WO2023197844A1 - 对焦方法、对焦装置、电子设备及无人机 - Google Patents

对焦方法、对焦装置、电子设备及无人机 Download PDF

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Publication number
WO2023197844A1
WO2023197844A1 PCT/CN2023/083419 CN2023083419W WO2023197844A1 WO 2023197844 A1 WO2023197844 A1 WO 2023197844A1 CN 2023083419 W CN2023083419 W CN 2023083419W WO 2023197844 A1 WO2023197844 A1 WO 2023197844A1
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Prior art keywords
focusing
information
object distance
preset
phase
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English (en)
French (fr)
Inventor
李昭早
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Autel Robotics Co Ltd
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Autel Robotics Co Ltd
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Classifications

    • 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
    • H04N23/67—Focus control based on electronic image sensor signals
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D47/00—Equipment not otherwise provided for
    • B64D47/08—Arrangements of cameras
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B7/00—Mountings, adjusting means, or light-tight connections, for optical elements
    • G02B7/28—Systems for automatic generation of focusing signals
    • G02B7/285—Systems for automatic generation of focusing signals including two or more different focus detection devices, e.g. both an active and a passive focus detecting device
    • 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
    • G03B13/00—Viewfinders; Focusing aids for cameras; Means for focusing for cameras; Autofocus systems for cameras
    • G03B13/32—Means for focusing
    • G03B13/34—Power focusing
    • G03B13/36—Autofocus systems
    • 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
    • G03B30/00—Camera modules comprising integrated lens units and imaging units, specially adapted for being embedded in other devices, e.g. mobile phones or vehicles
    • 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
    • H04N23/67—Focus control based on electronic image sensor signals
    • H04N23/672—Focus control based on electronic image sensor signals based on the phase difference signals
    • 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
    • H04N23/67—Focus control based on electronic image sensor signals
    • H04N23/673—Focus control based on electronic image sensor signals based on contrast or high frequency components of image signals, e.g. hill climbing method

Definitions

  • the present invention relates to the field of automatic focusing technology, and in particular to a focusing method, a focusing device, electronic equipment and a drone.
  • Focusing refers to the process of adjusting the distance between the lens and the imaging surface according to the distance between the lens and the subject (also called the "object distance"), so that the subject or focus point can be imaged clearly.
  • phase focusing is used to determine the lens movement vector based on the phase difference information provided by CMOS
  • contrast focusing is used to determine the lens position by scanning to obtain the position with the largest contrast between multiple frames of sampled images, or the above phase
  • a mix of focus and contrast focus is used for hybrid focus for coarse and fine adjustments respectively.
  • phase focusing has high light requirements, and the focusing accuracy will be greatly limited in night scenes and large areas of solid color.
  • the focusing speed of contrast focusing is limited, and it is relatively slow.
  • the embodiments of the present application aim to provide a focusing method, a focusing device, an electronic device and a drone, which can solve at least some of the defects of existing focusing solutions.
  • inventions of the present application provide a focusing method.
  • the focusing method includes: when several focusing conditions meet preset standards, obtaining phase information from the phase focusing module and depth information from the obstacle avoidance module; when the phase information is valid information, and the first object distance and the second When the difference between object distances is less than a preset threshold, focus is performed based on the first object distance; wherein the first object distance is determined based on the phase information; the second object distance is determined by the depth Information determination; when the phase information is valid information, the depth information is valid information, and the difference between the first object distance and the second object distance is greater than or equal to a preset threshold, in the Focusing is performed by climbing scanning between the first object distance and the second object distance.
  • the method further includes: when the phase information is invalid information and the depth information is valid information, focusing based on the second object distance; and when the phase information is invalid information , and when the depth information is valid information, focus is performed based on the first object distance.
  • the method also includes: when the phase information and the depth information are both invalid information, determine whether the height of the shooting lens from the ground is greater than a preset height threshold; if so, focus on the far focus; if not , the focus will not be performed.
  • the method further includes: not focusing when at least one of the several focusing conditions does not meet the preset standard.
  • calculating the second object distance based on the depth information specifically includes: obtaining the obstacle distance calculated in real time by the obstacle avoidance module; determining the angle between the lens direction of the shooting lens and the obstacle avoidance module; According to the included angle and the obstacle distance, the distance between the shooting lens and the obstacle is calculated as the second object distance through a trigonometric function.
  • the method further includes: determining that the depth information is valid information when the angle between the shooting lens and the obstacle avoidance module is less than a preset angle threshold and the obstacle distance is less than a preset distance threshold; When the angle between the shooting lens and the obstacle avoidance module is greater than or equal to the preset angle threshold, or the distance to the obstacle is greater than or equal to the preset distance threshold, the depth information is determined to be invalid information.
  • the method further includes: determining whether the current phase information is within a preset value range; if so, determining the phase information to be valid information; if not, determining the phase information to be invalid information.
  • the focus conditions include: changes in sharpness statistical values, changes in the posture of the shooting lens, and changes in image brightness.
  • the method further includes: in consecutive N frames of images, when the change of the sharpness statistical value satisfies the following formula, determining that the change of the sharpness statistical value satisfies a preset standard:
  • FV 0 is the sharpness statistical value at the end of the last focus
  • FV is the sharpness statistical value of the current frame
  • FV 1 is the sharpness statistical value of the previous frame
  • R 0 is the preset first change rate threshold
  • R 1 is the preset second change rate threshold.
  • the method further includes: in M consecutive frames of images, when the posture change of the shooting lens satisfies the following equation, determining that the posture change of the shooting lens meets a preset standard:
  • a is the rotation angular velocity of the shooting lens in the horizontal direction
  • p is the angular velocity of the shooting lens in the vertical direction
  • a 0 is the first rotation angular velocity threshold
  • p 0 is the second rotation angular velocity threshold
  • the method further includes: determining that the brightness change of the image meets a preset standard when the brightness change of the image satisfies the following formula in K consecutive images:
  • Y is the image brightness of the current frame
  • Y 1 is the image brightness of the previous frame
  • ⁇ Y is the first brightness threshold
  • Y 0 is the second brightness threshold.
  • inventions of the present application provide a focusing device.
  • the focusing device includes: an information acquisition module, used to obtain phase information from the phase focusing module and depth information from the obstacle avoidance module when several focusing conditions meet preset standards; an object distance calculation module, used to obtain the phase information from the phase focus module and the depth information from the obstacle avoidance module.
  • the first object distance is calculated according to the phase information
  • the second object distance is calculated according to the depth information
  • a judgment module is used to judge the first object distance and the Whether the difference between the second object distance is less than a preset threshold
  • a focusing module configured to perform when the phase information is valid information and the difference between the first object distance and the second object distance is less than a preset threshold
  • focus is performed based on the first object distance
  • both the phase information and the depth information are valid information
  • the difference between the first object distance and the second object distance When the value is greater than or equal to the preset threshold, focusing is performed by climbing scanning between the first object distance and the second object distance.
  • inventions of the present application provide an electronic device.
  • the electronic device includes: a processor and a memory communicatively connected to the processor; computer program instructions are stored in the memory, and when called by the processor, the computer program instructions cause the processor to execute the above Described focusing method.
  • inventions of the present application provide a drone.
  • the UAV includes: a fuselage; a pan-tilt mounted on the fuselage; a shooting device installed and fixed on the pan-tilt; the shooting device has a phase focusing module for achieving phase focusing; and the acquisition device is used for flying An obstacle avoidance module with depth-of-field information for obstacle avoidance; the obstacle avoidance module is provided on the fuselage; and a focus module is provided on the fuselage; the focus module, the shooting lens and the obstacle avoidance module Communication connection, used to perform the focusing method as described above, to control the shooting device to focus.
  • One of the advantageous aspects of the embodiments of the present application is that by fusing multiple focus judgment conditions and using phase information and depth of field information, it effectively solves specific problems such as heavy fog, large areas of sky or ocean, and other solid-color scenes, as well as insufficient light intensity in night scenes. It is easy to cause out-of-focus problems in scenes, and it can also achieve faster focusing speed.
  • Figure 1 is a schematic diagram of an application scenario of the focusing method according to the embodiment of the present application.
  • Figure 2 is a method flow chart of the focusing method according to the embodiment of the present application.
  • Figure 3 is a schematic diagram of the second object distance calculation method according to the embodiment of the present application.
  • Figure 4 is a method flow chart of the focusing method according to the embodiment of the present application, showing the steps of determining phase information and depth information;
  • Figure 5 is a method flow chart of the focusing method according to the embodiment of the present application, showing the focusing operation steps when both phase information and depth information are invalid information;
  • Figure 6 is a flow chart of a method for determining whether focus conditions meet preset standards according to an embodiment of the present application
  • Figure 7 is a method flow chart of the focusing method according to the embodiment of the present application, showing the steps of the focus detection stage;
  • Figure 8 is a method flow chart of the focusing method according to the embodiment of the present application, showing the steps of the fusion focus processing stage;
  • Figure 9 is a functional block diagram of the focusing device according to the embodiment of the present application.
  • Figure 10 is a functional block diagram of a focusing device according to another embodiment of the present application.
  • Figure 11 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
  • FIG. 1 is a schematic diagram of an application scenario of the focusing method provided by an embodiment of the present application.
  • the application scenario could be a drone.
  • the UAV may be an unmanned aerial vehicle driven by any type of power, including but not limited to four-copter UAVs, aircraft with other numbers of rotors and/or rotor configurations, fixed-wing aircraft, model aircraft, and unmanned airships Or unmanned hot air balloon etc.
  • the UAV may include: a body 10 , a gimbal 20 , a shooting device 30 and an obstacle avoidance module 40 .
  • the fuselage 10 is the main structure of the drone and is used to carry one or more functional modules that implement the functions of the drone. Specifically, it can have corresponding size, material or shape according to the needs of the actual situation. For example, it can be provided with an arm extending outward for arranging the blades.
  • the pan/tilt 20 is a mounting and fixing bracket provided on the fuselage 10 . It usually has one or more rotation axes that can control the rotation angle, and can keep the shooting device 30 stable and adjust the shooting angle of the shooting device during the flight of the drone.
  • the photographing device 30 is any type of image acquisition device capable of supporting phase focusing. This includes, but is not limited to, action cameras, high-definition cameras, or wide-angle cameras. Generally, the photographing device 30 may include an optical part that collects light (which may also be called a photographing lens in some embodiments) and a circuit part that senses light to form corresponding data information.
  • an optical part that collects light which may also be called a photographing lens in some embodiments
  • circuit part that senses light to form corresponding data information.
  • the drone can sense the current distance information between the drone and obstacles through real-time image collection to achieve the function of automatic obstacle avoidance.
  • the image information is captured by the photographing device 30 to realize functions such as aerial photography.
  • the application scenario shown in Figure 1 is only for illustrative purposes. Those skilled in the art can add or omit one or more of the devices according to actual needs, and are not limited to those shown in Figure 1 .
  • one or more sensors mounted on the drone body including an altitude sensor for sensing changes in altitude, a GPS module for sensing the position of the drone, and an inertial sensor for sensing changes in the attitude of the drone body
  • an image transmission device used to transmit the collected image information.
  • embodiments of the present application provide a focusing method.
  • This focusing method integrates the depth information of the obstacle avoidance module 40 with the phase information of the shooting device 30 and other focus-related information to improve the focusing speed and success rate.
  • FIG. 2 is a method flow chart of a focusing method provided by an embodiment of the present application. As shown in Figure 2, the focusing method may include the following steps:
  • phase focus module refers to the functional module used to perform phase focus (Phase Detection Auto-focus, PDAF). Specifically, it can be any type of functional module composed of one or more structural components, such as a mask (which can also be called a shield pixel) that is pre-set on the photosensitive device to cover half of the photosensitive area of the pixel.
  • a mask which can also be called a shield pixel
  • the specific implementation is not limited in this application.
  • the obstacle avoidance module refers to the functional module used to obtain the distance between the current position of the drone and obstacles, thereby realizing the automatic obstacle avoidance of the drone.
  • this functional module is called "obstacle avoidance module” based on the functions to be performed.
  • the specific implementation of the obstacle avoidance module is not specifically limited. It only needs to be able to provide UAVs and obstacles. The distance information between them is sufficient. For example, it can be a visual obstacle avoidance module based on binocular vision.
  • phase information is used to represent the data obtained from the phase focusing module and can reflect its phase difference
  • depth information is used to represent the data obtained from the obstacle avoidance module. Data that reflects the distance to obstacles. The phase information and depth The specific data form of the information can be determined according to the actual situation.
  • the object distance can be determined through corresponding calculation methods based on either phase information or depth information.
  • object distance refers to the distance between the lens and the subject (or focus point). Both phase information and depth information can be converted to object distance through appropriate conversion methods.
  • first and second are used in order to distinguish the object distance obtained by conversion based on phase information and depth information.
  • first and second are only used to distinguish object distances converted from different information, and are not used to specifically limit the object distance.
  • the first object distance can be determined through a correspondence table between different phase differences and object distances that is set or configured in advance according to experimental conditions.
  • the calculation of the second object distance the following is a detailed description taking the UAV application scenario shown in Figure 3 as an example:
  • the distance L1 between the drone and the obstacle 40 calculated in real time by the obstacle avoidance module is obtained.
  • the tilt angle ⁇ of the lens direction of the photographing lens 31 is determined.
  • the distance between the shooting lens and the obstacle is calculated through trigonometric functions to obtain the second object distance L2.
  • the obstacle distance L1 can be directly read through the obstacle avoidance module, and the tilt angle ⁇ can be determined by obtaining the gimbal rotation angle of the drone.
  • the phase information and depth information can also be judged separately to determine whether the two pieces of information are valid information.
  • valid information means that the data information has a high probability or certainty that it is credible and effective and can be used for reference or use.
  • invalid information is data information that seriously deviates from normal conditions, cannot be used for reference or has no specific meaning.
  • corresponding judgment standards can be set according to different actual situations (such as specific application scenarios) to determine whether the phase information and depth information are valid respectively, and can be used in subsequent focusing method steps.
  • a preset numerical range can be used as a judgment criterion.
  • the phase information is determined to be valid information.
  • the phase information is at this number
  • the phase information is determined to be invalid information.
  • This determination step may specifically include:
  • the preset angle threshold and the preset distance threshold are both empirical values and can be set by technicians according to actual needs.
  • the preset angle threshold can be set to 30°
  • the preset distance threshold can be set to 10m.
  • the included angle and obstacle distance both meet the preset standards, it can be determined with greater certainty that the depth information at this time is effective and reliable, and can be used as one of the reference information for focusing operations.
  • the data information of the depth information does not have sufficient confidence at this time. Therefore, it needs to be excluded from the reference information for the focus operation.
  • the judgment results of whether the above-mentioned depth information and phase information are valid may include: both phase information and depth information are valid, phase information is valid but depth information is invalid, phase information is invalid but depth information is valid, and both phase information and depth information are invalid.
  • the "focus operation” refers to a series of operations that enable the photographed object to be clearly imaged on the imaging plane by adjusting the position between the object distance and the distance.
  • steps S204 to S208 may be performed to perform the focusing operation.
  • the preset threshold is an empirical value. It can be set or adjusted by technicians according to actual application conditions to measure whether the first object distance and the second object distance are close enough. In other embodiments, other statistical methods can also be used to judge and measure whether the difference between the first object distance and the second object distance is significant, and are not limited to simply using the size of the difference between the two to make the judgment. For example, you can use the ratio between the difference between the two and the total distance or the squared difference of multiple sampling results.
  • the focusing operation can be directly performed using the first object distance as a reference.
  • the focal length of the lens can be set based on the first object distance, and then a hill-climbing fine scan can be performed in smaller steps to finally complete the focusing.
  • "fine" is used to indicate that a relatively shorter step size is used for the climbing scan.
  • step S205 When it is determined that the depth information is invalid information, this is equivalent to the situation described in Embodiment 2, and thus step S205 can be performed.
  • step S208 is executed.
  • the focusing operation can be completed by climbing scanning between the two.
  • “Climbing scan” refers to using an operation method similar to mountain climbing to scan a distance with a certain step length to find the target location. Specifically, during the hill-climbing scanning process, the position with the highest obtained sharpness statistical value (FV value) can be used as the focus point to complete the focusing operation.
  • FV value sharpness statistical value
  • the focusing method uses phase information and depth information in combination to ensure the reliability and focusing accuracy of phase focusing when the difference is small. In the case of large differences, it also provides a shorter scanning interval for the focusing operation, which is beneficial to improving the focusing speed.
  • phase information is invalid information and the depth information is valid information
  • focusing can be performed directly based on the second object distance calculated by the depth information.
  • the specific implementation method of focusing based on the first object distance can be similar to the above-mentioned step S206. It only needs to adjust the second object distance to the first object distance, which will not be described again here.
  • phase information is valid information and the depth information is invalid information, you can directly focus based on the first object distance obtained by calculating the phase information, regardless of the depth information (that is, perform step S205 shown in Figure 2 ).
  • the preset height threshold is an empirical value and can be set by technicians according to the needs of the actual situation. It is a criterion used to judge whether the shot is at high altitude.
  • the height above the ground can be obtained from the GPS data of the body equipped with a shooting lens or other sensor data that can provide height information.
  • far focus refers to a specific position far away from the shooting device (for example, a position that can be basically considered to emit parallel light).
  • the operation of focusing using it as a focus point may also be called “zooming out” in other embodiments.
  • invalid phase information and depth information may be caused by the fact that the drone is flying at a high altitude and there are no obvious obstacles or reference objects around it. Therefore, when it is determined to be in a high-altitude state, directly setting the shooting lens to the far focus can meet the focus needs of the current shooting scene.
  • phase information is first determined as an example for description.
  • the order of the multiple determination steps in the embodiments of the present application can also be adjusted or replaced. For example, it is also possible to first determine whether the depth information is valid, and then sequentially determine whether the difference between the first object distance and the second object distance is less than a preset threshold, whether the phase information is valid information, etc., and only need to be able to determine the specific Just focus on the situation so that you can perform the corresponding diagonal operations.
  • phase information and depth information before acquiring phase information and depth information, it may also be determined whether the current shooting lens is in a scene suitable for focusing through an additional detection step of sequentially determining whether multiple focusing conditions meet preset standards.
  • Step S202 is executed only when all focus conditions meet the preset standards and it is determined that the shooting lens is in a scene with appropriate focus. When one of the focusing conditions does not meet the preset standard, it indicates that there is no suitable focusing condition at this time, and step S211 is executed.
  • the "focus condition" is one aspect used to describe the current status of the shooting device. These status descriptions can indicate or measure whether the shooting device is suitable for focusing operations in one of the aspects.
  • the preset standard is set by technicians based on actual application needs. Each different focus condition can have corresponding judgment criteria.
  • the specific form of the judgment criterion can be determined by the specific description method of focusing conditions, and is not specifically limited in this application.
  • the above-mentioned multiple focus conditions may include one or more of: changes in sharpness statistical values, changes in the posture of the shooting lens, and changes in brightness of the image.
  • FIG. 6 is a flowchart of a method for determining whether focus conditions meet preset standards provided by an embodiment of the present application. As shown in Figure 6, the detection and judgment process of the above focus conditions may include the following steps:
  • step S602. Calculate whether the change rate between the sharpness statistical value (FV 1 value) of the image and the sharpness statistical value (FV 0 value) when the last focusing operation was performed is greater than the second change rate threshold; if so, perform step S603. If not, execute step S608.
  • the first change rate threshold, the second change rate threshold and the value of N are all empirical values and can be set or adjusted by technicians according to the needs of the actual situation.
  • the preset standard related to changes in the sharpness statistical value is used to measure whether the sharpness statistical value is stable in N consecutive frames of images and whether it is significantly different from the sharpness statistical value of the last focus.
  • step S604. Calculate whether the rotation angular velocity (p) of the vertical direction of the shooting lens is less than the second rotation angular velocity threshold; if so, perform step S605; if so, perform step S608.
  • the first rotation angular velocity threshold, the second rotation angular velocity threshold and the value of M are also empirical values.
  • the shooting lens is rotating rapidly (for example, the gimbal performs a rotation operation)
  • the captured image is always in rapid motion, and the scene is constantly switching. Even after the focus is completed, it will be out of focus immediately. in the case of. Therefore, by judging the two rotation angular velocity components of the shooting lens in the vertical and horizontal directions, it is possible to avoid the problem of the shooting lens losing focus immediately after focusing and reduce invalid focusing operations.
  • the values of the first brightness threshold, the second brightness threshold and K are empirical values.
  • the exposure parameters of the lens are changing and converging.
  • the phase information and sharpness statistics will be in an unstable state, so the focusing operation cannot be performed well.
  • the image noise will also be high and it will be impossible to rely on phase information for focusing, which is not suitable for the scene where the focusing operation steps shown in Figure 2 are performed.
  • any of the focusing conditions cannot meet the setting requirements, it means that the shooting lens is actually in a scene that is not suitable for focusing operations at this time, and therefore no focusing is performed to avoid invalid focusing operations.
  • One of the advantageous aspects of the focusing method provided by the embodiment of the present application is: during the focusing operation Before, a number of specific focusing condition detection steps are provided to ensure that the shooting lens is currently in a suitable focusing state, effectively avoiding invalid focusing operations and reducing the probability of focusing failure.
  • FIG. 7 is a method flow chart of the focusing method provided by the embodiment of the present application, showing the method steps in the focus detection stage.
  • FIG. 8 is a method flow chart of the focusing method provided by the embodiment of the present application, showing the method steps in the fusion focus processing stage.
  • the focus detection stage can include the following detection steps:
  • the preset standard for the change of the sharpness statistical value can be expressed by the following formula (1):
  • FV 0 is the sharpness statistical value at the end of the last focus
  • FV is the sharpness statistical value of the current frame
  • FV 1 is the sharpness statistical value of the previous frame
  • R 0 is the preset second change rate threshold
  • R 1 is the preset first change rate threshold.
  • N can be set to 15, R 0 can be set to 0.25, and R 1 can be set to 0.10.
  • step S812 Determine whether the pose change of the shooting lens in the M consecutive frames of images meets the preset standard; if so, perform step S813; if not, perform step S830.
  • the preset standard for the pose change of the shooting lens can be expressed by the following equation (2):
  • a is the rotation angular speed of the shooting lens in the horizontal direction
  • p is the rotation angular speed of the shooting lens in the vertical direction
  • a 0 is the first rotation angular speed threshold
  • p 0 is the second rotation angular speed threshold.
  • M can be set to 90, and both a 0 and p 0 can be set to 0.2.
  • step S813. Determine whether the image brightness change in the consecutive K frame images meets the preset standard; if so, perform step S821; if not, perform step S830.
  • the preset standard of the brightness change of the image can be expressed by the following equation (3):
  • Y is the image brightness of the current frame
  • Y 1 is the image brightness of the previous frame
  • ⁇ Y is the second brightness threshold
  • Y 0 is the first brightness threshold.
  • K can be set to 5
  • the first brightness threshold can be set to 3000
  • the second brightness threshold can be set to 500.
  • the fusion focus processing stage may include:
  • the specific focus point can be determined based on the sharpness statistical value.
  • the point with the highest sharpness statistical value obtained by the search scan can be used as the focus point.
  • the second object distance is used as the basis to set the lens focal length.
  • the focus operation can be stopped or exited, thereby avoiding invalid focus operations.
  • One of the advantageous aspects of the focusing method provided by the embodiment of the present application is that by fusing multiple focus Focus judgment conditions effectively solve the problem of heavy fog, solid color scenes such as large areas of sky or ocean, and night scenes that are easily out of focus due to insufficient light intensity. Moreover, this focusing method can ensure faster focusing speed by using a combination of phase information and depth information.
  • the embodiment of the present application further provides a focusing device.
  • Figure 9 shows a focusing device according to an embodiment of the present application.
  • the focusing device 900 includes: an information acquisition module 910 , an object distance calculation module 920 , a judgment module 930 and a focusing module 940 .
  • the information acquisition module 910 is used to acquire the phase information from the phase focusing module and the depth information from the obstacle avoidance module when several focusing conditions meet preset standards; the object distance calculation module 920 is used to calculate the third object distance based on the phase information.
  • the judgment module 930 is used to judge whether the difference between the first object distance and the second object distance is less than a preset threshold;
  • the focus module 940 uses When the phase information is valid information and the difference between the first object distance and the second object distance is less than a preset threshold, focusing is performed based on the first object distance; and when the phase Both the information and the depth information are valid information, and when the difference between the first object distance and the second object distance is greater than or equal to the preset threshold, pass between the first object distance and the second object distance. Hill climb scan to focus.
  • One of the advantageous aspects of the focusing device provided by the embodiments of the present application is that by fusing multiple focus judgment conditions and using phase information and depth of field information, it can effectively solve the problem of solid color scenes such as heavy fog, large areas of sky or ocean, and light intensity of night scenes. It avoids the problem of easy out-of-focus while ensuring fast focusing speed.
  • the focusing module 940 is specifically configured to: when the phase information is invalid information and the depth information is valid information, focus based on the second object distance calculated by the depth information; When the phase information is valid information and the depth information is invalid information, focus is performed based on the first object distance calculated by the phase information.
  • the focusing device may further include: a height detection module 950 .
  • the height detection module 950 is used to determine whether the height of the shooting lens from the ground is greater than a preset height threshold when the phase information and the depth information are both invalid information.
  • the focus module 940 is also used to focus on the far focus when the height of the shooting lens from the ground is greater than the preset height threshold.
  • the focus module 940 is also configured to not perform focusing when at least one of the several focus conditions does not meet the preset standard.
  • the object distance calculation module 920 is specifically used to: obtain the obstacle distance calculated in real time by the obstacle avoidance module; determine the angle between the lens direction of the shooting lens and the obstacle avoidance module; and calculate the object distance according to the angle and the obstacle avoidance module. Obstacle distance, the distance between the shooting lens and the obstacle is calculated as the second object distance through trigonometric functions.
  • the focusing device may further include: an information detection module 960 .
  • the information detection module 960 is specifically configured to: determine that the depth information is valid information when the angle between the shooting lens and the obstacle avoidance module is less than a preset angle threshold and the obstacle distance is less than a preset distance threshold; When the angle between the shooting lens and the obstacle avoidance module is greater than or equal to the preset angle threshold, or the distance to the obstacle is greater than or equal to the preset distance threshold, it is determined that the depth information is invalid information; and it is determined whether the current phase information is within the preset distance threshold. is within the numerical range of the assumption; if yes, the phase information is determined to be valid information; if not, the phase information is determined to be invalid information.
  • the above-mentioned focus conditions include: changes in sharpness statistics, changes in the posture of the shooting lens, and changes in brightness of the image.
  • the focusing device also includes: a focusing condition detection module 970 .
  • the focus condition detection module 970 is specifically used to: in N consecutive frames of images, when the change in the sharpness statistical value satisfies the equation (1), determine that the change in the sharpness statistical value meets the preset standard; in M consecutive frames In the image, when the change in posture of the shooting lens satisfies equation (2), it is determined that the change in posture of the shooting lens meets the preset standard; and in the continuous K frame images, when the change in brightness of the image satisfies equation (3) , determining that the brightness change of the image meets the preset standard.
  • the computer software may store In the computer-readable storage medium, when the program is executed, it may include the processes of the embodiments of the above methods.
  • the storage medium may be a magnetic disk, an optical disk, a read-only memory or a random access memory, etc.
  • FIG. 11 shows a schematic structural diagram of an electronic device according to an embodiment of the present application.
  • the embodiment of the present application does not limit the specific implementation of the electronic device.
  • it can be a drone main control chip mounted on the drone shown in Figure 1 .
  • the electronic device may include: a processor (processor) 1102, a communications interface (Communications Interface) 1104, a memory (memory) 1106, and a communication bus 1108.
  • processor processor
  • communications interface Communication Interface
  • memory memory
  • the processor 1102, the communication interface 1104, and the memory 1106 complete communication with each other through the communication bus 1108.
  • the communication interface 1104 is used to communicate with network elements of other devices such as clients or other servers.
  • the processor 1102 is configured to execute the program 1110. Specifically, it can execute the relevant steps in the above focusing method embodiment.
  • program 1110 may include program code including computer operating instructions.
  • the processor 1302 may be a central processing unit (CPU).
  • the processor 1302 may also be other general-purpose processors or digital signal processors (Digital Signal Processor). Processor, DSP), application specific integrated circuit (Application Specific Integrated Circuit, ASIC), off-the-shelf programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.
  • DSP Digital Signal Processor
  • ASIC Application Specific Integrated Circuit
  • FPGA off-the-shelf programmable gate array
  • FPGA Field-Programmable Gate Array
  • Memory 1106 is used to store programs 1110.
  • the memory 1106 may include high-speed RAM memory, and may also include non-volatile memory (non-volatile memory), such as at least one disk memory.
  • the program 1110 may be specifically used to cause the processor 1102 to execute the focusing method in any of the above method embodiments.
  • An embodiment of the present application also provides a computer-readable storage medium.
  • the computer-readable storage medium may be a non-volatile computer-readable storage medium.
  • the computer-readable storage medium stores a computer program.
  • the complete computer program product is embodied on one or more computer-readable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing the computer program disclosed in the embodiments of the present application.

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Abstract

本申请实施例涉及自动对焦技术领域，尤其涉及一种对焦方法、对焦装置、电子设备及无人机。该对焦方法包括：在若干项对焦条件均满足预设标准时，获取来自相位对焦模块的相位信息以及来自避障模块的深度信息；在所述相位信息为有效信息，并且第一物距和第二物距之间的差值小于预设阈值时，以第一物距为基准进行对焦；在所述相位信息和所述深度信息均为有效信息，并且第一物距和第二物距之间的差值大于等于预设阈值时，，在所述第一物距和第二物距之间通过爬坡扫描进行对焦。其通过融合多种对焦判断条件以及结合使用相位信息和景深信息，有效的解决了特定场景下容易失焦的问题，还能够实现较快的对焦速度。

Description

对焦方法、对焦装置、电子设备及无人机
本申请要求于2022年04月15日提交中国专利局、申请号为CN2022103991890、申请名称为“对焦方法、对焦装置、电子设备及无人机”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】
本发明涉及自动对焦技术领域，尤其涉及一种对焦方法、对焦装置、电子设备及无人机。
【背景技术】
对焦是指根据镜头与拍摄物之间的距离(也可以被称为“物距”)，调整镜头与成像面之间的距离，以使得拍摄物或者对焦点成像清晰的过程。
现有技术中提供了多种基于不同原理实现的对焦方案。例如，基于CMOS提供的相位差信息来确定镜头移动向量的相位对焦，或者是通过扫描获取多帧采样图像之间反差量最大的位置来确定镜头位置的反差式对焦，又或者是，将以上相位对焦和反差式对焦混合使用，用于分别用于粗调和精细调节的混合对焦。
但是，这些对焦方案在实际应用过程中都存在一定的限制，例如相位对焦对于光线要求较高，在夜景和大面积纯色时对焦精度会受到较大限制，反差式对焦的对焦速度受限，较依赖步进马达的性能。
【发明内容】
本申请实施例旨在提供一种对焦方法、对焦装置、电子设备及无人机，能够解决现有对焦方案的至少一部分缺陷。
第一方面，本申请实施例提供了一种对焦方法。该对焦方法包括：在若干项对焦条件均满足预设标准时，获取来自相位对焦模块的相位信息以及来自避障模块的深度信息；在所述相位信息为有效信息，并且第一物距和第二 物距之间的差值小于预设阈值时，以所述第一物距为基准进行对焦；其中，所述第一物距根据所述相位信息确定；所述第二物距由所述深度信息确定；在所述相位信息为有效信息，所述深度信息为有效信息，并且所述第一物距和所述第二物距之间的差值大于等于预设阈值时，在所述第一物距和第二物距之间通过爬坡扫描进行对焦。
可选地，所述方法还包括：在所述相位信息为无效信息，并且所述深度信息为有效信息时，以所述第二物距为基准进行对焦；并且在所述相位信息为无效信息，并且所述深度信息为有效信息时，以所述第一物距为基准进行对焦。
可选地，所述方法还包括：在所述相位信息和所述深度信息均为无效信息时，判断拍摄镜头的离地高度是否大于预设高度阈值；若是，对远焦点进行对焦；若否，则不进行对焦。
可选地，所述方法还包括：在若干项对焦条件中，存在至少一项对焦条件不满足预设标准时，不进行对焦。
可选地，所述根据所述深度信息计算第二物距，具体包括：获取由所述避障模块实时计算的障碍物距离；确定拍摄镜头的镜头方向与避障模块之间的夹角；根据所述夹角和所述障碍物距离，通过三角函数计算所述拍摄镜头与障碍物之间的距离作为第二物距。
可选地，所述方法还包括：在拍摄镜头与避障模块之间的夹角小于预设角度阈值，并且所述障碍物距离小于预设距离阈值时，确定所述深度信息为有效信息；在拍摄镜头与避障模块之间的夹角大于等于预设角度阈值，或者所述障碍物距离大于等于预设距离阈值时，确定所述深度信息为无效信息。
可选地，所述方法还包括：判断当前的相位信息是否在预设的数值范围之内；若是，确定所述相位信息为有效信息；若否，则确定所述相位信息为无效信息。
可选地，所述对焦条件包括：清晰度统计值的变化，拍摄镜头的位姿变化以及图像的亮度变化。
可选地，所述方法还包括：在连续N帧图像中，所述清晰度统计值的变化情况满足如下算式时，确定所述清晰度统计值的变化符合满足预设标准：
其中，FV0为上一次对焦结束时的清晰度统计值，FV为当前帧的清晰度统计值，FV1为上一帧的清晰度统计值；R0为预设的第一变化率阈值，R1为预设的第二变化率阈值。
可选地，所述方法还包括：在连续M帧图像中，所述拍摄镜头的位姿变化情况满足如下算式时，确定所述拍摄镜头的位姿变化符合预设标准：
其中，a为拍摄镜头在水平方向的旋转角速度；p为拍摄镜头在垂直方向的角速度；a0为第一旋转角速度阈值，p0为第二旋转角速度阈值。
可选地，所述方法还包括：在连续K帧图像中，所述图像的亮度变化情况满足如下算式时，确定所述图像的亮度变化符合预设标准：
其中，Y为当前帧的图像亮度；Y1为上一帧的图像亮度；ΔY为第一亮度阈值，Y0为第二亮度阈值。
第二方面，本申请实施例提供了一种对焦装置。该对焦装置包括：信息获取模块，用于在若干项对焦条件均满足预设标准时，获取来自相位对焦模块的相位信息以及来自避障模块的深度信息；物距计算模块，用于在所述相位信息和所述深度信息均为有效信息时，根据所述相位信息计算第一物距，并且根据所述深度信息计算第二物距；判断模块，用于判断所述第一物距和所述第二物距之间的差值是否小于预设阈值；对焦模块，用于在所述相位信息为有效信息，并且所述第一物距和所述第二物距之间的差值小于预设阈值时，以所述第一物距为基准进行对焦；在所述相位信息和所述深度信息均为有效信息，并且所述第一物距和所述第二物距之间的差值大于等于预设阈值时，在所述第一物距和第二物距之间通过爬坡扫描进行对焦。
第三方面，本申请实施例提供了一种电子设备。该电子设备包括：处理器以及与所述处理器通信连接的存储器；所述存储器中存储有计算机程序指令，所述计算机程序指令在被所述处理器调用时，以使所述处理器执行如上所述的对焦方法。
第四方面，本申请实施例提供了一种无人机。该无人机包括：机身；所述机身上设置有云台；安装固定于所述云台上的拍摄设备；所述拍摄设备具有用于实现相位对焦的相位对焦模块；获取用于飞行避障的景深信息的避障模块；所述避障模块设置在所述机身上；以及设置在所述机身上的对焦模块；所述对焦模块与所述拍摄镜头和所述避障模块通信连接，用以执行如上所述的对焦方法，以控制所述拍摄设备进行对焦。
本申请实施例的其中一个有利方面是：通过融合多种对焦判断条件以及结合使用相位信息和景深信息，有效的解决了诸如大雾、大面积天空或海洋等纯色场景以及夜景光线强度不足等特定场景下容易产生失焦的问题，还能够实现较快的对焦速度。
【附图说明】
一个或多个实施例通过与之对应的附图中的图片进行示例性说明，这些示例性说明并不构成对实施例的限定，附图中具有相同参考数字标号的元件表示为类似的元件，除非有特别申明，附图中的图不构成比例限制。
图1为本申请实施例的对焦方法的应用场景的示意图；
图2为本申请实施例的对焦方法的方法流程图；
图3为本申请实施例的第二物距计算方法的示意图；
图4为本申请实施例的对焦方法的方法流程图，示出了判断相位信息和深度信息的步骤；
图5为本申请实施例的对焦方法的方法流程图，示出了相位信息和深度信息均为无效信息时的对焦操作步骤；
图6为本申请实施例的判断对焦条件是否符合预设标准的方法流程图；
图7为本申请实施例的对焦方法的方法流程图，示出了对焦检测阶段的步骤；
图8为本申请实施例对焦方法的方法流程图，示出了融合对焦处理阶段的步骤；
图9为本申请实施例的对焦装置的功能框图；
图10为本申请另一实施例的对焦装置的功能框图；
图11为本申请实施例的电子设备的结构示意图。
【具体实施方式】
为了便于理解本发明，下面结合附图和具体实施例，对本发明进行更详细的说明。需要说明的是，当元件被表述“固定于”另一个元件，它可以直接在另一个元件上、或者其间可以存在一个或多个居中的元件。当一个元件被表述“连接”另一个元件，它可以是直接连接到另一个元件、或者其间可以存在一个或多个居中的元件。本说明书所使用的术语“上”、“下”、“内”、“外”、“底部”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。此外，术语“第一”、“第二”“第三”等仅用于描述目的，而不能理解为指示或暗示相对重要性。
除非另有定义，本说明书所使用的所有的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同。本说明书中在本发明的说明书中所使用的术语只是为了描述具体的实施例的目的，不是用于限制本发明。本说明书所使用的术语“和/或”包括一个或多个相关的所列项目的任意的和所有的组合。
此外，下面所描述的本发明不同实施例中所涉及的技术特征只要彼此之间未构成冲突就可以相互结合。
图1为本申请实施例提供的对焦方法的应用场景的示意图。该应用场景可以是无人机。该无人机可以是以任何类型的动力驱动的无人飞行载具，包括但不限于四轴无人机、具有其他数量旋翼和/或旋翼配置的飞行器、固定翼飞行器、航模、无人飞艇或者无人热气球等。请参阅图1，该无人机可以包括：机身10、云台20、拍摄设备30以及避障模块40。
其中，机身10是无人机的主体结构，用以承载实现无人机功能的一个或者多个功能模块。其具体可以根据实际情况的需要而具有相应的尺寸、材质或者形状，例如可以设置有向外延伸，用于布置桨叶的机臂。
云台20是设置在机身10上的安装固定支架。其通常具有一个或者多个可控制旋转角度的旋转轴，可以在无人机飞行过程中保持拍摄设备30稳定以及调整拍摄设备拍摄角度。
拍摄设备30是任何类型，能够支持相位对焦的图像采集设备。其包括但不限于运动相机、高清相机或者广角相机。通常地，拍摄设备30可以包括采集光线的光学部分(在一些实施例中也可以称为拍摄镜头)以及感知光线形成对应数据信息的电路部分。
在实际的无人机拍摄过程中，无人机一方面可以通过实时图像采集而感知无人机当前与障碍物之间的距离信息，实现自动避障的功能，另一方面还可以在飞行过程中通过拍摄设备30拍摄采集图像信息，实现航拍等的功能。
应当说明的是，图1所示的应用场景仅用于示例性说明。本领域技术人员可以根据实际情况的需要，添加或者减省其中的一个或者多个设备，而不限于图1所示。例如，搭载在无人机机身上的一种或者多种传感器(包括用于感知高度变化的高度传感器、感知无人机位置的GPS模块、感知无人机机身姿态变化的惯性传感器)，或者用于传递采集获得的图像信息的图传装置。
为提升在图1所示的应用场景中，拍摄设备30的对焦性能，本申请实施例提供了一种对焦方法。该对焦方法将避障模块40的深度信息与拍摄设备30的相位信息等多种对焦相关信息相融合，以提升对焦速度和成功率。
图2为本申请实施例提供的对焦方法的方法流程图。如图2所示，该对焦方法可以包括如下步骤：
S202、获取来自相位对焦模块的相位信息以及来自避障模块的深度信息。
其中，“相位对焦模块”是指用于执行相位对焦(Phase Detection Auto-focus，PDAF)的功能模块。其具体可以是任何类型的，由一个或者多个结构组件组成的功能模块，例如预先设置在感光器件上，用以遮盖像素一半感光区域的遮罩(也可以被称为shield pixel)。在本申请中不对其具体实现进行限制。
避障模块是指用于获取无人机当前位置与障碍物之间距离，从而实现无人机自动避障的功能模块。在本申请中，为便于陈述而基于该功能模块所要执行的功能而将其称为“避障模块”，但不对避障模块的具体实现进行具体限定，只需要能够提供无人机与障碍物之间的距离信息即可，例如其可以是基于双目视觉而实现的视觉避障模块。
在本实施例中，使用“相位信息”这样的术语来表示从相位对焦模块中获取的，能够反映其相位差的数据，使用“深度信息”这样的术语来表示从避障模块中获取的，能够反映与障碍物之间距离的数据。该相位信息和深度 信息的具体数据形式可以根据实际情况而确定。
在一些实施例中，基于相位信息和深度信息中的任一者均可以通过相应的计算方式来确定物距。其中，“物距”是指镜头与拍摄物(或者对焦点)之间的距离。相位信息和深度信息都能够分别通过合适的换算方式，换算得到物距。
在本实施例中，为了区分基于相位信息和深度信息换算获得的物距而使用了“第一”和“第二”这样的术语。本领域技术人员可以理解的是，上述“第一”和“第二”这样的术语仅用于区分不同信息换算得到的物距，而不用于对物距作具体的限制。
具体的，对于第一物距，可以通过预先根据实验情况设置或者配置好的不同相位差与物距之间对应关系表来确。而对于第二物距的计算，以下以图3所示的无人机应用场景为例进行具体描述：
首先，获取由避障模块实时计算的无人机与障碍物40之间的距离L1。然后，确定拍摄镜头31的镜头方向的倾斜角度α。最后，根据倾斜角度α和障碍物距离L1，通过三角函数计算拍摄镜头与障碍物之间的距离获得第二物距L2。
其中，该障碍物距离L1能够直接通过避障模块读取获得，而倾斜角度α则可以通过获取无人机的云台旋转角度来确定。
在一些实施例中，在进行具体的对焦操作之前，还可以分别对相位信息和深度信息进行判断，确定这两个信息是否为有效信息。其中，“有效信息”是指数据信息有较大的概率或者把握是可信而且有效的，可供参考或者使用。相对应地，无效信息则是数据信息与正常情况严重偏离，无法参考使用或者不具备特定意义。
在本实施例中，可以根据实际情况的不同(例如特定的应用场景)而设定相应的判断标准，分别用以确定相位信息和深度信息是否有效，并供后续的对焦方法步骤所使用。
具体的，在判断相位信息是否有效时，可以以预设的数值范围作为判断标准。换言之，给定相位差上限和下限，在当前相位信息处于相位差上限和下限之间的数值区间时，确定相位信息为有效信息。而在相位信息处于该数 值区间之外时，则确定相位信息为无效信息。
而在判断深度信息是否有效时，则可以将换算第二物距时所使用到的倾斜角度以及障碍物距离作为判断标准。请参阅图4，该判断步骤具体可以包括：
S401、判断倾斜角度是否小于预设角度阈值；若是，执行步骤S402，若否，执行步骤S403。
S402、判断障碍物距离是否小于预设距离阈值；若是，执行步骤S403，若否，执行步骤S404。
其中，该预设角度阈值和预设距离阈值均是经验性数值，可以由技术人员根据实际情况的需要而进行设置。在一些实施例中，可以将预设角度阈值设置为30°，预设距离阈值设置为10m。
S403、确定深度信息为有效信息。
其中，在夹角和障碍物距离均符合预设标准的情况下，可以有较大把握确定此时的深度信息是有效，可靠的，可以将其作为进行对焦操作的参考信息之一。
S404、确定深度信息为无效信息。
其中，若角度或距离任一者不符合预设标准的情况下，此时深度信息的数据信息并没有足够的置信度。由此，需要将其排除在对焦操作的参考信息之外。
可以理解的是，上述深度信息和相位信息是否有效的判断结果可以包括：相位信息和深度信息均有效、相位信息有效而深度信息无效、相位信息无效而深度信息有效以及相位信息和深度信息均无效四种不同的情形。基于不同的情形，可以执行如下实施例1至实施例4所述的不同对焦操作。
在本实施例中，“对焦操作”是指通过调整物距与相距之间的位置，使拍摄物体在成像面清晰成像的一系列操作过程。
实施例1：
在通过步骤S203判断确定相位信息为有效信息的情况下，请继续参阅图2，在实施例1中可以执行步骤S204至S208进行对焦操作。
S204、判断第一物距和所述第二物距之间的差值是否小于预设阈值。若是，执行步骤S205，若否，执行步骤S206。
其中，该预设阈值是一个经验性数值。其可以由技术人员根据实际应用情况而设置或者调整，用以衡量第一物距和第二物距之间是否足够接近。在另一些实施例中，还可以使用其他的统计方法来判断和衡量第一物距和第二物距之间的差异是否显著，而不限于简单利用两者差值的大小进行判断。例如，可以使用两者差异与总距离之间的比值或者多次采样结果的平方差等。
S205、以第一物距为基准进行对焦。
其中，在第一物距和第二物距两者差异不大的情况下，表明此时相位对焦的相位检测结果能够得到避障模块的佐证，其具有较高的准确性。由此，可以直接以第一物距作为基准，执行对焦操作。
具体的，在执行对焦操作时，可以以第一物距为准设置镜头焦距，然后以较小的步长进行爬坡精细扫描并最终完成对焦。在本实施例中，“精细”用以表示使用的是相对更短的步长进行爬坡扫描。
S206、判断深度信息是否为有效信息。
其中，在确定深度信息为无效信息时，此时与实施例2所描述的情形相当，由此可以执行步骤S205。而在确定深度信息为有效信息时，则执行步骤S208。
S208、在第一物距和第二物距之间通过爬坡扫描进行对焦。
其中，在两者差异较大的情况下，选择使用其中任意一个物距数据都具有足够的可靠性，但通常正确的物距会大概率落在两者之间的区间。由此，可以在两者之间通过爬坡扫描的方式来完成对焦操作。
“爬坡扫描”是指采用类似于爬山的操作方式，以一定的步长对一段距离进行扫描来找到目标位置。具体的，在爬坡扫描过程中，可以将获取到的清晰度统计值(FV值)最高的位置作为对焦点，从而完成对焦操作。
本申请实施例提供的对焦方法的其中一个有利方面是：该对焦方法结合使用相位信息和深度信息，在差异较小的情况下，确保了相位对焦的可靠性和对焦精度。而在差异较大的情况下，也为对焦操作提供了一段较短的扫描区间，有利于提升对焦速度。
实施例2：
在相位信息为无效信息，并且深度信息为有效信息的情况时，可以直接以深度信息计算获得的第二物距为基准进行对焦。换言之，在只存在深度信息这样一个可靠的数据时，可以直接选择以第二物距为准进行对焦。
其中，以第一物距为基准进行对焦的具体实现方式可以与上述步骤S206相类似，只需要将第二物距调整改变为第一物距即可，在此不作赘述。
实施例3：
在相位信息为有效信息，并且深度信息为无效信息时，则可以直接以相位信息计算获得的第一物距为基准进行对焦，而不考虑深度信息的情况(即执行图2所示的步骤S205)。
实施例4：
在相位信息和深度信息均为无效信息时，请参阅图5，可以执行如下步骤S207-S211来进行对焦操作。
S207、判断拍摄镜头的离地高度是否大于预设高度阈值；若是，执行步骤S209；若否，执行步骤S211。
其中，预设的高度阈值是一个经验性数值，可以由技术人员根据实际情况的需要而设置。其是一个用以判断拍摄镜头是否处于高空的判断衡量标准。离地高度可以通过搭载拍摄镜头的机体GPS数据或者其他能够提供高度信息的传感器数据来获得。
S209、对远焦点进行对焦。
其中，“远焦点”是指与拍摄设备相距较远的特定位置(例如，可以被基本认为发出的是平行光的位置)。将其作为对焦点进行对焦的操作在另一些实施例中也可以被称为“拉远焦”。
在通常的无人机应用场景之中，相位信息和深度信息均无效可能是因无人机在高处飞行，周边无明显的障碍物或者参照物所导致的。由此，在确定处于高空状态的情况下，直接将拍摄镜头设置为远焦点对焦能够满足当前的拍摄场景的对焦需要。
S211、不进行对焦。
其中，在没有处于高空状态的情况下，表明此时无法很好的进行对焦。因此，可以停止执行对焦操作。
应当说明的是，本申请提供的结合使用相位信息和深度信息进行对焦的方法，存在多种不同的情况组合。在本申请实施例中以首先判断相位信息为例进行描述。但本领域技术人员可以理解，本申请实施例中的多个判断步骤的顺序还可以进行调整或者替换。例如，也可以首先对深度信息是否有效进行判断，然后再依次判断第一物距和第二物距之间的差值是否小于预设阈值，相位信息是否为有效信息等，只需要能够确定具体对焦情形以便于执行相应的对角操作即可。
在一些实施例中，在获取相位信息和深度信息之前，还可以通过依次判断多项对焦条件是否满足预设标准的额外检测步骤来判断目前拍摄镜头是否处于合适进行对焦的场景。
只有在所有对焦条件均满足预设标准，确定拍摄镜头处于合适对焦的场景的情况下，才执行步骤S202。而在其中一项对焦条件不满足预设标准时，表明此时没有合适的对焦条件，则执行步骤S211。
其中，该“对焦条件”是用于描述拍摄设备当前状态的其中一个方面。这些状态描述能够在其中一个方面表示或者衡量拍摄设备是否合适进行对焦操作。而该预设标准是由技术人员根据实际应用需要而设置判断标准。每个不同的对焦条件可以具有对应的判断标准。该判断标准的具体形式可以由具体的对焦条件描述方式所决定，在本申请中不作具体限定。
在一些实施例中，上述多项对焦条件可以包括：清晰度统计值的变化，拍摄镜头的位姿变化以及图像的亮度变化中的一种或者多种。图6为本申请实施例提供的判断对焦条件是否满足预设标准的方法流程图。如图6所示，对上述对焦条件的检测判断过程可以包括如下步骤：
S601、在连续N帧图像中，计算图像的清晰度统计值(FV值)的变化率是否小于第一变化率阈值；若是，执行步骤S602，若否，执行步骤S608。
S602、计算图像的清晰度统计值(FV1值)与上一次执行对焦操作时的清晰度统计值(FV0值)之间的变化率是否大于第二变化率阈值；若是，执行步骤S603，若否，执行步骤S608。
其中，第一变化率阈值、第二变化率阈值以及N的取值均是经验性数值，可以由技术人员根据实际情况的需要而进行设置或者调整。在本实施例中， 与清晰度统计值的变化相关的预设标准是用于衡量清晰度统计值在连续N帧图像中是否稳定以及是否与上一次对焦的清晰度统计值具有较大差异。
S603、在连续M帧图像中，计算拍摄镜头在水平方向的旋转角速度(a)是否小于第一旋转角速度阈值；若是，执行步骤S604，若否，执行步骤S608。
S604、计算拍摄镜头垂直方向的旋转角速度(p)是否小于第二旋转角速度阈值；若是，执行步骤S605，若是，执行步骤S608。
其中，第一旋转角速度阈值、第二旋转角速度阈值以及M的取值也是经验性数值。在实际使用过程中，拍摄镜头处于快速旋转的情况下(例如云台执行旋转操作)，拍摄的图像一直处于快速运动之中，场景也在不断进行切换，即使对焦完成以后也会马上出现失焦的情况下。因此，通过判断拍摄镜头在垂直方向和水平方向两个旋转角速度分量的方式，可以避免拍摄镜头对焦以后马上失焦的问题，减少无效的对焦操作。
S605、在连续K帧图像中，计算确定图像亮度值是否小于第一亮度阈值；若是，执行步骤S606，若否，执行步骤S608。
S606、计算相邻两帧图像亮度值之间的差值是否小于第二亮度阈值；若是，执行步骤S607，若否，执行步骤S608。
其中，第一亮度阈值、第二亮度阈值以及K的取值是经验性数值。在实际使用过程中，图像亮度不稳定的情况下，镜头的曝光参数在变化收敛，此时的相位信息和清晰度统计值会处于不稳定的状态，因此无法很好的进行对焦操作。而在图像亮度较低的夜景状态下，同样会因图像噪点较高而无法依赖相位信息进行对焦，不适合执行图2所示的对焦操作步骤的场景。
S607、确定所有对焦条件均满足预设标准。
其中，在通过以上全部的检测判断步骤以后，表明此时处于合适进行对焦操作的拍摄场景。由此可以执行后续的一系列对焦操作。
S608、不进行对焦。
其中，在其中存在任意一项对焦条件无法满足设定要求时，表明此时拍摄镜头实际上处于不适宜进行对焦操作的场景，由此不进行对焦以免造成无效的对焦操作。
本申请实施例提供的对焦方法的其中一个有利方面是：在进行对焦操作 前，提供了多项具体的对焦条件检测步骤以确保拍摄镜头当前处于合适对焦的状态，有效的避免了无效对焦操作并降低了对焦失败的概率。
以下结合具体实例，详细描述本申请实施例的对焦方法在图1所示的无人机应用场景中的具体操作过程。其中，该对焦方法可以大致包括对焦检测以及融合对焦处理两个阶段。图7为本申请实施例提供的对焦方法的方法流程图，示出了对焦检测阶段的方法步骤。图8为本申请实施例提供的对焦方法的方法流程图，示出了融合对焦处理阶段的方法步骤。
请参阅图7，对焦检测阶段可以包括如下检测步骤：
S811、判断在连续N帧图像中，清晰度统计值(FV值)的变化是否满足预设标准；若是，执行步骤S812；若否，则执行步骤S830。
其中，该清晰度统计值变化情况的预设标准可以通过如下算式(1)来表示：
FV0为上一次对焦结束时的清晰度统计值，FV为当前帧的清晰度统计值，FV1为上一帧的清晰度统计值；R0为预设的第二变化率阈值，R1为预设的第一变化率阈值。较佳的是，N可以选择设置为15，R0可以设置为0.25的同时，R1可以设置为0.10。
S812、判断在连续M帧图像中，拍摄镜头的位姿变化是否满足预设标准；若是，执行步骤S813；若否，则执行步骤S830。
其中，该拍摄镜头的位姿变化的预设标准可以通过如下算式(2)来表示：
a为拍摄镜头在水平方向的旋转角速度；p为拍摄镜头在垂直方向的旋转角速度；a0为第一旋转角速度阈值，p0为第二旋转角速度阈值。较佳的是，M可以选择设置为90，a0和p0均可以设置为0.2。
S813、判断在连续K帧图像中，图像亮度变化是否满足预设标准；若是，执行步骤S821；若否，则执行步骤S830。
其中，该图像的亮度变化的预设标准可以通过如下算式(3)来表示：
Y为当前帧的图像亮度；Y1为上一帧的图像亮度；ΔY为第二亮度阈值，Y0为第一亮度阈值。较佳的是，K可以选择设置为5，第一亮度阈值可以设置为3000的同时，第二亮度阈值可以设置为500。
在通过了对焦检测阶段的多个对焦条件判断以后，可以进入到融合对焦处理阶段。请参阅图8，该融合对焦处理阶段可以包括：
S821、判断相位信息是否为有效信息；若是，执行步骤S822；若否，则执行步骤S826。
S822、判断第一物距和第二物距之间的差值是否小于预设阈值；若是，执行步骤S823；若否，则执行步骤S824。
S823、以第一物距为基准设置镜头焦距。
其中，在设置镜头焦距结束以后，还可以进一步进行爬坡精细扫描，以较短的步长对对焦点进行精调。
S824、判断视觉深度信息是否为有效信息；若是，执行步骤S825；若否，则执行步骤S823。
S825、在第一物距和第二物距之间通过爬坡扫描进行对焦。
在实际爬坡扫描过程中，可以根据清晰度统计值来确定具体的对焦点。换言之，可以将搜索扫描获得的，具有最高清晰度统计值的点作为对焦点。
S826、判断视觉深度信息是否为有效信息；若是，执行步骤S827；若否，则执行步骤S828。
S827、第二物距为基准设置镜头焦距。
其中，在设置镜头焦距结束以后，还可以进一步进行爬坡精细扫描，以较短的步长对对焦点进行精调。
S828、判断拍摄镜头的离地高度是否大于预设高度阈值；若是，执行步骤S829，若否；执行步骤S830。
S829、对远焦点进行对焦。
S830、不进行对焦。
其中，在不具备合适的对焦场景的情况下，可以停止执行或者退出对焦操作，从而避免无效的对焦操作。
本申请实施例提供的对焦方法的其中一个有利方面是：通过融合多种对 焦判断条件，有效的解决了大雾、大面积天空或海洋等纯色场景以及夜景光线强度不足容易失焦的问题。而且，该对焦方法通过结合使用相位信息和深度信息，能够保证较快的对焦速度。
基于上述实施例提供的对焦方法，本申请实施例还进一步提供了一种对焦装置。图9示出了本申请实施例的对焦装置。如图9所示，该对焦装置900包括：信息获取模块910，物距计算模块920，判断模块930以及对焦模块940。
其中，信息获取模块910用于在若干项对焦条件均满足预设标准时，获取来自相位对焦模块的相位信息以及来自避障模块的深度信息；物距计算模块920用于根据所述相位信息计算第一物距，并且根据所述深度信息计算第二物距；判断模块930用于判断所述第一物距和所述第二物距之间的差值是否小于预设阈值；对焦模块940用于在所述相位信息为有效信息，并且第一物距和所述第二物距之间的差值小于预设阈值时，以所述第一物距为基准进行对焦；以及在所述相位信息和所述深度信息均为有效信息，并且第一物距和所述第二物距之间的差值大于等于预设阈值时，在所述第一物距和第二物距之间通过爬坡扫描进行对焦。
本申请实施例提供的对焦装置的其中一个有利方面是：通过融合多种对焦判断条件以及结合使用相位信息和景深信息，有效的解决了大雾、大面积天空或海洋等纯色场景以及夜景光线强度不足容易失焦的问题的同时，能够保证较快的对焦速度。
在一些实施例中，对焦模块940具体用于：在所述相位信息为无效信息，并且所述深度信息为有效信息时，以所述深度信息计算获得的第二物距为基准进行对焦；在所述相位信息为有效信息，并且所述深度信息为无效信息时，以所述相位信息计算获得的第一物距为基准进行对焦。
在另一些实施例中，请参阅图10，该对焦装置还可以包括：高度检测模块950。该高度检测模块950用于：在所述相位信息和所述深度信息均为无效信息时，判断拍摄镜头的离地高度是否大于预设高度阈值。对焦模块940还用于：在拍摄镜头的离地高度大于预设高度阈值时，对远焦点进行对焦。
在一些实施例中，该对焦模块940还用于：在若干项对焦条件中，存在至少一项对焦条件不满足预设标准时，不进行对焦。
具体的，物距计算模块920具体用于：获取由所述避障模块实时计算的障碍物距离；确定拍摄镜头的镜头方向与避障模块之间的夹角；根据所述夹角和所述障碍物距离，通过三角函数计算所述拍摄镜头与障碍物之间的距离作为第二物距。
在另一些实施例中，请继续参阅图10，该对焦装置还可以包括：信息检测模块960。该信息检测模块960具体用于：在拍摄镜头与避障模块之间的夹角小于预设角度阈值，并且所述障碍物距离小于预设距离阈值时，确定所述深度信息为有效信息；在拍摄镜头与避障模块之间的夹角大于等于预设角度阈值，或者所述障碍物距离大于等于预设距离阈值时，确定所述深度信息为无效信息；并且判断当前的相位信息是否在预设的数值范围之内；若是，确定所述相位信息为有效信息；若否，则确定所述相位信息为无效信息。
在一些实施例中，上述对焦条件包括：清晰度统计值的变化，拍摄镜头的位姿变化以及图像的亮度变化。相对应地，请继续参阅图10，该对焦装置还包括：对焦条件检测模块970。
该对焦条件检测模块970具体用于：在连续N帧图像中，清晰度统计值的变化情况满足算式(1)时，确定所述清晰度统计值的变化符合满足预设标准；在连续M帧图像中，拍摄镜头的位姿变化情况满足算式(2)时，确定所述拍摄镜头的位姿变化符合预设标准；以及在连续K帧图像中，图像的亮度变化情况满足算式(3)时，确定所述图像的亮度变化符合预设标准。
本域的技术人员可以清楚地了解到，为了描述的方便和简洁，上述描述的装置和模块的具体工作过程，可以参考前述方法实施例中的对应过程，在此不再赘述。本领域普通技术人员可以意识到，结合本文中所公开的实施例描述的各示例的单元及算法步骤，能够以电子硬件、计算机软件或者二者的结合来实现，为了清楚地说明硬件和软件的可互换性，在上述说明中已经按照功能一般性地描述了各示例的组成及步骤。这些功能究竟以硬件还是软件方式来执行取决于技术方案的特定应用和设计约束条件。专业技术人员可以对每个特定的应用来使用不同方法来实现所描述的功能，但是这种实现不应认为超出本发明的范围。
本领域技术人员可以对每个特定的应用来使用不同方法来实现所描述的功能，但是这种实现不应认为超出本申请的范围。所述的计算机软件可存储 于计算机可读取存储介质中，该程序在执行时，可包括如上述各方法的实施例的流程。其中，所述的存储介质可为磁碟、光盘、只读存储记忆体或随机存储记忆体等。
图11示出了本申请实施例的电子设备的结构示意图，本申请实施例并不对电子设备的具体实现做限定。例如，可以是由图1所示的无人机所搭载的无人机主控芯片。
如图11所示，该电子设备可以包括：处理器(processor)1102、通信接口(Communications Interface)1104、存储器(memory)1106、以及通信总线1108。
其中：处理器1102、通信接口1104、以及存储器1106通过通信总线1108完成相互间的通信。通信接口1104，用于与其它设备比如客户端或其它服务器等的网元通信。处理器1102，用于执行程序1110，具体可以执行上述对焦方法实施例中的相关步骤。
具体地，程序1110可以包括程序代码，该程序代码包括计算机操作指令。
在本申请实施例中，根据所使用的硬件的类型，处理器1302可以是中央处理单元(Central Processing Unit，CPU)，该处理器1302还可以是其他通用处理器、数字信号处理器(Digital Signal Processor，DSP)、专用集成电路(Application Specific Integrated Circuit，ASIC)、现成可编程门阵列(Field-Programmable Gate Array，FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件等。
存储器1106用于存放程序1110。存储器1106可能包含高速RAM存储器，也可能还包括非易失性存储器(non-volatile memory)，例如至少一个磁盘存储器。程序1110具体可以用于使得处理器1102执行上述任意方法实施例中的对焦方法。
本申请实施例还提供一种计算机可读存储介质。该计算机可读存储介质可以为非易失性的计算机可读存储介质。该计算机可读存储介质存储有计算机程序。
其中，计算机程序被处理器执行时实现本申请实施例公开的数据自动关联方法中的一个或者多个步骤。完整的计算机程序产品体现在含有本申请实施例公开的计算机程序的一个或多个计算机可读存储介质上(包括但不限于，磁盘存储器、CD-ROM、光学存储器等)。
最后应说明的是：以上实施例仅用以说明本发明的技术方案，而非对其限制；在本发明的思路下，以上实施例或者不同实施例中的技术特征之间也可以进行组合，步骤可以以任意顺序实现，并存在如上所述的本发明的不同方面的许多其它变化，为了简明，它们没有在细节中提供；尽管参照前述实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的范围。

Claims (14)

  1. 一种对焦方法，其特征在于，包括：
    在若干项对焦条件均满足预设标准时，获取来自相位对焦模块的相位信息以及来自避障模块的深度信息；
    在所述相位信息为有效信息，并且第一物距和第二物距之间的差值小于预设阈值时，以所述第一物距为基准进行对焦；
    其中，所述第一物距根据所述相位信息确定；所述第二物距由所述深度信息确定；
    在所述相位信息为有效信息，所述深度信息为有效信息，并且所述第一物距和所述第二物距之间的差值大于等于预设阈值时，
    在所述第一物距和第二物距之间通过爬坡扫描进行对焦。
  2. 根据权利要求1所述的对焦方法，其特征在于，所述方法还包括：
    在所述相位信息为无效信息，并且所述深度信息为有效信息时，以所述深度信息计算获得的第二物距为基准进行对焦；
    在所述相位信息为有效信息，并且所述深度信息为无效信息时，以所述相位信息计算获得的第一物距为基准进行对焦。
  3. 根据权利要求1所述的对焦方法，其特征在于，所述方法还包括：
    在所述相位信息和所述深度信息均为无效信息时，判断拍摄镜头的离地高度是否大于预设高度阈值；
    若是，对远焦点进行对焦；
    若否，则不进行对焦。
  4. 根据权利要求1所述的对焦方法，其特征在于，所述方法还包括：
    在若干项对焦条件中，存在至少一项对焦条件不满足预设标准时，不进行对焦。
  5. 根据权利要求1所述的对焦方法，其特征在于，所述根据所述深度信 息计算第二物距，具体包括：
    获取由所述避障模块实时计算的障碍物距离；
    确定拍摄镜头的倾斜角度；
    根据所述倾斜角度和所述障碍物距离，通过三角函数计算所述拍摄镜头与障碍物之间的距离作为第二物距。
  6. 根据权利要求5所述的对焦方法，其特征在于，所述方法还包括：
    在所述倾斜角度小于预设角度阈值，并且所述障碍物距离小于预设距离阈值时，确定所述深度信息为有效信息；
    在所述倾斜角度大于等于预设角度阈值，或者所述障碍物距离大于等于预设距离阈值时，确定所述深度信息为无效信息。
  7. 根据权利要求1所述的对焦方法，其特征在于，所述方法还包括：
    判断当前的相位信息是否在预设的数值范围之内；
    若是，确定所述相位信息为有效信息；
    若否，则确定所述相位信息为无效信息。
  8. 根据权利要求1-7任一项所述的对焦方法，其特征在于，所述对焦条件包括：清晰度统计值的变化，拍摄镜头的位姿变化以及图像的亮度变化。
  9. 根据权利要求8所述的对焦方法，其特征在于，所述方法还包括：
    在连续N帧图像中，所述清晰度统计值的变化情况满足如下算式时，确定所述清晰度统计值的变化符合满足预设标准：
    其中，FV0为上一次对焦结束时的清晰度统计值，FV为当前帧的清晰度统计值，FV1为上一帧的清晰度统计值；R0为预设的第一变化率阈值，R1为预设的第二变化率阈值。
  10. 根据权利要求8所述的对焦方法，其特征在于，所述方法还包括：
    在连续M帧图像中，所述拍摄镜头的位姿变化情况满足如下算式时，确定所述拍摄镜头的位姿变化符合预设标准：
    其中，a为拍摄镜头在水平方向的旋转角速度；p为拍摄镜头在垂直方向的旋转角速度；a0为第一旋转角速度阈值，p0为第二旋转角速度阈值。
  11. 根据权利要求8所述的对焦方法，其特征在于，所述方法还包括：
    在连续K帧图像中，所述图像的亮度变化情况满足如下算式时，确定所述图像的亮度变化符合预设标准：
    其中，Y为当前帧的图像亮度；Y1为上一帧的图像亮度；ΔY为第一亮度阈值，Y0为第二亮度阈值。
  12. 一种对焦装置，其特征在于，包括：
    信息获取模块，用于在若干项对焦条件均满足预设标准时，获取来自相位对焦模块的相位信息以及来自避障模块的深度信息；
    物距计算模块，用于根据所述相位信息计算第一物距，并且根据所述深度信息计算第二物距；
    判断模块，用于判断所述第一物距和所述第二物距之间的差值是否小于预设阈值；
    对焦模块，用于在所述相位信息为有效信息，并且所述第一物距和所述第二物距之间的差值小于预设阈值时，以所述第一物距为基准进行对焦；
    在所述相位信息和所述深度信息均为有效信息，并且所述第一物距和所述第二物距之间的差值大于等于预设阈值时，在所述第一物距和第二物距之间通过爬坡扫描进行对焦。
  13. 一种电子设备，其特征在于，包括：处理器以及与所述处理器通信连接的存储器；
    所述存储器中存储有计算机程序指令，所述计算机程序指令在被所述处 理器调用时，以使所述处理器执行如权利要求1-11任一项所述的对焦方法。
  14. 一种无人机，其特征在于，包括：
    机身；所述机身上设置有云台；
    安装固定于所述云台上的拍摄设备；所述拍摄设备具有用于实现相位对焦的相位对焦模块；
    获取用于飞行避障的景深信息的避障模块；所述避障模块设置在所述机身上；以及
    设置在所述机身上的对焦模块；所述对焦模块与所述拍摄镜头和所述避障模块通信连接，用以执行如权利要求1-11任一项所述的对焦方法，以控制所述拍摄设备进行对焦。
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