CN103841336B - Imaging device and shutter control method thereof - Google Patents
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Abstract
The present embodiments relate to technical field of imaging, disclose a kind of imaging device and shutter control method thereof.Wherein, this imaging device includes: vibration perception unit, analytic unit, computing unit and shutter control unit, and wherein, described vibration perception unit carries out perception to the vibrational state of described imaging device, obtains the vibration information of described imaging device；Described analytic unit carries out spectrum analysis to described vibration information, obtains the vibration period of principal oscillation in the vibration of described imaging device and phase information；Described computing unit calculates optimum exposure time point according to vibration period and the phase information of described principal oscillation；Described optimum exposure time point is the time point that angular displacement be minima total in predetermined exposure time so that described principal oscillation；Described shutter control unit is after receiving shooting instruction, and the shutter controlling described imaging device was opened within the time that the deviation value with described optimum exposure time point is less than preset range.Implement the embodiment of the present invention, the impact on image quality can be reduced.
Description
Technical field
The present invention relates to technical field of imaging, be specifically related to a kind of imaging device and shutter control method thereof.
Background technology
When imaging device (such as camera/camcorder) is loaded on non-static carrier, such as aircraft, automobile
Or personnel hand-held time, carrier all can occur vibration in various degree, cause the photo of shooting occur fuzzy or
Person distorts thus affects image quality.And causing the reason of this impact to be, the optical axis of imaging device can be by
Deflecting in vibration, in whole exposure process, the picture on sensor or egative film there occurs change (mould
Stick with paste, distortion), thus finally have impact on image quality.
In order to obtain more preferable image quality, imaging device should avoid vibration as far as possible, in prior art,
Following several schemes are generally used to overcome the vibration impact on image quality:
Scheme 1, buffer unit is installed between imaging device and carrier it is delivered to imaging from carrier sets to reduce
Standby upper vibration；
Scheme 2, imaging device is arranged on a platform with Active Compensation function, utilizes platform
Motion supplements the vibration of carrier；
Scheme 3, the time of exposure of reduction imaging device, thus reduce the vibration impact on image quality.
Vibration damping scheme of the prior art all also exists bigger limitation；The buffering effect of scheme 1 has
Limit, when carrier Oscillation Amplitude is bigger, is difficult to play effective effect；Scheme 2 needs extra active to mend
Repaying platform, its weight is big, cost is high, can not be fully solved vibration problem simultaneously；In scheme 3 during exposure
Between reduce after, the light intensity of absorption also can decline, if improving light by increasing aperture or light sensitivitys
Line strength, can cause again the depth of field to diminish or the increase of imaging noise, affect image quality equally, and
The impact of vibration can not be overcome completely.
In sum, all there is the shortcoming being difficult to overcome in various vibration damping schemes of the prior art, and vibration damping is imitated
The most unsatisfactory.
Summary of the invention
Embodiment of the present invention technical problem to be solved is to provide a kind of imaging device and shutter control side thereof
Method, for reducing the impact vibrating the image quality on imaging device.
The embodiment of the present invention provides a kind of imaging device, including: vibration perception unit, analytic unit, meter
Calculate unit and shutter control unit, wherein, the vibration to described imaging device of the described vibration perception unit
State carries out perception, obtains the vibration information of described imaging device；Described analytic unit is to described vibration letter
Breath carries out spectrum analysis, obtains the vibration period of principal oscillation in the vibration of described imaging device and phase information,
Wherein said principal oscillation includes the vibration that in described vibration, amplitude is maximum；Described computing unit is according to described master
The vibration period of vibration and phase information calculate optimum exposure time point, wherein said optimum exposure time point
For making the time point that angular displacement is minima total in predetermined exposure time of described principal oscillation；Described
Shutter control unit after receiving shooting instruction, control the shutter of described imaging device with described optimum
The deviation value of exposure time point is opened less than in the time of preset range.
Preferably, one or more vibrations that during described principal oscillation also includes described vibration, amplitude time is big.
Preferably, described vibration perception unit includes Inertial Measurement Unit.
Preferably, described vibration information includes the vibration information of optical axis angle of described imaging device.
Preferably, described preset range is 0.05 times of vibration period of 0 or described principal oscillation.
Accordingly, the embodiment of the present invention also provides for the shutter control method of a kind of imaging device, including:
The vibrational state of described imaging device is carried out perception, obtains the vibration information of described imaging device；
Described vibration information is carried out spectrum analysis, obtains shaking of the principal oscillation in the vibration of described imaging device
Dynamic cycle and phase information, wherein said principal oscillation includes the vibration that in described vibration, amplitude is maximum；
Vibration period and phase information according to described principal oscillation calculate optimum exposure time point, wherein said
Optimum exposure time point is so that the angular displacement that described principal oscillation is total in predetermined exposure time is minima
Time point；
After receiving shooting instruction, control the shutter of described imaging device with described optimum time of exposure
The deviation value of point is opened less than in the time of preset range.
Preferably, one or more vibrations that during described principal oscillation also includes described vibration, amplitude time is big.
Preferably, the described vibrational state to described imaging device carries out perception, obtains described imaging device
Vibration information include:
Utilize Inertial Measurement Unit that the vibrational state of described imaging device is carried out perception, obtain described imaging
The vibration information of equipment.
Preferably, the described vibrational state to described imaging device carries out perception, obtains described imaging device
Vibration information include:
Utilize described Inertial Measurement Unit that the vibrational state of described imaging device carries out perception, obtain described
The vibration information of imaging device optical axis angle.
Preferably, described preset range is 0.05 times of vibration period of 0 or described principal oscillation.
The imaging device provided in the embodiment of the present invention and control method thereof, by obtaining imaging device self
Vibration information, self vibration information is carried out spectrum analysis and obtains vibration period and the phase place of principal oscillation
Etc. information, such that it is able to be calculated so that principal oscillation angular displacement in predetermined exposure duration is minima
Optimum exposure time point, imaging device, after the shooting instruction receiving user's input, is opened the most immediately
Shutter, but open shutter near above-mentioned optimum exposure time point, imaging in exposure time can be made
The Oscillation Amplitude of equipment is less, thus improves the image quality of imaging device.Therefore the present embodiment provides
Imaging device can significantly reduce the vibration impact on image quality, and have low cost, volume little,
The advantage such as lightweight, applied widely, overcomes the limitation of various schemes in prior art.
Accompanying drawing explanation
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to reality
Execute the required accompanying drawing used in example to be briefly described, it should be apparent that, the accompanying drawing in describing below is only
It is only some embodiments of the present invention, for those of ordinary skill in the art, is not paying creativeness
On the premise of work, it is also possible to obtain other accompanying drawing according to these accompanying drawings.
Fig. 1 is the structural representation of a kind of imaging device that the embodiment of the present invention provides；
Fig. 2 is angular displacement and the waveform diagram of angular velocity in the embodiment of the present invention；
Fig. 3 is the schematic flow sheet of the shutter control method of a kind of imaging device that the embodiment of the present invention provides.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clearly
Chu, it is fully described by, it is clear that described embodiment is only a part of embodiment of the present invention, and not
It it is whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art are not making
The every other embodiment obtained under creative work premise, broadly falls into the scope of protection of the invention.
The embodiment of the present invention provides a kind of imaging device and shutter control method thereof, is used for reducing and shakes
The impact of the dynamic image quality on imaging device.It is described in detail individually below.
Embodiment one:
The embodiment of the present invention provides a kind of imaging device, as it is shown in figure 1, this imaging device may include that
Vibration perception unit 101, analytic unit 102, computing unit 103 and shutter control unit 104, its
In,
Vibration perception unit 101 carries out perception to the vibrational state of above-mentioned imaging device, obtains above-mentioned imaging and sets
Standby vibration information.
Analytic unit 102 carries out spectrum analysis to above-mentioned vibration information, obtains in the vibration of above-mentioned imaging device
The vibration period of principal oscillation and phase information.
Computing unit 103 calculates optimum time of exposure according to vibration period and the phase information of above-mentioned principal oscillation
Point, the most above-mentioned optimum exposure time point is the angle total in predetermined exposure time so that above-mentioned principal oscillation
Displacement is the time point of minima.
Shutter control unit 104 after receiving shooting instruction, control the shutter of above-mentioned imaging device with
The deviation value of above-mentioned optimum exposure time point is opened less than in the time of preset range.
The imaging device that the present embodiment provides can obtain the vibration information of self, the vibration information to self
Carry out the information such as the spectrum analysis vibration period and the phase place that obtain principal oscillation, such that it is able to be calculated so that
Principal oscillation angular displacement in predetermined exposure duration is the optimum exposure time point of minima, and imaging device is connecing
After receiving the shooting instruction of user's input, shutter can be opened the most immediately, but in above-mentioned optimum exposure
Open shutter near time point, the Oscillation Amplitude of imaging device in exposure time can be made less, thus
Improve the image quality of imaging device.
The imaging device that the present embodiment provides can significantly reduce the vibration impact on image quality, and has
There are the advantages such as low cost, volume are little, lightweight, overcome the limitation of various schemes in prior art.
For example, above-mentioned vibration perception unit 101 can include Inertial Measurement Unit (IMU, Inertial
Measurement unit), IMU can be rigidly connected with the main body (such as housing) of imaging device, or solid
Dingan County is loaded on the inside of imaging device, to gather the vibration information of imaging device.
For example, typical IMU can comprise accelerometer and the gyroscope of three single shafts of three single shafts,
Accelerometer can detect the imaging device acceleration signal at independent three axles of coordinate system, and gyroscope can be examined
Survey imaging device relative to the angular velocity signal of navigational coordinate system, obtain imaging device in three dimensions
The information such as angular velocity and acceleration, the concrete grammar utilizing IMU to gather vibration information belongs to prior art,
Do not repeat them here.
Certainly vibration perception unit 101 can also can perception export imaging device vibration information by other
Unit constitute, do not make concrete restriction at this.
For example, it is the deflection feelings of optical axis of imaging device owing to image quality to be caused directly affect
Condition, the vibration information that above-mentioned vibration perception unit 101 provides can be shaking of the optical axis angle of imaging device
Shaking of dynamic information, certain imaging device other parts or the vibration information of other form and above-mentioned optical axis angle
Dynamic information is of equal value.
Analytic unit 102 can carry out spectrum analysis to the vibration of imaging device, by the vibration of imaging device
It is decomposed into the superposition of multiple different vibration, it is clear that in above-mentioned multiple different vibrations, the vibration that amplitude is maximum
Impact on imaging device is maximum, it is therefore preferred that above-mentioned principal oscillation can include above-mentioned multiple difference
The vibration that in vibration, amplitude is maximum；In order to improve image quality further, above-mentioned principal oscillation can also be wrapped
Including one or more vibrations that in above-mentioned multiple different vibrations, amplitude time is big, now, principal oscillation can be amplitude
Maximum vibration and the superposition of the secondary big one or more vibrations of amplitude.
Spectrum analysis is that the signal of vibration is decomposed by the method utilizing Fourier transformation, and suitable by frequency
Sequence is launched, and obtains the signal analysis method of its amplitude spectrum and phase spectrum, and its concrete operation principle belongs to existing
There is technology, do not repeat them here.
It is said that in general, when shooting, exposure time T0 is user pre-set (such as 0.01 second
Deng), the optical axis amount of deflection making imaging device in predetermined exposure duration T0 is minimum, is the most i.e. intended to
The angular displacement making predetermined exposure duration T0 internal vibration total is minimum.
Only include as a example by the vibration that amplitude is maximum by above-mentioned principal oscillation, it is assumed that this principal oscillation is simple harmonic oscillation,
Its vibration displacement formula can be: x (t)=Asin (2 π f*t), corresponding angular displacement formula can be: θ
T wherein, x (t) represents vibration displacement to ()=π sin (2 π f*t), and θ (t) represents angular displacement, and A represents amplitude, f table
Showing frequency, its cycle T=1/f, the angular velocity of this vibration is: ω (t)=2 π2F sin (2 π f*t+ pi/2), its angle
Displacement waveform (solid line) and angular velocity waveform (dotted line) as in figure 2 it is shown, from figure 2 it can be seen that
In phase place, pi/2 has been differed between angular velocity and angular displacement.
In predetermined exposure time T0, total angular displacement of principal oscillation isWherein t1 represents
In the starting point moment of exposure time T0, t2 represents the finish time of exposure time T0, according to simple harmonic oscillation
Rule understands, and when angular velocity is close to 0, its angular displacement within the unit interval also can tend to minima,
If including the moment that angular velocity is 0 in i.e. exposure time T0, total angular displacement can be made to tend to minimum,
NowAssume cycle and the phase information according to principal oscillation
Determine that t3 moment angular velocity of vibration is equal to 0, then angular displacement total in making exposure time T0 minimizes
The t1 moment (optimum exposure time point) of value is t1=t3-T0/2, accordingly, t2=t3+T0/2, is i.e. to expose
When the start time t1 and finish time t2 of light duration is relative to t3 moment symmetry, at exposure time T0
Total angular displacement of interior principal oscillation can minimize value.
In the present embodiment, exposure start time t1(shutter can be opened the moment) it is limited to optimum exposure
This moment of time point t3-T0/2 obtains the image that image quality is optimal, making a reservation for of the most above-mentioned deviation value
Scope is 0.Consider from another point of view, if exposure start time t1(shutter is opened the moment) essence
Fidelity is scheduled on optimum this moment of exposure time point t3-T0/2, although so that the angular displacement that principal oscillation is total
Minimize value, it is thus achieved that the image that image quality is best, but to imaging device requirement in control accuracy
May be the highest, the relatively costly of imaging device can be made, from cost-effective upper consideration, it is possible to exposure opened
In the range of beginning moment t1 is limited near t3-T0/2, so for imaging device in control accuracy
On requirement can be relatively low, but still the preferable image quality of quality can be obtained.
Accordingly, be i.e. shutter control unit 104 can by exposure start time control [t3-T0/2-Δ t,
T3-T0/2+ Δ t] in the range of, Δ t is i.e. the preset range of the deviation value that can tolerate, can be by this area skill
Art personnel suitably arranged, such as but not limited to the vibration period T that Δ t is set to principal oscillation
0.05 times, i.e. Δ t=0.05T, the occurrence of Δ t can be according to the requirement of image quality and cost control etc.
Because the most suitably arranging (such as 0.01T), its occurrence is not limited at this.
Preferably, it is possible to the imaging device provided by the present embodiment and vibration damping scheme of the prior art combine
Use, thus play more preferably effectiveness in vibration suppression.
Embodiment two:
The embodiment of the present invention also provides for the shutter control method of a kind of imaging device, as it is shown on figure 3, the party
Method may include that
301, the vibrational state of above-mentioned imaging device is carried out perception, obtain the vibration letter of above-mentioned imaging device
Breath.
For example, it is possible to use the vibrational state of above-mentioned imaging device is entered by Inertial Measurement Unit IMU
Row perception, to obtain the vibration information of above-mentioned imaging device.
The vibration information that Inertial Measurement Unit obtains can include the vibration information of imaging device optical axis angle.
302, above-mentioned vibration information is carried out spectrum analysis, obtain the principal oscillation in the vibration of above-mentioned imaging device
Vibration period and phase information, the most above-mentioned principal oscillation includes the vibration that amplitude in above-mentioned vibration is maximum；
For example, spectrum analysis can be performed by the processor of imaging device, the side of concrete spectrum analysis
Owned by France in prior art, do not repeat them here.
303, vibration period and phase information according to above-mentioned principal oscillation calculate optimum exposure time point；Above-mentioned
Optimum exposure time point is so that the angular displacement that above-mentioned principal oscillation is total in predetermined exposure time is minima
Time point.
For example, the calculating of optimum exposure time point also can be performed by the processor of imaging device.
304, after receiving shooting instruction, the shutter controlling above-mentioned imaging device is exposing with above-mentioned optimum
The deviation value of time point is opened less than in the time of preset range.
The shutter control method of the imaging device that the present embodiment provides, can obtain shaking of imaging device self
Dynamic information, carries out spectrum analysis and obtains vibration period and the phase information of principal oscillation vibration information, thus
The optimum time of exposure so that principal oscillation angular displacement in predetermined exposure duration is minima can be calculated
Point, after the shooting instruction receiving user's input, can open shutter the most immediately, but above-mentioned
Open shutter near optimum exposure time point, can make in exposure time the Oscillation Amplitude of imaging device relatively
Little, thus improve the image quality of imaging device.
The shutter control method of the imaging device that the present embodiment provides can significantly reduce vibration to image quality
Impact, and there is low cost, the advantage such as applied widely, overcome various schemes in prior art
Limitation.
The vibration decomposition of imaging device can be multiple different superpositions vibrated by spectrum analysis, it is clear that upper
Stating in multiple different vibration, it is maximum that what amplitude was maximum vibrates the impact on imaging device, it is therefore preferred that
Above-mentioned principal oscillation can include the vibration that in above-mentioned multiple different vibrations, amplitude is maximum；In order to carry further
High imaging quality, above-mentioned principal oscillation can also include that in above-mentioned multiple different vibrations, amplitude time is big one or
Multiple vibrations, now, principal oscillation can be vibration and the secondary big one or more vibrations of amplitude of amplitude maximum
Superposition.
Specifically, above-mentioned 303 may include that
Cycle according to principal oscillation and phase information determine the angular velocity of principal oscillation for 0 moment t3.
Preferably, t3 can be distance receive shooting instruct a nearest angular velocity be the moment of 0.
Being determined that above-mentioned optimum exposure time point is t3-T0/2 by above-mentioned t3, wherein, T0 represents predetermined exposure
Light duration.
In the present embodiment, exposure start time t1(shutter can be opened the moment) it is limited to optimum exposure
This moment of time point t3-T0/2 obtains the image that image quality is optimal, making a reservation for of the most above-mentioned deviation value
Scope is 0.Consider from another point of view, if exposure start time t1(shutter is opened the moment) essence
Fidelity is scheduled on optimum this moment of exposure time point t3-T0/2, although so that the angular displacement that principal oscillation is total
Minimize value, it is thus achieved that the image that image quality is best, but to imaging device requirement in control accuracy
May be the highest, the relatively costly of imaging device can be made, from cost-effective upper consideration, it is possible to exposure opened
In the range of beginning moment t1 is limited near t3-T0/2, so for imaging device in control accuracy
On requirement can be relatively low, but still the preferable image quality of quality can be obtained.
Accordingly, it is i.e. exposure start time t1 can be controlled at [t3-T0/2-Δ t, t3-T0/2+ Δ t] model
In enclosing, Δ t is i.e. the preset range of the deviation value that can tolerate, can be closed by those skilled in the art
Suitable setting, such as but not limited to 0.05 times of the vibration period T that Δ t is set to principal oscillation, i.e.
Δ t=0.05T, the occurrence of Δ t can according to the requirement of image quality and cost control etc. because usually carrying out
Suitably arrange, its occurrence is not limited at this.
Preferably, it is possible to the control method of the imaging device that the present embodiment is provided and of the prior art subtract
Scheme of shaking is used in combination, thus plays more preferably effectiveness in vibration suppression.
It should be noted that various embodiments above belongs to same inventive concept, the description of each embodiment is each
Have and stress, the most detailed part described in the separate embodiment, refer to the description in other embodiments.
Term in description and claims of this specification and above-mentioned accompanying drawing " includes " and " having "
And their any deformation, it is intended that cover non-exclusive comprising, such as, contain a series of step
Rapid or the process of unit, method, system, product or equipment are not necessarily limited to those steps clearly listed
Or unit, but can include the most clearly listing or for these processes, method, product or equipment
Other intrinsic step or unit.
One of ordinary skill in the art will appreciate that all or part of step in the various methods of above-described embodiment
Suddenly the program that can be by completes to instruct relevant hardware, and this program can be stored in a computer can
Reading in storage medium, storage medium may include that flash disk, read only memory (Read-Only
Memory, ROM), random access device (Random Access Memory, RAM), disk or
CD etc..
The imaging device provided the embodiment of the present invention above and shutter control method thereof have carried out detailed Jie
Continuing, principle and the embodiment of the present invention are set forth by specific case used herein, above reality
The explanation executing example is only intended to help to understand method and the core concept thereof of the present invention；Simultaneously for ability
The those skilled in the art in territory, according to the thought of the present invention, the most all can
Change part, and in sum, this specification content should not be construed as limitation of the present invention.
Claims (10)
1. an imaging device, it is characterised in that including: vibration perception unit, analytic unit, calculating
Unit and shutter control unit, wherein,
Described vibration perception unit carries out perception to the vibrational state of described imaging device, obtains described imaging
The vibration information of equipment；
Described analytic unit carries out spectrum analysis to described vibration information, obtains in the vibration of described imaging device
Vibration period of principal oscillation and phase information, wherein said principal oscillation includes that in described vibration, amplitude is maximum
Vibration；
Described computing unit calculates optimum time of exposure according to vibration period and the phase information of described principal oscillation
Point, wherein said optimum exposure time point is the angle total in predetermined exposure time so that described principal oscillation
Displacement is the time point of minima；
Described shutter control unit after receiving shooting instruction, control the shutter of described imaging device with
The deviation value of described optimum exposure time point is opened less than in the time of preset range.
Imaging device the most according to claim 1, it is characterised in that described principal oscillation also includes institute
State one or more vibrations that in vibration, amplitude time is big.
Imaging device the most according to claim 1, it is characterised in that described vibration perception unit bag
Include Inertial Measurement Unit.
Imaging device the most according to claim 3, it is characterised in that described vibration information includes institute
State the vibration information of the optical axis angle of imaging device.
5. according to the imaging device described in any one of claim 1-4, it is characterised in that described preset range
It is 0 to 0.05 times of vibration period of described principal oscillation.
6. the shutter control method of an imaging device, it is characterised in that including:
The vibrational state of described imaging device is carried out perception, obtains the vibration information of described imaging device；
Described vibration information is carried out spectrum analysis, obtains shaking of the principal oscillation in the vibration of described imaging device
Dynamic cycle and phase information, wherein said principal oscillation includes the vibration that in described vibration, amplitude is maximum；
Vibration period and phase information according to described principal oscillation calculate optimum exposure time point, wherein said
Optimum exposure time point is so that the angular displacement that described principal oscillation is total in predetermined exposure time is minima
Time point；
After receiving shooting instruction, control the shutter of described imaging device with described optimum time of exposure
The deviation value of point is opened less than in the time of preset range.
7. require the method described in 6 according to claim, it is characterised in that described principal oscillation also includes institute
State one or more vibrations that in vibration, amplitude time is big.
Method the most according to claim 6, it is characterised in that described described imaging device is shaken
Dynamic state carries out perception, and the vibration information obtaining described imaging device includes:
Utilize Inertial Measurement Unit that the vibrational state of described imaging device is carried out perception, obtain described imaging
The vibration information of equipment.
Method the most according to claim 8, it is characterised in that described to described imaging device
Vibrational state carries out perception, and the vibration information obtaining described imaging device includes:
Utilize described Inertial Measurement Unit that the vibrational state of described imaging device carries out perception, obtain described
The vibration information of imaging device optical axis angle.
10. according to the method described in any one of claim 6-9, it is characterised in that described preset range is
0 to 0.05 times of vibration period of described principal oscillation.
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| CN104506779B (en) * | 2014-12-24 | 2018-11-13 | 浙江宇视科技有限公司 | A kind of traffic lights color antidote and picture pick-up device |
| CN107315340A (en) * | 2017-05-27 | 2017-11-03 | 中国科学院上海技术物理研究所 | It is a kind of that the steady as device and control method of feedback is measured based on micro electromechanical IMU |
| CN109076157B (en) * | 2017-12-26 | 2021-05-11 | 深圳市大疆创新科技有限公司 | Image processing method, apparatus and machine-readable storage medium |
| CN114449164B (en) * | 2021-12-27 | 2023-07-18 | 广州极飞科技股份有限公司 | Photographing method and device, unmanned equipment and storage medium |
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