Focusing method, imaging device, and unmanned aerial vehicle

1. A focusing method, comprising:

determining a present position of a lens based on information relating to a stroke of a driving device, the driving device being configured to drive the lens to move,

determining an initial search direction based on a present position of the lens, including: determining the initial search direction based on a relationship between the present position of the lens and a reference position; and

controlling the lens to perform a focusing process in the initial search direction.

2. The focusing method of claim 1 , further comprising:

determining the reference position based on at least one of predetermined information relating to the reference position, a focal length of the lens, or a relationship between the focal length, an object distance, and an image distance of the lens.

3. The focusing method of claim 2 , wherein a number of the reference position is one or more than one.

4. The focusing method of claim 3 ,

wherein the number of the reference position is one,

wherein a difference between a first object distance and a second object distance corresponding to the lens at the reference position is smaller than or equal to a first predetermined value,

wherein the second object distance is an object distance corresponding to a focusing position of the lens in a proximal range,

wherein an object distance corresponding to the lens at an initial focusing position is infinity, and

wherein a distance between the focusing position in the proximal range and the initial focusing position equals to a total stroke of the lens.

5. The focusing method of claim 4 , wherein determining the initial search direction based on the relationship between the present position of the lens and the reference position comprises:

when determining that the present position is on a first side of the reference position, determining the initial search direction as a first direction,

wherein the first side of the reference position is a side that is adjacent the initial focusing position, and the first direction is a direction in which the initial focusing position points to the reference position.

6. The focusing method of claim 5 , wherein controlling the lens to perform the focusing process in the initial search direction comprises:

controlling the lens to move to the initial focusing position; and

controlling the lens to perform the focusing process in the initial search direction starting from the initial focusing position.

7. The focusing method of claim 5 , wherein determining the initial search direction based on the relationship between the present position of the lens and the reference position comprises:

when determining that the present position is on a second side of the reference position, determining the initial search direction as a second direction,

wherein the second side of the reference position is a side that is distant from the initial focusing position, and

wherein the second direction is a direction in which the reference position points to the initial focusing position.

8. The focusing method of claim 7 , wherein controlling the lens to perform the focusing process in the initial search direction comprises:

controlling the lens to perform the focusing process in the initial search direction starting from the present position.

9. The focusing method of claim 4 , wherein the total stroke of the lens is four times of a distance between the reference position and the initial focusing position.

10. The focusing method of claim 1 , further comprising:

prior to determining the initial search direction based on the present position of the lens, determining that an object distance between the object of imaging and the lens is greater than or equal to a second predetermined value.

11. An imaging device, comprising:

an imaging assembly; and

a processor,

wherein the imaging assembly comprises a lens, and

wherein the processor is configured to:

determine the present position of the lens based on information relating to a stroke of a driving device, the driving device being configured to drive the lens to move;

determine an initial search direction based on a present position of the lens based on a relationship between the present position of the lens and a reference position; and

control the lens to perform a focusing process in the initial search direction.

12. The imaging device of claim 11 , wherein the processor is further configured to:

determine the reference position based on at least one of predetermined information relating to the reference position, a focal length of the lens, or a relationship between the focal length, an object distance, and an image distance.

13. The imaging device of claim 12 , wherein a number of the reference position is one or more than one.

14. The imaging device of claim 13 ,

wherein the number of the reference position is one,

wherein a difference between a first object distance and a second object distance corresponding to the lens at the reference position is smaller than or equal to a first predetermined value,

wherein the second object distance is an object distance corresponding to a focusing position of the lens in a proximal range,

wherein an object distance corresponding to the lens at an initial focusing position is infinity, and

wherein a distance between the focusing position in the proximal range and the initial focusing position equals to a total stroke of the lens.

15. The imaging device of claim 14 , wherein the processor is further configured to:

when determining that the present position is on a first side of the reference position, determine the initial search direction as a first direction,

wherein the first side of the reference position is a side that is adjacent the initial focusing position, and the first direction is a direction in which the initial focusing position points to the reference position.

16. The imaging device of claim 15 , wherein the processor is further configured to:

control the lens to move to the initial focusing position; and

control the lens to perform the focusing process in the initial search direction starting from the initial focusing position.

17. The imaging device of claim 14 , wherein the processor is further configured to:

when determining that the present position is on a second side of the reference position, determine the initial search direction as a second direction,

wherein the second side of the reference position is a side that is distant from the initial focusing position, and

wherein the second direction is a direction in which the reference position points to the initial focusing position.

18. The imaging device of claim 17 , wherein the processor is further configured to:

control the lens to perform the focusing process in the initial search direction starting from the present position.

19. The imaging device of claim 14 ,

wherein the total stroke of the lens is four times of a distance between the reference position and the initial focusing position, and

wherein prior to determining the initial search direction based on the present position of the lens, the processor is further configured to:

determine that an object distance between the object of imaging and the lens is greater than or equal to a second predetermined value.