WO2018024239A1

WO2018024239A1 - Hybrid image stabilization system

Info

Publication number: WO2018024239A1
Application number: PCT/CN2017/095902
Authority: WO
Inventors: 毛一年
Original assignee: 北京二郎神科技有限公司
Priority date: 2016-08-04
Filing date: 2017-08-03
Publication date: 2018-02-08
Also published as: CN106231192B; CN106231192A

Abstract

The disclosure provides a hybrid image stabilization system and a digital image apparatus. According to one embodiment, the method comprises: prior to capturing a first image, acquiring a movement state of a camera module of a digital image apparatus, and rotating, according to the movement state, a tripod mount motor on the digital image apparatus, so as to compensate for a movement of the camera module, wherein an axle of the tripod mount motor is configured to align with one of X-axis, Y-axis, and Z-axis, the X-axis passes through the center of an imaging plane of the digital image apparatus and indicates a front-back direction of the imaging plane, the Y-axis passes through the center of an imaging plane of the digital image apparatus and indicates a left-right direction of the imaging plane, and the Z-axis passes through the center of an imaging plane of the digital image apparatus and indicates an up-down direction of the imaging plane. The embodiment is employed to capture, after the movement compensation, using the camera module, a first image, and perform, according to the movement state, digital image processing on the first image to obtain a second image.

Description

Hybrid image stabilization system

Technical field

The present disclosure relates to the field of image processing technology.

Background technique

The camera function of digital image devices (such as smart phones, digital cameras, etc.) has been widely used in user life. In many cases, digital image devices may take pictures while in motion. For example, when the user follows the target motion, the digital image device may take a picture while in motion. After the digital image device is mounted on the aerial drone, the digital image device may take a picture while in motion during the movement of the aerial drone. After the digital image device is mounted on the bicycle, the digital image device may take a picture while in motion during the travel of the bicycle.

At present, scenes for taking pictures in a state of motion are endless. However, due to bumps and swaying during exercise, the image or video quality obtained by taking pictures in motion may be poor.

Summary of the invention

The present disclosure provides an image collection method, including:

Obtaining a motion state of a camera module of the digital image device;

Rotating a pan-tilt motor disposed in the digital image device according to the motion state to compensate for movement of the camera module, wherein the pan-tilt motor is set to an axis and an X-axis, a Y-axis, and a Z One of the axes is coaxial, the X-axis passing through the center of the imaging plane of the digital image device and indicating the front-rear direction of the imaging plane, the Y-axis passing through the center of the imaging plane and indicating the imaging plane The left and right direction, the Z axis passing through the center of the imaging plane and indicating the up and down direction of the imaging plane;

Acquiring the first image by using the camera module after performing the motion compensation;

Performing digital image processing on the first image according to the motion state to obtain a second image image.

The present disclosure provides a digital image device comprising:

a camera module for collecting images;

An attitude information collection module, configured to determine a motion state of the camera module;

a pan/tilt motor that is disposed coaxially with one of an X-axis, a Y-axis, and a Z-axis for rotating the camera module, wherein the X-axis passes through an imaging plane of the digital image device Centering and indicating a front-rear direction of the imaging plane, the Y-axis passing through a center of the imaging plane and indicating a left-right direction of the imaging plane, the Z-axis passing through a center of the imaging plane and indicating the imaging Up and down direction of the plane;

Controller, which is configured to:

Controlling the rotation of the pan-tilt motor according to the motion state determined by the attitude information acquisition module to compensate for the motion of the camera module;

And causing the camera module that performs the motion compensation to acquire a first image;

And performing digital image processing on the first image according to the motion state determined by the attitude information collection module to obtain a second image.

Based on the above technical solution, in the example of the present disclosure, when the digital image device acquires an image in a motion state, the digital image device can be inversely compensated by using the pan/tilt motor, and the captured image is digitally imaged, thereby even Good quality images can also be obtained when the digital image device is bumped and shaken. Moreover, using the PTZ motor and digital image processing technology to correct the image at the same time, it is possible to correct the screen shake with a large amplitude, and the resulting picture quality is high. Moreover, since there is only one pan/tilt motor, the image acquisition system provided by the present disclosure has the advantages of small size and high degree of integration.

DRAWINGS

In order to more clearly illustrate the examples of the present disclosure or the technical solutions in the prior art, the drawings to be used in the examples of the present disclosure or the description of the prior art will be briefly described below. Obviously, the drawings in the following description are merely Some examples described in this disclosure, for those of ordinary skill in the art, may also obtain other figures from these figures.

1 is a flow chart of an image acquisition method in an example of the present disclosure;

2 is a schematic diagram of a three-dimensional motion model of a digital image device in an example of the present disclosure Figure

3 is a schematic diagram of a pan/tilt motor and a lens module in an example of the present disclosure;

4 is a schematic diagram of a pan/tilt motor and a lens module in another example of the present disclosure;

5 is a hardware configuration diagram of a digital image device in an example of the present disclosure;

6 is a functional block diagram of image acquisition logic in an example of the present disclosure.

detailed description

In many cases, digital image devices may take pictures while in motion. For example, when the user follows the target motion, the digital image device may take a picture while in motion. After the digital image device is mounted on the aerial drone, the digital image device may take a picture while in motion during the movement of the aerial drone. After the digital image device is mounted on the bicycle, the digital image device may take a picture while in motion during the travel of the bicycle. In the above application scenario, due to the occurrence of bumps and sway during the movement, by correcting the image acquired by the digital image device, a better quality image can be obtained.

For example, a digital image device can be equipped with a pan/tilt motor and controlled by the pan/tilt motor to rotate the digital image device. In controlling the rotation of the digital image device, since the load includes only the digital image device and a pan/tilt motor, a small-sized pan/tilt motor can be configured, and the digital image device is driven to rotate by the pan/tilt motor. In some cases, in order to achieve professional shooting results, digital imaging equipment can be equipped with multi-axis (such as three-axis) PTZ motors to adjust the digital image equipment to a suitable angle. However, multi-axis pan/tilt motors are generally not suitable for small electronic devices because they are usually bulky and heavy.

To this end, an example of image acquisition is proposed in the example of the present disclosure, which can be applied to digital image devices such as smart phones, digital cameras and the like.

Referring to FIG. 1 , a flowchart of an image acquisition method proposed in the example of the present disclosure may include the following steps.

Step 101: Acquire a motion state of a lens module of the digital image device, and rotate the pan/tilt motor according to the motion state to compensate for motion of the lens module.

Step 102: The first image is acquired by using the motion compensated lens module, and the first image is subjected to digital image processing to obtain a second image.

In one example, the three-dimensional motion model of the digital image device can be as shown in FIG. It can be noted that the rotation of the digital image device in three-dimensional space can have three rotation dimensions: 1. Rolling with the X-axis as the rotating shaft (the X-axis points to the front/rear of the imaging plane of the digital image device); 2. The Y-axis It is the pitch of the rotation axis (the Y axis points to the left/right of the imaging plane); 3. The rotation head with the Z axis as the rotation axis (the Z axis points above/below the imaging plane). The movement of these three rotational dimensions typically requires correction. In the example of the present disclosure, the pan-tilt motor can be used to correct the motion of the digital image device in one dimension, and then the captured image can be further corrected using digital image processing techniques.

Different types of digital image devices are handled differently. For example, when the digital image device is a first type of device that moves around the X axis, the motion of the X-axis dimension can be corrected using a pan-tilt motor. Alternatively, when the digital image device is a second type of device that moves around the Y axis, the motion of the Y-axis dimension can be corrected using a pan-tilt motor. Alternatively, when the digital image device is a third type of device that moves around the Z axis, the movement of the Z-axis dimension can be corrected using the pan/tilt motor. In addition, digital image processing techniques can be used for further correction.

In one example, the first type of device is a digital imaging device that is centered on the X-axis, such as a digital imaging device used in quad-wing UAV flight photography. When the digital image device is photographed, the digital image device sways along the X-axis roll dimension, which has the greatest influence on the picture quality. Therefore, the roll of the digital image device can be corrected first by a pan/tilt motor whose axis is concentric with the X axis, for example, reverse compensation. After the compensation roll, the captured image can also be corrected by digital image processing techniques. For example, each frame of image can be corrected by moving each frame of image up (or down) in parallel and left (or right) in parallel. Among them, the translation operation can be limited to the movement of integer pixels, which can avoid the calculation burden and maintain the sharpness of the original image.

In one example, the second type of device is a digital image device that is centered on the Y-axis, such as a digital image device for mountain bike riding. During the movement of mountain bikes, due to the existence of many rolling hills, the digital image equipment sway along the Y-axis pitch dimension, which has the greatest impact on the picture quality. First, the tilt of the digital image device can be corrected by a pan/tilt motor that is concentric with the Y-axis. After compensating for the pitch, each frame of image can also be corrected by digital image processing techniques, such as by moving the captured image of each frame up (or down) in parallel, and moving left (or right) in parallel. Where, pan The operation can be limited to the movement of integer pixels, thus avoiding the computational burden and maintaining the sharpness of the original image.

In one example, the third type of device is a digital image device that moves around the Z axis, such as a digital image device that is held by a user. Based on the motion characteristics of the human body during the advancement process, when the user holds the digital image device for shooting, the digital image device has the greatest influence on the picture quality along the sway of the Z-axis. Therefore, the head of the digital image device can be corrected first by a pan/tilt motor whose axis is concentric with the Z axis. After compensating for the turret, each frame of image can be corrected by digital image processing techniques, such as by moving each frame of the image taken up (or down) and left (or right) in parallel. Among them, the translation operation can be limited to the movement of integer pixels, thus avoiding the computational burden and maintaining the sharpness of the original image.

The following describes the processing methods of the above three cases in combination with specific application scenarios.

Case 1: The digital image device is a first type of device that moves around the X axis, such as a digital image device used in the flight shooting of a quadrotor UAV. The digital image device oscillates in a rolling dimension centered on the X axis. It has the greatest impact on picture quality. In this case, the axis of the pan/tilt motor is coaxial with the X axis.

For the step 101, the motion state of the lens module of the digital image device may include, but is not limited to, a first motion direction, a first motion angle, and a first motion angular velocity of the lens module in a direction centered on the X axis. Rotating the pan-tilt motor according to the motion state to achieve motion compensation, including but not limited to: determining a first rotation direction of the pan-tilt machine in a direction centered on the X-axis by using the first motion direction; determining by using the first motion angle a first rotation angle of the pan-tilt motor in a direction centered on the X-axis; determining a first rotational angular velocity of the pan-tilt motor in a direction centered on the X-axis by the first angular velocity; using the first rotational direction, first The pan angle motor and the first rotational angular velocity rotate the pan motor in a direction centered on the X axis. Note that in this example, the rotation of the quadrotor drone in the direction centered on the X-axis is represented by the first angle of motion and the first angular velocity of motion. Of course, other ways can be used to indicate that the quadrotor drone has rolled in that direction. For example, the first or first angular angular velocity may be employed alone, or the rotational angle of the quadrotor drone relative to the ground reference may also be utilized to determine the roll angle.

For example, assuming that the first movement direction of the lens module in the direction centered on the X axis is clockwise, the first movement direction can be used to determine the first rotation of the pan/tilt head in the direction centered on the X axis. The direction is counterclockwise. Assuming that the first movement direction of the lens module in the direction centered on the X-axis is counterclockwise, the first movement direction can be used to determine the first rotation direction of the pan-tilt motor in the direction centered on the X-axis Clockwise direction. Assuming that the first movement angle of the lens module in the direction centered on the X axis is M degrees, the first rotation angle of the PTZ motor in the direction centered on the X axis may be determined by using the first motion angle. M degree, or, interval [Ma degree, M+a degree]. Assuming that the first angular velocity of the lens module in the direction centered on the X axis is N degrees/second, the first moving angular velocity can be used to determine the first first of the pan/tilt motor in the direction centered on the X axis. The angular velocity of rotation can be N degrees/second. In summary, the pan/tilt head can be rotated counterclockwise/clockwise on the X-axis with a rotation angle of M degrees and a rotational angular velocity of N degrees/second. In this way, the digital image device can be compensated in the opposite direction in the direction centered on the X-axis.

For the step 102, performing digital image processing on the first image collected by the lens module after the motion compensation of the pan/tilt motor may include, but is not limited to, acquiring the first movement amount of the lens module on the Y axis and The second amount of movement in the Z axis. The first amount of movement may be utilized to determine the first amount, and the first image is translated by the first number of pixels in a direction that is inversely compensated for the first image along the Y-axis. The second amount of movement may be utilized to determine a second amount, and the first image is translated by the second number of pixels in a direction that is inversely compensated for the first image along the Z-axis. Based on this, an image that shifts the first number and the second number of pixels can be determined as the second image.

For example, assuming that the amount of movement of the lens module to the left on the Y axis is A, and A corresponds to 10 pixels, it can be determined that the first number is 10, and the first image can be shifted to the right by 10 pixels. Assuming that the amount of movement of the lens module to the right on the Y axis is A, and A corresponds to 10 pixels, it can be determined that the first number is 10, and the first image can be shifted to the left by 10 pixels.

For another example, if the amount of movement of the lens module on the Z axis is B and B corresponds to 8 pixels, the second number can be determined to be 8, and the first image can be shifted down by 8 pixels. Assuming that the downward movement of the lens module on the Z axis is B, and B corresponds to 8 pixels, it can be determined that the second number is 8, and the first image can be shifted up by 8 pixels.

When the digital image device is swayed along the X-axis roll dimension, the image quality is affected. When the loudest is loud, it is not possible to correct the roll on the X-axis simply by using digital image processing techniques. The reason is that digital image processing technology can only correct small amplitude sloshing, but for large amplitude motion, if digital image processing technology is used for correction, the corrected picture quality may still be poor. Further, for the sway of the X-axis roll dimension, when digital image processing technology is used for correction, bilinear interpolation calculation is required, which may cause the sharpness of the image to be greatly reduced, thereby affecting the image quality after correction. For example, when the roll width is large, the bilinear interpolation calculation is likely to cause blackness in the unknown part of the image frame processing, resulting in a significant drop in user experience.

In one example, as shown in FIG. 3, it is a schematic diagram of a pan/tilt motor and a lens module. The axis of the pan/tilt motor 304 is coaxial with the axis of the lens module 301. The present disclosure example is not limited to this configuration, and in the case where the digital image device described below is moved around the Y-axis or the Z-axis, the axis of the pan-tilt motor may be coaxial with the Y-axis or the Z-axis.

As shown in FIG. 3, the axis of the lens module 301 is an X-axis, and the pan-tilt motor 304 can be mounted behind the lens module 301 along the X-axis, and the axis of the pan-tilt motor is coaxial with the X-axis. In FIG. 3, an IMU (Inertial Measurement Unit) 302, an IC (microcontroller) 303, a main board 305, and the like may also be included.

The IMU 302 can be fixed to the lens module 301 or can be mounted on other components. The IMU 302 is a device that measures the triaxial attitude angle (or angular rate) and acceleration of an object. An IMU can contain three single-axis accelerometers and three single-axis gyroscopes, so it can also be called a six-axis sensor. The accelerometer can be used to detect an independent three-axis acceleration signal of the object in the carrier coordinate system, and the gyroscope can be used to detect the angular velocity signal of the carrier relative to the navigation coordinate system. Therefore, the IMU can measure the angular velocity and acceleration of an object in three-dimensional space in real time, and thereby obtain the attitude information of the object.

The microcontroller 303 can be placed adjacent to the IMU or can be mounted on other components. The microcontroller 303 can determine the first motion direction, the first motion angle, and the first motion angular velocity of the lens module 301 in the direction centered on the X-axis through the data collected by the IMU 302. Then, a first rotation direction, a first rotation angle, and a first rotation angular velocity of the pan-tilt motor 304 in a direction centered on the X-axis may be determined, and the first rotation direction, the first rotation angle, and the first rotation angular velocity may be utilized The rotation of the pan/tilt motor 304 on the X-axis is controlled.

The processing chip on the main board 305 can be responsible for the image acquisition of each frame, and Responsible for the digital image processing part. The digital image processing operation may include: acquiring a first movement amount of the lens module 301 on the Y axis and a second movement amount on the Z axis; determining the first quantity by using the first movement amount, and Transmitting the first image to the first number of pixels in a direction in which the first image is inversely compensated; determining a second amount by using the second amount of movement, and inverting the first image along the Z axis The first image is translated by the second number of pixels in a direction of compensation. Finally, the shifted pixel points are taken as integers to achieve translation of the digital image, thereby obtaining a second image.

Case 2: The digital image device is a second type of device that moves around the Y axis, such as a digital image device used for mountain bike riding. The digital image device has a maximum impact on the picture quality by shaking the pitch dimension centered on the Y-axis. In this case, the axis passing through the axis of the lens module and perpendicular to the imaging plane of the lens module is the X axis, and the pan/tilt motor can be mounted to the left of the lens module along the Y axis perpendicular to the X axis, and The axis of the pan/tilt motor is coaxial with the Y axis.

For step 101, the motion state of the lens module of the digital image device may include, but is not limited to, a second motion direction, a second motion angle, and a second motion angular velocity of the lens module in a direction centered on the Y axis. Rotating the pan-tilt motor according to the motion state to implement motion compensation, including but not limited to: determining a second rotation direction of the pan-tilt machine in a direction centered on the Y-axis by using the second motion direction; determining by using the second motion angle a second rotation angle of the pan-tilt motor in a direction centered on the Y-axis; determining a second rotational angular velocity of the pan-tilt motor in a direction centered on the Y-axis by the second angular velocity; using the second rotational direction, the second The rotation angle and the second rotational angular velocity rotate the pan/tilt motor in a direction centered on the Y-axis. Note that in the present example, the pitch of the mountain bike in the direction centered on the Y-axis is represented by the second movement angle and the second movement angular velocity. Of course, other ways can be used to indicate that the mountain bike has pitched in that direction. For example, the second or second angular velocity may be employed alone, or the pitch angle of the mountain bike relative to the ground reference may also be utilized to determine the pitch angle.

For the step 102, performing digital image processing on the first image collected by the lens module after the motion compensation of the pan/tilt motor may include, but is not limited to, acquiring the third movement amount of the lens module on the Y axis; The third amount is determined using the third amount of movement, and the first image is translated by a third number of pixels in a direction in which the first image is inversely compensated along the Y-axis. Based on this, an image that shifts the third number of pixel points is determined as the second image.

When the digital image device is shaken along the Y-axis pitch dimension with the greatest impact on picture quality, it is not possible to correct the pitch on the Y-axis only by using digital image processing techniques. The reason is: digital image processing technology can only correct the small amplitude of the shaking, for the larger amplitude of the motion, if the digital image processing technology is used for correction, the corrected picture quality may still be poor.

In one example, the digital image device may include a lens module, a pan/tilt motor, an IMU, a microcontroller, a motherboard, etc., and the examples of the present disclosure are not limited to this structure.

Among them, the IMU can be fixed with the lens module or can be mounted on other components. The IMU is a device that measures the three-axis attitude angle (or angular rate) and acceleration of an object. An IMU can include three single-axis accelerometers and three single-axis gyros, so it is also called a six-axis sensor. The accelerometer can be used to detect an independent three-axis acceleration signal of the object in the carrier coordinate system, and the gyro can be used to detect the angular velocity signal of the carrier relative to the navigation coordinate system. Therefore, the IMU can measure the angular velocity and acceleration of the object in three-dimensional space, and thereby derive the real-time attitude information of the object.

Among them, the microcontroller can be placed adjacent to the IMU or can be mounted on other components. The microcontroller can determine, by the data acquired by the IMU, a second direction of motion, a second angle of motion, and a second angular velocity of motion of the digital image device in a direction centered on the Y-axis. Then, the second rotation direction, the second rotation angle and the second rotation angular velocity of the pan-tilt motor in the direction centered on the Y-axis can be determined, and the second rotation direction, the second rotation angle and the second rotation angular speed can be controlled The rotation of the gimbal motor on the Y axis.

Among them, the processing chip on the main board can be responsible for the acquisition of each frame of image, and can be responsible for the digital image processing part. The digital image processing operation may include: acquiring a third movement amount of the lens module along the Y axis, determining a third quantity by using the third movement amount, and in a direction of reverse compensation of the first image along the Y axis, The first image is translated by a third number of pixels, and the translated pixel points are taken as integers to realize translation of the digital image to obtain a second image.

Case 3: The digital image device is a third type of device that moves around the Z axis, such as a user holding a digital image device (such as a mobile phone, a video camera, etc.). The digital image device has the greatest influence on the picture quality with the Z-axis as the center of the head sway. In this case, the axis passing through the axis of the lens module and perpendicular to the imaging plane is the X axis, and the pan/tilt motor can be mounted under the lens module along the Z axis perpendicular to the X axis, and the axis of the pan/tilt motor The heart is coaxial with the Z axis.

For step 101, the motion state of the lens module of the digital image device may include, but is not limited to, a third motion direction of the digital image device in a direction centered on the Z axis, Three movement angles, third movement angular speed. Rotating the pan-tilt motor according to the motion state to realize motion compensation, including but not limited to: determining a third rotation direction of the pan-tilt motor in a direction centered on the Z-axis by using the third motion direction; determining by using the third motion angle a third rotation angle of the pan-tilt motor in a direction centered on the Z-axis; determining a third rotational angular velocity of the pan-tilt motor in a direction centered on the Z-axis by using the third angular velocity; using the third rotational direction, the third The rotation angle and the third rotational angular velocity rotate the pan/tilt motor in a direction centered on the Z axis. Note that in the present example, the turret generated by the handheld digital image device in the direction centered on the Z-axis is represented by the third motion angle and the third motion angular velocity. Of course, other ways can also be used to indicate that the handheld digital image device has turned in this direction. For example, the third or third angular velocity of motion may be employed alone, or the position of the handpiece may be determined using a change in position of the handheld digital image device relative to the ground reference.

For the step 102, performing digital image processing on the first image collected by the lens module after the motion compensation of the pan/tilt motor may include, but is not limited to, acquiring the fourth movement amount of the digital image device along the Z axis; The fourth amount is determined using the fourth amount of movement, and the first image is translated by a fourth number of pixels in a direction in which the first image is inversely compensated along the Z-axis. Based on this, an image in which the fourth number of pixels is shifted can be determined as the second image.

When the digital image device sway along the Z-axis traverse dimension and has the greatest impact on the picture quality, the reason why the Z-axis cannot be corrected only by using digital image processing technology is that the digital image processing technology can only correct the smaller amplitude. Shake, for a large amplitude motion, if digital image processing technology is used for correction, the resulting picture quality is poor.

In one example, as shown in FIG. 4, which is a schematic diagram of the PTZ motor 404 and the lens module 401, the axis of the PTZ motor 404 is coaxial with the Z axis. The schematic diagram of the pan/tilt motor and the lens module is only an example, and the present disclosure example is not limited to this structure.

As shown in FIG. 4, the digital image device may further include a PTZ motor 404, a geomagnetic sensor 402, a microcontroller 403, a SHUJ, and the like. The geomagnetic sensor 402 can be mounted on the main board 405. The geomagnetic sensor 402 is an electronic compass, which can also be called a digital compass, and can collect the position information of the digital image device in real time. The microcontroller 403 can determine the third motion direction, the third motion angle, and the third motion angular velocity of the lens module in the direction centered on the Z axis by the data collected by the geomagnetic sensor 402. Then it can be determined that the PTZ motor is in Z The third rotational direction, the third rotational angle and the third rotational angular velocity in the direction of the axis, and the rotation of the pan-tilt motor on the Z-axis is controlled by the third rotational direction, the third rotational angle and the third rotational angular velocity.

The processing chip on the main board 405 can be responsible for the acquisition of each frame of image and can be responsible for the digital image processing portion. The digital image processing operation may include: acquiring a fourth movement amount of the lens module along the Z axis, determining a fourth quantity by using the fourth movement amount, and performing a reverse compensation direction along the Z axis along the first image, The first image is translated by a fourth number of pixels, and the translated pixel points are taken as integers to realize translation of the digital image to obtain a second image.

Based on the above technical solution, in the example of the present disclosure, when the digital image device collects an image in a motion state, the main body sway of the digital image device is compensated in the reverse direction by using the pan/tilt motor, and the image acquired after the compensation is performed. Digital image processing, so that even when the digital image device is bumped and shaken, images and/or videos of better quality can be obtained. Moreover, the use of pan/tilt motor and digital image processing technology to correct the image at the same time can correct the screen shake with a large amplitude, thereby effectively ensuring the quality of the obtained picture. Moreover, since there is only one pan/tilt motor, the entire digital image device is small in size and highly integrated.

Also provided in the disclosed example is an image capture device that is applied to a digital image device. The image acquisition device can be implemented by software, or can be implemented by hardware or a combination of hardware and software. Taking a software implementation as an example, as a logical means, a processor of a digital image device in which it is located reads a corresponding machine executable instruction in a non-transitory storage medium. From the hardware level, as shown in FIG. 5, a hardware structure diagram of the digital image device in which the image acquisition device proposed in the present disclosure is located. The digital image device may include a lens module 501, a posture information collection device 502, a pan/tilt motor 503, a processor 504, a non-transitory machine readable storage medium 505, and a system bus 506, a lens module 501, and a posture information collection device 502. The pan/tilt motor 503, the processor 504, and the non-transitory storage medium 505 can communicate with each other through the system bus 506. The posture information collection device 502 is a device for acquiring posture information of a digital image device, such as an IMU, a geomagnetic sensor, or the like. The processor 504 can implement the steps of the image acquisition method described above by reading machine executable instructions in the non-transitory machine readable storage medium 505. The processor 504 can be a separate microprocessor or can be integrated on the motherboard. In addition to the various components shown in Figure 5, the digital image device includes other hardware, such as a forwarding chip responsible for processing the message, a network interface, memory, etc.; In structure, the digital image device may also be a distributed device, which may include multiple interface cards to extend the message processing at the hardware level.

The lens module 501 is configured to acquire a first image, and the posture information collecting device 502 is configured to acquire a motion state of the lens module of the digital image device before the lens module acquires the first image; a motor 503 disposed coaxially with one of an X-axis, a Y-axis, and a Z-axis for rotating the camera module, wherein the X-axis passes through a center of an imaging plane of the digital image device And indicating a front-rear direction of the imaging plane, the Y-axis passing through a center of the imaging plane and indicating a left-right direction of the imaging plane, the Z-axis passing through a center of the imaging plane and indicating the imaging plane The up and down direction of the processor 504 is configured to control the pan/tilt motor 503 to perform rotation according to the motion state acquired by the attitude information collection device 502 to compensate for motion of the lens module. FIG. 6 is a logical functional structural diagram of an image capture device proposed by the present disclosure. The logical functions of the image capture device may correspond to machine executable instructions stored in the non-transitory machine readable storage medium 505, and may specifically include a first processing module 601 and a second processing module 602. The second processing module 602 is configured to perform digital image processing on the first image to obtain a second image.

When the digital image device is a first type of device that moves around the X axis, the axis of the pan/tilt motor is coaxial with the X axis. The first processing module 601 determines a rotation direction of the pan-tilt motor in the X-axis direction by using a movement direction of the lens module 501 on the X-axis; using the camera module in the Determining the angle of rotation of the pan/tilt motor in the X-axis direction; determining the pan-tilt motor in the X-axis direction by using the angular velocity of the camera module in the X-axis direction The rotational angular velocity in the X-axis direction is controlled; and the rotation of the pan-tilt motor 503 on the X-axis is controlled based on the determined rotational direction, rotational angle, and rotational angular velocity.

When the digital image device is a second type of device that moves around the Y axis, the axis of the pan/tilt motor is coaxial with the Y axis. The first processing module 601 determines a rotation direction of the pan-tilt motor on the Y-axis by using a movement direction of the lens module 501 on the Y-axis; and using the camera module in the Y-axis direction Determining a rotation angle of the pan/tilt motor in the Y-axis direction; determining a rotation angle of the camera module in the Y-axis direction to determine the pan-tilt motor on the Y-axis Rotational angular velocity in the direction; controlling the pan/tilt motor based on the determined rotational direction, rotational angle, and rotational angular velocity 503 rotation on the Y axis.

When the digital image device is a third type of device that moves around the Z axis, the axis of the pan/tilt motor is coaxial with the Z axis. The first processing module 601 determines, by using the lens module 501, the rotation direction of the PTZ motor in the Z-axis direction in the moving direction of the Z-axis; using the lens module 501 in the Determining a rotation angle of the pan/tilt motor in the Z-axis direction; determining a rotation angle of the lens module 501 in the Z-axis direction to determine the pan-tilt motor The rotational angular velocity in the Z-axis direction; controlling the rotation of the pan-tilt motor 503 on the Z-axis based on the determined rotational direction, rotational angle, and rotational angular velocity.

In the case where the digital image device is a first type of device that moves around the X axis, when the first image is digitally imaged to obtain a second image, the second processing module 602 may be based on The amount of movement of the lens module on the Y-axis, the first image is inversely translated by N pixels along the Y-axis, and the N represents a compensation value corresponding to the amount of movement on the Y-axis Translating the first image by M pixels along the Z axis based on the amount of movement of the lens module on the Z axis, the M indicating a corresponding amount of movement on the Z axis Compensation value.

When the digital image device is a second type of device that moves around the Y axis, the second processing module 602 may be based on the amount of movement of the camera module on the Y axis. The image is inversely translated by T pixels along the Y axis, the T representing a compensation value corresponding to the amount of movement on the Y axis.

When the digital image device is a third type of device that moves around the Z axis, the second processing module 602 may be the first based on the amount of movement of the camera module on the Z axis. The image is inversely translated by W pixels along the Z axis, the W representing a compensation value corresponding to the amount of movement on the Y axis.

The modules of the disclosed device may be integrated or deployed separately. The above modules can be combined into one module, or can be further split into multiple sub-modules.

Through the description of the above examples, those skilled in the art can clearly understand that the present disclosure can be implemented by means of software plus a necessary general hardware platform, and of course, can also be through hardware, but in many cases the former is a better implementation. Based on such understanding, the part of the technical solution of the present disclosure that contributes in essence or to the prior art may be in the form of a software product. It is embodied that the computer software product is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, server, or network device, etc.) to perform the methods described in the examples of the present disclosure. Those skilled in the art can understand that the drawings are only schematic diagrams, and the modules or processes in the drawings are not necessarily required to implement the present disclosure.

It will be understood by those skilled in the art that the modules in the devices in the examples may be distributed in the device of the example according to the example description, or the corresponding changes may be located in one or more devices different from the example. The modules of the above examples can be combined into one module, or can be further split into multiple sub-modules. The above-described examples of the present disclosure are merely for the purpose of description and do not represent the advantages and disadvantages of the examples.

The terminology used in the disclosure is for the purpose The singular forms "a", "the" and "the" It should also be understood that the term "and/or" as used herein refers to any and all possible combinations of one or more of the associated listed items.

It should be understood that although the terms first, second, third, etc. may be used in the present disclosure to describe various information, such information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, the first information may also be referred to as second information without departing from the scope of the present disclosure. Similarly, the second information may also be referred to as first information. Depending on the context, in addition, the word "if" may be interpreted to mean "at time" or "when" or "in response to determination."

The above disclosure is only a few specific examples of the disclosure, but the disclosure is not limited thereto, and any changes that can be made by those skilled in the art should fall within the protection scope of the disclosure.

Claims

A digital image device comprising:

a camera module for collecting images;

An attitude information collection module, configured to determine a motion state of the camera module;

a pan/tilt motor that is disposed coaxially with one of an X-axis, a Y-axis, and a Z-axis for rotating the camera module, wherein the X-axis passes through an imaging plane of the digital image device Centering and indicating a front-rear direction of the imaging plane, the Y-axis passing through a center of the imaging plane and indicating a left-right direction of the imaging plane, the Z-axis passing through a center of the imaging plane and indicating the imaging Up and down direction of the plane;

Controller, which is configured to:

Controlling the rotation of the pan-tilt motor according to the motion state determined by the attitude information acquisition module to compensate for the motion of the camera module;

And causing the camera module that performs the motion compensation to acquire a first image;

And performing digital image processing on the first image according to the motion state determined by the attitude information collection module to obtain a second image.
The digital image apparatus according to claim 1, wherein when the axis of the pan/tilt motor is coaxial with the X-axis, the pan-tilt motor is coaxial with the axis of the camera module The way is set behind the camera module.
The digital image device according to claim 2, wherein

The attitude information collection module is configured to collect posture information of the camera module on the X axis, the Y axis, and the Z axis, respectively;

The controller includes:

a first processor, configured to control rotation of the pan-tilt motor on the X-axis based on data collected by the attitude information acquisition module;

a second processor, configured to inversely translate the first image along the Y axis and the Z axis by a corresponding compensation value based on the data collected by the posture information collection module, where The compensation value on the Y axis is opposite to the camera module on the Y axis The number of pixels corresponding to the amount of movement on the upper side, the compensation value on the Z axis is the number of pixels corresponding to the amount of movement of the camera module on the Z axis.
The digital image apparatus according to claim 1, wherein when the axis of the pan/tilt motor is coaxial with the Y-axis, the pan-tilt motor is disposed coaxially with the Y-axis The left or right side of the camera module.
The digital image device according to claim 4, wherein

The attitude information collection module includes posture information for acquiring the camera module on the X axis, the Y axis, and the Z axis, respectively;

The controller includes:

a first processor, configured to control, according to the data collected by the attitude information collection module, the pan/tilt motor to rotate on the Y axis;

a second processor, configured to inversely translate the first image along the Y axis according to the data collected by the attitude information collection module, where the compensation value is on the Y axis The number of pixels corresponding to the amount of movement of the camera module on the Y axis.
The digital image apparatus according to claim 1, wherein when the axis of the pan/tilt motor is coaxial with the Z axis, the pan motor is disposed coaxially with the Z axis Above or below the camera module.
The digital image device according to claim 6, wherein

The attitude information collection module is configured to collect posture information of the camera module on the X axis, the Y axis, and the Z axis, respectively;

The controller includes:

a first processor, configured to control, according to the data collected by the attitude information collection module, the pan/tilt motor to rotate on the Z axis;

a second processor, configured to inversely translate the first image along the Z axis by a corresponding compensation value based on data collected by the attitude information acquisition module, on the Z axis The compensation value is the number of pixels corresponding to the amount of movement of the camera module on the Z axis.
An image acquisition method includes:

Obtaining a motion state of a camera module of the digital image device;

Rotating a pan-tilt motor disposed in the digital image device according to the motion state to compensate for movement of the camera module, wherein the pan-tilt motor is set to an axis and an X-axis, a Y-axis, and a Z One of the axes is coaxial, the X-axis passing through the center of the imaging plane of the digital image device and indicating the front-rear direction of the imaging plane, the Y-axis passing through the center of the imaging plane and indicating the imaging plane The left and right direction, the Z axis passing through the center of the imaging plane and indicating the up and down direction of the imaging plane;

Acquiring the first image by using the camera module after performing the motion compensation;

Performing digital image processing on the first image according to the motion state to obtain a second image.
The method according to claim 8, wherein when the axis of the pan motor is coaxial with the X axis; rotating the pan motor according to the motion state comprises:

Determining a rotation direction of the pan-tilt motor on the X-axis by using a moving direction of the camera module on the X-axis;

Determining, by the angle of movement of the camera module in the X-axis direction, a rotation angle of the pan-tilt motor in the X-axis direction;

Determining a rotational angular velocity of the pan-tilt motor in the X-axis direction by using a moving angular velocity of the camera module in the X-axis direction;

The rotation of the pan-tilt motor on the X-axis is controlled based on the determined direction of rotation, angle of rotation, and angular velocity of rotation.
The method according to claim 9, wherein performing digital image processing on the first image according to the motion state comprises:

Translating the first image by N pixels along the Y axis based on the amount of movement of the camera module on the Y axis, the N indicating movement with the Y axis The amount of compensation corresponding to the quantity;

Converting the first image to M pixels along the Z axis based on a movement amount of the camera module on the Z axis, wherein the M represents a movement amount corresponding to the Z axis Compensation value.
The method of claim 8 wherein when the axis of the pan/tilt motor is coaxial with the Y-axis;

Rotating the pan/tilt motor according to the motion state, including:

Determining a rotation direction of the pan-tilt motor on the Y-axis by using a moving direction of the camera module on the Y-axis;

Determining a rotation angle of the pan motor in the Y-axis direction by using a movement angle of the camera module in the Y-axis direction;

Determining a rotational angular velocity of the pan-tilt motor in the Y-axis direction by using a moving angular velocity of the camera module in the Y-axis direction;

The rotation of the pan/tilt motor on the Y-axis is controlled based on the determined direction of rotation, angle of rotation, and angular velocity of rotation.
The method of claim 11 wherein performing digital image processing on the first image in accordance with the motion state comprises:

Translating the first image inversely by T pixels along the Y axis based on a movement amount of the camera module on the Y axis, wherein T represents a movement amount corresponding to the Y axis Compensation value.
The method of claim 8 wherein when the axis of the pan/tilt motor is coaxial with the Z axis;

Rotating the pan/tilt motor according to the motion state, including:

Determining a rotation direction of the pan-tilt motor on the Z-axis by using a moving direction of the camera module on the Z-axis;

Determining a rotation angle of the pan motor in the Z-axis direction by using a movement angle of the camera module in the Z-axis direction;

Determining a rotational angular velocity of the pan-tilt motor in the Z-axis direction by using a moving angular velocity of the camera module in the Z-axis direction;

The rotation of the pan/tilt motor on the Z-axis is controlled based on the determined direction of rotation, angle of rotation, and angular velocity of rotation.
The method of claim 13 wherein performing digital image processing on the first image in accordance with the motion state comprises:

And translating the first image by W pixels along the Z axis based on a movement amount of the camera module on the Z axis, wherein W represents a movement amount corresponding to the Y axis Compensation value.