400results about How to "Improve the anti-shake effect" patented technology

The invention provides an anti-shake camera module and electronic equipment. The anti-shake camera module comprises a lens module, an image sensor, a module anti-shake mechanism for driving the lens module to swing around at least two axial directions perpendicular to each other for compensation motion, and a micro driver for driving the image sensor to move, wherein the two axial directions are perpendicular to the optical axis of the lens module; the image sensor is installed on the micro-driver, the micro-driver comprises a rotation compensation structure used for driving the image sensor to perform rotation compensation motion, and the rotation axis of the image sensor is parallel to or coincides with the optical axis of the lens module. In the anti-shake camera module, by arranging the module anti-shaking mechanism, the lens module performs swing around two mutually perpendicular directions to realize anti-shake compensation, and the micro-driver is arranged to realize rotation anti-shake compensation of the image sensor, so that the anti-shake camera module realizes rotation anti-shake compensation around three mutually perpendicular axial directions in space to improve the anti-shake effect and improve the imaging quality.

There is disclosed a shake prevention apparatus for compensating for a disturbance in an image resulting from a camera shake. A shake of a camera main body is measured by a gyro sensor. Upon sampling the output signal from the sensor by an A / D converter, a sampling timing corresponding to a shutter speed is set. Especially, a timing is generated so that the sampling timing corresponds to the central position of the charge storage period of a CCD.

The invention discloses a camera cellphone with a tremble prevention function and a tremble prevention method in photographing process thereof. The method comprises the following steps of detecting a tremble level when photographing a cellphone through a gravity sensor on the cellphone; controlling the exposure time of the cellphone in the photographing process according to the detected tremble level and photographing by a camera module on the cellphone according to the exposure time; and carrying out sharp processing on a fuzzy image by utilizing an image treatment software program combining with a displacement vector generated by tremble. Because a g-sensor gravity sensor and an image after treatment technology are adopted, the exposure time is controlled according to the tremble level detected when the cellphone is used for taking the photograph so as to realize first tremble prevention; and the displacement vector of the tremble is utilized to compensate the fuzzy image so as to realize second tremble prevention; therefore, a photographing function with ideal tremble prevention effect is realized on the cellphone with low cost and is particularly suitable for being used on an intelligent cellphone with a high end g-sensor gravity sensor.

The invention discloses a voice coil motor capable of realizing OIS (optical image stabilization) through pure translational motion. The voice coil motor comprises a case consisting of a lower cover and a metal magnet yoke, a lens holder arranged in the case, a plurality of magnets arranged on inner walls of the magnet yoke, a focusing coil capable of interacting with the magnets to control focusing of the lens holder, translation coils capable of interacting with the magnets to control the lens holder to move in a plane perpendicular to the lens optical axis, a fixing device and a limiting device, wherein the lens holder can move back and forth along the optical axis relative to the fixing device, and the limiting device fixes the lens holder in the plane perpendicular to the optical axis. The fixing device and the limiting device are matched, so that the translational motion of an automatic focusing part can be conducted in one plane, the deflection can be avoided, and the image stabilization effect is very ideal.

The invention discloses a camera module and electronic equipment thereof. The camera module comprises a lens module, an elastic carrier, a base and an electromagnetic driving device. In the elastic carrier, a first connecting part is connected with a frame part through a first torsion arm, a second connecting part is connected with the frame part through a second torsion arm, a lens module is arranged on the first connecting part, a ball is arranged on a base, and the ball is arranged below the first connecting part and used for supporting the first connecting part; a first electromagnetic driving device is used for driving the lens module to rotate along the Y axis, a second electromagnetic driving device is used for driving the lens module to rotate along the X axis, and a third electromagnetic driving device is used for driving the lens module to rotate along the Z axis. According to the camera shooting module and the electronic equipment thereof, the lens module can be driven to rotate in the X-axis direction, the Y-axis direction and the Z-axis direction at the same time, the rotating direction is opposite to the shaking direction, and the anti-shaking performance and the imaging effect of the camera shooting module during shooting are improved.

Through real time statistics of average time delay and average dithering, the method reflects state of current network correctly. The method adjusts JB depth in real time based on state of average time delay and average dithering in everchanging network. Thus, anti dithering mechanism of reception gateway is able to adapt variable IP network dynamically, and reduces rate of packet loss in procedure of transferring voice through network. Comparing with technical scheme of static JB, and proved through tested result, the invention provides better anti dithering effect in procedure of transferring voice, raises voice quality of VOIP under relative poor condition of network quality.

The invention provides various types of aircraft carriers, warships, submarines and offshore platforms each with a correcting device with high efficiency, load removal, swing stoppage and turnover resistance through a load-removal self-balance swing reducing device, a load-removal airbag pad floating device, an external suspended adjustable weight balancer device, a correcting plate and wing type swing reducing plate device, a submarine ascending / descending accelerating device, an accelerated underwater suspension self-balance control device, a transversely-propelled whole-body fast moving-mooring-docking device, a safe urgent-deceleration fast-lag electric oar device and a gyroscopic magnetic-field inertia movement weight balancer device. The invention has the effects that according to the structure, the swing on six degrees of freedom of ships, warships, aircraft carriers and various offshore platforms can be solved comprehensively, so that traveling ship bodies are ensured to timely and safely avoid sudden barriers, therefore a complete and efficient swing reduction system is formed, several problems in the fields of navigation and ships are solved, the balance stability and safety of ships, aircraft carriers, submarines or aircrafts and spacecrafts in the aerospace field are improved, the ability and confidence of humans for handling offshore or aviation activities are largely promoted, swing reduction is changed into swing prevention or swing stoppage, and the aircrafts in the air never crash due to unbalance.

The invention provides a submersible buoy pulley mooring system and relates to a mooring system. The submersible buoy pulley mooring system mainly comprises submersible buoys, pulleys, anchor bases, ropes and rope knots. The anchor bases are provided with rope chains in a tying mode. The other end of each rope chain is tied to each fixed pulley support. Each pulley is wound with a rope. One end of each rope is tied to the corresponding submersible buoy. The other end of each rope is tied to a floating body required to be moored. The positions, between the pulleys and the moored floating body and close to the pulleys, of the ropes are provided with the rope knots in a tying mode. Combination of a plurality of submersible buoy pulley anchoring units distributed on the periphery tightly pull the central floating body required to be moored jointly. By means of the submersible buoy pulley mooring system, the problems of anchor chain breakage or anchor base slippage and the like generated due to the fact that the mooring constraining force is violently increased can be avoided, so that the storm resistance capacity can be provided, and the mooring cost is lowered.

The invention provides a camera anti-shake structure and belongs to the technical field of machinery. The structure solves the serious problem of shake of two axes of the existing camera. According tothe camera anti-shake structure, a camera comprises a framework and a limiting frame; the limiting frame is arranged in the framework; a prism and a lens are arranged in the limiting frame; a focusing magnet is arranged in the framework; an outer cover is arranged on the framework in a covering manner; the anti-shake structure comprises an anti-shake coil I arranged on a circuit board, an anti-shake coil II arranged on the outer cover, an anti-shake magnet I arranged in the framework and an anti-shake magnet II arranged on a side wall of the limiting frame; the anti-shake coil I and the anti-shake magnet I are arranged oppositely; the anti-shake coil II and the anti-shake magnet II are arranged oppositely; and length directions of the anti-shake coil I and the anti-shake coil II are perpendicular to a length direction of the focusing coil. The anti-shake magnet II and the anti-shake coil II of the structure can vertically compensate a deviation of camera shake in a shooting process ofa person, and the anti-shake adjustment of the two axes of the camera is achieved.

The invention discloses a ship fin stabilizer sliding mode control method based on a disturbance observer. The method comprises the steps of 1, determining a ship rolling kinetic equation according to a ship parameter; 2, writing a state space form according to the ship kinetic equation, and determining an uncertain item; 3, designing a non-linear disturbance observer, and observing and estimating the uncertain item; 4, designing a siding mode controller with a convergent exponent according to the observed estimation value of the uncertain item in the step 3; and 5, verifying the disturbance observer and stability of a control rate; and verifying stability of a closed loop feedback system formed by the steps 1-4. According to the method provided by the invention, the related disturbance observer can observe disturbance of the ship non-linear motion model and the uncertain item, a control rate can be designed according to the observed disturbance value, and response of the system to disturbance is reduced.

The invention discloses an optical anti-vibration motor. The optical anti-vibration motor comprises a base and a magnet yoke iron shell which is arranged with the base in a matching mode. Magnets and a lens carrier are arranged inside the magnet yoke iron shell, wherein coils are wound around the lens carrier. A rear spring piece is arranged between the lens carrier and the base and the magnet yoke iron shell is of a square structure. The optical anti-vibration motor is characterized in that four sets of magnets are symmetrically arranged on the magnet yoke iron shell of the square structure, the four coils are symmetrically arranged outside the lens carrier and each coil corresponds to one set of magnet. A PCB is further arranged inside the base, the PCB is provided with four control ends, each control end is electrically connected with one coil and the PCB is further provided with external pins. The optical anti-vibration motor has the advantages that the anti-vibration performance is good and the motion reliability of the lens carrier is improved.

An image capture apparatus includes an image pickup device, a first image stabilization unit which optically corrects an image blur by driving part of the optical system, a second image stabilization unit which electronically corrects the image blur by controlling the image readout position of the image pickup device, a shake detection unit which detects a shake of the image capture apparatus, a correction amount calculation unit which calculates an image stabilization amount based on the detected shake signal, and a division unit which divides a first image stabilization amount of a predetermined frequency band into a second image stabilization amount for correcting the image blur by the first image stabilization unit and a third image stabilization amount for correcting the image blur by the second image stabilization unit.

The invention provides a multifunctional control device of a small waterline plane ship hydrofoil and column rudder, comprising two hydrofoils and a column rudder mechanism; each hydrofoil and the column rudder mechanism comprise hydrofoils; a hydrofoil strut fixed on the hydrofoil, two wing flaps symmetrically distributed on the hydrofoil and at the both sides of the hydrofoil strut and a column rudder arranged on the hydrofoil strut; two hydrofoils and the column rudder mechanism are respectively installed at the front part and the rear part of a small waterplane area twin-hull ship; two sheet bodies of the hydrofoil and the small waterplane area twin-hull ship are fixedly connected according to a certain installation angle; the hydrofoil strut is fixedly connected with a connection body at the upper part of the small waterplane area twin-hull ship. The multifunctional control device of the invention has multiple functions, can shorten transient time from hullborne operation to foilborne operation, weaken heave motion and pitching motion of the small waterplane area twin-hull ship, weaken rolling motion of the catamaran, control inclination angle of the ship, has course control function, can effectively shorten steering gyration radius, and improve the safety, navigability and maneuverability of the small waterplane area twin-hull ship.

The invention discloses a video anti-shake method and system suitable for movable time-lapse photography and a shooting terminal.According to the method, key point extracting and key point matching are conducted on image frames of video to be processed, homography matrixes between the adjacent image frames are worked out according to the result of the feature point matching, a movement locus of the video to be processed is calculated according to the homography matrixes of the adjacent image frames, key frames in the image frames of the video to be processed are extracted according to the movement locus, and smoothing is conducted on the homography matrixes of the key frames so that stable video can be obtained.Only the video image information is utilized, frame extracting and smoothing are conducted by combining the relation between the image key point information and homography, the method is independent of hardware, the algorithm robustness is high, the anti-shake effect is remarkable, and the method is especially suitable for movable time-lapse photography with large shaking and is also suitable for anti-shake processing of ordinary video.

The invention relates to the technical field of camera modules, and particularly discloses an anti-shake focusing motor and an application module thereof; the motor comprises a fixing structure, a suspension wire, an anti-shake structure and a focusing structure, and the fixing structure comprises a positioning seat and a shell, wherein one end of the suspension wire is connected with the fixing structure; the anti-shake structure comprises a sensor carrier, at least one group of anti-shake magnets and at least two groups of anti-shake coils, wherein the anti-shake magnets are fixed in the shell, the sensor carrier is movably mounted at the lower part in the shell, and the anti-shake coils are arranged on the sensor carrier; the anti-shake structure is connected with the other end of the suspension wire; the focusing structure is arranged on the sensor carrier and comprises a lens carrier, wherein at least one group of focusing magnets and at least one group of focusing coils, and thefocusing coils are arranged at the periphery of the lens carrier. According to the inventio, non-linear friction force cannot occur in the anti-shake process, and the anti-shake effect is better.

The invention provides a clock generating apparatus, a method for the clock generating apparatus, and a fractional frequency divider. The clock generating apparatus includes an oscillator and a frequency synthesizer. The oscillator is utilized for generating a reference clock signal. The frequency synthesizer is coupled to the oscillator and utilized for synthesizing a target clock signal in accordance with the reference clock signal and a frequency division factor that has been adjusted or compensated, and outputting the target clock signal as an output of the clock generating apparatus. The clock generating apparatus can achieve high frequency accuracy and good anti-shake effect at the same time.

The embodiment of the invention discloses an anti-shake photographing method and device. The method includes the steps that cache image frames are obtained through a terminal camera, and the obtained cache image frames are stored in an image cache queue; a photographing instruction is received; the image definition values of the cache image frames in the current image cache queue are obtained; the cache image frame with the highest image definition value is determined as the photographed image, and the photographed image is output. By means of the photographing method and device, the anti-shake effect of terminal photographing can be improved.

The invention discloses a robot multi-camera visual-inertial real-time positioning method and device. The method comprises the steps that current multi-view images and inertial sensor data of a robotare obtained, according to the current images, image feature points are extracted, a current robot pose is estimated, according to the current robot pose, a 3D point cloud is rebuilt, historical and current point cloud data is stored to maintain a vision point cloud map, according to the inertial sensor data, initialization is completed, a sensor bias value is estimated, pre-integration is conducted to obtain the current speed and angle of the robot, according to the vision point cloud map and inertial sensor pre-integration, the current pose is optimized, and the like. Multi-view cameras mentioned in the robot multi-camera visual-inertial real-time positioning method provide a wider view by means of information of multiple view angles, the multiple cameras face differently, the situationthat all views are hindered is rare, and visual features provided by the multiple cameras are richer so that the requirements of features needed for achieving positioning can be almost met.

The invention discloses a camera module and electronic equipment thereof. The camera module comprises a lens module, an elastic carrier, a base and an electromagnetic driving device. The first connecting part of the elastic carrier is connected with the frame part through a first torsion arm, the second connecting part is connected with the frame part through a second torsion arm, and the lens module is installed on the first connecting part. A ball is arranged on the base, is arranged below the first connecting part and is used for supporting the first connecting part; the electromagnetic driving device is arranged at the bottom of the lens module and used for driving the lens module to rotate around the first torsion arm and / or the second torsion arm. According to the camera module and the electronic equipment thereof, the lens module can be driven by the electromagnetic driving device to rotate around the first torsion arm and / or the second torsion arm at the same time, so that thelens module rotates in the direction opposite to the shaking direction, and displacement generated by shaking in the shooting process is compensated; and the anti-shake performance of the camera module and the quality of shot pictures are improved.

The invention discloses a tank stabilizer control device, which mainly solves the technical problems of improving the pitch damping effects of ships and the like, and adopts the technical scheme that: a left throttling passage and a right throttling passage are arranged at the top parts of a larboard air chamber and a starboard air chamber of a U-shaped tank stabilizer, throttling components are arranged on the two passages, the two components are connected with a controller which is connected with a detector, detected ship swinging period signals are input to the controller, control signals are output to the two throttling components according to set rules, and the throttling components adjust effective sectional areas of the two throttling passages so as to realize the water level alternation period of the U-shaped tank stabilizer the same as the ship swinging period. The tank stabilizer control device is applied to various U-shaped tank stabilizers.

The invention relates to an image correction method and apparatus, an electronic equipment and a computer readable storage medium. The image correction method comprises the steps of obtaining attitudeinformation of a cradle head corresponding to an initial image frame, attitude information of a camera and motion information of a lens of the camera; acquiring time delay information, and performingfusion processing on the time delay information, the attitude information of the cradle head, the attitude information of the camera and the motion information of the camera lens to obtain a currentattitude of the initial image frame; converting the current posture of the initial image frame into a target posture; and correcting pixel points in the initial image frame according to the target attitude to obtain a target image frame corresponding to the target attitude. By adopting the scheme, a stable image frame can be obtained, and the anti-shake effect of the image is improved.

The invention provides various aircraft carriers, warships, submarines and offshore platforms with efficient load-eliminating swing-stopping capsizing-resisting correction devices. Load-eliminating self-balancing swing-reducing devices, load-eliminating floating air bag cushion devices, externally-suspended weight-adjustable balancer devices, correction plate and wing-type swing-reducing plate devices, devices for accelerating floating and diving of the submarines, self-balancing control devices for accelerating underwater hovering, devices for horizontally pushing whole ship hulls to quickly shift to arrive at or depart harbors, safe quick-decelerating and quick-lagging electric propeller devices and top magnetic-field inertia moving weight balancer devices are provided. The aircraft carriers, the warships, the submarines and the offshore platforms have the advantages that according to the structures, swings, in six degrees of freedom, of ships, the warships, the aircraft carriers and the offshore platforms can be solved comprehensively, sailing ship hulls are timely and safely protected from sudden obstacles, perfect and efficient swing-reducing systems are formed, several major problems in the field of navigation ships are solved, balance stability and safety of aircrafts and spacecraft in the field of the ships, the aircraft carriers, the submarines or aerospace are improved, capability and confidence of human beings in control of offshore or aerial activities are greatly improved, swing reduction is changed into swing stop, and the aircrafts never lose their balance and fall down.

The invention discloses a mobile phone with a photographing stabilization function and a stabilization method in the photographing process of the mobile phone. The method comprises the following steps that the parameter intervals of all index data measured by a gyroscope and an accelerometer in the mobile phone are preset; a camera is started, and a photographing mode is set; the gyroscope and the accelerometer in the mobile phone record all the index data of the motion and jitter condition of the mobile phone, and meanwhile a camera lens starts automatically focusing; a photographer holds the mobile phone with both hands and keeps the mobile phone motionless for 1-10 seconds as far as possible, and a photographing program automatically identifies whether all the index data which are recorded by the gyroscope and the accelerometer of the mobile phone and related to the motion and jitter of the mobile phone enter in the corresponding preset parameter intervals; after the lens completes automatic focusing, the data recorded by the gyroscope and the accelerometer of the mobile phone all enter in the corresponding preset parameter intervals, and the mobile phone can automatically take pictures without pressing a shutter by the photographer; the automatic shooting function and the photographing mode of the mobile phone are compatible. According to the mobile phone and the stabilization method, operation is easy, using is convenient, and the stabilization performance is good.

The invention discloses a robot vision inertial point linear feature positioning method and device. The robot vision inertial point linear feature positioning method comprises the steps that a priorithree-dimensional map of a current scene and measuring data of an inertial sensor are obtained, and the priori three-dimensional map is constructed in advance and comprises the three-dimensional pointlinear feature; and a current image of a robot and measuring data of an inertial sensor are obtained. According to the robot vision inertial point linear feature positioning method and device, fusionof multiple sensors is utilized, advantage information of all the sensors are fully exerted in an algorithm, and the effect of improving the position accuracy and robustness is finally achieved.

The invention discloses a mounting and positioning method for a bilge keel. The method comprises the following steps that S1, in a cross section drawing of a hull, a mounting point of the bilge keel and a rolling central point of a ship are connected; S2, the angle formed by a connecting line of the mounting point of the bilge keel and the rolling central point of the ship and a base line is the positioning angle of the bilge keel, wherein the base line is a tangent line of the cross section of the hull and the inner surface of a ship bottom plate; and S3, the bilge keel is mounted according to the positioning angle of the bilge keel. The height R of the rolling central point from the base line is calculated according to the following formula: R=D / 4+T / 2, wherein D is the molded depth, and T is the draft of the ship under the ballast working condition. The operation working condition with the most severe rolling serves as a preferred working condition for determining the positioning angle of the bilge keel so as to determine the positioning angle of the bilge keel, so that severe rolling of the working condition can be restrained in a maximum mode, meanwhile, rolling of other working conditions also can be restrained, and accordingly the bilge keel reaches a good overall rolling reducing effect.

The invention discloses an image anti-shake method and device, electronic equipment and a storage medium. When the jitter frequency is changed from the first frequency to the second frequency, the target focal length, the target cutting proportion and the target magnification factor at the second frequency can be determined according to the first cutting proportion, the first magnification factor,the first focal length and the first field angle at the first frequency; and then image anti-shake processing is carried out according to the target focal length, the target cutting proportion and the target magnification factor. According to the image anti-jitter method provided by the invention, anti-jitter processing can be carried out in a self-adaptive jitter frequency manner; different cutting proportions are used according to different frequencies, so that the anti-shake effect is good, the cut image is amplified by using different amplification factors according to different frequencies, and the consistency of the view field angles of the image and the consistency of the size of an object in the image under different frequencies are ensured.

The invention is applicable to the technical field of shooting equipment, and provides a detection method of an optical anti-shake module, a mobile terminal and a computer readable storage medium. Thedetection method comprises the following steps: acquiring an image of a target object fixed at a second preset position through a camera, in which the optical anti-shake module is located, at a firstpreset position, wherein during acquisition of the image, an image acquired by a suspension lens in the optical anti-shake module at the center position of a moving space is used as a reference image, and an image acquired by the suspension lens in the optical anti-shake module at a position, farthest to the center position, in N directions of the moving space is used as a maximum migration imagecorresponding to the decibel of each direction; and acquiring maximum moving distances, respectively corresponding to the N directions, of the suspension lens according to the reference image and themaximum migration images respectively corresponding to the N directions. According to the detection method of the optical anti-shake module, the anti-shake effect of the optical anti-shake module canbe enhanced.

The invention discloses a robot multi-camera visual inertia point-line feature positioning method and device. The method comprises the steps of obtaining a priori three-dimensional map of a current scene, and enabling the map to be constructed in advance; acquiring a current image of a robot and measurement data of an inertial sensor; matching the two-dimensional point and line features detected in the current image with the three-dimensional point and line features in the prior three-dimensional map; and calculating the yaw angle and translation of the current robot pose according to the twopairs of matched two-dimensional to three-dimensional point features or one pair of point features plus one pair of line features. At present, the main application fields of mobile robots are warehouse logistics, inspection monitoring and the like, and the requirements of the mobile robots on the robots are that the mobile robots can stably operate for a long time in a relatively fixed environmentand can realize accurate self-positioning. A visual sensor is low in production cost and large in acquired information amount, and related positioning methods are widely researched and applied.

The invention relates to a camera module and terminal equipment. The camera module comprises a base body, a liquid lens, an extrusion structure, an image sensor and a lens group, wherein the base bodyis provided with a light inlet, the liquid lens is arranged at the light inlet and connected with the base body, the extrusion structure is connected with the base body and can extrude the liquid lens to deform the liquid lens, the image sensor is connected with the base body, and the lens group is connected with the base body and located between the liquid lens and the image sensor. Ambient light can enter from the light inlet, penetrates through the liquid lens and the lens group and then enters the image sensor. The camera module, the extrusion structure can extrude the liquid lens to deform the liquid lens; after the liquid lens is deformed, the radian of the surface of the liquid lens is also changed, so that the angle of the light passing through the liquid lens can be adjusted, thefocusing or anti-shake function can be realized, the focusing or anti-shake requirement of the high-pixel camera module can be met, and the miniaturization design of the camera module is facilitated.