Ball motor driving method

Abstract

The invention relates to the technical field of lens rolling motors, and discloses a ball motor driving method, which comprises the following steps: acquiring vibration data of a lens, including a vibration direction and a vibration amplitude; determining a moving image of the lens on the two-dimensional coordinate system according to the vibration data; determining an X-axis displacement compensation vector and a Y-axis displacement compensation vector according to the motion image, determining a first current value and a first current direction which are introduced into an X-axis coil in the ball motor based on the X-axis displacement compensation vector, and determining a second current value and a second current direction which are introduced into a Y-axis coil in the ball motor based on the Y-axis displacement compensation vector; and controlling the lens after being electrified to shoot a corrected image, determining the definition of the corrected image, comparing the definition with a preset definition, and judging whether to adjust the first current value and the second current value or not according to a comparison result. According to the invention, the current value and direction of the ball motor are dynamically adjusted, so that the lens can be adaptively adjusted according to actual shooting conditions, and the anti-shake effect is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of lens ball motors, and in particular to a ball motor driving method. Background Art

[0002] A ball motor is an electric mechanism that is usually used to eliminate the shaking effect of a camera or mobile phone lens when shooting. It uses ball technology to achieve image stabilization by controlling the position and movement of the rolling ball. However, traditional ball motor driving methods often rely on preset parameters, which may not provide the best anti-shake effect under different shooting conditions. In addition, due to the complexity of the shooting environment, traditional driving methods are difficult to adapt to various dynamic changes, resulting in insufficient image stability. Therefore, there is an urgent need for a ball motor driving method to intelligently drive the ball motor to achieve the anti-shake function of the lens or camera. Summary of the invention

[0003] The purpose of the present invention is to provide a ball motor driving method to solve the problem that the traditional ball motor driving method relies on preset parameters, which may not provide the best anti-shake effect under different shooting conditions. In addition, due to the complexity of the shooting environment, the traditional driving method is difficult to adapt to various dynamic changes, resulting in insufficient image stability.

[0004] The present invention provides a ball motor driving method, comprising:

[0005] Acquiring vibration data of the lens through a vibration sensor, wherein the vibration data includes a vibration direction and a vibration amplitude;

[0006] Determine a motion image of the lens on a two-dimensional coordinate system according to the vibration data, wherein the two-dimensional coordinate system includes an X-axis and a Y-axis;

[0007] Determine an X-axis displacement compensation vector and a Y-axis displacement compensation vector according to the motion image, and determine a first current value and a first current direction passed through an X-axis coil in a ball motor based on the X-axis displacement compensation vector, and determine a second current value and a second current direction passed through a Y-axis coil in the ball motor based on the Y-axis displacement compensation vector;

[0008] Controlling the lens after current is passed to capture a correction image, analyzing the correction image, determining the clarity of the correction image, comparing the clarity with a preset clarity, and determining whether to adjust the first current value and the second current value according to the comparison result;

[0009] If the first current value and the second current value need to be adjusted, the first current value and the second current value are adjusted according to the clarity difference between the clarity and the preset clarity.

[0010] Preferably, determining the motion image of the lens on the two-dimensional coordinate system according to the vibration data includes:

[0011] Taking a right-angled vertex of the lens carrier as the origin, and taking the two sides of the corresponding right angle as the X-axis and Y-axis to establish a two-dimensional coordinate system, and the cross-section of the lens carrier is rectangular;

[0012] Establishing a three-dimensional solid diagram of the vibration data, mapping the three-dimensional solid diagram on the two-dimensional coordinate system, and determining it as the motion image of the lens on the two-dimensional coordinate system.

[0013] Preferably, determining the X-axis displacement compensation vector and the Y-axis displacement compensation vector according to the motion image includes:

[0014] The motion image is a broken-line image;

[0015] Determining the vertices of the broken-line image, dividing the motion image according to the vertices, and obtaining a plurality of displacement vectors;

[0016] Decomposing a plurality of the displacement vectors into an X-axis displacement and a Y-axis displacement;

[0017] Setting the magnitude of the X-axis displacement and the reverse direction of the X-axis displacement as the X-axis displacement compensation vector within the corresponding time period of the displacement vector;

[0018] Setting the magnitude of the Y-axis displacement and the reverse direction of the Y-axis displacement as the Y-axis displacement compensation vector within the corresponding time period of the displacement vector.

[0019] Preferably, determining the first current value applied to the X-axis coil in the ball motor based on the X-axis displacement compensation vector includes:

[0020] Determining the X-axis displacement compensation value of the X-axis displacement compensation vector;

[0021] Pre-setting a first displacement compensation value, a second displacement compensation value, and a third displacement compensation value, and the first displacement compensation value, the second displacement compensation value, and the third displacement compensation value increase in sequence;

[0022] Setting the first current value applied to the X-axis coil in the ball motor according to the relationship between the X-axis displacement compensation value and the first displacement compensation value, the second displacement compensation value, and the third displacement compensation value;

[0023] If the X-axis displacement compensation value is less than the first displacement compensation value, determining the first current value as the first preset current value A1;

[0024] If the X-axis displacement compensation value is greater than or equal to the first displacement compensation value and the X-axis displacement compensation value is less than the second displacement compensation value, determining the first current value as the second preset current value A2;

[0025] If the X-axis displacement compensation value is greater than or equal to the second displacement compensation value and less than the third displacement compensation value, determine that the first current value is the third preset current value A3;

[0026] If the X-axis displacement compensation value is greater than or equal to the third displacement compensation value, determine that the first current value is the fourth preset current value A4; and, A1 < A2 < A3 < A4.

[0027] Preferably, determining the first current direction flowing into the X-axis coil of the ball motor based on the X-axis displacement compensation vector includes:

[0028] Determine the X-axis displacement direction of the X-axis displacement compensation vector;

[0029] If the X-axis displacement direction is the positive X-axis direction, determine that the first current direction is the positive current direction. When the current direction flowing into the X-axis coil of the ball motor is the positive current direction, the X-axis coil attracts the magnet on the X-axis coil side of the lens carrier;

[0030] If the X-axis displacement direction is the negative X-axis direction, determine that the first current direction is the negative current direction. When the current direction flowing into the X-axis coil of the ball motor is the negative current direction, the X-axis coil repels the magnet on the X-axis coil side of the lens carrier.

[0031] Preferably, determining the second current value and the second current direction flowing into the Y-axis coil of the ball motor based on the Y-axis displacement compensation vector includes:

[0032] Determine the Y-axis displacement compensation value of the Y-axis displacement compensation vector;

[0033] Set the second current value flowing into the Y-axis coil of the ball motor according to the relationship between the Y-axis displacement compensation value and the first displacement compensation value, the second displacement compensation value, and the third displacement compensation value;

[0034] If the Y-axis displacement compensation value is less than the first displacement compensation value, determine that the second current value is the first preset current value A1;

[0035] If the Y-axis displacement compensation value is greater than or equal to the first displacement compensation value and less than the second displacement compensation value, determine that the second current value is the second preset current value A2;

[0036] If the Y-axis displacement compensation value is greater than or equal to the second displacement compensation value and less than the third displacement compensation value, determine that the second current value is the third preset current value A3;

[0037] If the Y-axis displacement compensation value is greater than or equal to the third displacement compensation value, determine the second current value as the fourth preset current value A4; and, A1 < A2 < A3 < A4.

[0038] Preferably, determining the second current direction flowing through the Y-axis coil in the ball motor based on the Y-axis displacement compensation vector includes:

[0039] Determine the Y-axis displacement direction of the Y-axis displacement compensation vector;

[0040] If the Y-axis displacement direction is the positive Y-axis direction, determine the second current direction as the positive current direction. When the current direction flowing through the Y-axis coil in the ball motor is the positive current direction, the Y-axis coil attracts the magnet on the Y-axis coil side of the lens carrier;

[0041] If the Y-axis displacement direction is the negative Y-axis direction, determine the second current direction as the negative current direction. When the current direction flowing through the Y-axis coil in the ball motor is the negative current direction, the Y-axis coil repels the magnet on the Y-axis coil side of the lens carrier.

[0042] Preferably, controlling the lens to capture a calibration image after passing the current, analyzing the calibration image, and determining the clarity of the calibration image includes:

[0043] The original image of the calibration image is a standard black-and-white image;

[0044] Determine the original number of black pixel points in the standard black-and-white image;

[0045] Perform gray-scale binary processing on the calibration image, and determine the calibrated number of black pixel points in the processed calibration image;

[0046] Determine the clarity of the calibration image according to the original number and the calibrated number;

[0047] The clarity is determined according to the following formula:

[0048]

[0049] Where D represents clarity, R represents the calibrated number, and P represents the original number.

[0050] Preferably, comparing the clarity with a preset clarity, and determining whether to adjust the first current value and the second current value according to the comparison result includes:

[0051] If the clarity is greater than or equal to the preset clarity, determine not to adjust the first current value and the second current value;

[0052] If the clarity is less than the preset clarity, it is determined to adjust the first current value and the second current value.

[0053] Preferably, adjusting the first current value and the second current value according to the clarity difference between the clarity and the preset clarity includes:

[0054] Determine the clarity difference between the clarity and the preset clarity;

[0055] Preset a first clarity difference and a second clarity difference in advance, where the first clarity difference is less than the second clarity difference;

[0056] Set an adjustment coefficient according to the relationship between the clarity difference and the first clarity difference and the second clarity difference, and adjust the first current value and the second current value based on the adjustment coefficient;

[0057] If the clarity difference is less than the first clarity difference, determine that the adjustment coefficient is the first preset adjustment coefficient a1, the adjusted first current value is Ai×a1, and the adjusted second current value is Aj×a1;

[0058] If the clarity difference is greater than or equal to the first clarity difference and less than the second clarity difference, determine that the adjustment coefficient is the second preset adjustment coefficient a2, the adjusted first current value is Ai×a2, and the adjusted second current value is Aj×a2;

[0059] If the clarity difference is greater than or equal to the second clarity difference, determine that the adjustment coefficient is the third preset adjustment coefficient a3, the adjusted first current value is Ai×a3, and the adjusted second current value is Aj×a3; and a1 < a2 < a3, where i = 1, 2, 3, 4 and j = 1, 2, 3, 4.

[0060] Compared with the prior art, the beneficial effects of the present invention are as follows: The present invention obtains real-time vibration data through a vibration sensor, and dynamically adjusts the current value and direction of the ball motor according to the vibration data, enabling the lens to adaptively adjust according to the actual shooting conditions and improving the anti-shake effect. By analyzing the corrected image, the clarity of the image is determined, and the clarity is compared with a preset clarity to judge whether the current value needs to be adjusted. This adjustment method based on image clarity can improve the accuracy and precision of correction. Since the method of the present invention is based on real-time vibration data and image analysis, it can quickly respond to changes in the shooting environment, timely adjust the working state of the ball motor, and ensure the stability of the image. The method of the present invention is applicable to various complex shooting environments. Whether it is a static or dynamic scene, the best anti-shake effect can be achieved by adjusting the current value and direction of the ball motor; and it significantly improves the stability of the captured image, reduces blurring caused by hand shaking or the external environment, thereby improving the user's shooting experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only the embodiments of the present invention, and those of ordinary skill in the art can also obtain other drawings according to the provided drawings without creative efforts.

[0062] Figure 1 It is a schematic flowchart of a ball motor driving method of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0063] The following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0064] As Figure 1 shown, the present invention provides a ball motor driving method, including:

[0065] Obtain the vibration data of the lens through a vibration sensor, where the vibration data includes the vibration direction and the vibration amplitude.

[0066] Determine the motion image of the lens in a two-dimensional coordinate system according to the vibration data, where the two-dimensional coordinate system includes the X-axis and the Y-axis.

[0067] Determine the X-axis displacement compensation vector and the Y-axis displacement compensation vector according to the motion image, and determine the first current value and the first current direction of the X-axis coil in the ball motor based on the X-axis displacement compensation vector, and determine the second current value and the second current direction of the Y-axis coil in the ball motor based on the Y-axis displacement compensation vector.

[0068] Control the lens after the current is applied to capture a corrected image, analyze the corrected image, determine the clarity of the corrected image, compare the clarity with a preset clarity, and determine whether to adjust the first current value and the second current value according to the comparison result.

[0069] If it is necessary to adjust the first current value and the second current value, then adjust the first current value and the second current value according to the clarity difference between the clarity and the preset clarity.

[0070] In some embodiments of the present application, determining the motion image of the lens on the two-dimensional coordinate system according to the vibration data includes: taking a right-angle vertex of the lens carrier as the origin, and taking the two sides corresponding to the right angle as the X-axis and the Y-axis to establish a two-dimensional coordinate system, and the cross-section of the lens carrier is rectangular; establishing a three-dimensional graph of the vibration data, and mapping the three-dimensional graph on the two-dimensional coordinate system to determine the motion image of the lens on the two-dimensional coordinate system.

[0071] The vibration data obtained in this solution includes the vibration direction, and the acquisition of the vibration direction is three-dimensional. Therefore, a three-dimensional graph is constructed according to the vibration data, and then the three-dimensional graph is mapped into the two-dimensional coordinate system, so that the motion image only represents the vibration of the lens on the X-axis and the Y-axis.

[0072] In some embodiments of the present application, determining the X-axis displacement compensation vector and the Y-axis displacement compensation vector according to the motion image includes: the motion image is a broken-line image; determining the vertices of the broken-line image, dividing the motion image according to the vertices to obtain a plurality of displacement vectors; decomposing the plurality of displacement vectors into an X-axis displacement and a Y-axis displacement; setting the magnitude of the X-axis displacement and the opposite direction of the X-axis displacement as the X-axis displacement compensation vector in the corresponding time period of the displacement vector; setting the magnitude of the Y-axis displacement and the opposite direction of the Y-axis displacement as the Y-axis displacement compensation vector in the corresponding time period of the displacement vector.

[0073] First, analyze the motion image, which is presented in the form of a broken line representing the motion trajectory of the lens. Determine the vertices of the broken-line image. These vertices are the turning points of the broken line and represent the changes in the motion state of the object. Use these vertices to divide the entire motion image into several line segments, and each line segment represents the displacement of the object within a specific time period. For each line segment, calculate its displacement vector, that is, the vector from the starting point to the ending point of the line segment. Decompose each displacement vector into the components on the X-axis and Y-axis, that is, calculate the projections of the displacement vector on the X-axis and Y-axis respectively. For the X-axis component, take its magnitude and reverse its direction to obtain the X-axis displacement compensation vector. This compensation vector will be used to correct the difference between the actual displacement and the expected displacement of the object in the X-axis direction. For the Y-axis component, also take its magnitude and reverse its direction to obtain the Y-axis displacement compensation vector. This compensation vector will be used to correct the difference between the actual displacement and the expected displacement of the object in the Y-axis direction. Finally, the X-axis displacement compensation vector and the Y-axis displacement compensation vector corresponding to each displacement vector within the time period will be used to adjust the motion trajectory of the object to ensure that its motion is more accurate and conforms to the expected path.

[0074] In some embodiments of the present application, determining the first current value applied to the X-axis coil in the ball motor based on the X-axis displacement compensation vector includes: determining the X-axis displacement compensation value of the X-axis displacement compensation vector; presetting a first displacement compensation value, a second displacement compensation value, and a third displacement compensation value, and the first displacement compensation value, the second displacement compensation value, and the third displacement compensation value increase in sequence; setting the first current value applied to the X-axis coil in the ball motor according to the relationship between the X-axis displacement compensation value and the first displacement compensation value, the second displacement compensation value, and the third displacement compensation value; if the X-axis displacement compensation value is less than the first displacement compensation value, determining that the first current value is the first preset current value A1; if the X-axis displacement compensation value is greater than or equal to the first displacement compensation value and the X-axis displacement compensation value is less than the second displacement compensation value, determining that the first current value is the second preset current value A2; if the X-axis displacement compensation value is greater than or equal to the second displacement compensation value and the X-axis displacement compensation value is less than the third displacement compensation value, determining that the first current value is the third preset current value A3; if the X-axis displacement compensation value is greater than or equal to the third displacement compensation value, determining that the first current value is the fourth preset current value A4; and, A1 < A2 < A3 < A4.

[0075] It can be seen that by precisely setting the relationship between the X-axis displacement compensation value and the current value, precise control of the current in the X-axis coil of the ball motor is achieved. By adopting the method of presetting the current value, the adjustment process of the current value is simplified, and the system adjustment efficiency is improved. The current value is set in grades according to different stages of the displacement compensation value, ensuring the stable operation of the ball motor at different displacements. The graded current setting effectively reduces energy consumption and improves the overall energy efficiency of the system; it also improves the working precision and reliability of the system.

[0076] In some embodiments of the present application, determining the first current direction flowing into the X-axis coil in the ball motor based on the X-axis displacement compensation vector includes: determining the X-axis displacement direction of the X-axis displacement compensation vector; if the X-axis displacement direction is the positive X-axis direction, then determining the first current direction as the positive current direction. When the current direction flowing into the X-axis coil in the ball motor is the positive current direction, the X-axis coil attracts the magnet on the X-axis coil side of the lens carrier; if the X-axis displacement direction is the negative X-axis direction, then determining the first current direction as the negative current direction. When the current direction flowing into the X-axis coil in the ball motor is the negative current direction, the X-axis coil repels the magnet on the X-axis coil side of the lens carrier.

[0077] In the process of realizing X-axis displacement compensation, first, an X-axis displacement compensation vector needs to be determined. Based on this compensation vector, the current direction flowing into the X-axis coil in the ball motor can be calculated to achieve precise displacement adjustment. The specific steps are as follows: Determine the X-axis displacement direction of the X-axis displacement compensation vector. This direction can be the positive direction (to the right) or the negative direction (to the left), depending on the offset of the lens carrier relative to the target position. If the X-axis displacement direction is the positive direction, then determine the first current direction as the positive current direction. This means that when the current passes through the X-axis coil of the ball motor, its direction should be consistent with the positive current direction. In this case, the magnetic field generated by the X-axis coil will generate an attractive force with the magnet on the X-axis coil side of the lens carrier, thereby pushing the lens carrier to move to the right and reducing the deviation from the target position. If the X-axis displacement direction is the negative direction, then determine the first current direction as the negative current direction. This means that when the current passes through the X-axis coil of the ball motor, its direction should be consistent with the negative current direction. In this case, the magnetic field generated by the X-axis coil will generate a repulsive force with the magnet on the X-axis coil side of the lens carrier, pushing the lens carrier to move to the left and also reducing the deviation from the target position. In this way, the current direction in the X-axis coil of the ball motor can be precisely controlled, and then the X-axis displacement of the lens carrier can be controlled to achieve precise compensation adjustment.

[0078] In some embodiments of the present application, determining the second current value and the second current direction flowing through the Y-axis coil in the ball motor based on the Y-axis displacement compensation vector includes: determining the Y-axis displacement compensation value of the Y-axis displacement compensation vector; setting the second current value flowing through the Y-axis coil in the ball motor according to the relationship between the Y-axis displacement compensation value and the first displacement compensation value, the second displacement compensation value, and the third displacement compensation value; if the Y-axis displacement compensation value is less than the first displacement compensation value, determining the second current value to be the first preset current value A1; if the Y-axis displacement compensation value is greater than or equal to the first displacement compensation value and less than the second displacement compensation value, determining the second current value to be the second preset current value A2; if the Y-axis displacement compensation value is greater than or equal to the second displacement compensation value and less than the third displacement compensation value, determining the second current value to be the third preset current value A3; if the Y-axis displacement compensation value is greater than or equal to the third displacement compensation value, determining the second current value to be the fourth preset current value A4; and, A1 < A2 < A3 < A4.

[0079] It can be seen that by determining the Y-axis displacement compensation value of the Y-axis displacement compensation vector, the current control of the Y-axis coil in the ball motor can be optimized, and the response speed and accuracy of the motor can be improved. By setting different current values according to different displacement compensation values, the performance of the ball motor can be effectively adjusted, so that it can maintain a stable operating state under different working conditions. And this solution helps to improve the overall control performance of the system, reduce energy consumption, and extend the service life of the equipment.

[0080] In some embodiments of the present application, determining the second current direction flowing through the Y-axis coil in the ball motor based on the Y-axis displacement compensation vector includes: determining the Y-axis displacement direction of the Y-axis displacement compensation vector; if the Y-axis displacement direction is the positive Y-axis direction, determining the second current direction to be the positive current direction. When the current direction flowing through the Y-axis coil in the ball motor is the positive current direction, the Y-axis coil attracts the magnet on the Y-axis coil side of the lens carrier; if the Y-axis displacement direction is the negative Y-axis direction, determining the second current direction to be the negative current direction. When the current direction flowing through the Y-axis coil in the ball motor is the negative current direction, the Y-axis coil repels the magnet on the Y-axis coil side of the lens carrier.

[0081] The determination method of the current direction in the Y-axis coil is the same as that of the current direction in the X-axis coil. Using the electromagnetic induction of the coil, a magnetic field is generated by passing a current through the coil, which repels or attracts the corresponding magnet, realizing the movement of the lens, preventing the lens from shaking, and ensuring the stability and accuracy of the imaging system.

[0082] In some embodiments of the present application, after controlling the current input, the lens is used to capture a calibration image, and the calibration image is analyzed to determine the clarity of the calibration image, including: the original image of the calibration image is a standard black-and-white image; determining the original number of black pixel points in the standard black-and-white image; performing gray-scale binarization processing on the calibration image to determine the calibrated number of black pixel points in the processed calibration image; determining the clarity of the calibration image according to the original number and the calibrated number;

[0083] The clarity is determined according to the following formula:

[0084]

[0085] where D represents clarity, R represents the calibrated number, and P represents the original number.

[0086] After controlling the current input, the lens is used to capture a calibration image. Next, we analyze the captured calibration image to determine its clarity. First, ensure that the original image of the calibration image is a standard black-and-white image. Then, count the original number of black pixel points in the standard black-and-white image. To further analyze the image clarity, perform gray-scale binarization processing on the calibration image. Gray-scale binarization processing is a process of converting an image into an image with only two colors, black and white, where black represents a higher gray value and white represents a lower gray value. Through this processing, we can more easily identify and count the black pixel points in the image. After the processing is completed, count the number of black pixel points in the processed calibration image, that is, the calibrated number. With the original number and the calibrated number, the clarity of the calibration image can be determined by comparing these two values. If the calibrated number is not much different from the original number, it indicates that the image maintains a high clarity after power-on; if the calibrated number decreases significantly, it indicates that the image may become blurred and the clarity decreases. Through this method, the effect of image calibration can be quantitatively evaluated, and necessary adjustments can be made accordingly.

[0087] In some embodiments of the present application, the clarity is compared with a preset clarity, and it is judged whether to adjust the first current value and the second current value according to the comparison result, including: if the clarity is greater than or equal to the preset clarity, it is judged not to adjust the first current value and the second current value; if the clarity is less than the preset clarity, it is judged to adjust the first current value and the second current value.

[0088] If the comparison result shows that the current clarity is greater than or equal to the preset clarity standard, it is considered that the current image quality meets the requirements, so there is no need to adjust the first current value and the second current value. On the contrary, if the comparison result shows that the current clarity is less than the preset clarity standard, it indicates that the current image quality does not meet the requirements, and the first current value and the second current value need to be adjusted to improve the clarity of the image. The specific method of adjustment can be to increase or decrease the current value until the detected clarity reaches or exceeds the preset clarity standard.

[0089] In some embodiments of the present application, adjusting the first current value and the second current value according to the clarity difference between the clarity and the preset clarity includes: determining the clarity difference between the clarity and the preset clarity; presetting a first clarity difference and a second clarity difference, the first clarity difference being less than the second clarity difference; setting an adjustment coefficient according to the relationship between the clarity difference and the first clarity difference and the second clarity difference, and adjusting the first current value and the second current value based on the adjustment coefficient; if the clarity difference is less than the first clarity difference, determining that the adjustment coefficient is a first preset adjustment coefficient a1, the adjusted first current value being Ai×a1, and the adjusted second current value being Aj×a1; if the clarity difference is greater than or equal to the first clarity difference and less than the second clarity difference, determining that the adjustment coefficient is a second preset adjustment coefficient a2, the adjusted first current value being Ai×a2, and the adjusted second current value being Aj×a2; if the clarity difference is greater than or equal to the second clarity difference, determining that the adjustment coefficient is a third preset adjustment coefficient a3, the adjusted first current value being Ai×a3, and the adjusted second current value being Aj×a3; and a1 < a2 < a3, where i = 1, 2, 3, 4, and j = 1, 2, 3, 4.

[0090] It can be seen that by precisely adjusting the clarity difference, the adjustment accuracy of the current value is improved, and the output image quality is made more stable. Different adjustment coefficients are set according to different clarity differences, realizing flexible adjustment of the current value and adapting to different clarity requirements. Presetting the clarity difference and the adjustment coefficient simplifies the system adjustment process and improves work efficiency. The setting of the adjustment coefficient ensures the continuity and smoothness of the adjustment process, avoiding the impact of sudden changes in the current value on the system. Through the optimization of the adjustment coefficient, energy consumption can be reduced while maintaining the image quality, improving the overall performance of the system.

[0091] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions of the present invention or make equivalent replacements, and these modifications or equivalent replacements do not enable the modified technical solutions to deviate from the spirit and scope of the technical solutions of the present invention.

Claims

1. A ball motor driving method, characterized in that: include: Acquiring vibration data of the lens through a vibration sensor, wherein the vibration data includes a vibration direction and a vibration amplitude; Determine a motion image of the lens on a two-dimensional coordinate system according to the vibration data, wherein the two-dimensional coordinate system includes an X-axis and a Y-axis; Determine an X-axis displacement compensation vector and a Y-axis displacement compensation vector according to the motion image, and determine a first current value and a first current direction passed through an X-axis coil in a ball motor based on the X-axis displacement compensation vector, and determine a second current value and a second current direction passed through a Y-axis coil in the ball motor based on the Y-axis displacement compensation vector; Controlling the lens after current is passed to capture a correction image, analyzing the correction image, determining the clarity of the correction image, comparing the clarity with a preset clarity, and determining whether to adjust the first current value and the second current value according to the comparison result; If the first current value and the second current value need to be adjusted, the first current value and the second current value are adjusted according to the clarity difference between the clarity and the preset clarity.

2. A ball motor driving method according to claim 1, characterized in that: Determining a motion image of a lens in a two-dimensional coordinate system according to the vibration data includes: A two-dimensional coordinate system is established with a right-angled vertex of the lens carrier as the origin and two sides corresponding to the right angle as the X-axis and the Y-axis, and the cross-section of the lens carrier is a rectangle; A three-dimensional stereogram of the vibration data is created, and the three-dimensional stereogram is mapped on the two-dimensional coordinate system to be determined as a motion image of the lens on the two-dimensional coordinate system.

3. A ball motor driving method according to claim 1, characterized in that: Determining an X-axis displacement compensation vector and a Y-axis displacement compensation vector according to the motion image includes: The motion image is a polyline image; Determine the vertices of the polyline image, divide the motion image according to the vertices, and obtain a plurality of displacement vectors; Decomposing the plurality of displacement vectors into X-axis displacement and Y-axis displacement; The magnitude of the X-axis displacement and the opposite direction of the X-axis displacement are set as the X-axis displacement compensation vector in the time period corresponding to the displacement vector; The magnitude of the Y-axis displacement and the opposite direction of the Y-axis displacement are set as the Y-axis displacement compensation vector in the time period corresponding to the displacement vector.

4. The ball motor driving method according to claim 1, characterized in that: Determining a first current value passed into an X-axis coil in a ball motor based on the X-axis displacement compensation vector includes: Determining an X-axis displacement compensation value of the X-axis displacement compensation vector; Presetting a first displacement compensation value, a second displacement compensation value, and a third displacement compensation value, wherein the first displacement compensation value, the second displacement compensation value, and the third displacement compensation value increase in sequence; According to the relationship between the X-axis displacement compensation value and the first displacement compensation value, the second displacement compensation value and the third displacement compensation value, a first current value passed through the X-axis coil of the ball motor is set; If the X-axis displacement compensation value is less than the first displacement compensation value, determining the first current value to be a first preset current value A1; If the X-axis displacement compensation value is greater than or equal to the first displacement compensation value, and the X-axis displacement compensation value is less than the second displacement compensation value, determining the first current value to be a second preset current value A2; If the X-axis displacement compensation value is greater than or equal to the second displacement compensation value, and the X-axis displacement compensation value is less than the third displacement compensation value, determining the first current value to be a third preset current value A3; If the X-axis displacement compensation value is greater than or equal to the third displacement compensation value, the first current value is determined to be a fourth preset current value A4; and A1<A2<A3<A4.

5. A ball motor driving method according to claim 4, characterized in that: Determining a first current direction passed into an X-axis coil in a ball motor based on the X-axis displacement compensation vector includes: Determining the X-axis displacement direction of the X-axis displacement compensation vector; If the X-axis displacement direction is the positive direction of the X-axis, the first current direction is determined to be the positive direction of the current. When the direction of the current flowing into the X-axis coil in the ball motor is the positive direction of the current, the X-axis coil is attracted to the magnet on the X-axis coil side of the lens carrier. If the X-axis displacement direction is the negative direction of the X-axis, the first current direction is determined to be the negative direction of the current. When the current direction passed into the X-axis coil in the ball motor is the negative direction of the current, the X-axis coil repels the magnet on the X-axis coil side of the lens carrier.

6. A ball motor driving method according to claim 5, characterized in that: Determining a second current value and a second current direction passed into the Y-axis coil of the ball motor based on the Y-axis displacement compensation vector includes: Determining a Y-axis displacement compensation value of the Y-axis displacement compensation vector; According to the relationship between the Y-axis displacement compensation value and the first displacement compensation value, the second displacement compensation value and the third displacement compensation value, a second current value passed through the Y-axis coil of the ball motor is set; If the Y-axis displacement compensation value is less than the first displacement compensation value, determining the second current value to be the first preset current value A1; If the Y-axis displacement compensation value is greater than or equal to the first displacement compensation value, and the Y-axis displacement compensation value is less than the second displacement compensation value, determining the second current value to be a second preset current value A2; If the Y-axis displacement compensation value is greater than or equal to the second displacement compensation value, and the Y-axis displacement compensation value is less than the third displacement compensation value, determining the second current value to be a third preset current value A3; If the Y-axis displacement compensation value is greater than or equal to the third displacement compensation value, the second current value is determined to be a fourth preset current value A4; and A1<A2<A3<A4.

7. A ball motor driving method according to claim 6, characterized in that: Determining a second current direction passed into a Y-axis coil in the ball motor based on the Y-axis displacement compensation vector includes: Determining the Y-axis displacement direction of the Y-axis displacement compensation vector; If the Y-axis displacement direction is the positive direction of the Y-axis, the second current direction is determined to be the positive direction of the current. When the direction of the current flowing into the Y-axis coil in the ball motor is the positive direction of the current, the Y-axis coil is attracted to the magnet on the Y-axis coil side of the lens carrier. If the Y-axis displacement direction is the negative direction of the Y-axis, the second current direction is determined to be the negative direction of the current. When the current direction passed into the Y-axis coil in the ball motor is the negative direction of the current, the Y-axis coil repels the magnet on the Y-axis coil side of the lens carrier.

8. A ball motor driving method according to claim 7, characterized in that: The lens after current is applied is controlled to capture a correction image, and the correction image is analyzed to determine the clarity of the correction image, including: The original image of the corrected image is a standard black and white image; Determining the original number of black pixels in the standard black and white image; Performing grayscale binarization processing on the corrected image to determine the corrected number of black pixels in the corrected image after processing; Determining the clarity of the corrected image according to the original quantity and the corrected quantity; The clarity is determined according to the following formula: Among them, D represents the clarity, R represents the correction amount, and P represents the original amount.

9. A ball motor driving method according to claim 8, characterized in that: The clarity is compared with a preset clarity, and judging whether to adjust the first current value and the second current value according to the comparison result, including: If the definition is greater than or equal to the preset definition, determining not to adjust the first current value and the second current value; If the definition is less than the preset definition, it is determined to adjust the first current value and the second current value.

10. A ball motor driving method according to claim 9, characterized in that: The first current value and the second current value are adjusted according to a clarity difference between the clarity and a preset clarity, comprising: Determining a clarity difference between the clarity and a preset clarity; Presetting a first definition difference and a second definition difference, wherein the first definition difference is smaller than the second definition difference; setting an adjustment coefficient according to a relationship between the definition difference and the first definition difference and the second definition difference, and adjusting the first current value and the second current value based on the adjustment coefficient; If the definition difference is less than the first definition difference, the adjustment coefficient is determined to be the first preset adjustment coefficient a1, the adjusted first current value is Ai×a1, and the adjusted second current value is Aj×a1; If the clarity difference is greater than or equal to the first clarity difference, and the clarity difference is less than the second clarity difference, the adjustment coefficient is determined to be a second preset adjustment coefficient a2, the adjusted first current value is Ai×a2, and the adjusted second current value is Aj×a2; If the clarity difference is greater than or equal to the second clarity difference, the adjustment coefficient is determined to be the third preset adjustment coefficient a3, the adjusted first current value is Ai×a3, and the adjusted second current value is Aj×a3; and a1<a2<a3, where i=1, 2, 3, 4, j=1, 2, 3, 4.

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