A focusing method, device, equipment and storage medium

Abstract

The present application discloses a focusing method, device, equipment and storage medium, including: obtaining a target image when an auxiliary focusing camera shoots a target object; in response to the clarity of the target image exceeding a clarity threshold range, calculating the clarity difference between the clarity and a preset clarity corresponding to the target image; and determining the position at which the main camera focuses on the target object according to the clarity difference. Thus, in the present application, by presetting the clarity corresponding to the image obtained by shooting the target object with the auxiliary focusing camera in advance, and after the auxiliary focusing camera shoots the target object again to obtain an image, the position at which the main camera focuses on the target object is adjusted based on the clarity difference between the existing clarity of the image and the preset clarity, so that the adjustment cost is low, and the focus can be adjusted in place at one time, thereby improving the efficiency of adjusting the focus.

Description

Technical Field

[0001] The present application relates to the field of microscopic imaging, and in particular to a focusing method, device, equipment and storage medium. Background Art

[0002] In the field of microscopic imaging, the use of high-magnification microscopes will result in a smaller depth of field for the imaging system, and the warping caused by mechanical processing, platform adsorption or uneven sample surface is tens or even hundreds of microns, which will cause frequent blurring and defocusing during continuous microscopic imaging.

[0003] At present, in the face of this situation, a ranging sensor is usually used to directly adjust the clarity of the captured image, such as an ultrasonic ranging sensor. However, the ranging sensor is relatively expensive and it is difficult to debug the ranging sensor, resulting in the disadvantages of high cost and low adjustment efficiency.

[0004] Therefore, how to improve focusing efficiency is a key issue that technicians in this field are concerned about. Summary of the invention

[0005] Based on the above problems, the present application provides a focusing method, device, equipment and storage medium to improve focusing efficiency. The embodiments of the present application disclose the following technical solutions:

[0006] In a first aspect, the present application discloses a focusing method, comprising:

[0007] Acquire a target image when the auxiliary focusing camera photographs the target object;

[0008] In response to the definition of the target image exceeding a definition threshold range, calculating a definition difference between the definition and a preset definition corresponding to the target image;

[0009] A position at which a main camera focuses on the target object is determined according to the clarity difference.

[0010] Optionally, also include:

[0011] The auxiliary focusing camera focuses on the target object using multiple shooting structures;

[0012] In response to the definition of the target image exceeding a definition threshold range, calculating a definition difference between the definition and a preset definition corresponding to the target image, comprises:

[0013] In response to the definition of any one shooting structure corresponding to the target image exceeding a definition threshold range, a definition difference between the definition of the shooting structure and a preset definition corresponding to the shooting structure is calculated.

[0014] Optionally, in response to the clarity of the shooting structure exceeding the clarity threshold range by a number greater than a preset number threshold, after calculating the clarity difference between the clarity of the shooting structure and a preset clarity corresponding to the shooting structure, the method further includes:

[0015] Calculating distance differences between the multiple shooting structures;

[0016] The distances between the plurality of photographing structures are adjusted according to the distance difference.

[0017] Optionally, also include:

[0018] The plurality of photographing structures are arranged in sequence in a height direction.

[0019] Optionally, determining the position at which the main camera focuses on the target object according to the clarity difference includes:

[0020] The shooting height of the main camera is adjusted according to the clarity difference.

[0021] In a second aspect, the present application discloses a focusing device, comprising:

[0022] An acquisition module is used to acquire a target image when the auxiliary focusing camera shoots a target object;

[0023] a calculation module, configured to calculate a clarity difference between the clarity and a preset clarity corresponding to the target image in response to the clarity of the target image exceeding a clarity threshold range;

[0024] A determination module is used to determine the position at which the main camera focuses on the target object according to the clarity difference.

[0025] Optionally, also include:

[0026] A focusing module, used for the auxiliary focusing camera to focus on the target object using multiple shooting structures;

[0027] The calculation module is specifically used for:

[0028] In response to the definition of any one shooting structure corresponding to the target image exceeding a definition threshold range, a definition difference between the definition of the shooting structure and a preset definition corresponding to the shooting structure is calculated.

[0029] Optionally, also include:

[0030] A first calculation subunit, configured to calculate distance differences between the plurality of shooting structures;

[0031] An adjustment module is used to adjust the distance between the multiple shooting structures according to the distance difference.

[0032] Optionally, also include:

[0033] An arrangement module is used to arrange the multiple shooting structures in sequence in the height direction.

[0034] Optionally, the determining module is specifically used to:

[0035] The shooting height of the main camera is adjusted according to the clarity difference.

[0036] In a third aspect, an embodiment of the present application provides an electronic device, including:

[0037] Memory for storing computer programs;

[0038] A processor is used to implement the steps of the above-mentioned focusing method when executing the computer program.

[0039] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the above-mentioned focusing method are implemented.

[0040] Compared with the prior art, this application has the following beneficial effects:

[0041] The present application first obtains the target image when the auxiliary focus camera shoots the target object, and then, in response to the clarity of the target image exceeding the clarity threshold range, calculates the clarity difference between the clarity and the preset clarity corresponding to the target image, and finally determines the position at which the main camera focuses on the target object according to the clarity difference. In this way, in the present application, by presetting the clarity corresponding to the image obtained by shooting the target object with the auxiliary focus camera in advance, and after the auxiliary focus camera shoots the target object again to obtain the image, the position at which the main camera focuses on the target object is adjusted based on the clarity difference between the existing clarity of the image and the preset clarity, so that the adjustment cost is low, and the focus can be adjusted in place at one time, which improves the efficiency of adjusting the focus. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0043] Figure 1A flowchart of a focusing method provided in an embodiment of the present application;

[0044] Figure 2 A schematic diagram of a photographing structure provided in an embodiment of the present application;

[0045] Figure 3 A schematic diagram of the structure of a focusing device provided in an embodiment of the present application;

[0046] Figure 4 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0047] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0048] It should be noted that the focusing method, device, equipment and storage medium provided in the present application are used in the field of digital microscopy imaging. The above are only examples and do not limit the application fields of the methods, devices, equipment and storage media provided in the present application.

[0049] As described above, in the field of microscopic imaging, the use of high-magnification microscopes will result in a smaller depth of field for the imaging system, and the warping caused by mechanical processing, platform adsorption, or uneven sample surface is tens or even hundreds of microns, which will often cause blurring and defocusing during continuous shooting of microscopic imaging. At present, in the face of this situation, a ranging sensor is usually used to directly adjust the clarity of the captured image, such as an ultrasonic ranging sensor. However, the ranging sensor is relatively expensive and the control difficulty of debugging the ranging sensor is relatively high, resulting in the disadvantages of high cost and low adjustment efficiency. Therefore, how to improve the focusing efficiency is a key issue that technicians in this field are concerned about.

[0050] Therefore, the inventor proposed the technical solution of the present application, which first obtains the target image when the auxiliary focus camera shoots the target object, and then, in response to the clarity of the target image exceeding the clarity threshold range, calculates the clarity difference between the clarity and the preset clarity corresponding to the target image, and finally determines the position at which the main camera focuses on the target object according to the clarity difference. In this way, in the present application, by presetting the clarity corresponding to the image obtained by shooting the target object with the auxiliary focus camera in advance, and after the auxiliary focus camera shoots the target object again to obtain the image, the position at which the main camera focuses on the target object is adjusted based on the clarity difference between the existing clarity of the image and the preset clarity, so that the adjustment cost is low, and the focus can be adjusted in place at one time, which improves the efficiency of adjusting the focus.

[0051] The method provided in the embodiment of the present application may be executed by software on a terminal device. The terminal device may be, for example, a mobile phone, a tablet computer, a computer, etc. The software may be, for example, system software.

[0052] Next, the technical terms that may appear in this application are explained.

[0053] Warping: The plastic part is not formed according to the designed shape, but the surface is distorted. The warping of the plastic part is caused by the uneven shrinkage of the formed plastic part.

[0054] Depth of field: refers to the range of distances in front of and behind the subject that can be measured by the camera lens or other imager to obtain a clear image.

[0055] Wafer: refers to the silicon chip used to make silicon semiconductor circuits, and its raw material is silicon.

[0056] Prism: It is divided into 2-lens, 3-lens, 4-lens, 5-lens, 7-lens, etc., and is made by cold processing of optical glass. When shooting, the aperture is small, and there is less overlap and interference between the images; the aperture is large, and there is more overlap and interference. When the shooting distance is short, there is more overlap between the images, and when the distance is far, there is less overlap between the images.

[0057] Distance sensor: Ultrasonic sensor is a sensor developed using the characteristics of ultrasonic waves. Ultrasonic waves are mechanical waves with a higher vibration frequency than sound waves. They are generated by the vibration of the transducer chip under the stimulation of voltage. They have the characteristics of high frequency, short wavelength, small diffraction, and especially good directivity, and can be directed as rays.

[0058] In order to enable those skilled in the art to better understand the present application, the present application is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0059] Method Embodiment

[0060] A focusing method provided by the present application is described below through an embodiment.

[0061] See also Figure 1 , which is a flow chart of a focusing method provided in an embodiment of the present application, such as Figure 1 As shown, the method includes:

[0062] S101: Acquire a target image when an auxiliary focusing camera photographs a target object.

[0063] In this step, the auxiliary focus camera will first be adjusted to a clear position for capturing the target image, that is, the auxiliary focus camera will be adjusted within the working range to make the image clear, and then the target object will be photographed. However, microscopic imaging is a motion imaging process, so during the motion imaging process, the distance for clear imaging between the main camera, the auxiliary focus camera and the target object will change, resulting in blurred imaging of the object. At this point, the present application proposes to obtain the target image when the auxiliary focus camera captures the target object during the motion imaging process. Among them, the main camera is used to capture the target object, and the auxiliary focus camera is used to assist the main camera in focusing, that is, the image captured by the auxiliary focus camera is used to determine the distance to which the main camera needs to be adjusted, so that during the motion imaging process, the captured image is always in a clear state. The target object can be a wafer, which is not specifically limited here.

[0064] As a feasible implementation method, the auxiliary focus camera will continuously capture images during the motion imaging process, and the number of frames corresponding to the captured images is different, and accordingly, the clarity corresponding to the captured images will also be different, so it is necessary to continuously acquire images, and continuously adjust the clarity of each acquired frame of the image through steps S102 and S103, so that the clarity of the target image is within the clarity threshold range. In this way, the use of expensive ranging sensors to adjust the image is avoided, the focusing cost is reduced, and the focusing efficiency is improved.

[0065] S102: In response to the definition of the target image exceeding a definition threshold range, calculating a definition difference between the definition and a preset definition corresponding to the target image.

[0066] In this step, firstly, the preset clarity corresponding to the target image is calibrated in a static state, and then it is determined whether the clarity corresponding to the target image exceeds the clarity threshold range, that is, it is determined whether the target image is in a clear state. If the clarity corresponding to the target image exceeds the clarity threshold range, the clarity difference between the clarity corresponding to the target image and the preset clarity corresponding to the target image is calculated, so as to adjust the focus of the main camera based on the clarity difference. The CD-SEM image clarity detection algorithm is usually used to calculate the image clarity. Specifically, the edge features of the image are first extracted by layering using wavelet transform, and then the edge points are divided into different edge types according to the rule set. Finally, the proportion of different types of edge points before and after the image is blurred to the total edge points is calculated to calculate the image clarity. This is a commonly used clarity calculation method in the prior art and will not be repeated here.

[0067] In an achievable implementation, the auxiliary focusing camera uses multiple shooting structures to focus on the target object so as to shoot the target object, wherein the multiple shooting structures may be focal planes corresponding to a multi-prism system, and the number of multi-prisms may be three or more. Figure 2 As shown, Figure 2 This is a structural schematic diagram of a shooting structure provided in an embodiment of the present application. In the prism system, multiple shooting structures are arranged in sequence in the height direction, 3-2-1, 3-2-2 and 3-2-3 correspond to three prisms respectively, and the prism surfaces can be mirror reflection type or total reflection type, which is not specifically limited here.

[0068] Specifically, when the clarity of the target image exceeds the clarity threshold range, that is, when the clarity of any shooting structure corresponding to the target image exceeds the clarity threshold range, the clarity difference between the clarity of the shooting structure and the preset clarity corresponding to the shooting structure is calculated. And when the number of times the clarity of the shooting structure exceeds the clarity threshold range is greater than the preset number threshold, in addition to calculating the clarity difference between the clarity of the shooting structure and the preset clarity corresponding to the shooting structure, it is also necessary to calculate the distance difference between multiple shooting structures, and adjust the distance between multiple shooting structures according to the distance difference. In this way, the clarity of the shooting structure and the distance between the shooting structures are linked to achieve the adjustment focus of the main camera, thereby improving the focus efficiency, as well as the accuracy and precision of the focus.

[0069] In another achievable implementation, in a static state, the clarity corresponding to the image captured by each shooting structure and the distance relationship corresponding to the clarity can be calibrated, and a clarity lookup table is generated based on the clarity and distance relationship, that is, the distance required to move under different clarity is calibrated, such as: if the clarity corresponding to a certain shooting structure is 10, then the distance required to be adjusted is 1. Among them, the preset clarity and distance relationship are all to make the image in the clearest state. And the approximate distance outside the clarity lookup table can also be obtained by fitting, such as: if the clarity corresponding to a certain shooting structure is 9, then the distance required to be adjusted is 1. In this way, the clarity included in the clarity lookup table can be adjusted in place at one time, and the clarity outside the clarity lookup table can also be approximately adjusted in place at one time.

[0070] It should also be noted that in a stationary state, the distance relationship between each shooting structure can also be calibrated, including the shooting structure of the main camera, and a distance lookup table can be generated based on the distance relationship. Since the application scenario of the present application can be used to shoot wafers, the distance between the wafer and the lens (z-axis distance) will continue to change, and even due to the warping of the wafer and other reasons, it will cause defocus. In this case, it is necessary to adjust the distance of the shooting structure to make it in a clear state. For example, multiple shooting structures include a first shooting structure and a second shooting structure. In a stationary state, the distance between the first shooting structure and the second shooting structure is 1, which is in a clear state; if the distance between the first shooting structure and the second shooting structure calculated during the motion imaging process is 0.5, it is necessary to adjust 0.5 to make it in a clear state. Further, after adjusting the distance based on the clarity difference, the distance between each shooting structure may also change accordingly. At this time, it is also necessary to calculate the distance between each shooting structure. If the distance is abnormal, the distance between each shooting structure is further adjusted to make it in a clear state.

[0071] S103: Determine, according to the clarity difference, a position at which a main camera focuses on the target object.

[0072] In this step, the position at which the main camera focuses on the target object is determined according to the clarity difference determined in step S102. Specifically, the shooting height of the main camera is adjusted according to the clarity difference to achieve clear imaging. Generally, the z-axis height of the main camera is adjusted. However, in the actual motion imaging process, the direction of the main camera (such as up, down, left, and right) can also be adjusted based on the clarity difference. In addition, in the motion imaging process, sampling can be cyclic to achieve that the continuous images obtained are clear.

[0073] It can be seen that this optional solution mainly explains how to improve the focusing efficiency. Specifically, in this optional solution, the present application first obtains the target image when the auxiliary focusing camera shoots the target object, and then, in response to the clarity of the target image exceeding the clarity threshold range, calculates the clarity difference between the clarity and the preset clarity corresponding to the target image, and finally determines the position where the main camera focuses on the target object according to the clarity difference.

[0074] In summary, in this embodiment, the clarity corresponding to the image obtained by shooting the target object with the auxiliary focus camera is preset in advance, and after the auxiliary focus camera shoots the target object again to obtain an image, the position where the main camera focuses on the target object is adjusted based on the clarity difference between the current clarity of the image and the preset clarity, so that the adjustment cost is low, and the focus can be adjusted in place at one time, which improves the efficiency of adjusting the focus. In addition, the imaging method proposed in this application also adopts a coaxial mode to ensure that the collected data and the used data are homologous, and the reliability of the clarity of the captured image is ensured, and the clarity of the captured structure and the distance between the captured structures are associated to achieve the adjustment of the focus of the main camera, thereby improving the focusing efficiency, as well as the accuracy and precision of the focusing.

[0075] Device Embodiment

[0076] A focusing device provided in an embodiment of the present application is introduced below. The focusing device described below and the focusing method described above can refer to each other.

[0077] See also Figure 3 , which is a schematic diagram of the structure of a focusing device provided in an embodiment of the present application, such as Figure 3 As shown, the device comprises:

[0078] An acquisition module 100 is used to acquire a target image when the auxiliary focusing camera shoots a target object;

[0079] A calculation module 200, configured to calculate a clarity difference between the clarity and a preset clarity corresponding to the target image in response to the clarity of the target image exceeding a clarity threshold range;

[0080] The determination module 300 is used to determine the position at which the main camera focuses on the target object according to the clarity difference.

[0081] Optionally, also include:

[0082] A focusing module, used for the auxiliary focusing camera to focus on the target object using multiple shooting structures;

[0083] The calculation module 200 is specifically used for:

[0084] In response to the definition of any one shooting structure corresponding to the target image exceeding a definition threshold range, a definition difference between the definition of the shooting structure and a preset definition corresponding to the shooting structure is calculated.

[0085] Optionally, also include:

[0086] A first calculation subunit, configured to calculate distance differences between the plurality of shooting structures;

[0087] An adjustment module is used to adjust the distance between the multiple shooting structures according to the distance difference.

[0088] Optionally, also include:

[0089] An arrangement module is used to arrange the multiple shooting structures in sequence in the height direction.

[0090] Optionally, the determining module 300 is specifically configured to:

[0091] The shooting height of the main camera is adjusted according to the clarity difference.

[0092] The focusing device provided in the embodiment of the present application has the same beneficial effects as the focusing method provided in the above embodiment, so it will not be described in detail.

[0093] Electronic device embodiment

[0094] See also Figure 4 , which is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application, such as Figure 4 As shown, including:

[0095] A memory 11, used for storing computer programs;

[0096] The processor 12 is used to implement the steps of the focusing method described in any of the above method embodiments when executing the computer program.

[0097] In this embodiment, the device may be a vehicle-mounted computer, a PC (Personal Computer), or a terminal device such as a smart phone, a tablet computer, a PDA, or a portable computer.

[0098] The device may include a memory 11, a processor 12 and a bus 13. The memory 11 includes at least one type of readable storage medium, and the readable storage medium includes a flash memory, a hard disk, a multimedia card, a card-type memory (for example, an SD or DX memory, etc.), a magnetic memory, a disk, an optical disk, etc. The memory 11 may be an internal storage unit of the device in some embodiments, such as a hard disk of the device. The memory 11 may also be an external storage device of the device in other embodiments, such as a plug-in hard disk equipped on the device, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc. Further, the memory 11 may also include both an internal storage unit of the device and an external storage device. The memory 11 may not only be used to store application software and various types of data installed in the device, such as program codes for executing a fault prediction method, but may also be used to temporarily store data that has been output or is to be output.

[0099] In some embodiments, the processor 12 may be a central processing unit (CPU), a controller, a microcontroller, a microprocessor or other data processing chip, and is used to run program codes or process data stored in the memory 11, such as program codes for executing a fault prediction method.

[0100] The bus 13 may be a peripheral component interconnect (PCI) bus or an extended industry standard architecture (EISA) bus. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 4 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0101] Furthermore, the device may also include a network interface 14, which may optionally include a wired interface and / or a wireless interface (such as a WI-FI interface, a Bluetooth interface, etc.), which is generally used to establish a communication connection between the device and other electronic devices.

[0102] Optionally, the device may further include a user interface 15, which may include a display (Display), an input unit such as a keyboard (Keyboard), and the optional user interface 15 may also include a standard wired interface and a wireless interface. Optionally, in some embodiments, the display may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, and an OLED (Organic Light-Emitting Diode) touch device, etc. The display may also be appropriately referred to as a display screen or a display unit, which is used to display information processed in the device and to display a visual user interface.

[0103] Figure 4 Only the device with components 11-15 is shown, and it can be understood by those skilled in the art that Figure 4 The structure shown does not constitute a limitation of the device, and may include fewer or more components than shown, or combine certain components, or arrange the components differently.

[0104] Readable storage medium embodiment

[0105] The embodiment of the present application also provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the focusing method described in any of the above method embodiments are implemented. The storage medium may include: a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and other media that can store program codes.

[0106] It should be noted that the focusing method provided by the present invention can be used in the field of microscopic imaging. The above is only an example and does not limit the application field of the focusing method provided by the present invention.

[0107] It should also be noted that the "first" and "second" (if any) in the names such as "first" and "second" mentioned in the embodiments of the present application are only used as name identifiers and do not represent the first or second in order.

[0108] The various embodiments in the specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part description.

[0109] Professionals may further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in the above description according to function. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0110] The steps of the method or algorithm described in conjunction with the embodiments disclosed herein may be implemented directly using hardware, a software module executed by a processor, or a combination of the two. The software module may be placed in a random access memory (RAM), a memory, a read-only memory (ROM), an electrically programmable ROM, an electrically erasable programmable ROM, a register, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

[0111] The above is a detailed introduction to a focusing method, device, equipment and storage medium provided by the present application. Specific examples are used herein to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea. It should be pointed out that for ordinary technicians in this technical field, without departing from the principles of the present application, several improvements and modifications can be made to the present application, and these improvements and modifications also fall within the scope of protection of the claims of the present application.

Claims

1. A focusing method, characterized in that: include: In a static state, calibrating the distance relationship between each shooting structure of the auxiliary focus camera, and adjusting the distance between each shooting structure; Acquire a target image when the auxiliary focusing camera photographs the target object; In response to the definition of the target image exceeding a definition threshold range, calculating a definition difference between the definition and a preset definition corresponding to the target image; Determining a position at which a main camera focuses on the target object according to the clarity difference; The auxiliary focusing camera focuses on the target object using multiple shooting structures; In response to the definition of the target image exceeding a definition threshold range, calculating a definition difference between the definition and a preset definition corresponding to the target image, comprises: In response to the clarity of any one shooting structure corresponding to the target image exceeding a clarity threshold range, calculating a clarity difference between the clarity of the shooting structure and a preset clarity corresponding to the shooting structure; In response to the clarity of the shooting structure exceeding the clarity threshold range by an amount greater than a preset number threshold, after calculating the clarity difference between the clarity of the shooting structure and a preset clarity corresponding to the shooting structure, the method further includes: Calculating distance differences between the multiple shooting structures; The distances between the plurality of photographing structures are adjusted according to the distance difference.

2. The method according to claim 1, characterized in that Also includes: The plurality of photographing structures are arranged in sequence in a height direction.

3. The method according to claim 1, characterized in that The determining, according to the clarity difference, a position at which a main camera focuses on the target object comprises: The shooting height of the main camera is adjusted according to the clarity difference.

4. A focusing device, characterized in that: include: In a static state, calibrating the distance relationship between each shooting structure of the auxiliary focus camera, and adjusting the distance between each shooting structure; An acquisition module, used for acquiring a target image when the auxiliary focusing camera photographs a target object; a calculation module, configured to calculate a clarity difference between the clarity and a preset clarity corresponding to the target image in response to the clarity of the target image exceeding a clarity threshold range; A determination module, used to determine the position at which the main camera focuses on the target object according to the clarity difference; A focusing module, used for the auxiliary focusing camera to focus on the target object using multiple shooting structures; The calculation module is specifically used for: In response to the clarity of any one shooting structure corresponding to the target image exceeding a clarity threshold range, calculating a clarity difference between the clarity of the shooting structure and a preset clarity corresponding to the shooting structure; In response to the clarity of the shooting structure exceeding the clarity threshold range by an amount greater than a preset number threshold, after calculating the clarity difference between the clarity of the shooting structure and a preset clarity corresponding to the shooting structure, the method further includes: A first calculation subunit, configured to calculate distance differences between the plurality of shooting structures; An adjustment module is used to adjust the distance between the multiple shooting structures according to the distance difference.

5. An electronic device, characterized in that: include: Memory for storing computer programs; A processor, configured to implement the steps of the focusing method as claimed in any one of claims 1 to 3 when executing the computer program.

6. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the focusing method according to any one of claims 1 to 3 are implemented.

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