Control methods, devices, equipment, and storage media for focusing in shooting equipment

Abstract

This application provides a method, apparatus, device, and storage medium for controlling the focusing of an imaging device. The method includes: receiving an identification signal, a unit reverse pulse signal, and a unit forward step signal transmitted by a signal generator; determining a transfer function corresponding to a preset closed-loop system based on the identification signal; calculating a unit forward step signal response function based on the unit forward step signal and the transfer function; determining a unit reverse pulse signal response function based on the unit reverse pulse signal and the transfer function; calculating a displacement response function based on the unit forward step signal response function and the unit reverse pulse signal response function; the displacement response function includes overshoot and oscillation determinants; and determining the values ​​corresponding to the overshoot and oscillation determinants based on the displacement response function and preset overshoot and oscillation indices, thereby controlling the focusing of the imaging device according to the values ​​corresponding to the overshoot and oscillation determinants.

Description

Technical Field

[0001] This application relates to data processing technology, and more particularly to a control method, device, equipment, and storage medium for focusing an imaging device. Background Technology

[0002] With social development, users have significantly increased their requirements for the quality of photos or videos. When using shooting equipment, users need to adjust the focus of the shooting equipment. The quality of the focus determines the entire shooting process and the shooting effect. Therefore, this has increased the research and development efforts of R&D personnel to develop control schemes for the focusing process.

[0003] In existing technologies, the proportional-integral-derivative (PID) control algorithm uses a linear combination of the three control links (proportional, derivative, and integral) to control the focusing process of the imaging device. The PID algorithm linearly combines the outputs of the three control links and outputs them to the imaging device, thereby controlling the focusing process and ultimately enabling the imaging device to capture an image.

[0004] However, the proportional-integral-differential algorithm has an overly simple structure, which is prone to signal overshoot and oscillation during shooting. Therefore, its control performance is not stable, accurate, or fast, and it is not suitable for low-damped cameras in scenarios without overshoot or oscillation. Summary of the Invention

[0005] This application provides a control method, device, equipment, and storage medium for focusing an imaging device, in order to solve the problem that pulse signal overshoot and oscillation are easily generated during the shooting process, resulting in poor control performance.

[0006] In a first aspect, this application discloses a method for controlling focus adjustment in a shooting device, the method comprising:

[0007] The receiver receives an identification signal, a unit inverse pulse signal, and a unit forward step signal from a signal generator; the identification signal is used to determine the preset closed-loop system transfer function; the unit inverse pulse signal is used to obtain the unit inverse pulse signal response function; the unit forward step signal is used to obtain the unit forward step signal response function; the unit inverse pulse signal and the unit forward step signal are reference signals.

[0008] The transfer function corresponding to the preset closed-loop system is determined based on the identification signal;

[0009] Calculate the unit positive step signal response function based on the unit positive step signal and the transfer function;

[0010] The unit reverse pulse signal response function is determined based on the unit reverse pulse signal and the transfer function.

[0011] The displacement response function is calculated based on the unit forward step signal response function and the unit reverse pulse signal response function; the displacement response function includes overshoot and oscillation determinants.

[0012] The values ​​corresponding to the overshoot and oscillation determinants are determined based on the displacement response function and the preset overshoot and oscillation indicators, so as to control the focusing of the shooting device according to the values ​​corresponding to the overshoot and oscillation determinants.

[0013] In one embodiment, the preset closed-loop system is pre-configured into an underdamped state; the underdamped state is characterized by a damping coefficient.

[0014] The step of determining the transfer function corresponding to the preset closed-loop system based on the identification signal includes:

[0015] The corresponding input function is determined based on the identification signal; the input function is input into a preset closed-loop system to obtain the output function corresponding to the identification signal;

[0016] Substitute the output function and the input function into the transfer function calculation formula to obtain the transfer function of the preset closed-loop system.

[0017] In one embodiment, calculating the unit forward step signal response function based on the unit forward step signal and the transfer function includes:

[0018] Determine the first input Laplace transform function corresponding to the unit positive step signal; the first input Laplace transform function is the input unit positive step Laplace transform function;

[0019] The product of the first Laplace transform function and the transfer function is determined as the first output Laplace transform function; the first output Laplace transform function is the output unit positive step Laplace transform function;

[0020] The first output Laplace transform function is inversely transformed based on the inverse Laplace transform formula to obtain the unit positive step signal response function.

[0021] In one embodiment, determining the unit backpulse signal response function based on the unit backpulse signal and the transfer function includes:

[0022] Determine the second input Laplace transform function corresponding to the unit inverse pulse signal; the second input Laplace transform function is the input unit inverse pulse Laplace transform function;

[0023] The product of the second Laplace transform function and the transfer function is determined as the second output Laplace transform function; the second output Laplace transform function is the output unit inverse pulse Laplace transform function;

[0024] The second output Laplace transform function is inversely transformed based on the Laplace transform formula to obtain the unit inverse impulse signal response function.

[0025] In one embodiment, the overshoot and oscillation determinants include a first amplitude variable, a second amplitude variable, and a target reverse pulse signal compensation time; the first amplitude variable is the amplitude variable corresponding to the positive step signal after actual shooting adjustment; the second amplitude variable is the amplitude variable corresponding to the reverse pulse signal after actual shooting adjustment; and the target reverse pulse signal compensation time is the reverse compensation time of the reverse pulse signal of the second amplitude variable.

[0026] The calculation of the displacement response function based on the unit forward step signal response function and the unit reverse impulse signal response function includes:

[0027] Calculate the product of the unit positive step signal response function and the first amplitude variable to obtain the positive step control function;

[0028] Calculate the product of the unit inverse pulse signal response function and the second amplitude variable to obtain the inverse pulse control function;

[0029] The positive step control function and the negative pulse control function are combined to obtain the displacement response function.

[0030] In one embodiment, the method further includes:

[0031] Determine the unit positive step input function in the time domain corresponding to the unit positive step signal;

[0032] Calculate the difference between the unit positive input function and the unit positive step signal response function, and determine the difference as the error function;

[0033] Calculate the target time corresponding to the first achievement of the preset expected displacement based on the error function;

[0034] The target time is determined as the maximum value of the target reverse pulse signal compensation time, and the range of the target reverse pulse signal compensation time is determined to be less than or equal to the maximum value.

[0035] In one embodiment, the preset overshoot and oscillation indices include obtaining a preset overshoot degree and a preset oscillation degree within a preset time period;

[0036] The step of determining the values ​​corresponding to the overshoot and oscillation determinants based on the displacement response function and preset overshoot and oscillation indices, so as to control the focusing of the shooting device according to the values ​​corresponding to the overshoot and oscillation determinants, includes:

[0037] The preset expected displacement is determined as the value corresponding to the first amplitude variable;

[0038] Based on the displacement response function and the value corresponding to the first amplitude variable, the value corresponding to the second amplitude variable and the value corresponding to the target reverse pulse signal compensation time are determined when the preset overshoot and oscillation index is satisfied; the value corresponding to the target reverse pulse signal compensation time is within the range of the target reverse pulse signal compensation time.

[0039] The values ​​corresponding to the overshoot and oscillation determinants are sent to the imaging device so that the imaging device controls the focusing according to the values ​​corresponding to the overshoot and oscillation determinants; the values ​​corresponding to the overshoot and oscillation determinants include the values ​​corresponding to the first amplitude variable, the values ​​corresponding to the second amplitude variable, and the values ​​corresponding to the target reverse pulse signal compensation time.

[0040] Secondly, this application provides a focusing control device for a shooting device, the device comprising:

[0041] The receiving module is used to receive an identification signal, a unit inverse pulse signal, and a unit forward step signal sent by a signal generator; the identification signal is used to determine a preset closed-loop system transfer function; the unit inverse pulse signal is used to obtain a unit inverse pulse signal response function; the unit forward step signal is used to obtain a unit forward step signal response function; the unit inverse pulse signal and the unit forward step signal are reference signals;

[0042] The determination module is used to determine the transfer function corresponding to the preset closed-loop system based on the identification signal;

[0043] The calculation module is used to calculate the unit positive step signal response function based on the unit positive step signal and the transfer function;

[0044] The determining module is further configured to determine the unit reverse pulse signal response function based on the unit reverse pulse signal and the transfer function;

[0045] The calculation module is also used to calculate the displacement response function based on the unit forward step signal response function and the unit reverse pulse signal response function; the displacement response function includes overshoot and oscillation determinants;

[0046] The determining module is also used to determine the values ​​corresponding to the overshoot and oscillation determinants based on the displacement response function and the preset overshoot and oscillation index, so as to control the focusing of the shooting device according to the values ​​corresponding to the overshoot and oscillation determinants.

[0047] Thirdly, this application provides an electronic device, including: a processor, and a memory and a transceiver communicatively connected to the processor;

[0048] The memory stores computer-executed instructions; the transceiver is used for sending and receiving data.

[0049] The processor executes computer execution instructions stored in the memory to implement the method as described in the first aspect and any of the various possible methods described above.

[0050] Fourthly, this application provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement the methods described in the first aspect and any feasible method described above.

[0051] This application provides a focusing control method, device, equipment, and storage medium for an imaging device. The focusing control device (hereinafter referred to as the control device) first receives an identification signal, a unit reverse pulse signal, and a unit forward step signal sent by a signal generator. Then, based on the identification signal, it determines the transfer function corresponding to a preset closed-loop system. Simultaneously, using the unit reverse pulse signal and the unit forward step signal as reference signals, it calculates the unit reverse pulse signal response function and the unit forward step signal response function according to the transfer function. Further, it calculates the displacement response function based on the unit forward step signal response function and the unit reverse pulse signal response function. The displacement response function includes overshoot and oscillation determinants, allowing the values ​​of these determinants to be determined based on the displacement response function and preset overshoot and oscillation values. Furthermore, this enables the shooting device to perform focus control based on the values ​​of these determinants in practical applications. The overshoot and oscillation determinants included in the displacement response function calculated in this application combine the factors affecting the control performance of the shooting device during shooting. This allows for focus control of the shooting device based on the determined values ​​of the overshoot and oscillation determinants, reducing overshoot and oscillation during shooting, resulting in more stable shooting and thus ensuring accurate and fast shooting results. Attached Figure Description

[0052] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0053] Figure 1 An application scenario diagram of a focusing control method for a shooting device provided in this application;

[0054] Figure 2 A schematic diagram of a pre-defined closed-loop system provided in this application;

[0055] Figure 3 This is a schematic flowchart of a focusing control method for an imaging device provided in Embodiment 1;

[0056] Figure 4 This is a schematic flowchart of a focusing control method for an imaging device provided in Embodiment 2;

[0057] Figure 5 This is a schematic flowchart of a focusing control method for an imaging device provided in Embodiment 3;

[0058] Figure 6 This is a schematic flowchart of a focusing control method for an imaging device provided in Embodiment 4;

[0059] Figure 7 This is a schematic flowchart of a focusing control method for an imaging device provided in Embodiment 5;

[0060] Figure 8 This is a schematic flowchart of a focusing control method for an imaging device provided in Embodiment Six;

[0061] Figure 9 This is a schematic flowchart of a focusing control method for an imaging device provided in Embodiment 7;

[0062] Figure 10 This is a schematic diagram of a focusing control device for a shooting device provided in Embodiment 8;

[0063] Figure 11 This is a schematic diagram of the structure of an electronic device provided in Embodiment Nine.

[0064] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0065] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0066] In existing technologies, the proportional-integral-derivative (PID) control algorithm uses a linear combination of the three control links (proportional, derivative, and integral) to control the focusing process of the imaging device. The PID calculates the deviation between the reference input and the actual input, processes and corrects the deviation using the three control links, and finally obtains the output of each control link. The PID algorithm then linearly combines the outputs of the three control links and outputs them to the imaging device, thereby controlling the focusing process and ultimately enabling the imaging device to capture an image.

[0067] However, the proportional-integral-differential algorithm has an overly simple structure, which is prone to pulse signal overshoot and oscillation during shooting. Therefore, its control performance is not stable, accurate, or fast, and it is not suitable for low-damped cameras in scenarios without overshoot or oscillation.

[0068] To address the shortcomings of existing technologies, the inventors of this solution have creatively designed a new approach. This solution provides a focusing control method for a shooting device. To solve the problems of poor stability, accuracy, and speed in existing control performance, this solution uses a unit forward step signal and a unit reverse pulse information as reference signals. Then, based on the transfer function, the response functions of the unit forward step signal and the unit reverse pulse signal are calculated respectively. A displacement response function is then calculated based on these two response functions. The displacement response function includes overshoot and oscillation determinants. Therefore, this solution combines overshoot and oscillation, which affect control performance, into a single function. The values ​​corresponding to the overshoot and oscillation determinants are determined according to preset overshoot and oscillation indices. This allows the shooting device to perform focusing control based on the values ​​corresponding to the overshoot and oscillation determinants, thereby avoiding or reducing overshoot and oscillation phenomena during shooting. This enables the image to stabilize quickly during shooting, resulting in greater stability and speed. Furthermore, the images captured by the shooting device after focusing control are more accurate. Among them, overshoot and oscillation refer to the phenomenon that the image displayed by the shooting device changes back and forth from blurry to clear and then from clear to blurry before finally becoming clear.

[0069] The following describes the application scenarios of the focusing control method, device, equipment, and storage medium of the shooting device provided in this application.

[0070] Figure 1 This is an application scenario diagram illustrating the focusing control method for a shooting device provided in this application. For example... Figure 1 As shown, the application scenario diagram includes electronic device 101 and camera device 102.

[0071] Among them, electronic device 101 serves as a control device, used to control the focus of shooting device 102.

[0072] In this context, "shooting device 102" refers to any device with a shooting function, such as a mobile phone. It should be noted that in this scenario, there can be multiple shooting devices 102; there is no restriction on this.

[0073] The electronic device 101 includes a preset closed-loop system 103.

[0074] Specifically, the signal generator produces an identification signal, a unit inverse pulse signal, and a unit forward step signal.

[0075] Furthermore, the signal generator sends the identification signal, the unit reverse pulse signal, and the unit forward step signal to the electronic device 101, so that the electronic device 101 receives the above three signals.

[0076] Furthermore, the electronic device 101 determines the transfer function corresponding to the preset closed-loop system 103 based on the identification signal.

[0077] Furthermore, the electronic device 101 calculates the unit forward step response function based on the unit forward step signal and the transfer function. Simultaneously, the electronic device 101 calculates the unit reverse pulse signal response function based on the unit reverse pulse signal and the transfer function.

[0078] Furthermore, the electronic device 101 calculates the displacement response function based on the forward step signal response function and the unit reverse pulse signal response function, which includes overshoot and oscillation determinants.

[0079] Furthermore, the electronic device 101 determines the values ​​corresponding to the overshoot and oscillation determinants based on the displacement response function and the preset overshoot and oscillation index, and sends the values ​​corresponding to the overshoot and oscillation determinants to the imaging device 102.

[0080] Next, the shooting device 102 adjusts its focus based on the values ​​corresponding to the overshoot and oscillation determinants.

[0081] It should be noted that after obtaining the displacement response function, the electronic device in this application can send the displacement response function to the user control device, which can then determine the values ​​of the overshoot and oscillation determinants based on the characteristics of its own shooting equipment. No restrictions are imposed here.

[0082] It should be noted that, Figure 2 This is a schematic diagram of a pre-defined closed-loop system provided in this application. Figure 2As shown, the electronic device includes a preset closed-loop system 201, which comprises a linear controller 201-1 and a controlled object 201-2. The linear controller 201-1 is a proportional-integral control regulator that uses the control deviation between the input and output values ​​to linearly combine the proportional and integral components of the deviation to form a control quantity, thereby controlling the controlled object. The controlled object 201-2 refers to a focusing module, which is pre-selected and applicable to common shooting equipment.

[0083] like Figure 2 As shown, R represents the input signal of the preset closed-loop system, and P represents the displacement response of the camera of the shooting device output from the preset closed-loop system.

[0084] It should be noted that P represents the displacement of the shooting device.

[0085] It should be noted that this application places a pre-set closed-loop system in an electronic device to simulate the control of the controlled object by a linear controller when the shooting device is shooting. After controlling the controlled object by the values ​​corresponding to the overshoot and oscillation determinants, the camera of the shooting device needs to be displaced. For example, the camera needs to be displaced by 2 millimeters, and the displacement here is P. After the shooting device is displaced, it can capture an image.

[0086] It should be noted that in scenarios where this application uses a shooting device to capture images, the device needs to be focused to achieve image capture. During shooting, the image displayed on the shooting device will fluctuate between blurry and clear, then back and forth between clear and blurry, before finally reaching clarity and capturing the final clear image. The blurriness is caused by signal overshoot, and the fluctuations between blurry and clear are caused by signal oscillation. Therefore, this application addresses these phenomena encountered during shooting by identifying the determining factors of overshoot and oscillation, and calculating the corresponding values ​​of these determining factors, thereby achieving fast, stable, and accurate control.

[0087] This application provides a focusing control method for a shooting device, which aims to solve the above-mentioned technical problems in the prior art.

[0088] The technical solution of this application and how the technical solution of this application solves the above-mentioned technical problems are described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this application will now be described with reference to the accompanying drawings.

[0089] Example 1

[0090] The execution subject of this application embodiment is a focusing control device for a shooting device (hereinafter referred to as the control device), which is located in an electronic device.

[0091] Figure 3 This is a schematic flowchart illustrating a focusing control method for a shooting device provided in Embodiment 1. Figure 3 As shown, the specific steps are as follows.

[0092] S301 receives the identification signal, unit reverse pulse signal, and unit forward step signal sent by the signal generator. The identification signal is used to determine the preset closed-loop system transfer function; the unit reverse pulse signal is used to obtain the unit reverse pulse signal response function; the unit forward step signal is used to obtain the unit forward step signal response function; the unit reverse pulse signal and the unit forward step signal are reference signals. It should be noted that the reference signals are preset signals used to implement calculations using the preset closed-loop system, thereby controlling the focus of the shooting device.

[0093] The identification signal is used to identify the preset closed-loop system and determine its corresponding transfer function. It should be noted that the preset closed-loop system can be a first-order closed-loop system, a second-order closed-loop system, or others; this is not limited here.

[0094] It should be noted that the identification signal, the unit reverse pulse signal, and the unit forward step signal in this application are physical signals, which are signal waves.

[0095] S302, determine the transfer function corresponding to the preset closed-loop system based on the identification signal.

[0096] The transfer function is the ratio of the Laplace domain expression of the pre-defined closed-loop system response (i.e., output) to the Laplace domain expression of the excitation (i.e., input) under zero initial conditions.

[0097] Specifically, the transfer function corresponding to the preset closed-loop system is determined based on the input function and output function corresponding to the identification signal.

[0098] S303, calculates the response function of the unit positive step signal based on the unit positive step signal and the transfer function.

[0099] The unit positive step signal response function refers to the zero-state response of the preset closed-loop system under the action of a unit step signal. In other words, it is the expression for the response function output by the preset closed-loop system when a unit step signal is input.

[0100] S304, determine the unit reverse pulse signal response function based on the unit reverse pulse signal and the transfer function.

[0101] The unit reverse pulse signal response function is the output response function when a unit reverse pulse signal is input to the preset closed-loop system.

[0102] S305, calculate the displacement response function based on the unit forward step signal response function and the unit reverse pulse signal response function; the displacement response function includes overshoot and oscillation determinants.

[0103] Overshoot refers to the phenomenon where the signal exceeds the equalization or set maximum value during shooting. It's important to note that this refers to the blurring phenomenon that occurs repeatedly, from blurry to clear and then back to blurry. Therefore, overshoot can negatively impact image quality.

[0104] Oscillation refers to the phenomenon of periodic fluctuations in the signal within a certain range during shooting. It should be noted that this refers to the periodic back-and-forth changes between blurry and clear images. Therefore, oscillation can affect image quality and increase shooting time.

[0105] Among them, overshoot and oscillation are the determining factors that affect the control performance of the shooting equipment during shooting.

[0106] The displacement response function refers to a function of the distance the camera moves during shooting. For example, P = 2mm means that the camera moves 2mm.

[0107] S306 determines the values ​​corresponding to the overshoot and oscillation determinants based on the displacement response function and preset overshoot and oscillation indices, so as to control the focusing of the shooting equipment according to the values ​​corresponding to the overshoot and oscillation determinants.

[0108] It is understandable that by using the values ​​corresponding to the overshoot and oscillation determinants determined above to control the focus of the shooting device, the camera in the shooting device moves according to the calculated displacement, thereby capturing images of better quality.

[0109] This embodiment provides a control method for focusing an imaging device. The focusing control device (hereinafter referred to as the control device) first receives an identification signal, a unit reverse pulse signal, and a unit forward step signal sent by a signal generator. Then, based on the identification signal, it determines the transfer function corresponding to the preset closed-loop system. Simultaneously, using the unit reverse pulse signal and the unit forward step signal as reference signals, it calculates the unit reverse pulse signal response function and the unit forward step signal response function according to the transfer function. Further, it calculates the displacement response function based on the unit forward step signal response function and the unit reverse pulse signal response function. Since the displacement response... The function includes overshoot and oscillation determinants, which can be used to determine the values ​​of the overshoot and oscillation determinants based on the displacement response function and preset overshoot and oscillation values. Furthermore, this allows the shooting device to perform focus control based on the values ​​of the overshoot and oscillation determinants in practical applications. The overshoot and oscillation determinants included in the displacement response function calculated in this application combine the factors affecting the control performance of the shooting device during shooting. This allows for focus control of the shooting device based on the determined values ​​of the overshoot and oscillation determinants, reducing overshoot and oscillation during shooting, resulting in more stable shooting and thus ensuring the accuracy and speed of the shooting results.

[0110] Example 2

[0111] This embodiment is a further refinement of the first embodiment described above. In this embodiment, the pre-set closed-loop system is in an underdamped state; the underdamped state is characterized by the damping coefficient.

[0112] It should be noted that the preset closed-loop system is set to an underdamped state, in which the displacement response speed is fast, and this advantage is used for reverse pulse signal compensation.

[0113] The damping coefficient is a parameter describing the damping properties of a vibration system, and refers to the rate at which the amplitude decays exponentially with time. When the pre-defined closed-loop system is in an underdamped state, the corresponding damping coefficient ranges from 0 to ζ, where ζ represents the damping coefficient.

[0114] This embodiment is an optional method for determining the transfer function corresponding to a preset closed-loop system based on the identification signal.

[0115] Figure 4 This is a schematic flowchart illustrating a focusing control method for a shooting device provided in Embodiment 2. Figure 4 As shown, the specific steps are as follows.

[0116] S401 determines the corresponding input function based on the identification signal.

[0117] The identification signal is a physical signal. The control device expresses the identification signal using a mathematical expression (i.e., an input function) based on the physical laws of the identification signal. Thus, the control device determines the expression of the identification signal in the Laplace domain and uses the expression of the identification signal in the Laplace domain to determine the input function.

[0118] S402, input the input function to the preset closed-loop system to obtain the output function corresponding to the identification signal.

[0119] Specifically, for the identification signal, the control device inputs its input function into a preset closed-loop system to obtain the output function corresponding to the identification signal.

[0120] S403, substitute the output function and input function into the transfer function calculation formula to obtain the transfer function of the preset closed-loop system.

[0121] The transfer function is calculated using formula (1):

[0122]

[0123] Where G(s) is the transfer function, P(s) is the output function corresponding to the identification signal, and R(s) is the input function corresponding to the identification signal. The transfer function G(s) of the preset closed-loop system can be obtained through the steps in S403.

[0124] It should be noted that G(s), P(s), and R(s) mentioned above are all expressions in the Laplace domain.

[0125] Furthermore, the transfer function also has the relationship shown in formula (2):

[0126]

[0127] Among them, G c (s) is the expression of the linear controller in the Laplace domain, G p (s) is the expression of the controlled object in the Laplace domain, where G c (s) can be preset and set according to time conditions, thus based on G(s) and G c (s) can be used to calculate G p (s).

[0128] For example, assuming that the closed-loop system is a second-order closed-loop system, the transfer function corresponding to the determined second-order closed-loop system can be formula (3).

[0129]

[0130] Where ωn is the natural frequency, ζ is the damping coefficient, and s is the Laplace operator.

[0131] This embodiment provides a focusing control method for a shooting device. In this embodiment, the input function corresponding to the identification signal is first determined, and then the output function corresponding to the identification signal is determined based on the preset closed-loop system. Then, the transfer function of the preset closed-loop system is calculated according to the transfer function calculation formula. In this embodiment, the transfer function can be accurately calculated by using the transfer function calculation formula.

[0132] Example 3

[0133] This embodiment is a further refinement of any of the above embodiments. This embodiment is an optional method for calculating the response function of a unit positive step signal based on the unit positive step signal and the transfer function.

[0134] Figure 5 This is a schematic flowchart illustrating a focusing control method for a shooting device provided in Embodiment 3. Figure 5 As shown, the specific steps are as follows.

[0135] S501, determine the first input Laplace change function corresponding to the unit positive step step signal; the first input Laplace change function is the input unit positive step step Laplace change function.

[0136] Specifically, the first input is the Laplace transform function, denoted as R. 正 (s), according to the physical laws of the unit positive step signal, we can obtain the following equation (4):

[0137] (4) Rpositive(s) = 1 / s

[0138] Where s is the Laplace operator.

[0139] S502, the product of the first Laplace change function and the transfer function is determined as the first output Laplace change function; the first output Laplace change function is the unit positive step Laplace change function of the output.

[0140] Based on the example of Embodiment 2 above, assume the transfer function is:

[0141]

[0142] Furthermore, the first output Laplace change function is obtained, denoted as P. 正 (s), then we can obtain the following equation (5):

[0143]

[0144] S503 performs an inverse Laplace transform on the first output Laplace transform function based on the inverse Laplace transform formula to obtain the unit positive step signal response function.

[0145] The inverse Laplace transform formula is used to find the function P(t) given the Laplace transform P(s) of the function P(t), i.e., P(t) = L. -1 [P(s)].

[0146] In this step, it is represented by equation (6):

[0147] (6)P 正 (t)=L -1 [P 正 (s)].

[0148] Specifically, P 正 (s) is input into the inverse Laplace transform formula to obtain the unit positive step signal response function, as shown in equation (7):

[0149]

[0150]

[0151] Among them, tg -1 It refers to the arctangent function, where t is time.

[0152] It should be noted that, from P 正 Some parameters can be read from (t), such as rise time, peak time, and maximum overshoot.

[0153] This embodiment provides a control method for focusing an imaging device. In this embodiment, the control device determines the first input Laplace transform function corresponding to a unit positive step step signal, and calculates the first output Laplace transform function based on the transfer function. Furthermore, the first output Laplace transform function is transformed according to the inverse Laplace transform formula to obtain the unit positive step step signal response function. Therefore, in this embodiment, the corresponding unit positive step step signal response function can be accurately obtained based on the inverse Laplace transform formula.

[0154] Example 4

[0155] This embodiment is a further refinement of any of the above embodiments. This embodiment is an optional method for determining the unit backpulse signal response function based on the unit backpulse signal and the transfer function.

[0156] Figure 6 This is a schematic flowchart illustrating a focusing control method for a shooting device provided in Embodiment 4. Figure 6 As shown, the specific steps are as follows.

[0157] S601, determine the second input Laplace transform function corresponding to the unit reverse pulse signal; the second input Laplace transform function is the input unit reverse pulse Laplace transform function.

[0158] Specifically, the second input Laplace transform function is denoted as R. 反 (s), as shown in equation (8), according to the physical laws of the unit reverse pulse signal, we can obtain (8):

[0159] (8)R 反 (s) = -1.

[0160] S602, the product of the second Laplace transform function and the transfer function is determined as the second output Laplace transform function; the second output Laplace transform function is the output unit inverse pulse Laplace transform function.

[0161] Based on the example of Embodiment 2 above, assume the transfer function is:

[0162]

[0163] Furthermore, the second output Laplace change function is obtained, denoted as P. 反 (s), then we can obtain the following equation (9):

[0164]

[0165] S603 performs an inverse transformation on the second output Laplace transform function based on the Laplace transform formula to obtain the unit inverse pulse signal response function.

[0166] The Laplace transform formula is P(t) = L -1 [P(s)], in this step, is represented by equation (10):

[0167] (10)P 反 (t)=L -1 [P 反 (s)].

[0168] Specifically, P 反 (s) is input into the inverse Laplace transform formula to obtain the unit inverse impulse signal response function, as shown in equation (11):

[0169]

[0170] This embodiment provides a control method for focusing an imaging device. In this embodiment, the main control device determines the second input Laplace transform function corresponding to the unit inverse pulse signal, and calculates the second output Laplace transform function based on the transfer function. Furthermore, the second output Laplace transform function is transformed according to the Laplace transform formula to obtain the unit inverse pulse signal response function. Therefore, in this embodiment, the corresponding unit inverse pulse signal response function can be accurately obtained based on the inverse Laplace transform formula.

[0171] Example 5

[0172] This embodiment is a further refinement of any of the above embodiments. In this embodiment, the overshoot and oscillation determinants include a first amplitude variable, a second amplitude variable, and the target reverse pulse signal compensation time; the first amplitude variable is the amplitude variable corresponding to the positive step signal after actual shooting and adjustment; the second amplitude variable is the amplitude variable corresponding to the reverse pulse signal after actual shooting and adjustment; and the target reverse pulse signal compensation time is the reverse compensation time of the reverse pulse signal of the second amplitude variable.

[0173] In this case, the first and second amplitude variables are unknowns. It is understandable that the specific values ​​corresponding to the first and second amplitude variables can be determined based on the actual situation.

[0174] It should be noted that during actual shooting, the actual signal received by the shooting device may cause overshoot and oscillation. Therefore, in this embodiment, the overshoot and oscillation determining factors include the first amplitude variable, the second amplitude variable, and the target reverse pulse signal compensation time. This means that the actual signal is adjusted according to the corresponding values ​​of the overshoot and oscillation determining factors, so as to reduce or avoid the phenomenon of back-and-forth changes from blurry to clear and then from clear to blurry during shooting, thereby enabling stable shooting and obtaining the captured image quickly and accurately.

[0175] This embodiment is an optional method for calculating the displacement response function based on the unit forward step signal response function and the unit reverse impulse signal response function.

[0176] Figure 7 This is a schematic flowchart illustrating a focusing control method for a shooting device provided in Embodiment 5. Figure 7 As shown, the specific steps are as follows.

[0177] S701 calculates the product of the unit positive step signal response function and the first amplitude variable to obtain the positive step control function.

[0178] For example, assuming the first amplitude variable is k1, the positive step control function is P1(t) = P 正 (t)*k1.

[0179] S702, calculate the product of the unit inverse pulse signal response function and the second amplitude variable to obtain the inverse pulse control function.

[0180] For example, assuming the second amplitude variable is k2, the inverse pulse control function is P2(t) = P 反 (t)*k2.

[0181] S703 combines the forward step control function with the reverse pulse control function to obtain the displacement response function.

[0182] As exemplified in S701 and S702, the displacement response function combines the positive step control function with the reverse pulse control function, i.e., P = P1 + P2 = P 正 (t)*k1+P 反 (t)*k2, as shown in equation (12):

[0183]

[0184] It should be noted that P(t) has three independent variables: k1, k2, and t, while P is the dependent variable.

[0185] This embodiment provides a focusing control method for an imaging device. In this embodiment, the forward step control function and the reverse pulse control function are combined to obtain a displacement response function. A first amplitude variable and a second amplitude variable are introduced into the displacement response function. Subsequently, the values ​​corresponding to the overshoot and oscillation determinants can be calculated based on the displacement response function, thereby solving the overshoot and oscillation phenomena.

[0186] Example 6

[0187] This embodiment is a further refinement of any of the above embodiments. Figure 8 This is a schematic flowchart illustrating a focusing control method for a shooting device provided in Embodiment Six. Figure 8 As shown, the specific steps are as follows.

[0188] S801, determine the unit positive input function in the time domain corresponding to the unit positive step signal.

[0189] Specifically, the expression for the unit positive step signal in the time domain is determined, i.e., R 正 (t).

[0190] S802 calculates the difference between the unit positive input function and the unit positive step signal response function, and determines the difference as the error function.

[0191] According to the above embodiments, the unit forward step signal response function is P. 正 (t).

[0192] Furthermore, calculate R. 正 (t) and P 正 The difference between (t) is the error function, specifically shown in equation (13):

[0193]

[0194] The error function can be used to calculate the range of the target reverse pulse signal compensation time.

[0195] S803 calculates the target time corresponding to the first time the preset expected displacement is reached based on the error function.

[0196] The preset expected displacement refers to the pre-set displacement of the camera on the shooting device. In this case, the preset expected displacement is an ideal value.

[0197] Specifically, the error function can be converted into a signal, and the target time corresponding to the first time the preset expected displacement is reached can be determined from the signal.

[0198] Based on the error function in S802, the target time is calculated as shown in equation (14):

[0199]

[0200] S804, the target time is determined as the maximum value of the target reverse pulse signal compensation time, so that the range of the target reverse pulse signal compensation time is less than or equal to the maximum value.

[0201] It should be noted that, ideally, the reverse pulse signal compensation should be completed before the preset expected displacement is reached for the first time during actual shooting. This would better solve overshoot and oscillation. Therefore, the target time is determined as the maximum value of the target reverse pulse signal compensation time, thereby determining the range of the target reverse pulse signal compensation time.

[0202] Based on the error function E(t) in S803, the range of the target reverse pulse signal compensation time is determined, as shown in equation (15):

[0203]

[0204] Among them, t c The time for compensation of the target reverse pulse signal.

[0205] This embodiment provides a focusing control method for an imaging device. In this embodiment, an error function is calculated based on the unit positive step input function and the unit positive step response function in the time domain of the unit positive step signal. The range of the target reverse pulse signal compensation time is then determined from the error function. The range of the target reverse pulse signal compensation time determined in this embodiment is accurate, and the reverse pulse signal can solve the overshoot and oscillation phenomena within the range of the target reverse pulse signal compensation time.

[0206] Example 7

[0207] This embodiment is a further refinement of any of the above embodiments. In this embodiment, the preset overshoot and oscillation indicators include obtaining a preset overshoot degree and a preset oscillation degree within a preset time.

[0208] The preset overshoot level refers to the degree of blur in the captured image. It can be understood that the degree of blur can be adjusted based on the actual extent to which the signal exceeds the equalization threshold during shooting.

[0209] The preset oscillation degree refers to the degree of back-and-forth change from blurry to clear and then from clear to blurry.

[0210] The preset time is within the range of the target reverse pulse signal compensation time.

[0211] This embodiment is an optional method for controlling the focusing of the shooting device based on the values ​​corresponding to the overshoot and oscillation determinants by determining the values ​​of the overshoot and oscillation determinants according to the displacement response function and preset overshoot and oscillation determinants.

[0212] Figure 9 This is a schematic flowchart illustrating a focusing control method for an imaging device provided in Embodiment Seven. Figure 9 As shown, the specific steps are as follows.

[0213] S901, the preset expected displacement is determined as the value corresponding to the first amplitude variable.

[0214] It should be noted that after obtaining the displacement response function in this application, the values ​​corresponding to the first amplitude variable and the second amplitude variable can be obtained manually or through optimization algorithms.

[0215] S902, based on the displacement response function and the value corresponding to the first amplitude variable, determine the value corresponding to the second amplitude variable and the value corresponding to the target reverse pulse signal compensation time when the preset overshoot and oscillation index are met; the value corresponding to the target reverse pulse signal compensation time is within the range of the target reverse pulse signal compensation time.

[0216] Based on the above S901, the value corresponding to the first amplitude variable is determined. At the same time, the preset expected displacement can be determined as P, so that the value corresponding to the second amplitude variable and the value corresponding to the target reverse pulse signal compensation time when the preset overshoot and oscillation index are satisfied are determined in P(t).

[0217] Specifically, in this step, an independent variable k1 and a dependent variable P are determined in the displacement response function P(t), and then the remaining independent variables k2 and t are determined within the range of the target reverse pulse signal compensation time.

[0218] In one approach, multiple sets of independent variables can be determined, including k2 and t with different values. Then, the signal corresponding to the displacement response function of each set of independent variables is determined, and it is determined whether the preset overshoot and oscillation index is met in the signal corresponding to the displacement response function. If it is met, the values ​​of k2 and t in the independent variable set at this time are determined to be the values ​​corresponding to the second amplitude variable and the values ​​corresponding to the compensation time of the target reverse pulse signal, respectively.

[0219] Among them, the value corresponding to the target reverse pulse signal compensation time is within the range of the target reverse pulse signal compensation time.

[0220] S903 sends the values ​​corresponding to the overshoot and oscillation determinants to the shooting device, so that the shooting device controls the focusing according to the values ​​corresponding to the overshoot and oscillation determinants; the values ​​corresponding to the overshoot and oscillation determinants include the values ​​corresponding to the first amplitude variable, the values ​​corresponding to the second amplitude variable, and the values ​​corresponding to the target reverse pulse signal compensation time.

[0221] It should be noted that the values ​​corresponding to the overshoot and oscillation determinants are sent to the shooting device, so that the shooting device can perform focus control based on the values ​​corresponding to the overshoot and oscillation determinants, thereby making the image quality of the shooting device better and enabling the shooting device to capture clear images faster.

[0222] It should be noted that in this application, the shooting device performs focus control based on the values ​​corresponding to the overshoot and oscillation determinants. The value corresponding to the target reverse pulse signal compensation time, assuming it is t1, is the reverse pulse signal that compensates for the value corresponding to the second amplitude variable at time t1. It should also be noted that in this application, not only can the unit reverse pulse signal be used as a reference signal and input into the preset closed-loop system to obtain the displacement response function, but other reverse signals can also be manually designed as reference signals and input into the preset closed-loop system to obtain the displacement response function. Furthermore, in this application, during actual shooting, the reverse compensation signal can be not only the reverse pulse signal but also other reverse signals; no limitation is made here.

[0223] This embodiment provides a focusing control method for a shooting device. In this embodiment, the control device determines the values ​​corresponding to the overshoot and oscillation determinants based on the displacement response function and preset overshoot and oscillation indices. The preset expected displacement is determined as the value corresponding to the first amplitude variable. Then, based on the value corresponding to the first amplitude variable, the value corresponding to the second amplitude variable when the preset overshoot and oscillation indices are met and the value corresponding to the target reverse pulse signal compensation time are determined to obtain the values ​​corresponding to the overshoot and oscillation determinants. Further, the values ​​corresponding to the overshoot and oscillation determinants are sent to the shooting device, so that the shooting device performs focusing control based on the values ​​corresponding to the overshoot and oscillation determinants. By compensating the second amplitude variable value with a reverse pulse signal at the target reverse pulse signal compensation time, the phenomenon of back-and-forth changes from blurry to clear and then from clear to blurry is reduced or avoided, thereby solving the overshoot and oscillation phenomenon during shooting, and thus achieving stability, accuracy, and speed of control performance.

[0224] Example 8

[0225] The following is an embodiment of the apparatus of this application. Figure 10 This is a schematic diagram of a focusing control device for a shooting device provided in Embodiment 8. Figure 10 As shown, the focusing control device 100 of the shooting equipment includes the following modules.

[0226] The receiving module 1001 is used to receive the identification signal, the unit reverse pulse signal, and the unit forward step signal sent by the signal generator; the identification signal is used to determine the preset closed-loop system transfer function; the unit reverse pulse signal is used to obtain the unit reverse pulse signal response function; the unit forward step signal is used to obtain the unit forward step signal response function; the unit reverse pulse signal and the unit forward step signal are reference signals;

[0227] The determination module 1002 is used to determine the transfer function corresponding to the preset closed-loop system based on the identification signal;

[0228] Calculation module 1003 is used to calculate the response function of the unit positive step signal based on the unit positive step signal and the transfer function;

[0229] The determining module 1002 is also used to determine the unit reverse pulse signal response function based on the unit reverse pulse signal and the transfer function;

[0230] The calculation module 1003 is also used to calculate the displacement response function based on the unit forward step signal response function and the unit reverse pulse signal response function; the displacement response function includes overshoot and oscillation determinants;

[0231] The determination module 1002 is also used to determine the values ​​corresponding to the overshoot and oscillation determinants based on the displacement response function and the preset overshoot and oscillation index, so as to control the focusing of the shooting device according to the values ​​corresponding to the overshoot and oscillation determinants.

[0232] In one approach, the preset closed-loop system is pre-set to an underdamped state; the underdamped state is characterized by a damping coefficient; the determining module 1002, when determining the transfer function corresponding to the preset closed-loop system based on the identification signal, is specifically used for:

[0233] The corresponding input function is determined based on the identification signal; the input function is input into the preset closed-loop system to obtain the output function corresponding to the identification signal; the output function and the input function are substituted into the transfer function calculation formula to obtain the transfer function of the preset closed-loop system.

[0234] In one embodiment, the calculation module 1003, when calculating the unit positive step signal response function based on the unit positive step signal and the transfer function, is specifically used for:

[0235] The first input Laplace transform function corresponding to the unit positive step step signal is determined; the first input Laplace transform function is the input unit positive step step Laplace transform function; the product of the first Laplace transform function and the transfer function is determined as the first output Laplace transform function; the first output Laplace transform function is the output unit positive step step Laplace transform function; the inverse Laplace transform function is performed on the first output Laplace transform function based on the inverse Laplace transform formula to obtain the unit positive step step signal response function.

[0236] In one embodiment, the determining module 1002, when determining the unit reverse pulse signal response function based on the unit reverse pulse signal and the transfer function, is specifically used for:

[0237] The second input Laplace transform function corresponding to the unit inverse pulse signal is determined; the second input Laplace transform function is the input unit inverse pulse Laplace transform function; the product of the second Laplace transform function and the transfer function is determined as the second output Laplace transform function; the second output Laplace transform function is the output unit inverse pulse Laplace transform function; the second output Laplace transform function is inversely transformed based on the Laplace transform formula to obtain the unit inverse pulse signal response function.

[0238] In one approach, the overshoot and oscillation determinants include a first amplitude variable, a second amplitude variable, and the target reverse pulse signal compensation time; the first amplitude variable is the amplitude variable corresponding to the actual captured and adjusted forward step signal; the second amplitude variable is the amplitude variable corresponding to the actual captured and adjusted reverse pulse signal; the target reverse pulse signal compensation time is the reverse compensation time of the reverse pulse signal of the second amplitude variable; the calculation module 1003, when calculating the displacement response function based on the unit forward step signal response function and the unit reverse pulse signal response function, is specifically used for:

[0239] Calculate the product of the unit positive step signal response function and the first amplitude variable to obtain the positive step control function; calculate the product of the unit negative pulse signal response function and the second amplitude variable to obtain the negative pulse control function; combine the positive step control function and the negative pulse control function to obtain the displacement response function.

[0240] In one embodiment, this invention provides a focusing control device for an imaging device, wherein the determining module 1002 is further configured to determine the unit positive input function in the time domain corresponding to the unit positive step signal; the calculation module 1003 is further configured to calculate the difference between the unit positive input function and the unit positive step signal response function, and determine the difference as an error function; the calculation module 1003 is further configured to calculate the target time corresponding to the first achievement of the preset expected displacement based on the error function; the determining module 1002 is further configured to determine the target time as the maximum value of the target reverse pulse signal compensation time, so that the range of the target reverse pulse signal compensation time is less than or equal to the maximum value.

[0241] In one approach, the preset overshoot and oscillation indices include a preset overshoot degree and a preset oscillation degree obtained within a preset time. The determining module 1002, when determining the values ​​corresponding to the overshoot and oscillation determinants based on the displacement response function and the preset overshoot and oscillation indices, to achieve control of the focusing of the shooting device based on the values ​​corresponding to the overshoot and oscillation determinants, is specifically used for:

[0242] The preset expected displacement is determined as the value corresponding to the first amplitude variable; based on the displacement response function and the value corresponding to the first amplitude variable, the values ​​corresponding to the second amplitude variable and the target reverse pulse signal compensation time are determined when the preset overshoot and oscillation indicators are met; the value corresponding to the target reverse pulse signal compensation time is within the range of the target reverse pulse signal compensation time; the values ​​corresponding to the overshoot and oscillation determinants are sent to the shooting device so that the shooting device controls the focusing of the shooting device according to the values ​​corresponding to the overshoot and oscillation determinants; the values ​​corresponding to the overshoot and oscillation determinants include the values ​​corresponding to the first amplitude variable, the second amplitude variable, and the target reverse pulse signal compensation time.

[0243] Example 9

[0244] Figure 11 This is a schematic diagram of the structure of an electronic device provided in Embodiment Nine. Figure 11 As shown, the electronic device 110 may include: a processor 1101, and a memory 1102 and a transceiver 1103 communicatively connected to the processor 1101. The memory 1102 stores computer-executable instructions; the transceiver 1103 is used for sending and receiving data; the processor 1101 executes the computer-executable instructions stored in the memory 1102 to implement any one of the method embodiments in Embodiments 1 to 7 above. The specific implementation methods and technical effects are similar, and will not be repeated here.

[0245] In this embodiment, the transceiver 1103, memory 1102, and processor 1101 are connected via a bus. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. The bus can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 11 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0246] Example 10

[0247] This application provides a computer-readable storage medium storing computer-executable instructions. When executed by a processor, the computer-executable instructions are used to implement any one of the method embodiments 1 to 7 above. The specific implementation methods and technical effects are similar, and will not be repeated here.

[0248] Other embodiments of this application will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this application are indicated by the following claims.

[0249] It should be understood that this application is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this application is limited only by the appended claims.

Claims

1. A control method of focusing of a photographing apparatus, characterized by, The method includes: The receiver receives an identification signal, a unit inverse pulse signal, and a unit forward step signal from a signal generator; the identification signal is used to determine the preset closed-loop system transfer function; the unit inverse pulse signal is used to obtain the unit inverse pulse signal response function; the unit forward step signal is used to obtain the unit forward step signal response function; the unit inverse pulse signal and the unit forward step signal are reference signals. The transfer function corresponding to the preset closed-loop system is determined based on the identification signal; Calculate the unit positive step signal response function based on the unit positive step signal and the transfer function; The unit reverse pulse signal response function is determined based on the unit reverse pulse signal and the transfer function. The displacement response function is calculated based on the unit forward step signal response function and the unit reverse pulse signal response function; the displacement response function includes overshoot and oscillation determinants. The values ​​corresponding to the overshoot and oscillation determinants are determined based on the displacement response function and the preset overshoot and oscillation indicators, so as to control the focusing of the shooting device according to the values ​​corresponding to the overshoot and oscillation determinants.

2. The method of claim 1, wherein, The preset closed-loop system is pre-set to an underdamped state; The underdamped state is characterized by the damping coefficient; The step of determining the transfer function corresponding to the preset closed-loop system based on the identification signal includes: The corresponding input function is determined based on the identification signal; the input function is input into a preset closed-loop system to obtain the output function corresponding to the identification signal; Substitute the output function and the input function into the transfer function calculation formula to obtain the transfer function of the preset closed-loop system.

3. The method of claim 1, wherein, The step of calculating the unit positive step signal response function based on the unit positive step signal and the transfer function includes: Determine the first input Laplace transform function corresponding to the unit positive step signal; the first input Laplace transform function is the input unit positive step Laplace transform function; The product of the first input Laplace transform function and the transfer function is determined as the first output Laplace transform function; the first output Laplace transform function is the output unit positive step Laplace transform function; The first output Laplace transform function is inversely transformed based on the inverse Laplace transform formula to obtain the unit positive step signal response function.

4. The method of claim 1, wherein, Determining the unit inverse pulse signal response function based on the unit inverse pulse signal and the transfer function includes: Determine the second input Laplace transform function corresponding to the unit inverse pulse signal; the second input Laplace transform function is the input unit inverse pulse Laplace transform function; The product of the second input Laplace transform function and the transfer function is determined as the second output Laplace transform function; the second output Laplace transform function is the output unit inverse pulse Laplace transform function; The second output Laplace transform function is inversely transformed based on the Laplace transform formula to obtain the unit inverse impulse signal response function.

5. The method of claim 4, wherein, The overshoot and oscillation determinants include a first amplitude variable, a second amplitude variable, and the target reverse pulse signal compensation time; the first amplitude variable is the amplitude variable corresponding to the positive step signal after actual shooting and adjustment; the second amplitude variable is the amplitude variable corresponding to the reverse pulse signal after actual shooting and adjustment; the target reverse pulse signal compensation time is the reverse compensation time of the reverse pulse signal of the second amplitude variable; The calculation of the displacement response function based on the unit forward step signal response function and the unit reverse impulse signal response function includes: Calculate the product of the unit positive step signal response function and the first amplitude variable to obtain the positive step control function; Calculate the product of the unit inverse pulse signal response function and the second amplitude variable to obtain the inverse pulse control function; The positive step control function and the negative pulse control function are combined to obtain the displacement response function.

6. The method according to claim 5, characterized in that, The method further includes: Determine the unit positive step input function in the time domain corresponding to the unit positive step signal; Calculate the difference between the unit positive input function and the unit positive step signal response function, and determine the difference as the error function; Calculate the target time corresponding to the first achievement of the preset expected displacement based on the error function; The target time is determined as the maximum value of the target reverse pulse signal compensation time, and the range of the target reverse pulse signal compensation time is determined to be less than or equal to the maximum value.

7. The method according to claim 6, characterized in that, The preset overshoot and oscillation indices include a preset overshoot degree and a preset oscillation degree obtained within a preset time. The step of determining the values ​​corresponding to the overshoot and oscillation determinants based on the displacement response function and preset overshoot and oscillation indices, so as to control the focusing of the shooting device according to the values ​​corresponding to the overshoot and oscillation determinants, includes: The preset expected displacement is determined as the value corresponding to the first amplitude variable; Based on the displacement response function and the value corresponding to the first amplitude variable, the value corresponding to the second amplitude variable and the value corresponding to the target reverse pulse signal compensation time are determined when the preset overshoot and oscillation index is satisfied; the value corresponding to the target reverse pulse signal compensation time is within the range of the target reverse pulse signal compensation time. The values ​​corresponding to the overshoot and oscillation determinants are sent to the imaging device so that the imaging device controls the focusing according to the values ​​corresponding to the overshoot and oscillation determinants; the values ​​corresponding to the overshoot and oscillation determinants include the values ​​corresponding to the first amplitude variable, the values ​​corresponding to the second amplitude variable, and the values ​​corresponding to the target reverse pulse signal compensation time.

8. A focusing control device for a shooting equipment, characterized in that, The device includes: The receiving module is used to receive an identification signal, a unit inverse pulse signal, and a unit forward step signal sent by a signal generator; the identification signal is used to determine a preset closed-loop system transfer function; the unit inverse pulse signal is used to obtain a unit inverse pulse signal response function; the unit forward step signal is used to obtain a unit forward step signal response function; the unit inverse pulse signal and the unit forward step signal are reference signals; The determination module is used to determine the transfer function corresponding to the preset closed-loop system based on the identification signal; The calculation module is used to calculate the unit positive step signal response function based on the unit positive step signal and the transfer function; The determining module is further configured to determine the unit reverse pulse signal response function based on the unit reverse pulse signal and the transfer function; The calculation module is also used to calculate the displacement response function based on the unit forward step signal response function and the unit reverse pulse signal response function; the displacement response function includes overshoot and oscillation determinants; The determining module is also used to determine the values ​​corresponding to the overshoot and oscillation determinants based on the displacement response function and the preset overshoot and oscillation index, so as to control the focusing of the shooting device according to the values ​​corresponding to the overshoot and oscillation determinants.

9. An electronic device, comprising: A processor, and a memory and a transceiver communicatively connected to the processor; The memory stores computer-executed instructions; the transceiver is used for sending and receiving data. The processor executes computer execution instructions stored in the memory to implement the method as described in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the method as described in any one of claims 1-7.

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