Control method, device and system, image acquisition device and terminal equipment

Abstract

The invention relates to a control method, device and system, an image acquisition device and terminal equipment, and relates to the technical field of control. The control method comprises the steps that phase compensation processing is carried out on an obtained first target state signal of an imaging module to obtain a second target state signal, and the phase of the second target state signal is ahead of the phase of the first target state signal; according to the second target state signal, target driving information of a driving device of the imaging module is determined, and the target driving information is used for controlling the driving device to drive the imaging module. According to the technical scheme, the delay of anti-shake control can be reduced, and the performance of anti-shake control is improved.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of control, and in particular, to a control method, a control device, a control system, an image acquisition device, a terminal device, a computer readable storage medium, a computer program product and a chip. BACKGROUND

[0002] With the increasing demand for photography and imaging quality of mobile terminals, optical anti-shake control needs to be performed on the imaging module in the mobile terminal. For example, by compensating for the displacement and angular deviation of the lens or image sensor in real time, the imaging blur caused by handheld shaking or body movement can be reduced.

[0003] In the process of performing optical anti-shake control on the imaging module, a stable and sufficient driving voltage is usually provided for the driving device of the imaging module to ensure that the driving force generated by the driving device can meet various anti-shake requirements. However, in this way, regardless of how much driving force is required to perform optical anti-shake control, the driving device will always work at a relatively high voltage. This will cause unnecessary power loss in the circuit for driving the motor and the coil of the motor in the driving device, resulting in high power consumption of the anti-shake control.

[0004] In the related art, the driving force generated by the driving device is dynamically controlled according to the driving information generated according to the anti-shake requirements. SUMMARY

[0005] The present inventors have found that the above-mentioned related art has the following problem: the process of signal transmission has a physical delay, which makes the control have a lag, thereby causing the performance of the anti-shake control to decrease.

[0006] In view of this, the present disclosure proposes a control technical solution, which can compensate for the physical delay caused by signal transmission in advance, reduce the lag of control, and thereby improve the performance of the anti-shake control.

[0007] According to some embodiments of the present disclosure, a control method is provided, comprising: performing phase compensation processing on an acquired first target state signal of an imaging module to obtain a second target state signal, the phase of the second target state signal being ahead of the phase of the first target state signal; and determining target driving information of a driving device of the imaging module according to the second target state signal, the target driving information being used to control the driving device to drive the imaging module.

[0008] In some embodiments, the compensation amount of the phase compensation processing is determined according to the response time of a power supply circuit of the driving device.

[0009] In some embodiments, the determining the target driving information of the driving device of the lens module according to the second target state signal comprises: performing time delay processing on the first target state signal to obtain a third target state signal, a time delay amount of the time delay processing being determined according to a type of the Hall sensor; and determining the target driving information according to the second target state signal and the third target state signal.

[0010] In some embodiments, the determining the target driving information according to the second target state signal and the third target state signal comprises: determining a plurality of first driving information by using a plurality of first processing modules according to the second target state signal and the third target state signal; performing fusion processing on the plurality of first driving information to obtain a first fusion result; and determining the target driving information according to the first fusion result.

[0011] In some embodiments, the plurality of first processing modules comprises a first AGC (Automatic Gain Control) module and a PID (Proportional-Integral-Derivative) control module, and the determining the plurality of first driving information by using the plurality of first processing modules according to the second target state signal and the third target state signal comprises: performing fusion processing on the second target state signal and the third target state signal to obtain a second fusion result; inputting the second fusion result into the first AGC module to obtain first driving information output by the first AGC module; and inputting the second fusion result into the PID control module to obtain first driving information output by the PID control module.

[0012] In some embodiments, the performing fusion processing on the second target state signal and the third target state signal to obtain a second fusion result comprises: determining the second fusion result according to a difference between the second target state signal and the third target state signal; or determining the second fusion result according to a weighted average of the second target state signal and the third target state signal.

[0013] In some embodiments, the performing fusion processing on the plurality of first driving information to obtain a first fusion result comprises: determining a plurality of second driving information by using a plurality of second processing modules according to the second target state signal; and performing fusion processing on the plurality of first driving information and the plurality of second driving information to obtain the first fusion result.

[0014] In some embodiments, the plurality of second processing modules comprises a second AGC module and a transfer function processing module, the transfer function processing module is configured based on an inverse transfer function of a motor in the driving device; and the determining, according to the second target state signal, a plurality of second driving information using a plurality of second processing modules comprises: inputting the second target state signal into the second AGC module to obtain second driving information output by the second AGC module; and inputting the second target state signal into the transfer function processing module to obtain second driving information output by the transfer function processing module.

[0015] In some embodiments, the fusing processing of the plurality of first driving information and the plurality of second driving information to obtain the first fusion result comprises: determining the first fusion result according to a weighted mean of the plurality of first driving information and the plurality of second driving information.

[0016] In some embodiments, the determining, according to the second target state signal, target driving information of a driving device of the imaging module comprises: determining, according to the second target state signal, a plurality of second driving information using a plurality of second processing modules, wherein the plurality of second processing modules comprises a second AGC module and a transfer function processing module, the transfer function processing module is configured based on an inverse transfer function of a motor in the driving device; fusing processing of the plurality of second driving information to obtain a third fusion result; and determining the target driving information according to the third fusion result.

[0017] In some embodiments, the phase compensation processing of the acquired first target state signal of the imaging module comprises: acquiring a measurement signal of the imaging module by an inertial sensor; and acquiring the first target state signal according to the measurement signal.

[0018] According to some other embodiments of the present disclosure, a control device is provided, comprising: a phase compensation module configured to perform phase compensation processing on an acquired first target state signal of an imaging module to obtain a second target state signal, the phase of the second target state signal is ahead of the phase of the first target state signal; and a determination module configured to determine, according to the second target state signal, target driving information of a driving device of the imaging module, the target driving information is used to control the driving device to drive the imaging module.

[0019] According to some other embodiments of the present disclosure, a control device is provided, comprising: a memory; and a processor coupled to the memory, the processor is configured to execute the control method in any one of the above embodiments based on instructions stored in the memory device.

[0020] According to still some embodiments of the present disclosure, a control system is provided, comprising: the control device in any of the above embodiments; and a driving device electrically connected to the control device, configured to drive the imaging module according to the target driving information sent by the control device.

[0021] In some embodiments, the control system further comprises: an inertial sensor electrically connected to the control device, configured to output a measurement signal of the imaging module, the measurement signal being used to obtain the first target state signal.

[0022] According to still some embodiments of the present disclosure, an image acquisition device is provided, comprising: an imaging module comprising an image sensor and a lens module; and the control system in any of the above embodiments, configured to control the imaging module.

[0023] According to still some embodiments of the present disclosure, a terminal device is provided, comprising: the image acquisition device in any of the above embodiments.

[0024] According to still some embodiments of the present disclosure, a computer readable storage medium is provided, having stored thereon computer instructions which, when executed by a processor, implement the control method in any of the above embodiments.

[0025] According to still some embodiments of the present disclosure, a computer program product is also provided, comprising instructions which, when executed by a processor, cause the processor to perform the control method according to any of the above embodiments.

[0026] According to still some embodiments of the present disclosure, a chip is provided, comprising a processing circuit, the processing circuit being configured to execute instructions to cause the chip to perform the control method according to any of the above embodiments.

[0027] In the above embodiments, the physical delay caused by the subsequent signal transmission is compensated in advance through the phase advance of the second target state signal relative to the first target state signal. In this way, the driving device can timely generate a corresponding driving force to drive the imaging module, effectively reducing the hysteresis of the control, thereby improving the performance of the anti-shake control on the basis of reducing the power consumption of the anti-shake control.

[0028] Other features, aspects, and advantages of the present disclosure will become apparent from the following detailed description of the exemplary embodiments with reference to the following drawings. BRIEF DESCRIPTION OF DRAWINGS

[0029] Embodiments of the present disclosure will be described below with reference to the accompanying drawings. It should be understood that the accompanying drawings in the following description only relate to some embodiments of the present disclosure, and do not constitute a limitation on the present disclosure. In the drawings:

[0030] Figure 1a flowchart showing some embodiments of the control method of the present disclosure;

[0031] Figure 2 a schematic diagram showing some embodiments of the control method of the present disclosure;

[0032] Figure 3 a block diagram showing some embodiments of the control device of the present disclosure;

[0033] Figure 4 a block diagram showing some other embodiments of the control device of the present disclosure;

[0034] Figure 5 a block diagram showing some further embodiments of the control device of the present disclosure;

[0035] Figure 6 a block diagram showing some embodiments of the control system of the present disclosure;

[0036] Figure 7 a block diagram showing some embodiments of the image acquisition device of the present disclosure;

[0037] Figure 8 a block diagram showing some embodiments of the terminal device of the present disclosure.

[0038] It should be understood that the dimensions of the various portions shown in the drawings are not necessarily to scale for ease of description. Identical or similar components are identified with identical or similar reference numerals in the various figures. Thus, once a component is defined in one figure, it can not be discussed further in subsequent figures. DETAILED DESCRIPTION

[0039] The technical solutions in the embodiments of the present disclosure will be described clearly and completely below with reference to the drawings in the embodiments of the present disclosure. It should be understood that the present disclosure can be implemented in various forms, and should not be interpreted as being limited to the embodiments set forth herein.

[0040] It should be understood that the various steps recited in the method embodiments of the present disclosure can be executed in different orders and / or in parallel. In addition, the method embodiments can include additional steps and / or omit execution of the steps shown. The scope of the present disclosure is not limited in this respect. Unless otherwise specifically stated, the relative arrangement and numerical values of the components and steps set forth in these embodiments should be interpreted as merely exemplary and not limiting the scope of the present disclosure.

[0041] The term “comprising” and variations thereof as used in the present disclosure means an open term that includes at least the recited elements / features, but does not exclude other elements / features. The term “based on” means “based at least in part on”.

[0042] It should be noted that the terms "first", "second", and the like in the present disclosure are used only to differentiate different devices, modules or units, and are not intended to limit the order or interdependence of the functions performed by these devices, modules or units. Unless otherwise specified, the terms "first", "second", and the like are not intended to imply a given order or any other manner of given order in time, space, ranking, or any other manner.

[0043] It should be noted that the terms "one", "multiple" in the present disclosure are illustrative and not limiting, and those skilled in the art should understand that unless otherwise specified in the context, it should be understood as "one or more".

[0044] The names of the messages or information exchanged between the plurality of devices in the embodiments of the present disclosure are only for illustrative purposes, and are not intended to limit the scope of the messages or information.

[0045] The user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, displayed data, etc.) involved in the present disclosure are all information and data authorized by the user or authorized by all parties, and the collection, use and processing of the relevant data need to comply with relevant laws, regulations and standards, and provide corresponding operation portal for the user to choose authorization or refusal.

[0046] The embodiments of the present disclosure will be described in detail below in conjunction with the accompanying drawings, but the present disclosure is not limited to these specific embodiments. The following specific embodiments can be combined with each other, and for the same or similar concepts or processes, some embodiments can not be described again. In addition, in one or more embodiments, specific features, structures or characteristics can be combined by any suitable manner from the present disclosure which is clear to those skilled in the art.

[0047] It should be understood that the present disclosure does not limit how to obtain the image to be applied / processed. In some embodiments of the present disclosure, it can be obtained from a storage device, such as an internal memory or an external storage device. In other embodiments of the present disclosure, a photographic component can be mobilized to take a picture. It should be noted that the obtained image can be an image collected or a frame image of a video collected, and is not particularly limited thereto.

[0048] In the context of the present disclosure, an image can refer to any of a variety of images, such as color images, grayscale images, etc. It is noted that the type of image is not specifically limited in the context of the present specification. Furthermore, the image can be any suitable image, e.g. a raw image obtained by a camera device, or an image that has been subjected to certain processing of a raw image, such as preliminary filtering, de-aliasing, color adjustment, contrast adjustment, normalization, etc. It is noted that the pre-processing operations can also include other types of pre-processing operations known in the art, which will not be described in detail here.

[0049] With the rapid development of intelligent terminal imaging technology, AF (Autofocus, automatic focusing) system and OIS (Optical Image Stabilization, optical image stabilization) system have become the standard configuration of mobile terminals. The AF system is responsible for driving the lens module to move along the optical axis to quickly and accurately complete focusing. The OIS system detects the small jitter of the mobile terminal through inertial sensors (such as accelerometers, gyroscopes, etc.), and drives the driving device (for example, including a motor, an actuator) to move the lens module in the opposite direction to compensate for the jitter, so as to obtain clearer and more stable images when taking pictures and recording videos.

[0050] In order to ensure that the mobile terminal can quickly and accurately respond to various anti-shake control requirements, a fixed power supply strategy is usually adopted to provide a stable and sufficient driving voltage for the driving device of the imaging module. The design goal of the driving voltage is that even in the case where the motor needs to establish a large driving current instantaneously to provide a large driving force, the driving voltage provided is sufficient to support the output of the required current, thereby avoiding the problem of lack of driving force due to insufficient power supply, and further causing focusing lag or anti-shake failure.

[0051] However, as mentioned earlier, in this way, regardless of how large the required driving force is, the AF system and the OIS system in the mobile terminal will always work at a relatively high voltage. This will cause the excess voltage of the driving voltage provided relative to the actual required driving voltage to generate unnecessary power loss in the circuit for driving the motor and the coil of the motor, resulting in high power consumption of the anti-shake control, thereby causing the overall power consumption of the mobile terminal to be high.

[0052] In order to reduce power consumption, the driving force generated by the driving device can be dynamically controlled according to the driving information generated according to the anti-shake requirement. For example, the driving information generated according to the anti-shake requirement dynamically adjusts the required driving voltage of the motor, so that the driving voltage provided matches the driving force requirement.

[0053] For example, dynamically controlling the driving force generated by the driving device based on the driving information may include: generating corresponding driving information based on the target state signal of the imaging module that reflects the image stabilization requirements, and dynamically adjusting the driving voltage provided to the driving device based on the driving information, so that the motor in the driving device establishes a corresponding driving current to generate the driving force for driving the imaging module.

[0054] The inventors of this disclosure have discovered through research that, in the process from the generation of drive information to the dynamic control of the drive device using the drive information to generate drive force, there is a physical delay caused by signal transmission. This physical delay results in a lag in the control of the drive device, a lag in the generation of drive force, and consequently, a larger delay in anti-shake control, leading to a decrease in the performance of anti-shake control.

[0055] In view of this, for at least one of the above-mentioned technical problems, the control technology solution provided in this disclosure can perform phase compensation on the first target state signal of the imaging module that reflects the image stabilization requirement in advance, so as to generate drive information for controlling the drive device based on the compensated second target state signal.

[0056] In this approach, the physical delay caused by subsequent signal transmission is compensated in advance by the phase lead of the second target state signal relative to the first target state signal. This allows the driving device to generate the corresponding driving force to drive the imaging module in a timely manner, effectively reducing control lag and thus improving the performance of image stabilization control while reducing its power consumption.

[0057] For example, the technical solution of this disclosure can be implemented through the following embodiments.

[0058] Figure 1 Flowcharts illustrating some embodiments of the control methods of this disclosure are shown.

[0059] like Figure 1 As shown, in step 110, the acquired first target state signal of the imaging module is subjected to phase compensation processing to obtain a second target state signal. The phase of the second target state signal leads the phase of the first target state signal.

[0060] For example, the first target state signal of the imaging module may include the target position signal and target attitude signal of the lens module in the imaging module.

[0061] In step 120, target driving information of the imaging module's driving device is determined based on the second target state signal. This target driving information is used to control the driving device to drive the imaging module.

[0062] For example, the driving device includes an IC (Integrated Circuit) for driving the motor and a motor for generating driving force. For example, the target driving information may be driving current information used by the driving device to drive the imaging module to move, or driving voltage information required by the driving device to achieve the target displacement corresponding to the target state signal.

[0063] In the above embodiments, the first target state signal of the imaging module is subjected to phase compensation processing so that the phase of the second target state signal used to determine the target driving information is ahead of the phase of the first target state signal.

[0064] In this way, by using the phase lead of the second target state signal relative to the first target state signal to compensate for the physical delay caused by subsequent signal transmission, the timeliness of controlling the driving device is improved. This allows the driving device to generate the driving force for driving the imaging module in a timely manner according to the image stabilization requirements, effectively reducing the control delay of image stabilization control. Thus, while reducing the power consumption of image stabilization control, the performance of image stabilization control is improved.

[0065] The phase compensation process in step 110 is illustrated below with reference to some embodiments.

[0066] In some embodiments, measurement signals of the imaging module by inertial sensors (e.g., accelerometers and gyroscopes) are acquired, a first target state signal is obtained based on the measurement signals, and phase compensation processing is performed on the first target state signal to obtain a second target state signal.

[0067] For example, the measurement signal may include the attitude signal of the imaging module on the X, Y, and Z axes. The X and Y axes are used for image stabilization control in different directions, and the Z axis is used for focus control. The first target state signal of the imaging module may include the target position signal and target attitude signal of the lens module in the imaging module.

[0068] In some embodiments, the compensation amount for phase compensation processing is determined based on the response time of the power supply circuit of the driving device. For example, the compensation amount for phase compensation processing can be a preset compensation value. Different response times of the power supply circuits correspond to different compensation values. This preset compensation value can be preset based on experimental data or actual conditions of the power supply circuit.

[0069] In this way, considering that the response times of different power supply circuits may vary, the compensation amount of phase compensation processing can be set specifically according to the response time of the power supply circuit. This can accurately compensate for the physical delay caused by subsequent signal transmission in advance, thereby further and effectively reducing the control delay of anti-shake control and improving the performance of anti-shake control.

[0070] In some embodiments, phase compensation processing can be implemented in the time domain by designing a digital filter. This allows the required phase compensation amount to be applied to the first target state signal without affecting the signal's amplitude-frequency characteristics, thereby improving the stability of the compensated second target signal and thus contributing to enhanced anti-shake control performance.

[0071] The following examples illustrate the method for determining the target driving information in step 120.

[0072] In some embodiments, the first target state signal is delayed to obtain a third target state signal, and target driving information is determined based on the second and third target state signals. For example, the second and third target state signals are fused to determine the target driving information.

[0073] In some embodiments, the delay amount for the delay processing is determined based on the type of Hall sensor. For example, the delay amount for the delay processing can be a fixed delay length, with different types of Hall sensors corresponding to different fixed delay lengths. In some embodiments, the delay amount for the delay processing can also be determined based on the control response of the motor.

[0074] It should be noted that the delay amount in the delay processing reflects the feedback delay of the current state signal of the imaging module fed back by the Hall sensor.

[0075] In the above embodiments, considering the inherent different feedback delays of different types of Hall sensors, a delay amount matching the feedback delay of the Hall sensor is applied to the first target state signal according to the type of Hall sensor, so that the third target state signal is time-aligned with the feedback of the Hall sensor. In this way, the third target state signal can accurately reflect the feedback delay of the Hall sensor.

[0076] Based on this, the second target state signal with phase lead and the third target state signal fed back from the simulated Hall sensor are used together to perform feedforward prediction of the driving information, so as to collaboratively generate target driving information. This can reduce the control delay caused by the physical delay of signal transmission, and further reduce the adverse effects of the feedback delay of the Hall sensor on the accuracy of the driving information, thereby improving the accuracy of driving control and thus enhancing the performance of anti-shake control.

[0077] In some embodiments, multiple first driving information is determined using multiple first processing modules based on a second target state signal and a third target state signal; the multiple first driving information is fused to obtain a first fusion result; and target driving information is determined based on the first fusion result.

[0078] For example, each of the multiple first processing modules can integrate a corresponding control algorithm. For instance, the weighted average of multiple first driving information pieces can be used as the first fusion result to determine the target driving information. The weight of each first driving information piece can be flexibly set according to the performance of the control algorithm integrated in the corresponding first processing module.

[0079] In this way, by using the second target state signal and the third target state signal to collaboratively generate driving information, considering that the first driving information generated by different algorithms may be affected by noise, control error or inherent limitations of the algorithm, the target driving information can be determined by fusing multiple first driving information. This reduces the dependence on the processing result of a single algorithm, improves the robustness of driving control, and thus improves the performance of anti-shake control.

[0080] In some embodiments, the second target state signal and the third target state signal can be fused to obtain a second fusion result, and the second fusion result can be input into each of the plurality of first processing modules to obtain the first driving information output by each first processing module.

[0081] In some embodiments, a second fusion result is determined based on the difference between a second target state signal and a third target state signal. For example, the second fusion result is determined based on the difference between the second target state signal and the third target state signal.

[0082] In this way, the difference between the second target state signal and the third target state signal can be used to reflect the deviation between the target state and the current state of the imaging module, making the generated target driving information more accurate, thereby improving the performance of image stabilization control.

[0083] In some embodiments, a second fusion result is determined based on the weighted average of the second target state signal and the third target state signal. For example, the weights of the second and third target state signals can be dynamically set according to the power consumption and effectiveness requirements of the anti-shake control. The weights of the second and third target state signals can reflect the degree of influence of the relevant information carried by the two signals through their respective control paths on the second fusion result.

[0084] In this way, the target driving information generated based on the weighted average of the second target state signal and the third target state signal can more accurately match the stabilization requirements, thereby improving the performance of stabilization control.

[0085] In some embodiments, the plurality of first processing modules may include a first AGC module and a PID control module.

[0086] For example, the second fusion result of the second target state signal and the third target state signal is input into the first AGC module to obtain the first drive information output by the first AGC module, and the second fusion result is input into the PID control module to obtain the first drive information output by the PID control module. Based on the first fusion result of the first drive information output by the first AGC module and the first drive information output by the PID control module, the target drive information is determined.

[0087] In this way, by fusing the processing results of the two algorithms, the accuracy of the determined target driving information can be improved, thereby enabling accurate driving control of the imaging module and improving the performance of image stabilization control.

[0088] In some embodiments, based on a second target state signal, multiple second driving information is determined using multiple second processing modules, and the multiple second driving information is fused to obtain a third fusion result. Based on the third fusion result, target driving information is determined.

[0089] For example, each of the multiple second processing modules can integrate a corresponding control algorithm. The control algorithm integrated in the second processing module can be the same as or different from the control algorithm integrated in the first processing module.

[0090] For example, the second target state information can be input into each of the multiple second processing modules to obtain the second driving information output by each second processing module.

[0091] In this way, by using the second target state signal for feedforward prediction to generate driving information, considering that the second driving information generated by different algorithms may be affected by noise, control error or inherent limitations of the algorithm, the target driving information can be determined by fusing multiple second driving information. This reduces the dependence on the processing result of a single algorithm, improves the robustness of driving control, and thus enhances the performance of anti-shake control.

[0092] In some embodiments, target driving information can be determined based on a third fusion result and a first adjustment parameter. For example, target driving information can be determined based on the sum of the third fusion result and the first adjustment parameter, or the difference between the third fusion result and the first adjustment parameter.

[0093] In this way, by introducing the first adjustment parameter to fine-tune the third fusion result, the target driving information for controlling the driving device is determined, and a reasonable buffer space (i.e. safety margin) is reserved for subsequent driving control. This avoids the problem of increased power consumption due to excessively high driving voltage or current, or weakened anti-shake effect due to excessively low driving voltage or current. A good balance can be achieved between the power consumption and effect of anti-shake control, thereby improving the performance of anti-shake control.

[0094] In some embodiments, target driving information can be determined based on the sum of the third fusion result and the first adjustment parameter, such that the driving amount corresponding to the target driving information exceeds the driving amount required by the driving device. For example, the target driving information can be determined based on the sum of the third fusion result and the first adjustment parameter, such that the driving voltage corresponding to the target driving information exceeds the driving voltage required by the driving device.

[0095] In this way, by superimposing the first adjustment parameter on the third fusion result, the driving voltage or driving current generated based on the target driving information can reach a sufficiently large amplitude to exceed the driving voltage or driving current required by the driving device, ensuring that the driving force generated by the motor is sufficient to meet various anti-shake requirements, thereby improving the performance of anti-shake control.

[0096] In some embodiments, the plurality of second processing modules may include a second AGC module and a transfer function processing module, wherein the transfer function processing module is configured based on the inverse transfer function of the motor in the drive device. For example, the input to the inverse transfer function of the motor is a state signal, and the output is drive information. For example, the transfer function processing module can be implemented using a digital filter. For example, the second AGC module and the first AGC module may be the same or different.

[0097] For example, the second target state signal is input into the second AGC module to obtain the second driving information output by the second AGC module. The second target state signal is then input into the transfer function processing module to obtain the second driving information output by the transfer function processing module. Based on the third fusion result of the second driving information output by the second AGC module and the second driving information output by the transfer function processing module, the target driving information is determined.

[0098] In this way, by fusing the processing results of the two algorithms, the accuracy of the determined target driving information can be improved, thereby enabling accurate driving control of the imaging module and improving the performance of image stabilization control.

[0099] In some embodiments, after obtaining multiple first driving information and multiple second driving information, the multiple first driving information and multiple second driving information can be fused to obtain a first fusion result. Target determination information is then determined based on the first fusion result. For example, any two, three, or more of the multiple first driving information and multiple second driving information can be fused to obtain the first fusion result.

[0100] For example, the first driving information output by the first AGC module, the first driving information output by the PID control module, the second driving information output by the second AGC module, and the second driving information output by the transfer function processing module are fused together to obtain the first fusion result.

[0101] In the above embodiments, multiple first driving information obtained by jointly using the second target state signal and the third target state signal for feedforward prediction, and multiple second driving information obtained by using the second target state signal alone for feedforward prediction, are fused to generate target driving information. In this way, by fusing the results of multiple feedforward predictions, the target driving information can meet the stabilization requirements in various scenarios, thereby improving the performance of stabilization control.

[0102] In some embodiments, a first fusion result can be determined based on a weighted average of multiple first driving information and multiple second driving information. For example, a weighted average can be taken of any two, three, or more of the multiple first driving information and multiple second driving information to determine the first fusion result. For example, a weighted average can be taken of the first driving information output by the first AGC module, the first driving information output by the PID control module, the second driving information output by the second AGC module, and the second driving information output by the transfer function processing module to determine the first fusion result.

[0103] In this way, by performing weighted averaging and fusion processing on the driving information of multiple feedforward predictions, the robustness and reliability of the target driving information are improved, thereby enhancing the performance of anti-shake control.

[0104] In some embodiments, target driving information can be determined based on a first fusion result and a second adjustment parameter. For example, target driving information can be determined based on the sum of the first fusion result and the second adjustment parameter, or the difference between the first fusion result and the second adjustment parameter. For example, the second adjustment parameter may be the same as or different from the first adjustment parameter.

[0105] In this way, by introducing a second adjustment parameter to fine-tune the first fusion result, the target driving information for controlling the driving device is determined, and a reasonable buffer space (i.e. safety margin) is reserved for subsequent driving control. This avoids the problem of increased power consumption due to excessively high driving voltage or current, or weakened anti-shake effect due to excessively low driving voltage or current. A good balance can be achieved between the power consumption and effect of anti-shake control, thereby improving the performance of anti-shake control.

[0106] In some embodiments, target driving information can be determined based on the sum of the first fusion result and the second adjustment parameter, such that the driving amount corresponding to the target driving information exceeds the driving amount required by the driving device. For example, the target driving information can be determined based on the sum of the first fusion result and the second adjustment parameter, such that the driving voltage corresponding to the target driving information exceeds the driving voltage required by the driving device.

[0107] In this way, by superimposing the second adjustment parameter on the first fusion result, the driving voltage or driving current generated based on the target driving information can reach a sufficiently large amplitude to exceed the driving voltage or driving current required by the driving device, ensuring that the driving force generated by the motor is sufficient to meet various anti-shake requirements, thereby improving the performance of anti-shake control.

[0108] In some embodiments, after obtaining multiple first driving information and multiple second driving information, one driving information can be selected as the target driving information.

[0109] For example, the drive information could be the drive voltage information required by the drive device to achieve the target displacement corresponding to the target state signal. The drive voltage information with the highest voltage value can be selected as the target drive information. This ensures that the motor in the drive device can provide sufficient drive force to meet various anti-shake requirements, thereby improving the performance of anti-shake control.

[0110] The following is combined Figure 2 The control technology solution disclosed herein will be further illustrated by example.

[0111] Figure 2 Schematic diagrams illustrating some embodiments of the control methods of this disclosure are shown.

[0112] like Figure 2 As shown, Figure 2 The control method shown can be used as Figure 1 An example of the control method shown is implemented. For example, the control method proposed in this disclosure may include one or more of steps S1 to S9.

[0113] Step S1: Based on the measurement signals of the imaging module obtained from the inertial sensor 21 (e.g., accelerometer and gyroscope), determine the first target state signal (e.g., ...). Figure 2 (As shown in the "Target signal").

[0114] Step S2: The first target state signal is input to the phase compensation module 22 for phase compensation processing to obtain the second target state signal (e.g., ...). Figure 2 (As shown in the "Target_pdc signal"). For example, the compensation amount for phase compensation processing is determined based on the response time of the power supply circuit of the drive unit.

[0115] In this way, by using the phase lead of the second target state signal relative to the first target state signal to compensate for the physical delay caused by subsequent signal transmission, the timeliness of control of the drive device is improved, and the control lag is effectively reduced. This, in turn, improves the system's response speed and effectively enhances the performance of anti-shake control.

[0116] Step S3: Input the first target status signal into the delay module 23 for delay processing to obtain the third target status signal.

[0117] Step S4: The second target state signal and the third target state signal are fused by the first fusion processing module 24 to obtain a second fusion result. For example, based on the difference between the second target state signal and the third target state signal, a state error signal (such as...) is determined. Figure 2 (as shown in the “error_pred signal”), and the state error signal is used as the second fusion result.

[0118] Step S5: Input the second fusion result into the first AGC module 28 to obtain the first driving information output by the first AGC module 28 (e.g., Figure 2 (As shown in "drive4"), the second fusion result is input into the PID control module 27 to obtain the first drive information output by the PID control module 27 (such as...). Figure 2 (See "Drive Information drive3" in the document).

[0119] Step S6: Input the second target status signal into the second AGC module 25 to obtain the second drive information output by the second AGC module 25 (e.g., ...). Figure 2 (As shown in "drive1" in the data).

[0120] Step S7: Input the second target state signal into the transfer function processing module 26 to obtain the second driving information output by the transfer function processing module 26 (e.g., ...). Figure 2 (As shown in "drive2" in the document). For example, the transfer function processing module 26 can be configured based on the motor's inverse transfer function.

[0121] Step S8: The second fusion processing module 29 fuses multiple first driving information and multiple second driving information to obtain target driving information. For example, "driving information drive1", "driving information drive2", "driving information drive3" and "driving information drive4" are fused to obtain target driving information.

[0122] In this way, by fusing multiple driving information processed by various algorithms to determine the target driving information for controlling the driving device, the robustness and reliability of the target driving information are improved, thereby enabling accurate driving control of the imaging module and effectively improving the performance of image stabilization control.

[0123] Step S9: Drive the imaging module by controlling the drive device 211 according to the target drive information.

[0124] For example, target driving information could be the driving voltage information required by the driving device to achieve the target displacement corresponding to the target state signal. For example, such as Figure 2 As shown, the driving voltage information is sent to the voltage regulator 210 so that the voltage regulator 210 can provide the driving voltage corresponding to the driving voltage information to the driving device 211. For example, the voltage regulator 210 can be a power management device, which can be an IC with voltage provision and voltage calculation functions, such as a PMIC (Power Management Integrated Circuit).

[0125] In this way, the actual driving force requirements of the motor are dynamically tracked and precisely matched with the corresponding target driving information. Without affecting the performance of the AF system and OIS system, precise adjustment of the driving force is achieved, reducing the overall power consumption of the mobile terminal and extending the service life of various electronic components in the mobile terminal.

[0126] Figure 3 Block diagrams illustrating some embodiments of the control device of this disclosure are shown.

[0127] like Figure 3 As shown, the control device 30 includes a phase compensation module 31 and a determination module 32.

[0128] The phase compensation module 31 can be configured to perform phase compensation processing on the acquired first target state signal of the imaging module to obtain a second target state signal. The phase of the second target state signal leads the phase of the first target state signal.

[0129] The determining module 32 can be configured to determine the target driving information of the driving device of the imaging module based on the second target state signal. The target driving information is used to control the driving device to drive the imaging module.

[0130] In some embodiments, the compensation amount of the phase compensation process is determined based on the response time of the power supply circuit of the drive device.

[0131] In some embodiments, the control device 30 further includes a delay module ( Figure 3 (Not shown). The delay module is configured to delay the first target state signal to obtain a third target state signal, the delay amount being determined according to the type of Hall sensor. The determination module 32 can be configured to determine target driving information based on the second and third target state signals.

[0132] In some embodiments, the control device 30 further includes a plurality of first processing modules ( Figure 3(Not shown). Multiple first processing modules are configured to determine multiple first driving information based on a second target state signal and a third target state signal. Determining module 32 can be configured to perform fusion processing on the multiple first driving information to obtain a first fusion result, and determine target driving information based on the first fusion result.

[0133] In some embodiments, the control device 30 further includes a fusion processing module ( Figure 3 (Not shown). The fusion processing module is configured to perform fusion processing on the second target state signal and the third target state signal to obtain a second fusion result, and input the second fusion result into multiple first processing modules.

[0134] In some embodiments, the plurality of first processing modules include a first AGC module and a PID control module. The first AGC module is configured to output corresponding first driving information based on the input second fusion result. The PID control module is configured to output corresponding first driving information based on the input second fusion result.

[0135] In some embodiments, the fusion processing module is configured to determine a second fusion result based on the difference between the second target state signal and the third target state signal; or to determine the second fusion result based on the weighted average of the second target state signal and the third target state signal.

[0136] In some embodiments, the control device 30 further includes a plurality of second processing modules ( Figure 3 (Not shown). Multiple second processing modules are configured to determine multiple second driving information based on a second target state signal. The determining module 21 can be configured to perform fusion processing on the multiple first driving information and the multiple second driving information to obtain a first fusion result.

[0137] In some embodiments, the plurality of second processing modules include a second AGC module and a transfer function processing module, wherein the transfer function processing module is configured based on the inverse transfer function of the motor in the drive device. The second AGC module is configured to output corresponding second drive information based on a second target state signal. The transfer function processing module is configured to output corresponding second drive information based on the second target state signal.

[0138] In some embodiments, the determining module 32 may be configured to determine a first fusion result based on a weighted average of a plurality of first driving information and a plurality of second driving information.

[0139] In some embodiments, the determining module 32 may be configured to perform fusion processing on multiple second driving information to obtain a third fusion result, and determine the target driving information based on the third fusion result.

[0140] In some embodiments, the phase compensation module 31 can be configured to acquire the measurement signal of the imaging module from the inertial sensor, and acquire the first target state signal based on the measurement signal.

[0141] Figure 4 Block diagrams illustrating other embodiments of the control device of this disclosure are shown.

[0142] Memory 41 is used to store one or more computer-readable instructions. Memory 41 may include any combination of various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory, including but not limited to random access memory (RAM), dynamic random access memory (DRAM), static random access memory (SRAM), read-only memory (ROM), and flash memory. Memory 41 may, for example, store operating systems, application programs, bootloaders, databases, and other programs, as well as various application programs and various data.

[0143] The processor 42 is configured to execute computer-readable instructions to implement the control method described in any of the foregoing embodiments. Specific implementations of each step of the control method can be found in the above embodiments; repeated details will not be elaborated upon here.

[0144] The processor 42 can be configured to execute the steps of the control method in any of the above embodiments. The processor 42 can be various processing devices, such as a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. The central processing unit (CPU) can be an x86 or ARM architecture, etc.

[0145] The processor 42 and the memory 41 can communicate with each other directly or indirectly. For example, the processor 42 and the memory 41 can communicate via a network. The network can include a wireless network, a wired network, and / or any combination of wireless and wired networks. The processor 42 and the memory 41 can also communicate with each other via a system bus, which is not limited in this disclosure.

[0146] It should be noted that Figure 4 The components of the control device 41 shown are merely exemplary and not limiting. The control device 40 may also have other components depending on the specific application requirements. The processor 42 can control other components in the control device 40 to perform desired functions.

[0147] The control device 40 can be implemented by software, firmware and / or hardware, and can be integrated into a device with the relevant application installed.

[0148] Figure 5 Block diagrams illustrating further embodiments of the control device of this disclosure are shown.

[0149] Figure 5 The control device 50 shown can be a computer system with a dedicated hardware structure, which can perform corresponding functions when the relevant application is installed.

[0150] The control device 50 includes, but is not limited to, mobile terminals such as smartphones, laptops, personal digital assistants (PDAs), tablet PCs, portable multimedia players (PMPs), in-vehicle terminals (such as in-vehicle navigation terminals), wearable devices, and fixed terminals such as digital televisions and desktop computers.

[0151] like Figure 5 As shown, the Central Processing Unit (CPU) 51 performs various processes based on a program stored in the Read-Only Memory (ROM) 52 or a program loaded from the storage section 58 into the Random Access Memory (RAM) 53. The RAM 53 stores data required as needed when the CPU 51 performs various processes, etc. The CPU is merely exemplary; it could also be other types of processors, such as the various processors described above. The ROM 52, RAM 53, and storage section 58 can be various forms of computer-readable storage media. It should be noted that although... Figure 5 The diagram shows ROM 52, RAM 53 and storage section 58, but one or more of them may be combined or located in the same or different memory or storage modules.

[0152] CPU 51, ROM 52 and RAM 53 are interconnected via bus 54. Input / output interface 55 is also connected to bus 54.

[0153] The following components are connected to the input / output interface 55: input section 56, such as a touchscreen, touchpad, keyboard, mouse, image sensor, microphone, accelerometer, gyroscope, etc.; output section 57, including displays such as cathode ray tube (CRT), liquid crystal display (LCD), speakers, vibrators, etc.; storage section 58, including hard disks, magnetic tapes, etc.; and communication section 59, including network interface cards such as LAN cards, modems, etc. The communication section 59 allows communication processing via a network such as the Internet. It is easy to understand that, although... Figure 5The portions of the control device 50 shown communicate via bus 54, but they may also communicate via a network or other means, wherein the network may include a wireless network, a wired network, and / or any combination of wireless and wired networks.

[0154] As needed, drive 510 is also connected to input / output interface 55. Removable media 511, such as disks, optical discs, magneto-optical discs, semiconductor memories, etc., are installed on drive 510 as needed, so that computer programs read from them can be installed into storage section 58 as needed.

[0155] When the above series of processes are implemented through software, the program constituting the software can be installed from a network such as the Internet or a storage medium such as a removable medium 511.

[0156] According to embodiments of this disclosure, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, some embodiments of this disclosure include a computer program product that, when run on a computer, causes the computer to implement the control method described in any of the foregoing embodiments. The computer program product includes computer instructions carried on a computer-readable medium, containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer instructions can be downloaded and installed from a network via communication section 59, or installed from storage section 58, or installed from ROM 52. When the computer program is executed by CPU 51, the control method of any embodiment of this disclosure is performed.

[0157] Figure 6 Block diagrams illustrating some embodiments of the control system of this disclosure are shown.

[0158] like Figure 6 As shown, the control system 60 includes a control device 61 (e.g., control device 30 / 40 / 50) according to any of the above embodiments and a drive device 62 electrically connected to the control device 61. The drive device 62 can be configured to drive the imaging module according to target drive information sent by the control device 61.

[0159] In some embodiments, the control system 60 may further include an inertial sensor electrically connected to the control device 61. The inertial sensor is used to output a measurement signal to the imaging module, which is used to acquire a first target state signal.

[0160] Figure 7 Block diagrams illustrating some embodiments of the image acquisition apparatus of this disclosure are shown.

[0161] like Figure 7As shown, the image acquisition device 70 includes: an imaging module 71, which includes an image sensor and a lens module; and a control system 72 in any of the above embodiments, used to control the imaging module 71. For example, the imaging module 71 can be a camera, a webcam, or other similar device.

[0162] Figure 8 Block diagrams illustrating some embodiments of the terminal devices of this disclosure are shown.

[0163] like Figure 8 As shown, the terminal device 80 includes an image acquisition device 81 in any of the above embodiments. The terminal device 80 can be a mobile phone, wearable device, robot, drone, vehicle imaging device, etc.

[0164] According to embodiments of the present disclosure, a chip is provided, including a processing circuit for executing instructions to cause the chip to perform a control method according to any embodiment of the present disclosure.

[0165] It should be noted that, in the context of this disclosure, a computer-readable medium can be a tangible medium that may contain or store programs for use by or in conjunction with an instruction execution system, apparatus, or device.

[0166] A computer-readable medium may be a computer-readable storage medium, a computer-readable signal medium, or any combination thereof.

[0167] Computer-readable storage media include, but are not limited to, systems, apparatuses, or devices that are electrical, magnetic, optical, electromagnetic, infrared, or semiconductor, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to, electrical connections having one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. In this disclosure, a computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. Computer instructions are stored on the computer-readable storage medium that, when executed by a processor, implement the control method described in any of the foregoing embodiments.

[0168] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media may also be any computer-readable medium other than computer-readable storage media, capable of sending, propagating, or transmitting programs for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium may be transmitted using any suitable medium, including but not limited to: wires, optical fibers, RF (radio frequency), etc., or any suitable combination thereof.

[0169] The aforementioned computer-readable medium may be included in the aforementioned electronic device; or it may exist independently and not assembled into the electronic device.

[0170] In some embodiments, a computer program is also provided, comprising: instructions that, when executed by a processor, cause the processor to perform the control method described in any of the foregoing embodiments. For example, the instructions may be embodied in computer program code.

[0171] In embodiments of this disclosure, computer program code for performing the operations of this disclosure can be written in one or more programming languages ​​or a combination thereof. These programming languages ​​include, but are not limited to, object-oriented programming languages ​​such as Java, Smalltalk, and C++, as well as conventional procedural programming languages ​​such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network (including a local area network (LAN) or a wide area network (WAN)), or it can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0172] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this disclosure. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0173] The functions described above can be performed, at least in part, by one or more hardware logic components. For example, without limitation, exemplary hardware logic components that can be used include: Field Programmable Gate Arrays (FPGAs), Application-Specific Integrated Circuits (ASICs), Application Standard Products (ASSPs), System-on-Chip (SoCs), Complex Programmable Logic Devices (CPLDs), and so on.

[0174] While specific embodiments of this disclosure have been described in detail by way of example, those skilled in the art should understand that the examples are for illustrative purposes only and not intended to limit the scope of this disclosure. Those skilled in the art should understand that modifications can be made to the above embodiments without departing from the scope and spirit of this disclosure. The scope of this disclosure is defined by the appended claims.

Claims

1. A control method, comprising: Phase compensation processing is performed on the first target state signal acquired by the imaging module to obtain a second target state signal, wherein the phase of the second target state signal leads the phase of the first target state signal. Based on the second target state signal, target driving information of the driving device of the imaging module is determined, and the target driving information is used to control the driving device to drive the imaging module.

2. The control method according to claim 1, wherein, The step of determining the target driving information of the lens module driving device based on the second target state signal includes: The first target state signal is delayed to obtain the third target state signal, and the delay amount is determined according to the type of Hall sensor. The target driving information is determined based on the second target state signal and the third target state signal.

3. The control method according to claim 2, wherein, Determining the target driving information based on the second target state signal and the third target state signal includes: Based on the second target state signal and the third target state signal, multiple first driving information is determined using multiple first processing modules; The multiple first driving information are fused to obtain a first fusion result; Based on the first fusion result, the target driving information is determined.

4. The control method according to claim 3, wherein, The plurality of first processing modules include a first automatic gain control (AGC) module and a proportional-integral-derivative (PID) control module. The step of determining multiple first driving information using multiple first processing modules based on the second target state signal and the third target state signal includes: The second target state signal and the third target state signal are fused to obtain a second fusion result; The second fusion result is input into the first AGC module to obtain the first driving information output by the first AGC module; The second fusion result is input into the PID control module to obtain the first drive information output by the PID control module.

5. The control method according to claim 4, wherein, The process of fusing the second target state signal and the third target state signal to obtain a second fusion result includes: The second fusion result is determined based on the difference between the second target state signal and the third target state signal; or The second fusion result is determined based on the weighted average of the second target state signal and the third target state signal.

6. The control method according to claim 3, wherein, The process of fusing the plurality of first driving information to obtain a first fusion result includes: Based on the second target state signal, multiple second driving information is determined using multiple second processing modules; The plurality of first driving information and the plurality of second driving information are fused to obtain the first fusion result.

7. The control method according to claim 6, wherein, The plurality of second processing modules include a second AGC module and a transfer function processing module, wherein the transfer function processing module is configured based on the inverse transfer function of the motor in the drive device. The step of determining multiple second driving information using multiple second processing modules based on the second target state signal includes: The second target status signal is input into the second AGC module to obtain the second drive information output by the second AGC module; The second target state signal is input into the transfer function processing module to obtain the second driving information output by the transfer function processing module.

8. The control method according to claim 6, wherein, The process of fusing the plurality of first driving information and the plurality of second driving information to obtain the first fusion result includes: The first fusion result is determined based on the weighted average of the plurality of first driving information and the plurality of second driving information.

9. The control method according to any one of claims 1-8, wherein, The step of determining the target driving information of the imaging module's driving device based on the second target state signal includes: Based on the second target state signal, multiple second driving information is determined using multiple second processing modules, wherein the multiple second processing modules include a second AGC module and a transfer function processing module, and the transfer function processing module is configured based on the inverse transfer function of the motor in the driving device; The multiple second driving information are fused to obtain a third fusion result; Based on the third fusion result, the target driving information is determined.

10. The control method according to any one of claims 1-8, wherein, The phase compensation processing of the acquired first target state signal from the imaging module includes: Acquire the measurement signals of the imaging module from the inertial sensor; The first target state signal is obtained based on the measurement signal.

11. The control method according to any one of claims 1-8, wherein the compensation amount of the phase compensation process is determined based on the response time of the power supply circuit of the drive device.

12. A control device, comprising: The phase compensation module is configured to perform phase compensation processing on the acquired first target state signal of the imaging module to obtain a second target state signal, wherein the phase of the second target state signal leads the phase of the first target state signal. The determining module is configured to determine the target driving information of the driving device of the imaging module based on the second target state signal, wherein the target driving information is used to control the driving device to drive the imaging module.

13. A control device, comprising: Memory; and A processor coupled to the memory, the processor being configured to execute the control method of any one of claims 1-11 based on instructions stored in the memory.

14. A control system, comprising: The control device according to claim 12 or 13; The driving device, which is electrically connected to the control device, is used to drive the imaging module according to the target driving information sent by the control device.

15. The control system according to claim 14, further comprising: An inertial sensor electrically connected to the control device is used to output a measurement signal for the imaging module, and the measurement signal is used to acquire a first target state signal.

16. An image acquisition device, comprising: Imaging module, including image sensor and lens module; The control system according to claim 14 or 15 is used to control the imaging module.

17. A terminal device, comprising: The image acquisition device according to claim 16.

18. A computer-readable storage medium having stored thereon computer instructions that, when executed by a processor, implement the control method according to any one of claims 1-11.

19. A computer program product comprising instructions that, when executed by a processor, cause the processor to perform the control method according to any one of claims 1-11.

20. A chip including processing circuitry, the processing circuitry being configured to execute instructions to cause the chip to perform the control method according to any one of claims 1-11.

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