WO2018099435A1 - 一种摄像机的防抖方法及摄像机 - Google Patents

一种摄像机的防抖方法及摄像机 Download PDF

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Publication number
WO2018099435A1
WO2018099435A1 PCT/CN2017/114003 CN2017114003W WO2018099435A1 WO 2018099435 A1 WO2018099435 A1 WO 2018099435A1 CN 2017114003 W CN2017114003 W CN 2017114003W WO 2018099435 A1 WO2018099435 A1 WO 2018099435A1
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WIPO (PCT)
Prior art keywords
shake
jitter
lens
camera
data
Prior art date
Application number
PCT/CN2017/114003
Other languages
English (en)
French (fr)
Inventor
马伟民
沈辰弋
王欢
尤灿
Original Assignee
杭州海康威视数字技术股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Priority claimed from CN201611097722.9A external-priority patent/CN108156362B/zh
Priority claimed from CN201621316113.3U external-priority patent/CN206181216U/zh
Application filed by 杭州海康威视数字技术股份有限公司 filed Critical 杭州海康威视数字技术股份有限公司
Priority to EP17877321.4A priority Critical patent/EP3525448B8/en
Priority to US16/461,249 priority patent/US10805539B2/en
Publication of WO2018099435A1 publication Critical patent/WO2018099435A1/zh

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Classifications

    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
    • G02B27/64—Imaging systems using optical elements for stabilisation of the lateral and angular position of the image
    • G02B27/646—Imaging systems using optical elements for stabilisation of the lateral and angular position of the image compensating for small deviations, e.g. due to vibration or shake
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B5/00—Adjustment of optical system relative to image or object surface other than for focusing
    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B13/00—Burglar, theft or intruder alarms
    • G08B13/18—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength
    • G08B13/189—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems
    • G08B13/194—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems
    • G08B13/196—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems using television cameras
    • G08B13/19602—Image analysis to detect motion of the intruder, e.g. by frame subtraction
    • G08B13/19606—Discriminating between target movement or movement in an area of interest and other non-signicative movements, e.g. target movements induced by camera shake or movements of pets, falling leaves, rotating fan
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/50—Constructional details
    • H04N23/55—Optical parts specially adapted for electronic image sensors; Mounting thereof
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/68—Control of cameras or camera modules for stable pick-up of the scene, e.g. compensating for camera body vibrations
    • H04N23/681—Motion detection
    • H04N23/6812—Motion detection based on additional sensors, e.g. acceleration sensors
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/68—Control of cameras or camera modules for stable pick-up of the scene, e.g. compensating for camera body vibrations
    • H04N23/681—Motion detection
    • H04N23/6815—Motion detection by distinguishing pan or tilt from motion
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/68—Control of cameras or camera modules for stable pick-up of the scene, e.g. compensating for camera body vibrations
    • H04N23/682—Vibration or motion blur correction
    • H04N23/685—Vibration or motion blur correction performed by mechanical compensation
    • H04N23/687—Vibration or motion blur correction performed by mechanical compensation by shifting the lens or sensor position
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B2205/00—Adjustment of optical system relative to image or object surface other than for focusing
    • G03B2205/0007—Movement of one or more optical elements for control of motion blur

Definitions

  • the present application relates to the field of cameras, and in particular to an anti-shake method and a camera of a camera.
  • cameras with anti-shake function such as cameras in the security field
  • Electronic image stabilization is actually a technique that compensates for jitter by reducing the image quality.
  • the anti-shake frequency of electronic anti-shake is limited by the image frame rate, so it cannot be anti-shake for higher or lower frequency jitter, resulting in unsatisfactory anti-shake performance of electronic anti-shake.
  • An object of the embodiment of the present application is to provide an anti-shake method and a camera for a camera to improve anti-shake performance.
  • the specific technical solutions are as follows:
  • An embodiment of the present application provides an anti-shake method for a camera, the camera having a lens, a jitter detecting device, and an image sensor including a movable anti-shake lens, the method comprising:
  • the jitter data includes position change data when the camera is shaken; the jitter data is obtained by detecting by the jitter detecting device;
  • the step of acquiring current jitter data of the camera is: acquiring current jitter data of the camera according to a preset period;
  • the position change data when the jitter is: an amplitude change amplitude value with respect to the previous period;
  • the method further includes:
  • the step of determining the movement data of the anti-shake lens according to the relationship between the preset jitter data and the position change of the anti-shake lens for anti-shake is performed.
  • the determining, according to the angle change amplitude value, the preset jitter threshold, and the static threshold, determining whether a preset number of cycles continuously jitters or determining whether the preset number of cycles is continuously stationary, and starting according to the determination result Anti-shake function or steps to turn off the anti-shake function including:
  • the camera state includes: a stationary state or a jitter state
  • Determining whether the preset number of cycles is continuously stationary if yes, determining that the second camera state of the cycle is a stationary state, turning off the anti-shake function; if not, determining that the second camera state of the cycle is a jitter state, and the anti-shake function Keep it open.
  • the step of determining whether the period is jittered and recorded according to the angle change amplitude value and the preset jitter threshold includes:
  • the step of determining whether the cycle is stationary and recording according to the angle change amplitude value and the preset static threshold includes:
  • angle change amplitude value is less than a preset static threshold. If yes, it is determined that the current period is stationary, and the number of static stops is recorded. If not, it is determined that the current cycle is not stationary, and the number of static times is cleared.
  • the relationship between the preset jitter data and the position change of the anti-shake lens for anti-shake includes: a correspondence relationship between the amplitude change amplitude value and the anti-shake lens compensation vector at a preset focal length;
  • the step of determining the movement data of the anti-shake lens according to the relationship between the preset jitter data and the position change of the anti-shake lens for anti-shake lens includes:
  • the step of adjusting the position of the anti-shake lens according to the movement data, so that the image sensor captures the image after anti-shake includes:
  • the position of the anti-shake lens is adjusted according to the determined moving direction and moving distance of the anti-shake lens, so that the image sensor captures the image after anti-shake.
  • the jitter detecting device is a gyroscope
  • the step of acquiring current jitter data of the camera includes:
  • the amplitude change amplitude value relative to the previous period is calculated.
  • the method further includes:
  • the anti-shake level set by the user is received and saved; the anti-shake level includes: a jitter threshold and/or a stationary threshold.
  • the embodiment of the present application further provides an anti-shake device of a camera, the camera having a lens, a shake detecting device and an image sensor including a movable anti-shake lens, the device comprising:
  • a jitter acquisition module configured to acquire current jitter data of the camera, where the jitter data includes position change data when the camera is shaken; and the jitter data is obtained by detecting by the jitter detection device;
  • the data determining module performs the position of anti-shake according to the preset jitter data and the anti-shake lens a relationship between the movement data of the anti-shake lens;
  • a position adjustment module configured to adjust a position of the anti-shake lens according to the movement data, so that the image sensor captures an image after anti-shake.
  • the jitter acquiring module is specifically configured to: acquire current jitter data of the camera according to a preset period;
  • the position change data when the jitter is: an amplitude change amplitude value with respect to the previous period;
  • the device also includes:
  • the anti-shake function switch module is configured to determine, according to the angle change amplitude value, the preset jitter threshold and the static threshold, whether the preset number of cycles continuously jitters or determine whether the preset number of cycles is continuously stationary, and according to the judgment The result is to turn on the anti-shake function or turn off the anti-shake function;
  • the data determination module is triggered.
  • the anti-shake function switch module includes:
  • a first camera state acquisition submodule configured to obtain a first camera state determined in a previous cycle; the camera state includes: a stationary state or a jitter state;
  • a second judging sub-module for determining whether the preset number of periods is continuously jittered, and if so, determining that the second camera state of the period is a jitter state, and the anti-shake function is enabled; if not, determining the first period of the period
  • the two camera states are in a stationary state, and the anti-shake function remains off;
  • the jitter state first determining submodule is configured to: when the first camera state is a jitter state:
  • the jitter state second determining sub-module is configured to determine whether the preset number of cycles is continuously stationary, and if yes, determining that the second camera state of the cycle is a stationary state, turning off the anti-shake function; if not, determining the first period of the cycle
  • the two camera states are in the jitter state, and the anti-shake function remains on.
  • the static state first determining submodule is specifically configured to:
  • the jitter state first determining sub-module is specifically configured to:
  • angle change amplitude value is less than a preset static threshold. If yes, it is determined that the current period is stationary, and the number of static stops is recorded. If not, it is determined that the current cycle is not stationary, and the number of static times is cleared.
  • the relationship between the preset jitter data and the position change of the anti-shake lens for anti-shake includes: a correspondence relationship between the amplitude change amplitude value and the anti-shake lens compensation vector at a preset focal length;
  • the data determining module is specifically configured to:
  • the position adjustment module is specifically configured to:
  • the position of the anti-shake lens is adjusted according to the determined moving direction and moving distance of the anti-shake lens, so that the image sensor captures the image after anti-shake.
  • the jitter detecting device is a gyroscope
  • the jitter acquisition module includes:
  • a receiving submodule configured to receive current angular velocity data sent by the gyroscope
  • the calculation submodule is configured to calculate an amplitude change amplitude value relative to the previous period according to the duration of the preset period.
  • the device further includes:
  • a receiving module configured to receive an operation instruction of turning on an anti-shake function of the user or turning off the anti-shake function
  • An anti-shake switch module for turning the anti-shake function on or off according to the operation instruction
  • An anti-shake setting module is configured to receive and save an anti-shake level set by a user; the anti-shake level includes: a jitter threshold and/or a static threshold.
  • the embodiment of the present application further provides a camera, including: a lens including a movable anti-shake lens, a jitter detecting device, an image sensor, and a first processor;
  • the lens for optical framing is the lens for optical framing
  • the jitter detecting device is configured to detect current jitter data of the camera
  • the image sensor is configured to capture an image
  • the first processor is configured to acquire current jitter data of the camera, where the jitter data includes position change data when the camera is shaken; the jitter data is detected by the jitter detection device; The relationship between the jitter data and the position change of the anti-shake lens for anti-shake, determining the movement data of the anti-shake lens; adjusting the position of the anti-shake lens according to the movement data, so that the image sensor is after anti-shake Image.
  • the jitter detecting device is specifically configured to: acquire current jitter data of the camera according to a preset period;
  • the position change data when the jitter is: an amplitude change amplitude value with respect to the previous period;
  • the first processor is specifically configured to:
  • the movement data of the anti-shake lens is determined according to the relationship between the preset jitter data and the positional change of the anti-shake lens.
  • the camera further includes: a second processor; the second processor is configured to receive an operation instruction of the user to turn on the anti-shake function or turn off the anti-shake function;
  • the anti-shake level includes: a jitter threshold and/or a static threshold.
  • the embodiment of the present application provides a storage medium for storing executable code, which is used to perform the anti-shake method of the camera provided by the embodiment of the present application.
  • the embodiment of the present application provides an application program for performing the anti-shake method of the camera provided by the embodiment of the present application.
  • the anti-shake method and the camera of the camera provided by the embodiment of the present application acquire the jitter data of the current position change of the camera through the jitter detecting device.
  • the positional change of the anti-shake is performed to determine the movement data of the anti-shake lens. Adjusting the position of the anti-shake lens according to the movement data, so that the image sensor captures an image after anti-shake.
  • the present application utilizes the positional movement of the lens to complete the anti-shake function, and the image is processed differently from the prior art electronic image stabilization to complete the anti-shake function.
  • the anti-shake method applied to the embodiment of the present application is not limited by the image frame rate, and can perform anti-shake processing for higher or lower frequency jitter, and can improve anti-shake performance.
  • implementing any of the products or methods of the present application does not necessarily require that all of the advantages described above be achieved at the same time.
  • the embodiment of the present application discloses a surveillance camera to still capture a clear surveillance video when the surveillance camera is shaken.
  • the embodiment of the present application discloses a surveillance camera, which includes: a jitter detection device, a system-level chip SOC, an optical image stabilization lens including a movable anti-shake optical compensation lens group, a motor driver, and a photosensitive device. Sensor; among them,
  • the jitter detecting device is electrically connected to the SOC, and sends a jitter signal to the SOC;
  • the SOC is electrically connected to the jitter detecting device, the motor driver and the photosensitive sensor, respectively, receiving a jitter signal sent by the jitter detecting device, and transmitting the jitter signal to the motor driver and the photosensitive sensor according to the jitter signal control signal;
  • the motor driver is coupled to the SOC and the anti-shake optical compensation lens group, and receives a control signal sent by the SOC to drive the anti-shake optical compensation lens group to move;
  • the photosensitive sensor is located at a rear end of the optical image stabilization lens, receives a control signal sent by the SOC, and collects light passing through the optical image stabilization lens to form an anti-shake image.
  • the optical image stabilization lens further includes: a photosensitive lens group; wherein
  • the photosensitive lens group is located at a front end of the anti-shake optical compensation lens group
  • the photosensitive sensor is located at a rear end of the anti-shake optical compensation lens group.
  • the photosensitive lens group includes: a magnifying lens group and a focusing lens group;
  • the focusing lens group is located at a rear end of the magnifying lens group and is located at a front end of the anti-shake optical compensation lens group.
  • the magnifying lens set includes at least two lenses.
  • the focusing lens set includes at least two lenses.
  • the motor driver includes: a motor driving chip and an optical compensation motor; wherein
  • the motor driving chip is electrically connected to the SOC and the optical compensation motor, respectively;
  • the optical compensation motor is coupled to the anti-shake optical compensation lens group to drive the anti-shake optical compensation lens group to move.
  • the jitter detecting device is a gyroscope.
  • the surveillance camera includes at least two optical anti-shake lenses
  • the number of the photosensitive sensors is equal to the number of the optical image stabilization lenses.
  • the surveillance camera provided by the embodiment of the present application includes: a jitter detection device, a SOC, an optical image stabilization lens including a movable anti-shake optical compensation lens group, a motor driver, and a photosensitive sensor, and the jitter detection device will shake signals.
  • the SOC can send a control signal to the motor driver and the photosensitive sensor connected thereto according to the jitter signal, and after receiving the control signal, the motor driver drives the anti-shake optical compensation lens in the optical anti-shake lens connected thereto
  • the group moves, thereby adjusting the focus of the light passing through the optical image stabilization lens on the photosensitive sensor to obtain an anti-shake image. Therefore, the monitoring camera provided by the embodiment of the present application can still detect the clear picture when the monitoring camera is shaken. video.
  • FIG. 1 is a flow chart of an anti-shake method of a camera according to an embodiment of the present application
  • FIG. 2 is another flow chart of the anti-shake method of the camera according to the embodiment of the present application:
  • step 211 in the embodiment shown in FIG. 2;
  • FIG. 4 is a structural diagram of an anti-shake device of a camera according to an embodiment of the present application.
  • FIG. 5 is another structural diagram of an anti-shake device of a camera according to an embodiment of the present application.
  • FIG. 6 is a first structural diagram of a camera according to an embodiment of the present application.
  • FIG. 7 is a schematic diagram of a second structure of a camera according to an embodiment of the present application.
  • FIG. 8 is a schematic diagram of a third structure of a camera according to an embodiment of the present application. .
  • the embodiment of the present application discloses an anti-shake method and a camera of a camera, which can improve anti-shake performance.
  • the following describes an anti-shake method of a camera provided by an embodiment of the present application.
  • cameras have been widely used in sports cameras, security, traffic monitoring and many other fields. In order to obtain a clearer and more reliable image, the camera is required to have anti-shake performance.
  • cameras generally use electronic image stabilization technology, which is a technique for analyzing images on a CCD and then using edge images for compensation.
  • Electronic image stabilization is actually a technique that compensates for jitter by reducing the image quality.
  • the frequency of electronic image stabilization is limited by the frame rate of the captured image, and it is not possible to perform anti-shake processing for higher or lower jitter, so the anti-shake performance is poor.
  • the present application proposes an anti-shake method for a camera, including a movable anti-shake lens in the lens of the camera, and optical anti-shake by the anti-shake lens and the shake detecting device and the image sensor.
  • FIG. 1 is a flowchart of an anti-shake method of a camera according to an embodiment of the present application. Including the following steps:
  • Step 101 Acquire current jitter data of the camera by using the jitter detecting device.
  • the jitter data includes position change data when the camera shakes. Changes in camera position include changes in the angle of the camera.
  • the current jitter data is the jitter data of the camera at the current time. Jitter data, through jitter Detection device detection is obtained.
  • Step 102 Determine the movement data of the anti-shake lens according to the current jitter data of the camera and the preset jitter data and the position change of the anti-shake lens for anti-shake.
  • the movement data of the anti-shake lens is the position change data of the anti-shake lens.
  • the relationship between the preset jitter data and the position change of the anti-shake lens for anti-shake is based on the positional relationship between the camera shake detecting device and the anti-shake lens, the relationship between the shaking direction and the moving direction of the anti-shake lens, focal length, jitter distance, and jitter.
  • the relationship between the angle and the moving distance of the anti-shake lens. This relationship can be expressed as a formula or in a table. By this relationship, it is possible to acquire the movement data of the anti-shake lens corresponding to any of the jitter data for anti-shake.
  • the movement data includes a moving direction and a moving distance.
  • the position change data includes a position change direction and a position change distance.
  • the anti-shake lens can be moved in four directions of up, down, left, and right.
  • Step 103 Adjust the position of the anti-shake lens according to the movement data, so that the image sensor captures the image after the anti-shake.
  • the position of the anti-shake lens is determined according to the movement data, and the anti-shake lens is moved to the determined position to complete the anti-shake compensation movement, so that the image sensor captures the anti-shake image. Thereby, a shooting picture after anti-shake can be obtained.
  • the anti-shake method of the camera acquires the jitter data of the current position change of the camera through the jitter detecting device.
  • the movement data of the anti-shake lens is determined according to the relationship between the preset jitter data and the positional change of the anti-shake lens. And adjusting the position of the anti-shake lens according to the movement data, so that the image sensor takes an image after anti-shake.
  • the present application utilizes the positional movement of the anti-shake lens to complete the anti-shake function, which is different from the prior art electronic image stabilization to process the image to complete the anti-shake function.
  • the anti-shake method applied to the embodiment of the present application is not limited by the image frame rate, and can perform anti-shake processing for higher or lower frequency jitter, and can improve anti-shake performance.
  • FIG. 2 is another flow chart of the anti-shake method of the camera according to the embodiment of the present application. Including the following steps:
  • Step 210 Acquire current jitter data of the camera according to a preset period. Or, for each preset period, the current jitter data of the camera is acquired by the jitter detecting device.
  • the jitter data includes position change data when the camera shakes.
  • the position change data when shaking is: the amplitude change value of the current period of the camera relative to the previous period.
  • the jitter data is obtained by the jitter detection device detection.
  • the jitter detecting device is a gyroscope.
  • the preset period is a jitter detection period of the camera according to industrial requirements or manually set.
  • the preset period is in microseconds.
  • Step 210 specifically includes:
  • the first step is to receive the current angular velocity data sent by the gyroscope.
  • the gyroscope detects the jitter and sends the angular velocity data belongs to the prior art, and will not be described herein.
  • the amplitude change value of the current period of the camera relative to the previous period is calculated according to the duration of the preset period, the current angular velocity data, and the angular velocity data received in the previous period.
  • the second step is specifically: calculating the current angular velocity data by using the preset period as the time period integral calculation to obtain the angle change amplitude value of the current period of the camera relative to the previous period.
  • the calculation of the integral period in a period of time belongs to the prior art, and will not be described herein.
  • Step 211 Determine, according to the angle change amplitude value, the preset jitter threshold, and the static threshold, whether the preset number of cycles continuously jitters or determine whether the preset number of cycles is continuously stationary, and turn on the anti-shake function or turn off according to the determination result.
  • Anti-shake function Determine, according to the angle change amplitude value, the preset jitter threshold, and the static threshold, whether the preset number of cycles continuously jitters or determine whether the preset number of cycles is continuously stationary, and turn on the anti-shake function or turn off according to the determination result.
  • Anti-shake function is
  • the anti-shake function is turned on.
  • step 211 is performed.
  • step 212 and step 213 are continued. If the anti-shake function is turned off, steps 212 and 213 are not performed.
  • step 211 can include:
  • the camera state includes: a stationary state or a jitter state.
  • the camera state of the previous cycle of the current cycle is referred to as the first camera state
  • the camera state of the current cycle is referred to as the second camera state.
  • the jitter threshold and the stationary threshold are jitter determination thresholds and stationary determination thresholds of the camera set according to industrial requirements or manually.
  • the jitter threshold is represented by A
  • the static threshold is represented by B.
  • FIG. 3 is a specific flowchart of step 211 in the embodiment shown in FIG. 2. Including the following steps:
  • Step 2111 Obtain a first camera state determined in a previous cycle; or determine a first camera state of a previous cycle of a current cycle; the camera state includes: a stationary state or a jitter state.
  • the camera state of the previous cycle of the current cycle is referred to as the first camera state
  • the camera state of the current cycle is referred to as the second camera state.
  • step 2112 is performed:
  • Step 2112 Determine whether an angle change amplitude value included in the jitter data of the current period is greater than a preset jitter threshold. If yes, go to step 2113 to determine that the current period is the current period, and the jitter is recorded. The number of jitters is recorded by the jitter counter CNTa, at which time CNTa+1. And after step 2113, step 2115 is performed; if not, step 2114 is executed to determine that no jitter occurs, and the number of jitters CNTa is cleared. And after step 2114, step 2118 is executed to determine that the second camera state of the cycle is a stationary state, and step 2119 is continued, and the anti-shake function remains off.
  • Step 2115 Determine whether a jitter occurs continuously for a preset number of cycles, specifically, whether the CNTa is greater than a threshold M, and M is a positive integer greater than 0. If yes, step 2116 is executed to determine that the second camera state of the current cycle is the jitter state, and the number of static times CNTb is cleared. Proceed to step 2117 to enable the anti-shake function; if not, execute step 2118 to determine that the second camera state of the cycle is a stationary state, and continue to step 2119, the anti-shake function remains off.
  • step 2122 is performed:
  • Step 2122 determining that the amplitude change amplitude value included in the jitter data of the current period is No less than the preset static threshold. If yes, go to step 2123 to determine that the cycle is stationary and record the number of stills. Among them, the number of still times is recorded by the stationary counter CNTb, at this time CNTb+1. And after step 2123, step 2125 is performed; if not, step 2124 is executed to determine that the current period is not stationary, and the number of inactivity CNTb is cleared. After step 2124, step 2128 is executed to determine that the second camera state of the current period is the jitter state, and step 2129 is continued, and the anti-shake function remains on.
  • step 2125 it is determined whether the preset number of cycles is continuously stationary, specifically determining whether the CNTb is greater than the threshold N. N is a positive integer greater than zero. If yes, step 2126 is executed to determine that the second camera state of the current cycle is a stationary state, and the number of jitters CNTa is cleared. Proceed to step 2127 to turn off the anti-shake function; if not, execute step 2128 to determine that the second camera state of the current period is the jitter state, and continue to step 2129, and the anti-shake function remains on.
  • a and B are natural numbers greater than 0.
  • a ⁇ B indicating that the jitter determination threshold value determined from the stationary state to be the jitter state is greater than or equal to, and the jitter determination state is determined to be the static determination threshold of the stationary state.
  • A can be understood as the degree of severe jitter at rest, and B can be understood as the degree of slight jitter in the jitter state.
  • M and N are positive integers greater than 0, and M and N may be the same or different values.
  • M can be understood as the number of consecutive severe jitters in the accumulated static state, and N can be understood as the number of consecutive slight jitters in the accumulated jitter state.
  • step 212 is continued.
  • Step 212 When the anti-shake function is turned on, the movement data of the anti-shake lens is determined according to the relationship between the preset jitter data and the position change of the anti-shake lens for anti-shake.
  • step 212 is specifically: when the anti-shake function is turned on, according to the corresponding relationship between the angle change amplitude value and the anti-shake lens compensation vector at the current focal length, the moving direction and the moving distance of the anti-shake lens are determined, that is, the anti-shake lens is determined. Position change direction and position change distance.
  • Table 1 is an example of the correspondence between the amplitude change value of the camera and the anti-shake lens compensation vector at the preset focal length. Table 1 is as follows:
  • Step 213 Adjust the position of the anti-shake lens according to the determined moving direction and moving distance of the anti-shake lens, so that the image sensor captures the anti-shake image.
  • the anti-shake method of the embodiment of the present application further includes:
  • the screen shots captured by the image sensor are matched and matched so that the captured screen is close to the screen seen by the human eye.
  • the conversion is matched to a variety of operations that enhance picture sharpness and image quality, such as eliminating noise, eliminating red eye, adjusting contrast, and adjusting chromatic aberration.
  • the anti-shake method of the embodiment of the present application further includes:
  • the anti-shake level includes: a jitter threshold and/or a stationary threshold.
  • the anti-shake method of the embodiment of the present application further includes:
  • the anti-shake function is turned on
  • the anti-shake level carried in the anti-shake level setting command is read and saved; the anti-shake level includes: a jitter threshold and a /still threshold.
  • step 211 is performed.
  • step 212 and step 213 are continued. If the anti-shake function is turned off, steps 212 and 213 are not performed.
  • the user can set different anti-shake levels, that is, change the value of the jitter threshold A or the stationary threshold B.
  • the anti-shake method of the camera obtains the current jitter data of the camera through the gyroscope, and changes the amplitude value of the current jitter data according to the first camera state determined in the previous cycle, and presets.
  • the jitter threshold or the static threshold is compared to determine whether the preset number of cycles continuously jitters or whether the preset number of cycles is continuously stationary, and the anti-shake function is turned on or the anti-shake function is turned off according to the judgment result.
  • the anti-shake function is turned on, the moving direction and the moving distance of the anti-shake lens are determined according to the corresponding relationship between the angle change amplitude value and the anti-shake lens compensation vector according to the current focal length.
  • the position of the anti-shake lens is adjusted, so that the image sensor takes an image after anti-shake.
  • the embodiment of the present application can improve the anti-shake performance.
  • the embodiment can determine the state of the anti-shake function.
  • the anti-shake function is turned off.
  • the embodiment of the present application can also reduce the working time of the anti-shake component and improve the service life of the anti-vibration component.
  • FIG. 4 is a structural diagram of an anti-shake device of a camera according to an embodiment of the present application, including:
  • the jitter obtaining module 401 is configured to acquire current jitter data of the camera, where the jitter data includes position change data when the camera shakes, and the jitter data is obtained by detecting by the jitter detecting device.
  • the data determining module 402 determines the movement data of the anti-shake lens according to the relationship between the preset jitter data and the positional change of the anti-shake lens.
  • the position adjustment module 403 is configured to adjust the position of the anti-shake lens according to the movement data, so that the image sensor captures the image after the anti-shake.
  • the anti-shake device of the camera acquires the jitter data of the current position change of the camera through the jitter detecting device.
  • the movement data of the anti-shake lens is determined according to the relationship between the preset jitter data and the positional change of the anti-shake lens. And adjusting the position of the anti-shake lens according to the movement data, so that the image sensor takes an image after anti-shake.
  • the present application utilizes the positional movement of the anti-shake lens to complete the anti-shake function, which is different from the prior art electronic image stabilization to process the image to complete the anti-shake function.
  • the anti-shake method applied to the embodiment of the present application is not limited by the image frame rate, and can perform anti-shake processing for higher or lower frequency jitter, and can improve anti-shake performance.
  • the device in the embodiment of the present application is a device applying the above anti-shake method, and then All of the embodiments of the anti-shake method are applicable to the device and all achieve the same or similar benefits.
  • FIG. 5 is another structural diagram of the anti-shake device of the camera according to the embodiment of the present application, including:
  • the jitter obtaining module 501 is specifically configured to: acquire current jitter data of the camera according to a preset period.
  • the jitter data includes position change data when the camera shakes.
  • the position change data at the time of shaking is: the amplitude change amplitude value with respect to the previous cycle.
  • the jitter data is obtained by the jitter detection device detection.
  • the jitter detecting device is a gyroscope.
  • the jitter obtaining module 501 includes:
  • the receiving submodule 5011 is configured to receive current angular velocity data sent by the gyroscope.
  • the calculation sub-module 5012 is configured to calculate an amplitude change amplitude value relative to the previous period according to the duration of the preset period.
  • the anti-shake function switch module 502 is configured to determine, according to the angle change amplitude value, the preset jitter threshold and the static threshold, whether the preset number of cycles continuously jitters or whether the preset number of cycles is continuously stationary, and according to the determination result Turn on the anti-shake function or turn off the anti-shake function.
  • the data determination module 503 is triggered.
  • the anti-shake function switch module 502 includes:
  • the first camera state acquisition sub-module 5021 is configured to obtain a first camera state determined in a previous cycle; the camera state includes: a stationary state or a jitter state.
  • the stationary state first determining sub-module 5022 is configured to when the first camera state is a stationary state:
  • the angle change amplitude value and the preset jitter threshold it is determined whether the cycle is jittered and recorded.
  • the static state first determining sub-module 5022 is specifically configured to:
  • the second state determining sub-module 5023 is configured to determine whether a predetermined number of cycles are continuously jittered. If yes, determine that the second camera state of the current cycle is a jitter state, and the anti-shake function is enabled. If not, it is determined that the second camera state of the cycle is a stationary state, and the anti-shake function remains off.
  • the jitter state first determining sub-module 5024 is configured to when the first camera state is a jitter state:
  • the jitter state first determining sub-module 5024 is specifically configured to:
  • angle change amplitude value is less than a preset static threshold. If yes, it is determined that the current period is stationary, and the number of static stops is recorded. If not, it is determined that the current cycle is not stationary, and the number of static times is cleared.
  • the jitter state second determining sub-module 5025 is configured to determine whether the preset number of cycles is continuously stationary, and if yes, determining that the second camera state of the cycle is a stationary state, turning off the anti-shake function; if not, determining the period of the cycle The second camera state is the jitter state, and the anti-shake function remains on.
  • the relationship between the preset jitter data and the position change of the anti-shake lens for anti-shake including: the correspondence between the angle change amplitude value and the anti-shake lens compensation vector under the preset focal length.
  • the data determining module 503 is specifically configured to:
  • the moving direction and the moving distance of the anti-shake lens are determined.
  • the position adjustment module 504 is specifically configured to:
  • the position of the anti-shake lens is adjusted according to the determined moving direction and moving distance of the anti-shake lens, so that the image sensor captures the image after anti-shake.
  • the receiving module 505 is configured to receive an operation instruction of the user to turn on the anti-shake function or turn off the anti-shake function.
  • the anti-shake switch module 506 is configured to turn the anti-shake function on or off according to an operation instruction. and / or
  • the anti-shake setting module 507 is configured to receive and save the anti-shake level set by the user.
  • the anti-shake level includes: a jitter threshold and/or a stationary threshold.
  • the anti-shake device of the camera acquires the current jitter data of the camera through the gyroscope, and changes the amplitude value of the current jitter data according to the first camera state determined in the previous cycle, and presets.
  • the jitter threshold or the static threshold is compared to determine whether the preset number of cycles continuously jitters or whether the preset number of cycles is continuously stationary, and the anti-shake function is turned on or the anti-shake function is turned off according to the judgment result.
  • the anti-shake function is turned on, According to the corresponding relationship between the angle change amplitude value and the anti-shake lens compensation vector according to the current focal length, the moving direction and the moving distance of the anti-shake lens are determined.
  • the position of the anti-shake lens is adjusted, so that the image sensor takes an image after anti-shake.
  • the embodiment of the present application can improve the anti-shake performance.
  • the embodiment can determine the state of the anti-shake function.
  • the anti-shake function is turned off. The application can reduce the working time of the anti-shake component and improve the service life of the anti-vibration component.
  • FIG. 6 is a structural diagram of a camera according to an embodiment of the present application, including:
  • the Lens 601 for optical framing includes a movable anti-shake lens 6011.
  • the moving anti-shake lens can change the imaging position of the photographing screen on the image sensor 603.
  • a jitter detecting device (gyroscope) 602 is configured to detect the current jitter data of the camera.
  • the jitter detecting device 602 is specifically configured to: acquire current jitter data of the camera according to a preset period.
  • the jitter detecting device 602 is a gyroscope.
  • the gyroscope acquires the current jitter data of the camera according to a preset period and sends it to the first processor 604.
  • the jitter data includes position change data when the camera shakes.
  • the position change data at the time of shaking is: the amplitude change amplitude value with respect to the previous cycle.
  • the image sensor 603 is used to capture an image. Generally, it is a CCD or a CMOS (Complementary Metal Oxide Semiconductor). The image sensor 603 transmits the captured video image signal to the image processing chip 606.
  • CMOS Complementary Metal Oxide Semiconductor
  • the first processor 604 is configured to acquire current jitter data of the camera, where the jitter data includes position change data when the camera shakes; the jitter data is detected by the jitter detecting device 602; and the image stabilization is performed according to the preset jitter data and the anti-shake lens.
  • the positional change relationship determines the movement data of the anti-shake lens 6011; the position of the anti-shake lens 6011 is adjusted according to the movement data so that the image sensor 603 takes an image of the anti-shake.
  • the first processor 604 is specifically configured to:
  • the movement data of the anti-shake lens 6011 is determined according to the relationship between the preset jitter data and the positional change of the anti-shake lens.
  • the first processor 604 includes an OIS driving chip 6041, and the first processor The function of 604 is completed by the OIS driver chip 6041.
  • the camera in this embodiment may further include: a second processor 605.
  • the second processor 605 is configured to receive an operation instruction of the user to turn on the anti-shake function or turn off the anti-shake function.
  • the anti-shake level set by the user is received and sent to the first processor 604 for saving; the anti-shake level includes: a jitter threshold and/or a static threshold.
  • the second processor 605 is further configured to send a lens control instruction to the lens 601 to send a video image processing instruction to the image processing chip 606.
  • the second processor 605 includes an MCU6051 (Microcontroller Unit), and the function of the second processor 605 is completed by the MCU 6051.
  • MCU6051 Microcontroller Unit
  • the camera in this embodiment may further include: an image processing chip 606 for matching the images captured by the image sensor 603 so that the captured image is close to the image seen by the human eye.
  • the conversion is matched to a variety of operations that enhance picture sharpness and image quality, such as eliminating noise, eliminating red eye, adjusting contrast, and adjusting chromatic aberration.
  • the video image signal is output after the conversion is matched.
  • the camera provided by the embodiment of the present application acquires the jitter data of the current position change of the camera through the gyroscope.
  • the movement data of the anti-shake lens 6011 is determined by the first processor 604 in accordance with the relationship between the preset jitter data and the positional change of the anti-shake lens.
  • the position of the anti-shake lens 6011 is adjusted based on the movement data so that the image sensor 603 captures the image after the anti-shake.
  • the present application utilizes the positional movement of the anti-shake lens 6011 to complete the anti-shake function, which is different from the prior art electronic image stabilization to process the image to complete the anti-shake function.
  • the camera to which the embodiment of the present application is applied is not limited by the image frame rate, and can perform anti-shake processing for jitter of higher or lower frequency, and can improve anti-shake performance.
  • the camera of the embodiment of the present invention can turn off the anti-shake function when the anti-shake function is turned on, and the anti-shake function is turned off when the preset number of cycles is determined to be continuous. Therefore, the application can reduce the working time of the anti-shake component and improve The life of the anti-shake component.
  • FIG. 7 is a schematic diagram of a second structure of a camera according to an embodiment of the present disclosure.
  • the camera may be a surveillance camera, including: a jitter detection device 101, a SOC (System on Chip) 102, a lens 103, a motor driver 104, and Photosensitive sensor 105; wherein
  • SOC System on Chip
  • the lens 103 can be an optical anti-shake lens, which comprises a movable optical lens, or a movable anti-shake optical compensation lens set;
  • the jitter detecting device 101 is electrically connected to the SOC 102; the SOC 102 is electrically connected to the jitter detecting device 101, the motor driver 104, and the photosensitive sensor 105, respectively; the motor driver 104 is respectively connected to the anti-shake optical compensation lens group in the SOC 102 and the optical image stabilization lens 103; The sensor 105 is located at the rear end of the optical image stabilization lens 104.
  • the direction of the optical image stabilization lens 104 facing the shooting scene is the front end of the optical image stabilization lens, and the direction opposite to the front end is the rear end of the optical image stabilization lens 104.
  • the photosensitive sensor 105 may be located at the rear end of the optical image stabilization lens 104 in a tightly connected manner, and the photosensitive sensor 105 may be located at a rear end of the optical image stabilization lens 104 at a distance. This application does not limit this.
  • the motor driver 104 can be connected to the optical image stabilization lens 103 through a connector. This application is merely described by way of example, and the connection between the two is not limited.
  • the jitter detecting device 101 performs jitter detection, obtains a jitter signal, and transmits the jitter signal to the SOC 102; the SOC 102 receives the jitter signal sent by the jitter detecting device 101, and sends a control signal to the motor driver 104 and the photosensitive sensor 105 according to the jitter signal; The driver 104 receives the control signal sent by the SOC 102, and drives the optical compensation lens group movement in the optical image stabilization lens 103 according to the above control signal; the light sensor 105 receives the control signal sent by the SOC 102, and collects the light passing through the optical image stabilization lens 103 to form an anti-shake. image.
  • the photosensitive sensor 105 collects light to form an image, and when the collected light is focused on the center of the target surface of the photosensitive sensor 105, a clear image is formed, and when the collected light is focused, the position of the light is deviated from the photosensitive sensor 105. At the center of the target surface, an image with blurred images is formed.
  • the photosensitive sensor 105 collects light that has passed through the optical image stabilization lens 103 to form an image.
  • the above jitter signal may be a signal for information such as a jitter angle, a jitter frequency, and the like.
  • the above control signals can be considered to exist in the following two cases:
  • the SOC 102 determines the displacement of the anti-shake optical compensation lens group in the optical image stabilization lens 103 to ensure that the optical image stabilization is performed.
  • the light of the lens 103 is focused on the center of the target surface of the photosensitive sensor 105, thereby forming a clear image, and the control signal is a signal for the displacement;
  • the SOC 102 needs to receive an image formed by the photosensitive sensor 105, and process the image to obtain a monitoring video.
  • the control signal can be understood as a signal for notifying the photosensitive sensor 105 to perform image acquisition.
  • the above displacement may be a horizontal displacement or a vertical displacement.
  • control signal by taking the above as an example, and does not limit the specific form of the control signal.
  • the jitter detecting device 101 may be a gyroscope.
  • the above-mentioned surveillance camera may include a plurality of optical image stabilization lenses to expand the field of view of the entire camera.
  • the above-mentioned surveillance camera includes at least two optical image stabilization lenses 103, and each optical image stabilization lens 103 corresponds to a different field of view range, and passes through each of the optical image stabilization lenses 103.
  • the light rays can form different images, and the number of the photosensitive sensors 105 is equal to the number of the optical image stabilization lenses 103 in order to ensure that the images corresponding to the field of view of the respective image stabilization lenses 103 are captured.
  • optical anti-shake lens and a corresponding driver are currently available, but the optical anti-shake lens has not been applied to the surveillance camera.
  • the optical anti-shake lens is introduced into the surveillance camera to improve the camera shake. The picture quality of the image is very helpful.
  • the optical image stabilization lens 103 further includes: a photosensitive lens group.
  • the optical image stabilization lens 103 includes: a photosensitive lens group 103A and an anti-shake optical compensation lens group 103B;
  • the photosensitive lens group 103A is located at the front end of the anti-shake optical compensation lens group 103B; the photosensitive sensor 105 is located at the rear end of the anti-shake optical compensation lens group 103B.
  • the direction of the anti-shake optical compensation lens group 103B facing the shooting scene is the front end of the optical anti-shake lens group 103B, and the opposite direction is the rear end of the anti-shake optical compensation lens group 103B.
  • the photosensitive lens group 103A may include: a magnifying lens group and a focusing lens group; wherein the focusing lens group is located at the rear end of the magnifying lens group and located at the front end of the anti-shake optical compensation lens group 103B.
  • the direction of the magnifying lens group facing the shooting scene is the front end of the magnifying lens group, and the opposite direction is the rear end of the magnifying lens group.
  • the above magnifying lens sheet group includes at least one lens.
  • the magnifying lens sheet group includes at least two lenses.
  • the focusing lens group includes at least two lenses.
  • the motor driver 104 may include: a motor driving chip and an optical compensation motor; wherein
  • the motor drive chip is electrically connected to the SOC and the optical compensation motor respectively; the optical compensation motor is connected with the anti-shake optical compensation lens group to drive the anti-shake optical compensation lens group to move.
  • the monitoring cameras include: a jitter detecting device, a SOC, an optical image stabilization lens including a movable anti-shake optical compensation lens group, a motor driver, and a photosensitive sensor, since the jitter detecting device will shake signals Sending to the SOC connected thereto, the SOC can send a control signal to the motor driver and the photosensitive sensor connected thereto according to the jitter signal, and after receiving the control signal, the motor driver drives the anti-shake optical compensation lens in the optical anti-shake lens connected thereto The group moves to adjust the focus of the light through the optical image stabilization lens on the photosensitive sensor to obtain an anti-shake image. Therefore, the monitoring camera provided by the above various application embodiments can be used to capture a clear picture when the monitoring camera is shaken. Monitor the video.
  • the embodiment of the present application provides a storage medium for storing executable program code, which is used to execute the anti-shake method of the camera provided by the embodiment of the present application.
  • the camera has a lens including a movable anti-shake lens, a jitter detecting device, and an image sensor; in particular, an anti-shake method of any of the cameras provided by the embodiments of the present application.
  • the storage medium stores an application program for performing the anti-shake method of the camera provided by the embodiment of the present application at the time of operation, so that the anti-shake function can be realized by using the positional movement of the lens, which is different from the prior art.
  • Anti-shake processes the image to complete the anti-shake function.
  • the anti-shake method of the embodiment of the present application is not limited by the image frame rate, and can perform anti-shake processing for higher or lower frequency jitter, and can improve anti-shake performance.
  • the embodiment of the present application provides an application program for performing the anti-shake method of the camera provided by the embodiment of the present application at runtime.
  • the camera has a lens including a movable anti-shake lens, a jitter detecting device, and an image sensor; in particular, an anti-shake method of any of the cameras provided by the embodiments of the present application.

Abstract

本申请实施例提供了一种摄像机的防抖方法及摄像机，所述方法包括：获取摄像机当前的抖动数据，所述抖动数据包括摄像机抖动时的位置变化数据；所述抖动数据，通过所述抖动检测器件检测获得；按照预设的抖动数据与防抖镜片进行防抖的位置变化的关系，确定防抖镜片的移动数据；根据所述移动数据调整防抖镜片的位置，以使所述图像传感器拍摄防抖后的图像。应用本申请实施例能够针对更高或更低频率的抖动进行防抖处理，能够提高防抖性能。

Description

一种摄像机的防抖方法及摄像机
本申请要求于2016年12月02日提交中国专利局、申请号为201611097722.9发明名称为“一种摄像机的防抖方法及摄像机”的中国专利申请，以及申请号为201621316113.3发明名称为“一种监控摄像机”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及摄像机领域，特别是涉及一种摄像机的防抖方法及摄像机。
背景技术
目前带有防抖功能的摄像机，如安防领域的摄像机，均普遍采用电子防抖技术。电子防抖实际上是一种通过降低画质来补偿抖动的技术。电子防抖的防抖频率受图像帧率的限制，因此不能针对更高或更低频率的抖动进行防抖，导致电子防抖的防抖性能不理想。
发明内容
本申请实施例的目的在于提供一种摄像机的防抖方法及摄像机，以提高防抖性能。具体技术方案如下：
本申请实施例提供了一种摄像机的防抖方法，所述摄像机具有包含可移动的防抖镜片的镜头、抖动检测器件和图像传感器，所述方法包括：
获取所述摄像机当前的抖动数据，所述抖动数据包括所述摄像机抖动时的位置变化数据；所述抖动数据，通过所述抖动检测器件检测获得；
按照预设的抖动数据与防抖镜片进行防抖的位置变化的关系，确定所述防抖镜片的移动数据；
根据所述移动数据调整所述防抖镜片的位置，以使所述图像传感器拍摄防抖后的图像。
可选的，所述获取摄像机当前的抖动数据的步骤，为：按预设周期获取摄像机当前的抖动数据；
所述抖动时的位置变化数据，为：相对于上一周期的角度变化幅度值；
在按照预设的抖动数据与防抖镜片进行防抖的位置变化的关系，确 定防抖镜片的移动数据的步骤之前，所述方法还包括：
根据所述角度变化幅度值和预设的抖动阈值和静止阈值，判断预设数量个周期是否连续发生抖动或判断预设数量个周期是否连续为静止，并根据判断结果开启防抖功能或关闭防抖功能；
当开启防抖功能时，执行所述按照预设的抖动数据与防抖镜片进行防抖的位置变化的关系，确定防抖镜片的移动数据的步骤。
可选的，所述根据所述角度变化幅度值和预设的抖动阈值和静止阈值，判断预设数量个周期是否连续发生抖动或判断预设数量个周期是否连续为静止，并根据判断结果开启防抖功能或关闭防抖功能的步骤，包括：
获得上一周期确定的第一摄像机状态；所述摄像机状态包括：静止状态或抖动状态；
当所述第一摄像机状态为静止状态时：
根据所述角度变化幅度值和预设的抖动阈值，确定本周期是否发生抖动并记录；
判断预设数量个周期是否连续发生抖动，若是，则确定本周期的第二摄像机状态为抖动状态，开启防抖功能；若否，则确定本周期的第二摄像机状态为静止状态，防抖功能保持关闭；
当所述第一摄像机状态为抖动状态时：
根据所述角度变化幅度值和预设的静止阈值，确定本周期是否为静止并记录；
判断预设数量个周期是否连续为静止，若是，则确定本周期的第二摄像机状态为静止状态，关闭防抖功能；若否，则确定本周期的第二摄像机状态为抖动状态，防抖功能保持开启。
可选的，所述根据所述角度变化幅度值和预设的抖动阈值，确定本周期是否发生抖动并记录的步骤，包括：
判断所述角度变化幅度值是否大于预设的抖动阈值，如果是，确定本周期发生抖动，记录抖动次数，如果否，确定未发生抖动，抖动次数清零；
所述根据所述角度变化幅度值和预设的静止阈值，确定本周期是否为静止并记录的步骤，包括：
判断所述角度变化幅度值是否小于预设的静止阈值，如果是，确定本周期为静止，记录静止次数，如果否，确定本周期不是静止，静止次数清零。
可选的，所述预设的抖动数据与防抖镜片进行防抖的位置变化的关系，包括：预设焦距下，角度变化幅度值与防抖镜片补偿向量的对应关系；
所述按照预设的抖动数据与防抖镜片进行防抖的位置变化的关系，确定防抖镜片的移动数据的步骤，包括：
按照所述预设焦距下，角度变化幅度值与防抖镜片补偿向量的对应关系，确定防抖镜片的移动方向和移动距离；
所述根据所述移动数据调整防抖镜片的位置，以使所述图像传感器拍摄防抖后的图像的步骤，包括：
按照确定的所述防抖镜片的移动方向和移动距离，调整防抖镜片的位置，以使所述图像传感器拍摄防抖后的图像。
可选的，所述抖动检测器件为陀螺仪；
所述获取摄像机当前的抖动数据的步骤，包括：
接收陀螺仪发送的当前的角速度数据；
按照所述预设周期的时长，计算出相对于上一周期的角度变化幅度值。
可选的，所述方法还包括：
接收用户的开启防抖功能或关闭防抖功能的操作指令；
按照所述操作指令，开启或关闭防抖功能；和/或
接收并保存用户设置的防抖等级；所述防抖等级包括：抖动阈值和/静止阈值。
本申请实施例还提供了一种摄像机的防抖装置，所述摄像机具有包含可移动的防抖镜片的镜头、抖动检测器件和图像传感器，所述装置包括：
抖动获取模块，用于获取所述摄像机当前的抖动数据，所述抖动数据包括所述摄像机抖动时的位置变化数据；所述抖动数据，通过所述抖动检测器件检测获得；
数据确定模块，按照预设的抖动数据与防抖镜片进行防抖的位置变 化的关系，确定所述防抖镜片的移动数据；
位置调整模块，用于根据所述移动数据调整所述防抖镜片的位置，以使所述图像传感器拍摄防抖后的图像。
可选的，所述抖动获取模块，具体用于：按预设周期获取摄像机当前的抖动数据；
所述抖动时的位置变化数据，为：相对于上一周期的角度变化幅度值；
所述装置还包括：
防抖功能开关模块，用于根据所述角度变化幅度值和预设的抖动阈值和静止阈值，判断预设数量个周期是否连续发生抖动或判断预设数量个周期是否连续为静止，并根据判断结果开启防抖功能或关闭防抖功能；
当开启防抖功能时，触发所述数据确定模块。
可选的，所述防抖功能开关模块，包括：
第一摄像机状态获取子模块，用于获得上一周期确定的第一摄像机状态；所述摄像机状态包括：静止状态或抖动状态；
静止状态第一判断子模块，用于当所述第一摄像机状态为静止状态时：
根据所述角度变化幅度值和预设的抖动阈值，确定本周期是否发生抖动并记录；
静止状态第二判断子模块，用于判断预设数量个周期是否连续发生抖动，若是，则确定本周期的第二摄像机状态为抖动状态，开启防抖功能；若否，则确定本周期的第二摄像机状态为静止状态，防抖功能保持关闭；
抖动状态第一判断子模块，用于当所述第一摄像机状态为抖动状态时：
根据所述角度变化幅度值和预设的静止阈值，确定本周期是否为静止并记录；
抖动状态第二判断子模块，用于判断预设数量个周期是否连续为静止，若是，则确定本周期的第二摄像机状态为静止状态，关闭防抖功能；若否，则确定本周期的第二摄像机状态为抖动状态，防抖功能保持开启。
可选的，所述静止状态第一判断子模块，具体用于：
判断所述角度变化幅度值是否大于预设的抖动阈值，如果是，确定本周期发生抖动，记录抖动次数，如果否，确定未发生抖动，抖动次数清零；
所述抖动状态第一判断子模块，具体用于：
判断所述角度变化幅度值是否小于预设的静止阈值，如果是，确定本周期为静止，记录静止次数，如果否，确定本周期不是静止，静止次数清零。
可选的，所述预设的抖动数据与防抖镜片进行防抖的位置变化的关系，包括：预设焦距下，角度变化幅度值与防抖镜片补偿向量的对应关系；
所述数据确定模块，具体用于：
按照所述预设焦距下，角度变化幅度值与防抖镜片补偿向量的对应关系，确定防抖镜片的移动方向和移动距离；
所述位置调整模块，具体用于：
按照确定的所述防抖镜片的移动方向和移动距离，调整防抖镜片的位置，以使所述图像传感器拍摄防抖后的图像。
可选的，所述抖动检测器件为陀螺仪；
所述抖动获取模块，包括：
接收子模块，用于接收陀螺仪发送的当前的角速度数据；
计算子模块，用于按照所述预设周期的时长，计算出相对于上一周期的角度变化幅度值。
可选的，所述装置还包括：
接收模块，用于接收用户的开启防抖功能或关闭防抖功能的操作指令；
防抖开关模块，用于按照所述操作指令，开启或关闭防抖功能；和/或
防抖设置模块，用于接收并保存用户设置的防抖等级；所述防抖等级包括：抖动阈值和/静止阈值。
本申请实施例还提供了一种摄像机，包括：包含可移动的防抖镜片的镜头、抖动检测器件、图像传感器和第一处理器；
所述镜头，用于光学取景；
所述抖动检测器件，用于检测所述摄像机当前的抖动数据；
所述图像传感器，用于拍摄图像；
所述第一处理器，用于获取所述摄像机当前的抖动数据，所述抖动数据包括所述摄像机抖动时的位置变化数据；所述抖动数据，通过所述抖动检测器件检测获得；按照预设的抖动数据与防抖镜片进行防抖的位置变化的关系，确定所述防抖镜片的移动数据；根据所述移动数据调整所述防抖镜片的位置，以使所述图像传感器拍摄防抖后的图像。
可选的，所述抖动检测器件具体用于：按预设周期获取所述摄像机当前的抖动数据；
所述抖动时的位置变化数据，为：相对于上一周期的角度变化幅度值；
所述第一处理器具体用于：
根据所述角度变化幅度值和预设的抖动阈值和静止阈值，判断预设数量个周期是否连续发生抖动或判断预设数量个周期是否连续为静止，并根据判断结果开启防抖功能或关闭防抖功能；
当开启防抖功能时，按照预设的抖动数据与防抖镜片进行防抖的位置变化的关系，确定所述防抖镜片的移动数据。
可选的，所述摄像机还包括：第二处理器；所述第二处理器，用于接收用户的开启防抖功能或关闭防抖功能的操作指令；
按照所述操作指令，向所述第一处理器发送开启或关闭防抖功能的指令；和/或
接收用户设置的防抖等级，发送至所述第一处理器进行保存；所述防抖等级包括：抖动阈值和/静止阈值。
本申请实施例提供了一种存储介质，用于存储可执行代码，所述可执行代码用于在运行时执行：本申请实施例所提供的摄像机的防抖方法。
本申请实施例提供了一种应用程序，用于在运行时执行：本申请实施例所提供的摄像机的防抖方法。
本申请实施例提供的一种摄像机的防抖方法及摄像机，通过抖动检测器件获取摄像机的当前位置变化的抖动数据。按照预设的抖动数据与防抖镜片 进行防抖的位置变化的关系，确定防抖镜片的移动数据。根据所述移动数据调整防抖镜片的位置，以使所述图像传感器拍摄防抖后的图像。本申请利用镜片的位置移动完成防抖功能，不同于现有技术的电子防抖对图像进行处理完成防抖功能。应用本申请实施例的防抖方法不受图像帧率的限制，能够针对更高或更低频率的抖动进行防抖处理，能够提高防抖性能。当然，实施本申请的任一产品或方法并不一定需要同时达到以上所述的所有优点。
本申请实施例公开了一种监控摄像机，以在监控摄像机发生抖动时依然能够拍摄到画面清晰的监控视频。
为达到上述目的，本申请实施例公开了一种监控摄像机，所述监控摄像机包括：抖动检测器件、系统级芯片SOC、包含可移动防抖光学补偿镜片组的光学防抖镜头、电机驱动器和感光传感器；其中，
所述抖动检测器件与所述SOC电连接，将抖动信号发送至所述SOC；
所述SOC分别与所述抖动检测器件、所述电机驱动器和所述感光传感器电连接，接收所述抖动检测器件发送的抖动信号，根据抖动信号向所述电机驱动器和所述所述感光传感器发送控制信号；
所述电机驱动器与所述SOC和所述防抖光学补偿镜片组连接，接收所述SOC发送的控制信号，驱动所述防抖光学补偿镜片组移动；
所述感光传感器位于所述光学防抖镜头的后端，接收所述SOC发送的控制信号，采集经过所述光学防抖镜头的光线形成防抖图像。
在本申请的一种实现方式中，所述光学防抖镜头，还包括：感光镜片组；其中，
所述感光镜片组位于所述防抖光学补偿镜片组的前端；
所述感光传感器位于所述防抖光学补偿镜片组的后端。
在本申请的一种实现方式中，所述感光镜片组，包括：放大镜片组和聚焦镜片组；其中，
所述聚焦镜片组位于所述放大镜片组的后端，且位于所述防抖光学补偿镜片组的前端。
在本申请的一种实现方式中，所述放大镜片组包括至少两个镜片。
在本申请的一种实现方式中，所述聚焦镜片组包括至少两个镜片。
在本申请的一种实现方式中，所述电机驱动器，包括：电机驱动芯片和光学补偿马达；其中，
所述电机驱动芯片分别与所述SOC和所述光学补偿马达电连接；
所述光学补偿马达与所述防抖光学补偿镜片组连接，驱动所述防抖光学补偿镜片组移动。
在本申请的一种实现方式中，所述抖动检测器件为陀螺仪。
在本申请的一种实现方式中，所述监控摄像机包括至少两个所述光学防抖镜头；
所述感光传感器的数量与所述光学防抖镜头的数量相等。
由以上可见，本申请实施例提供的监控摄像机，包括：抖动检测器件、SOC、包含可移动防抖光学补偿镜片组的光学防抖镜头、电机驱动器以及感光传感器，由于抖动检测器件会将抖动信号发送至与其连接的SOC，SOC可以根据该抖动信号向与其连接的电机驱动器和感光传感器发送控制信号，电机驱动器接收到上述控制信号之后，驱动与其连接的光学防抖镜头中的防抖光学补偿镜片组移动，从而调整经过光学防抖镜头的光线在感光传感器上的聚焦点得到防抖图像，因而应用本申请实施例提供的监控摄像机，在监控摄像机发生抖动时，依然能够拍摄到画面清晰的监控视频。
附图说明
为了更清楚地说明本申请实施例和现有技术的技术方案，下面对实施例和现有技术中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1为本申请实施例的摄像机的防抖方法的一种流程图；
图2为本申请实施例的摄像机的防抖方法的另一种流程图：
图3为图2所示实施例中步骤211的具体流程图；
图4为本申请实施例的摄像机的防抖装置的一种结构图；
图5为本申请实施例的摄像机的防抖装置的另一种结构图；
图6为本申请实施例的摄像机的第一种结构图；
图7为本申请实施例的摄像机的第二种结构示意图；
图8为本申请实施例的摄像机的第三种结构示意图。。
具体实施方式
为使本申请的目的、技术方案、及优点更加清楚明白，以下参照附图并举实施例，对本申请进一步详细说明。显然，所描述的实施例仅仅是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
本申请实施例公开了一种摄像机的防抖方法及摄像机，能够提高防抖性能。下面首先对本申请实施例提供的一种摄像机的防抖方法进行介绍。
目前，摄像机已经广泛应用于运动摄像、安防、交通监控等诸多领域。为了获得更清晰可靠的图像画面，要求摄像机具备防抖性能。目前摄像机普遍采用电子防抖技术，该技术是针对CCD上的图像进行分析，然后利用边缘图像进行补偿的技术。电子防抖实际上是一种通过降低画质来补偿抖动的技术。电子防抖的频率受拍摄图像帧率的限制，无法针对更高或更低的抖动进行防抖处理，因此防抖性能较差。
本申请针对摄像机提出一种防抖方法，在摄像机的镜头中包含可移动的防抖镜片，通过防抖镜片和抖动检测器件、图像传感器配合来实现光学防抖。
参见图1，图1为本申请实施例的摄像机的防抖方法的一种流程图。包括如下步骤：
步骤101，通过该抖动检测器件，获取摄像机当前的抖动数据。
摄像机发生抖动时会发生位置的变化，将摄像机的抖动程度以量化的数值体现为抖动数据。
抖动数据包括摄像机抖动时的位置变化数据。摄像机位置的变化包括摄像机的角度变化。
当前的抖动数据为当前时刻的摄像机的抖动数据。抖动数据，通过抖动 检测器件检测获得。
步骤102，根据摄像机当前的抖动数据、以及预设的抖动数据与防抖镜片进行防抖的位置变化的关系，确定防抖镜片的移动数据。防抖镜片的移动数据即为防抖镜片的位置变化数据。
预设的抖动数据与防抖镜片进行防抖的位置变化的关系，是预先根据摄像机抖动检测器件与防抖镜片的位置关系，抖动方向与防抖镜片移动方向的关系，焦距、抖动距离、抖动角度与防抖镜片移动距离的关系得出的关系。该关系可以以公式表示或者以表格表示。通过该关系，可以获取任一个抖动数据对应的防抖镜片进行防抖的移动数据。该移动数据包括移动方向和移动距离，换句话说，该位置变化数据包括位置变化方向和位置变化距离。
需要说明的是，防抖镜片可以在上下左右四个方向进行移动。
步骤103，根据移动数据调整防抖镜片的位置，以使图像传感器拍摄防抖后的图像。
根据移动数据确定防抖镜片的位置，移动防抖镜片至确定的位置完成防抖补偿移动，以使图像传感器拍摄防抖后的图像。从而能够获得防抖后的拍摄画面。
可见，本申请实施例提供的摄像机的防抖方法，通过抖动检测器件获取摄像机当前位置变化的抖动数据。按照预设的抖动数据与防抖镜片进行防抖的位置变化的关系，确定防抖镜片的移动数据。并根据移动数据调整防抖镜片的位置，以使图像传感器拍摄防抖后的图像。本申请利用防抖镜片的位置移动完成防抖功能，不同于现有技术的电子防抖对图像进行处理完成防抖功能。应用本申请实施例的防抖方法不受图像帧率的限制，能够针对更高或更低频率的抖动进行防抖处理，能够提高防抖性能。
作为另一种实施例，参见图2，图2为本申请实施例的摄像机的防抖方法的另一种流程图。包括如下步骤：
步骤210，按预设周期获取摄像机当前的抖动数据。或者说，每个预设周期，通过该抖动检测器件获取摄像机当前的抖动数据。
抖动数据包括摄像机抖动时的位置变化数据。抖动时的位置变化数据，为：摄像机当前所在周期相对于上一周期的角度变化幅度值。
抖动数据，通过抖动检测器件检测获得。抖动检测器件为陀螺仪。
其中，预设周期为根据工业需求或人工设置的摄像器的抖动检测周期， 预设周期以微秒计。
步骤210，具体包括：
第一步，接收陀螺仪发送的当前的角速度数据。
其中，陀螺仪检测抖动并发送角速度数据属于现有技术，在此不做赘述。
第二步，按照预设周期的时长、所述当前的角速度数据、以及上一周期接收到的角速度数据，计算出摄像机当前所在周期相对于上一周期的角度变化幅度值。
第二步具体为，将当前的角速度数据，以预设周期为时间段积分计算获得摄像机当前所在周期相对于上一周期的角度变化幅度值。其中，以一时间段积分计算属于现有技术，在此不做赘述。
步骤211，根据角度变化幅度值和预设的抖动阈值和静止阈值，判断预设数量个周期是否连续发生抖动或判断预设数量个周期是否连续为静止，并根据判断结果开启防抖功能或关闭防抖功能。
或者说，根据摄像机预设数量个周期的抖动数据和预设的抖动阈值和静止阈值，判断摄像机预设数量个周期是否连续发生抖动，如果是，开启防抖功能。
可以理解的是，每个预设周期执行图2所示实施例时，都从步骤210开始执行，然后执行步骤211，且在步骤211确定开启防抖功能时，继续执行步骤212及步骤213。如果关闭了防抖功能，则不再执行步骤212及步骤213。
具体来说，步骤211可以包括：
确定当前所在周期的上一周期的第一摄像机状态；所述摄像机状态包括：静止状态或抖动状态。
为了区分描述，将当前所在周期的上一周期的摄像机状态称为第一摄像机状态，将当前周期的摄像机状态称为第二摄像机状态。
当所述第一摄像机状态为静止状态时：
根据当前所在周期的抖动数据中包括的角度变化幅度值和预设的抖动阈值，确定当前所在周期是否发生抖动；
判断预设数量个周期是否连续发生抖动，若是，则确定当前所在周期的第二摄像机状态为抖动状态，开启防抖功能；若否，则确定当前所在周期的第二摄像机状态为静止状态，防抖功能保持关闭。
当所述第一摄像机状态为抖动状态时：
根据当前所在周期的抖动数据中包括的角度变化幅度值和预设的静止阈值，确定当前所在周期是否为静止；
判断预设数量个周期是否连续为静止状态静止，若是，则确定当前所在周期的第二摄像机场景状态为静止场景状态，关闭防抖功能；若否，则确定当前所在周期的第二摄像机场景状态为抖动场景状态，防抖功能保持开启。
抖动阈值和静止阈值为根据工业需求或人工设置的摄像器的抖动判定阈值和静止判定阈值。在本申请实施例中，抖动阈值以A表示，静止阈值以B表示。
参见图3，图3为图2所示实施例中步骤211的具体流程图。包括如下步骤：
步骤2111，获得上一周期确定的第一摄像机状态；或者说，确定当前所在周期的上一周期的第一摄像机状态；摄像机状态包括：静止状态或抖动状态。
在图2所示实施例中，为了区分描述，将当前所在周期的上一周期的摄像机状态称为第一摄像机状态，将当前周期的摄像机状态称为第二摄像机状态。
当第一摄像机状态为静止状态时，执行步骤2112：
步骤2112，判断当前所在周期的抖动数据中包括的角度变化幅度值是否大于预设的抖动阈值。如果是，执行步骤2113，确定本周期也就是当前所在周期发生抖动，记录抖动次数。其中，抖动次数是通过抖动计数器CNTa来记录，此时CNTa+1。并在步骤2113之后执行步骤2115；如果否，执行步骤2114，确定未发生抖动，抖动次数CNTa清零。并在步骤2114之后执行步骤2118，确定本周期的第二摄像机状态为静止状态，并继续执行步骤2119，防抖功能保持关闭。
步骤2115，判断预设数量个周期是否连续发生抖动，具体为判断CNTa是否大于阈值M，M是大于0的正整数。若是，则执行步骤2116，确定本周期的第二摄像机状态为抖动状态，静止次数CNTb清零。继续执行步骤2117，开启防抖功能；若否，则执行步骤2118，确定本周期的第二摄像机状态为静止状态，并继续执行步骤2119，防抖功能保持关闭。
当第一摄像机状态为抖动状态时，执行步骤2122：
步骤2122，判断当前所在周期的抖动数据中包括的角度变化幅度值是 否小于预设的静止阈值。如果是，执行步骤2123，确定本周期为静止，记录静止次数。其中，静止次数是通过静止计数器CNTb来记录，此时CNTb+1。并在步骤2123之后，执行步骤2125；如果否，执行步骤2124，确定本周期不是静止，静止次数CNTb清零。并在步骤2124之后，执行步骤2128，确定本周期的第二摄像机状态为抖动状态，并继续执行步骤2129，防抖功能保持开启。
步骤2125，判断预设数量个周期是否连续为静止，具体为判断CNTb是否大于阈值N。N是大于0的正整数。若是，则执行步骤2126，确定本周期的第二摄像机状态为静止状态，抖动次数CNTa清零。继续执行步骤2127，关闭防抖功能；若否，则执行步骤2128，确定本周期的第二摄像机状态为抖动状态，并继续执行步骤2129，防抖功能保持开启。
其中，A和B为大于0的自然数，在本申请实施例的方案中A≥B，说明从静止状态判定为抖动状态的抖动判定阈值大于或等于，从抖动状态判定为静止状态的静止判定阈值，A可以理解为静止状态下的剧烈抖动程度，B可以理解为抖动状态下的轻微抖动程度。M和N为大于0的正整数，M和N可以为相同或者不同数值。M可以理解为累加的静止状态下的连续剧烈抖动的次数，N可以理解为累加的抖动状态下连续轻微抖动的次数。
当步骤2117及步骤2129开启防抖功能时，继续执行步骤212。
步骤212，当开启防抖功能时，按照预设的抖动数据与防抖镜片进行防抖的位置变化的关系，确定防抖镜片的移动数据。
预设的抖动数据与防抖镜片进行防抖的位置变化的关系，包括：预设焦距下，摄像机的角度变化幅度值与防抖镜片补偿向量的对应关系。因此步骤212具体为：当开启防抖功能时，按照当前焦距下，角度变化幅度值与防抖镜片补偿向量的对应关系，确定防抖镜片的移动方向和移动距离，也就是确定防抖镜片的位置变化方向和位置变化距离。
以下举例说明预设焦距下，摄像机的角度变化幅度值与防抖镜片补偿向量的对应关系。参见表1，表1为预设焦距下，摄像机的角度变化幅度值与防抖镜片补偿向量的对应关系举例表，表1如下：
表1
Figure PCTCN2017114003-appb-000001
步骤213，按照确定的防抖镜片的移动方向和移动距离，调整防抖镜片的位置，以使图像传感器拍摄防抖后的图像。
在步骤213之后，本申请实施例的防抖方法还包括：
将图像传感器拍摄的画面转换匹配，使拍摄的画面接近于人眼看到的画面。转换匹配为多种增强画面清晰度及画质的操作，如消除噪声、消除红眼、调整对比度及调整色差。
除上述步骤之外，本申请实施例的防抖方法还包括：
接收用户的开启防抖功能或关闭防抖功能的操作指令。
按照操作指令，开启或关闭防抖功能。和/或
接收并保存用户设置的防抖等级。防抖等级包括：抖动阈值和/静止阈值。
除上述步骤之外，本申请实施例的防抖方法还包括：
接收用户发送的以下一种或多种指令：
开启防抖功能的操作指令、关闭防抖功能的操作指令、防抖等级设置指令；
若接收到用户的开启防抖功能的操作指令，开启防抖功能；
若接收到用户的关闭防抖功能的操作指令，关闭防抖功能；
若接收到用户的防抖等级设置指令，读取并保存所述防抖等级设置指令中携带的防抖等级；所述防抖等级包括：抖动阈值和/静止阈值。
可以理解的是，每个预设周期执行图2所示实施例时，都从步骤210开始执行，然后执行步骤211，且在步骤211确定开启防抖功能时，继续执行步骤212及步骤213。如果关闭了防抖功能，则不再执行步骤212及步骤213。
需要说明的是，用户可以设置不同的防抖等级，也就是更改抖动阈值A或静止阈值B的数值。A或B的数值越小表示防抖等级越高。
可见，本申请实施例提供的摄像机的防抖方法，通过陀螺仪获取摄像机当前的抖动数据，并根据上一周期确定的第一摄像机状态，将当前的抖动数据的角度变化幅度值，与预设的抖动阈值或静止阈值比较，判断预设数量个周期是否连续发生抖动或判断预设数量个周期是否连续为静止，并根据判断结果开启防抖功能或关闭防抖功能。当开启防抖功能时，按照按照当前焦距下，角度变化幅度值与防抖镜片补偿向量的对应关系，确定防抖镜片的移动方向和移动距离。并按照确定的防抖镜片的移动方向和移动距离，调整防抖镜片的位置，以使图像传感器拍摄防抖后的图像。本申请实施例能够提高防抖性能，同时，本申请实施例在防抖功能开启时，能够通过状态判断，当摄像机角度变化幅度持续小于静止阈值的时间达到阈值N时，关闭防抖功能，因此本申请实施例还能够减少防抖部件的工作时间，提高防抖部件的使用寿命。
参见图4，图4为本申请实施例的摄像机的防抖装置的一种结构图，包括：
抖动获取模块401，用于获取摄像机当前的抖动数据，抖动数据包括摄像机抖动时的位置变化数据；抖动数据，通过抖动检测器件检测获得。
数据确定模块402，按照预设的抖动数据与防抖镜片进行防抖的位置变化的关系，确定防抖镜片的移动数据。
位置调整模块403，用于根据移动数据调整防抖镜片的位置，以使图像传感器拍摄防抖后的图像。
可见，本申请实施例提供的摄像机的防抖装置，通过抖动检测器件获取摄像机当前位置变化的抖动数据。按照预设的抖动数据与防抖镜片进行防抖的位置变化的关系，确定防抖镜片的移动数据。并根据移动数据调整防抖镜片的位置，以使图像传感器拍摄防抖后的图像。本申请利用防抖镜片的位置移动完成防抖功能，不同于现有技术的电子防抖对图像进行处理完成防抖功能。应用本申请实施例的防抖方法不受图像帧率的限制，能够针对更高或更低频率的抖动进行防抖处理，能够提高防抖性能。
需要说明的是，本申请实施例的装置是应用上述防抖方法的装置，则上 述防抖方法的所有实施例均适用于该装置，且均能达到相同或相似的有益效果。
作为另一种实施例，参见图5，图5为本申请实施例的摄像机的防抖装置的另一种结构图，包括：
抖动获取模块501，具体用于：按预设周期获取摄像机当前的抖动数据。
抖动数据包括摄像机抖动时的位置变化数据。抖动时的位置变化数据，为：相对于上一周期的角度变化幅度值。
抖动数据，通过抖动检测器件检测获得。抖动检测器件为陀螺仪。
抖动获取模块501，包括：
接收子模块5011，用于接收陀螺仪发送的当前的角速度数据。
计算子模块5012，用于按照预设周期的时长，计算出相对于上一周期的角度变化幅度值。
防抖功能开关模块502，用于根据角度变化幅度值和预设的抖动阈值和静止阈值，判断预设数量个周期是否连续发生抖动或判断预设数量个周期是否连续为静止，并根据判断结果开启防抖功能或关闭防抖功能。
当开启防抖功能时，触发数据确定模块503。
防抖功能开关模块502，包括：
第一摄像机状态获取子模块5021，用于获得上一周期确定的第一摄像机状态；摄像机状态包括：静止状态或抖动状态。
静止状态第一判断子模块5022，用于当第一摄像机状态为静止状态时：
根据角度变化幅度值和预设的抖动阈值，确定本周期是否发生抖动并记录。
静止状态第一判断子模块5022，具体用于：
判断角度变化幅度值是否大于预设的抖动阈值，如果是，确定本周期发生抖动，记录抖动次数，如果否，确定未发生抖动，抖动次数清零。
静止状态第二判断子模块5023，用于判断预设数量个周期是否连续发生抖动，若是，则确定本周期的第二摄像机状态为抖动状态，开启防抖功能。若否，则确定本周期的第二摄像机状态为静止状态，防抖功能保持关闭。
抖动状态第一判断子模块5024，用于当第一摄像机状态为抖动状态时：
根据角度变化幅度值和预设的静止阈值，确定本周期是否为静止并记录。
抖动状态第一判断子模块5024，具体用于：
判断角度变化幅度值是否小于预设的静止阈值，如果是，确定本周期为静止，记录静止次数，如果否，确定本周期不是静止，静止次数清零。
抖动状态第二判断子模块5025，用于判断预设数量个周期是否连续为静止，若是，则确定本周期的第二摄像机状态为静止状态，关闭防抖功能；若否，则确定本周期的第二摄像机状态为抖动状态，防抖功能保持开启。
预设的抖动数据与防抖镜片进行防抖的位置变化的关系，包括：预设焦距下，角度变化幅度值与防抖镜片补偿向量的对应关系。
数据确定模块503，具体用于：
按照预设焦距下，角度变化幅度值与防抖镜片补偿向量的对应关系，确定防抖镜片的移动方向和移动距离。
位置调整模块504，具体用于：
按照确定的防抖镜片的移动方向和移动距离，调整防抖镜片的位置，以使图像传感器拍摄防抖后的图像。
接收模块505，用于接收用户的开启防抖功能或关闭防抖功能的操作指令。
防抖开关模块506，用于按照操作指令，开启或关闭防抖功能。和/或
防抖设置模块507，用于接收并保存用户设置的防抖等级。防抖等级包括：抖动阈值和/静止阈值。
可见，本申请实施例提供的摄像机的防抖装置，通过陀螺仪获取摄像机当前的抖动数据，并根据上一周期确定的第一摄像机状态，将当前的抖动数据的角度变化幅度值，与预设的抖动阈值或静止阈值比较，判断预设数量个周期是否连续发生抖动或判断预设数量个周期是否连续为静止，并根据判断结果开启防抖功能或关闭防抖功能。当开启防抖功能时， 按照按照当前焦距下，角度变化幅度值与防抖镜片补偿向量的对应关系，确定防抖镜片的移动方向和移动距离。并按照确定的防抖镜片的移动方向和移动距离，调整防抖镜片的位置，以使图像传感器拍摄防抖后的图像。本申请实施例能够提高防抖性能，同时，本申请实施例在防抖功能开启时，能够通过状态判断，当摄像机角度变化幅度持续小于静止阈值的时间达到阈值N时，关闭防抖功能，因此本申请能够减少防抖部件的工作时间，提高防抖部件的使用寿命。
参见图6，图6为本申请实施例的摄像机的一种结构图，包括：
镜头601，用于光学取景。镜头601包含可移动的防抖镜片6011。移动防抖镜片可以改变拍摄画面在图像传感器603上的成像位置。
抖动检测器件(陀螺仪)602，用于检测摄像机当前的抖动数据。
抖动检测器件602具体用于：按预设周期获取摄像机当前的抖动数据。抖动检测器件602为陀螺仪。陀螺仪按预设周期获取摄像机当前的抖动数据后发送给第一处理器604。
抖动数据包括摄像机抖动时的位置变化数据。抖动时的位置变化数据，为：相对于上一周期的角度变化幅度值。
图像传感器603，用于拍摄图像。一般是CCD或者CMOS(Complementary Metal Oxide Semiconductor，互补金属氧化物半导体)。图像传感器603将拍摄完成的视频图像信号发送给图像处理芯片606。
第一处理器604，用于获取摄像机当前的抖动数据，抖动数据包括摄像机抖动时的位置变化数据；抖动数据，通过抖动检测器件602检测获得；按照预设的抖动数据与防抖镜片进行防抖的位置变化的关系，确定防抖镜片6011的移动数据；根据移动数据调整防抖镜片6011的位置，以使图像传感器603拍摄防抖后的图像。
第一处理器604具体用于：
根据角度变化幅度值和预设的抖动阈值和静止阈值，判断预设数量个周期是否连续发生抖动或判断预设数量个周期是否连续为静止，并根据判断结果开启防抖功能或关闭防抖功能。
当开启防抖功能时，按照预设的抖动数据与防抖镜片进行防抖的位置变化的关系，确定防抖镜片6011的移动数据。
需要说明的是，第一处理器604包括OIS驱动芯片6041，第一处理器 604的功能由OIS驱动芯片6041完成。
如图6所示，本实施例中摄像机还可以包括：第二处理器605。
第二处理器605，用于接收用户的开启防抖功能或关闭防抖功能的操作指令。
按照操作指令，向第一处理器604发送开启或关闭防抖功能的指令；和/或
接收用户设置的防抖等级，发送至第一处理器604进行保存；防抖等级包括：抖动阈值和/静止阈值。
第二处理器605还用于向镜头601发送镜头控制指令，向图像处理芯片606发送视频图像处理指令。
需要说明的是，第二处理器605包括MCU6051(Microcontroller Unit，微控制单元)，第二处理器605的功能由MCU6051完成。
如图6所示，本实施例中摄像机还可以包括：图像处理芯片606，用于将图像传感器603拍摄的画面转换匹配，使拍摄的画面接近于人眼看到的画面。转换匹配为多种增强画面清晰度及画质的操作，如消除噪声、消除红眼、调整对比度及调整色差。转换匹配后输出视频图像信号。
可见，本申请实施例提供的摄像机，通过陀螺仪获取摄像机当前位置变化的抖动数据。由第一处理器604按照预设的抖动数据与防抖镜片进行防抖的位置变化的关系，确定防抖镜片6011的移动数据。并根据移动数据调整防抖镜片6011的位置，以使图像传感器603拍摄防抖后的图像。本申请利用防抖镜片6011的位置移动完成防抖功能，不同于现有技术的电子防抖对图像进行处理完成防抖功能。应用本申请实施例的摄像机不受图像帧率的限制，能够针对更高或更低频率的抖动进行防抖处理，能够提高防抖性能。同时，本申请实施例的摄像机在防抖功能开启时，能够通过状态判断，在判断预设数量个周期为连续为静止时关闭防抖功能，因此本申请能够减少防抖部件的工作时间，提高防抖部件的使用寿命。
图7为本申请实施例提供的摄像机的第二种结构示意图，该摄像机可以为监控摄像机，包括：抖动检测器件101、SOC(System on Chip，系统级芯片)102、镜头103、电机驱动器104和感光传感器105；其中，
镜头103可以为光学防抖镜头，其中包含可移动光学镜片，或者称为可移动防抖光学补偿镜片组；
抖动检测器件101与SOC102电连接；SOC102分别与抖动检测器件101、电机驱动器104和感光传感器105电连接；电机驱动器104分别与SOC102和光学防抖镜头103中的防抖光学补偿镜片组连接；感光传感器105位于光学防抖镜头104的后端。
其中，可以认为光学防抖镜头104面向拍摄场景的方向为光学防抖镜头的前端，与上述前端相反的方向为光学防抖镜头104的后端。另外，上述感光传感器105可以以紧密连接的方式位于光学防抖镜头104的后端，上述感光传感器105还可以以间隔一定距离的方式位于光学防抖镜头104的后端。本申请并不对此进行限定。
电机驱动器104可以通过连接件与光学防抖镜头103连接，本申请仅仅以此为例进行说明，并不对两者之间的连接方式进行限定。
具体的，抖动检测器件101进行抖动检测，获得抖动信号，并将抖动信号发送至SOC102；SOC102接收抖动检测器件101发送的抖动信号，根据抖动信号向电机驱动器104和感光传感器105发送控制信号；电机驱动器104接收SOC102发送的控制信号，并根据上述控制信号驱动光学防抖镜头103中的光学补偿镜片组移动；感光传感器105接收SOC102发送的控制信号，采集经过光学防抖镜头103的光线形成防抖图像。
根据感光传感器105的成像原理，感光传感器105采集光线进而形成图像，当所采集的光线聚焦于感光传感器105的靶面中心时，形成画面清晰的图像，而当所采集光线聚焦的位置偏离感光传感器105的靶面中心时，形成画面模糊的图像。本实施例中，感光传感器105采集经过光学防抖镜头103的光线形成图像。
上述抖动信号可以是针对抖动角度、抖动频率等信息的信号。上述控制信号可以认为存在以下两种情况：
一种情况，SOC102接收到抖动检测器件101发送的抖动信号后，确定光学防抖镜头103中防抖光学补偿镜片组需要移动的位移，以保证经过光学防抖 镜头103的光线聚焦于感光传感器105的靶面中心，进而形成画面清晰的图像，这时上述控制信号为针对上述位移的信号；
另一种情况，SOC102需接收感光传感器105形成的图像，并对该图像进行处理得到监控视频，这时上述控制信号可以理解为通知感光传感器105进行图像采集的信号。
其中，上述位移可能是水平方向位移，也可能是垂直方向位移。
本申请仅仅以上述为例对控制信号进行说明，并不对控制信号的具体形式进行限定。
在本申请的一种实现方式中，上述抖动检测器件101可以为陀螺仪。
由于通常情况下一个光学防抖镜头的视场范围是有限，为了得到较大的视场范围，上述监控摄像机可以包括多个光学防抖镜头，以扩大整个摄像机的视场范围。鉴于此，在本申请的一种实现方式中，上述监控摄像机包括至少两个光学防抖镜头103，又由于每个光学防抖镜头103对应不同的视场范围，经过各个光学防抖镜头103的光线可以形成不同的图像，为保证拍摄到各个防抖镜头103对应视场范围的图像，感光传感器105的数量与光学防抖镜头103的数量相等。
另外，目前已经存在光学防抖镜头以及相应的驱动程序，但是光学防抖镜头还没有应用到监控摄像机中，本实施例中将光学防抖镜头引入监控摄像机，对于提高监控摄像机抖动情况下所拍摄图像的画面质量有很大帮助。
在本申请的一种实现方式中，参见图2，提供了另一种监控摄像机的结构示意图，与前述实施例相比，本实施例中，光学防抖镜头103，还包括：感光镜片组，这样上述光学防抖镜头103中包括：感光镜片组103A和防抖光学补偿镜片组103B；其中，
感光镜片组103A位于防抖光学补偿镜片组103B的前端；感光传感器105位于防抖光学补偿镜片组103B的后端。
其中，可以认为防抖光学补偿镜片组103B面向拍摄场景的方向为光学防抖镜片组103B的前端，与此相反的方向为防抖光学补偿镜片组103B的后端。
具体的，上述感光镜片组103A可以包括：放大镜片组和聚焦镜片组；其中，聚焦镜片组位于放大镜片组的后端，且位于防抖光学补偿镜片组103B的前端。
其中，可以认为放大镜片组面向拍摄场景的方向为放大镜片组的前端，与此相反的方向为放大镜片组的后端。
上述放大镜片组中包含至少一个镜片，为了得到较佳的光线处理效果，在本申请的一种实现方式中，上述放大镜片组包括至少两个镜片。
上述聚焦镜片组中包含至少一个镜片，为了得到较佳的光线处理效果，在本申请的另一种实现方式中，上述聚焦镜片组包括至少两个镜片。
在本申请的一种实现方式中，电机驱动器104可以包括：电机驱动芯片和光学补偿马达；其中，
电机驱动芯片分别与SOC和光学补偿马达电连接；光学补偿马达与防抖光学补偿镜片组连接，驱动防抖光学补偿镜片组移动。
由以上可见，上述各个实施例提供的监控摄像机，包括：抖动检测器件、SOC、包含可移动防抖光学补偿镜片组的光学防抖镜头、电机驱动器以及感光传感器，由于抖动检测器件会将抖动信号发送至与其连接的SOC，SOC可以根据该抖动信号向与其连接的电机驱动器和感光传感器发送控制信号，电机驱动器接收到上述控制信号之后，驱动与其连接的光学防抖镜头中的防抖光学补偿镜片组移动，从而调整经过光学防抖镜头的光线在感光传感器上的聚焦点得到防抖图像，因而应用上述各个申请实施例提供的监控摄像机，在监控摄像机发生抖动时，依然能够拍摄到画面清晰的监控视频。
本申请实施例提供了一种存储介质，用于存储可执行程序代码，该可执行代码用于在运行时执行：本申请实施例所提供的摄像机的防抖方法。其中，所述摄像机具有包含可移动的防抖镜片的镜头、抖动检测器件和图像传感器；具体地，本申请实施例所提供的任一种摄像机的防抖方法。
本实施例中，存储介质存储有在运行时执行本申请实施例所提供的摄像机的防抖方法的应用程序，因此能够实现：利用镜片的位置移动完成防抖功能，不同于现有技术的电子防抖对图像进行处理完成防抖功能。应用 本申请实施例的防抖方法不受图像帧率的限制，能够针对更高或更低频率的抖动进行防抖处理，能够提高防抖性能。
本申请实施例提供了一种应用程序，该应用程序用于在运行时执行本申请实施例提供的摄像机的防抖方法。其中，所述摄像机具有包含可移动的防抖镜片的镜头、抖动检测器件和图像传感器；具体地，本申请实施例所提供的任一种摄像机的防抖方法。
需要说明的是，在本文中，诸如第一和第二等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来，而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。而且，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括所述要素的过程、方法、物品或者设备中还存在另外的相同要素。
本说明书中的各个实施例均采用相关的方式描述，各个实施例之间相同相似的部分互相参见即可，每个实施例重点说明的都是与其他实施例的不同之处。尤其，对于装置、应用程序及存储介质实施例而言，由于其基本相似于方法实施例，所以描述的比较简单，相关之处参见方法实施例的部分说明即可。
以上所述仅为本申请的较佳实施例而已，并不用以限制本申请，凡在本申请的精神和原则之内，所做的任何修改、等同替换、改进等，均应包含在本申请保护的范围之内。

Claims (18)

  1. 一种摄像机的防抖方法，其特征在于，所述摄像机具有镜头、抖动检测器件和图像传感器，所述镜头包含可移动的防抖镜片，所述防抖方法包括：
    通过所述抖动检测器件获取摄像机当前的抖动数据，所述抖动数据包括摄像机抖动时的位置变化数据；
    根据摄像机当前的抖动数据、以及预设的抖动数据与防抖镜片进行防抖的位置变化的关系，确定防抖镜片的位置变化数据；
    根据所述防抖镜片的位置变化数据调整防抖镜片的位置，以使所述图像传感器拍摄防抖后的图像。
  2. 根据权利要求1所述的方法，其特征在于，所述通过所述抖动检测器件获取摄像机当前的抖动数据的步骤，为：每个预设周期，通过所述抖动检测器件获取摄像机当前的抖动数据；所述抖动数据包括：摄像机当前所在周期相对于上一周期的角度变化幅度值；
    在根据摄像机当前的抖动数据、以及预设的抖动数据与防抖镜片进行防抖的位置变化的关系，确定防抖镜片的位置变化数据的步骤之前，所述方法还包括：
    根据摄像机预设数量个周期的抖动数据和预设的抖动阈值和静止阈值，判断摄像机预设数量个周期是否连续发生抖动，如果是，开启防抖功能；
    所述根据摄像机当前的抖动数据、以及预设的抖动数据与防抖镜片进行防抖的位置变化的关系，确定防抖镜片的位置变化数据的步骤，包括：
    若开启防抖功能，则根据摄像机当前的抖动数据、以及预设的抖动数据与防抖镜片进行防抖的位置变化的关系，确定防抖镜片的位置变化数据。
  3. 根据权利要求2所述的方法，其特征在于，所述根据摄像机预设数量个周期的抖动数据和预设的抖动阈值和静止阈值，判断所述预设数量个周期是否连续发生抖动，如果是，开启防抖功能的步骤，包括：
    确定当前所在周期的上一周期的第一摄像机状态；所述摄像机状态包括：静止状态或抖动状态；
    当所述第一摄像机状态为静止状态时：
    根据当前所在周期的抖动数据中包括的角度变化幅度值和预设的抖动阈值，确定当前所在周期是否发生抖动；
    判断预设数量个周期是否连续发生抖动，若是，则确定当前所在周期的第二摄像机状态为抖动状态，开启防抖功能；若否，则确定当前所在周期的第二摄像机状态为静止状态；
    当所述第一摄像机状态为抖动状态时：
    根据当前所在周期的抖动数据中包括的角度变化幅度值和预设的静止阈值，确定当前所在周期是否为静止并记录；
    判断预设数量个周期是否连续为静止状态静止，若是，则确定当前所在周期的第二摄像机场景状态为静止场景状态，关闭防抖功能；若否，则确定当前所在周期的第二摄像机场景状态为抖动场景状态。
  4. 根据权利要求3所述的方法，其特征在于，所述根据当前所在周期的抖动数据中包括的角度变化幅度值和预设的抖动阈值，确定当前所在周期是否发生抖动的步骤，包括：
    判断当前所在周期的抖动数据中包括的角度变化幅度值是否大于预设的抖动阈值，如果是，确定当前所在周期发生抖动，记录抖动次数，如果否，确定未发生抖动，抖动次数清零；
    所述根据当前所在周期的抖动数据中包括的角度变化幅度值和预设的静止阈值，确定当前所在周期是否为静止的步骤，包括：
    判断当前所在周期的抖动数据中包括的角度变化幅度值是否小于预设的静止阈值，如果是，确定本周期为静止，记录静止次数，如果否，确定本周期不是静止，静止次数清零。
  5. 根据权利要求2所述的方法，其特征在于，所述预设的抖动数据与防抖镜片进行防抖的位置变化的关系，包括：预设焦距下，摄像机的角度变化幅度值与防抖镜片补偿向量的对应关系；
    所述根据摄像机当前的抖动数据、以及预设的抖动数据与防抖镜片进行防抖的位置变化的关系，确定防抖镜片的位置变化数据的步骤，包括：
    按照所述预设焦距下，摄像机的角度变化幅度值与防抖镜片补偿向量的对应关系，确定防抖镜片的位置变化方向和位置变化距离；
    所述根据所述防抖镜片的位置变化数据调整防抖镜片的位置，以使所述图像传感器拍摄防抖后的图像的步骤，包括：
    按照确定的所述防抖镜片的位置变化方向和位置变化距离，调整防抖镜片的位置，以使所述图像传感器拍摄防抖后的图像。
  6. 根据权利要求2-5任一项所述的方法，其特征在于，所述抖动检测器件为陀螺仪；
    所述通过所述抖动检测器件获取摄像机当前的抖动数据的步骤，包括：
    接收陀螺仪发送的当前的角速度数据；
    按照预设周期的时长、所述当前的角速度数据、以及上一周期接收到的角速度数据，计算出摄像机当前所在周期相对于上一周期的角度变化幅度值。
  7. 根据权利要求2-5任一项所述的方法，其特征在于，所述方法还包括：接收用户发送的以下一种或多种指令：
    开启防抖功能的操作指令、关闭防抖功能的操作指令、防抖等级设置指令；
    若接收到用户的开启防抖功能的操作指令，开启防抖功能；
    若接收到用户的关闭防抖功能的操作指令，关闭防抖功能；
    若接收到用户的防抖等级设置指令，读取并保存所述防抖等级设置指令中携带的防抖等级；所述防抖等级包括：抖动阈值和/静止阈值。
  8. 一种摄像机，其特征在于，包括：镜头、抖动检测器件、图像传感器和第一处理器，所述镜头包含可移动的防抖镜片，；
    所述镜头，用于光学取景；
    所述抖动检测器件，用于检测所述摄像机当前的抖动数据；
    所述图像传感器，用于拍摄图像；
    所述第一处理器，用于通过所述抖动检测器件获取所述摄像机当前的抖动数据，所述抖动数据包括所述摄像机抖动时的位置变化数据；所述抖动数据；根据摄像机当前的抖动数据、以及预设的抖动数据与防抖镜片进行防抖的位置变化的关系，确定所述防抖镜片的位置变化数据；根据所述防抖镜片的位置变化数据调整所述防抖镜片的位置，以使所述图像传感器拍摄防抖后的图像。
  9. 根据权利要求8所述的摄像机，其特征在于，
    所述抖动检测器件具体用于：每个预设周期，获取所述摄像机当前的抖动数据；
    所述抖动时的位置变化数据，为：摄像机当前所在周期相对于上一周期的角度变化幅度值；
    所述第一处理器具体用于：
    根据摄像机预设数量个周期的抖动数据和预设的抖动阈值和静止阈值，判断摄像机预设数量个周期是否连续发生抖动或，如果是，开启防抖功能；
    若开启防抖功能，则根据摄像机当前的抖动数据、以及预设的抖动数据与防抖镜片进行防抖的位置变化的关系，确定防抖镜片的位置变化数据。
  10. 根据权利要求9所述的摄像机，其特征在于，所述摄像机还包括：第二处理器；所述第二处理器，用于接收用户发送的以下一种或多种指令：
    开启防抖功能的操作指令、关闭防抖功能的操作指令、防抖等级设置指令；
    若接收到用户的开启防抖功能的操作指令，开启防抖功能；
    若接收到用户的关闭防抖功能的操作指令，关闭防抖功能；
    若接收到用户的防抖等级设置指令，读取并保存所述防抖等级设置指令中携带的防抖等级；所述防抖等级包括：抖动阈值和/静止阈值。
  11. 一种监控摄像机，其特征在于，所述监控摄像机包括：抖动检测器件、系统级芯片、镜头、电机驱动器和感光传感器，其中所述镜头包含可移动光学镜片；其中，
    所述抖动检测器件与所述系统级芯片电连接，将抖动信号发送至所述系统级芯片；
    所述系统级芯片分别与所述抖动检测器件、所述电机驱动器和所述感光传感器电连接，接收所述抖动检测器件发送的抖动信号，根据所述抖动信号向所述电机驱动器和所述感光传感器发送控制信号；
    所述电机驱动器与所述系统芯片和所述光学镜片连接，接收所述系统级 芯片发送的控制信号，驱动所述光学镜片移动；
    所述感光传感器位于所述镜头的后端，接收所述系统级芯片发送的控制信号，采集经过所述镜头的光线形成防抖图像。
  12. 根据权利要求11所述的监控摄像机，其特征在于，所述镜头，还包括：感光镜片；其中，
    所述感光镜片组位于所述光学镜片的前端；
    所述感光传感器位于所述光学镜片的后端。
  13. 根据权利要求12所述的监控摄像机，其特征在于，所述感光镜片，包括：放大镜片和聚焦镜片；其中，
    所述聚焦镜片位于所述放大镜片的后端，且位于所述防抖光学补偿镜片的前端。
  14. 根据权利要求13所述的监控摄像机，其特征在于，
    所述放大镜片包括至少两个镜片。
  15. 根据权利要求13所述的监控摄像机，其特征在于，
    所述聚焦镜片包括至少两个镜片。
  16. 根据权利要求12-15中任一项所述的监控摄像机，其特征在于，所述电机驱动器，包括：电机驱动芯片和光学补偿马达；其中，
    所述电机驱动芯片分别与所述系统级芯片和所述光学补偿马达电连接；
    所述光学补偿马达与所述光学镜片连接，驱动所述光学镜片移动。
  17. 根据权利要求11-15中任一项所述的监控摄像机，其特征在于，
    所述抖动检测器件为陀螺仪。
  18. 根据权利要求11-15中任一项所述的监控摄像机，其特征在于，
    所述监控摄像机包括至少两个所述光学镜头；
    所述感光传感器的数量与所述光学镜头的数量相等。
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