WO2019037159A1

WO2019037159A1 - Anti-shaking miniature pan-tilt integrated with camera module

Info

Publication number: WO2019037159A1
Application number: PCT/CN2017/100961
Authority: WO
Inventors: 麦练智; 吴华兴
Original assignee: 高瞻创新科技有限公司
Priority date: 2017-08-25
Filing date: 2017-09-08
Publication date: 2019-02-28
Also published as: CN107340667B; CN107340667A

Abstract

An anti-shaking miniature pan-tilt integrated with a camera module, comprising housings (1, 3), a positioning base (2), a camera module, at least one magnet (6), at least one independent coil (7), and at least one spring (9). The independent coil (7) and the camera module form a movable structure; the housings (1, 3), the positioning base (2), and the magnet (6) form a fixed structure; the fixed structure and the movable structure are connected to each other by means of the spring (9) to form a spring vibrator system. Contact points with friction force would not be used as supporting structures of the pan-tilt, and no nonlinear frictional force would be generated during an anti-shaking process, so that the pan-tilt has a good effect of resisting a minute vibration and a vibration of which the direction changes frequently.

Description

Anti-shake micro pan/tilt with integrated camera module

Technical field

The invention belongs to the technical field of anti-shake and pan/tilt, and particularly relates to an anti-shake micro-cloud platform integrated with a camera module.

Background technique

In recent years, mobile devices with fixed-focus, wide-angle (over 80-degree viewing angle) shooting functions have become popular, and their applications have expanded, including aerial photography, motion cameras, and driving recorders. When taking pictures and making movies, it is likely to be blurred or shaken by external vibrations, affecting the quality of photos and videos. This problem is exacerbated when the vibration is intense or in low light conditions.

In order to solve the above problems, many existing anti-shake techniques have appeared on the market. The prior art described in the prior art calculates vibration waveforms and required compensation angles by reading vibration sensors (for example, gyroscopes and acceleration sensors), and compensates for image blur and sway caused by vibration by electronic, optical, or mechanical methods. Achieve improved image quality.

The prior art is classified into three categories according to the vibration compensation method, including an Electronic Image Stabilizer (EIS), an Optical Image Stabilizer (OIS), and a Gimbal Stabilizer (GS). EIS, OIS, and GS each have advantages and disadvantages.

EIS is an electronic method that achieves an anti-shake effect. At the time of shooting, the EIS adjusts the position of each frame of image according to the calculated vibration waveform to counteract the image shake caused by the vibration. Since the EIS does not require additional actuators, the main advantage of the EIS is its low cost and no additional weight and volume.

OIS is an optical and mechanical method that uses an actuator to move an optical component (which can be a piece of a camera, a set or all of the lenses) to achieve relative motion between the optical component and the image sensor, changing the optical path and The image circle position compensates for image shake caused by vibration. Because OIS continuously compensates for each frame of image, it can offset the jitter of each frame of image exposure, which can achieve better image quality than EIS.

The GS is a mechanical method that drives the entire camera module including the lens and the image sensor to make a motion that is opposite to the vibration direction but with an amplitude close to the vibration caused by the vibration. In the anti-shake process, since there is no relative motion between the optical component and the image sensor, the image quality and anti-shake effect do not drop at the edge of the image, and there is no need for the partial optical resolution of the anti-shake lens and the image. Partial resolution of the sensor. Therefore, GS anti-shake effect Fruit and image quality have advantages over EIS and OIS, which are more prominent in wide-angle camera modules.

The main disadvantage of EIS is that it cannot compensate for image sloshing in each frame. This is because EIS compensates for image sway caused by vibration by adjusting the position of each frame of image. Therefore, the image taken after the EIS is turned on is more likely to be blurred by the image shake.

Another disadvantage of EIS is that it sacrifices the resolution of the image sensor. When the EIS is turned on, the image sensor or image processor needs to crop the appropriate image as the final image by calculating the vibration waveform. During the cropping process, the resolution will decrease and the final image will be lower than the maximum resolution of the image sensor. Therefore, EIS sacrifices the maximum resolution of the image sensor and reduces the image quality.

Relative to EIS, the main disadvantage of OIS is the need for additional actuators, which requires higher extra costs, greater extra space, and higher extra weight.

Relative to GS, the main disadvantage of OIS is that it sacrifices part of the optical resolution of the lens. During the OIS process, the position of the image circle on the image sensor will constantly change. In order to prevent the imaging circle from exceeding the image sensor during the OIS process, the imaging circle must be enlarged by OIS, but this wastes the resolution that the lens should have. On the other hand, in the OIS process, when the position of the imaging circle is relatively biased, the edge of the imaging circle will be closer to the image sensor. Since most of the lenses have sharper edges and distortions than the center, the image resolution and anti-shake effect of OIS are generally less than GS. This problem is more obvious in wide-angle camera modules.

Although the image quality and anti-shake effect of GS has obvious advantages over OIS and EIS, GS requires an actuator that can drive the entire camera module. Since the weight and size of the camera module are much larger than the lens, the cost, weight, volume and power consumption of the existing GS actuator are usually high, which is not suitable for small mobile devices, or can reduce the battery life of the mobile device. time.

On the other hand, the mainstream GS technology uses ball bearings or other frictional contact points as a mechanical support structure between the fixed and movable parts. Since the frictional force of the support structure and the speed of the movable member are nonlinear, the support structure increases the nonlinear friction force, and the frictional force can affect the anti-shake effect. Especially when the vibration is relatively fine and the direction often changes, the effect will be more obvious.

Summary of the invention

An object of the present invention is to provide an anti-shake micro-cloud platform integrated with a camera module to solve the problem that the cost, weight, volume and power consumption of the pan-tilt actuator are generally high in the prior art.

Still another object of the present invention is to provide an anti-shake micro-cloud platform integrated with a camera module to solve the contact point of the prior art gimbal actuator support structure as a ball bearing or other frictional contact point. Friction affects anti-shake effect The problem.

An embodiment of the present invention provides an anti-shake micro-cloud platform integrated with a camera module, including a housing, a positioning base, a camera module, at least one magnet, at least one independent coil, and at least one spring, and the housing is connected to the positioning base The positioning base is further connected to the camera module, the magnet is disposed on any inner wall of the outer casing, and the independent coil is disposed on an outer wall of the camera module and disposed corresponding to the magnet;

The housing, the positioning seat and the magnet form an inactive structure, and the camera module and the independent coil form a movable structure, and the independent coil is energized and subjected to ampere in the magnetic field of the magnet Force

Two ends of the spring are respectively connected with the camera module and the positioning seat to form a spring vibration subsystem.

As a preferred mode of the present invention, the camera module includes a camera lens, a lens carrier, an image sensor, a circuit board, the camera lens is connected to the lens carrier, the lens carrier is further connected to the circuit board, and The lens carrier has at least one spatial rotation degree of freedom;

An image sensor is disposed under the camera lens, and the image sensor is disposed on the circuit board and electrically connected to the circuit board.

In a preferred embodiment of the present invention, the circuit board includes a first rigid circuit board, a second rigid circuit board, a third rigid circuit board, a first flexible circuit board, and a second flexible circuit board, and the first rigid circuit The board is mounted with the image sensor and the periphery of the first rigid circuit board is completely connected to the first flexible circuit board, and the periphery of the first flexible circuit board is completely connected to the second rigid circuit board, The second rigid circuit board is also connected to the second flexible circuit board, and the second flexible circuit board is also connected to the third rigid circuit board.

As a preferred mode of the present invention, the lens carrier is rigidly connected to the first rigid circuit board, and the second rigid circuit board is rigidly connected to the positioning seat.

According to a preferred embodiment of the present invention, an anti-shake control chip and a vibration sensor are disposed under the second rigid circuit board, and the anti-shake control chip and the vibration sensor are electrically connected to the second rigid circuit board.

As a preferred mode of the present invention, the lens carrier is made of a non-conductive material.

As a preferred mode of the present invention, two sets of the magnets are included, each set of the magnets being composed of two pairs of the magnets, each pair of the magnets being disposed on any pair of opposite sides of the inner wall of the outer casing, each pair of said The magnet is composed of two magnets whose magnetic fields are opposite in direction and arranged side by side, and further includes the independent coil and the spring which are the same as the number of magnets and are disposed corresponding to the magnet.

A preferred embodiment of the present invention includes three sets of the magnets, which are a first magnet group, a second magnet group, and a third magnet group;

The first magnet group includes two pairs of the magnets, and the two pairs of the magnets are respectively disposed on any pair of opposite sides of the inner wall of the outer casing, and each pair of the magnets is composed of two magnets having opposite magnetic fields. Set the components side by side;

The second magnet group includes a pair of the magnets disposed on the other side of the inner wall of the outer casing, and each pair of the magnets is composed of two magnets in opposite directions of magnetic fields arranged side by side;

The third magnet group includes a pair of the magnets disposed on the remaining side of the inner wall of the outer casing, and each pair of the magnets is composed of two magnets having opposite magnetic fields in the left and right side by side arrangement;

Also included is the independent coil and the spring that are the same as the number of magnets and are disposed corresponding to the magnet.

As a preferred mode of the present invention, the outer casing is made of a material capable of shielding high-frequency electromagnetic waves.

As a preferred mode of the present invention, the camera module can rotate around an axis of the spring oscillator subsystem, and changing the magnitude and direction of the current of the independent coil can change the ampere force of the independent coil;

The axis of the spring oscillator system does not shift during movement or when subjected to an external force.

The invention utilizes the ampere force generated by the energized independent coil to generate the movement of the camera module in the magnetic field, and combines the anti-shake control chip to control the current direction of the independent coil, thereby realizing the vibration interference during the shooting to eliminate the blur of the image, and improving the image or the film. Quality. Setting a magnet with a magnetic pole up and down and a separate coil can realize a horizontal axis rotation; setting two sets of magnetic poles arranged up and down and a pair of independent coils corresponding to the number of magnets can realize the rotation of two horizontal axes; A pair of magnets arranged magnetically up and down, a pair of magnets arranged one above the other, a pair of magnets arranged to the left and right, and a separate coil corresponding to the number of magnets to achieve rotation of two horizontal and vertical axes To achieve one-axis to multi-axis anti-shake function.

The invention is an actuator driven by electromagnetic force, and does not require a complicated mechanical transmission structure, so it has the advantages of simple and compact structure, convenient assembly, small size, light weight, low cost and low power consumption, and is advantageous for mass production. And application.

The contact point of the support structure of the invention does not have a frictional contact point, and no nonlinear friction force occurs during the anti-shake process, and the effect of the vibration which is relatively fine and often changes direction is better.

DRAWINGS

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following needs to be used in the description of the embodiments. BRIEF DESCRIPTION OF THE DRAWINGS The accompanying drawings, which are incorporated in the drawings Other drawings.

1 is a schematic structural view of an outer structure according to an embodiment of the present invention;

2 is a development view of a structure of an embodiment of the present invention;

Figure 3 is a cross-sectional view of the A-A side of the embodiment of the present invention;

Figure 4 is a cross-sectional side view of the B-B of the embodiment of the present invention;

5 is a top plan view of a circuit board according to an embodiment of the present invention;

Figure 6 is a bottom plan view of a circuit board according to an embodiment of the present invention;

Figure 7 is a development view of a second embodiment of the present invention;

8 is a working state diagram of Embodiment 2 of the present invention;

Figure 9 is a development view of the structure of the third embodiment of the present invention.

Among them, 1, upper shell, 2, positioning seat, 3, lower shell, 4, socket, 5, camera lens, 6, magnet, 7, independent coil, 8, lens carrier, 9, spring, 10, circuit board, 11 , image sensor, 12, first rigid circuit board, 13, second rigid circuit board, 14, third rigid circuit board, 15, first flexible circuit board, 16, second flexible circuit board, 17, vibration sensor 18, anti-shake control chip, 601-604, magnet, 701-703, independent coil, 610, first magnet group, 611-614, magnet, 620, second magnet group, 621-622, magnet, 630, Three magnet group, 631-632, magnet, 711-712, independent coil, 721, independent coil, 731, independent coil.

Detailed ways

The embodiments of the present invention will be further described in detail below with reference to the accompanying drawings.

An embodiment of the present invention provides an anti-shake micro-cloud platform integrated with a camera module. Referring to FIG. 1 to FIG. 4, the device includes a housing, a positioning base 2, a camera module, at least one magnet 6, at least one independent coil 7, and at least A spring 9. The outer casing is connected with the positioning seat 2, and the outer casing has a rectangular cross section. For convenient installation, the outer casing can be divided into two parts, an upper casing 1 and a lower casing 3, and the upper casing 1 and the lower casing 3 are connected to the positioning base 2. The positioning base 2 is also connected to the camera module. The magnet 6 is fixedly mounted on any inner wall of the outer casing, and the independent coil 7 is fixedly mounted on the outer wall of the camera module and disposed corresponding to the magnet 6. Both ends of the spring 9 are respectively connected to the camera module and the positioning base 2. The camera module includes a camera lens 5, a lens carrier 8, an image sensor 11, and a circuit board 10. The camera module is fixedly connected to the positioning block through the circuit board 10. The camera lens 5 is coaxially connected to the lens carrier 8, and the lens carrier 8 is used to carry the camera lens 5, so that the camera lens 5 can move with the movement of the lens carrier 8. The lens carrier 8 is also connected to the circuit board 10, and is surrounded by the periphery of the circuit board 10 and the lens carrier 8. There is a flexible material, so the lens carrier 8 has at least one spatial rotation degree of freedom.

Since the camera module includes a lens carrier 8, the camera module is mounted and positioned by the lens carrier 8, and the lens carrier 8 has at least one spatial rotation degree of freedom, so that the independent coil 7 and the camera module form a movable structure. The outer casing, the positioning seat 2 and the magnet 6 form a stationary structure. The non-moving structure and the movable structure are connected by a spring 9 and a flexible material in the circuit board 10, thus forming a spring vibration subsystem. When the independent coil 7 is energized, it is subjected to the Ampere force, and the camera module can be driven by the ampere force to rotate around the axis of the camera module. By changing the current and direction of each set of coils, the magnetic field torque can be changed to achieve rotation of the camera module around the axis of the spring oscillator subsystem. The axis of the spring oscillator system does not shift during the movement or other external force acts on the movable structure. When the rotation of the camera module relative to the fixed structure and the direction of the external rotational vibration are opposite, the amplitude can be offset when the amplitude is close. Vibration, at least one axis of anti-shake effect, reducing the quality of images and images caused by vibration. When the independent coil is broken, the Ampere force disappears and the spring oscillator subsystem can be reset.

Referring to FIG. 5, the circuit board 10 includes a first rigid circuit board 12, a second rigid circuit board 13, a third rigid circuit board 14, a first flexible circuit board 15, and a second flexible circuit board 16. The first rigid circuit board 12 is mounted with the image sensor 11 and the periphery of the first rigid circuit board 12 is completely connected to the first flexible circuit board 15. The periphery of the first flexible circuit board 15 is completely connected to the second rigid circuit board 13. In order to ensure that there is no relative movement between the camera lens 5 and the image sensor 11 when the pan/tilt is vibrated, an image sensor 11 is disposed under the camera lens 5. The image sensor 11 is disposed on the circuit board 10 and electrically connected to the circuit board 10. The lens carrier 8 is rigidly connected to the first rigid circuit board 12, and the second rigid circuit board 13 is rigidly connected to the positioning base 2.

The movable structure is movable because the first flexible circuit board 12 and the second rigid circuit board 13 are connected to each other by the first flexible circuit board 15. Since the first flexible circuit board 15 is flexible, the first The rigid circuit board 12 has a certain degree of freedom in space, and can ensure at least one space rotation degree of freedom. Therefore, the lens carrier 8 connected to the first rigid circuit board 12 has at least one space rotation degree of freedom. The second rigid circuit board 13 is rigidly connected to the positioning base 2, and the positioning base 2 is rigidly connected to the outer casing. Therefore, the second rigid circuit board 13 has a non-moving structure and does not have a degree of freedom.

The second rigid circuit board 13 is also connected to the second flexible circuit board 16, and the second flexible circuit board 16 is also connected to the third rigid circuit board 14. Through the second flexible circuit board 16 and the third rigid circuit board 14, the pan/tilt system can be powered from the outside or send and receive information to the outside.

Referring to FIG. 6, an anti-shake control chip 18 and a vibration sensor 17 are provided below the second rigid circuit board 13, and the anti-shake control chip 18 and the vibration sensor 17 are electrically connected to the second rigid circuit board 13. The anti-shake control chip 18 reads the vibration sensor 17, calculates the vibration signal, outputs the required control signal, and changes the current and the square of the independent coil 7. To achieve an anti-shake effect.

In order not to affect the normal operation of the individual coil 7, the lens carrier 8 is made of a non-conductive material.

According to another embodiment of the above embodiment, as shown in FIG. 7, two sets of magnets are included, each set of magnets being composed of two pairs of magnets, each pair of magnets being disposed on any pair of opposite sides of the inner wall of the outer casing, each pair of magnets The magnets 6 having the opposite magnetic field directions are arranged side by side in the upper and lower directions, and further include a separate coil 7 which is the same as the number of the magnets 6 and which is disposed corresponding to the magnet 6, and the spring 9.

Referring to FIG. 8, one set of magnets includes

magnets

601, 602, 603, and 604; the independent coils include 701 and 702, and the independent coil 701 and the independent coil 702 are electrically connected. Similarly, another set of magnets also contains 4 magnets 6; the other set of independent coils contains 2 independent coils 7, which are connected in circuit. By adjusting the current direction and size of the two independent coils 7, the rotation of the Rx and Ry directions can be achieved, and the anti-shake effect of the two axes can be achieved. When the camera module needs to rotate in the Ry+ direction during the optical anti-shake process, the

independent coils

701 and 702 are energized, and the corresponding electromagnetic force F and the torque in the Ry+ direction are generated to achieve the effect of rotating in the Ry+ direction.

According to another embodiment of the above embodiment, as shown in FIG. 9, three sets of magnets are included, which are a first magnet group 610, a second magnet group 620, and a third magnet group 630;

The first magnet group 610 includes two pairs of magnets, and the two pairs of magnets are respectively disposed on any pair of opposite sides of the inner wall of the outer casing, and each pair of magnets is composed of two magnets 6 having opposite magnetic fields in the upper and lower sides, that is, the magnet in FIG. 611 and the magnet 612 form a pair, and the magnet 613 and the magnet 614 form another pair;

The second magnet group 620 includes a pair of the magnets disposed on the other side of the inner wall of the outer casing. Each pair of magnets is composed of two magnets 6 having opposite magnetic fields in the upper and lower directions, that is, the magnet 621 and the magnet 622 in FIG. ;

The third magnet group 630 includes a pair of magnets disposed on the remaining side of the inner wall of the outer casing, and each pair of magnets is composed of two magnets 6 having opposite magnetic fields in the left and right side by side arrangement, that is, the magnet 631 and the magnet 632 in FIG. 9;

Also included are independent coils 7 and springs 9 that are identical to the number of magnets 6 and that are disposed corresponding to the magnets 6.

The ampere forces generated by the

individual coils

711, 712, and 721 are parallel to the z-axis (parallel to the optical axis), thereby generating moments in the Rx and Ry directions, achieving the effects of rotation and anti-shake in the Rx and Ry directions; and amps generated by the independent coil 731 The force and the y-axis (perpendicular to the optical axis) are parallel, thus generating a moment in the Rz direction, achieving the effect of rotating and anti-shake in the Rz direction. By adjusting the direction and magnitude of the current of the independent coil 7, the rotation in the Rx, Ry and Rz directions can be achieved, and the three-axis anti-shake effect can be achieved.

In order not to affect the normal operation of the independent coil 7 and the circuit board 10, the material of the positioning base 2 is a non-conductive material.

In order to reduce the high-frequency electromagnetic wave interference of the external components and the external components of the gimbal on the image sensor 11, the outer casing is made of a material capable of shielding high-frequency electromagnetic waves.

In the present invention, there is no relative motion between the optical component and the image sensor, so the image quality and the anti-shake effect do not decrease at the edge of the image, nor do the partial optical resolution of the anti-shake lens and the image sensor partial resolution. .

In addition, the structure of the present invention does not require balls or other frictional contact points as a mechanical support structure between the fixed and movable parts, thereby avoiding non-linear friction in the anti-shake process, thereby achieving better Anti-shake effect. Especially when the vibration is relatively fine and the direction is often changed, the anti-shake effect advantage of the structure of the present invention is more obvious. The structure of the invention is simple and compact, convenient to assemble, and is advantageous for mass production and even automatic production, and therefore has advantages in cost, weight, volume and power consumption.

The invention may also be present in other embodiments, for example the spring 9 may be composed of at least one piece of resilient material on one or more planes, the spring 9 may be electrically conductive or non-conductive; the spring 9 may also be comprised of a spring wire; the vibration sensor 11 or The anti-shake control chip 18 may not be in the pan/tilt structure of the present invention; a displacement or deflection sensor may be added to the present invention to implement closed-loop anti-shake control; other numbers of magnets, independent coils, and housing designs are employed, also in the present invention. Within the scope of protection.

The above are only the preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalents, improvements, etc., which are within the spirit and scope of the present invention, should be included in the protection of the present invention. Within the scope.

Claims

An anti-shake micro-cloud platform integrated with a camera module, comprising: a housing, a positioning seat, a camera module, at least one magnet, at least one independent coil and at least one spring, wherein the housing is connected to the positioning seat, The positioning base is further connected to the camera module, the magnet is disposed on any inner wall of the outer casing, and the independent coil is disposed on an outer wall of the camera module and disposed corresponding to the magnet;

The housing, the positioning seat and the magnet form an inactive structure, and the camera module and the independent coil form a movable structure, and the independent coil is energized and subjected to ampere in the magnetic field of the magnet Force

Two ends of the spring are respectively connected with the camera module and the positioning seat to form a spring vibration subsystem.
The anti-shake micro-pushing platform of the integrated camera module according to claim 1 , wherein the camera module comprises a camera lens, a lens carrier, an image sensor, and a circuit board, and the camera lens is connected to the lens carrier. The lens carrier is further connected to the circuit board and the lens carrier has at least one spatial rotation degree of freedom;

An image sensor is disposed under the camera lens, and the image sensor is disposed on the circuit board and electrically connected to the circuit board.
The anti-shake micro-cloud platform of the integrated camera module according to claim 2, wherein the circuit board comprises a first rigid circuit board, a second rigid circuit board, a third rigid circuit board, and a first flexible circuit. a first flexible circuit board on which the image sensor is mounted and a periphery of the first rigid circuit board is completely connected to the first flexible circuit board, the first flexible circuit board The periphery is completely connected to the second rigid circuit board, the second rigid circuit board is also connected to the second flexible circuit board, and the second flexible circuit board is also connected to the third rigid circuit board.
The anti-shake micro-cloud platform of the integrated camera module according to claim 3, wherein the lens carrier is rigidly connected to the first rigid circuit board, and the second rigid circuit board is rigid with the positioning seat connection.
The anti-shake micro-cloud platform of the integrated camera module according to claim 3, wherein an anti-shake control chip and a vibration sensor are disposed under the second rigid circuit board, the anti-shake control chip and the The vibration sensor is electrically connected to the second rigid circuit board.
The anti-shake micro-cloud platform of the integrated camera module according to claim 2, wherein the lens carrier is made of a non-conductive material.
The anti-shake micro-pushing platform of the integrated camera module according to claim 1, comprising two sets of said magnets, each set of said magnets being composed of two pairs of said magnets, each pair of said magnets being disposed at said Any group of inner walls of the outer casing On the opposite side, each pair of the magnets is composed of two magnets in opposite directions, and the magnets are arranged side by side, and further includes the independent coils having the same logarithm of the magnets and corresponding to the magnets. spring.
The anti-shake micro-cloud platform of the integrated camera module according to claim 1, comprising three sets of the magnets, which are a first magnet group, a second magnet group, and a third magnet group;

The first magnet group includes two pairs of the magnets, and the two pairs of the magnets are respectively disposed on any pair of opposite sides of the inner wall of the outer casing, and each pair of the magnets is composed of two magnets having opposite magnetic fields. Set the components side by side;

The second magnet group includes a pair of the magnets disposed on the other side of the inner wall of the outer casing, and each pair of the magnets is composed of two magnets in opposite directions of magnetic fields arranged side by side;

The third magnet group includes a pair of the magnets disposed on the remaining side of the inner wall of the outer casing, and each pair of the magnets is composed of two magnets having opposite magnetic fields in the left and right side by side arrangement;

Also included is the independent coil and the spring that are the same as the number of magnets and are disposed corresponding to the magnet.
The anti-shake micro-cloud platform of the integrated camera module according to claim 1, wherein the outer casing is made of a material capable of shielding high-frequency electromagnetic waves.
The anti-shake micro-pushing platform of the integrated camera module of claim 1 , wherein the camera module is capable of rotating around an axis of the spring oscillator subsystem to change the current of the independent coil and The direction can change the ampere force experienced by the individual coils;

The axis of the spring oscillator system does not shift during movement or when subjected to an external force.