KR101829900B1 - Inspecting device and inspecting method of optical image stabilizer, and displacement calibration method of optical image stabilizer - Google Patents

Abstract

The present invention relates to an apparatus and a method for inspecting an optical image stabilizing unit, and a displacement correcting method of an optical image stabilizing unit, wherein one camera unit and a reflection mirror protruding from an optical image stabilizing unit are used, thereby simplifying an entire algorithm and enabling rapid inspection of the optical image stabilizing unit. According to the present invention, the apparatus for inspecting an optical image stabilizing unit which has at least three markers indicated comprises: an actuator transferring the optical image stabilizing unit in at least one of three intersecting directions; a reflection mirror disposed to protrude from the optical image stabilizing unit in the height direction and reflecting at least one of the markers; a camera unit spaced apart from the optical image stabilizing unit to photograph at least three markers according to operation of the actuator and obtain image information; and a control unit calculating actual displacement of the optical image stabilizing unit based on markers displacement extracted from the image information.

Description

TECHNICAL FIELD [0001] The present invention relates to an inspection apparatus and an inspection method for an optical image stabilization unit, and a displacement correction method for an optical image stabilization unit.

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an inspection apparatus and an inspection method for an optical camera shake correction unit and a displacement correction method for the optical camera shake correction unit. More particularly, the present invention relates to an optical camera shake correction unit, And a method of inspecting and inspecting an optical camera shake correcting unit capable of quickly performing an inspection of an optical camera shake correcting unit by simplifying the entire algorithm by using a reflector formed by projecting the optical shake correcting unit and a displacement correcting method of the optical camera shake correcting unit.

In general, the adoption of a camera device in a mobile communication terminal is becoming commonplace. Since a lot of photographing using a mobile communication terminal is performed on the move, in order to obtain a high quality image, a camera device of a mobile communication terminal essentially requires a camera shake correction device for correcting vibration such as camera shake.

In particular, since the camera device includes the image stabilization device, it is possible to acquire a clear image in an environment having a slow shutter speed due to lack of light as in a dark room or at night.

The optical image stabilizer (OIS) in the camera shake correction unit changes the position of the optical lens or the image sensor through the driving unit so that the image of the subject formed on the image sensor is corrected .

However, since the inspection apparatus of the camera shake correction unit according to the related art includes three displacement sensors and one tilt sensor corresponding to three axes or a five-axis complex sensor, the total amount of the sensor is large, the entire algorithm is complicated, And it takes a lot of time to do so.

Korean Patent Registration No. 10-1075710 (entitled " Optical Image Stabilizer and Manufacturing Method Thereof, "

SUMMARY OF THE INVENTION An object of the present invention is to solve the conventional problems, and it is an object of the present invention to simplify the entire algorithm by using a mirror unit protruding from one camera unit and an optical image stabilization unit in inspecting the optical image stabilization unit, And a method of inspecting and inspecting an optical camera shake correction unit capable of quickly performing inspection of a unit, and a displacement correction method of an optical camera shake correction unit.

According to a preferred embodiment of the present invention for achieving the object of the present invention, there is provided an inspection apparatus for inspecting an optical camera shake correction unit, wherein the optical camera shake correction unit is provided with at least three markers And a third direction orthogonal to a virtual plane included in the first direction and the second direction and a third direction perpendicular to the virtual plane included in the first direction and the second direction, An actuator for moving in any one direction; A reflecting mirror arranged to protrude from the optical image stabilization unit along the third direction and reflect at least one of the markers; An image shake correcting unit which is disposed apart from the optical shake correcting unit and photographs at least three markers according to the operation of the actuator, the real image marker which photographs the markers displayed on the optical image shake correcting unit, A camera unit for photographing at least three markers to obtain image information; And a control unit for calculating an actual displacement of the optical image stabilization unit based on the marker displacement extracted from the image information.

Here, at least one of the markers is arranged so that a plurality of division markers are spaced apart from each other.

Here, the control unit may include: a shake reproducing unit for applying an operation signal to the actuator; An information extracting unit for extracting marker displacements from image information of at least three markers photographed by the camera unit; A data collector for storing the image information and the marker displacement; And an information comparator for calculating an actual displacement of the optical image stabilization unit based on the marker displacement.

Herein, the world coordinate system is defined as a physical three-dimensional coordinate system formed on the basis of the surface on which the marker is displayed, and the image coordinate system is defined as a physical two-dimensional coordinate system formed on the basis of the plane on which the image information is displayed. And the control unit further includes a z-axis displacement correction unit for calculating the marker displacement in the image coordinate system with respect to a distance that the marker has moved in the z-axis direction with reference to the world coordinate system in the optical camera shake correction unit .

Here, the control unit compares the actual displacement with a predetermined limit displacement.

In the inspection method for an optical camera shake correction unit according to the present invention, at least three markers are displayed on the optical camera shake correction unit, the optical camera shake correction unit is moved in the first direction, Moving at least one of a second direction perpendicular to the first direction and a third direction perpendicular to the virtual plane included in the first direction and the second direction; An actual image marker which photographs at least three markers displayed on the optical image stabilization unit through a camera unit spaced apart from the optical image stabilization unit, the marker being displayed on the optical image stabilization unit; An image acquiring step of acquiring image information by capturing at least three markers by summing up virtual image markers that have taken a reflected marker through a reflector disposed as far as possible; An information extracting step of extracting a marker displacement according to the movement of the marker in the image information; And an information comparing step of calculating an actual displacement of the optical image stabilization unit based on the marker displacement.

The inspection method of the optical shake correction unit according to the present invention further includes an operation characteristic detection step of detecting an operation characteristic of the optical shake correction unit through the shake correction step.

In the displacement correction method of the optical image stabilization unit according to the present invention, the world coordinate system in the optical image stabilization unit is defined as a physical three-dimensional coordinate system formed on the basis of the surface on which the marker is displayed, Dimensional coordinate system formed on the basis of a plane on which the marker moves in the z-axis direction with respect to the world coordinate system in the optical image stabilization unit, the marker displacement in the image coordinate system Axis direction and a unit movement distance in the y-axis direction in the world coordinate system, the unit movement distance in the z-axis direction is calculated based on the unit movement distance in the x- Calculating step; A camera coordinate system that rotates the world coordinate system about each axis and translates the marker by a distance moved in the z axis direction on the basis of the world coordinate system to form a physical three dimensional coordinate system based on the gaze angle of the camera unit, A coordinate system conversion step of generating a coordinate system; A first conversion equation deriving step of deriving a first coordinate system conversion equation from the world coordinate system to the camera coordinate system through the coordinate system conversion step; A second conversion formula derivation step of deriving a second coordinate system conversion formula from the camera coordinate system to the image coordinate system based on the first coordinate system conversion formula; A rotation amount calculating step of calculating the rotation amount with respect to each axis in the world coordinate system by calculating the first coordinate system conversion equation; And a marker displacement correction step of calculating the marker displacement in the image coordinate system by substituting the rotation amounts of the respective axes calculated through the rotation amount calculation step into the second coordinate system conversion equation.

According to the inspection apparatus and the inspection method of the optical image stabilization unit and the displacement correction method of the optical image stabilization unit according to the present invention, when the optical image stabilization unit is inspected, The entire algorithm can be simplified and the inspection of the optical image stabilization unit can be performed quickly.

Further, the present invention is characterized in that at least three markers are arranged in a virtual circle formed on the surface of the optical image stabilization unit on which the markers are displayed, so that the extraction of marker displacements can be simplified, and the calculation of the actual displacements can be simplified.

Further, the use of one camera unit and a reflector significantly reduces the cost of core parts compared to the prior art, greatly reduces the manufacturing and maintenance cost of the inspection apparatus, and does not deteriorate inspection accuracy.

Further, the present invention can simplify the structure of the camera unit and acquire images quickly at the camera unit.

In addition, the present invention can adjust the recognition range for acquiring an image in the camera unit, and increase the frame rate while reducing the number of pixels of the image.

Further, the present invention makes it possible to clarify the measurement of the marker displacement according to the operation of the actuator, and accurately obtain the marker displacement according to the movement of the marker.

Further, the present invention can facilitate calculation of the actual displacement since the experimental constant matrix used in the actual displacement calculation is not singular.

Further, the present invention can monitor the operation state of the optical image stabilization unit and can be a basis for calculating the movement of the marker.

Further, the present invention can simplify the inspection algorithm by utilizing the unit movement amount of the marker, and shorten the inspection time as a whole.

The present invention can also check the operation characteristics of the optical image stabilization unit such as the performance of auto focus, the resonance frequency of auto focus, the performance of optical image stabilization, and the frequency response characteristic of optical image stabilization for the optical image stabilization unit.

The displacement correction method of the optical image stabilization unit according to the present invention can determine the marker displacement in the image coordinate system corresponding to the movement distance movement in the z-axis direction in the world coordinate system.

In addition, the present invention can improve the accuracy of inspection in the inspection apparatus by calculating the marker displacement in the image coordinate system with respect to the distance that the marker moves in the z-axis direction with respect to the world coordinate system in the optical image stabilization unit.

1 is a front view showing an inspection apparatus of an optical image stabilization unit according to an embodiment of the present invention.
FIG. 2 is a diagram showing the arrangement state of each marker and the reflector on the basis of a world coordinate system forming a physical three-dimensional coordinate system on the basis of a surface on which markers are displayed in an inspection apparatus of an optical image stabilization unit according to an embodiment of the present invention FIG.
FIG. 3 is a block diagram illustrating an example of an image-shake correction unit according to an embodiment of the present invention. Referring to FIG. 3, when each marker is moved on the basis of a world coordinate system forming a physical three- In which a physical two-dimensional coordinate system is formed on the basis of a displayed plane.
4 is a block diagram showing a control unit in an inspection apparatus of an optical image stabilization unit according to an embodiment of the present invention.
5 is a diagram showing a method of inspecting an optical image stabilization unit according to an embodiment of the present invention.
6 is a diagram showing a displacement correction method of an optical image stabilization unit according to an embodiment of the present invention.
7 is a diagram showing the arrangement states of a division marker and a reflector in a world coordinate system forming a physical three-dimensional coordinate system based on a surface on which a division marker is displayed in an inspection apparatus of an optical image stabilization unit according to another embodiment of the present invention to be.
FIG. 8 is a diagram showing the definitions of the x-axis and the y-axis of the world coordinate system and the division markers displayed in the world coordinate system in the inspection apparatus of the optical image stabilization unit according to another embodiment of the present invention.
9 is a diagram showing a display state in an image coordinate system of a division marker displayed on the basis of a world coordinate system in an inspection apparatus of an optical image stabilization unit according to another embodiment of the present invention.
10 is a diagram showing the relationship between split markers for calculating relative coordinates between split markers based on an image coordinate system in an inspection apparatus of an optical image stabilization unit according to another embodiment of the present invention.

DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, an embodiment of an inspection apparatus and an inspection method of an optical image stabilization unit according to the present invention, and a displacement correction method of an optical image stabilization unit will be described with reference to the accompanying drawings. Here, the present invention is not limited or limited by the examples. Further, in describing the present invention, a detailed description of well-known functions or constructions may be omitted for clarity of the present invention.

FIG. 1 is a front view showing an inspection apparatus of an optical image stabilization unit according to an embodiment of the present invention. FIG. 2 is a plan view showing a surface on which a marker is displayed in the inspection apparatus of the optical image stabilization unit according to an embodiment of the present invention FIG. 3 is a view showing the arrangement of the markers and the reflectors on the basis of a world coordinate system forming a physical three-dimensional coordinate system. FIG. 3 is a view showing a state where markers are displayed in the inspection apparatus of the optical image stabilization unit according to the embodiment of the present invention When each marker is moved based on a world coordinate system forming a physical three-dimensional coordinate system based on a plane, a movement state of a corresponding marker in an image coordinate system forming a physical two-dimensional coordinate system based on a plane on which image information is displayed FIG. 4 is a block diagram showing a control unit in an inspection apparatus of an optical image stabilization unit according to an embodiment of the present invention.

Particularly, FIG. 3 (a) is a diagram showing a moving state of the marker in the image coordinate system when the marker moves in the x-axis direction in the world coordinate system, and FIG. 3 (b) FIG. 3C is a diagram showing a state of movement of the marker in the image coordinate system when the marker moves in the y-axis direction. FIG. 3C is a diagram showing the state of the marker in the image coordinate system when the marker moves in the z- FIG. 3 (d) is a diagram showing a moving state of the marker in the image coordinate system when the marker rotates about the x-axis in the world coordinate system, and FIG. 3 (e) is a diagram showing a moving state of the marker in the image coordinate system when the marker rotates about the y-axis in the world coordinate system, and FIG. 3 (f) When the group marker to rotate about the z-axis, a view showing the moving state of the marker in the image coordinate system.

1 to 4, an inspection apparatus for an optical image stabilization unit according to an embodiment of the present invention is an apparatus for inspecting whether or not a completed optical image stabilization unit 100 is defective.

Here, the optical image stabilization unit 100 performs a function of correcting the shape of the subject image formed on the image sensor so as not to fluctuate by changing the position of the optical lens or the image sensor through the driving unit in response to the external shake .

An inspection apparatus of an optical image stabilization unit according to an embodiment of the present invention includes an actuator 1, a reflector 3, a camera unit 2, and a control unit 5.

At this time, in the embodiment of the present invention, at least three markers M are displayed in the optical image stabilization unit 100 as the camera unit 2 and the reflector 3 are applied. The marker M may be displayed through a marker display step S8 described later. At least three of the parts of the optical image stabilization unit 100 can be utilized as the marker M. [ In the embodiment of the present invention, three markers M are described as being displayed on the optical image stabilization unit 100.

The actuator 1 moves the optical image stabilization unit 100 in at least one of three mutually orthogonal axial directions corresponding to the shake applied to the optical image stabilization unit 100. [

Here, the three axial directions orthogonal to each other include a first direction, a second direction perpendicular to the first direction, and a third direction perpendicular to a virtual plane including the first direction and the second direction . The virtual plane may be substantially coincident with or parallel to the surface on which the marker M is displayed (the surface of the optical image stabilization unit 100).

The actuator 1 may be moved in at least one of the first direction, the second direction, and the third direction through various known driving means.

Here, the reference numeral 11 denotes a socket to which the actuator 1 is mounted, the reference numeral 12 denotes a stage in which the socket 11 is supported, and reference numeral 13 denotes a stage in which the stage 12, It is the base to be installed.

At this time, the world coordinate system forms a physical three-dimensional coordinate system based on the plane on which the marker M is displayed. The xy plane of the world coordinate system may be substantially coincident or parallel to the imaginary plane. Then, the z-axis of the world coordinate system may be formed to be substantially coincident with or parallel to the third direction.

In one embodiment of the present invention, the direction in which the optical image stabilization unit 100 is moved by the actuator 1 can be expressed in each axis direction of the world coordinate system.

The reflector 3 is disposed to protrude from the optical image stabilization unit 100 along the third direction to reflect at least one of the markers M. [

A reflecting surface for reflecting the marker M from the reflecting mirror 3 is formed substantially perpendicular to the imaginary plane so that when the actuator 1 is moved in the third direction, It is possible to minimize the error of the marker displacement described later with respect to the marker and precisely extract the marker displacement.

The camera unit (2) is spaced apart from the optical image stabilization unit (100). The camera unit 2 photographs at least three (M1, M2, M3) of the markers M displayed on the optical image stabilization unit 100 according to the operation of the actuator 1. [

Particularly, the camera unit 2 collects at least three markers by summing up the actual markers photographed with the markers displayed on the optical image stabilization unit 100 and the false markers photographed with the markers reflected through the reflector 3 Thereby acquiring image information.

At this time, the image coordinate system forms a physical two-dimensional coordinate system based on the plane on which the image information is displayed. The image coordinate system can be calculated using a camera coordinate system. The camera coordinate system can be created by rotating the world coordinate system about each axis and translating the origin of the world coordinate system in the z-axis direction. Then, the camera coordinate system forms a physical three-dimensional coordinate system based on the viewing angle of the camera unit.

The camera unit 2 is inclined in both the first direction, the second direction, and the third direction so that the experimental constant matrix to be described later is not singular, so that the actual displacement can be calculated.

By adjusting the angle of view of the camera unit 2 to be small or large, it is possible to improve the accuracy of the image information in the first direction, the second direction and the third direction in the direction in which the gaze angle is adjusted . The viewing angle is set such that when the camera unit 2 photographs the optical image stabilization unit 100 including the marker M with respect to the first direction, the second direction and the third direction, The angle of the camera unit 2 with respect to the camera unit 2 is shown.

The camera unit 2 includes a microscope lens unit 21, a relay lens unit 22, and a camera unit 23, respectively.

The microscope lens unit 21 enlarges the incident image. Here, the microscope lens unit 21 enlarges an image that is incident on the camera unit 2. The image input to the microscope lens unit 21 may be represented by the shape of the optical image stabilization unit 100 including the marker M. [ The image input to the microscope lens unit 21 may indicate only the area where the marker M is displayed in the shape of the optical image stabilization unit 100 according to the operation of the section setting unit described later.

The relay lens unit 22 images the image magnified by the microscope lens unit 21. [ Here, the relay lens unit 22 images the image magnified by the microscope lens unit 21 in the camera unit 2. [

The camera unit 23 acquires the image formed by the relay lens unit 22. The camera unit 23 may be an image sensor. Here, the camera unit 23 obtains the image formed by the release lens unit 22.

The camera unit 2 may further include an interval setting unit 24.

The section setting unit 24 sets the interval between the microscope lens unit 21, the relay lens unit 22, and the camera unit (not shown) so that the camera unit 23 recognizes only the area where the marker M is displayed. 23 are moved. Since the size of the image can be reduced while the magnification is maintained in the final acquired image, the frame rate can be improved by reducing the time required to acquire the image by the camera unit 33. [

The control unit 5 calculates the actual displacement of the optical image stabilization unit 100 based on the marker displacement extracted from the image information photographed by the camera unit 2. [

Here, the marker displacement can be represented by the movement of the marker M extracted from the image information acquired by the camera unit 23. At this time, the marker displacement can be defined as a coordinate value of the marker M extracted from the image information acquired by the camera unit 23.

The control unit 5 includes a camera shake reconstituting unit 51 for applying an operation signal to the actuator 1 and a camera driver 2 for extracting the marker displacement from the image information on which at least three markers photographed by the camera unit 2 are displayed A data collecting section 54 for storing the image information and the marker displacements and an information comparing section 55 for calculating an actual displacement of the optical image stabilization unit based on the marker displacements . The data collecting unit 55 stores the image information and the marker displacements in association with each other.

The control unit 5 may further include a signal amplifying unit 52 for amplifying a signal obtained by the drive amount measuring unit 4, which will be described later. The signal amplifying unit 52 removes noise included in the signal obtained by the driving amount measuring unit 4 to be described later, prevents noise generated when the signal is transmitted, and improves the reliability of the operating characteristic .

The control unit 5 calculates the marker displacement in the image coordinate system with respect to the distance that the marker M has moved in the z axis direction on the basis of the world coordinate system in the optical image stabilization unit 100, And may further include a displacement correction unit 56.

The z-axis displacement correcting unit 56 derives a z-axis unit distance that derives a unit movement distance in the z-axis direction on the basis of the unit movement distance in the x-axis direction and the unit movement distance in the y- A coordinate system conversion unit that rotates the world coordinate system about each axis and translates the distance by a distance that the marker moves in the z axis direction based on the world coordinate system to generate the camera coordinate system; A first transformation formula derivation unit for deriving a first coordinate system transformation formula from the world coordinate system to the camera coordinate system and a second transformation formula derivation unit for deriving a second coordinate system transformation formula from the camera coordinate system to the image coordinate system based on the first coordinate system transformation formula, A rotation amount calculating unit for calculating the rotation amount for each axis in the world coordinate system by calculating the first coordinate system conversion equation; And a marker displacement correction unit for calculating the marker displacement in the image coordinate system by substituting the rotation amount for each axis calculated through the first coordinate system conversion equation into the second coordinate system conversion equation.

The z-axis unit distance deriving unit is performed through a z-axis unit distance deriving step (S10), and the coordinate system converting unit is implemented through a coordinate system converting step (S20) described later, (S30), and the second conversion derivation unit is implemented through a second conversion formula derivation step (S40), which will be described later, and the rotation amount calculation unit is performed through a rotation amount calculation step (S50) , The marker displacement correction unit may be implemented through a marker displacement correction step (S60) described later.

The operation of the z-axis displacement correction unit 56 will be described in more detail with reference to a displacement correction method of the optical image stabilization unit according to an embodiment of the present invention.

The control unit 5 or the information comparator 55 may further compare the actual displacement and the predetermined limit displacement.

When the actual displacement is within the range of the predetermined limit displacement as a result of the comparison by the control unit 5 or the information comparator 55, the optical camera shake correction unit 100 can be judged as normal.

When the actual displacement is out of the range of the predetermined limit displacement as a result of the comparison performed by the information comparator 55, the optical shake correction unit 100 can determine that the optical shake correction unit 100 is defective.

The inspection apparatus of the optical camera shake correction unit according to an embodiment of the present invention may further include a drive amount measurement unit 4. [

The drive amount measurement unit 4 measures the drive amount of the optical image stabilization unit 100 operated by the actuator 1. [ The driving amount measuring unit 4 is provided on the actuator 1 side and can measure the driving amount of the optical image stabilization unit 100. [ The drive amount measuring unit 4 can measure the distance that the optical lens of the optical image stabilization unit 100 or the image sensor moves. The driving amount measuring unit 4 can measure the unit driving amount of the actuator 1. [ The drive amount measuring unit 4 may be constituted by a hall sensor. At this time, the data collection unit 54 stores the first image information, the second image information, the first marker displacement, the second marker displacement, and the drive amount in association with each other.

The inspection apparatus of the optical image stabilization unit according to an embodiment of the present invention may further include a position adjustment unit.

The position adjustment unit may be configured to position the first camera unit 2 and the second camera unit 3 in the first direction (the first direction) so that the first camera unit 2 and the second camera unit 3 are positioned, respectively, X) in the second direction (Y) and the third direction (Z). The position adjusting unit adjusts the first camera unit 2 in the first direction X, the second direction Y, and the third direction Z so that the first camera unit 2 is correctly positioned. And a second position adjusting unit which moves the second camera unit in the first direction and the second direction so that the second camera unit is correctly positioned, And a second position adjustment unit 35 for moving the second position adjustment unit 35 in the third direction Z. [ The position adjustment unit adjusts the installation positions of the first camera unit 2 and the second camera unit 3 through the three-axis control so that the first camera unit 2 and the second camera unit 3, Respectively.

In an embodiment of the present invention, the marker M includes a first marker M1, a second marker M2, and a third marker M3, and the center of the three markers M Respectively, substantially coincide with virtual circles formed in the optical image stabilization unit 100. [

The third marker M3 is arranged to face the reflector 3 along the imaginary circle with respect to the three markers M and the first marker M1 and the second marker M2 Are disposed on opposite sides of the third marker M3, respectively, or on both sides of the rear side of the reflector 3, respectively.

The imaginary line segment connecting the first marker M1 and the second marker M2 is substantially perpendicular to the normal line to the reflecting surface of the reflector 3, The third marker M3 is arranged on the normal line of the second marker M3.

For example, the world coordinate system is inclined by 45 degrees with respect to a reference coordinate system (X0 axis, Y0 axis, Z0 axis) parallel to the virtual line segment and passing through the center of the virtual circle, and the first marker M1 And the second marker M2 is arranged to be inclined at an angle of 15 degrees in the counterclockwise direction from the X0 axis of the reference plane coordinate system in a clockwise direction from the X0 axis of the reference plane coordinate system. Accordingly, the second marker M2 is arranged to be inclined 30 degrees (?) Clockwise from the x-axis of the world coordinate system.

The first marker M1 and the second marker M2 are acquired as actual markers in the image information acquired by the camera unit 2 and the third marker M3 is acquired as a false marker .

In an embodiment of the present invention, the viewing angle of the camera unit 2 for photographing the marker M is inclined in the second direction and inclined in the third direction. The angle of intersection between the horizontal component and the second direction with respect to the line of sight of the camera unit 2, the angle between the horizontal component of the line of sight of the camera unit 2 and the first direction, By forming the intersection angle between the vertical component with respect to the angle and the third direction to be equal to or greater than 2 degrees and equal to or less than 88 degrees, the following experimental constant matrix is not singular, and the actual displacement can be calculated.

As shown in FIG. 3, the image information about the photographing area of the camera unit 2 includes actual markers for the first marker M1 and the second marker M2 The virtual marker of the third marker M3 is displayed as well as the virtual marker of the third marker M3.

The camera unit 2 is arranged in front of the reflector 3 and when the actuator 1 is operated, the marker M, which is displayed as shown in FIG. 2, M).

More specifically, when the marker M is moved in the x-axis direction in the world coordinate system, the marker M in the image coordinate system is moved in the arrow direction as shown in Fig. 3 (a) When the marker M is moved in the y-axis direction in the coordinate system, the marker M in the image coordinate system is moved in the arrow direction as shown in FIG. 3 (b) The marker M in the image coordinate system is moved in the direction of the arrow as shown in FIG. 3 (c), and in the world coordinate system, the marker M is moved along the x- The marker M in the image coordinate system is moved in the direction of the arrow as shown in FIG. 3 (d). When the marker M is rotated around the y-axis in the world coordinate system, The marker (M) in the image coordinate system When the marker M is rotated around the z-axis in the world coordinate system as shown in FIG. 3 (e), the marker M in the image coordinate system is shifted in the direction of arrow f As shown in Fig. 5A.

Let A be a matrix according to the marker displacement acquired through the image information on the basis of the three markers and A be a matrix according to the actual displacement. The matrix A is a product of an experimental constant matrix and a matrix B . In other words, a determinant between (A) = (C) (B) is established between matrix A and matrix B. Matrix C corresponds to an experimental constant matrix.

Then, matrix A is a matrix of 6 rows and 1 column, where each component of matrix A is determined by the measurement and 6 constants are determined. Matrix C is a matrix of 6 rows and 6 columns. Each component of matrix C is represented by 36 constants Is determined. The matrix B is a matrix of 6 rows and 1 column, and each component of the matrix B represents a variable according to an actual displacement.

The components of the matrix A, the matrix C, and the matrix B are shown in Table 1 below.

procession
A procession
C procession
B dX1 Cxx1 Cxy1 Cxz1 Rcos (?) * Cxz1 Rsin (?) * Cxz1 -Rcos (?) * Cxx1
-Rsin (?) * Cxy1 dX dY1 Cxy1 Cyy1 Cyz1 Rcos (?) * Cyz1 Rsin (?) * Cyz1 Rcos (?) * Cyx1
-Rsin (?) * Cyy1 dY dX2 Cxx2 Cxy2 Cxz2 Rsin (?) * Cxz2 Rcos (?) * Cxz2 Rsin (?) * Cxx2
+ Rcos (?) * Cxy2 dZ dY2 Cxy2 Cyy2 Cyz2 Rsin (?) * Cyz2 Rcos (?) * Cyz2 Rsin (?) * Cxy2
+ Rcos (?) * Cyy2 Rpi dX3 Cxx3 Cxy3 Cxz3 Rsin (45) * Cxz3 Rcos (45) * Cxz3 Rsin (45) * Cxx3
-Rcos (45) * Cxy3 Rtheta dY3 Cxy3 Cyy3 Cyz3 Rsin (45) * Cyz3 Rcos (45) * Cyz3 Rsin (45) * Cyx3
-Rcos (45) * Cyy3 Rpsi

In the matrix A, dX1 is the x-axis direction marker displacement of the first marker M1 in the image coordinate system, dY1 is the y-axis direction marker displacement of the first marker M1 in the image coordinate system, dX2 is the marker displacement of the first marker M1 in the image coordinate system, DY2 is the marker displacement of the second marker M2 in the y axis direction in the image coordinate system and dX3 is the marker displacement of the third marker M2 in the image coordinate system, And dY3 is the y-axis direction marker displacement of the third marker M3 in the image coordinate system.

(K = 1, 2, 3) in the matrix C is a unit distance (1 micrometer) from the k-th marker in the world coordinate system to the j-axis, Cijk (i = x, y, Directional variation of the k-th marker in the image coordinate system, R is a radius of the imaginary circle, and? Is the distance from the x-axis of the world coordinate system to the second marker M2 Direction. Also, the world coordinate system is inclined 45 degrees counterclockwise with respect to the reference coordinate system (X0 axis, Y0 axis, Z0 axis) parallel to the virtual line segment and passing through the center of the virtual circle.

In the matrix C, dX is the actual displacement in the x-axis direction, dY is the actual displacement in the y-axis direction, dZ is the actual displacement in the z-axis direction, Rpi is the actual tilt displacement with respect to the x- is the actual tilt displacement relative to the y axis, and Rpsi is the actual tilt displacement relative to the z axis.

Therefore, by calculating the determinant described above, the actual displacement can be calculated.

Now, an inspection method of the optical image stabilization unit according to an embodiment of the present invention will be described. 5 is a diagram showing a method of inspecting an optical image stabilization unit according to an embodiment of the present invention.

Referring to FIGS. 1 to 4 and 5, an inspection method of an optical image stabilization unit according to an embodiment of the present invention uses an optical image stabilization unit inspection apparatus according to an embodiment of the present invention, A method of inspecting the unit 100 will be described.

The inspection method of the optical image stabilization unit according to an embodiment of the present invention includes a hand movement reproduction step S1, an image acquisition step S3, an information extraction step S4 and an information comparison step S5.

At this time, in the embodiment of the present invention, at least three markers M are displayed in the optical image stabilization unit 100 as the camera unit 2 and the reflector 3 are applied. At least three of the parts of the optical image stabilization unit 100 can be utilized as the markers.

The camera shake reconstruction step S1 is a step of reconstructing the optical shake correction unit 100 from a first direction, a second direction perpendicular to the first direction, and a second direction perpendicular to the virtual plane including the first direction and the second direction In the direction of at least one of the first direction and the third direction. The shaking motion reproducing step S1 may be performed by operating the actuator 1 in accordance with an operation signal of the shaking motion reproducing section 51. [

The image acquiring step S3 acquires at least three of the markers M displayed on the optical image stabilization unit 100 through the camera unit 2 spaced apart from the optical image stabilization unit 100, M2, and M3.

In the image acquisition step S3, at least three markers are photographed by summing up a real image marker photographed with the marker displayed on the optical image stabilization unit 100 and a virtual image marker photographed with the marker reflected through the reflector 3 Image information can be obtained. The image acquisition step S3 may be performed according to the operation of the camera unit 2. [

When the actuator 1 is operated according to the operation signal of the camera shake regenerating unit 51, the camera unit 2 performs the optical camera shake correction including the marker M, The unit 100 can be photographed between 100 Hz and 10 kHz to acquire image information.

The information extracting step S4 extracts a marker displacement according to the movement of the marker M in the image information. The information extracting step S4 may be performed according to the operation of the information extracting unit 53. [ The information extraction step S4 may extract coordinate values of the marker M through various types of image processing.

The information comparison step (S5) calculates the actual displacement of the optical image stabilization unit based on the marker displacement. The information comparison step S5 may be performed according to the operation of the information comparison unit 55. [

The information comparison step S5 may further compare the actual displacement with a predetermined limit displacement.

As a result of the comparison in the information comparing step S5, if the actual displacement is within the range of the predetermined limit displacement, the optical camera shake correction unit 100 can judge to be normal.

When the actual displacement is out of the range of the predetermined limit displacement as a result of the comparison in the information comparison step S5, the optical shake correction unit 100 can determine that the optical shake correction unit 100 is defective.

The inspection method of the optical image stabilization unit according to an embodiment of the present invention may further include an operation characteristic detection step (S2).

The operation characteristic detection step (S2) detects the operation characteristic of the optical camera shake correction unit (100) through the shake correction step (S1). The operation characteristic detection step S2 can detect the operation characteristic by using the operation state of the optical camera shake correction unit 100 when the actuator 1 is operated under the control of the control unit 5 . For example, the control unit 5 detects a signal according to the operation of the optical lens or the image sensor in the optical image stabilization unit 100, and can utilize the signal as the operation characteristic.

When the actuator 1 is operated under the control of the control unit 5, the control unit 5 may be provided with a control unit 5 for controlling the operation of the optical image stabilization unit 100, The signal is collected. For example, the operation state of the optical image stabilization unit 100 is stored in the data collection unit 54. [ Therefore, the operation characteristic can be detected based on the signal collected in the control unit 9. [

The inspection method of the optical image stabilization unit according to an embodiment of the present invention may further include a z-axis displacement correction step (S7).

The z-axis displacement correction step (S7) is performed prior to the information comparison step (S5). The z-axis displacement correction step S7 calculates the marker displacement in the image coordinate system with respect to the distance that the marker M has moved in the z-axis direction on the basis of the world coordinate system in the optical image stabilization unit 100 do. The z-axis displacement correction step S7 may be performed according to the operation of the z-axis displacement correction unit 56. [

The inspection method of the optical image stabilization unit according to an embodiment of the present invention may further include a marker display step (S8).

The marker display step S8 displays at least three markers on the optical image stabilization unit 100 prior to the hand shake reproduction step S1. The marker display step S8 may be displayed either by the user or by another display means (not shown).

In the marker display step S8, the optical image stabilization unit 100 can be positively positioned on the actuator 1, or the reflector 3 can be positively positioned.

The inspection method of the optical image stabilization unit according to an embodiment of the present invention may further include a failure determination step (S6).

The failure determination step S6 determines whether or not the optical image stabilization unit 100 is defective after the information comparison step S5. The failure determination step (S6) may be performed under the control of the control unit (5).

For example, the failure determination step S6 can determine whether or not the optical image stabilization unit 100 is defective based on the predetermined limit displacement. When the actual displacement is within the range of the predetermined limit displacement as a result of the failure determination step S6, it can be determined that the optical image stabilization unit 100 is normal. In addition, when the actual displacement exceeds the predetermined limit displacement range as a result of the failure determination step (S6), the optical camera shake correction unit 100 can determine that the optical shake correction unit 100 is defective.

As another example, the failure determination step S6 can determine whether or not the optical image stabilization unit 100 is defective based on the variation amount for each piece of information. If the variation amount is not found through the failure determination step S6, the optical camera shake correction unit 100 can be determined to be normal. In addition, when the variation amount is generated through the failure determination step S6, it is possible to determine that the optical image stabilization unit 100 is defective.

 As another example, the failure determination step S6 can determine whether or not the optical image stabilization unit 100 is defective based on the variation amount for each piece of information and the predetermined limit displacement. It is possible to judge that the optical image stabilization unit 100 is normal when the variation amount is within the range of the predetermined limit displacement as a result of the failure determination step S6. In addition, when the variation amount is out of the range of the predetermined limit displacement as the defect determination step S6 is performed, it is possible to determine that the optical image stabilization unit 100 is defective.

After the information comparison step S5 or the failure determination step S6 is performed, the power applied to the optical image stabilization unit 100 and the actuator 1 is cut off, The camera shake correcting unit 100 is disconnected.

Then, after the new optical image stabilization unit 100 is fixed to the actuator 1 in the correct position, the above-described inspection method can be repeated by applying power to the optical image stabilization unit 100 and the actuator 1 .

Hereinafter, the displacement correction method of the optical image stabilization unit according to the embodiment of the present invention will be described. 6 is a diagram showing a displacement correction method of an optical image stabilization unit according to an embodiment of the present invention.

1 to 5 and 6, a displacement correction method of an optical camera shake correcting unit according to an embodiment of the present invention is characterized in that, in the optical camera shake correcting unit 100, the marker M the marker displacement in the image coordinate system is calculated with respect to the distance moved in the z-axis direction.

In this case, in the optical image stabilization unit 100, the world coordinate system is defined as a physical three-dimensional coordinate system formed on the basis of the surface on which the marker M is displayed, and the image coordinate system is defined on the basis of the plane on which the image information is displayed Dimensional coordinate system that is formed.

The displacement correction method of the optical camera shake correcting unit according to the embodiment of the present invention is characterized in that the unit movement distance in the z axis direction is calculated on the basis of the unit movement distance in the x axis direction and the unit movement distance in the y axis direction in the world coordinate system Axis direction of the marker in the z-axis direction; and a step (S10) of deriving a z-axis unit distance to derive a camera coordinate system based on the world coordinate system and rotating the world coordinate system about each axis, (S30) of deriving a first coordinate system transformation equation from the world coordinate system to the camera coordinate system through a coordinate system transformation step (S20) and a coordinate system transformation step (S20); and a second transformation step (S40) of deriving a second coordinate system transformation equation from the camera coordinate system to the image coordinate system using the first coordinate system transformation equation, (S50) for calculating a rotation amount with respect to each axis in the second coordinate system conversion step (S50); and a rotation amount calculation step (S50) And a marker displacement correction step (S60) of calculating the marker displacement in the marker displacement calculation step.

The z-axis unit distance deriving step (S10) is performed according to the operation of the z-axis unit distance deriving unit, and the coordinate system converting step (S20) is performed according to the operation of the coordinate system converting unit. ) Is performed according to the operation of the first conversion deriving unit, the second conversion deriving step (S40) is performed according to the operation of the second conversion deriving unit, and the rotation amount calculating step (S50) And the marker displacement correction step (S60) may be performed according to the operation of the marker displacement correction unit.

If the unit movement distance in the x-axis direction in the world coordinate system is Ux and the unit movement distance in the y-axis direction is Uy in the z-axis unit distance deriving step S10, The distance Uz can be derived from the outer (right-hand rule) of Ux and Uy. For example, if a vector that moves 100 m in the x-axis direction from the origin on the world coordinate system is defined as Uxb, and a vector that moves 100 m in the y-axis direction is defined as Uyb, Uzb which is a vector moving 100 m in the z- Can be defined.

Then, Uxb and Uyb can calculate the projection of Uxb and Uyb on the projected image.

ThetaX is a rotation angle of the world coordinate system with respect to the x axis, thetaY is a rotation angle with respect to the y axis of the world coordinate system, and thetaZ is a rotation angle with respect to the z axis of the world coordinate system And T is a translational matrix according to the distance traveled by the marker in the z-axis direction on the basis of the world coordinate system. Based on the x-transformation matrix Rx based on the rotation about the x-axis and the rotation about the y- The components of the y-transformation matrix Ry and the z-transformation matrix Rz based on the rotation about the z-axis are shown in Table 2 below.

x conversion matrix Rx y transformation matrix Ry z conversion matrix Rz One 0 0 cos (thetaY) 0 sin (thetaY) cos (thetaZ) -sin (thetaZ) 0 0 cos (thetaX) -sin (thetaX) 0 One 0 sin (thetaZ) cos (thetaZ) 0 0 sin (thetaX) cos (thetaX) -sin (thetaY) 0 cos (thetaY) 0 0 One

Then, the coordinate system transformation matrix R from the world coordinate system to the camera coordinate system is expressed as follows.

R = Rx * Ry * Rz

In this case, the coordinates of the coordinates Xwcs of the arbitrary point X in the world coordinate system to the camera coordinate system and the coordinates to be converted into the image coordinate system may be expressed as follows.

Xscs = R * X _WCS + T

Xcs = [Xscs (1,1) / Xscs (3,1), Xscs (2,1) / Xscs (3,2)]

A first coordinate system transformation equation of Uscs = f (R * Uwcs + T) is established between the unit matrix of the world coordinate system and the unit matrix of the camera coordinate system in the first conversion formula derivation step S30. In other words, the first coordinate system transformation equation can represent a motion vector in the camera coordinate system when a unit vector in each axis direction moves from the origin of the world coordinate system.

Here, Uscs represents the unit matrix in the camera coordinate system, Uwcs represents the unit matrix in the world coordinate system, and T represents the translation matrix according to the distance of movement of the marker in the z axis direction with reference to the world coordinate system.

Referring to the second transforming derivation step S40, the unit matrix of the camera coordinate system can be expressed as Uscs = [UscsX, UscsY, UscsZ]. Then, a second coordinate system conversion equation is established between the unit matrix of the camera coordinate system and the unit matrix of the image coordinate system, U _ICS = K * [U _SCS X / U _SCS Z, U _SCS Y / U _SCS Z]. In other words, the second coordinate system transformation equation may represent image coordinates in the image coordinate system.

Here, K is a conversion constant from the world coordinate system to the image coordinate system.

(Ata), sz = sin (thetaX), cy = cos (thetaY), sy = sin (thetaY), cz = cos (thetaZ), sz = sin thetaZ), the components of the coordinate system conversion matrix R are expressed as [Table 3] as follows.

Coordinate system transformation matrix R cy * cz cy * sz -sy sx * sy * cz-cx * sz sx * sy * sz + cx * cz sx * cy -cx * sy * cz + sx * sz cx * sy * sz-sx * cz cx * cy

Here, the z-axis of the camera coordinate system can be defined as passing through the origin of the world coordinate system, and the translation matrix can be expressed as T = [0, 0, Tz]. Here, Tz represents the distance of movement of the marker in the z-axis direction with reference to the world coordinate system.

When the unit vector in each axis direction moves from the origin of the world coordinate system, the movement vector of the camera coordinate system is Uscs = f (R * Uwcs + T), and each component of the unit matrix Uwcs of the world coordinate system is [ Table 4] shows the following.

The unit matrix Uwcs of the world coordinate system Ux 0 0 0 Uy 0 0 0 Uz

At this time, Uscs = [iUx, iUy; iVx, iVy], the components are as follows.

(Tz is much larger than Ux, Uy, Uz)

iUx = cy * cz * Ux / Tz (1)

iUy = (sx * sy * cz-cx * sz) * Ux / Tz Equation (2)

iVx = cy * sz * Uy / Tz (3)

iVy = (sx * sy * sz + cx * cz) * Uy / Tz Equation (4)

Here, if we define Ux = Uy = Uz, thetaZ can be obtained from Eqs. (1) and (3).

thetaZ = assign (iVx / iUx)

In addition, thetaX can be obtained by erasing sy from Eqs. (2) and (4).

thetaX = + / - acos ((cz * iVy-sz * iUy) / (wU / Tz))

Since the z-axis of the camera coordinate system is directed to the origin of the world coordinate system, thetaX value should be less than zero. Therefore, thetaX is summarized as follows.

thetaX = -acos ((cz * iVy-sz * iUy) / (wU / Tz));

In addition, thetaX and thetaZ are applied to Eqs. (2) and (4)

sy = (iUy * Tz / Ux + cx * sz) / (sx * cz)

sy = (iVy * Tz / Ux-cx * cz) / (sx * sz)

, Which is the same whether either value is taken.

Then thetaY is, by definition, thetaY = asin (sy).

Thus, the variables thetaX, thetaY, and thetaZ for each component of the coordinate system transformation matrix are all determined.

Referring to the marker displacement correction step S60, the vector in the image coordinate system for the unit distance Uz movement in the z-axis direction at the origin of the world coordinate system is obtained as follows.

Uscs = f (R * U + T)

The components of the unit matrix U for the unit distance (Uz) movement in the z-axis direction from the origin of the world coordinate system are shown in Table 5 below.

The unit matrix U for the unit distance (Uz) movement in the z-axis direction from the origin of the world coordinate system 0 0 0 0 0 0 0 0 Uz

T = [0, 0, Tz] is applied to summarize Uscs,

Set to Uics = [iWx, iWy] (where Tz is much larger than Ux, Uy, Uz)

iWx = -sy * Uz / (Tz + cx * cy * Uz) = - sy * Uz / Tz

iWy = sx * cy * Uz / (Tz + cx * cy * Uz) = sx * cy * Uz / Tz

Therefore, the marker displacements in the image coordinate system may be calculated through the iWx and iWy, or iWx and iWy may be represented by the marker displacements in the image coordinate system.

If the reflection surface of the reflector 3 is not perpendicular to the virtual plane or the marker M is located on the z-axis in the world coordinate system by using the displacement correction method of the optical camera shake correction unit according to the embodiment of the present invention, The marker displacement for the z-axis movement of the marker M can be accurately extracted even if the marker M is not moved accurately.

Hereinafter, an inspection apparatus for an optical image stabilization unit according to another embodiment of the present invention will be described.

7 is a diagram showing the arrangement states of a division marker and a reflector in a world coordinate system forming a physical three-dimensional coordinate system based on a surface on which a division marker is displayed in an inspection apparatus of an optical image stabilization unit according to another embodiment of the present invention And FIG. 8 is a view showing definitions of the x and y axes of the division markers and the world coordinate system displayed in the world coordinate system in the inspection apparatus of the optical image stabilization unit according to another embodiment of the present invention. FIG. 10 is a view showing a display state of a split marker displayed on the basis of a world coordinate system in an image coordinate system in an inspection apparatus of an optical image stabilization unit according to another embodiment of the present invention. The relationship between the division markers for calculating the relative coordinates between the division markers based on the image coordinate system in the inspection apparatus of the correction unit is shown in Table It is a time limit drawing.

In FIG. 9, the display in the image coordinate system for the marker reflected on the reflecting mirror 3 is omitted.

Referring to FIGS. 1 to 6 and 7 to 10, an inspection apparatus for an optical image stabilization unit according to another embodiment of the present invention is an apparatus for inspecting whether or not a completed optical image stabilization unit 100 is defective.

Here, the optical image stabilization unit 100 performs a function of correcting the shape of the subject image formed on the image sensor so as not to fluctuate by changing the position of the optical lens or the image sensor through the driving unit in response to the external shake .

An inspection apparatus of an optical image stabilization unit according to another embodiment of the present invention includes an actuator 1, a reflector 3, a camera unit 2, and a control unit 5.

In the other embodiment of the present invention, the same reference numerals are assigned to the same components as those of the embodiment of the present invention, and a description thereof will be omitted.

In another embodiment of the present invention, at least three markers are displayed in the optical image stabilization unit 100. [ For example, four markers P1, P2, P3, and P4 may be displayed in the optical image stabilization unit 100. At least one of the markers is arranged so that a plurality of division markers are spaced apart from each other. In another embodiment of the present invention, the four circles P1, P2, P3, and P4 are substantially aligned with the imaginary circles formed in the optical image stabilization unit 100. [ Further, in another embodiment of the present invention, the four division markers for one marker may be arranged so as to be spaced apart from each other. The center of one marker is substantially coincident with the center of the virtual division source connecting the division markers.

The second marker P2 is arranged to face the reflector 3 with respect to the four markers P1, P2, P3 and P4 and the fourth marker P4 is arranged to face the second marker P2 And the first marker P1 and the third marker P3 are disposed on opposite sides of the second marker P2 or on both sides of the reflector 3 respectively.

The imaginary line segment connecting the first marker P1 and the third marker P3 is substantially perpendicular to the normal line to the reflective surface of the reflector 3, The second marker P2 and the fourth marker P4 are arranged on the normal line of the second marker P2.

For example, the world coordinate system is inclined by 45 degrees with respect to a reference coordinate system (X0 axis, Y0 axis, Z0 axis) parallel to the virtual line segment and passing through the center of the virtual circle, and the first marker M1 The third marker P3 is disposed at an angle of 15 degrees in a counterclockwise direction from the X0 axis of the reference plane coordinate system. The third marker P3 is disposed at an angle of 15 degrees clockwise from the X0 axis of the reference plane coordinate system. Accordingly, the third marker P3 is inclined from the x-axis of the world coordinate system in the clockwise direction by? (For example,? = 30 degrees).

In another embodiment of the present invention, the segmentation marker may be denoted by Mark nm. Here, n = 1, 2, 3, 4, and m = 1, 2, 3, Then, the x-axis of the world coordinate system is substantially parallel to an imaginary connecting line connecting Mark n2 and Mark n4, and the y-axis of the world coordinate system is substantially parallel to a virtual connecting line connecting Mark n1 and Mark n3.

As shown in FIG. 9, the first marker P1 and the third marker (second marker) P1, the third marker P1, P3, as well as a virtual marker for the second marker P2 are displayed. In FIG. 9, the virtual marker for the second marker P2 is omitted.

Then, cijn (i = x, y, j = x, y, z, n = 1, 2, 3, 4) for the four division markers is obtained by multiplying the nth division marker Mark n represents the i-directional variation of the n-th division marker displayed in the image coordinate system when the distance is shifted by a unit distance (1 micrometer) on the j-axis.

Then, when Mark n1 to Mark n4 whose absolute coordinates are known are arranged on the optical image stabilization unit 100, the direction substantially parallel to the imaginary connecting line connecting Mark n1 and Mark n3 corresponds to the world coordinate system Axis direction of the world coordinate system, and a direction substantially parallel to a virtual connecting line connecting Mark n2 and Mark n4 can be defined as an x-axis direction of the world coordinate system.

10, obtaining center coordinates of the corresponding markers on the basis of the image coordinate system, interpolating the center coordinates of the corresponding markers on the basis of the image coordinate system, By calculating relative coordinates, we can obtain cijn. Here, cxzn and cyzn can be obtained by using the previously obtained cxxn, cyxn, cxyn, and cyyn, and using the displacement correction method of the optical image stabilization unit according to an embodiment of the present invention.

Here, Ux shown in FIG. 10 is a first relative coordinate along the x-axis direction of the world coordinate system based on the image coordinate system. Also, Ux cxx is a horizontal component for the first relative coordinate and Ux cyx is a vertical component for the first relative coordinate.

Also, Uy shown in FIG. 10 is a second relative coordinate along the y-axis direction of the world coordinate system based on the image coordinate system. Also, Uy cxy is a horizontal component for the second relative coordinate and Uy cyy is a vertical component for the second relative coordinate.

≪ Calculation of rotational motion Rpi >

If the center of the division marker Mark nm for one marker is defined as Pn, the rotation axis for the rotation movement Rpi is the center of the first marker P1, 3 markers (P3).

The amount of rotation Rpi1 of the first marker P1 and the amount of rotation of the third marker P3 in the rotational motion Rpi through the actual image of the first marker P1 and the third marker P3, (Rpi3) can be calculated.

Let P _U , P _L be the point at which the centers of two split markers M _U and M _L among the four split markers vertically aligned with the rotational axis with respect to the rotational motion Rpi are mapped to the image coordinate system, When rotated to the center, the distance between P _U and P _L changes by rotation.

At this time, the distance between P _U and P _L is independent of the translation movement of the optical image stabilization unit 100 in the world coordinate system, and the distance from the rotation axis Rpi of the rotation movement Rpi to the division marker M _U And the rotation distance from the rotation axis of the Rpi to M _L is the same, so that it is irrelevant because M _L and M _U vary by the same amount, and the influence on the distance between P _U and P _L is negligible for the rotation R psi .

(P _UL (0)) between P _U and P _L when the time is "0" in the operation of the actuator 1 and the distance P _U and P _L after the lapse of a predetermined time (t) _UL (t)) can be expressed as follows.

_{P UL (0) = | P} U (0) - P L (0) | _{And, P UL (t) = |} P U (t) - P L (t) | to be.

_{Then, dP UL = P UL (t} ) -P UL (0) = | P U (t) - P L (t) | - | P U (0) -P L (0) | to be.

Here, the rotation amount Rpi1 of the first marker P1 and the rotation amount Rpi3 of the third marker P3 can be expressed as follows.

Rpi1 = - (dP _UL1 / cyz1) / (? 2 * P _UL1 (0) / (cyx1 + cyy1)

Rp3 = - (dP _UL3 / cyz3) / (? 2 * P _UL3 (0) / (cyx3 + cyy3)

At this time, Rpi = Rpi1 = Rpi3 but there may be slightly different measurement errors. However, the measurement error can be reduced through the equation Rpi = (Rpi1 + Rpi3) / 2.

Likewise, the measurement error can be reduced by increasing the number of the pair of division markers for the corresponding M _U and M _L.

When the center of the division marker Mark nm for one marker is defined as Pn, the rotation axis of the rotation movement Rpi is defined as a line segment connecting the center of the first marker P1 and the center of the third marker P3 12, only the second marker P2 is influenced by the rotation of the division marker around the rotation axis of the rotation movement Rpi.

Since the variation components PP2x and PP2y caused by the rotational motion Rpi cause only the z-axis direction variation in the world coordinate system, the variation components P2x and P2y in the image coordinate system are as follows.

_{P2x = PP2x-Rpi * R 2} * cxz2

_{P2y = PP2y-Rpi * R 2} * cyz2

Here, R ₂ is the distance from the rotation axis of the rotary motion Rpi to the actual position of the second marker P2.

All operations in another embodiment of the present invention utilize the -PP2 coordinate value in which the variation component caused by the preprocessed -Φ is canceled.

≪ Calculation of translational motion Z component in auto focus driving >

P1, P2, and P3 for the respective markers in the image coordinate system when the marker moves by (X, Y, Z) on the world coordinate system are as follows.

P1 = X1 + Y1 + Z1

P2 = X2 + Y2 + Z2

P3 = X3 + Y3 + Z3

Here, P1 and P3 are the variation vectors for the actual positions of the first marker and the third marker, and P2 is the variation vector for the virtual phase of the second marker.

P1 + 2 P2 + P3

= X (cxx1, cyx1) + 2X (cxx2, cyx2) + X (cxx3, cyx3) +

  Y (cxy1, cyy1) + 2Y (cxy2, cyy2) + Y (cxy3, cyy3) +

  Z (CxZ1, CyZ1) + 2Z (CXZ2, CyZ2) + Z (CXZ3, CyZ3)

= X (cxx1 + 2 cxx2 + cxx3, cyx1 + 2 cyx2 + cyx3) +

  Y (cxy1 + 2 cxy2 + cxy3, cyy1 + 2 cyy2 + cyy3) +

  Z is (CxZ1 + 2 CXZ2 + CXZ3, CZ1 + 2 CZ2 + CZ3)

 A virtual plane in the optical camera shake correcting unit 100 forms an angle of 45 degrees with respect to the visual axis of the camera unit 2 and the reflecting mirror 3 is perpendicular to the virtual plane, (Optical axis) of 45 degrees,

cyy1 = cyy3, cyx1 = cxy3, cyy2 = -cyy1, and cyx2 = -cyx1.

If there are some geometrical errors in the camera unit 2 and the reflector 3, cyy1? Cyy3, cyx1? Cxy3, cyy2? -Cyy1, and cyx2? -Cyx1.

Accordingly,

cyx1 + 2cyx2 + cyx3? 0, cyy1 + 2cyy2 + cyy3? 0,

P1 + 2P2 + P3

= X (cxx1 + 2cxx2 + cxx3, ~ 0) +

  Y (cxy1 + 2cxy2 + cxy3, ~ 0) +

  Z (cxz1 + 2cxz2 + cxz3, cyz1 + 2cyz2 + cyz3).

Therefore, the Z displacement is as follows.

(CYZ1 + 2CYZ2 + CYZ3) + Y (CYY1 + 2CYY2 + CYY3)) / (CyZ1 +

Since X and Y are not known at the above Z displacement, Z value is obtained assuming X = 0 and Y = 0. Place the Z value of this time to the _{Z (0), Z (0} ) to obtain the _{X (0), Y (0} ) displaced from the value, by applying the _{X (0), Y (0} ) value obtained Z ₍₁₎ value Is repeated. Repeat until Zerr defined below is less than 0.01%.

Zerr = | Z _(n) - Z _(n-1) |

_{Z (n) = (P1y +} 2P2y + P3y (X (n-1) (cyx1 + 2cyx2 + cyx3) + Y (n-1) (cyy1 + 2cyy2 + cyy3)) / (cyz1 + 2 cyz2 + cyz3)

Z _(n) denotes the n-th iteration, X _(n-1) and Y _(n-1) is an X, Y displacement calculated from Z _(n-1) obtained from the n-1 th iteration.

Next, a method of obtaining X _(n) and Y _(n) displacements from Z _(n) will be described below.

When the X and Y displacements due to the auto focus drive are small or cancel each other, the error becomes smaller. Zerr ₍₁₎ in the first calculation result from the actually measured data is as follows.

Zerr ₍₁₎ = (0.02 * 0.04 + 0.02 * 0.04) / 4 = 0.04%

<Calculation of translational motion X and Y components in auto focus operation>

When the optical image stabilization unit has rotational motion corresponding to Rpi, Rtheta, and Rpsi in addition to the translational motion with respect to the X, Y, and Z axes of the world coordinate system, the first marker and the third marker, And the Y axis of the world coordinate system is a bisector of a line segment connecting the first marker and the third marker so that the first marker, the second marker, and the third marker are passed through the optical image stabilization unit 100), the following is established.

P1 + P3 are the coordinates on the image coordinate system with respect to the center point of the optical image stabilization unit, and thus they are independent of variations of Rpi, Rtheta and Rpsi.

P1 + P3

= (PHx, PHy)

= X (cxx1, cyx1) + X (cxx3, cyx3) +

  Y (cxy1, cyy1) + Y (cxy3, cyy3) +

  Z is (CxZl, CyZl) + Z (Cxz3, CyZ3)

= X (cxx1 + cxx3, cyx1 + cyx3) +

  Y (cxy1 + cxy3, cyy1 + cyy3) +

  Since Z (cxz1 + cxz3, cyz1 + cyz3), we can obtain X and Y by applying the above Z value to the above equation.

<Calculation of translational motion X, Y and Z components when operating the optical image stabilizer unit>

P1 + P3 = (PHx, Phy)

= X (cxx1, cyx1) + Xcxx3, cyx3) +

  Y (cxy1, cyy1) + Y (cxy3, cyy3) +

  Z is (CxZl, CyZl) + Z (Cxz3, CyZ3)

= X (cxx1 + cxx3, cyx1 + cyx3) +

  Y (cxy1 + cxy3, cyy1 + cyy3) +

  Z (CxZ1 + CXz3, Cys1 + CyZ3)

Further, P1 - 2 P2 + P3 = (PVx, PVy)

= X (cxx1, cyx1) - 2X (cxx2, cyx2) + X (cxx3, cyx3) +

  Y (cxy1, cyy1) - 2Y (cxy2, cyy2) + Y (cxy3, cyy3) +

  Z is (CxZl, CyZl) 2Z (CxZ2, CyZ2) + Z (CxZ3, CyZ3)

= X (cxx1 2cxx2 + cxx3, cyx1 2 cyx2 + cyx3) +

  Y (cxy1-2cxy2 + cxy3, cyy1-2 cyy2 + cyy3) +

  Z is (CxZl-2cxz2 + Cxz3, CyZ1-2 CyZ2 + CyZ3)

(X, Y, Z).

In this case, when the optical image stabilization unit 100 has rotational movement by Rpi, Rtheta, and Rpsi in addition to the translational motion with respect to the X, Y, and Z axes of the world coordinate system, And a Y-axis of the world coordinate system is a bisector of a line segment connecting the first marker and the third marker, wherein the first marker, the second marker, and the third marker are arranged so as to pass through the second marker, The following is established if it is formed on the optical image stabilization unit 100:

First, P1 + P3 is a coordinate on the image coordinate system with respect to the center point of the optical image stabilization unit 100, so that it is independent of the variation of Rpi, Rtheta, and Rpsi.

Second, since P1 - 2P2 + P3 is a coordinate on the image coordinate system for twice the vector from the center of the optical image stabilization unit 100 to Mark 2, the center of the optical image stabilization unit 100 from the center of the optical image stabilization unit 100 to the mark 2 It is irrelevant to the rotation movement Rtheta which uses the line segment as the rotation axis.

Third, the Y component PVy of P1 - 2P2 + P3 is affected only by Rpi, Rpsi by the above - mentioned second content.

Fourth, the contribution of P1 - 2P2 + P3 to the Y component PVy by Rpsi is R * Rpsi * (P3 - P1) y / (P3 - P1) x and (P3 - P1) y / -P1) x < 0.05. Here, R represents the turning radius.

Therefore, by calculating P1 + P3 and P1 - 2P2 + P3, X, Y, and Z values are obtained.

<Calculations of Rotational Motion Rtheta, Rpsi>

Pn (n = 1, 2, 3) is a virtual mark represented by an average value of the center coordinates of Mark n1, n2, n3, and n4, respectively. Rtheta is defined as a rotation about an axis perpendicular to a line segment connecting the first marker and the third marker through the virtual image of the second marker on the world coordinate system.

Thus, for sufficiently small Rtheta (less than 1 degree), the first marker and the third marker are simplified in that only the variability in the z-axis direction of the world coordinate system occurs.

If the residual fluctuation displaced by the translational motion and the Rpi is removed by dP1, dP2, dP3 for the first marker, the second marker and the third marker, then the second marker has the first marker and the third marker The distance from the bisector of the segment connecting the first marker to the third marker is equal to the distance between the first marker, the second marker and the third marker, the following equation is established.

dP1 = R1 * Rtheta * (cxz1, cyz1) + R3 * Rpsi * cosA * (cxx1, cyx1) + R3 * sinA * (cxy1, cyy1)

dP2 = -R3 * Rpsi * sinA * (cxx2, cyx2) + R3 * Rpsi * cosA * (cxy2, cyy2)

dP3 = -R1 * Rtheta * (cxz3, cyz3) - R3 * Rpsi * cosA * (cxx3, cyx3) - R3 * Rpsi * sinA * (cxy3, cyy3)

Here, R1 is a radius of rotation for the rotation movement Rtheta, R3 is a radius of rotation for the rotation movement Rpsi, A is a line segment connecting the first marker and the third marker on the world coordinate system, If the correction and measurement are consecutively performed, the angle between the determined X and Y axes is exactly 45 degrees. If this is separately performed, the angle between the line segment connecting the first marker and the third marker and the X axis defined by the correction is calculated and A .

Then, A is 45 degrees or so, cyx2 and cyy2 are almost equal to each other, so Rpsi is obtained using only the horizontal component of dP2.

R psi = d P 2 x / (R 3 * (- sinA * cxx2 + cosA * cxy2))

Also, Rtheta is obtained using the vertical component of dP1 and the vertical component of Example 3.

Rtheta1 = dP1y - R3 * Rpsi * (cosA * cyx1 + sinA * cyy1) / (R1 * cyz1)

Rtheta3 = dP3y - R3 * Rpsi * (cosA * cyx3 + sinA * cyy3) / (R3 * cyz1)

Rtheta = (Rtheta1 + Rtheta3) / 2

<Calculation of Angle A>

Even if the first marker and the third marker are separately mounted on the optical image stabilization unit after correction, the initial tilt deviation is sufficiently small (0.5 degrees or less), so that the rotational motion of the rotational movement Rpi on the plane parallel to the XY plane determined by the correction It can be assumed that a rotational axis exists.

Let L (Lx, Ly) be the vector connecting the third marker in the first marker, L is a vector without Z displacement in the world coordinate system,

(Lx, Ly) = (P3x - P1x, P3y - P1y)

(Lx, Ly) = a (cxx, cyx) + b (cxy, cyy)

Here, a is a line segment parallel to the x axis of the world coordinate system in a virtual triangle having a long segment as a segment connecting the first marker and the third marker, and b is a long segment as a long segment connecting the first marker and the third marker Is a line segment parallel to the y-axis of the world coordinate system in a hypothetical triangle.

A = a (b / a)

Cxx1, cxy1, cxy1, and cyy1 from the first marker and cxx3, cxy3, cxy3, and cyy3 from the third marker are slightly different from each other.

Lx1 = a1 * cxx1 + b * cxy1

Ly1 = a1 * cyx1 + b3 * cyy1

Lx3 = a3 * cxx2 + b * cxy3

Ly3 = a3 cyx3 + b3 cyy3

Therefore, A = (atan (b3 / a3) + atan (b1 / a1)) / 2.

"*" Denotes multiplication, "/" denotes division, and "√" denotes multiplication. In the above formula, "=" denotes equal sign, "+" denotes addition, "-" denotes subtraction or negative number, Represents the root.

In order to apply the above-described equations, it is applicable when the distance from the sensor of the camera unit to the marker is sufficiently larger than the depth of focus (DOF). At this time, it is a matter of course that the marker can be measured only for the fluctuations in the FOV (field of view) and Diof. For example, the distance from the sensor of the camera unit to the marker is 100 to 300 mm, and the Diof is 0 to 1 mm. Also, the variation amount of the marker moving in the DIOF during the shooting of the camera unit does not deviate from +/- 250um in the first direction, the second direction, and the third direction.

According to the inspection apparatus and the inspection method of the optical image stabilization unit and the displacement correction method of the optical image stabilization unit described above, when inspecting the optical image stabilization unit 100, one camera unit 2 and the optical image stabilization correction By using the reflector 3 protruding from the unit 100, the entire algorithm can be simplified and the inspection of the optical image stabilization unit 100 can be performed quickly.

In addition, since the camera unit 2 and the reflector 3 are used, the cost of the core parts is significantly lower than that of the prior art, and the manufacturing and maintenance costs for the inspection apparatus are greatly reduced, and the inspection accuracy is not lowered.

In addition, the structure of the camera unit 2 can be simplified, and the camera unit 23 can quickly acquire an image.

Further, it is possible to adjust the recognition range for acquiring an image in the camera unit 2, and to increase the frame rate while reducing the pixels of the image.

In addition, it is possible to clarify the measurement of the marker displacement according to the operation of the actuator 1, and accurately obtain the marker displacement according to the movement of the marker.

In addition, the matrix according to the experimental constant matrix C used for actual displacement calculation is not singular, so that the calculation of the actual displacement can be facilitated.

Further, the operation state of the optical image stabilization unit 10 can be monitored, and it can be a basis for calculating the movement of the marker.

In addition, the inspection algorithm can be simplified by utilizing the unit movement amount of the marker, and the whole inspection time can be shortened.

In addition, even the operating characteristics of the optical image stabilization unit 100 such as the performance of auto focus, the resonance frequency of auto focus, the performance of optical image stabilization correction, the frequency response characteristic of optical image stabilization, Can be inspected.

In particular, the displacement correction method of the optical camera shake correction unit according to the present invention can determine the marker displacement in the image coordinate system corresponding to the movement distance movement in the z-axis direction in the world coordinate system. Further, in the optical camera shake correcting unit 100, the marker displacement in the image coordinate system is calculated with respect to the distance that the marker moves in the z-axis direction with reference to the world coordinate system, thereby improving the inspection accuracy in the inspection apparatus .

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, Modify or modify the Software.

1: actuator 2: camera unit 21: microscope lens unit
22: relay lens section 23: camera section 24: section setting section
3: reflector 4: drive amount measuring unit 5: control unit
51: camera shake reproducing part 52: signal amplifying part 53: information extracting part
54: data collecting unit 55: information comparing unit 56: z-axis displacement compensating unit
100: Optical image stabilization unit
S1: camera-shake reproducing step S2: operating characteristic detecting step S3: image obtaining step
S4: information extraction step S5: information comparison step S6: failure determination step
S7: Z-axis displacement correction step S8: Marker display step
S10: Unit distance calculation step S20: Coordinate system conversion step S30: First conversion formula derivation step
S40: deriving the second conversion equation S50: calculating the amount of rotation S60: correcting the marker displacement

Claims (8)

An inspection apparatus for inspecting an optical image stabilization unit,
At least three markers are displayed in the optical image stabilization unit,
Wherein the optical image stabilization unit is arranged in at least one of a first direction, a second direction perpendicular to the first direction, and a third direction perpendicular to a virtual plane included in the first direction and the second direction To an actuator;
A reflecting mirror arranged to protrude from the optical image stabilization unit along the third direction and reflect at least one of the markers;
An image shake correcting unit which is disposed apart from the optical shake correcting unit and photographs at least three markers according to the operation of the actuator, the real image marker which photographs the markers displayed on the optical image shake correcting unit, A camera unit for photographing at least three markers to obtain image information; And
And a control unit for calculating an actual displacement of the optical image stabilization unit based on a marker displacement extracted from the image information. The method according to claim 1,
Wherein at least one of the markers is disposed so that a plurality of division markers are spaced apart from each other. 3. The method according to claim 1 or 2,
Wherein the control unit comprises:
A shake reproducing portion for applying an operation signal to the actuator;
An information extracting unit for extracting marker displacements from image information of at least three markers photographed by the camera unit;
A data collector for storing the image information and the marker displacement; And
And an information comparator for calculating an actual displacement of the optical shake correction unit based on the marker displacement. The method of claim 3,
The world coordinate system is defined as a physical three-dimensional coordinate system formed on the basis of the surface on which the marker is displayed, and the image coordinate system is defined as a physical two-dimensional coordinate system formed on the basis of the plane on which the image information is displayed,
Wherein the control unit comprises:
And a z-axis displacement correction unit for calculating the marker displacement in the image coordinate system with respect to a distance of movement of the marker in the z-axis direction with reference to the world coordinate system in the optical camera shake correction unit. Inspection device of the camera shake correction unit. 3. The method according to claim 1 or 2,
Wherein the control unit comprises:
And compares the actual displacement with a predetermined limit displacement. An inspection method for inspecting an optical image stabilization unit,
At least three markers are displayed in the optical image stabilization unit,
Wherein the optical image stabilization unit is disposed in a first direction, in a second direction perpendicular to the first direction, and in a third direction perpendicular to a virtual plane included in the first direction and the second direction A shaking motion reproducing step;
An actual image marker which photographs at least three markers displayed on the optical image stabilization unit through a camera unit spaced apart from the optical image stabilization unit, the marker being displayed on the optical image stabilization unit; An image acquiring step of acquiring image information by capturing at least three markers by summing up virtual image markers that have taken a reflected marker through a reflector disposed as far as possible;
An information extracting step of extracting a marker displacement according to the movement of the marker in the image information; And
And an information comparing step of calculating an actual displacement of the optical image stabilization unit based on the marker displacement. The method according to claim 6,
And an operation characteristic detection step of detecting an operation characteristic of the optical camera shake correction unit through the shake correction step. The world coordinate system in the inspection apparatus of the optical image stabilization unit according to claim 1 or 2 is defined as a physical three-dimensional coordinate system formed on the basis of the surface on which the marker is displayed, When defined as a physical two-dimensional coordinate system formed on the basis of a plane,
The displacement correction method of the optical camera shake correction unit calculates the marker displacement in the image coordinate system with respect to the distance that the marker moved in the z axis direction on the basis of the world coordinate system in the inspection apparatus of the optical camera shake correction unit,
A unit distance calculation step of deriving a unit movement distance in the z-axis direction based on a unit movement distance in the x-axis direction and a unit movement distance in the y-axis direction in the world coordinate system;
A camera coordinate system that rotates the world coordinate system about each axis and translates the marker by a distance moved in the z axis direction on the basis of the world coordinate system to form a physical three dimensional coordinate system based on the gaze angle of the camera unit, A coordinate system conversion step of generating a coordinate system;
A first conversion equation deriving step of deriving a first coordinate system conversion equation from the world coordinate system to the camera coordinate system through the coordinate system conversion step;
A second conversion formula derivation step of deriving a second coordinate system conversion formula from the camera coordinate system to the image coordinate system based on the first coordinate system conversion formula;
A rotation amount calculating step of calculating the rotation amount with respect to each axis in the world coordinate system by calculating the first coordinate system conversion equation; And
And a marker displacement correction step of calculating the marker displacement in the image coordinate system by substituting the rotation amount of each of the axes calculated through the rotation amount calculation step into the second coordinate system conversion equation A displacement correction method of a correction unit.

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