CN108174079A - A kind of twin shaft stabilization camera module and its control method - Google Patents
A kind of twin shaft stabilization camera module and its control method Download PDFInfo
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- CN108174079A CN108174079A CN201810215637.0A CN201810215637A CN108174079A CN 108174079 A CN108174079 A CN 108174079A CN 201810215637 A CN201810215637 A CN 201810215637A CN 108174079 A CN108174079 A CN 108174079A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/50—Constructional details
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/50—Constructional details
- H04N23/54—Mounting of pick-up tubes, electronic image sensors, deviation or focusing coils
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/68—Control of cameras or camera modules for stable pick-up of the scene, e.g. compensating for camera body vibrations
- H04N23/681—Motion detection
- H04N23/6812—Motion detection based on additional sensors, e.g. acceleration sensors
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/68—Control of cameras or camera modules for stable pick-up of the scene, e.g. compensating for camera body vibrations
- H04N23/682—Vibration or motion blur correction
- H04N23/685—Vibration or motion blur correction performed by mechanical compensation
- H04N23/687—Vibration or motion blur correction performed by mechanical compensation by shifting the lens or sensor position
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- Engineering & Computer Science (AREA)
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- Signal Processing (AREA)
- Adjustment Of Camera Lenses (AREA)
- Studio Devices (AREA)
Abstract
The invention discloses a kind of twin shaft stabilization camera modules, including deflection structure combination, camera module and stability contorting combination, the deflection structure combination includes shell, upper elastic support, lower elastic support, coil and permanent magnet, on camera module insertion upper elastic support and lower elastic support, it is suspended in shell, coil is installed on camera module outer wall, and permanent magnet is set on outer casing inner wall corresponding with coil position；Connection is combined with stability contorting in the bottom of camera module.The invention also discloses a kind of control methods of twin shaft stabilization camera module, utilize the biaxial movement angular speed of inertial sensor perceptual image sensor；Driving output quantity is obtained by running feedback control algorithm；And driving coil, imaging sensor deflection is driven, while capture image data information, carry out data processing and export.The present invention is compact-sized, appearance is compact, of low cost, firm reliable, has and stablizes image property, image impairment is not caused, suitable for Flying Camera.
Description
Technical field
The present invention relates to technical field of image processing, and in particular to a kind of twin shaft stabilization camera module and its controlling party
Method.
Background technology
Traditional camera can cause image to rock under motion state, in order to improve the image quality under motion state,
The main technical solution using digital stabilization, optical anti-vibration and mechanical stabilization.
Digital stabilization is usually that image is analyzed, and assesses amount of jitter and cuts out a part of image and realize and stablizes relatively
Output, do not need to additional mechanical part, therefore at low cost, small on this method hardware, but image effect is bad.
Optical anti-vibration is that the part lens in actuated camera camera lens realize image stabilization, and stablizing effect is preferable, still
Effective angle range is smaller.
Mechanical stabilization drives entire video camera to realize monolithic stability using motor, stablizing effect is good, range of deflection compared with
Greatly, it is disadvantageous in that the volume of entire systems stabilisation is larger.
Close patent CN201611217668.7 and CN201610626639.X only moving lens component, and it is imaged mould
Group, gyro sensor and pedestal are connected, and gyro sensor is placed on base portion, before detecting offset error then
The mode of feedback driving realizes stabilization, and efficiency is very low.
Invention content
Based on this, in view of the above-mentioned problems, it is necessary to propose it is a kind of it is compact-sized, appearance is compact, it is of low cost, firm can
It leans on, and with image property is stablized, while image frame will not be caused to lose, is suitable for wearable Flying Camera application scenario
Twin shaft stabilization camera module and its control method.
The present invention provides a kind of twin shaft stabilization camera module, and technical solution is as follows：
A kind of twin shaft stabilization camera module, it is described inclined including deflection structure combination, camera module and stability contorting combination
Rotation structure combination includes shell, upper elastic support, lower elastic support, coil and permanent magnet, the upper elastic support with
Lower elastic support is parallel respectively to be fixed in shell simultaneously support housing, the upper elastic support of the camera module insertion and lower bullet
On property supporter, camera module is made to be suspended in the shell, the coil is installed on the camera module outer wall, the permanent magnetism
Body is corresponding with the coil position to be installed on the outer casing inner wall；It is combined with the stability contorting bottom of the camera module
Connection.
In the technical program, each component part cocoa is divided into camera module, deflection structure combination and stability contorting combination
Three subsystems, deflection structure combination include shell, upper elastic support, permanent magnet, coil and lower elastic support, upper elasticity
Supporter and lower elastic support suspend camera module inside the housing, between camera module and shell, by coil, forever
Magnet, upper elastic support and lower elastic support form two-dimensional deflection structure, and deflection angle is 10 ° -20 °, is controlled as stablizing
The execution unit of system enables the optical axis opposite shell twin shaft of camera module to deflect；Coil is connected firmly in four sides of camera module
Face under the magnetic fields of permanent magnet, generates corresponding magnetic field, before camera module is pushed to generate by the electric current in control coil
The twin shaft offset movement of left and right afterwards, the direction of twin shaft offset movement is vertical with the optical axis direction of camera module, so as to fulfill camera shooting
The attitude stabilization of module.
As advanced optimizing for said program, the camera module includes camera lens, imaging sensor and first circuit board,
The coil is installed on the outer wall of the camera lens, and described image sensor is installed on the camera lens bottom；The first circuit board
Below the camera lens, and it is close to described image sensor.Imaging sensor is mounted on first circuit board, is schemed for receiving
As information, twin shaft offset movement is carried out with camera lens so that monolithic stability control can be implemented to imaging sensor and camera lens, kept away
The shortcomings that having exempted from precision deficiency caused by controlling camera lens or imaging sensor respectively and anamorphose.
As advanced optimizing for said program, the stability contorting combination includes inertial sensor, flexible connection circuit
And second circuit board, the inertial sensor are fixedly connected with the first circuit board, and the first circuit board pass through it is described
Circuit is flexibly connected to be electrically connected with the second circuit board.
In the technical program, stability contorting combination includes inertial sensor, flexible connection circuit and second circuit board, is used to
Property sensor be fixedly connected with camera module, can be assemblied on first circuit board, can also be assemblied in flexible connection circuit on,
The precision and response frequency of motion feedback are improved, and then improves the performance of stable image；Flexible connection circuit will image mould
The data signal transmission of imaging sensor and inertial sensor carries out data processing to second circuit board in group, second circuit board
Function includes image real time transfer and gyrocontrol and controls, the former is used to read defeated after the image data of camera module and processing
Go out, the latter is used to read the motion feedback data of inertial sensor, resolving and feedback control by processor, driving coil band
The stabilization of image is realized in dynamic camera module deflection.
As advanced optimizing for said program, the coil and permanent magnet are 4, and the coil described in 4 uniformly divides
The lateral surface of the camera lens is distributed in, the permanent magnet described in 4 is uniformly installed on four walls on the inside of shell, and 4 coils and 4 permanent magnetism
Body closes on correspondence one by one.Four coils are separately mounted to the surrounding of camera lens in camera module, and four permanent magnet installations are inside the shell
Four wall of side, each coil close on a permanent magnet respectively, and permanent magnet is magnetized up and down so that can efficiently drive camera module
Shake or rotation.
As advanced optimizing for said program, described image sensor is the miniature video camera module of 4,000,000 pixels
OV4689, the inertial sensor are dual spindle gyroscopes sensor ID G2030.Image zooming-out efficiency can be improved, to motion feedback
The reading of data, high treating effect.
The present invention also provides a kind of control method of twin shaft stabilization camera module, technical solution is as follows：
A kind of control method of twin shaft stabilization camera module, includes the following steps：
A, inertial sensor perceives and obtains the biaxial movement angular velocity information of imaging sensor；
B, the biaxial movement angular velocity information acquired in inertial sensor is transmitted in second circuit board, and passes through operation
Feedback control algorithm obtains driving output quantity；
C, according to the driving output quantity driving coil obtained, imaging sensor deflection is driven；
D, cycle performs step a to step c, eliminates the image wobble effects that external shake is brought, while acquire picture number
According to, and export after treatment.
In the technical program, inertial sensor uses dual spindle gyroscopes sensor, can perceive the twin shaft of camera module
Angular velocity of satellite motion, the microcontroller in second circuit board reads the data of dual spindle gyroscopes sensor, and passes through operation feedback control
Algorithm obtains driving output quantity, and driving coil simultaneously makes camera module negative direction compensation campaign, so as to fulfill the posture of camera module
Stablize.
As advanced optimizing for said program, the step c includes the following steps：
If external movement is shaken for low-angle, stability contorting combination driving deflection structure combination is controlled to transport this outside
It is dynamic to implement compensation.When low-angle is shaken, control camera module is stablized motionless；Permanent magnet is driven to realize external shake simultaneously, is reached
The image stabilization of camera module.
As advanced optimizing for said program, the step c is further comprising the steps of：
If external movement is large rotation angle, camera module is driven to be deflected with external large rotation angle.Wide-angle
During rotation, movement angle has exceeded the angular range of stability contorting, then needs to make camera module with external large rotation angle and turn
It is dynamic；Driving coil, you can drive camera module deflection.
The beneficial effects of the invention are as follows：
1st, the present invention is compact-sized, appearance is compact, of low cost, firm reliable, image frame will not be caused to lose, is suitble to
For wearable Flying Camera application scenario.
2nd, the present invention is realized to camera module (comprising imaging sensor and camera lens) whole implementation stability contorting, is avoided point
It Kong Zhi not precision deficiency caused by camera lens or imaging sensor and the shortcomings that anamorphose.
3rd, inertial sensor is fixedly connected with installation with camera module, directly feeds back the exercise data of camera module, improves
The precision and response frequency of motion feedback, and then the performance of stable image is improved, it ensure that the reliability of data.
4th, the present invention realizes camera module by the corresponding permanent magnet of the coil of camera lens surrounding and four side of outer casing inner wall
Twin shaft deflection driven, control is accurate, makes the attitude stabilization of camera module.
5th, the angular speed exercise data and feedback control algorithm fed back by inertial sensor, drives the reversed of camera module
Motion compensation realizes that image twin shaft is stablized.
Description of the drawings
Fig. 1 is the structure diagram of twin shaft stabilization camera module described in the embodiment of the present invention；
Fig. 2 is the flow chart of twin shaft stabilization camera module control method described in the embodiment of the present invention.
Reference sign：
101- shells；The upper elastic supports of 102-；Elastic support under 103-；104- coils；105- permanent magnets；201- mirrors
Head；202- imaging sensors；203- first circuit boards；301- inertial sensors；302- is flexibly connected circuit；303- second circuits
Plate.
Specific embodiment
The embodiment of the present invention is described in detail below in conjunction with the accompanying drawings.
Embodiment 1
As shown in Figure 1, a kind of twin shaft stabilization camera module, including deflection structure combination, camera module and stability contorting
Combination, deflection structure combination include shell 101, upper elastic support 102, lower elastic support 103, coil 104 and forever
Magnet 105, the upper elastic support 102 and lower elastic support 103 are parallel respectively to be fixed in shell 101 simultaneously support housing
101, the camera module insertion above on elastic support 102 and lower elastic support 103, is suspended in camera module described outer
In shell 101, the coil 104 is installed on the camera module outer wall, and the permanent magnet 105 is corresponding with 104 position of coil
Be installed on 101 inner wall of shell；Connection is combined with the stability contorting in the bottom of the camera module.
In the present embodiment, each component part cocoa is divided into camera module, deflection structure combination and stability contorting combination three
A subsystem, deflection structure combination include shell 101, upper elastic support 102, permanent magnet 105, coil 104 and lower elasticity branch
Camera module is suspended in inside shell 101 by support body 103, upper elastic support 102 and lower elastic support 103, in camera shooting mould
Between group and shell 101, two are formed by coil 104, permanent magnet 105, upper elastic support 102 and lower elastic support 103
Deflection structure is tieed up, deflection angle is 10 ° -20 °, as the execution unit of stability contorting, makes the optical axis opposite shell of camera module
101 being capable of twin shaft deflection；Coil 104 is connected firmly in four sides of camera module, under the magnetic fields of permanent magnet 105, is passed through
Electric current in control coil 104 generates corresponding magnetic field, pushes the twin shaft offset movement of camera module generation all around, twin shaft
The direction of offset movement is vertical with the optical axis direction of camera module, so as to fulfill the attitude stabilization of camera module.
Embodiment 2
For the present embodiment on the basis of embodiment 1, the camera module includes camera lens 201, imaging sensor 202 and first
Circuit board 203, the coil 104 are installed on the outer wall of the camera lens 201, and described image sensor 202 is installed on the camera lens
201 bottoms；The first circuit board 203 is located at 201 lower section of camera lens, and is close to described image sensor 202.Image sensing
Device 202 is mounted on first circuit board 203, for receiving image information, is carried out twin shaft offset movement with camera lens 201, is made
Monolithic stability control can be implemented to imaging sensor 202 and camera lens 201 by obtaining, and avoid and camera lens 201 or image is controlled to pass respectively
The shortcomings that precision deficiency caused by sensor 202 and anamorphose.
Embodiment 3
For the present embodiment on the basis of embodiment 2, the stability contorting combination includes inertial sensor 301, flexible connection
Circuit 302 and second circuit board 303, the inertial sensor 301 are fixedly connected with the first circuit board 203, and described
One circuit board 203 is electrically connected by the flexible connection circuit 302 with the second circuit board 303.
In the present embodiment, stability contorting combination includes inertial sensor 301, flexible connection circuit 302 and second circuit
Plate 303, inertial sensor 301 are fixedly connected with camera module, can be assemblied on first circuit board 203, can also be assemblied in
It is flexibly connected on circuit 302, improves the precision and response frequency of motion feedback, and then improve the performance of stable image；It is soft
Property connection circuit 302 by the data signal transmission of the imaging sensor 202 in inertial sensor 301 and camera module to second electricity
Road plate 303 carries out data processing, and the function of second circuit board 303 includes image real time transfer and gyrocontrol controls, Qian Zheyong
It being exported after the image data and processing for reading camera module, the latter is used to read the motion feedback data of inertial sensor 301,
Resolving and feedback control by processor, driving coil 104 drive camera module deflection, realize the stabilization of image.
Embodiment 4
The present embodiment is on the basis of embodiment 2, and the coil 104 and permanent magnet 105 are 4, the coil described in 4
104 are uniformly distributed in the lateral surface of the camera lens 201, and the permanent magnet 105 described in 4 is uniformly installed on 101 four walls of inside of shell,
And 4 coils 104 closed on one by one with 4 permanent magnets 105 it is corresponding.Four coils 104 are separately mounted to camera lens 201 in camera module
Surrounding, four permanent magnets 105 are mounted on 101 four walls of inside of shell, and each coil 104 closes on a permanent magnet 105 respectively, forever
Magnet 105 is magnetized up and down so that camera module can efficiently be driven to shake or rotate.
Embodiment 5
For the present embodiment on the basis of embodiment 3, described image sensor 202 is the miniature video camera module of 4,000,000 pixels
OV4689, the inertial sensor 301 are dual spindle gyroscopes sensor ID G2030.Image zooming-out efficiency can be improved, it is anti-to moving
Present reading, the high treating effect of data.
Embodiment 6
The present embodiment is the method for embodiment 1,
As shown in Fig. 2, a kind of control method of twin shaft stabilization camera module, includes the following steps：
A, inertial sensor 301 perceives and obtains the biaxial movement angular velocity information of imaging sensor 202；
B, the biaxial movement angular velocity information acquired in inertial sensor 301 is transmitted in second circuit board 203, and led to
It crosses operation feedback control algorithm and obtains driving output quantity；
C, according to the driving output quantity driving coil 104 obtained, imaging sensor 202 is driven to deflect；
D, cycle performs step a to step c, eliminates the image wobble effects that external shake is brought, while acquire picture number
According to, and export after treatment.
In the present embodiment, inertial sensor 301 uses dual spindle gyroscopes sensor, can perceive the twin shaft of camera module
Angular velocity of satellite motion, the microcontroller in second circuit board 303 read the data of the dual spindle gyroscopes sensor, and pass through operation feedback
Control algolithm obtains driving output quantity, and driving coil 104 simultaneously makes camera module negative direction compensation campaign, so as to fulfill camera module
Attitude stabilization.
Embodiment 7
The present embodiment is the method for embodiment 1, and on the basis of embodiment 6, the step c includes the following steps：
If external movement is shaken for low-angle, stability contorting combination driving deflection structure combination is controlled to transport this outside
It is dynamic to implement compensation.When low-angle is shaken, control camera module is stablized motionless；Permanent magnet 105 is driven to realize external shake simultaneously, reached
To the image stabilization of camera module.
Embodiment 8
The present embodiment is the method for embodiment 1, and on the basis of embodiment 6, the step c is further comprising the steps of：
If external movement is large rotation angle, camera module is driven to be deflected with external large rotation angle.Wide-angle
During rotation, movement angle has exceeded the angular range of stability contorting, then needs to make camera module with external large rotation angle and turn
It is dynamic；Driving coil 104, you can drive camera module deflection.
Embodiment described above only expresses the specific embodiment of the present invention, and description is more specific and detailed, but simultaneously
Cannot the limitation to the scope of the claims of the present invention therefore be interpreted as.It should be pointed out that for those of ordinary skill in the art
For, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to the guarantor of the present invention
Protect range.
Claims (8)
1. a kind of twin shaft stabilization camera module, which is characterized in that including deflection structure combination, camera module and stability contorting group
It closes, the deflection structure combination includes shell, upper elastic support, lower elastic support, coil and permanent magnet, the upper elasticity
Supporter and lower elastic support are parallel respectively to be fixed in shell and support housing, is flexibly supported in the camera module insertion
On body and lower elastic support, camera module is made to be suspended in the shell, the coil is installed on the camera module outer wall,
The permanent magnet is corresponding with the coil position to be installed on the outer casing inner wall；The bottom of the camera module and the stabilization
Control combination connects.
2. twin shaft stabilization camera module according to claim 1, which is characterized in that the camera module include camera lens,
Imaging sensor and first circuit board, the coil are installed on the outer wall of the camera lens, and described image sensor is installed on described
Camera lens bottom；The first circuit board is located at below the camera lens, and is close to described image sensor.
3. twin shaft stabilization camera module according to claim 2, which is characterized in that the stability contorting combination includes used
Property sensor, flexible connection circuit and second circuit board, the inertial sensor be fixedly connected with the first circuit board, and institute
First circuit board is stated to be electrically connected with the second circuit board by the flexible connection circuit.
4. twin shaft stabilization camera module according to claim 1 or 2, which is characterized in that the coil and permanent magnet are equal
It it is 4, the coil described in 4 is uniformly distributed in the lateral surface of the camera lens, and the permanent magnet described in 4 is uniformly installed in shell
Four wall of side, and 4 coils closed on one by one with 4 permanent magnets it is corresponding.
5. twin shaft stabilization camera module according to claim 3, which is characterized in that described image sensor is 4,000,000
The miniature video camera module OV4689 of pixel, the inertial sensor are dual spindle gyroscopes sensor ID G2030.
6. a kind of control method of twin shaft stabilization camera module, which is characterized in that include the following steps：
A, inertial sensor perceives and obtains the biaxial movement angular velocity information of imaging sensor；
B, the biaxial movement angular velocity information acquired in inertial sensor is transmitted in second circuit board, and passes through operation feedback
Control algolithm obtains driving output quantity；
C, according to the driving output quantity driving coil obtained, imaging sensor deflection is driven；
D, cycle performs step a to step c, eliminates the image wobble effects that external shake is brought, while acquire image data, and
It exports after treatment.
7. the control method of twin shaft stabilization camera module according to claim 6, which is characterized in that the step c packets
Include following steps：
If external movement is shaken for low-angle, stability contorting combination driving deflection structure combination is controlled to this external movement reality
Apply compensation.
8. the control method of twin shaft stabilization camera module according to claim 6, which is characterized in that the step c is also
Include the following steps：
If external movement is large rotation angle, camera module is driven to be deflected with external large rotation angle.
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| CN201810215637.0A CN108174079A (en) | 2018-03-15 | 2018-03-15 | A kind of twin shaft stabilization camera module and its control method |
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| CN201810215637.0A CN108174079A (en) | 2018-03-15 | 2018-03-15 | A kind of twin shaft stabilization camera module and its control method |
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Application publication date: 20180615 |