CN116761074B

CN116761074B - Optical anti-shake module, optical anti-shake method and electronic equipment

Info

Publication number: CN116761074B
Application number: CN202211332472.8A
Authority: CN
Inventors: 李子荣; 石坚; 虞大鹏
Original assignee: Honor Device Co Ltd
Current assignee: Honor Device Co Ltd
Priority date: 2022-10-28
Filing date: 2022-10-28
Publication date: 2024-04-19
Anticipated expiration: 2042-10-28
Also published as: CN116761074A

Abstract

The embodiment of the application provides an optical anti-shake module, an optical anti-shake method and electronic equipment, which are applied to the technical field of electronics. The optical anti-shake module comprises an optical anti-shake chip and at least two camera modules, wherein the optical anti-shake chip is connected with each camera module, the optical anti-shake chip calculates shake compensation data of each camera module according to shake data acquired by an inertial sensor, the shake compensation data are sent to a motor driving chip in the camera module, and the motor driving chip generates driving signals according to the shake compensation data so that a driving motor drives a lens assembly or a photosensitive assembly to move. Therefore, at least two camera modules in the embodiment of the application share the same optical anti-shake chip, and the optical anti-shake chip calculates shake compensation data of each camera module and synchronously drives each camera module to perform optical anti-shake, so that displacement among images acquired by each camera module at the same moment is reduced, and shooting experience is improved.

Description

Optical anti-shake module, optical anti-shake method and electronic equipment

Technical Field

The present application relates to the field of electronic technologies, and in particular, to an optical anti-shake module, an optical anti-shake method, and an electronic device.

Background

With the continuous development of electronic technology, electronic devices such as mobile phones and tablet computers become a common tool in daily life and work of people. Currently, some electronic devices are provided with a camera module, and a photographing or video recording function is provided for a user based on the camera module.

When a user holds the electronic equipment to shoot, the electronic equipment can shake to a certain extent, so that the problem of imaging blurring of a shot picture is solved, and meanwhile, the requirement of the user on the shooting quality of the electronic equipment is continuously improved. Therefore, some electronic devices may use an optical anti-shake (optical image stabilization, OIS) technique to perform an anti-shake process to improve the imaging definition of the captured frame.

However, when at least two camera modules exist in the electronic equipment, the at least two camera modules can cause displacement between acquired images when the optical anti-shake function is started to acquire the images, so that shooting experience is affected.

Disclosure of Invention

The embodiment of the application provides an optical anti-shake module, an optical anti-shake method and electronic equipment, which adopt the same optical anti-shake chip to calculate shake compensation data of each camera module, synchronously drive each camera module to perform optical anti-shake, reduce displacement among images acquired by each camera module, and further improve shooting experience.

In a first aspect, an embodiment of the present application provides an optical anti-shake module, including: the optical anti-shake chip is respectively connected with the inertial sensor and each camera module, and each camera module comprises a lens assembly, a photosensitive assembly, a motor driving chip and a driving motor; the optical anti-shake chip is used for calculating shake compensation data of each camera module according to shake data acquired by the inertial sensor and sending the shake compensation data to a motor driving chip in the corresponding camera module; the inertial sensor comprises a gyroscope sensor and/or an acceleration sensor; the motor driving chip is used for generating a driving signal according to the shake compensation data so that the driving motor drives the lens assembly or the photosensitive assembly to move according to the driving signal.

In this way, at least two camera modules in the embodiment of the application share the same optical anti-shake chip, and the optical anti-shake chip calculates shake compensation data of each camera module, synchronously and parallelly drives each camera module to perform optical anti-shake, reduces differences between compensation displacement of moved lens assemblies in each camera module at the same moment, and correspondingly reduces displacement between images acquired by each camera module at the same moment, thereby improving shooting experience.

In one possible implementation, the inertial sensor includes a gyroscope sensor and an acceleration sensor, and the shake data includes angular velocity data collected by the gyroscope sensor and acceleration data collected by the acceleration sensor; the optical anti-shake chip comprises a first data processing module, a second data processing module, an angle fusion module and a parameter conversion module. The first data processing module is used for processing the angular velocity data to obtain a first shaking angle; the second data processing module is used for processing the acceleration data to obtain a second shaking angle; the angle fusion module is used for fusing the first shaking angle and the second shaking angle to obtain a target shaking angle; the parameter conversion module is used for converting the target jitter angle into jitter compensation data. In this way, the shake compensation data is calculated together through the angular velocity data acquired by the gyroscope sensor and the acceleration data acquired by the acceleration sensor, so that the calculation accuracy of the shake compensation data is improved.

In one possible implementation, the inertial sensor comprises a gyroscopic sensor and the shake data comprises angular velocity data acquired by the gyroscopic sensor; the optical anti-shake chip comprises a first data processing module and a parameter conversion module. The first data processing module is used for processing the angular velocity data to obtain a first shaking angle; the parameter conversion module is used for converting the first jitter angle into jitter compensation data. In this way, the shake compensation data is calculated through the angular velocity data acquired by the gyroscope sensor, so that the calculation complexity of the optical shake prevention chip in calculating the shake compensation data is reduced.

In one possible implementation, the inertial sensor includes an acceleration sensor, and the shake data includes acceleration data acquired by the acceleration sensor; the optical anti-shake chip comprises a second data processing module and a parameter conversion module. The second data processing module is used for processing the acceleration data to obtain a second shaking angle; the parameter conversion module is used for converting the second jitter angle into jitter compensation data. Therefore, the shake compensation data are calculated through the acceleration data acquired by the acceleration sensor, so that the calculation complexity of the optical shake prevention chip in calculating the shake compensation data is reduced.

In one possible implementation, the optical anti-shake chip further includes a displacement calibration module; the displacement calibration module is used for calibrating the jitter compensation data. Thus, by calibrating the shake compensation data, the accuracy of the drive motor in driving the lens assembly or the photosensitive element to move to a desired position can be improved.

In one possible implementation manner, the first data processing module is specifically configured to perform filtering processing on angular velocity data, and perform integral processing on the filtered angular velocity data to obtain a first jitter angle. In this way, in the calculation process of the first dithering angle, the filtering processing is performed on the angular velocity data, so that the influence of the interference signal on the angular velocity data can be removed, and the calculation accuracy of the first dithering angle is improved.

In one possible implementation manner, the second data processing module is specifically configured to perform filtering processing on the acceleration data, and perform integral processing on the acceleration data after the filtering processing to obtain jitter displacement; and calculating a second dithering angle according to the dithering displacement. In this way, in the calculation process of the second shaking angle, the acceleration data is subjected to filtering processing, so that the influence of the interference signal on the acceleration data can be removed, and the calculation accuracy of the second shaking angle is improved.

In one possible implementation manner, the angle fusion module is specifically configured to fuse the first jitter angle and the second jitter angle by using a kalman filter, so as to obtain the target jitter angle. Therefore, fusion of the first dithering angle and the second dithering angle can be realized through the Kalman filter, and accuracy of the calculated target dithering angle is improved.

In one possible implementation, the parameter conversion module is specifically configured to determine, as jitter compensation data, a product of a preset conversion coefficient and a target jitter angle. Thus, by calculating the product of the preset conversion coefficient and the target jitter angle, the jitter compensation data can be calculated simply, and the calculation mode is simpler.

In one possible implementation, the displacement calibration module is specifically configured to calibrate the jitter compensation data by the following formula:

Shift_x＝a₁s_x ²+a₂s_y ²+a₃s_xs_y+a₄s_x+a₅s_y+a₆

Shift_y＝b₁s_x ²+b₂s_y ²+b₃s_xs_y+b₄s_x+b₅s_y+b₆

Wherein s _x is jitter compensation data in the first direction, and shift_x is jitter compensation data in the first direction after calibration; s _y is jitter compensation data in the second direction, and shift_y is jitter compensation data in the second direction after calibration; a ₁ is a first calibration coefficient, a ₂ is a second calibration coefficient, a ₃ is a third calibration coefficient, a ₄ is a fourth calibration coefficient, a ₅ is a fifth calibration coefficient, a ₆ is a sixth calibration coefficient, b ₁ is a seventh calibration coefficient, b ₂ is an eighth calibration coefficient, b ₃ is a ninth calibration coefficient, b ₄ is a tenth calibration coefficient, b ₅ is an eleventh calibration coefficient, and b ₆ is a twelfth calibration coefficient. Therefore, the shake compensation data is calibrated by the calibration coefficient calibrated in advance, the calibration mode is simpler, and the accuracy of the driving motor when the lens assembly or the photosensitive assembly is driven to move to a required position can be improved.

In a second aspect, an embodiment of the present application provides an optical anti-shake method, which is applied to an optical anti-shake module, where the optical anti-shake module includes an optical anti-shake chip and at least two camera modules, the optical anti-shake chip is connected with an inertial sensor and each camera module, and each camera module includes a lens assembly, a photosensitive assembly, a motor driving chip and a driving motor. The method comprises the following steps: when at least two camera modules are adopted to collect images, the optical anti-shake chip acquires shake data collected by the inertial sensor; the inertial sensor comprises a gyroscope sensor and/or an acceleration sensor; the optical anti-shake chip calculates shake compensation data of each camera module according to the shake data; the optical anti-shake chip sends shake compensation data to a motor driving chip in the corresponding camera module; the motor driving chip generates a driving signal according to the shake compensation data, so that the driving motor drives the lens assembly or the photosensitive assembly to move according to the driving signal.

In one possible implementation, the inertial sensor includes a gyroscope sensor and an acceleration sensor, and the shake data includes angular velocity data collected by the gyroscope sensor and acceleration data collected by the acceleration sensor. The optical anti-shake chip calculates shake compensation data of each camera module according to shake data, including: the optical anti-shake chip processes the angular velocity data to obtain a first shake angle; the optical anti-shake chip processes the acceleration data to obtain a second shake angle; the optical anti-shake chip fuses the first shake angle and the second shake angle to obtain a target shake angle; the optical anti-shake chip converts the target shake angle into shake compensation data.

In one possible implementation, the inertial sensor comprises a gyroscopic sensor and the shake data comprises angular velocity data acquired by the gyroscopic sensor. The optical anti-shake chip calculates shake compensation data of each camera module according to shake data, including: the optical anti-shake chip processes the angular velocity data to obtain a first shake angle; the optical anti-shake chip converts the first shake angle into shake compensation data.

In one possible implementation, the inertial sensor includes an acceleration sensor, and the shake data includes acceleration data acquired by the acceleration sensor. The optical anti-shake chip calculates shake compensation data of each camera module according to shake data, including: the optical anti-shake chip processes the acceleration data to obtain a second shake angle; the optical anti-shake chip converts the second shake angle into shake compensation data.

In one possible implementation manner, after the optical anti-shake chip calculates shake compensation data of each camera module according to the shake data, the method further includes: the optical anti-shake chip calibrates shake compensation data.

In one possible implementation, the optical anti-shake chip processes the angular velocity data to obtain a first shake angle, including: the optical anti-shake chip carries out filtering treatment on angular velocity data; and the optical anti-shake chip performs integral processing on the angular velocity data after the filtering processing to obtain a first shake angle.

In one possible implementation, the processing of the acceleration data by the optical anti-shake chip to obtain the second shake angle includes: the optical anti-shake chip carries out filtering processing on the acceleration data; the optical anti-shake chip integrates the acceleration data after the filtering treatment to obtain shake displacement; the optical anti-shake chip calculates a second shake angle according to the shake displacement.

In one possible implementation manner, the optical anti-shake chip fuses the first shake angle and the second shake angle to obtain a target shake angle, including: the optical anti-shake chip adopts a Kalman filter to fuse the first shake angle and the second shake angle to obtain a target shake angle.

In one possible implementation, the optical anti-shake chip converts a target shake angle into shake compensation data, including: the optical anti-shake chip determines the product of a preset conversion coefficient and a target shake angle as shake compensation data.

In one possible implementation, the optical anti-shake chip calibrates shake compensation data, including: the optical anti-shake chip calibrates shake compensation data by the following formula:

Shift_x＝a₁s_x ²+a₂s_y ²+a₃s_xs_y+a₄s_x+a₅s_y+a₆

Shift_y＝b₁s_x ²+b₂s_y ²+b₃s_xs_y+b₄s_x+b₅s_y+b₆

Wherein s _x is jitter compensation data in the first direction, and shift_x is jitter compensation data in the first direction after calibration; s _y is jitter compensation data in the second direction, and shift_y is jitter compensation data in the second direction after calibration; a ₁ is a first calibration coefficient, a ₂ is a second calibration coefficient, a ₃ is a third calibration coefficient, a ₄ is a fourth calibration coefficient, a ₅ is a fifth calibration coefficient, a ₆ is a sixth calibration coefficient, b ₁ is a seventh calibration coefficient, b ₂ is an eighth calibration coefficient, b ₃ is a ninth calibration coefficient, b ₄ is a tenth calibration coefficient, b ₅ is an eleventh calibration coefficient, and b ₆ is a twelfth calibration coefficient.

In a third aspect, an embodiment of the present application provides an electronic device, including an inertial sensor, a main control chip, and the optical anti-shake module, where a camera module in the optical anti-shake module further includes a hall sensor. The inertial sensor is connected with an optical anti-shake chip in the optical anti-shake module and is used for sending shake data acquired by the inertial sensor to the optical anti-shake chip; the Hall sensor is connected with the optical anti-shake chip through a motor driving chip in the camera module, and is used for detecting the position information of the lens assembly or the photosensitive assembly in the camera module and sending the position information to the optical anti-shake chip through the motor driving chip; the main control chip is connected with the optical anti-shake chip and is used for receiving shake compensation data and position information sent by the optical anti-shake chip and carrying out electronic anti-shake processing on images acquired by the camera module according to the shake compensation data and the position information.

The effects of each possible implementation manner of the second aspect and the third aspect are similar to those of the first aspect and the possible designs of the first aspect, and are not described herein.

Drawings

FIG. 1 is a schematic diagram of an optical anti-shake module according to the related art;

FIG. 2 is a schematic diagram of an optical anti-shake module according to an embodiment of the present application;

Fig. 3 is a schematic structural diagram of a camera module according to an embodiment of the present application;

FIG. 4 is a schematic diagram of an optical anti-shake principle according to an embodiment of the present application;

FIG. 5 is a schematic diagram of functional modules included in an optical anti-shake chip according to an embodiment of the present application;

FIG. 6 is a schematic diagram of calculating a second shake angle based on shake displacement obtained by integrating acceleration data according to an embodiment of the present application;

FIG. 7 is a graph of conversion coefficient versus ambiguity provided by an embodiment of the present application;

FIG. 8 is a schematic diagram of calibrating jitter compensation data according to an embodiment of the present application;

fig. 9 is a flowchart of an optical anti-shake method according to an embodiment of the present application.

Detailed Description

In order to clearly describe the technical solution of the embodiments of the present application, in the embodiments of the present application, the words "first", "second", etc. are used to distinguish the same item or similar items having substantially the same function and effect. For example, the first chip and the second chip are merely for distinguishing different chips, and the order of the different chips is not limited. It will be appreciated by those of skill in the art that the words "first," "second," and the like do not limit the amount and order of execution, and that the words "first," "second," and the like do not necessarily differ.

It should be noted that, in the embodiments of the present application, words such as "exemplary" or "such as" are used to mean serving as an example, instance, or illustration. Any embodiment or design described herein as "exemplary" or "for example" should not be construed as preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplary" or "such as" is intended to present related concepts in a concrete fashion.

In the embodiments of the present application, "at least one" means one or more, and "a plurality" means two or more. "and/or", describes an association relationship of an association object, and indicates that there may be three relationships, for example, a and/or B, and may indicate: a alone, a and B together, and B alone, wherein a, B may be singular or plural. The character "/" generally indicates that the context-dependent object is an "or" relationship. "at least one of" or the like means any combination of these items, including any combination of single item(s) or plural items(s). For example, at least one (one) of a, b, or c may represent: a, b, c, a-b, a-c, b-c, or a-b-c, wherein a, b, c may be single or plural.

At present, some electronic devices are provided with a camera module, and in the process of using the electronic device by a user, the camera module in the electronic device can be adopted to take a picture or record a video.

When the user holds the electronic equipment to shoot, the hand can also generate a certain degree of slight shake under the static state, or the user can also generate shake on the hand under the motion state, and the shake of the hand can be transmitted to the handheld electronic equipment, so that the electronic equipment can generate shake in one or more directions, and further the problem of imaging blurring of a shot picture is caused.

In order to improve the imaging definition of a picture shot by electronic equipment, some electronic equipment can adopt an optical anti-shake technology to perform anti-shake processing so as to improve the imaging definition of the shot picture.

The optical anti-shake technology detects shake data of a user's hand through an inertial sensor in electronic equipment, calculates shake compensation data to be compensated according to the shake data, and then drives a driving motor in a camera module according to the shake compensation data to control a lens assembly or a photosensitive assembly to move so as to compensate the influence caused by shake, thereby achieving the purpose of anti-shake.

Currently, in order to meet different requirements of users for shooting, the number of camera modules in electronic devices is gradually increased. In some electronic devices, at least two camera modules may be provided.

In some related art, as shown in fig. 1, the electronic device may include N camera modules, such as camera module 1, camera module 2, and camera module N, where N may be a positive integer greater than 2. Each camera module comprises an optical anti-shake chip, a driving motor, a lens assembly, a photosensitive element (not shown) and a Hall sensor, wherein the optical anti-shake chip is electrically connected with the driving motor and the Hall sensor, and the driving motor is in transmission connection with the lens assembly or the photosensitive element.

Fig. 1 illustrates an example in which the inertial sensor includes a gyro sensor, and shake data acquired by the inertial sensor is angular velocity data.

The gyroscope sensor is electrically connected with the optical anti-shake chip in each camera module through a serial peripheral interface (SERIAL PERIPHERAL INTERFACE, SPI), and can collect angular velocity data of the electronic equipment in the use process and send the angular velocity data to the optical anti-shake chip in each camera module. The optical anti-shake chip in each camera module can respectively calculate shake compensation data according to the angular velocity data, then generate corresponding driving signals according to the shake compensation data, and send the driving signals to the driving motor. The driving motor can drive the lens component to move according to the driving signal so as to perform optical anti-shake.

It may be understood that the inertial sensor may also include only an acceleration sensor, or the inertial sensor may also include a gyroscope sensor and an acceleration sensor, or the inertial sensor may also be other sensors for collecting shake data of the camera module, which is not limited in the embodiment of the present application. In addition, the driving motor can be used for driving the lens assembly to move according to the driving signal so as to perform optical anti-shake.

In some embodiments, the hall sensor may be used to detect current position information of the lens assembly in real time and send the position information to the optical anti-shake chip to form a closed loop control, so that the lens assembly may be accurately moved to a desired position.

In addition, the electronic device further comprises a main control chip, and the main control chip is electrically connected with the optical anti-shake chip in each camera module through an integrated circuit bus (inter-INTEGRATED CIRCUIT, I2C) interface. The optical anti-shake chip can send the calculated shake compensation data and the position information sent by the Hall sensor to the main control chip through the I2C interface, and the main control chip can carry out electronic anti-shake processing on the image acquired by the camera module according to the shake compensation data and the position information.

The approach shown in fig. 1 has the following two problems:

In the first aspect, each camera module includes an optical anti-shake chip, and each optical anti-shake chip performs data processing and control independently. Therefore, when the optical anti-shake chip in each camera module calculates shake compensation data according to shake data acquired by the inertial sensor, the calculation speed of the optical anti-shake chip in each camera module may be different, so that the time of sending a driving signal to a driving motor connected with the optical anti-shake chip in each camera module is not synchronous, and the compensation displacement of the lens assemblies in each camera module at the same moment when the lens assemblies are moved is inconsistent, so that the images acquired by each camera module at the same moment have certain displacement.

Like this, when the image that each camera module gathered has certain displacement in the same moment, can influence user's shooting experience. For example, if images acquired by each camera module at the same time have a certain displacement, when the camera module is switched to acquire images, the images acquired after switching will cause phenomena such as image jump relative to the images acquired before switching. In addition, in a scene where image acquisition is performed by using a plurality of camera modules, such as a multi-camera large-aperture fusion scene, due to displacement of the images acquired by each camera module caused by the dyssynchrony, if optical anti-shake is performed on the plurality of camera modules, errors can occur in the calculated depth information when the depth information is calculated according to shake compensation data.

In the second aspect, since the optical anti-shake chip in each camera module needs to be connected to the gyro sensor through one SPI interface, if the electronic device includes N camera modules, N optical anti-shake chips are required, and N SPI interfaces are also required. Therefore, the number of SPI interfaces in the electronic device is large, and each optical anti-shake chip also causes an increase in power consumption when shake data is acquired from the gyro sensor.

Based on the above, the embodiment of the application provides an optical anti-shake module, which comprises an optical anti-shake chip and at least two camera modules, wherein the optical anti-shake chip is respectively connected with an inertial sensor and each camera module. The optical anti-shake chip calculates shake compensation data of each camera module according to shake data acquired by the inertial sensor, and sends the shake compensation data to a motor driving chip in the corresponding camera module; the motor driving chip generates a driving signal according to the shake compensation data, so that the driving motor drives the lens assembly or the photosensitive assembly to move according to the driving signal. Therefore, at least two camera modules in the embodiment of the application share the same optical anti-shake chip, and the optical anti-shake chip calculates shake compensation data of each camera module, so that the difference between calculation speeds when calculating the shake compensation data of each camera module is small, the difference between the time when a motor driving chip in each camera module sends a driving signal to a driving motor connected with the motor driving chip is small, thereby realizing synchronous and parallel driving of each camera module to perform optical anti-shake, reducing the difference between compensation displacements when lens assemblies in each camera module have moved at the same moment, and correspondingly, reducing the displacement between images acquired by each camera module at the same moment, and further improving shooting experience.

For example, when the camera modules are switched to collect images, the embodiment of the application reduces the displacement between the images collected by the camera modules at the same time, so that the phenomenon that the images collected after switching are jumped relative to the images collected before switching can be improved. In addition, in a scene where a plurality of camera modules are adopted to collect images, such as a multi-camera large-aperture fusion scene, the embodiment of the application reduces the displacement between images collected by each camera module at the same moment, and if the plurality of camera modules are subjected to optical anti-shake, the accuracy of the calculated depth information can be improved when the depth information is calculated according to shake compensation data.

In addition, taking the inertial sensor including the gyroscope sensor as an example, since at least two camera modules in the embodiment of the application share the same optical anti-shake chip, only one SPI interface is needed to be connected with the gyroscope sensor, so that the number of SPI interfaces in the electronic equipment is reduced, and the power consumption of the optical anti-shake chip is also reduced when shake data is acquired from the gyroscope sensor.

In addition, in the scheme shown in fig. 1, the hall sensor sends the collected position information to the optical anti-shake chip in the camera module, and the optical anti-shake chip in the camera module sends the position information to the main control chip, so that the data size of the position information obtained by the main control chip from the optical anti-shake chip in the camera module is smaller every time, and the sampling rate of the hall sensor is lower. In the embodiment of the application, the Hall sensor sends the acquired position information to the optical anti-shake chip through the motor driving chip, and the optical anti-shake chip which is not positioned in the camera module sends the position information to the main control chip, so that the data size of the position information acquired by the main control chip from the optical anti-shake chip each time is larger, the sampling rate of the Hall sensor is higher, and the anti-shake precision of the image is improved when the main control chip performs electronic anti-shake according to the position information acquired by the Hall sensor.

The optical anti-shake module provided by the embodiment of the application can be applied to electronic equipment, and the electronic equipment can be mobile phones, tablet computers, wearable equipment (such as watches, bracelets and the like), vehicle-mounted equipment, augmented reality (augmented reality, AR)/Virtual Reality (VR) equipment, cameras, notebook computers, ultra-mobile personal computer (UMPC), netbooks, personal digital assistants (personal DIGITAL ASSISTANT, PDA) and other electronic equipment. The embodiment of the application does not limit the specific technology and the specific equipment form adopted by the electronic equipment.

Fig. 2 is a schematic structural diagram of an optical anti-shake module according to an embodiment of the application. Referring to fig. 2, the optical anti-shake module includes an optical anti-shake chip and at least two camera modules, and the optical anti-shake chip is respectively connected with the inertial sensor and each camera module.

As shown in fig. 2, the optical anti-shake module includes N camera modules, which are respectively a camera module 1 and a camera module 2 to a camera module N, where N may be a positive integer greater than 2.

For example, the optical anti-shake module in the embodiment of the present application may include two camera modules, three camera modules, or four camera modules, and the embodiment of the present application does not limit the specific number of camera modules, as long as the number of camera modules is greater than 1.

And, the types of the camera modules in the optical anti-shake module can be the same or different. For example, the optical anti-shake module includes three camera modules, the first camera module is a common camera module, the second camera module is a wide-angle camera module, and the third camera module is a tele camera module.

Each camera module comprises a lens assembly, a photosensitive element (not shown in fig. 2), a motor driving chip and a driving motor, wherein the motor driving chip is electrically connected with the driving motor, and the driving motor is in transmission connection with the lens assembly or the photosensitive element.

As shown in fig. 3, the lens assembly 101 is located on the side of the photosensitive surface of the photosensitive element 102, and includes a plurality of optical lenses stacked in the optical axis direction.

The photosensitive element 102 is fixed on the circuit board 105, and is electrically connected to the circuit board 105. The photosensitive element 102 may also be referred to as an image sensor, which may be a charge coupled device (charge coupled device, CCD) or a Complementary Metal Oxide Semiconductor (CMOS) phototransistor. The light reflected by the object passes through the lens assembly 101 and then is projected onto the photosensitive element 102, and the photosensitive element 102 converts the light signal into an electrical signal to perform imaging.

The driving motor 103 may be a Voice Coil Motor (VCM), which is disposed on the bracket 104. When the driving motor 103 is energized, the permanent magnet is driven to move along a horizontal plane, and the lens assembly 101 is driven to move along a horizontal plane, which can be understood as a plane perpendicular to the optical axis direction.

It can be understood that, in the camera module shown in fig. 3, the driving motor 103 drives the lens assembly 101 to move to implement optical anti-shake. Of course, in other camera modules, a driving motor for driving the photosensitive element 102 to move may be disposed, so that the driving motor drives the photosensitive element 102 to move to realize optical anti-shake.

The optical anti-shake chip is electrically connected with the motor driving chip in each camera module. For example, the optical anti-shake chip is electrically connected with the motor driving chip in each camera module through the I2C interface.

In addition, the optical anti-shake chip is electrically connected with the inertial sensor, for example, the inertial sensor can be electrically connected with the optical anti-shake chip through an SPI interface. The inertial sensor can detect shake data of the electronic device and send the shake data to the optical anti-shake chip. Wherein the inertial sensor comprises one or a combination of both of a gyro sensor and an acceleration sensor, i.e. the inertial sensor comprises a gyro sensor and/or an acceleration sensor.

When the inertial sensor comprises a gyroscope sensor, the shake data comprise angular velocity data acquired by the gyroscope sensor, and the gyroscope sensor is electrically connected with the optical shake prevention chip through an SPI interface. When the inertial sensor comprises an acceleration sensor, the shaking data comprise acceleration data acquired by the acceleration sensor, and the acceleration sensor is electrically connected with the optical shaking prevention chip through an SPI interface. When the inertial sensor comprises a gyroscope sensor and an acceleration sensor, the shaking data comprise angular velocity data collected by the gyroscope sensor and acceleration data collected by the acceleration sensor, the gyroscope sensor is electrically connected with the optical anti-shake chip through an SPI interface, and the acceleration sensor is electrically connected with the optical anti-shake chip through an SPI interface.

The angular velocity data refers to an angle through which the electronic device rotates in a unit time and a direction in which the electronic device rotates, and when the angular velocity data is larger, it means that the larger the angle by which the electronic device rotates, the larger the shake of the electronic device. Angular velocity data refers to a physical quantity of an electronic device that changes rapidly and slowly in a unit time, and when the angular velocity data is larger, it means that the faster the electronic device changes rapidly in a unit time, the larger the shake of the electronic device.

The optical anti-shake chip is used for calculating shake compensation data of each camera module according to shake data acquired by the inertial sensor and sending the shake compensation data to a motor driving chip in the corresponding camera module; the motor driving chip is used for generating a driving signal according to the shake compensation data so that the driving motor drives the lens assembly or the photosensitive assembly to move according to the driving signal.

For example, the optical anti-shake chip can calculate the shake compensation data of the camera module 1 and the shake compensation data of the camera module 2 synchronously until the shake compensation data of the camera module N. The optical anti-shake chip sends shake compensation data of the camera module 1 to a motor driving chip in the camera module 1, and the motor driving chip in the camera module 1 generates driving signals according to the shake compensation data of the camera module 1, so that a driving motor in the camera module 1 drives a lens assembly or a photosensitive assembly in the camera module 1 to move. Correspondingly, the optical anti-shake chip sends shake compensation data of the camera module 2 to the motor driving chip in the camera module 2, and the motor driving chip in the camera module 2 generates driving signals according to the shake compensation data of the camera module 2, so that the driving motor in the camera module 2 drives the lens assembly or the photosensitive assembly in the camera module 2 to move. And by analogy, the optical anti-shake chip sends shake compensation data of the camera module N to the motor driving chip in the camera module N, and the motor driving chip in the camera module N generates driving signals according to the shake compensation data of the camera module N, so that the driving motor in the camera module N drives the lens assembly or the photosensitive assembly in the camera module N to move.

Because the N camera modules share the same optical anti-shake chip, and the optical anti-shake chip can calculate shake compensation data of each camera module, shake compensation data of each camera module can be synchronously and parallelly sent to the corresponding motor driving chip, differences among compensation displacement of moving lens assemblies or photosensitive elements in each camera module at the same moment are reduced, and correspondingly, displacement among images acquired by each camera module at the same moment is reduced, so that shooting experience is improved.

In the practical use process, when a user holds the electronic device to collect images, the electronic device can shake to a certain extent, before and after shake, the positions of the lens assembly 101 and the photosensitive element 102 can shift, so that the relative position between the camera module before shake and the object and the relative position between the camera module after shake and the object change, namely, the position of the imaging element 102 imaged after the light reflected by the object passes through the lens assembly 101 deviates.

As shown in fig. 4, the shift in the positions of the lens assembly 101 and the photosensitive element 102 before and after shake (the position of the subject does not change) is indirectly represented by an example in which the positions of the subject change before and after shake and the positions of the lens assembly 101 and the photosensitive element 102 do not change before and after shake. 401a denotes an object before shake, 401b denotes an object after shake, 101a denotes a lens assembly before optical shake prevention, and 101b denotes a lens assembly after optical shake prevention.

The optical anti-shake chip in the embodiment of the application can calculate shake compensation data of each camera module according to shake data acquired by the inertial sensor, and send the shake compensation data to the motor driving chip in the corresponding camera module, and the motor driving chip generates driving signals according to the shake compensation data, so that the driving motor works according to the driving signals to drive the lens assembly to move in the X direction and/or the Y direction so as to perform optical anti-shake. The plane formed by the X direction and the Y direction is the horizontal plane.

For example, as shown in fig. 4, the lens assembly may be moved by a certain compensation displacement Y in the Y direction by a driving motor to perform optical anti-shake.

It should be noted that, in the related art shown in fig. 1, the optical anti-shake chip may not only calculate shake compensation data according to shake data collected by the inertial sensor, but also generate a corresponding driving signal according to the shake compensation data and send the driving signal to the driving motor. The optical anti-shake chip shared by the camera modules in the embodiment of the application shown in fig. 2 can only synchronously calculate shake compensation data of each camera module, and the motor driving chip in each camera module generates a corresponding driving signal according to the shake compensation data.

The following describes in detail how the optical anti-shake chip calculates shake compensation data according to shake data collected by the inertial sensor in combination with a functional module included in the optical anti-shake chip.

As shown in fig. 5, the inertial sensor includes a gyro sensor and an acceleration sensor, and the shake data includes angular velocity data acquired by the gyro sensor and acceleration data acquired by the acceleration sensor. The optical anti-shake chip comprises a first data processing module, a second data processing module, an angle fusion module, a parameter conversion module and a displacement calibration module.

The first data processing module is used for processing the angular velocity data to obtain a first shaking angle; the second data processing module is used for processing the acceleration data to obtain a second shaking angle; the angle fusion module is used for fusing the first shaking angle and the second shaking angle to obtain a target shaking angle; the parameter conversion module is used for converting the target jitter angle into jitter compensation data. The displacement calibration module is used for calibrating the jitter compensation data.

Angular velocity data acquired by the gyroscope sensor can be sent to the optical anti-shake chip through the SPI interface, and after the angular velocity data are acquired by a first data processing module in the optical anti-shake chip, the first data processing module is specifically used for filtering the angular velocity data and integrating the filtered angular velocity data to obtain a first shake angle.

It should be noted that, when the gyro sensor does not rotate at all, the output result of the gyro sensor is zero offset of the gyro sensor in a static state. Under ideal conditions, the gyro sensor keeps still, and the real angular velocity data output by the gyro sensor should be 0 at this time, so that the average output result of the gyro sensor is taken as zero offset of the gyro sensor in the still time period under the rotation experiment. In the actual use process, if the camera module adopts an optical anti-shake technology, when the camera module is opened each time to collect images, the gyroscope sensor is subjected to zero drift removal according to zero offset obtained by pre-measurement.

After zero drift removal is performed on the gyro sensor, the first data processing module performs high-pass filtering processing and low-pass filtering processing on the angular velocity data.

Specifically, the first data processing module may perform high-pass filtering processing on the angular velocity data by using the following formula (1):

omega _out1(k)＝c₁×(ω_in(k)-ω_in(k-1)+ω_out1 (k-1)) formula (1)

Wherein ω _out1 (k) represents angular velocity data obtained by performing high-pass filtering processing on angular velocity data obtained at time k, ω _in (k) represents angular velocity data obtained at time k, ω _in (k-1) represents angular velocity data obtained at time k-1, and ω _out1 (k-1) represents angular velocity data obtained by performing high-pass filtering processing on angular velocity data obtained at time k-1. In addition, in the case of the optical fiber,T _S denotes a sampling period of the angular velocity data, and f _H denotes a cut-off frequency of the high-pass filtering.

After the high-pass filtering processing is performed on the angular velocity data, the first data processing module may perform the low-pass filtering processing on the angular velocity data after the high-pass filtering processing by using the following formula (2):

Omega _out2(k)＝(1-c₂)×ω_out2(k-1)+c₂×ω_out1 (k) formula (2)

Wherein omega _out2 (k) represents the angular velocity data obtained by performing high-pass and low-pass filtering processing on the angular velocity data acquired at the time k, omega _out2 (k-1) represents the angular velocity data obtained by performing high-pass and low-pass filtering processing on the angular velocity data acquired at the time k-1,F _L denotes the cut-off frequency of the low-pass filtering.

It can be understood that after the angular velocity data is obtained, the first data processing module may perform the low-pass filtering process and then perform the high-pass filtering process.

The first data processing module performs high-pass filtering processing and low-pass filtering processing on the angular velocity data, and then integrates the filtered angular velocity data to obtain a first jitter angle.

Therefore, the shake variation amount Δθ _x in the first direction is: Δθ _x＝∫ω_x dt, θ _{gyro_x}＝θ_{0_x}+Δθ_x. Wherein ω _x represents angular velocity data subjected to high-pass and low-pass filtering processing in the first direction, θ _{0_x} represents a first jitter angle in the first direction at the previous time (i.e., time k-1), and θ _{gyro_x} represents a first jitter angle in the first direction at the current time (i.e., time k). The first direction may be an X direction in a horizontal plane.

Accordingly, the jitter variation Δθ _y in the second direction is: Δθ _y＝∫ω_y dt, θ _{gyro_y}＝θ_{0_y}+Δθ_y. Wherein ω _y represents angular velocity data subjected to high-pass and low-pass filtering processing in the second direction, θ _{0_y} represents a first jitter angle in the second direction at a previous time (i.e., time k-1), and θ _{gyro_y} represents a first jitter angle in the second direction at a current time (i.e., time k). The second direction may be a Y direction in a horizontal plane.

The acceleration data acquired by the acceleration sensor can also be sent to the optical anti-shake chip through the SPI interface, and after the acceleration data is acquired by a second data processing module in the optical anti-shake chip, the second data processing module is specifically used for carrying out filtering processing on the acceleration data and carrying out integration processing on the acceleration data after the filtering processing to obtain shake displacement; and calculating a second dithering angle according to the dithering displacement.

The second data processing module may perform a high-pass filter process and a low-pass filter process on the acceleration data. The high-pass filtering process for the acceleration data may refer to the high-pass filtering process for the diagonal velocity data shown in the above formula (1), and the principle thereof is similar, and will not be described herein. Correspondingly, the low-pass filtering process of the acceleration data may refer to the low-pass filtering process of the diagonal velocity data shown in the above formula (2), and the principle thereof is similar, and will not be described herein.

The second data processing module may perform the high-pass filtering process and the low-pass filtering process on the acceleration data, and then perform the integration process on the acceleration data after the filtering process twice, so as to obtain the jitter displacement. The shake displacement includes shake displacement in a first direction, shake displacement in a second direction, and shake displacement in a third direction. The third direction may be the Z direction, i.e. the optical axis direction.

As shown in fig. 6, the shake displacement of the shake displacement vector R in the first direction is R _x, the shake displacement of the shake displacement vector R in the second direction is R _y, and the shake displacement of the shake displacement vector R in the third direction is R _z. Therefore, the second shake angle can be calculated as follows.

The second jitter angle θ _{acc_xz} in the first direction is: the second jitter angle θ _{acc_yz} in the second direction is: /(I)

The first data processing module transmits the first shaking angle to the angle fusion module after processing the first shaking angle, and the second data processing module also transmits the second shaking angle to the angle fusion module after processing the second shaking angle. The angle fusion module is specifically configured to fuse the first shake angle and the second shake angle by using a kalman filter, so as to obtain a target shake angle.

In one possible implementation, the angle fusion module may calculate the target jitter angle as follows.

Step one, establishing a state equation and a measurement equation of a target shake angle according to a first shake angle and a second shake angle:

the above equation (3) represents a state equation, which is actually a predicted angle value at the k-time based on the optimal predicted angle value at the k-1 time and the angular velocity data at the k-time. Wherein, Represents the predicted angle value predicted at time k,/>Represents the optimal predicted angle value at the time of k-1, namely the target jitter angle at the time of k-1, omega _k represents the angular velocity data which is acquired by the angular velocity sensor at the time of k and is subjected to filtering processing, q _k represents the measurement noise of the gyroscope sensor, A represents a state transition matrix, B represents an input control matrix,/>Dt represents the integral, and therefore, the above formula (3) includes a first shake angle obtained by processing angular velocity data acquired by the gyro sensor at time k.

The above formula (4) represents a measurement equation. Wherein y _k represents a second jitter angle obtained by processing acceleration data acquired by the acceleration sensor at the time k, r _k represents measurement noise of the acceleration sensor at the time k, and H represents a measurement matrix, such as h= [ 10 ].

Step two, calculating according to the following formula (5)Is of the covariance of:

/>

wherein, Representation/>Corresponding covariance, P _k-1 is/>Corresponding covariance, a ^T represents the transpose matrix of a, and Q represents the process excitation noise covariance matrix.

Step three, calculating the Kalman gain at the moment k according to the following formula (6):

Where K _k denotes the kalman gain at time K, and R _k denotes the observed noise covariance noise.

Step four, calculating an optimal predicted angle value at the moment k according to the following formula (7):

wherein, The optimal predicted angle value at the k time is represented, namely the target jitter angle value at the k time. The step fuses the first jitter angle at the time of k and the second jitter angle at the time of k to calculate and obtain the optimal predicted angle value at the time of k.

At this time, the optimal predicted angle value at the time k has been calculated, but in order to make the kalman filter run continuously until the optimal angle value is found, it is also necessary to update the time k according to the following formula (8)Covariance P _k:

In summary, the above steps one to four may be adopted, so that the angle fusion module fuses the first jitter angle and the second jitter angle by using a kalman filter to obtain the target jitter angle.

It can be understood that the angle fusion module in the embodiment of the present application may also use other manners to fuse the first shake angle and the second shake angle to calculate the target shake angle. For example, the angle fusion module may perform weighted summation on the first jitter angle and the second jitter angle, and calculate the target jitter angle.

It should be noted that, the first data processing module calculates a first shake angle of each camera module by adopting the same algorithm, and the calculated first shake angles corresponding to the camera modules are consistent; the second data processing module also calculates a second shaking angle of each camera module by adopting the same algorithm, and the calculated second shaking angles corresponding to the camera modules are consistent; the angle fusion module also calculates the target jitter angle of each camera module by adopting the same algorithm, and the calculated target jitter angles corresponding to the camera modules are consistent.

The angle fusion module can transmit the target jitter angle to the parameter conversion module after calculating the target jitter angle, and the parameter switching module is specifically configured to determine the product of the preset conversion coefficient and the target jitter angle as jitter compensation data. Wherein the jitter compensation data may be jitter compensation displacement.

The pixel difference of camera module after opening optics anti-shake includes: pixel differences in the first direction and pixel differences in the second direction.

The pixel difference in the first direction after the optical anti-shake is turned on may refer to the following formula (9), and the pixel difference in the second direction after the optical anti-shake is turned on may refer to the following formula (10):

delta _x＝δ_θx-δ_dx＝α_θx×θ_x-α_dx×s_x formula (9)

Delta _y＝δ_θy-δ_dy＝α_θy×θ_y-α_dy×s_y formula (10)

Wherein δ _x represents the pixel difference in the first direction after the optical anti-shake is turned on, δ _θx represents the pixel difference in the first direction due to shake when the optical anti-shake is not turned on, δ _dx represents the pixel difference compensated for the camera module in the first direction when the optical anti-shake is turned on, α _θx represents the relationship coefficient between the target shake angle and the pixel in the first direction, θ _x represents the target shake angle in the first direction, α _dx represents the relationship coefficient between the movement displacement of the lens assembly or the photosensitive element in the first direction and the pixel, and s _x represents shake compensation data of the lens assembly or the photosensitive element moving in the first direction when the optical anti-shake is turned on.

Accordingly, δ _y represents the pixel difference in the second direction after the optical anti-shake is turned on, δ _θy represents the pixel difference in the second direction due to shake when the optical anti-shake is not turned on, δ _dy represents the pixel difference compensated in the second direction for the camera module when the optical anti-shake is turned on, α _θy represents the relationship coefficient between the target shake angle and the pixel in the second direction, θ _y represents the target shake angle in the second direction, α _dy represents the relationship coefficient between the movement displacement of the lens assembly or the photosensitive element and the pixel in the second direction, and s _y represents shake compensation data of the lens assembly or the photosensitive element moving in the second direction when the optical anti-shake is turned on.

In order to improve the optical anti-shake performance, delta _x can be equal to 0, thenAccordingly, delta _y can also be made equal to 0, then/>Wherein, W _x is the preset conversion coefficient calibrated in the first direction when the camera module is manufactured, and W _y is the preset conversion coefficient calibrated in the second direction when the camera module is manufactured.

The preset conversion coefficients of different camera modules may be different. Therefore, the embodiment of the application can pre-determine the preset conversion coefficient of each camera module, so that the parameter switching module can respectively calculate the shake compensation data of each camera module according to the pre-calibrated preset conversion coefficient of each camera module, and each camera module can achieve the optimal shake prevention effect.

The embodiment of the application can respectively test the ambiguity curves corresponding to different conversion coefficients in the manufacturing stage of the camera module. As shown in fig. 7, for a certain camera module, a curve of the conversion coefficient and the ambiguity of the camera module in the first direction (such as a dotted line in fig. 7) and a curve of the conversion coefficient and the ambiguity in the second direction (such as a solid line in fig. 7) can be tested, wherein the abscissa represents the conversion coefficient W and the ordinate represents the ambiguity. The conversion coefficient corresponding to the minimum ambiguity can be selected from the conversion coefficient and the ambiguity curve in the first direction, and used as a preset conversion coefficient in the first direction, and the conversion coefficient corresponding to the minimum ambiguity can be selected from the conversion coefficient and the ambiguity curve in the second direction, and used as a preset conversion coefficient in the second direction.

In some embodiments, after calculating the jitter compensation data s (which includes the jitter compensation data s _x in the first direction and the jitter compensation data s _y in the second direction), the parameter switching module may transmit the jitter compensation data to a displacement calibration module, which is specifically configured to calibrate the jitter compensation data by the following formula:

Shift_x＝a₁s_x ²+a₂s_y ²+a₃s_xs_y+a₄s_x+a₅s_y+a₆ Formula (11)

Shift_y＝b₁s_x ²+b₂s_y ²+b₃s_xs_y+b₄s_x+b₅s_y+b₆ Formula (12)

It should be noted that, in the manufacturing process of the camera module, the first calibration coefficient to the twelfth calibration coefficient corresponding to the camera module may be calibrated in advance. The first calibration coefficient to the twelfth calibration coefficient corresponding to the different camera modules may be different. Therefore, the embodiment of the application can calibrate the shake compensation data of each camera module according to the first calibration coefficient to the twelfth calibration coefficient of each camera module calibrated in advance, so that each camera module can achieve the optimal shake prevention effect.

Taking the driving motor to drive the lens assembly to move as an example, if the shake compensation data calculated by the parameter switching module is directly sent to the motor driving chip to control the driving motor to drive the lens assembly to move, the driving motor is influenced by the performance of the driving motor, and when the driving motor drives the lens assembly to move along one direction, the driving motor can cause interference to the movement of the lens assembly in the other direction, so that the accuracy of the lens assembly when moving to a required position is influenced. For example, when the driving motor drives the lens assembly to move along the first direction, the driving motor may interfere with the movement of the lens assembly along the second direction, for example, the driving motor may cause a certain deviation of the position of the lens assembly along the second direction, and when the driving motor drives the lens assembly to move to the required position along the first direction and then drives the lens assembly to move to the required position along the second direction, the driving motor may cause the final position of the lens assembly after the movement along the second direction to deviate from the required position.

Therefore, in the embodiment of the application, a displacement calibration module can be arranged in the optical anti-shake chip, and the displacement calibration module can calibrate shake compensation data by adopting the formula (11) and the formula (12) and send the calibrated shake compensation data to the motor driving chip to control the driving motor to drive the lens assembly to move. In this way, the accuracy of the drive motor in driving the lens assembly to move to a desired position can be improved.

As shown in fig. 8, the dashed line represents shake compensation data before calibration, the solid line represents shake compensation data after calibration, and the displacement calibration module in the embodiment of the application may calibrate shake compensation data s _x in the first direction to shift_x, or may calibrate shake compensation data s _y in the second direction to shift_y.

After calibrating the shake compensation data corresponding to each camera module respectively, the displacement calibration module can send the calibrated shake compensation data Shift (comprising shift_x and shift_y) to a motor driving chip in the corresponding camera module through an I2C interface, so that the motor driving chip in each camera module generates driving signals according to the shake compensation data corresponding to each camera module, and the driving motor drives a lens assembly or a photosensitive assembly to move according to the driving signals, thereby realizing optical anti-shake.

In other embodiments, the inertial sensor may include only a gyroscopic sensor, and the shake data includes angular velocity data acquired by the gyroscopic sensor. Thus, the optical anti-shake chip may include the first data processing module and the parameter conversion module, but not the second data processing module and the angle fusion module. At this time, the optical anti-shake chip may further include a displacement calibration module.

The first data processing module is used for processing the angular velocity data to obtain a first shaking angle. The specific implementation process of the first data processing module may refer to the corresponding description of fig. 5, which is not repeated herein.

The first data processing module transmits the first jitter angle to the parameter conversion module after processing the first jitter angle, and the parameter conversion module is used for converting the first jitter angle into jitter compensation data. Specifically, the parameter conversion module may determine the product of the preset conversion coefficient and the first jitter angle as jitter compensation data. The specific implementation process of the parameter conversion module may refer to the corresponding description of fig. 5, which is not repeated here.

In still other embodiments, the inertial sensor may include only an acceleration sensor, and the shake data includes acceleration data acquired by the acceleration sensor. Thus, the optical anti-shake chip may include the second data processing module and the parameter conversion module, but not the first data processing module and the angle fusion module. At this time, the optical anti-shake chip may further include a displacement calibration module.

The second data processing module is used for processing the acceleration data to obtain a second shaking angle. The specific implementation process of the second data processing module may refer to the corresponding description of fig. 5, which is not repeated herein.

The second data processing module transmits the second jitter angle to the parameter conversion module after processing the second jitter angle, and the parameter conversion module is used for converting the second jitter angle into jitter compensation data. Specifically, the parameter conversion module may determine the product of the preset conversion coefficient and the second jitter angle as jitter compensation data. The specific implementation process of the parameter conversion module may refer to the corresponding description of fig. 5, which is not repeated here.

It should be noted that, when the inertial sensor includes only the gyro sensor, the optical anti-shake chip may also include a first data processing module, a second data processing module, an angle fusion module, and a parameter conversion module, but in this case, the second data processing module and the angle fusion module in the optical anti-shake chip do not participate in the calculation. When the inertial sensor includes only the acceleration sensor, the optical anti-shake chip may also include a first data processing module, a second data processing module, an angle fusion module, and a parameter conversion module, but in this case, the first data processing module and the angle fusion module in the optical anti-shake chip do not participate in the calculation.

In addition, the optical anti-shake chip in the embodiment of the application can also comprise a scene analysis module; the scene analysis module is used for identifying the shake scene of the camera module according to the shake data and adjusting the range of the inertial sensor to the minimum matching range according to the shake scene. Span refers to the full-scale span (FSR).

The gyroscope sensor is a sensor with controllable measuring range, and the measuring range can be as follows: 250 °/s, ±500°/s, ±1000°/s, ±2000°/s, and the like. When the measuring range of the gyroscope sensor is +/-250 degrees/s, the corresponding sensitivity is 131 LSB/(°/s); when the measuring range of the gyroscope sensor is +/-500 degrees/s, the corresponding sensitivity is 65.5 LSB/(°/s); when the measuring range of the gyroscope sensor is +/-1000 degrees/s, the corresponding sensitivity is 32.8 LSB/(°/s); when the range of the gyro sensor is + -2000 DEG/s, the corresponding sensitivity is 16.4 LSB/(°/s).

It can be seen that, when the measuring range selected by the gyro sensor is smaller, the corresponding sensitivity is higher, so that the reading accuracy of the angular velocity data is higher; when the measuring range selected by the gyroscope sensor is larger, the corresponding sensitivity is lower, and the reading accuracy of the angular velocity data is lower.

Sensitivity (Sensitivity) refers to the degree of change in response of a method to a change in unit concentration or unit amount of a substance to be measured, and can be described in terms of the ratio of the response or other indicative amount of the instrument to the corresponding concentration or amount of the substance to be measured. The above-mentioned measuring range is the difference between the two limits of the nominal range of the gyro sensor.

Correspondingly, the acceleration sensor is also a sensor with controllable measuring range, and the measuring range can be as follows: 2g, 4g, 8g, 16g, etc., g represents gravitational acceleration. When the measuring range of the acceleration sensor is +/-2 g, the corresponding sensitivity is 16384LSB/g; when the measuring range of the acceleration sensor is +/-4 g, the corresponding sensitivity of the acceleration sensor is 8192LSB/g; when the measuring range of the acceleration sensor is +/-8 g, the corresponding sensitivity of the acceleration sensor is 4096LSB/g; when the measuring range of the acceleration sensor is +/-16 g, the corresponding sensitivity is 2048LSB/g.

It can be seen that, when the measuring range selected by the acceleration sensor is smaller, the corresponding sensitivity is higher, so that the reading accuracy of the acceleration data is higher; when the measuring range selected by the acceleration sensor is larger, the corresponding sensitivity is lower, so that the reading accuracy of the acceleration data is lower.

When the camera module in the electronic equipment is adopted for image acquisition, the jitter amplitude or the jitter frequency of the camera module under different use scenes are different. Therefore, the scene analysis module in the embodiment of the application can acquire the angular velocity data acquired by the gyroscope sensor and/or the acceleration data acquired by the acceleration sensor, and analyze the current shaking scene of the camera module according to the angular velocity data and/or the acceleration data.

Taking the example that the shake data includes angular velocity data, the scene analysis module may preset an amplitude threshold and a frequency threshold, compare the shake frequency corresponding to the angular velocity data with the frequency threshold, and/or compare the shake amplitude corresponding to the angular velocity data with the amplitude threshold, so as to determine the shake scene where the camera module is currently located.

For example, if the jitter amplitude acquired by the large-amplitude jitter scene is larger, and if the scene analysis module determines that the jitter amplitude corresponding to the angular velocity data is larger than the amplitude threshold, it can be determined that the camera module is currently in the large-amplitude jitter scene.

Each type of shaking scene is preset with a corresponding minimum matching range, so that after the shaking scene of the current camera module is determined by the scene analysis module, the corresponding minimum matching range is searched according to the shaking scene of the current camera module, and the range of the inertial sensor is adjusted to the minimum matching range, so that the inertial sensor can acquire shaking data with higher precision, and the accuracy of optical shaking prevention is improved.

The embodiment of the application also provides electronic equipment which comprises the optical anti-shake module, an inertial sensor and a main control chip as shown in fig. 2. Each camera module in the optical anti-shake module further comprises a Hall sensor.

The inertial sensor is connected with the optical anti-shake chip in the optical anti-shake module and is used for sending shake data collected by the inertial sensor to the optical anti-shake chip. The inertial sensor may include a gyroscope sensor and/or an acceleration sensor.

The Hall sensor is connected with the optical anti-shake chip through a motor driving chip in the camera module and is used for detecting the position information of the lens assembly or the photosensitive assembly in the camera module and sending the position information to the optical anti-shake chip through the motor driving chip.

The main control chip is connected with the optical anti-shake chip, for example, the main control chip can be connected with the optical anti-shake chip through an I2C interface. The main control chip is used for receiving the shake compensation data and the position information sent by the optical shake prevention chip and performing electronic shake prevention (ELECTRIC IMAGE stabilization, EIS) processing on the image acquired by the camera module according to the shake compensation data and the position information.

Specifically, the hall sensor may send the position information to the motor driving chip, and the motor driving chip sends the position information to the optical anti-shake chip, and the optical anti-shake chip sends the position information to the main control chip. And after the jitter compensation data is obtained by calculation, the parameter switching module in the optical anti-jitter chip can also send the jitter compensation data to the main control chip. The main control chip can adopt an electronic anti-shake software algorithm, and compensates the image acquired by the camera module based on shake compensation data and position information so as to realize electronic anti-shake.

It will be appreciated that the main control chip may also be referred to as a processor, which is a control center of the electronic device, which may connect various components in the electronic device through various interfaces and lines, and implement various functions of the electronic device by running a computer program stored in a memory. The processor may be an application processor (application processor, AP) or a System On Chip (SOC), or the like.

The optical anti-shake module provided by the embodiment of the application is described in detail above with reference to fig. 2 to 8, and the optical anti-shake method provided by the embodiment of the application is described below.

Exemplary, fig. 9 is a flowchart of an optical anti-shake method according to an embodiment of the present application, where the optical anti-shake method may be applied to the optical anti-shake module described above, and the optical anti-shake module includes an optical anti-shake chip and at least two camera modules, where the optical anti-shake chip is connected to an inertial sensor and each camera module respectively, and each camera module includes a lens assembly, a photosensitive assembly, a motor driving chip and a driving motor. Referring to fig. 9, the optical anti-shake method may specifically include the steps of:

Step 901, when at least two camera modules are adopted to collect images, an optical anti-shake chip acquires shake data collected by an inertial sensor; the inertial sensor includes a gyroscopic sensor and/or an acceleration sensor.

When at least two camera modules in the electronic equipment are adopted for collecting images, the inertial sensor can collect shake data of the camera modules in real time and send the collected shake data to the optical shake prevention chip through the SPI interface.

Step 902, the optical anti-shake chip calculates shake compensation data of each camera module according to the shake data.

In one embodiment, the inertial sensor includes a gyroscope sensor and an acceleration sensor, and the shake data includes angular velocity data acquired by the gyroscope sensor and acceleration data acquired by the acceleration sensor. The optical anti-shake chip may calculate shake compensation data of each camera module according to the following steps: the optical anti-shake chip processes the angular velocity data to obtain a first shake angle; the optical anti-shake chip processes the acceleration data to obtain a second shake angle; the optical anti-shake chip fuses the first shake angle and the second shake angle to obtain a target shake angle; the optical anti-shake chip converts the target shake angle into shake compensation data; the optical anti-shake chip calibrates shake compensation data.

Specifically, according to the embodiment of the application, the angular velocity data can be processed through the first data processing module in the optical anti-shake chip to obtain the first shake angle. In one possible implementation, the optical anti-shake chip may process the angular velocity data using the following steps: the optical anti-shake chip carries out filtering treatment on angular velocity data; and the optical anti-shake chip performs integral processing on the angular velocity data after the filtering processing to obtain a first shake angle.

According to the embodiment of the application, the acceleration data can be processed through the second data processing module in the optical anti-shake chip, so that a second shake angle is obtained. In one possible implementation, the optical anti-shake chip may process the acceleration data by: the optical anti-shake chip carries out filtering processing on the acceleration data; the optical anti-shake chip integrates the acceleration data after the filtering treatment to obtain shake displacement; the optical anti-shake chip calculates a second shake angle according to the shake displacement.

According to the embodiment of the application, the first shaking angle and the second shaking angle can be fused through the angle fusion module in the optical shaking prevention chip, so that the target shaking angle is obtained. In one possible implementation, the optical anti-shake chip may use the following steps to fuse the first shake angle and the second shake angle: the optical anti-shake chip adopts a Kalman filter to fuse the first shake angle and the second shake angle to obtain a target shake angle.

According to the embodiment of the application, the target jitter angle can be converted into jitter compensation data through the parameter conversion module in the optical anti-jitter chip. In one possible implementation, the optical anti-shake chip may convert the target shake angle into shake compensation data by: the optical anti-shake chip determines the product of a preset conversion coefficient and a target shake angle as shake compensation data.

According to the embodiment of the application, the jitter compensation data can be calibrated through the displacement calibration module in the optical anti-jitter chip. In one possible implementation, the optical anti-shake chip may calibrate the shake compensation data by the following formula:

Shift_x＝a₁s_x ²+a₂s_y ²+a₃s_xs_y+a₄s_x+a₅s_y+a₆

Shift_y＝b₁s_x ²+b₂s_y ²+b₃s_xs_y+b₄s_x+b₅s_y+b₆

In this case, the shake compensation data of each camera module calculated by the optical shake prevention chip is the shake compensation data after calibration. Of course, the optical anti-shake chip may not calibrate the shake compensation data, so that the shake compensation data of each camera module calculated by the optical anti-shake chip is uncalibrated shake compensation data

Specific implementation processes of the first data processing module, the second data processing module, the angle fusion module, the parameter conversion module and the displacement calibration module can refer to the corresponding descriptions of fig. 5, and are not repeated herein.

In another embodiment, the inertial sensor comprises a gyroscopic sensor and the shake data comprises angular velocity data acquired by the gyroscopic sensor. The optical anti-shake chip may calculate shake compensation data of each camera module according to the following steps: the optical anti-shake chip processes the angular velocity data to obtain a first shake angle; the optical anti-shake chip converts the first shake angle into shake compensation data; the optical anti-shake chip calibrates shake compensation data.

In yet another embodiment, the inertial sensor includes an acceleration sensor and the shake data includes acceleration data acquired by the acceleration sensor. The optical anti-shake chip may calculate shake compensation data of each camera module according to the following steps: the optical anti-shake chip processes the acceleration data to obtain a second shake angle; the optical anti-shake chip converts the second shake angle into shake compensation data; the optical anti-shake chip calibrates shake compensation data.

In step 903, the optical anti-shake chip sends shake compensation data to the motor driving chip in the corresponding camera module.

In step 904, the motor driving chip generates a driving signal according to the shake compensation data, so that the driving motor drives the lens assembly or the photosensitive assembly to move according to the driving signal.

After the optical anti-shake chip calculates shake compensation data of each camera module, the shake compensation data are sent to a motor driving chip in the corresponding camera module through an I2C interface. Then, the motor driving chip generates a driving signal according to the shake compensation data and sends the driving signal to the driving motor, so that the driving motor drives the lens assembly or the photosensitive assembly to move according to the driving signal so as to perform optical shake prevention.

Therefore, the optical anti-shake chip can synchronously calculate shake compensation data of each camera module and synchronously send the shake compensation data of each camera module to the corresponding motor driving chip, so that the difference between compensation displacement of the lens assemblies or photosensitive elements in each camera module at the same moment is reduced, and correspondingly, the displacement between images acquired by each camera module at the same moment is reduced, and the shooting experience is improved.

Embodiments of the present application are described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processing unit of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processing unit of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

The foregoing detailed description of the application has been presented for purposes of illustration and description, and it should be understood that the foregoing is by way of illustration and description only, and is not intended to limit the scope of the application.

Claims

1. An optical anti-shake module, comprising: the optical anti-shake chip is respectively connected with the inertial sensor and each camera module, and each camera module comprises a lens assembly, a photosensitive assembly, a motor driving chip and a driving motor;

the optical anti-shake chip is used for calculating shake compensation data of each camera module according to shake data acquired by the inertial sensor and sending the shake compensation data to the motor driving chip in the corresponding camera module; the inertial sensor comprises a gyroscope sensor and an acceleration sensor;

The motor driving chip is used for generating a driving signal according to the shake compensation data so that the driving motor drives the lens assembly or the photosensitive assembly to move according to the driving signal;

the shaking data comprise angular velocity data acquired by the gyroscope sensor and acceleration data acquired by the acceleration sensor; the optical anti-shake chip comprises a first data processing module, a second data processing module, an angle fusion module and a parameter conversion module;

the first data processing module is used for processing the angular velocity data to obtain a first shaking angle;

the second data processing module is used for processing the acceleration data to obtain a second shaking angle;

the angle fusion module is used for fusing the first shaking angle and the second shaking angle to obtain a target shaking angle;

The parameter conversion module is used for converting the target jitter angle into jitter compensation data;

the parameter conversion module is specifically configured to determine a product of a preset conversion coefficient and the target shake angle as the shake compensation data, where the preset conversion coefficient is a preset conversion coefficient of each camera calibrated in advance.

2. The optical anti-shake module of claim 1, wherein the optical anti-shake chip further comprises a displacement calibration module;

and the displacement calibration module is used for calibrating the jitter compensation data.

3. The optical anti-shake module according to claim 1, wherein the first data processing module is specifically configured to perform filtering processing on the angular velocity data, and perform integral processing on the filtered angular velocity data to obtain the first shake angle.

4. The optical anti-shake module according to claim 1, wherein the second data processing module is specifically configured to perform filtering processing on the acceleration data, and perform integral processing on the acceleration data after the filtering processing to obtain shake displacement; and calculating the second dithering angle according to the dithering displacement.

5. The optical anti-shake module according to claim 1, wherein the angle fusion module is specifically configured to fuse the first shake angle and the second shake angle with a kalman filter to obtain a target shake angle.

6. The optical anti-shake module according to claim 2, wherein the displacement calibration module is specifically configured to calibrate the shake compensation data by the following formula:

Wherein s _x is jitter compensation data in a first direction, and shift_x is the jitter compensation data in the first direction after calibration; s _y is jitter compensation data in the second direction, and shift_y is jitter compensation data in the second direction after calibration; a ₁ is a first calibration coefficient, a ₂ is a second calibration coefficient, a ₃ is a third calibration coefficient, a ₄ is a fourth calibration coefficient, a ₅ is a fifth calibration coefficient, a ₆ is a sixth calibration coefficient, b ₁ is a seventh calibration coefficient, b ₂ is an eighth calibration coefficient, b ₃ is a ninth calibration coefficient, b ₄ is a tenth calibration coefficient, b ₅ is an eleventh calibration coefficient, and b ₆ is a twelfth calibration coefficient.

7. The optical anti-shake method is characterized by being applied to an optical anti-shake module, wherein the optical anti-shake module comprises an optical anti-shake chip and at least two camera modules, the optical anti-shake chip is respectively connected with an inertial sensor and each camera module, and each camera module comprises a lens assembly, a photosensitive assembly, a motor driving chip and a driving motor; the method comprises the following steps:

When the at least two camera modules are adopted to collect images, the optical anti-shake chip acquires shake data collected by the inertial sensor; the inertial sensor comprises a gyroscope sensor and an acceleration sensor;

The optical anti-shake chip calculates shake compensation data of each camera module according to the shake data;

The optical anti-shake chip sends the shake compensation data to the motor driving chip in the corresponding camera module;

the motor driving chip generates a driving signal according to the shake compensation data so that the driving motor drives the lens assembly or the photosensitive assembly to move according to the driving signal;

The shaking data comprise angular velocity data acquired by the gyroscope sensor and acceleration data acquired by the acceleration sensor; the optical anti-shake chip calculates shake compensation data of each camera module according to the shake data, and the optical anti-shake chip comprises:

the optical anti-shake chip processes the angular velocity data to obtain a first shake angle;

the optical anti-shake chip processes the acceleration data to obtain a second shake angle;

the optical anti-shake chip fuses the first shake angle and the second shake angle to obtain a target shake angle;

the optical anti-shake chip converts the target shake angle into shake compensation data;

The optical anti-shake chip converts the target shake angle into shake compensation data, including:

And the optical anti-shake chip determines the product of a preset conversion coefficient and the target shake angle as shake compensation data, wherein the preset conversion coefficient is a preset conversion coefficient of each camera calibrated in advance.

8. The method of claim 7, further comprising, after the optical anti-shake chip calculates shake compensation data for each of the camera modules from the shake data:

the optical anti-shake chip calibrates the shake compensation data.

9. The method of claim 7, wherein the processing the angular velocity data by the optical anti-shake chip to obtain a first shake angle comprises:

the optical anti-shake chip performs filtering processing on the angular velocity data;

and the optical anti-shake chip performs integral processing on the angular velocity data after the filtering processing to obtain the first shake angle.

10. The method of claim 7, wherein the processing the acceleration data by the optical anti-shake chip to obtain a second shake angle comprises:

the optical anti-shake chip carries out filtering processing on the acceleration data;

the optical anti-shake chip performs integral processing on the acceleration data after the filtering processing to obtain shake displacement;

and the optical anti-shake chip calculates the second shake angle according to the shake displacement.

11. The method of claim 7, wherein the optical anti-shake chip fuses the first shake angle and the second shake angle to obtain a target shake angle, comprising:

And the optical anti-shake chip fuses the first shake angle and the second shake angle by adopting a Kalman filter to obtain a target shake angle.

12. The method of claim 8, wherein the calibrating the jitter compensation data by the optical anti-jitter chip comprises:

The optical anti-shake chip calibrates the shake compensation data by the following formula:

13. An electronic device, comprising an inertial sensor, a main control chip, and the optical anti-shake module according to any one of claims 1 to 6, where the camera module further comprises a hall sensor;

the inertial sensor is connected with the optical anti-shake chip in the optical anti-shake module and is used for sending shake data acquired by the inertial sensor to the optical anti-shake chip;

The Hall sensor is connected with the optical anti-shake chip through a motor driving chip in the camera module and is used for detecting the position information of a lens assembly or a photosensitive assembly in the camera module and sending the position information to the optical anti-shake chip through the motor driving chip;

The main control chip is connected with the optical anti-shake chip and is used for receiving shake compensation data and the position information sent by the optical anti-shake chip and carrying out electronic anti-shake processing on the image acquired by the camera module according to the shake compensation data and the position information.