Control method and device, electronic device and storage medium

Abstract

In the control method, control device, electronic device and non-volatile computer-readable storage medium of the present application, the method includes acquiring posture data; processing the posture data through a bandpass filter and an integrator of the electronic device to determine a posture compensation value; and controlling the movement of an anti-shake component of the electronic device to perform anti-shake according to the posture compensation value. By introducing a bandpass filter to process the posture data while the integrator processes the posture data, the phase delay caused by the accumulation of integrator errors is eliminated, thereby ensuring the accuracy of the posture compensation value, and when the anti-shake component of the electronic device is controlled to perform anti-shake according to the posture compensation value, a better anti-shake effect is achieved.

Description

Technical Field

[0001] The present application relates to the field of control technology, and in particular to a control method, a control device, an electronic device and a non-volatile computer-readable storage medium. Background Art

[0002] At present, when performing anti-shake compensation, an integrator is usually used to integrate the posture data to obtain real-time posture correction data. However, when the integrator is integrating, errors will be continuously accumulated, resulting in low accuracy of the posture correction data. Summary of the invention

[0003] Embodiments of the present application provide a control method, a control device, an electronic device, and a non-volatile computer-readable storage medium.

[0004] The embodiment of the present application provides a control method. The control method includes acquiring posture data; processing the posture data through a bandpass filter and an integrator of the electronic device to determine a posture compensation value; and controlling the movement of an anti-shake component of the electronic device to perform anti-shake according to the posture compensation value.

[0005] The embodiment of the present application provides a control device. The control device includes an acquisition module, a determination module and a control module. The acquisition module is used to acquire posture data; the determination module is used to process the posture data through a bandpass filter and an integrator of the electronic device to determine a posture compensation value; the control module is used to control the movement of the anti-shake component of the electronic device according to the posture compensation value to perform anti-shake.

[0006] The embodiment of the present application provides an electronic device. The electronic device includes a posture sensor, a bandpass filter, an integrator, a processor and an anti-shake component, wherein the posture sensor is used to collect posture data, the bandpass filter is used to perform bandpass filtering, and the integrator is used to integrate the posture data; the processor is used to obtain the posture data; the posture data is processed by the bandpass filter and the integrator to determine a posture compensation value; and the anti-shake component is controlled to move according to the posture compensation value to perform anti-shake.

[0007] The embodiment of the present application provides a non-volatile computer-readable storage medium having a computer program stored thereon. The computer program implements a control method when executed by a processor. The control method includes acquiring posture data; processing the posture data through a bandpass filter and an integrator of the electronic device to determine a posture compensation value; and controlling the movement of an anti-shake component of the electronic device to perform anti-shake according to the posture compensation value.

[0008] In the control method, control device, electronic device and non-volatile computer-readable storage medium of the present application, a bandpass filter is introduced to process the posture data simultaneously when the integrator processes the posture data, thereby eliminating the phase delay caused by the accumulation of integrator errors, thereby ensuring the accuracy of the posture compensation value. When the anti-shake component of the electronic device is controlled to perform anti-shake according to the posture compensation value, a better anti-shake effect is achieved.

[0009] Additional aspects and advantages of the embodiments of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0011] Figure 1 is a flow chart of a control method of certain embodiments of the present application;

[0012] Figure 2 is a schematic diagram of the structure of an electronic device according to some embodiments of the present application;

[0013] Figure 3 is a flow chart of a control method of certain embodiments of the present application;

[0014] Figure 4 is a flow chart of a control method of certain embodiments of the present application;

[0015] Figure 5 is a flow chart of a control method of certain embodiments of the present application;

[0016] Figure 6 It is the Bode diagram of the embodiment and comparative example of the present application;

[0017] Figure 7 is a schematic diagram of a module of a control device in certain embodiments of the present application;

[0018] Figure 8 is a schematic plan view of an electronic device according to some embodiments of the present application; and

[0019] Fig. 9 The diagram is a schematic diagram of the interaction between a non-volatile computer-readable storage medium and a processor in certain embodiments of the present application. DETAILED DESCRIPTION

[0020] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals represent the same or similar elements or elements having the same or similar functions from beginning to end. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the embodiments of the present application, and cannot be understood as limiting the embodiments of the present application.

[0021] The following first explains the nouns that appear in this application:

[0022] Optical image stabilization (OIS): refers to the process of avoiding or reducing instrument jitter that occurs during the capture of optical signals in cameras or other similar imaging instruments by moving optical components, such as lenses or sensors, thereby improving image quality.

[0023] Low pass filter (LPF): It allows low frequency or DC components in the signal to pass through and suppresses high frequency components or interference and noise.

[0024] High pass filter (HPF): It allows high-frequency components in the signal to pass through and suppresses low-frequency or DC components.

[0025] Band pass filter (BPF): It allows signals in a certain frequency band to pass through and suppresses signals, interference and noise below or above the frequency band.

[0026] See also Figure 1 and Figure 2 The control method of the embodiment of the present application is applied to the electronic device 100, and the control method includes:

[0027] Step 011: Get posture data.

[0028] Specifically, the electronic device 100 has a posture sensor 20 for detecting the current posture of the electronic device 100. The posture sensor 20 can collect posture data of the electronic device 100. Due to factors such as hand shaking, the current posture of the electronic device 100 may be constantly changing during shooting. Therefore, by collecting the current posture, it is beneficial for the subsequent anti-shake component 30 of the electronic device 100 to compensate according to the current posture to offset the shooting quality problems caused by shaking of the electronic device 100.

[0029] Optionally, the posture sensor 20 may be a gyroscope and / or an accelerometer. When acquiring posture data, gyroscope data and / or acceleration data may be acquired, and both gyroscope data and / or acceleration data may be used for posture calculation.

[0030] Optionally, gyroscope data and acceleration data may be acquired simultaneously, a first posture may be determined based on the gyroscope data, a second posture may be determined based on the acceleration data, and then a current posture may be determined based on the first posture and the second posture, for example, the current posture may be determined based on the average of the first posture and the second posture.

[0031] Step 012: The posture data is processed by the bandpass filter 40 and the integrator 50 of the electronic device 100 to determine the posture compensation value.

[0032] Specifically, after acquiring the posture data, in order to facilitate the movement of the anti-shake component 30 of the electronic device 100 to achieve anti-shake compensation, such as optical anti-shake moving the lens through the anti-shake motor. Therefore, it is necessary to integrate the posture data through the integrator 50, so as to generate a posture compensation value according to the posture data, and convert the posture data representing the current posture of the electronic device 100 into a posture compensation value in the moving direction of the anti-shake component 30. For example, taking the posture data as gyroscope data, the posture data is an angular velocity value before integration, and is converted into an angle value after integration (the angle value is the unit of measurement of the anti-shake motor, and there is a mapping relationship between the angle value and the actual moving distance of the anti-shake motor), such as the horizontal movement angle value and the vertical movement angle value of the anti-shake motor on the plane perpendicular to the optical axis.

[0033] However, since there is a certain delay from the collection to the calculation of the posture data, the delay accumulates as the integrator 50 integrates, resulting in the posture compensation value calculated by the integrator 50 not actually matching the posture at the current moment, making it difficult to offset the reduced shooting effect caused by the jitter, and the accuracy of the posture compensation value is low. Therefore, when the integrator 50 processes the posture data, the bandpass filter 40 also processes the posture data to correct the phase delay caused by the integrator 50, so that the final output posture compensation value matches the posture at the current moment, so that after anti-shake is performed according to the posture compensation value, a better anti-shake effect is obtained.

[0034] Optionally, the bandpass filter 40 may be composed of a low-pass filter and a high-pass filter. For example, both the low-pass filter and the high-pass filter may be first-order or multi-order. In the embodiment of the present application, both the low-pass filter and the high-pass filter are first-order.

[0035] See also Figure 2 and 3 Optionally, step 012 includes:

[0036] 0121: band-pass filtering the posture data through the band-pass filter 40 to obtain first processed data;

[0037] 0122: Integrate the posture data through the integrator 50 to obtain second processed data;

[0038] 0123: Determine a posture compensation value according to the first processed data and the second processed data.

[0039] Optionally, the transfer function of the bandpass filter 40 is as follows:

[0040]

[0041] Among them, s is the posture data, Kb is the gain parameter of the bandpass filter 40, which can be adjusted to the optimal value by experiment, ω L and ω H are the cutoff frequencies of the low-pass filter and high-pass filter respectively.

[0042] In this way, the attitude data is band-pass filtered by the transfer function of the band-pass filter 40 to obtain the first processed data G BFP (s).

[0043] Optionally, in different anti-shake scenarios of the electronic device 100, the anti-shake frequency is different, and different gain parameters can be set to adapt to the anti-shake frequency in different anti-shake scenarios, so that better phase delay correction effect can be achieved in different anti-shake scenarios to ensure the accuracy of the posture compensation value.

[0044] Optionally, the integrator 50 uses a rectangular or trapezoidal method to perform integration calculation on the filtered angular velocity, and the transfer function of the integrator 50 is as follows:

[0045]

[0046] In this way, the posture data is integrated by the transfer function of the integrator 50 to obtain the second processed data G I (s).

[0047] Optionally, the integrator 50 and the bandpass filter 40 are connected in parallel, and the attitude compensation value is determined according to the first processed data and the second processed data by adding the outputs of the transfer functions of the bandpass filter 40 and the integrator 50 to obtain the attitude compensation value, such as the attitude compensation value G(s)=G I (s)+G BFP (s).

[0048] In this way, by reducing the parallel connection of the bandpass filter 40 and the integrator 50, the posture data is processed according to the transfer function after the parallel connection, so that the phase delay caused by the integrator 50 is corrected by the bandpass filter 40, thereby improving the accuracy of the posture compensation value.

[0049] See also Figure 2 and Figure 4 Optionally, step 012 further includes:

[0050] 0124: Determine a first angle value according to the first processed data and the second processed data;

[0051] 0125: Obtain the current second angle value of the anti-shake component 30; and

[0052] 0126: Determine a posture compensation value according to the first angle value and the second angle value.

[0053] Specifically, the above-mentioned posture compensation value G(s) may not be the final value for anti-shake compensation, but the target angle value of the anti-shake component 30 obtained by integrating the posture data. The anti-shake component 30 has a fixed moving stroke, the anti-shake component 30 may have been anti-shake-treated, and the anti-shake component 30 may be at any position in the moving stroke.

[0054] Therefore, after determining the first angle value based on the first processed data and the second processed data, it is also necessary to obtain the position of the anti-shake component 30 within the moving range (i.e., the second angle value). The electronic device 100 also includes a Hall sensor 60 for collecting the current position of the anti-shake component 30. The second angle value of the anti-shake component 30 can be accurately determined through the Hall value of the Hall sensor 60.

[0055] Then, the posture compensation value can be determined according to the first angle value and the second angle value (such as according to the difference between the first angle value and the second angle value), so that after the anti-shake component 30 is controlled to perform anti-shake according to the posture compensation value, the anti-shake component 30 moves to the position where the first angle value is located to achieve a better anti-shake effect.

[0056] In other embodiments, for the photo mode, since there is generally a time interval between two frames of captured images, the anti-shake component 30 can be returned to the center after each image is captured, that is, the anti-shake component 30 is moved to the middle position of the moving range, so that each time after obtaining the first angle value, there is no need to obtain the second angle value of the anti-shake component 30, but the posture compensation value is calculated based on the preset angle value corresponding to the middle position. Moreover, since the anti-shake component 30 is always located in the middle position, it is ensured that the moving range of the anti-shake component 30 in different directions is large, and the anti-shake effect in different directions is good.

[0057] Step 013: Control the movement of the anti-shake component 30 of the electronic device 100 to perform anti-shake according to the posture compensation value.

[0058] After the attitude compensation value is determined, the anti-shake component 30 can be controlled to move according to the attitude compensation value, thereby achieving anti-shake. For example, the anti-shake component 30 can be an anti-shake motor for moving a lens or an image sensor, and the attitude compensation value includes a horizontal angle and a vertical angle. For example, taking the image sensor as a rectangle, on a plane parallel to the image sensor, the direction along the short side of the rectangle is the horizontal direction, and the direction along the long side of the rectangle is the vertical direction. The anti-shake motor controls the lens or image sensor to move the horizontal angle in the horizontal direction, and controls the lens or image sensor to move the vertical angle in the vertical direction, thereby achieving anti-shake of the electronic device 100.

[0059] See also Figure 2 and Figure 5 , the control method further includes:

[0060] Step 014: low-pass filtering the gesture data through the low-pass filter 70 of the electronic device 100; and / or

[0061] Step 015: Perform high-pass filtering on the gesture data through the high-pass filter 80 of the electronic device 100.

[0062] Specifically, in order to improve the accuracy of the posture data, the present application can also perform low-pass filtering on the posture data through a low-pass filter 70 to reduce high-frequency noise in the posture data, and perform high-pass filtering on the posture data through a high-pass filter 80 to reduce low-frequency noise and static bias.

[0063] Optionally, the low-pass filter 70 may be of first order or multiple orders, and its transfer function is as follows:

[0064]

[0065] Among them, ω L The cut-off frequency, s is the attitude data, and m is the order.

[0066] Optionally, the high-pass filter 80 may also be of first order or multiple orders, and its transfer function is as follows:

[0067]

[0068] Among them, ω H The cutoff frequency, s is the attitude data, and n is the order.

[0069] The high-frequency noise, low-frequency noise and static bias in the posture data can be reduced by the low-pass filter 70 and the high-pass filter 80, thereby improving the accuracy of the posture data. The posture data subjected to high-pass filtering and / or low-pass filtering is input to the band-pass filter 40 and the integrator 50, which can further improve the accuracy of the posture compensation value.

[0070] Optionally, refer again to Figure 2 , the low-pass filter 70 and the high-pass filter 80 are connected in series with the integrator 50, the band-pass filter 40 and the integrator 50 are connected in parallel, and the transfer function after the low-pass filter 70, the high-pass filter 80, the band-pass filter 40 and the integrator 50 act together is as follows:

[0071] G(s)=G LFP (s)*G HFP (s)*(G I (s)+G BFP (s))

[0072] In this way, the high-frequency noise, low-frequency noise and static bias in the posture data can be reduced by the low-pass filter 70 and the high-pass filter 80, thereby improving the accuracy of the posture data. The phase delay of the integrator 50 is corrected by the bandpass filter 40, thereby improving the accuracy of the posture compensation value, and having a good anti-shake effect.

[0073] See also Figure 6 , the present application uses a second-order low-pass filter 70, a second-order high-pass filter 80, an integrator 50 and a first-order band-pass filter 40 to complete the optical image stabilization algorithm signal processing. As a comparative example, a second-order low-pass filter 70, a second-order high-pass filter 80 and an integrator 50 are selected to complete the optical image stabilization algorithm signal processing, and the filter parameters of the present application and the comparative example are the same. The difference between the embodiment of the present application and the comparative example is whether the band-pass filter 40 is introduced.

[0074] Figure 6 The frequency response characteristic curves (Bode plots) of the embodiment (curve S1) of the present application and the comparative example (curve S2) are shown. It can be seen that the embodiment S1 with the bandpass filter 40 has a more consistent phase delay within the anti-shake frequency range (1-10Hz) (i.e., the phase delay is basically the same within the anti-shake frequency range (1-10Hz)). After the phase delay is corrected, the jitter within the anti-shake frequency range can have a better correction effect. The phase delay of the embodiment S1 is greater than -180 degrees, so that the anti-shake effect can adapt to the different anti-shake frequencies, and it is always negative feedback, with a better anti-shake effect, which improves the adaptability of the control method of the present application to different anti-shake frequencies.

[0075] In order to better implement the control method of the embodiment of the present application, the embodiment of the present application also provides a control device 10. Figure 7 , Figure 7 This is a schematic diagram of the structure of a control device 10 provided in an embodiment of the present application. The control device 10 may include:

[0076] An acquisition module 11 is used to acquire posture data;

[0077] The acquisition module 11 is specifically used to acquire gyroscope data; and / or acquire acceleration data.

[0078] A determination module 12, configured to process the posture data through a bandpass filter 40 and an integrator 50 of the electronic device 100 to determine a posture compensation value;

[0079] The determination module 12 is specifically used to perform bandpass filtering on the posture data through the bandpass filter 40 to obtain first processed data; integrate the posture data through the integrator 50 to obtain second processed data; and determine the posture compensation value according to the first processed data and the second processed data.

[0080] The determination module 12 is further specifically configured to determine a first angle value according to the first processed data and the second processed data; obtain a current second angle value of the anti-shake component 30; and determine a posture compensation value according to the first angle value and the second angle value.

[0081] The control module 13 is used to control the movement of the anti-shake component 30 of the electronic device 100 to perform anti-shake according to the posture compensation value.

[0082] The control device 10 further includes a filtering module 14, which is used to:

[0083] Low pass filtering the gesture data via low pass filter 70; and / or

[0084] The posture data is high-pass filtered by a high-pass filter 80 .

[0085] Each module in the control device 10 can be implemented in whole or in part by software, hardware, or a combination thereof. Each module can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute operations corresponding to each module.

[0086] It can be understood that the types of the low-pass filter 70, high-pass filter 80, band-pass filter 40 and integrator 50 in the implementation mode of the present application can all be software algorithms (such as a module of a control device) or hardware components (such as a hardware processing circuit). The types of the low-pass filter 70, high-pass filter 80, band-pass filter 40 and integrator 50 of the present application can be comprehensively determined based on actual processing efficiency and cost considerations, and are not limited here.

[0087] Please combine Figure 2 and Figure 8The electronic device 100 of the embodiment of the present application includes a posture sensor 20, a bandpass filter 40, an integrator 50, a processor 90 and an anti-shake component 30. The posture sensor 20 is used to collect posture data, the bandpass filter 40 is used to perform bandpass filtering, and the integrator 50 is used to integrate the posture data; the processor 90 is used to: obtain posture data; process the posture data through the bandpass filter 40 and the integrator 50 to determine a posture compensation value; and control the movement of the anti-shake component 30 according to the posture compensation value to perform anti-shake.

[0088] The electronic device 100 further includes a low-pass filter 70, a high-pass filter 80 and a Hall sensor 60. The processor 90 can implement any steps of the above control method, which will not be described in detail for the sake of brevity.

[0089] The electronic device 100 may be a mobile phone, a smart phone, a personal digital assistant (PDA), a tablet computer and a video game device, a portable terminal (such as a laptop), or a larger device (such as a desktop computer and a television), or any other type of device including a TOF camera.

[0090] See also Fig. 9 The embodiment of the present application also provides a computer-readable storage medium 300 on which a computer program 310 is stored. When the computer program 310 is executed by the processor 90, the steps of the control method of any of the above-mentioned embodiments are implemented. For the sake of brevity, they are not repeated here.

[0091] It can be understood that the computer program 310 includes computer program code. The computer program code can be in source code form, object code form, executable file or some intermediate form, etc. Computer readable storage media can include: any entity or device capable of carrying computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), and software distribution media, etc.

[0092] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples" or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiments or examples are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, unless they are contradictory.

[0093] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code that includes one or more executable instructions for implementing the steps of a specific logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present application belong.

[0094] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A control method, characterized in that: Used in electronic equipment, including: Get posture data; Processing the attitude data through a bandpass filter and an integrator of the electronic device to determine an attitude compensation value; and Controlling the movement of an anti-shake component of the electronic device to perform anti-shake according to the posture compensation value; The step of processing the posture data by a bandpass filter and an integrator of the electronic device to determine a posture compensation value comprises: Performing band-pass filtering on the posture data through the band-pass filter to obtain first processed data; Integrating the posture data by the integrator to obtain second processed data; The posture compensation value is determined according to the first processed data and the second processed data.

2. The control method according to claim 1, characterized in that: The acquiring of posture data comprises: Obtaining gyroscope data; and / or obtaining acceleration data.

3. The control method according to claim 1, characterized in that: Before the posture data is processed by the bandpass filter and the integrator of the electronic device, the control method further includes: Performing low-pass filtering on the gesture data through a low-pass filter of the electronic device; and / or The posture data is high-pass filtered by a high-pass filter of the electronic device.

4. The control method according to claim 1, characterized in that: Determining the posture compensation value according to the first processed data and the second processed data includes: determining a first angle value according to the first processed data and the second processed data; Obtaining the current second angle value of the anti-shake component; and The posture compensation value is determined according to the first angle value and the second angle value.

5. A control device, characterized in that: Applied to electronic equipment, the control device comprises: Acquisition module, used to acquire posture data; A determination module, used for processing the posture data through a bandpass filter and an integrator of the electronic device to determine a posture compensation value; A control module, used for controlling the movement of an anti-shake component of the electronic device to perform anti-shake according to the posture compensation value; The determination module is also used to perform bandpass filtering on the posture data through the bandpass filter to obtain first processed data; integrate the posture data through the integrator to obtain second processed data; and determine the posture compensation value according to the first processed data and the second processed data.

6. An electronic device, characterized in that: It includes a posture sensor, a bandpass filter, an integrator, a processor and an anti-shake component, wherein the posture sensor is used to collect posture data, the bandpass filter is used to perform bandpass filtering, and the integrator is used to integrate the posture data; the processor is used to: Acquire posture data; process the posture data through the bandpass filter and the integrator to determine a posture compensation value; and control the movement of the anti-shake component to perform anti-shake according to the posture compensation value; The bandpass filter and the integrator are connected in parallel, and the processor is also used to perform bandpass filtering on the posture data through the bandpass filter to obtain first processed data; integrate the posture data through the integrator to obtain second processed data; and determine the posture compensation value according to the first processed data and the second processed data.

7. The electronic device according to claim 6, characterized in that: The attitude sensor includes a gyroscope and / or an accelerometer, the gyroscope is used to collect gyroscope data, the accelerometer is used to collect acceleration data, and the processor is further used to obtain the gyroscope data; and / or the acceleration data.

8. The electronic device according to claim 6, characterized in that: The electronic device also includes a low-pass filter and a high-pass filter, both of which are connected in series with the integrator, the low-pass filter is used for low-pass filtering, and the high-pass filter is used for high-pass filtering. Before the posture data is processed by the band-pass filter and the integrator, the processor is used to low-pass filter the posture data by the low-pass filter; and / or high-pass filter the posture data by the high-pass filter.

9. The electronic device according to claim 6, characterized in that: The electronic device further includes a Hall sensor for collecting the current position of the anti-shake component, and the processor is further configured to determine a first angle value according to the first processed data and the second processed data; and obtain the Hall value collected by the Hall sensor to determine a second angle value; And determining the posture compensation value according to the first angle value and the second angle value.

10. A non-volatile computer-readable storage medium for a computer program, characterized in that: When the computer program is executed by one or more processors, the control method according to any one of claims 1 to 4 is implemented.

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