Anti-vibration device, imaging device, electronic apparatus, control method, and storage medium

Abstract

The present application discloses an anti-vibration device, an image pickup device, an electronic device, a control method, and a storage medium, the anti-vibration device comprising: a changing unit configured to analyze a gyroscope output waveform to determine an optimization frequency; the filtering unit is configured to perform filtering and compensation processing on the output waveform of the gyroscope to obtain an initial waveform meeting the optimized frequency; the control processing unit is configured to perform compensation and correction processing on the initial waveform to obtain a corrected target waveform; wherein the changing unit is further configured to adjust the frequency characteristic of at least one camera in the multiple cameras according to the optimization frequency, and the control processing unit and the cameras have a corresponding relation. Therefore, in the case of a plurality of cameras, the frequency characteristics of the cameras are changed and compensated, so that image correction can be performed along with the high-frequency component, and the image quality is improved.

Description

Technical Field

[0001] The present application relates to the field of image processing technologies, and in particular, to an anti-vibration device, a camera device, an electronic device, a control method, and a storage medium. Background Art

[0002] As an image stabilization method in imaging devices such as cameras and digital cameras, there are an Optical Image Stabilization (OIS) unit and an Electronic Image Stabilization (EIS) unit here.

[0003] In the related art, when using an imaging device in situations such as cycling, image correction may not be correctly performed. Compared with the correction conditions during normal use such as standing or walking, when using an imaging device in situations such as cycling, the correction range increases, and the image jitter increases high-frequency components. However, due to the increase in the correction range, incorrect correction may occur for high-frequency components, thereby reducing the image quality, such as the point light source in the image flowing or doubling, etc. Summary of the Invention

[0004] The present application provides an anti-vibration device, a camera device, an electronic device, a control method, and a storage medium, which can follow the correction of high-frequency components in the case of multiple cameras, thereby improving the image quality.

[0005] The technical solution of the present application is implemented as follows:

[0006] In a first aspect, an embodiment of the present application provides an anti-vibration device, which includes:

[0007] A change unit configured to analyze the output waveform of a gyroscope to determine an optimized frequency;

[0008] A filtering unit configured to filter and compensate the output waveform of the gyroscope to obtain an initial waveform that meets the optimized frequency;

[0009] A control processing unit configured to perform compensation and correction processing on the initial waveform to obtain a corrected target waveform; wherein, the change unit is further configured to adjust the frequency characteristics of at least one of the multiple cameras according to the optimized frequency, and there is a corresponding relationship between the control processing unit and the camera.

[0010] In a second aspect, an embodiment of the present application provides a camera device, which includes a gyroscope sensor, multiple cameras with anti-vibration functions, and the anti-vibration device as described in the first aspect.

[0011] In a third aspect, an embodiment of the present application provides an electronic device, which includes the imaging device as described in the second aspect.

[0012] In a fourth aspect, an embodiment of the present application provides a control method for multiple cameras, the method including: determining an optimized frequency based on the output waveform of a gyroscope; performing filtering and compensation processing on the output waveform of the gyroscope to obtain an initial waveform that meets the optimized frequency; and performing compensation and correction processing on the initial waveform to obtain a corrected target waveform.

[0013] In a fifth aspect, an embodiment of the present application provides a computer-readable storage medium, which stores a computer program that, when executed by an electronic device, implements the control method as described in the fourth aspect.

[0014] In a sixth aspect, an embodiment of the present application provides a computer program product, including a computer program or instruction that, when executed by an electronic device, implements the control method as described in the fourth aspect.

[0015] For an anti-vibration device, an imaging device, an electronic device, a control method, and a storage medium provided in an embodiment of the present application, after determining the optimized frequency by analyzing the output waveform of the gyroscope, the frequency characteristics of these cameras can be changed and compensated in the case of multiple cameras, so that image correction can be performed following high-frequency components, improving the accuracy of image correction and thus enhancing the image quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic structural diagram of an imaging device provided in an embodiment of the present application;

[0017] Figure 2 It is a schematic structural diagram of an anti-vibration device provided in an embodiment of the present application;

[0018] Figure 3 It is a schematic structural diagram of another anti-vibration device provided in an embodiment of the present application;

[0019] Figure 4 It is a schematic specific structure diagram of an anti-vibration device provided in an embodiment of the present application;

[0020] Figure 5 It is a schematic structural diagram of a change unit provided in an embodiment of the present application;

[0021] Figure 6 It is a schematic diagram of parameter description of an anti-vibration device provided in an embodiment of the present application;

[0022] Figure 7 It is a schematic diagram of the characteristic curve of a feedback control component provided in an embodiment of the present application;

[0023] Figure 8 Schematic diagram of the characteristic curve of a feedback control component including a lead-lag filter and gain provided by an embodiment of the present application;

[0024] Figure 9 Schematic diagram of the output waveform of a gyroscope and the waveform after frequency separation provided by an embodiment of the present application;

[0025] Figure 10 Schematic diagram of the characteristic curve from an integrator to an OIS unit provided by an embodiment of the present application;

[0026] Figure 11 Another schematic diagram of the characteristic curve from an integrator to an OIS unit provided by an embodiment of the present application;

[0027] Figure 12 Another schematic diagram of the composition structure of a camera device provided by an embodiment of the present application;

[0028] Figure 13 Schematic diagram of the flow of a control method provided by an embodiment of the present application;

[0029] Figure 14 Another schematic diagram of the flow of a control method provided by an embodiment of the present application. Detailed implementation manners

[0030] In order to understand the features and technical content of the embodiments of the present application in more detail, the implementation of the embodiments of the present application will be described in detail below with reference to the accompanying drawings. The attached drawings are only for reference and illustration purposes and are not used to limit the embodiments of the present application.

[0031] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which this application belongs. The terms used herein are only for the purpose of describing the embodiments of this application and are not intended to limit this application.

[0032] In the following description, reference is made to "some embodiments", which describe a subset of all possible embodiments. However, it can be understood that "some embodiments" can be the same subset or different subsets of all possible embodiments and can be combined with each other without conflict.

[0033] It should also be noted that the terms "first / second / third" related to the embodiments of the present application are only used to distinguish similar objects and do not represent a specific order for the objects. It can be understood that "first / second / third" can be interchanged with a specific order or sequence when allowed, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein.

[0034] Currently, as an image stabilization method in imaging devices such as cameras and digital cameras, there are an Optical Image Stabilization (OIS) unit and an Electronic Image Stabilization (EIS) unit. Among them, the OIS unit detects the amount of hand shake during image capture by a vibration sensor (such as a gyro sensor), and adjusts the positions of a correction lens, an imaging element, etc., so as to reduce image shake based on the detected amount of hand shake. The EIS unit is a method of storing the captured image in a buffer memory and comparing the images captured at multiple time points, thereby calculating the amount of shift caused by hand shake and performing correction. Since correction is performed by deviating from the captured area, the effective pixel area becomes smaller than the maximum pixel area of the imaging element.

[0035] It should be noted that the OIS unit can correct image shake caused by hand shake through the camera optics. Since the image shake may exceed the correction limit of the OIS unit, techniques for increasing the correction range have been proposed, such as a mechanical mechanism for expanding the correction range of the OIS unit, EIS for expanding the correction range, or a control technique for resetting the correction range for each frame, etc.

[0036] It should also be noted that in existing imaging devices, even when the photographer is shooting while standing or walking, the image shake can be correctly corrected. Because the correction amount for correcting the image shake is small, and the cause of the image shake is mainly the low frequency due to camera shake. At this time, the image shake can be followed for correction, so even if there are high-frequency correction errors, they are not obvious.

[0037] On the other hand, when the photographer is shooting while riding a bicycle, the image shake may not be correctly corrected. This is because the correction amount is large, and the high-frequency components (such as 20 Hz) become more due to vibrations transmitted from the vehicle body, which is the cause of the image shake. Exemplarily, when the correction amount is doubled, the tracking error for high frequencies will also double, resulting in a decrease in image quality, such as the appearance of flow or doubling of the point light source in the image.

[0038] Simply put, when using an imaging device in situations such as riding a bicycle, image correction may not be correctly performed. Compared with the correction conditions during normal use such as standing or walking, when using an imaging device in situations such as riding a bicycle, the correction range increases, and the image shake increases high-frequency components. Therefore, even though the existing imaging device can follow the correction range, due to the problem of different correction ranges, that is, the problem of the frequency characteristic of not being able to follow high-frequency vibrations, image correction may not be correctly performed, resulting in problems such as a decrease in image quality such as the flow or doubling of the point light source in the image.

[0039] In addition, in recent years, smartphones have also been highly functionalized as imaging devices. The back of a smartphone has four cameras, and three of the cameras except the ultra-wide-angle camera have OIS units. There have even emerged selfie cameras with OIS units, and there are also cases where multiple cameras are used simultaneously for focusing, depth information acquisition, image synthesis, etc. Exemplarily, since it is possible to use a wide-angle camera in the background while using an x3 camera, the cooperation of multiple cameras has become common. Therefore, how to correctly correct multiple cameras is also one of the problems that need to be solved urgently at present.

[0040] Based on this, the embodiments of the present application provide an anti-vibration device, a camera device, an electronic device, a control method, and a storage medium. After determining the optimized frequency by analyzing the gyroscope output waveform, in the case of multiple cameras, the frequency characteristics of these cameras can be changed and compensated, so that image correction can follow high-frequency components, improving the accuracy of image correction and thus enhancing the image quality.

[0041] The following will describe each embodiment of the present application in detail with reference to the accompanying drawings.

[0042] In one embodiment of the present application, Figure 1 is a schematic structural diagram of a camera device provided by an embodiment of the present application. As Figure 1 shown, the camera device 1 can be an imaging device such as a smartphone, a personal digital assistant (PDA), or a handheld computer.

[0043] It should be noted that the anti-vibration device according to this embodiment can change the anti-vibration frequency characteristics of the OIS unit provided by the camera. Hereinafter, the structures of the camera device and the anti-vibration device in the embodiments of the present application will be described in detail by taking a smartphone as an example of the camera device.

[0044] That is to say, Figure 1 the camera device 1 shown can be a smartphone. In addition, Figure 1 shows the hardware structure of a smartphone including a first camera 10 and a second camera 20, but the number of cameras is not limited to two.

[0045] Exemplarily, a smartphone may include a wide-angle camera, a telephoto camera with a magnification of 3 times (x3), a telephoto camera with a magnification of 6 times (x6), a selfie camera, etc. Usually, a smartphone has a total of four cameras, and each camera has a corresponding OIS unit. The camera device of the embodiments of the present application can be applied to four cameras or a number of cameras other than four.

[0046] AsFigure 1 As shown in Figure 1 , the imaging device 1 may include a first camera 10, a second camera 20, a processing unit 30, a gyro sensor 40, a first OIS unit 51, a second OIS unit 52, etc. Among them, the processing unit 30 includes an Image Signal Processor (ISP) 31 and a processor 32.

[0047] The first OIS unit 51 is an OIS unit corresponding to the first camera 10, and the second OIS unit 52 is an OIS unit corresponding to the second camera 20.

[0048] In addition, the imaging device 1 may further include a positioning unit (GNSS Module) 61, a wireless communication unit (Wireless Communication Module) 62, a speaker 63, a microphone 64, a codec unit 65, a display unit (Display Module) 66, an input unit 67, an Inertial Measurement Unit (IMU) 68, and a memory 69. Here, the speaker 63 and the microphone 64 are connected to the codec unit 65.

[0049] The positioning unit 61 is connected to an antenna 61-1 for obtaining positioning information. The wireless communication unit 62 is connected to an antenna 61-2 for communicating with an external device.

[0050] The image signal processor 31, the processor 32, the positioning unit 61, the wireless communication unit 62, the codec unit 65, the display unit 66, the input unit 67, the inertial measurement unit 68, and the memory 69 are communicably connected to each other via a bus 70.

[0051] In some embodiments, the first camera 10 may include an optical system 11, an image sensor 12, an Image Sensor Driver 13, a Focus Driver 14, a Focus Actuator 15, and an OIS unit 51.

[0052] Exemplarily, the optical system 11 includes a lens 111 and a focusing lens 112. For ease of illustration, the lens structure shown in the optical system 11 here is not used to limit the lens structure of the optical system 11.

[0053] The focus driver 14 drives the focus actuator 15 during focusing, and can move the focusing lens 112 along the optical axis 100 direction.

[0054] Exemplarily, the OIS unit 51 moves the position of the optical axis 100 in the X-Y plane perpendicular to the optical axis 100 intersection, and can optically correct the image shake related to the vibration generated by the imaging device 1. Here, the OIS unit 51 may be a structure that moves the lens 111 and the focusing lens 112, or a structure that moves only one of them. Additionally, it may also be a structure that moves the image sensor 12 relative to the lens 111 and the focusing lens 112 in the X-Y plane.

[0055] It should be noted that the device for shifting the lens 111, the focusing lens 112, the image sensor 12, etc. can be implemented by a voice coil motor (VCM), or can be implemented by other driving devices, and no limitations are made here.

[0056] It should also be noted that the image sensor 12 can be an image sensor such as a charge-coupled device (CCD) or a complementary metal oxide semiconductor (CMOS). Among them, the image sensor 12 is driven by the image sensor driver 13. The image sensor 12 receives the light incident on the pixel array surface 121 via the optical system 11 through each pixel of the pixel array surface 121, photoelectrically converts each image into a pixel signal at a specified exposure time interval, and outputs the pixel signal imaged on the pixel array surface 121 to the image signal processor 31.

[0057] The basic structure of the second camera 20 is the same as that of the first camera 10. Among them, corresponding to the optical system 11, the image sensor 12, the image sensor driver 13, the focusing driver 14, the focusing actuator 15, and the OIS unit 51 in the first camera 10, the second camera 20 may include: an optical system 21, an image sensor 22 having a pixel array surface 221, an image sensor driver 23, a focusing driver 24, a focusing actuator 25, and an OIS unit 52. In addition, the second camera 20 may also include a lens 211 and a focusing lens 212 corresponding to the lens 111 and the focusing lens 112 of the first camera 10.

[0058] It should be noted that the structure of the optical system, the specifications of the image sensor 12, etc. in the second camera 20 may also be different from those of the first camera 10.

[0059] Exemplarily, the OIS unit 52 moves the position of the optical axis 200 in the X-Y plane intersecting perpendicularly to the optical axis 200, and can optically correct the image blur related to the vibration generated by the imaging device 1. Here, the OIS unit 52 may be a structure that moves the lens 211 and the focusing lens 212, or a structure that moves only one of them. Additionally, it may also be a structure that moves the image sensor 22 relative to the lens 211 and the focusing lens 212 in the X-Y plane.

[0060] It should also be noted that since the structure of the second camera 20 is the same as that of the first camera 10, the structure of the second camera 20 will not be described in detail here.

[0061] As Figure 1 shown, the gyro sensor 40 outputs a gyro waveform signal to the image signal processor 31. The image signal processor 31 can output control signals to the image sensor 12, the focusing driver 14, and the OIS unit 51 of the first camera 10, and acquire the pixel signals of the image from the image sensor 12. The image signal processor 31 can output control signals to the image sensor 22, the focusing driver 24, and the OIS unit 52 of the second camera 20, and acquire the pixel signals of the image from the image sensor 22.

[0062] It should be noted that the processing unit 30 includes an image signal processor 31 and a processor 32. The image signal processor 31 mainly performs processing in hardware, while the processor 32 performs processing in software.

[0063] Exemplarily, the image signal processor 31 processes the pixel signals of the image output from the first camera 10 or the second camera 20 to generate a frame image. The processor 32 acquires data from the image signal processor 31 to perform a predetermined process.

[0064] In some embodiments, the display unit 66 may be a Micro Light Emitting Diode Display (MicroLED), a Liquid Crystal Display (LCD), an Organic Light-Emitting Diode (OLED), etc. The display unit 66 is used to display the generated image and the like.

[0065] In some embodiments, the input unit 60 may be a physical button or a touch panel. The input unit 60 is used to receive user inputs such as operation commands and set values.

[0066] In some embodiments, the memory 50 may be a memory such as a Read-Only Memory (ROM) or a Random Access Memory (RAM). The memory 50 is used to store programs and various data executed by the processor 32.

[0067] It should also be noted that, in Figure 1 the case where the first camera 10 and the second camera 20 shown are both disposed on the back of the smart phone, the orientation of the optical axis 100 of the first camera 10 is the same as the orientation of the optical axis 200 of the second camera 20. Therefore, the first camera 10 and the second camera 20 can be associated with each other so that the field of view angles of the first camera 10 and the second camera 20 correspond to each other.

[0068] That is to say, for the cooperation of multiple cameras, multiple cameras, such as a wide-angle camera, can be used in the background while using the x3 camera. For the cooperation of multiple cameras, one camera can also be used to obtain a focusing operation, another camera can be used to obtain depth information, or image synthesis can also be performed on images captured by multiple cameras simultaneously, etc., which are not limited here.

[0069] In another embodiment of the present application, Figure 2 is a schematic structural diagram of a vibration-proof device provided by an embodiment of the present application. As Figure 2 shown, the vibration-proof device 300 may include a change unit 310, a filtering unit 320, and a control processing unit 310. Among them:

[0070] The change unit 310 is configured to analyze the output waveform of the gyroscope to determine the optimized frequency;

[0071] The filtering unit 320 is configured to perform filtering and compensation processing on the output waveform of the gyroscope to obtain an initial waveform that meets the optimized frequency;

[0072] The control processing unit 310 is configured to perform compensation and correction processing on the initial waveform to obtain a corrected target waveform; among them, the change unit 310 is further configured to adjust the frequency characteristics of at least one of the multiple cameras according to the optimized frequency, and there is a corresponding relationship between the control processing unit and the camera.

[0073] It should be noted that the multiple cameras have anti-vibration characteristics. Taking n cameras as an example, as Figure 2 shown, this may include n groups of control processing units, such as control processing unit 330-1, control processing unit 330-2,..., control processing unit 330-n. These n groups of control processing units respectively correspond to n cameras.

[0074] In some embodiments, the control processing unit 310 may include a compensation filtering component and a feedback control component. Among them, the compensation filtering component is configured to compensate the control characteristics of at least one camera among multiple cameras and generate a target waveform according to an initial waveform; the feedback control component is configured to receive the target waveform output by the compensation filtering component and perform correction processing on the target waveform to obtain a corrected target waveform.

[0075] It should also be noted that still taking n cameras as an example, as Figure 2 shown, the filtering and compensation component may also include n groups, such as the filtering and compensation component in the control processing unit 330-1, the filtering and compensation component in the control processing unit 330-2,..., the filtering and compensation component in the control processing unit 330-n, etc. That is to say, each camera corresponds to a set of compensation filtering components for compensating control characteristics, and the filtering and compensation component can be used to compensate the control characteristics of the corresponding camera.

[0076] In some embodiments, the change unit 310 is further configured to adjust the parameters of the compensation filtering component for compensating control characteristics according to an optimized frequency.

[0077] In some embodiments, the change unit 310 is further configured to simultaneously adjust the parameters of the compensation filtering components corresponding to multiple cameras according to an optimized frequency.

[0078] It should be noted that in the embodiments of the present application, for the feedback control component, the corresponding feedback control characteristics of different cameras are slightly different, so the parameter values of the compensation filtering components used for adjusting the frequency characteristics of each of these multiple cameras are also different. Thus, according to the optimized frequency, the compensation filtering components corresponding to multiple cameras can be switched to the corresponding parameters, that is, the compensation filtering components corresponding to multiple cameras can be switched to the frequency characteristics compensated by this optimized frequency.

[0079] That is to say, in the embodiments of the present application, according to actual needs, it is possible to only adjust the parameters of the compensation filtering component corresponding to one of the cameras, or it is also possible to simultaneously adjust the parameters of the compensation filtering components corresponding to multiple cameras. Exemplarily, in the case of using a certain camera for shooting, the parameters of the compensation filtering component corresponding to the camera can be adjusted to the corresponding values. In the case of using multiple cameras for shooting, the parameters of the compensation filtering components corresponding to these multiple cameras can be respectively adjusted to the corresponding values.

[0080] Furthermore, in the embodiments of the present application, based on the Figure 2 shown anti-vibration device 300, referring to Figure 3 , the filtering unit 320 includes a compensation filtering component configured to compensate the output waveform of the gyroscope.

[0081] It should be noted that in the embodiments of the present application, the gyroscope output waveform can be obtained after the output waveform signal of the gyroscope sensor 40 passes through the integrator 301. The integrator 301 can be represented by 1 / s.

[0082] It should also be noted that in the embodiments of the present application, the output waveform signal of the gyroscope sensor 40 can be composed of three-axis components (yaw, pitch, roll). Among them, in the case of the X-axis direction, the integrator 301 is an integrator for converting the yaw-axis component waveform signal of the gyroscope sensor 40 into a displacement angle. At this time, the output waveform of the integrator 301 is the gyroscope output waveform in the X-axis direction. In addition, in the case of the Y-axis direction, the pitch-axis component waveform signal of the gyroscope sensor 40 is integrated to obtain the gyroscope output waveform in the Y-axis direction. It should be noted that the embodiments of the present application mainly perform corrections in the X-axis direction. The corrections in the Y-axis and Z-axis directions are similar to those in the X-axis direction and will not be repeated here.

[0083] In some embodiments, the change unit 310 is further configured to adjust the parameters of the compensation filtering component for compensating the gyroscope output waveform according to the optimization frequency.

[0084] It should be noted that in the embodiments of the present application, the compensation filtering component can be composed of a lead-lag filter (LLF) and a gain. In the filtering unit 320, the gyroscope output waveform can be compensated by the lead-lag filter and the gain.

[0085] In some embodiments, based on Figure 2 the anti-vibration device 300 shown, referring to Figure 3 , the filtering unit 320 may further include a band-pass filter (BPF), which is configured to perform band-pass filtering on the gyroscope output waveform to obtain an initial waveform that meets the optimization frequency.

[0086] That is to say, in the embodiments of the present application, for the filtering unit 320, after receiving the gyroscope output waveform, the band-pass filter and the compensation filtering component can accurately output an initial waveform that meets the optimization frequency. Among them, the compensation filtering component here is used to compensate the gyroscope output waveform.

[0087] In a specific embodiment, taking four cameras as an example, Figure 4 is a schematic structural diagram of an anti-vibration device provided by an embodiment of the present application. In addition, in Figure 4Only the correction structure in the X-axis direction is shown, and the correction structures in the Y-axis and Z-axis directions are omitted. Considering that the descriptions related to the correction in the Y-axis and Z-axis directions are repetitive with the description of the X-axis direction, they will not be elaborated here.

[0088] For the anti-vibration device 300, in Figure 1 the structure of the imaging device 1 shown, it corresponds to the processing unit 30. Among them, Figure 4 each component shown can be implemented by hardware, software, or a combination of software and hardware. In the case of software implementation, the processor 32 realizes corresponding functions by executing a computer program stored in the memory 69, and performs EIS correction or OIS correction of image jitter while communicating with the image signal processor 31. Among them, EIS represents electronic correction of image blur, and OIS represents optical correction of image blur.

[0089] It should be noted that the computer program can be provided by being embedded in a memory or the like, provided by a portable storage medium, or obtained by downloading through the imaging device 1 communicating with a predetermined server via the Internet.

[0090] As Figure 4 shown, the anti-vibration device 300 may include an integrator 301, a band-pass filter 302, a first lead-lag filter (LL1) 303, a first gain (Gain1) 304, a high-pass filter 305, a subtractor 306, and a change unit 310.

[0091] The integrator 301 is an integrator for converting the yaw-axis component waveform signal of the gyro sensor 40 into a displacement angle. The output waveform of the integrator 301 is the gyro output waveform in the X-axis direction. In addition, in the case of Y-axis direction correction, the pitch-axis component waveform signal of the gyro sensor 40 is integrated to obtain the gyro output waveform in the Y-axis direction.

[0092] The band-pass filter 302, the first lead-lag filter 303, and the first gain 304 are designed to accurately output the initial waveform corresponding to the optimized frequency. Among them, the first lead-lag filter 303 and the first gain 304 are compensation filter components for compensating the output of the gyro sensor 40.

[0093] In some embodiments, the anti-vibration device 300 may further include a separation unit configured to separate the high-frequency signal and the low-frequency signal of the initial waveform.

[0094] In the embodiments of the present application, the separation unit may be the high-pass filter 305.

[0095] That is to say, the high-pass filter 305 can be an EIS / OIS separation filter for separating frequency bands according to the shooting mode. Exemplarily, when in the shooting mode of shooting while riding a bicycle, the high-pass filter 305 can pass high-frequency signals; when in the shooting mode of shooting while stationary such as squatting or standing, the high-pass filter 305 can pass without any separation. That is, the high-pass filter 305 is equivalent to a separation unit.

[0096] In some embodiments, the control processing unit 330 is further configured to perform image optical correction on the high-frequency signals separated by the separation unit.

[0097] In some embodiments, the control processing unit 330 is further configured to perform image electronic correction on the low-frequency signals separated by the separation unit.

[0098] That is to say, in the embodiments of the present application, for the high-frequency signals passing through the high-pass filter 305, optical correction is performed using the OIS unit. For the low-frequency signals obtained by subtracting the output of the high-pass filter 305 from the output of the first gain 304 by the subtractor 306, electronic correction is performed using the EIS unit.

[0099] In some embodiments, the change unit 310 is further configured to adjust the parameters of the compensation filter component for compensating the control characteristics to the parameter values corresponding to the high-frequency signals.

[0100] It should be noted that in the embodiments of the present application, the subtractor 306 can subtract the output from the high-pass filter 305 from the output from the first gain 304. The output subtracted by the subtractor 306 is output to the output terminal 1 of the EIS unit 307, and the EIS unit 307 corrects the image shake.

[0101] In this way, in shooting modes with more high frequencies such as shooting while riding a bicycle, the high-frequency signals are passed, and the OIS unit is used to correct the high-frequency signals, and the EIS unit is used to correct the low-frequency signals.

[0102] In the case of shooting while stationary, etc., correction can be performed only through the OIS unit. Therefore, in some embodiments, the control processing unit 330 is further configured to perform image optical correction on both the high-frequency signals and the low-frequency signals when the high-frequency signals separated by the separation unit are lower than a second threshold.

[0103] In the embodiments of the present application, the second threshold is a preset determination criterion for determining whether the high-frequency components are less. That is to say, when the high-frequency components of the gyroscope output waveform are less, the control processing unit that can still perform optical correction on the image shake operates with the frequency characteristics corresponding to the low-frequency signals.

[0104] In addition, in the embodiments of the present application, the passing of the high-pass filter 305 can be switched according to the user's mode switching, or can also be switched by the change unit 310 described later.

[0105] It can be understood that the output (target waveform) from the high-pass filter 305 is input to the control processing unit corresponding to each camera. Each control processing unit is provided in the OIS unit of the corresponding camera. Taking the Figure 4 structure shown as an example, assuming that there are four cameras here. For example, output terminal 2 corresponds to the wide-angle camera, output terminal 3 corresponds to the x3 camera, output terminal 4 corresponds to the x6 camera, and output terminal 5 corresponds to the selfie camera. Although only the first camera and the second camera are shown in the Figure 1 structure, such four cameras can also be processed. In addition, the OIS correction is not limited to four cameras and can also be applied to other numbers of cameras.

[0106] It can also be understood that the change unit 310 analyzes the frequency characteristics of the output waveform of the gyro sensor 40 according to the displacement angle output from the integrator 301, and changes the parameter values of the lead-lag filter and the gain respectively to conform to the frequency characteristics. Exemplarily, the parameter values of the lead-lag filter (LL) and the gain (Gain) provided in the front stage of each control processing unit are changed. The lead-lag filters (LL2, LL3, LL4, LL5) and the gains (Gain2, Gain3, Gain4, Gain5) provided in the front stage of each control processing unit are equivalent to compensation filter components for compensating the control characteristics of each camera. This compensation filter component functions as a filter unit for frequency characteristic adjustment. The lead-lag filters (LL2, LL3, LL4, LL5) can be phase compensation filters.

[0107] In a possible implementation, the control processing unit of output terminal 2 has a second lead-lag filter (LL2) 321 and a second gain (Gain2) 322 that serve as compensation filter components for compensating the control characteristics of the previous stage, and has a feedback control component for feedback-controlling the OIS unit of the subsequent stage's output terminal 2. The feedback control component includes a subtractor 323 formed as a closed loop, a PID control unit (PID(s) 324, and an OIS unit (Wide Camera OIS) 325. The subtractor 323 subtracts the output value of the OIS unit from the target waveform output by the compensation filter component for compensating the control characteristics, and outputs the subtracted difference to the PID control unit 324. The PID control unit 324 performs PID control on the OIS unit 325 so that the above difference becomes 0. Among them, the OIS unit 325 reads the actual output value of the OIS unit and feeds back the read output value to the subtractor 323. Through this feedback control, the OIS unit of the wide-angle camera is controlled at the position of the target waveform in the X-axis direction.

[0108] In the embodiment of the present application, the PID algorithm is a classic closed-loop control algorithm, and PID are the initials of Proportion, Integral, and Differential respectively. It is a closed-loop control algorithm that combines the three links of proportion, integral, and differential. Among them, the deviation between the input target value and the actual output value is calculated, and then the calculation result is input into the PID control algorithm, and through the comprehensive operation of the three links of proportion, integral, and differential, the deviation value is minimized as much as possible.

[0109] In addition, for output terminal 3, output terminal 4, and output terminal 5, the structures of their control processing units are the same as that of output terminal 2.

[0110] In another possible implementation, the control processing unit of output terminal 3 includes a third lead-lag filter (LL3) 331 and a third gain (Gain3) 332, which are compensation filter components for compensating the control characteristics of the previous stage. In addition, the feedback control component of the subsequent stage's output terminal 3 includes a subtractor 333 formed as a closed loop, a PID control unit (PID(s) 334, and an OIS unit (x3 Tele Camera OIS) 335. According to these structures, the control processing unit of output terminal 3 can control the OIS unit of the x3 camera at the position of the target waveform in the X-axis direction.

[0111] In yet another possible implementation, the control processing unit of output terminal 4 includes a fourth lead-lag filter (LL4) 341 and a fourth gain (Gain4) 342, which are compensation filter components for compensating the control characteristics of the previous stage. Additionally, the feedback control component of the subsequent output terminal 4 includes a subtractor 343 formed into a closed loop, a PID control unit (PID(s) 344, and an OIS unit (x6 Tele Camera OIS1) 345. According to these structures, the control processing unit of output terminal 4 can control the OIS unit of the x6 camera at the position of the target waveform in the X-axis direction.

[0112] In yet another possible implementation, the control processing unit of output terminal 5 includes a fifth lead-lag filter (LL5) 351 and a fifth gain (Gain5) 352 in its previous stage, which are compensation filter components for compensating the control characteristics of the previous stage. Additionally, the feedback control component of the subsequent output terminal 5 includes a subtractor 353 formed into a closed loop, a PID control unit (PID(s) 354, and an OIS unit (Selfie Camera OIS2) 355. According to these structures, the control processing unit of output terminal 5 controls the OIS unit of the selfie camera at the position of the target waveform in the X-axis direction.

[0113] In some embodiments, referring to Figure 5 , the change unit 310 may include a first frequency filtering component 311, a second frequency filtering component 312, and a comparison component 313, where:

[0114] The first frequency filtering component 311 is configured to perform band-pass filtering on the gyroscope output waveform and output a first frequency waveform;

[0115] The second frequency filtering component 312 is configured to perform band-pass filtering on the gyroscope output waveform and output a second frequency waveform;

[0116] The comparison component 313 is configured to determine an optimized frequency based on the determination results of the first frequency waveform and the second frequency waveform.

[0117] It should be noted that in the embodiments of the present application, Figure 5 As an illustrative example of the functional modules of the change unit 310, the first frequency filtering component 311 and the second frequency filtering component 312 have a band-pass filtering function.

[0118] The first frequency filtering component 311 can also be referred to as the first frequency filter, which is a band-pass filter for the waveform of 1 - 15 Hz in the gyroscope output waveform output from the integrator 301.

[0119] The second frequency filtering component 312, which can also be referred to as the second frequency filter, is a band-pass filter for waveforms in the range of 15 to 30 Hz in the gyroscope output waveform output from the integrator 301.

[0120] In some embodiments, the determination result may indicate a ratio between the amplitude of the first frequency waveform and the amplitude of the second frequency waveform.

[0121] That is to say, in the embodiments of the present application, the comparison component 313 analyzes the frequency characteristics of the gyroscope output waveform based on the amplitude of the waveform in the range of 1 to 15 Hz output from the first frequency filtering component 311 and the amplitude of the waveform in the range of 15 to 30 Hz output from the second frequency filtering component 312 to determine the optimized frequency. Exemplarily, the comparison component 313 may determine the optimized frequency according to the ratio of each amplitude. Then, the comparison component 313 changes the parameter values of the lead-lag filter and the gain in the front stage of each control processing unit according to the optimized frequency. If multiple cameras are used simultaneously, the parameter values of the lead-lag filter (LL) and the gain for each camera to be used can be changed. In the case of using one camera, only the parameters of that camera are changed.

[0122] Exemplarily, the shooting modes here may include the handheld mode and the vehicle mode (transportation mode). Among them, the optimized frequency corresponding to the handheld mode is 1 to 15 Hz; the optimized frequency corresponding to the vehicle mode is 15 to 30 Hz. Table 1 shows the mapping relationship between frequency and parameters under different cameras. As shown in Table 1, a corresponding table between frequency and parameters is schematically provided. This corresponding table can be stored in the memory to facilitate reference by the comparison component 313.

[0123] Table 1

[0124]

[0125] In Table 1, the parameter values are set separately for the handheld mode (1 to 15 Hz) and the vehicle mode (15 to 30 Hz). Since the parameter values have individual deviations according to the OIS units of each camera, the parameter values can be set according to the type of each camera.

[0126] Exemplarily, the types of cameras may be wide-angle cameras, 3x cameras, 6x cameras, and self-timer cameras. In addition, in the corresponding table shown in Table 1, an ultra-wide-angle camera is also shown here, but parameter values are not set for the ultra-wide-angle camera in this embodiment.

[0127] It should also be noted that the values of parameters a and T of the lead-lag filter (LL) and the value of the gain parameter are obtained as follows based on the transfer function G(s) = (1 + saT) / (1 + sT) of the phase lead compensation element and a > 1.

[0128] Among them, Figure 6 is a schematic diagram for explaining the parameters of the anti-vibration device provided by the embodiment of the present application. As Figure 6 shown, a schematic diagram depicting the transfer function G(s) is provided here. At Figure 6 in, the maximum phase lead (phase advance) occurs, and its width The gain value corresponds to the gain value at .

[0129] In some embodiments, the comparison component 313 is specifically configured to determine the optimized frequency as the frequency parameter corresponding to the first frequency waveform when the ratio is greater than the first threshold; and determine the optimized frequency as the frequency parameter corresponding to the second frequency waveform when the ratio is less than the first threshold.

[0130] In the embodiment of the present application, the first threshold is a preset determination criterion for determining the optimized frequency. Among them, for the case where the ratio is equal to the first threshold, at this time, the optimized frequency can be the frequency parameter corresponding to the first frequency waveform, or it can also be the frequency parameter corresponding to the second frequency waveform.

[0131] In addition, in the embodiment of the present application, the optimized frequency here can be a frequency value (such as 20 Hz), or it can be a frequency band (such as 15 - 30 Hz).

[0132] Exemplarily, the comparison component 313 first analyzes the frequency characteristics of the output waveform of the gyroscope, then calculates the amplitude a of the waveform from 1 to 15 Hz output from the first frequency filtering component 311, and in addition, calculates the amplitude b of the waveform from 15 to 30 Hz output from the second frequency filter 312. Immediately afterwards, the comparison component 313 determines the optimized frequency according to the amplitude a and the amplitude b. The comparison component 313 determines the main frequency included in the output waveform of the gyroscope according to the ratio b / a of the amplitude a and the amplitude b, and determines the required optimized frequency. Exemplarily, the comparison component 313 determines the optimized frequency as 15 - 30 Hz when the ratio b / a is above the first threshold, and determines the optimized frequency as 1 - 15 Hz when the ratio b / a is less than the first threshold.

[0133] Furthermore, the comparison component 313 can change the parameter values of the lead-lag filter (LL) and the gain in front of the control processing unit to the values corresponding to the optimized frequency. That is to say, after determining the optimized frequency, the frequency characteristics in the control processing unit can be changed.

[0134] Through the above processing, for example, in the case of shooting using the wide-angle camera 51 (refer to Figure 4 ), when setting the hand-held mode (1 - 15 Hz) and the vehicle mode (15 - 30 Hz) of the wide-angle camera shown in Table 1, the parameter values of the second lead-lag filter (LL2) 321 and the second gain 322 are changed. After the change, the corrected target waveform is input to the feedback control component with the optimal setting corresponding to the main frequency at that time.

[0135] On the other hand, in the case where the photographer is shooting while cycling, if the high-frequency components (e.g., 20 Hz) increase, the main frequency is 15 - 30 Hz. So at this time, the parameter values of the vehicle mode (15 - 30 Hz) are changed. Through this change, even when the photographer is shooting while cycling, it is possible to follow the high frequency and correct it, thereby suppressing the degradation of image quality caused by, for example, the flow or doubling of the point light source in the image.

[0136] In a specific implementation manner, Figure 7 FIG. is a schematic diagram of the characteristic curve of a feedback control component provided by an embodiment of the present application. Figure 8 FIG. is a schematic diagram of the characteristic curve of a feedback control component provided by an embodiment of the present application, which includes a lead-lag filter (LL) and a gain in the front stage of the anti-vibration device.

[0137] As Figure 8 shown, here are respectively shown examples of characteristic curves such as the uncompensated characteristic, the characteristic after compensation in the range of 1 - 15 Hz, and the characteristic after compensation in the range of 15 - 30 Hz. Among them, in Figure 8 , the "uncompensated characteristic" corresponds to the characteristic curve of the feedback control. The "characteristic after compensation in the range of 1 - 15 Hz" corresponds to the characteristic curve of the 1 - 15 Hz filtering. The "characteristic after compensation in the range of 15 - 30 Hz" corresponds to the characteristic curve of the 15 - 30 Hz filtering.

[0138] As Figure 8 shown, in the case of no compensation, when the frequency is higher than 15 Hz and less than or equal to 30 Hz, the amplitude decreases and a phase delay occurs. However, in the case of the presence of 1 - 15 Hz compensation, the characteristics of the amplitude and phase in the range of 1 - 15 Hz are compensated to be close to 0 dB and 0 deg respectively. In addition, in the case of the presence of 15 - 30 Hz compensation, the characteristics of the amplitude and phase in the range of 15 - 30 Hz are compensated to be close to 0 dB and 0 deg respectively.

[0139] That is to say, in the embodiments of the present application, if the main vibration is in the range of 1 to 15 Hz, the parameter values corresponding to 1 to 15 Hz are switched to so as to switch to the characteristics after compensation for 1 to 15 Hz and be able to follow the main vibration of 1 to 15 Hz. In addition, if the main vibration is in the range of 15 to 30 Hz, the parameter values corresponding to 15 to 30 Hz are switched to so as to switch to the characteristics after compensation for 15 to 30 Hz, thereby being able to follow the main vibration of 15 to 30 Hz.

[0140] In another specific implementation manner, Figure 9 is a schematic diagram of the output waveform of a gyroscope and the waveform after frequency separation provided by the embodiments of the present application. As Figure 9 shown, the waveform of the control signal represents the output waveform of the gyroscope. In Figure 9 , the waveform on the OIS side is the high-frequency waveform passing through the high-pass filter 305 during bicycle shooting. In Figure 9 , the waveform on the EIS side is the low-frequency waveform obtained by subtracting the high frequency on the OIS side from the output waveform of the gyroscope during bicycle shooting.

[0141] Figure 10 is a schematic diagram of the characteristic curve of a vibration-proof device from the integrator to the OIS unit provided by the embodiments of the present application, Figure 11 is another schematic diagram of the characteristic curve of a vibration-proof device from the integrator to the OIS unit provided by the embodiments of the present application. Among them, Figure 10 and Figure 11 respectively show the characteristic curves from the integrator 301 to the OIS unit in the vibration-proof device. Specifically, Figure 10 As the characteristic curve in the optical correction at 10 Hz, within the ranges of the frames A1 and B1 shown in Figure 10 , it is close to 0 dB and 0 deg respectively. Figure 11 As the characteristic curve in the optical correction at 15 Hz, within the ranges of the frames A2 and B2 shown in Figure 11 , it is also close to 0 dB and 0 deg respectively.

[0142] In the embodiments of the present application, the output of the gyroscope sensor is compensated by using the first lead-lag filter 303 and the first gain 304, and the parameter values of the compensation filter components used for adjusting the frequency characteristics of the compensation control characteristics for each camera are changed. Therefore, even if the frequency characteristics change, the target characteristics will be as Figure 10 and Figure 11 shown.

[0143] In an embodiment of the present application, the change unit 310 may also change the compensation filtering components of the gyroscope sensor (i.e., the first lead-lag filter 303 and the first gain 304). Through this change, the first lead-lag filter 303 and the first gain 304 can be adjusted to accurately output an initial waveform that meets the optimized frequency. In addition, the parameter settings when each of the four cameras is equipped with an OIS unit are described herein. Since there are slight differences in the feedback control characteristics of each OIS unit of the four cameras, the parameter values of the compensation filter components used to adjust the frequency characteristics of each camera are also different. In addition, when multiple cameras are used for photography, the multiple cameras need to be changed to their respective corresponding parameter values.

[0144] An embodiment of the present application provides an anti-vibration device. The change unit is configured to analyze the gyroscope output waveform to determine the optimized frequency. The filtering unit is configured to filter and compensate the gyroscope output waveform to obtain an initial waveform that meets the optimized frequency. The control processing unit is configured to compensate and correct the initial waveform to obtain a corrected target waveform. Among them, the change unit is further configured to adjust the frequency characteristics of at least one of the multiple cameras according to the optimized frequency, and there is a corresponding relationship between the control processing unit and the cameras. In this way, after determining the optimized frequency by analyzing the gyroscope output waveform, in the case of multiple cameras, the frequency characteristics of these cameras can be changed and compensated, so that image correction can follow high-frequency components, improving the accuracy of image correction and thus enhancing the image quality.

[0145] In another embodiment of the present application, Figure 12 is a schematic structural diagram of another composition of the imaging device provided by the embodiment of the present application. As Figure 12 shown, the imaging device 1 may include a gyroscope sensor, multiple cameras with anti-vibration functions, and the anti-vibration device 300 described in any one of the foregoing embodiments. Among them, the multiple cameras may include four cameras, such as camera 1, camera 2, camera 3, and camera 4.

[0146] In some embodiments, the embodiment of the present application also provides an electronic device, which may include the imaging device 1 described in any one of the foregoing embodiments.

[0147] It should be noted that, in the embodiment of the present application, the electronic device may be a device with an imaging function, such as a smart phone, a tablet computer, a notebook computer, a palm computer, a personal digital assistant (Personal Digital Assistant, PDA), a digital camera, etc., and there is no limitation here.

[0148] It should also be noted that in the embodiments of the present application, by adjusting or changing the parameters of the compensation filtering components corresponding to at least one of the multiple cameras, more accurate correction of high-frequency vibrations that could not be corrected in the past can be achieved. Therefore, the imaging device, anti-vibration device, or electronic device in the embodiments of the present application can all be effective in a vehicle (such as cycling) where the high-frequency components are increasing.

[0149] In still another embodiment of the present application, Figure 13 is a schematic flowchart of a control method provided by an embodiment of the present application. As Figure 13 shown, the method may include:

[0150] S1301, analyze the output waveform of the gyroscope.

[0151] S1302, determine the optimized frequency based on the analysis result.

[0152] S1303, adjust the parameters of the compensation filtering components corresponding to at least one of the multiple cameras according to the optimized frequency.

[0153] It should be noted that in the embodiments of the present application, this control method can be used for multiple cameras and is specifically applied to the imaging device described in the foregoing embodiments or an electronic device integrated with the imaging device. Among them, the optimized frequency is first determined based on the output waveform of the gyroscope; then the output waveform of the gyroscope is filtered and compensated to obtain an initial waveform that meets the optimized frequency; and the initial waveform is compensated and corrected to obtain a corrected target waveform.

[0154] It should also be noted that in the embodiments of the present application, the method may further include: adjusting the parameters of the first compensation filtering component according to the optimized frequency, where the first compensation filtering component is used to compensate the control characteristics of at least one of the multiple cameras.

[0155] It should also be noted that in the embodiments of the present application, the method may further include: adjusting the parameters of the second compensation filtering component according to the optimized frequency, where the second compensation filtering component is used to compensate the output waveform of the gyroscope.

[0156] In some embodiments, for the determination of the optimized frequency, refer to Figure 14 , the method may include:

[0157] S1401, determine the first frequency waveform corresponding to the output waveform of the gyroscope and determine the second frequency waveform corresponding to the output waveform of the gyroscope.

[0158] S1402, determine the ratio between the amplitude of the first frequency waveform and the amplitude of the second frequency waveform.

[0159] S1403. When the ratio is greater than the first threshold, determine the optimized frequency as the frequency parameter corresponding to the first frequency waveform.

[0160] S1404. When the ratio is less than the first threshold, determine the optimized frequency as the frequency parameter corresponding to the second frequency waveform.

[0161] It should be noted that in the embodiments of the present application, the output waveform of the gyroscope can be band-pass filtered by the first frequency filtering component to output the first frequency waveform; the output waveform of the gyroscope can be band-pass filtered by the second frequency filtering component to output the second frequency waveform; then, based on the first frequency waveform and the second frequency waveform, the optimized frequency is determined. Specifically, it can be to determine the ratio between the amplitude of the first frequency waveform and the amplitude of the second frequency waveform, and then determine the optimized frequency according to the relationship between the ratio and the first threshold.

[0162] It should also be noted that in the embodiments of the present application, if the ratio is greater than the first threshold, then the optimized frequency is determined as the frequency parameter corresponding to the first frequency waveform, such as 1 - 15 Hz; if the ratio is less than the first threshold, then the optimized frequency is determined as the frequency parameter corresponding to the second frequency waveform, such as 15 - 30 Hz.

[0163] It should further be noted that in the embodiments of the present application, for changing the parameter values of the change compensation filtering component to adjust the frequency characteristics of at least one camera, the specific implementation of this method is similar to the implementation process in the foregoing embodiments and will not be elaborated here.

[0164] In some embodiments, the embodiments of the present application further provide a computer-readable storage medium, which stores a computer program. When the computer program is executed by an electronic device, it implements the control method as described in the foregoing embodiments.

[0165] Among them, the computer-readable storage medium may be a ferromagnetic random access memory (FRAM), read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), flash memory, magnetic surface memory, optical disc, or compact disc read-only memory (CD-ROM), etc.

[0166] In some embodiments, the embodiments of the present application further provide a computer program product, including a computer program or instruction, and when the computer program or instruction is executed by an electronic device, it implements the control method described in the foregoing embodiments.

[0167] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, apparatus, device, or computer program product. Therefore, the present application can adopt the form of a hardware embodiment, a software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk memories and optical memories, etc.) containing computer-usable program codes.

[0168] The present application is described with reference to the flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing devices generate a device for implementing the specified functions in Figure 1 one process or multiple processes and / or blocks Figure 1 one block or multiple blocks.

[0169] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, such that the instructions stored in the computer-readable memory produce a manufacture including an instruction device that implements the functions specified in one or more processes and / or blocks Figure 1 in one or more processes and / or blocks Figure 1 specified in the block or blocks.

[0170] These computer program instructions can also be loaded onto a computer or other programmable data processing device, such that a series of operation steps are executed on the computer or other programmable device to produce a computer-implemented process. Thus, the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in one or more processes and / or blocks Figure 1 in one or more processes and / or blocks Figure 1 specified in the block or blocks.

[0171] It should also be noted that in this application, the terms "comprising", "including" or any other variants thereof are intended to cover non-exclusive inclusion, such that a process, method, article or device comprising a series of elements not only includes those elements but also includes other elements not expressly listed, or elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising an..." does not exclude the presence of additional identical elements in the process, method, article or device comprising such element.

[0172] The serial numbers of the embodiments of the present application above are for description only and do not represent the superiority or inferiority of the embodiments.

[0173] The methods disclosed in several method embodiments provided by the present application can be arbitrarily combined without conflict to obtain new method embodiments.

[0174] The features disclosed in several product embodiments provided by the present application can be arbitrarily combined without conflict to obtain new product embodiments.

[0175] The features disclosed in several method or device embodiments provided by the present application can be arbitrarily combined without conflict to obtain new method embodiments or device embodiments.

[0176] The above is only the specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present application can easily think of changes or substitutions, which should all be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A vibration-proof device, characterized in that, Comprising: A change unit configured to analyze the output waveform of a gyroscope and determine an optimized frequency; A filtering unit configured to perform filtering and compensation processing on the output waveform of the gyroscope to obtain an initial waveform that meets the optimized frequency; A control processing unit configured to perform compensation and correction processing on the initial waveform to obtain a corrected target waveform; wherein, the change unit is further configured to adjust the frequency characteristics of at least one camera among a plurality of cameras according to the optimized frequency, and there is a corresponding relationship between the control processing unit and the cameras.

2. The anti-vibration device according to claim 1, wherein The control processing unit includes a compensation filtering component and a feedback control component, wherein: The compensation filtering component is configured to compensate the control characteristics of at least one camera among the plurality of cameras and generate a target waveform according to the initial waveform; The feedback control component is configured to receive the target waveform output by the compensation filtering component and perform correction processing on the target waveform to obtain the corrected target waveform.

3. The anti-vibration device according to claim 2, wherein The change unit is further configured to adjust the parameters of the compensation filtering component for compensating the control characteristics according to the optimized frequency.

4. The anti-vibration device according to claim 2, characterized in that, Each camera corresponds to a set of compensation filtering components for compensating the control characteristics, wherein: The change unit is further configured to simultaneously adjust the parameters of the compensation filtering components corresponding to the plurality of cameras according to the optimized frequency.

5. The anti-vibration device according to claim 1, characterized in that, The filtering unit includes a compensation filtering component, wherein: The compensation filtering component is configured to compensate the output waveform of the gyroscope.

6. The anti-vibration device according to claim 5, wherein The change unit is further configured to adjust the parameters of the compensation filtering component for compensating the output waveform of the gyroscope according to the optimized frequency.

7. The anti-vibration device according to any one of claims 1 to 6, characterized in that, The change unit includes a first frequency filtering component, a second frequency filtering component, and a comparison component, wherein: The first frequency filtering component is configured to perform band-pass filtering on the output waveform of the gyroscope and output a first frequency waveform; The second frequency filtering component is configured to perform band-pass filtering on the output waveform of the gyroscope and output a second frequency waveform; The comparison component is configured to determine the optimized frequency based on the determination results of the first frequency waveform and the second frequency waveform.

8. The anti-vibration device according to claim 7, wherein The determination result indicates the ratio between the amplitude of the first frequency waveform and the amplitude of the second frequency waveform.

9. The anti-vibration device according to claim 8, wherein The comparison component is configured to, when the ratio is greater than a first threshold, determine the optimized frequency as the frequency parameter corresponding to the first frequency waveform; and when the ratio is less than the first threshold, determine the optimized frequency as the frequency parameter corresponding to the second frequency waveform.

10. The anti-vibration device according to claim 2, characterized in that, The anti-vibration device further includes a separation unit, wherein: The separation unit is configured to separate the high-frequency signal and the low-frequency signal of the initial waveform.

11. The anti-vibration device according to claim 10, characterized in that, The separation unit is a high-pass filter.

12. The anti-vibration device according to claim 10, characterized in that, The control processing unit is further configured to perform image optical correction on the high-frequency signal separated by the separation unit.

13. The anti-vibration device according to claim 12, wherein the change unit is further configured to adjust the parameters of the compensation filter component for compensating the control characteristics to parameter values corresponding to the high-frequency signal.

14. The anti-vibration device according to claim 10, characterized in that, the control processing unit is further configured to perform image electronic correction on the low-frequency signal separated by the separation unit.

15. The anti-vibration device according to claim 14, characterized in that, the control processing unit is further configured to perform image optical correction on both the high-frequency signal and the low-frequency signal when the high-frequency signal separated by the separation unit is lower than a second threshold.

16. An imaging device, characterized in that, including: the anti-vibration device according to any one of claims 1 to 15; a plurality of cameras having an anti-vibration function; a gyroscope sensor.

17. An electronic device, characterized in that, including the imaging device according to claim 16.

18. A control method for multiple cameras, characterized in that, The method includes: determining an optimized frequency based on the gyroscope output waveform; performing filtering and compensation processing on the gyroscope output waveform to obtain an initial waveform that meets the optimized frequency; and performing compensation and correction processing on the initial waveform to obtain a corrected target waveform.

19. The method according to claim 18, characterized in that, The method further includes: adjusting the parameters of the compensation filter component corresponding to at least one of the plurality of cameras according to the optimized frequency.

20. The method according to claim 18, wherein The determining the optimized frequency based on the gyroscope output waveform includes: determining a first frequency waveform corresponding to the gyroscope output waveform; determining a second frequency waveform corresponding to the gyroscope output waveform; determining the optimized frequency based on the first frequency waveform and the second frequency waveform.

21. The method according to claim 20, wherein The determining the optimized frequency based on the first frequency waveform and the second frequency waveform includes: determining the ratio between the amplitude of the first frequency waveform and the amplitude of the second frequency waveform; when the ratio is greater than a first threshold, determining the optimized frequency as the frequency parameter corresponding to the first frequency waveform; when the ratio is less than the first threshold, determining the optimized frequency as the frequency parameter corresponding to the second frequency waveform.

22. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, and when the computer program is executed by an electronic device, it implements the control method according to any one of claims 18 to 21.

23. A computer program product comprising a computer program or instructions, characterized in that, When the computer program or instruction is executed by an electronic device, it implements the control method according to any one of claims 18 to 21.

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