in a third direction and a fourth direction, the third direction and the fourth direction being perpendicular to each other.
For example, the lens may be pushed in the X direction and the Y direction, the unit of stroke pushed being code. The anti-shake compensation stroke refers to a stroke pushed in the X direction or the Y direction when the camera module shakes, and the stroke is used for compensating the shake generated by the camera module. The X direction is perpendicular to the Y direction.
In one embodiment, the first direction of the lens and the third direction of the photo-sensing chip may be the same, and the second direction of the lens and the fourth direction of the photo-sensing chip may be the same. For example, the first direction of the lens and the third direction of the photosensitive chip are both X directions, and the second direction of the lens and the fourth direction of the photosensitive chip are both Y directions. In other embodiments, the first direction of the lens and the third direction of the photo sensor chip may also be different, and the second direction of the lens and the fourth direction of the photo sensor chip may also be different.
The ISP processor or central processor of the electronic device may determine the total anti-shake compensation amount based on the current attitude information and the filtering attitude information at the current time. Further, the ISP processor or the central processing unit of the electronic device may respectively calculate the total anti-shake compensation amount in the X direction and the total anti-shake compensation amount in the Y direction based on the current attitude information and the filtering attitude information at the current time.
And 504, acquiring a preset calibration value, and determining the total anti-shake compensation required stroke of the camera module based on the total anti-shake compensation amount and the preset calibration value.
Specifically, the electronic device is preset with an association relationship among the total anti-shake compensation amount, the preset calibration value and the stroke center position. The preset calibration value is a preset empirical value capable of representing the relationship between the total anti-shake compensation amount and the stroke center position. The stroke center position refers to the center position of the camera module in the whole stroke which can be pushed.
The ISP processor or the central processing unit of the electronic equipment can determine the stroke center position of the current stroke of the camera module, acquire the preset calibration value, and calculate the corresponding stroke required by the total anti-shake compensation according to the total anti-shake compensation amount, the preset calibration value and the stroke center position.
In one embodiment, the sum of the product of the total anti-shake compensation amount and the preset calibration value and the stroke center position is used as the corresponding total anti-shake compensation required stroke.
In one embodiment, a first correlation among the total anti-shake compensation amount, the preset calibration value, and the stroke center position in the X direction, and a second correlation among the total anti-shake compensation amount, the preset calibration value, and the stroke center position in the Y direction are preset in the electronic apparatus. The ISP processor or the central processor of the electronic equipment can determine the travel center position of the travel of the camera module in the X direction and the Y direction. And calculating the total anti-shake compensation required stroke in the X direction according to the total anti-shake compensation amount in the X direction, the preset calibration value in the X direction and the stroke center position in the X direction. And calculating the total anti-shake compensation required stroke in the Y direction according to the total anti-shake compensation amount in the Y direction, the preset calibration value in the Y direction and the stroke center position in the Y direction.
Further, the ISP processor or the central processor of the electronic device may determine a sum of a product of the total anti-shake compensation amount in the X direction and a preset calibration value in the X direction and a stroke center position in the X direction as a total anti-shake compensation required stroke corresponding to the X direction. And taking the sum of the product of the total anti-shake compensation amount in the Y direction and the preset calibration value in the Y direction and the stroke center position in the Y direction as the corresponding total anti-shake compensation required stroke in the Y direction.
Further, the electronic device respectively determines a lens compensation amount of the lens motor and a chip compensation amount of the photosensitive chip motor based on the total anti-shake compensation amount, and respectively determines a stroke required by the lens anti-shake compensation of the lens motor and a stroke required by the chip anti-shake compensation of the photosensitive chip motor based on the stroke required by the total anti-shake compensation; driving the lens to perform anti-shake compensation according to the current stroke position of the lens and the stroke required by the lens anti-shake compensation; and driving the photosensitive chip to perform anti-shake compensation according to the current stroke position of the photosensitive chip and the stroke required by the chip anti-shake compensation.
The current stroke position of the lens refers to an actual position of the lens in the current stroke. The current stroke position of the photosensitive chip refers to the actual position of the photosensitive chip in the current stroke.
Specifically, the ISP processor or the central processing unit of the electronic device may push the lens from the current stroke position to the stroke required for the anti-shake compensation of the lens according to the current stroke position of the lens, so as to implement the anti-shake compensation. Similarly, the ISP processor or the central processing unit of the electronic device may push the photosensitive chip from the current stroke position to the stroke required for anti-shake compensation of the photosensitive chip according to the current stroke position of the photosensitive chip, so as to implement anti-shake compensation.
In this embodiment, based on the current attitude information and the filtering attitude information at the current time, the total anti-shake compensation amount required for overcoming the shake at this time can be accurately calculated. The total anti-shake compensation stroke required for overcoming shake can be accurately calculated based on the total anti-shake compensation amount, the preset calibration value and the stroke center position of the current stroke of the camera module, so that the strokes required for anti-shake compensation of the lens motor and the photosensitive chip motor can be respectively determined, and the lens motor and the photosensitive chip motor are controlled to respectively carry out shake compensation.
In one embodiment, before determining the anti-shake compensation information based on the anti-shake intensity information, the current attitude information, and the filtered attitude information corresponding to the preamble time of the current time, the method further includes:
and acquiring attitude information corresponding to the preorder time of the current time, and performing low-pass filtering processing on the attitude information corresponding to the preorder time to obtain filtering attitude information corresponding to the preorder time.
Low-pass filtering (Low-pass filter) is a filtering method, in which the Low-frequency signal can normally pass through the Low-pass filter, and the high-frequency signal exceeding a predetermined threshold is blocked and attenuated. But the magnitude of the blocking and attenuation will vary depending on the frequency and the purpose of the filtering. The low-pass filtering is also called high-cut filter or top-cut filter.
Specifically, an ISP processor or a central processing unit of the electronic device may determine a preamble time of a current time and obtain filtering posture information corresponding to the preamble time. And an ISP processor or a central processing unit of the electronic equipment performs low-pass filtering processing on the attitude information at the preorder moment to obtain filtering attitude information corresponding to the preorder moment.
In one embodiment, the low pass filtering process may be performed by a low pass filter. And the ISP processor or the central processing unit of the electronic equipment inputs the attitude information of the preorder moment into the low-pass filter to obtain the filtering attitude information output by the low-pass filter. The low pass filter may be a butterworth filter or a chebyshev filter.
In this embodiment, the posture information corresponding to the preamble time of the current time is obtained, and the low-pass filtering processing is performed on the posture information corresponding to the preamble time, so that the smooth denoising processing can be performed on the posture information of the preamble time, short-term fluctuation is effectively eliminated, and the smooth filtering posture information corresponding to the preamble time is obtained.
The essence of Optical Image Stabilization (OIS) is that Optical stabilization is achieved by pushing a lens and a light sensing chip. Taking an example of optical anti-shake by a lens, as shown in fig. 6, the lens is pushed in the X direction and the Y direction, respectively, and the unit of pushed stroke is code. The range of travel is limited by hardware constraints, with the linear range of travel being relatively smaller. The anti-shake compensation capability is related to the stroke position of the lens, and as shown in fig. 6, when the lens is located at the middle position of the full stroke, the anti-shake compensation capability in two directions of the lens is the same, the left linear stroke of the lens occupies half of the whole linear stroke, and the right linear stroke of the lens also occupies half of the whole linear stroke. As shown in fig. 7, when the lens is shifted to the right, the anti-shake compensation capability of the lens to the right is weakened, and the compensation capability of the lens to the left is increased. Since the direction of motion is randomly located, it is generally desirable to keep the lens centered as much as possible in one direction so that there is maximum compensation capability in both directions.
The conventional OIS is mainly to suppress motion blur, which is mainly affected by two factors, one is exposure time and one is motion speed. The motion blur is easily caused by long exposure time, and the motion blur is easily caused by too high motion speed. The motion blur is not easily generated when the motion speed is small or the exposure time is short. Then the lens should be kept as centered as much as possible in the X and Y directions to maintain the optimal anti-shake compensation state for those scenes that are not prone to motion blur. The conventional optical anti-shake method cannot perform anti-shake compensation on scenes which are not easy to generate motion blur and have low motion speed or short exposure time, and the conventional optical anti-shake method is directly used for performing anti-shake compensation on scenes which are not easy to generate motion blur, so that the anti-shake compensation capability is weakened. For example, in fig. 7, when the leftward movement speed is small but lasts for a long time, the lens is pushed to perform anti-shake compensation according to the conventional optical anti-shake method, the position of the lens gradually becomes far from the center, and at this time, the rightward anti-shake compensation capability of the lens is weakened a lot.
Fig. 8 is a schematic flow chart of an optical anti-shake method for a lens according to an embodiment. And calculating the real-time attitude of a target object through data detected by the Gyro sensor Gyro and the acceleration sensor Acc, wherein the target object refers to a lens of the camera module or a gyroscope. And determining real-time position values of the lens of the camera module in the XY direction at the current moment, namely a current travel position Hall _ X in the X direction and a current travel position Hall _ Y in the Y direction, and calculating a target travel position target Hall through the two values. The specific treatment process is as follows:
and calculating the current posture information of the target object at the current moment based on the values detected by the Gyro sensor or the Acc sensor, namely real-time postures Qi, Qi are vectors and represent the postures in the direction of the X, Y, Z axes. And acquiring a corresponding anti-shake intensity value alpha according to the current real-time posture Qi.
In one embodiment, the real-time pose Q may be three Euler angle quantities (X, Y, Z) or five quantities (X, Y, Z, shift _ X, shift _ Y) including accelerometers, the first three being Euler angle rotation quantities and the second two being translation quantities.
According to the anti-shake intensity value alpha, based on the real-time posture Qi and the filtering posture Qfilter at the previous momenti-1Calculating the filtering attitude Qfilter at the current moment, wherein the formula is as follows:
Qfilter＝f(Qi，alpha)
qfilter is Qi and Qfilteri-1The result of the attitude fusion is carried out, wherein alpha determines the real-time attitude Qi and the filtering attitude Qfilter at the previous moment in the fusion processi-1The respective weights.
Calculating the anti-shake compensation quantity delta Q through the real-time attitude Qi and the filtering attitude Qfilter at the current moment:
△Q＝Qi-Qfilter
wherein the anti-shake compensation amount Δ Q is a vector (Δ x, Δ y, Δ z) and Δ x, Δ y, Δ z represent compensation amounts in XYZ axes, respectively. Where Δ z is not involved in calculating the target Hall value for the moment, since target Hall is a value in the XY direction.
Acquiring preset calibration values (gain _ x, gain _ y), calculating target Hall:
△code_x＝(△x*gain_x)+center_code_x；
△code_y＝(△y*gain_y)+center_code_y；
target_Hall_x＝f(△code_x,Hall_x)；
target_Hall_y＝f(△code_y,Hall_y)；
wherein center _ code _ x and center _ code _ y are the middle positions of the full stroke of the lens, and f is the fusion of the current stroke values Hall _ x and Hall _ y of the current lens and the calculated compensation stroke values Delta code _ x and Delta code _ y, and the fusion mode can be Kalman filtering or other fusion algorithms.
And issuing target _ Hall to a driving circuit driver IC, and enabling a lens motor VCM to push the lens to target stroke positions of target _ Hall _ x and target _ Hall _ y so as to complete the anti-shake compensation.
Repeating the above operations can realize the OIS anti-shake processing flow to overcome the shake generated by the lens of the camera module.
In this embodiment, when the moving speed is small or the exposure time is short, a small anti-shake intensity value alpha is adapted, and a small Δ Q compensation amount is obtained based on the alpha value at this time, so that the lens is not too far away from the central point, and the strong anti-shake compensation capability is continuously maintained. When the movement speed is high or the exposure time is long, a high anti-shake intensity value alpha is adapted, and a high delta Q compensation quantity is obtained based on the alpha value at the moment so as to accurately compensate the current shake. The anti-shake compensation intensity can be adapted according to different exposure time lengths and motion speeds, so that the waste of linear stroke is avoided, and the lens is kept in the most compensated state.
It should be understood that although the steps in the flowcharts of fig. 2, 4 and 5 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. 2, 4, and 5 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 alternatingly with other steps or at least some of the sub-steps or stages of other steps.
Fig. 9 is a block diagram of an optical anti-shake apparatus according to an embodiment. As shown in fig. 9, an optical anti-shake device is provided, which is applied to a camera module, the camera module includes a lens motor and a photosensitive chip motor, and the optical anti-shake device includes: an obtaining module 902, a compensation amount determining module 904, and a jitter compensation module 906, wherein:
an obtaining module 902, configured to obtain anti-shake compensation information of the camera module.
And a compensation amount determining module 904 for determining a lens compensation amount of the lens motor and a chip compensation amount of the photo-sensitive chip motor respectively based on the anti-shake compensation information.
And the shake compensation module 906 is configured to control the lens motor to drive the lens to perform shake compensation based on the lens compensation amount, and control the photosensitive chip motor to drive the photosensitive chip to perform shake compensation based on the chip compensation amount.
The optical anti-shake device is applied to a camera module, wherein the camera module comprises a lens motor and a photosensitive chip motor and is used for acquiring anti-shake compensation information of the camera module; the lens compensation amount of the lens motor and the chip compensation amount of the photosensitive chip motor can be respectively determined based on the anti-shake compensation information, so that the lens motor is controlled to drive the lens to perform shake compensation based on the lens compensation amount, the photosensitive chip motor is controlled to drive the photosensitive chip to perform shake compensation based on the chip compensation amount, the shake compensation of the lens and the shake compensation of the photosensitive chip are combined, light can accurately pass through the lens and can be more accurately projected onto the photosensitive chip, the lens module can be more accurately anti-shake, and clearer images can be generated.
In one embodiment, the compensation amount determining module 904 is further configured to obtain a first anti-shake compensation stroke of the lens motor and a second anti-shake compensation stroke of the photo sensor chip motor in the first anti-shake mode; determining a lens compensation amount of a lens motor from the anti-shake compensation information based on the first anti-shake compensation stroke, and determining a chip compensation amount of a photosensitive chip motor from the anti-shake compensation information based on the second anti-shake compensation stroke; the anti-shake compensation stroke is positively correlated with the compensation quantity.
In one embodiment, the compensation amount determining module 904 is further configured to determine a total anti-shake compensation stroke based on the first anti-shake compensation stroke and the second anti-shake compensation stroke, determine a first proportion of the first anti-shake compensation stroke in the total anti-shake compensation stroke, and determine a second proportion of the second anti-shake compensation stroke in the total anti-shake compensation stroke; and determining a first proportion of the total anti-shake compensation amount corresponding to the anti-shake compensation information as a lens compensation amount of the lens motor, and determining a second proportion of the total anti-shake compensation amount corresponding to the anti-shake compensation information as a chip compensation amount of the photosensitive chip motor.
In one embodiment, the compensation amount determining module 904 is further configured to obtain a first priority of the lens motor and a second priority of the photo sensor chip motor in the second anti-shake mode; respectively determining lens compensation quantity of a lens motor and chip compensation quantity of a photosensitive chip motor from the anti-shake compensation information based on the first priority and the second priority; the priority is positively correlated with the amount of compensation.
In one embodiment, the optical anti-shake apparatus further includes a detection module; the detection module is used for entering a second anti-shake mode if detecting that one of the lens motor and the photosensitive chip motor needs to carry out shake compensation in the rotating direction; the compensation amount determining module 904 is further configured to obtain a maximum compensation amount for the higher-priority motor translation of the first priority and the second priority; wherein the priority of the motor requiring shake compensation in the rotational direction is lower than the priority of the motor not requiring shake compensation in the rotational direction; and determining the lens compensation amount of the lens motor and the chip compensation amount of the photosensitive chip motor based on the total anti-shake compensation amount corresponding to the maximum compensation amount and the anti-shake compensation information.
In one embodiment, the compensation amount determining module 904 is further configured to determine the compensation amount of the higher priority motor translation to be the total anti-shake compensation amount and the compensation amount of the lower priority motor translation to be zero if the maximum compensation amount is greater than or equal to the total anti-shake compensation amount corresponding to the anti-shake compensation information; the shake compensation module 906 is further configured to, if the higher priority motor is a lens motor, control the lens motor to drive the lens to perform shake compensation according to the total anti-shake compensation amount, obtain a rotation compensation amount, and control the photosensitive chip motor to perform shake compensation in the rotation direction according to the rotation compensation amount; and if the motor with higher priority is the photosensitive chip motor, controlling the photosensitive chip motor to drive the lens to perform shake compensation according to the total anti-shake compensation amount, acquiring the rotation compensation amount, and controlling the lens motor to perform shake compensation in the rotation direction according to the rotation compensation amount.
In one embodiment, the compensation amount determining module 904 is further configured to determine the compensation amount of the higher priority motor translation as the maximum compensation amount and the compensation amount of the lower priority motor translation as the difference between the total anti-shake compensation amount and the maximum compensation amount if the maximum compensation amount is smaller than the total anti-shake compensation amount corresponding to the anti-shake compensation information; the shake compensation module 906 is further configured to, if the higher priority motor is a lens motor, control the lens motor to drive the lens to perform shake compensation according to the maximum compensation amount, control the photosensitive chip motor to drive the photosensitive chip to perform shake compensation according to the difference value, acquire a rotation compensation amount, and control the photosensitive chip motor to perform shake compensation in the rotation direction according to the rotation compensation amount; and if the motor with higher priority is the photosensitive chip motor, controlling the photosensitive chip motor to drive the photosensitive chip to perform jitter compensation according to the maximum compensation amount, controlling the lens motor to drive the lens to perform jitter compensation according to the difference value, acquiring the rotation compensation amount, and controlling the lens motor to perform jitter compensation in the rotation direction according to the rotation compensation amount.
In an embodiment, the obtaining module 902 is further configured to determine current posture information of the camera module at the current time; acquiring anti-shake intensity information corresponding to the current attitude information, wherein the anti-shake intensity information is positively correlated with the current attitude information; and determining anti-shake compensation information based on the anti-shake intensity information, the current attitude information and the filtering attitude information corresponding to the preorder moment of the current moment.
In one embodiment, the current pose information includes a motion speed and an exposure time, and the anti-shake intensity information includes an anti-shake intensity value; the above-mentioned module 902 that obtains still is used for obtaining corresponding anti-shake intensity value according to the at least one of the velocity of motion and the exposure time of the module of making a video recording in the present moment, and velocity of motion, exposure time all are with anti-shake intensity value positive correlation.
The obtaining module 902 is further configured to determine filtering attitude information at the current time based on the anti-shake intensity information, the current attitude information, and filtering attitude information corresponding to a preamble time of the current time; and determining anti-shake compensation information based on the current attitude information and the filtering attitude information at the current moment.
The division of each module in the optical anti-shake apparatus is only for illustration, and in other embodiments, the optical anti-shake apparatus may be divided into different modules as needed to complete all or part of the functions of the optical anti-shake apparatus.
For specific definition of the optical anti-shake apparatus, reference may be made to the definition of the optical anti-shake method above, and details are not repeated here. The modules in the optical anti-shake apparatus can be wholly or partially implemented by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
Fig. 10 is a schematic diagram of an internal structure of an electronic device in one embodiment. The electronic device may be any terminal device such as a mobile phone, a tablet computer, a notebook computer, a desktop computer, a PDA (Personal Digital Assistant), a POS (Point of Sales), a vehicle-mounted computer, and a wearable device. The electronic device includes a processor and a memory connected by a system bus. The processor may include one or more processing units, among others. The processor may be a CPU (Central Processing Unit), a DSP (Digital Signal processor), or the like. 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 optical 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 implementation of each module in the optical 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. Program modules constituted by such computer programs may be stored on the memory of the electronic device. 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 optical anti-shake method.
Embodiments of the present application also provide a computer program product containing instructions that, when run on a computer, cause the computer to perform an optical anti-shake method.
Any reference to memory, storage, database, or other medium used herein may include non-volatile and/or volatile memory. The nonvolatile Memory may include a ROM (Read-Only Memory), a PROM (Programmable Read-Only Memory), an EPROM (Erasable Programmable Read-Only Memory), an EEPROM (Electrically Erasable Programmable Read-Only Memory), or a flash Memory. Volatile Memory can include RAM (Random Access Memory), which acts as external cache Memory. By way of illustration and not limitation, RAM is available in many forms, such as SRAM (Static Random Access Memory), DRAM (Dynamic Random Access Memory), SDRAM (Synchronous Dynamic Random Access Memory), Double Data Rate DDR SDRAM (Double Data Rate Synchronous Random Access Memory), ESDRAM (Enhanced Synchronous Dynamic Random Access Memory), SLDRAM (Synchronous Link Dynamic Random Access Memory), RDRAM (Random Dynamic Random Access Memory), and DRmb DRAM (Dynamic Random Access Memory).
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 (14)
1. An optical anti-shake method is applied to a camera module, wherein the camera module comprises a lens motor and a photosensitive chip motor, and the method comprises the following steps:
acquiring anti-shake compensation information of the camera module;
respectively determining a lens compensation amount of the lens motor and a chip compensation amount of the photosensitive chip motor based on the anti-shake compensation information;
and controlling the lens motor to drive the lens to perform jitter compensation based on the lens compensation amount, and controlling the photosensitive chip motor to drive the photosensitive chip to perform jitter compensation based on the chip compensation amount.
2. The method according to claim 1, wherein the determining the lens compensation amount of the lens motor and the chip compensation amount of the photosensitive chip motor respectively based on the anti-shake compensation information comprises:
in a first anti-shake mode, acquiring a first anti-shake compensation stroke of the lens motor and a second anti-shake compensation stroke of the photosensitive chip motor;
determining a lens compensation amount of the lens motor from the anti-shake compensation information based on the first anti-shake compensation stroke, and determining a chip compensation amount of the photosensitive chip motor from the anti-shake compensation information based on the second anti-shake compensation stroke; the anti-shake compensation stroke is positively correlated with the compensation quantity.
3. The method of claim 2, wherein the determining the lens compensation amount of the lens motor from the anti-shake compensation information based on the first anti-shake compensation stroke and the determining the chip compensation amount of the photo-sensitive chip motor from the anti-shake compensation information based on the second anti-shake compensation stroke comprises:
determining a total anti-shake compensation stroke based on the first anti-shake compensation stroke and the second anti-shake compensation stroke, and determining a first proportion of the first anti-shake compensation stroke in the total anti-shake compensation stroke and a second proportion of the second anti-shake compensation stroke in the total anti-shake compensation stroke;
and determining that a first proportion of the total anti-shake compensation amount corresponding to the anti-shake compensation information is the lens compensation amount of the lens motor, and determining that a second proportion of the total anti-shake compensation amount corresponding to the anti-shake compensation information is the chip compensation amount of the photosensitive chip motor.
4. The method according to claim 1, wherein the determining the lens compensation amount of the lens motor and the chip compensation amount of the photosensitive chip motor respectively based on the anti-shake compensation information comprises:
in a second anti-shake mode, acquiring a first priority of the lens motor and a second priority of the photosensitive chip motor;
respectively determining a lens compensation amount of the lens motor and a chip compensation amount of the photosensitive chip motor from the anti-shake compensation information based on the first priority and the second priority; the priority is positively correlated with the amount of compensation.
5. The method of claim 4, further comprising:
if one of the lens motor and the photosensitive chip motor is detected to need shake compensation in the rotating direction, entering a second anti-shake mode;
the determining, based on the first priority and the second priority, a lens compensation amount of the lens motor and a chip compensation amount of the photosensitive chip motor from the anti-shake compensation information, respectively, includes:
acquiring the maximum compensation amount of the motor translation with higher priority in the first priority and the second priority; wherein the priority of the motor requiring shake compensation in the rotational direction is lower than the priority of the motor not requiring shake compensation in the rotational direction; and determining the lens compensation amount of the lens motor and the chip compensation amount of the photosensitive chip motor based on the maximum compensation amount and the total anti-shake compensation amount corresponding to the anti-shake compensation information.
6. The method of claim 5, wherein determining the lens compensation amount of the lens motor and the chip compensation amount of the photo sensor chip motor based on the maximum compensation amount and the total anti-shake compensation amount corresponding to the anti-shake compensation information comprises:
if the maximum compensation amount is greater than or equal to the total anti-shake compensation amount corresponding to the anti-shake compensation information, determining that the compensation amount of the higher-priority motor translation is the total anti-shake compensation amount, and the compensation amount of the lower-priority motor translation is zero;
the control the camera lens motor is based on camera lens compensation volume drive camera lens carries out the shake compensation, control the sensitization chip motor is based on chip compensation volume drive sensitization chip carries out the shake compensation, include:
if the motor with higher priority is a lens motor, controlling the lens motor to drive a lens to perform shake compensation according to the total anti-shake compensation quantity, acquiring a rotation compensation quantity, and controlling the photosensitive chip motor to perform shake compensation in the rotation direction according to the rotation compensation quantity;
and if the motor with the higher priority is a photosensitive chip motor, controlling the photosensitive chip motor driving chip to perform shake compensation according to the total anti-shake compensation quantity, acquiring a rotation compensation quantity, and controlling the lens motor to perform shake compensation in the rotation direction according to the rotation compensation quantity.
7. The method of claim 5, wherein determining the lens compensation amount of the lens motor and the chip compensation amount of the photo sensor chip motor based on the maximum compensation amount and the total anti-shake compensation amount corresponding to the anti-shake compensation information comprises:
if the maximum compensation amount is smaller than the total anti-shake compensation amount corresponding to the anti-shake compensation information, determining the compensation amount of the higher-priority motor translation as the maximum compensation amount, and determining the compensation amount of the lower-priority motor translation as the difference between the total anti-shake compensation amount and the maximum compensation amount;
the control the camera lens motor is based on camera lens compensation volume drive camera lens carries out the shake compensation, control the sensitization chip motor is based on chip compensation volume drive sensitization chip carries out the shake compensation, include:
if the motor with the higher priority is a lens motor, controlling the lens motor to drive a lens to perform shake compensation according to the maximum compensation quantity, controlling the photosensitive chip motor to drive a photosensitive chip to perform shake compensation according to the difference value, acquiring a rotation compensation quantity, and controlling the photosensitive chip motor to perform shake compensation in the rotation direction according to the rotation compensation quantity;
and if the motor with the higher priority is a photosensitive chip motor, controlling the photosensitive chip motor to drive a photosensitive chip to perform jitter compensation according to the maximum compensation amount, controlling the lens motor to drive a lens to perform jitter compensation according to the difference value, acquiring a rotation compensation amount, and controlling the lens motor to perform jitter compensation in the rotation direction according to the rotation compensation amount.
8. The method according to claim 1, wherein the obtaining anti-shake compensation information of the camera module comprises:
determining the current attitude information of the camera module at the current moment;
acquiring anti-shake intensity information corresponding to the current attitude information, wherein the anti-shake intensity information is positively correlated with the current attitude information;
and determining anti-shake compensation information based on the anti-shake intensity information, the current attitude information and the filtering attitude information corresponding to the preorder moment of the current moment.
9. The method of claim 8, wherein the current pose information comprises a motion speed and an exposure time, and the anti-shake intensity information comprises an anti-shake intensity value; the acquiring anti-shake intensity information corresponding to the current attitude information includes:
and acquiring a corresponding anti-shake intensity value according to at least one of the movement speed and the exposure time of the camera module at the current moment, wherein the movement speed and the exposure time are positively correlated with the anti-shake intensity value.
10. The method according to claim 8, wherein the determining anti-shake compensation information based on the anti-shake intensity information, the current attitude information, and the filter attitude information corresponding to the preamble of the current time comprises:
determining filtering attitude information of the current moment based on the anti-shake intensity information, the current attitude information and the filtering attitude information corresponding to the preorder moment of the current moment;
and determining anti-shake compensation information based on the current attitude information and the filtering attitude information at the current moment.
11. The utility model provides an optics anti-shake device which characterized in that is applied to the module of making a video recording, the module of making a video recording includes camera lens motor and sensitization chip motor, the device includes:
the acquisition module is used for acquiring anti-shake compensation information of the camera module;
the compensation amount determining module is used for respectively determining the lens compensation amount of the lens motor and the chip compensation amount of the photosensitive chip motor based on the anti-shake compensation information;
and the jitter compensation module is used for controlling the lens motor to drive the lens to perform jitter compensation based on the lens compensation amount and controlling the photosensitive chip motor to drive the photosensitive chip to perform jitter compensation based on the chip compensation amount.
12. An electronic device comprising a memory and a processor, wherein the memory stores a computer program, and wherein the computer program, when executed by the processor, causes the processor to perform the steps of the optical anti-shake method according to any one of claims 1-10.
13. 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 10.
14. A computer program product comprising a computer program, characterized in that the computer program realizes the steps of the method according to any one of claims 1 to 10 when executed by a processor.
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