Shake compensation method and device, electronic equipment and optical image stabilization system

Abstract

The present disclosure discloses a method and device for compensating for jitter, an electronic device and an optical anti-jitter system. The method is applied to a controller connected to a detector. The method comprises: obtaining actual jitter data at a current time from the detector, and obtaining predicted jitter data at a next time based on the actual jitter data; performing upsampling on the actual jitter data at the current time and the predicted jitter data at the next time based on a preset control frequency and a preset sampling frequency, to obtain interpolation data; and performing jitter cancellation compensation based on the actual jitter data at the current time, the predicted jitter data at the next time and the interpolation data, to obtain compensation data satisfying the preset control frequency. Accordingly, the present disclosure can improve the accuracy of lens jitter compensation and eliminate the phase delay problem introduced by upsampling processing by predicting the lens jitter data at the next time in advance to perform upsampling processing.

Description

Technical Field

[0001] This disclosure relates to the field of optical imaging technology, and in particular to a shake compensation method, apparatus, electronic device, and optical image stabilization system. Background Technology

[0002] As optical imaging technology becomes increasingly prevalent in portable electronic devices such as smartphones and action cameras, users' demands for image quality are also rising. However, in actual shooting scenarios, lens shake remains one of the main problems causing image blur.

[0003] To address the aforementioned camera shake issue, Optical Image Stabilization (OIS) systems were developed and have become a core component of mid-to-high-end imaging equipment. In OIS systems, the Suppression Ratio (SR) is a key quantitative indicator for measuring its image stabilization performance.

[0004] Currently, the industry mainly improves SR (Self-Controlling) performance through methods such as "improving main control performance" or "optimizing control algorithms." However, the "improving main control performance" approach requires modifying the host computer's hardware architecture, which not only significantly increases hardware costs but may also lead to compatibility issues with existing devices. The "optimizing control algorithms" approach requires integrating more complex algorithm logic into the control chip, which increases chip computing power requirements and firmware development costs. Summary of the Invention

[0005] In view of this, the present disclosure provides a shake compensation scheme that can improve the image stabilization suppression ratio without changing the original system architecture, thereby improving the optical image stabilization effect.

[0006] According to a first aspect of this disclosure, a jitter compensation method is provided, applied to a controller connected to a detector. The method includes: acquiring actual jitter data at a current moment from the detector, and obtaining predicted jitter data for a next moment based on the actual jitter data at the current moment, wherein the time interval between the current moment and the next moment is determined based on a preset sampling frequency; performing upsampling on the actual jitter data at the current moment and the predicted jitter data for the next moment based on a preset control frequency and the preset sampling frequency to obtain at least one interpolated data; and performing jitter cancellation compensation based on the actual jitter data at the current moment, the predicted jitter data for the next moment, and the at least one interpolated data to obtain compensation data that satisfies the preset control frequency.

[0007] According to a second aspect of this disclosure, a jitter compensation device is provided, applied to a controller connected to a detector. The device includes: an acquisition module, configured to acquire actual jitter data at a current moment from the detector, and obtain predicted jitter data for the next moment based on the actual jitter data at the current moment, wherein the time interval between the current moment and the next moment is determined based on a preset sampling frequency; an upsampling module, configured to perform upsampling on the actual jitter data at the current moment and the predicted jitter data for the next moment based on a preset control frequency and the preset sampling frequency, to obtain at least one interpolated data; and a compensation module, configured to perform jitter cancellation compensation based on the actual jitter data at the current moment, the predicted jitter data for the next moment, and the at least one interpolated data, to obtain compensation data that satisfies the preset control frequency.

[0008] According to a third aspect of this disclosure, an optical image stabilization system is provided, comprising: a detector configured to detect the shake state of a lens and obtain actual shake data of the lens; and a controller connected to the detector and configured to: acquire the actual shake data of the lens from the detector based on a preset sampling frequency, and obtain compensation data satisfying a preset control frequency by executing the method described in the first aspect, thereby controlling the lens to perform compensation motion; wherein the preset control frequency is greater than the preset sampling frequency.

[0009] According to a fourth aspect of this disclosure, an electronic device is provided, comprising: a processor, a communication interface, a memory, and a bus, wherein the processor, the communication interface, and the memory communicate with each other via the bus; the memory is used to store at least one executable instruction that causes the processor to perform an operation corresponding to the method described in the first aspect.

[0010] According to the image stabilization control schemes provided in the embodiments of this disclosure, the predicted image stabilization data for the next moment is predicted based on the actual image stabilization data at the current moment, and upsampling processing of the image stabilization data is performed accordingly. This can improve the image stabilization suppression ratio (SR) to improve image quality, while offsetting the phase delay problem introduced during the upsampling process. Moreover, it does not require changes to the original system architecture and has the advantage of low implementation cost. Attached Figure Description

[0011] To more clearly illustrate the technical solutions in the embodiments of this disclosure or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings.

[0012] Figure 1This is a schematic diagram of the structure of an optical image stabilization system suitable for implementing the shake compensation methods or apparatus of the embodiments of this disclosure.

[0013] Figure 2 This is a flowchart illustrating a jitter compensation method as an exemplary embodiment of the present disclosure.

[0014] Figures 3 to 4 This is a schematic diagram illustrating the effect of performing upsampling between any two adjacent time points.

[0015] Figures 5 to 6 This is a structural diagram of a jitter compensation device that is an exemplary embodiment of the present disclosure.

[0016] Figure 7 This is a structural diagram of an optical image stabilization system according to an exemplary embodiment of the present disclosure.

[0017] Figure 8 This is a structural diagram of an electronic device that is an exemplary embodiment of the present disclosure. Detailed Implementation

[0018] To enable those skilled in the art to better understand the technical solutions in the embodiments of the present invention, the technical solutions in the embodiments of the present invention will be clearly and thoroughly described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art should fall within the protection scope of the present invention.

[0019] Reference is made to the accompanying drawings, which form part of the detailed description and illustrate exemplary embodiments. Furthermore, it should be understood that other embodiments may be utilized, and structural and / or logical changes may be made without departing from the scope of the claimed subject matter. It should also be noted that orientations and references (e.g., up, down, top, bottom, etc.) may be used merely to facilitate the description of features in the drawings. Therefore, the following detailed description is not to be construed in a limiting sense, and the scope of the claimed subject matter is defined only by the appended claims and their equivalents.

[0020] Numerous details are set forth in the following description. However, it will be apparent to those skilled in the art that the embodiments described herein can be practiced without these specific details. In some instances, well-known methods and apparatus are shown in block diagram form rather than in detail to avoid obscuring the embodiments described herein. Throughout this specification, references to “embodiment,” “one embodiment,” or “some embodiments” mean that a particular feature, structure, function, or characteristic described in connection with that embodiment is included in at least one embodiment herein. Therefore, the phrases “in an embodiment,” “in one embodiment,” or “some embodiments” appearing throughout this specification do not necessarily refer to the same embodiment. Furthermore, in one or more embodiments, particular features, structures, functions, or characteristics can be combined in any suitable manner. For example, a first embodiment can be combined with a second embodiment in any way that does not mutually exclude particular features, structures, functions, or characteristics associated with two embodiments.

[0021] As used in the description and appended claims, the singular forms “a” and “the” are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will also be understood that the term “and / or” as used herein refers to and includes any and all possible combinations of one or more of the associated listed items.

[0022] The terms “coupling” and “connection”, along with their derivatives, are used herein to describe functional or structural relationships between components. It should be understood that these terms are not intended to be synonyms for each other. Rather, in certain embodiments, “connection” can be used to indicate that two or more elements are in direct physical, optical, or electrical contact with each other. “Coupling” can be used to indicate that two or more elements are in direct or indirect physical or electrical contact with each other (with other intermediary elements between them), and / or that two or more elements cooperate or interact with each other (e.g., as in a causal relationship).

[0023] As used herein, the terms “above,” “below,” “between,” and “on” refer to the relative position of a component or material with respect to other components or materials, where such physical relationships are noteworthy. For example, in the context of materials, a material positioned above or below another material may be in direct contact with it, or may have one or more intermediate materials. Furthermore, a material positioned between two materials may be in direct contact with both layers, or may have one or more intermediate layers. In contrast, a first material or material “on” a second material or material is in direct contact with that second material / material. Similar distinctions are made in the context of component assembly.

[0024] As described throughout this document and in the claims, a list of items connected by the terms “at least one of” or “one or more of” may mean any combination of the listed items. For example, the phrase “at least one of A, B, or C” may mean A; B; C; A and B; A and C; B and C; or A, B, and C.

[0025] The terms "circuit" or "module" can refer to one or more passive and / or active components arranged to cooperate with each other to provide a desired function. The term "signal" can refer to at least one current signal, voltage signal, or magnetic signal. The terms "substantially," "close to," "approximately," "near," and "about" generally refer to a value + / - of the target value. Within 10%.

[0026] In the field of optical imaging technology, lens shake is one of the core problems causing image blur. Whether it's physiological hand tremors when the user holds the device (such as slight hand shaking or unstable shooting posture), or external shaking when the device is mounted on a moving platform (such as a drone, bicycle, or fitness tracker), it will cause relative displacement between the camera lens and the subject being photographed. This causes the image point on the imaging sensor to deviate from the preset position, ultimately resulting in an image with blurred edges and lost details, severely impacting the user's shooting experience. To solve the lens shake problem, optical image stabilization (OIS) systems have emerged.

[0027] Traditional optical image stabilization (OIS) systems primarily work by detecting lens shake and performing inverse compensation on the lens to control the lens and counteract the effects of camera shake. The suppression ratio (SR) is a key quantitative indicator of the OIS system's image stabilization performance, directly reflecting its ability to suppress lens shake. However, in low-precision OIS systems, the insufficient sampling frequency of lens shake information can affect the accuracy of quantifying camera shake.

[0028] Specifically, refer to the following formula for calculating the image stabilization suppression ratio:

[0029] in, Indicates the image stabilization suppression ratio. Indicates to close The degree of image blurring during function (i.e., the difference between the pixel offset caused by jitter and the static pixel offset). Indicates to opening The degree of image blurring during the function.

[0030] As shown in the formula above, the higher the SR value, the better the OIS system's ability to suppress image jitter, resulting in clearer images. Therefore, improving SR has become a core objective in optimizing OIS system performance. Existing technical solutions for improving OIS system SR all require increasing hardware costs, changing the original system architecture, or sacrificing some performance, making it impossible to achieve an effective SR improvement at minimal cost without changing the original system architecture.

[0031] Based on the above-mentioned technical problems, the embodiments of this disclosure provide a lens shake compensation scheme to solve the various problems existing in the prior art.

[0032] Figure 1 This is a simplified structural diagram of an optical image stabilization system 100 suitable for implementing the shake compensation methods or apparatus of the embodiments of this disclosure. To facilitate a clearer understanding of the technical solutions of the embodiments of this disclosure, the following will be combined with... Figure 1 A brief description of the optical image stabilization system 100 is provided below.

[0033] like Figure 1 As shown, the optical image stabilization system 100 mainly includes a host computer 102 and a controller 104. A detector 1020 (e.g., a gyroscope) detects the shake state of the lens 110, and the host computer 102 sends the shake information detected by the detector 1020 to the controller 104 at a preset transmission frequency. The controller 104 can perform reverse compensation based on the obtained shake information to control the lens 110 to perform reverse compensation movement.

[0034] It should be understood that Figure 1 The architecture shown is for illustrative purposes only and is not intended to limit the invention. To avoid obscuring the technical focus of this case, Figure 1 The optical image stabilization system 100 shown only depicts components associated with the technical solution of this disclosure. Those skilled in the art can further customize the system based on actual application scenarios and / or usage requirements. Figure 1 The types and number of components in the optical image stabilization system 100 shown are adaptively adjusted.

[0035] Based on the optical image stabilization system 100 described above, the specific descriptions of the shake compensation schemes in the various embodiments of this disclosure are as follows: jitter compensation method Figure 2 This is a processing flow of the jitter compensation method according to an exemplary embodiment of the present disclosure. This embodiment can be applied to... Figure 1 The controller 104 of the optical image stabilization system 100 shown.

[0036] like Figure 2 As described above, this embodiment mainly includes the following steps: Step 202: Obtain the actual jitter data at the current moment from the detector, and based on the actual jitter data at the current moment, obtain the predicted jitter data for the next moment.

[0037] refer to Figure 1 The detector 1020 can sense the shaking state of the lens 110, generate the actual shaking data of the lens 110, and the host computer 102 sends the actual shaking data to the controller 104 based on the preset sampling frequency.

[0038] For example, detector 1020 may include sensing devices such as gyroscopes and accelerometers. The jitter data sensed by detector 1020 may include information such as the displacement and / or angular velocity of lens 110 in the X-axis (horizontal direction), Y-axis (vertical direction), and Z-axis (rotation direction), which are used to reflect the actual jitter state of lens 110 at different times.

[0039] In some embodiments, actual jitter data of the current time and at least one preceding time can be obtained, and linear regression prediction can be performed based on the actual jitter data of the current time and each preceding time to obtain the predicted jitter data of the next time step of the current time.

[0040] In this system, each preceding moment, current moment, and next moment is consecutive. For example, if the current moment is the Nth moment and there are two preceding moments, namely the (N-1)th moment and the (N-2)th moment, prediction can be performed based on the actual jitter data from the Nth moment, the (N-1)th moment, and the (N-2)th moment to obtain the predicted jitter data for the (N+1)th moment (the next moment). It should be noted that the number of preceding moments can be adjusted based on the actual application scenario and / or the accuracy of data prediction, etc., and this disclosure does not impose any restrictions on this.

[0041] Specifically, by Figure 3 As can be seen, although the actual shake data of the lens at each time point (e.g., from time point A to time point G) generally presents a curved trend, the actual shake data of several adjacent times are approximately a straight line (e.g., the actual shake data from time point A to time point B presents an approximately straight line trend; the actual shake data from time point B to time point C presents an approximately straight line trend). Therefore, linear regression can be used to perform data prediction.

[0042] In some embodiments, actual jitter data of the current moment and the previous moment can be obtained, and linear regression prediction can be performed based on the actual jitter data of the current moment and the previous moment to obtain the predicted jitter data of the next moment of the current moment.

[0043] For example, in Figure 3In the example shown, with the current time being time B, the previous time was time A. Based on the actual jitter data from the previous time and the actual jitter data from the current time, the predicted jitter data for the next time (time C) is obtained through linear extrapolation. Assuming that the data points of these three consecutive time points are approximately located on a straight line, the predicted jitter data for the next time point can be obtained using the following formula 1: (Formula 1) In Formula 1, Indicates the first The predicted jitter data at the next moment (the next moment). Indicates the first The actual jitter data at each moment (the current moment), Indicates the first The actual jitter data at the previous moment.

[0044] It should be noted that the calculation method for the predicted jitter data at the next moment is not limited to the linear regression prediction method mentioned above, and any other scheme can be used.

[0045] For example, the actual jitter data at the current moment can be compared with multiple preset numerical segments. The numerical segment containing the actual jitter data can be determined as the target segment. Based on the preset slope and preset intercept of the target segment, the actual jitter data at the current moment can be predicted to obtain the predicted jitter data for the next moment.

[0046] Specifically, based on the statistical patterns of historical lens shake data, it is possible to... Figure 3 The overall change curve of each actual jitter data point is divided into N straight lines. The numerical segment, intercept, and slope of each segment are obtained, and these values ​​are stored in the chip in a prescribed order. The actual jitter data at the current moment is compared with the numerical segments stored in the chip. The segment into which the actual jitter data falls is determined as the target segment. Based on the intercept and slope of the target segment and the actual jitter data at the current moment, prediction is performed to obtain the predicted jitter data for the next moment.

[0047] For example, the predicted jitter data for the next time step can be calculated using the following formula 2: (Formula 2) In Formula 2, Indicates the first The predicted jitter data at the next moment (the next moment). The preset slope for the target segment. Indicates the first The actual jitter data at each moment (the current moment), This is the preset intercept for the target segment.

[0048] Step 204: Based on the preset control frequency and preset sampling frequency, perform upsampling on the actual jitter data at the current moment and the predicted jitter data at the next moment to obtain at least one interpolated data.

[0049] In some embodiments, the number of interpolations between the current time and the next time can be determined based on a preset control frequency and a preset sampling frequency, and upsampling can be performed on the actual jitter data at the current time and the predicted jitter data at the next time according to the number of interpolations, so as to insert interpolated data that meets the number of interpolations between the current time and the next time.

[0050] Specifically, refer to Figure 4 Given that the current time is time B and the next time is time C, the number of interpolations between the current time and the next time can be determined based on the preset control frequency and the preset sampling frequency (e.g., 3). Based on the number of interpolations, 3 zero values ​​can be inserted between the actual jitter data at the current time and the predicted jitter data at the next time. Based on the actual jitter data at time B and the predicted jitter data at time C, smoothing processing is performed on each inserted zero value (e.g., a low-pass filtering algorithm can be used to ensure the consistency of the trend of the interpolated data with the preceding and following data), thus obtaining the interpolated data between time B and time C (refer to interpolated data B1 to B3).

[0051] Step 206: Perform jitter cancellation compensation based on the actual jitter data at the current moment, the predicted jitter data at the next moment, and at least one interpolated data to obtain compensation data that meets the preset control frequency.

[0052] refer to Figure 4 Given that the current time is time B and the next time is time C, jitter cancellation compensation can be performed based on the actual jitter data at time B, the predicted jitter data at time C, and the three interpolation data B1 to B3 between time B and time C, to obtain the compensation data corresponding to the time period BC.

[0053] In some embodiments, after completing step 206, the process can return to step 202 to perform jitter compensation processing for the next time period.

[0054] For example, refer to Figure 3 or Figure 4 If the current time is time B and the next time is time C, then time B can be taken as the new previous time, time C as the new current time, and time D as the new next time. Then return to step 202 to continue to perform jitter compensation processing for time period CD until all actual jitter data has been processed.

[0055] Therefore, this embodiment performs jitter compensation processing between the current moment and the next moment in a recurring loop. Thus, each moment includes predicted jitter data and actual jitter data, and the predicted jitter data for any given moment is obtained by acquiring the actual jitter data at that moment.

[0056] For example, Figure 3 Each time point in the data (e.g., time B, time C, time D, etc.) includes actual jitter data and predicted jitter data. The time when the predicted jitter data of time B is acquired is earlier than the time when the actual jitter data of time B is acquired, the time when the predicted jitter data of time C is acquired is earlier than the time when the actual jitter data of time C is acquired, and so on.

[0057] In summary, this embodiment calculates the jitter data for the next moment in advance based on the actual jitter data at the current moment, and performs upsampling processing based on the actual jitter data at the current moment and the predicted jitter data for the next moment. This can improve the accuracy of jitter compensation without introducing phase delay problems, ensuring the real-time performance of jitter compensation and thus improving image quality.

[0058] Specifically, since the controller 104 immediately performs a data prediction operation after acquiring each actual jitter data point, the acquisition time of the predicted jitter data at each subsequent moment will be earlier than the acquisition time of the actual jitter data, except for the first moment (if prediction method one is used) or the first two moments (if prediction method two is used). This advance prediction mechanism avoids the phase delay problem introduced during upsampling and improves the real-time performance of jitter compensation processing.

[0059] Furthermore, since the predicted jitter data for the next moment is based on the actual jitter data of the current moment and the previous moment, the accuracy of each predicted jitter data can be ensured, thereby improving the accuracy of jitter compensation processing and ensuring the reliability of image quality.

[0060] Furthermore, the jitter compensation scheme adopted in this embodiment relies on algorithm implementation and does not require changes to the system hardware architecture. It not only has the advantages of low implementation cost but also wide applicability.

[0061] jitter compensation device Figure 5 and Figure 6 This is a structural block diagram of a jitter compensation device 500, an exemplary embodiment of the present disclosure, which can be applied to, for example... Figure 1 In the controller 104 shown, the controller 104 is connected to the detector 1020 to obtain the detection data of the detector 1020.

[0062] like Figure 5As shown, the jitter compensation device 500 in this embodiment mainly includes: The acquisition module 502 is used to acquire the actual jitter data at the current moment from the detector 1020, and obtain the predicted jitter data for the next moment based on the actual jitter data at the current moment, wherein the time interval between the current moment and the next moment is determined based on a preset sampling frequency.

[0063] Upsampling module 504 is used to perform upsampling on the actual jitter data at the current moment and the predicted jitter data at the next moment based on a preset control frequency and the preset sampling frequency, to obtain at least one interpolated data. The compensation module 506 is used to perform jitter cancellation compensation based on the actual jitter data at the current moment, the predicted jitter data at the next moment, and the at least one interpolation data to obtain compensation data that satisfies the preset control frequency.

[0064] In some embodiments, the acquisition module 502 may include an acquisition unit 5022 and a prediction unit 5024. The acquisition unit 5022 is used to acquire the actual jitter data at the current moment from the detector 1020, and the prediction unit 5024 is used to obtain the predicted jitter data for the next moment based on the actual jitter data at the current moment.

[0065] In some embodiments, the detector 1020 may include a gyroscope for collecting actual jitter data of the lens at each moment, and sending the actual jitter data to the acquisition unit 5022 via the host computer 102 based on a preset sampling frequency.

[0066] In some embodiments, the prediction unit 5024 is configured to: acquire actual jitter data of the current time and at least one preceding time; perform linear regression prediction based on the actual jitter data of the current time and each preceding time to obtain predicted jitter data for the next time of the current time.

[0067] In some embodiments, the upsampling module 504 is configured to: determine the number of interpolations between the current time and the next time based on the preset control frequency and the preset sampling frequency; and perform upsampling on the actual jitter data at the current time and the predicted jitter data at the next time according to the number of interpolations, so as to insert interpolated data that satisfies the number of interpolations between the current time and the next time.

[0068] In some embodiments, the upsampling module 504 is configured to: insert zero values ​​that satisfy the number of interpolations between the current time and the next time, based on the number of interpolations; and perform smoothing processing on the inserted zero values ​​based on the actual jitter data at the current time and the predicted jitter data at the next time to obtain interpolated data.

[0069] In some embodiments, the compensation module 506 is further configured to, after obtaining each compensation data that satisfies the preset control frequency, trigger the acquisition module 502 to re-execute the step of acquiring the actual jitter data at the current moment from the detector 1020 and based on the actual jitter data at the current moment.

[0070] Optical image stabilization system Figure 7 This is a structural block diagram of an optical image stabilization system 700 according to an exemplary embodiment of the present disclosure. As shown in the figure, the optical image stabilization system 700 of this embodiment mainly includes: Detector 702 is configured to detect the shake state of the lens and obtain the actual shake data of the lens; A controller 704, connected to the detector 702, is configured to: acquire actual jitter data of the lens from the detector 702 based on a preset sampling frequency, obtain compensation data that satisfies a preset control frequency by executing the methods described in the various embodiments, and control the lens to perform compensation motion accordingly; wherein the preset control frequency is greater than the preset sampling frequency.

[0071] electronic devices Reference Figure 8 This document illustrates a schematic diagram of an electronic device according to an exemplary embodiment of the present application. The specific embodiments of the present application do not limit the specific implementation of the electronic device.

[0072] like Figure 8 As shown, the electronic device may include: a processor 802, a communications interface 804, a memory 806, and a communications bus 808.

[0073] in: The processor 802, communication interface 804, and memory 806 communicate with each other through the communication bus 808.

[0074] Communication interface 804 is used to communicate with other electronic devices or servers.

[0075] The processor 802 is used to execute program 810, which can specifically execute the relevant steps in the above jitter compensation method embodiment.

[0076] Specifically, program 810 may include program code that includes computer operation instructions.

[0077] The processor 802 may be a CPU, an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of this application. The smart device includes one or more processors, which may be processors of the same type, such as one or more CPUs; or processors of different types, such as one or more CPUs and one or more ASICs.

[0078] Memory 806 is used to store program 810. Memory 806 may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk storage device.

[0079] Program 810 may include multiple computer instructions. Specifically, program 810 may use multiple computer instructions to cause processor 802 to perform the jitter compensation method corresponding to any of the aforementioned method embodiments.

[0080] The specific implementation of each step in program 810 can be found in the corresponding steps and units described in the above method embodiments, and has corresponding beneficial effects, which will not be repeated here. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working process of the devices and modules described above can be referred to the corresponding process descriptions in the foregoing method embodiments, and will not be repeated here.

[0081] This application also provides a computer storage medium storing a computer program thereon, which, when executed by a processor, implements the method described in any of the foregoing method embodiments. The computer storage medium includes, but is not limited to, compact disc read-only memory (CD-ROM), random access memory (RAM), floppy disk, hard disk, or magneto-optical disk.

[0082] This application also provides a computer program product, including computer instructions that instruct a computing device to perform operations corresponding to the jitter compensation method described in any of the above embodiments.

[0083] Furthermore, it should be noted that the user-related information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to sample data used for training the model, data used for analysis, stored data, displayed data, etc.) involved in the embodiments of this application are all information and data authorized by the user or fully authorized by all parties. Moreover, the collection, use and processing of related data must comply with the relevant laws, regulations and standards of the relevant countries and regions, and corresponding operation entry points are provided for users to choose to authorize or refuse.

[0084] It should be noted that, depending on the implementation needs, the various components / steps described in the embodiments of this application can be broken down into more components / steps, or two or more components / steps or parts of the operation of components / steps can be combined into new components / steps to achieve the purpose of the embodiments of this application.

[0085] The methods described in the embodiments of this application can be implemented in hardware, firmware, or as software or computer code that can be stored in a recording medium (such as a CD-ROM, RAM, floppy disk, hard disk, or magneto-optical disk), or as computer code originally stored on a remote recording medium or non-volatile machine-readable medium and to be stored on a local recording medium, downloaded via a network. Thus, the methods described herein can be stored on a recording medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware (such as an Application Specific Integrated Circuit (ASIC) or a Field Programmable Gate Array (FPGA)). It is understood that the computer, processor, microprocessor controller, or programmable hardware includes storage components (e.g., Random Access Memory (RAM), Read-Only Memory (ROM), Flash Memory, etc.) capable of storing or receiving software or computer code, which, when accessed and executed by the computer, processor, or hardware, implements the methods described herein. Furthermore, when a general-purpose computer accesses code used to implement the methods shown herein, the execution of the code transforms the general-purpose computer into a dedicated computer for executing the methods shown herein.

[0086] Those skilled in the art will recognize that the units and method steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the embodiments of this application.

[0087] The above embodiments are only used to illustrate the embodiments of this application, and are not intended to limit the embodiments of this application. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the embodiments of this application. Therefore, all equivalent technical solutions also fall within the scope of the embodiments of this application, and the patent protection scope of the embodiments of this application should be defined by the claims.

Claims

1. A jitter compensation method applied to a controller, the controller being connected to a detector, the method comprising: The actual jitter data at the current moment is obtained from the detector, and the predicted jitter data for the next moment is obtained based on the actual jitter data at the current moment, wherein the time interval between the current moment and the next moment is determined based on a preset sampling frequency; Based on the preset control frequency and the preset sampling frequency, upsampling is performed on the actual jitter data at the current moment and the predicted jitter data at the next moment to obtain at least one interpolated data. Based on the actual jitter data at the current moment, the predicted jitter data at the next moment, and the at least one interpolated data, jitter cancellation compensation is performed to obtain compensation data that satisfies the preset control frequency.

2. The method according to claim 1, wherein, The process of obtaining the predicted jitter data for the next moment based on the actual jitter data at the current moment includes: Obtain the actual jitter data of the current time and at least one preceding time. Linear regression prediction is performed based on the actual jitter data at the current time and each preceding time to obtain the predicted jitter data for the next time step at the current time.

3. The method according to claim 1, wherein, The method involves upsampling the actual jitter data at the current moment and the predicted jitter data at the next moment, based on a preset control frequency and a preset sampling frequency, to obtain at least one interpolated data point, including: Based on the preset control frequency and the preset sampling frequency, determine the number of interpolations between the current time and the next time. Based on the number of interpolations, upsampling is performed on the actual jitter data at the current time and the predicted jitter data at the next time, so as to insert interpolated data that satisfies the number of interpolations between the current time and the next time.

4. The method according to claim 3, wherein, The insertion of interpolated data satisfying the specified number of interpolations between the current time and the next time includes: Based on the number of interpolations, insert zero values ​​that satisfy the number of interpolations between the current time and the next time. Based on the actual jitter data at the current moment and the predicted jitter data at the next moment, the inserted zero values ​​are smoothed to obtain interpolated data.

5. The method according to claim 1, wherein, Also includes: After obtaining compensation data that satisfies the preset control frequency, return to the step of obtaining the actual jitter data at the current moment from the detector.

6. The method according to claim 1, wherein, Each moment includes both predicted jitter data and actual jitter data; The actual shake data at any given moment is obtained by detecting the shake state of the lens using the detector; Before obtaining the actual jitter data at any given time, obtain the predicted jitter data at any given time.

7. A jitter compensation device applied to a controller, the controller being connected to a detector, the device comprising: The acquisition module is used to acquire the actual jitter data at the current moment from the detector, and to obtain the predicted jitter data for the next moment based on the actual jitter data at the current moment, wherein the time interval between the current moment and the next moment is determined based on a preset sampling frequency; An upsampling module is used to perform upsampling on the actual jitter data at the current moment and the predicted jitter data at the next moment based on a preset control frequency and the preset sampling frequency, so as to obtain at least one interpolated data. The compensation module is used to perform jitter cancellation compensation based on the actual jitter data at the current moment, the predicted jitter data at the next moment, and the at least one interpolated data to obtain compensation data that satisfies the preset control frequency.

8. An optical image stabilization system, comprising: A detector is configured to detect the lens shake state and obtain the actual shake data of the lens; A controller, connected to the detector, is configured to: acquire actual jitter data of the lens from the detector based on a preset sampling frequency, obtain compensation data that satisfies a preset control frequency by executing the method as described in any one of claims 1 to 6, and control the lens to perform compensation motion accordingly; The preset control frequency is greater than the preset sampling frequency.

9. An electronic device, comprising: The processor, the communication interface, the memory, and the bus are connected, and the processor, the communication interface, and the memory communicate with each other via the bus. The memory is used to store at least one executable instruction that causes the processor to perform an operation corresponding to the method as described in any one of claims 1 to 6.

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