Three-axis optical image stabilization system, method and apparatus based on image sensor displacement

Abstract

Embodiments of the present application disclose a three-axis optical image stabilization system, method and device based on image sensor displacement, which collects first shaking data in a first direction, second shaking data in a second direction and third shaking data in a third direction through a sensor; a controller obtains a displacement amount of the image sensor in the first axis, a displacement amount of the image sensor in the second axis and a displacement amount of the image sensor in the third axis according to the first shaking data, the second shaking data and the third shaking data; and a driving chip drives the image sensor to displace in the first axis, the second axis and the third axis through an optical image stabilization motor according to the displacement amount of the image sensor in the first axis, the displacement amount of the image sensor in the second axis and the displacement amount of the image sensor in the third axis, so that optical image stabilization in the three directions of pitching, yawing and rotating is realized.

Description

Technical Field

[0001] This application relates to the field of imaging technology, and in particular to a three-axis optical image stabilization system, method, camera module, electronic device, and computer-readable storage medium based on image sensor displacement. Background Technology

[0002] In the field of imaging technology, image stabilization methods can be divided into electronic image stabilization (EIS) and optical image stabilization (OIS). OIS compensates for camera shake by driving the movement of movable parts such as lenses or image sensors.

[0003] Depending on the movable components, OIS can include lens-shift optical image stabilization (LS OIS) and sensor-shift optical image stabilization (SS OIS). The process of sensor-shift OIS involves: acquiring jitter data in the yaw and pitch directions using a gyroscope; and using the OIS motor to drive the image sensor to translate along the X and / or Y axes based on the jitter data, thereby compensating for jitter in the yaw and / or pitch directions.

[0004] However, current image sensor translation-based OIS solutions generally only achieve dual-axis optical image stabilization. Summary of the Invention

[0005] This application provides a three-axis optical image stabilization system, method, camera module, electronic device, and computer-readable storage medium based on image sensor displacement, which can realize three-axis optical image stabilization based on image sensor displacement.

[0006] In a first aspect, embodiments of this application provide a three-axis optical image stabilization system based on image sensor displacement, the system including a sensor, a controller, a driver chip, and an optical image stabilization motor.

[0007] The sensor is used to collect first jitter data in a first direction, second jitter data in a second direction, and third jitter data in a third direction.

[0008] The controller is used to obtain the displacement of the image sensor in the first axis, the displacement in the second axis, and the displacement in the third axis based on the first jitter data, the second jitter data, and the third jitter data.

[0009] The driving chip is used to drive the image sensor to move along each axis according to the displacement of the image sensor in the first axis, the second axis, and the third axis, respectively, through the optical image stabilization motor.

[0010] The optical image stabilization motor includes an image sensor moving part, a magnet, a first coil, a second coil, and a third coil. The first coil is located on a first side of the image sensor moving part, the second coil is located on a second side of the image sensor moving part, and the third coil is located on a third side of the image sensor moving part. The first and second sides are opposite sides, and the third side is adjacent to the first side. The magnet is used to generate a magnetic field.

[0011] When the first, second, and third coils are energized, they generate forces acting on the moving part of the image sensor under the influence of the magnetic field, thus pushing the moving part of the image sensor to displace in each axis. The moving part of the image sensor is connected to the image sensor, and the image sensor moves along with the moving part of the image sensor.

[0012] As can be seen from the above, the first side coil, the second side coil, and the third side coil in the optical image stabilization motor generate a force that drives the image sensor to move along the first axis, the second axis, and the third axis to perform shake compensation along the first axis, the second axis, and the third axis, thereby achieving three-axis optical image stabilization.

[0013] For example, the first direction, the second direction, and the third direction mentioned above can be the pitch direction, the yaw direction, and the roll direction, respectively.

[0014] In some possible implementations of the first aspect, the aforementioned driver chip is specifically used for:

[0015] Based on the displacement along the first axis, a first current signal is applied to the first coil to cause the first coil to generate a first Lorentz force acting on the moving part of the image sensor under the action of the magnetic field. The first Lorentz force is used to drive the moving part of the image sensor to translate along the first axis.

[0016] Based on the displacement along the second axis, a second current signal is applied to the second coil to cause the second coil to generate a second Lorentz force acting on the moving part of the image sensor under the action of the magnetic field. The second Lorentz force is used to generate a rotational torque to drive the moving part of the image sensor to rotate along the second axis.

[0017] Based on the displacement along the third axis, a third current signal is applied to the third coil to generate a third Lorentz force acting on the moving part of the image sensor under the action of the magnetic field. The third Lorentz force is used to drive the moving part of the image sensor to translate along the third axis.

[0018] The first center line of the first coil passes through the center point of the moving part of the image sensor, and the first center line passes through the center of the first coil and is parallel to the first axis.

[0019] The second center line of the second coil does not pass through the center point of the moving part of the image sensor, but passes through the center of the second coil and is parallel to the first axis.

[0020] The third center line of the third coil passes through the center point of the moving part of the image sensor, and the third center line passes through the center of the third coil and is parallel to the third axis.

[0021] In this implementation, three-axis optical image stabilization is achieved through a three-coil electromagnetic drive scheme. Furthermore, by setting the positions of the first, second, and third coils, "multi-center unification" of the image sensor's moving part is achieved. This reduces crosstalk and improves drive control accuracy. If crosstalk compensation is required, the amount of crosstalk compensation performed during drive control is reduced, improving the real-time performance of drive control.

[0022] For example, the first axis is the X-axis, the second axis is the Y-axis, and the third axis is the R-axis.

[0023] In some possible implementations of the first aspect, the first coil includes a fourth coil and a fifth coil, and the second coil includes a sixth coil and a seventh coil; the fourth and sixth coils are arranged opposite to each other, and the fifth and seventh coils are arranged opposite to each other. The aforementioned driver chip is specifically used for:

[0024] Based on the displacement in the first axis and the displacement in the second axis, a fourth current signal is applied to the fourth coil and the sixth coil so that the fourth coil generates a fourth Lorentz force acting on the moving part of the image sensor under the action of the magnetic field, and the sixth coil generates a fifth Lorentz force acting on the moving part of the image sensor under the action of the magnetic field.

[0025] Based on the displacement in the first axis and the displacement in the second axis, a fifth current signal is applied to the fifth coil and the seventh coil so that the fifth coil generates a sixth Lorentz force acting on the moving part of the image sensor under the action of the magnetic field, and the seventh coil generates a seventh Lorentz force acting on the moving part of the image sensor under the action of the magnetic field.

[0026] Based on the displacement along the third axis, a sixth current signal is applied to the third coil to cause the third coil to generate a Lorentz force acting on the moving part of the image sensor under the action of the magnetic field, thereby driving the moving part of the image sensor to displace along the third axis.

[0027] The moving part of the image sensor is displaced along the first axis and / or the second axis under the action of the fourth Lorentz force, the fifth Lorentz force, the sixth Lorentz force and the seventh Lorentz force.

[0028] In this implementation, a five-coil electromagnetic drive scheme achieves three-axis optical image stabilization. Compared to a three-coil electromagnetic drive scheme, the increased number of coils provides greater driving force and better driving stability.

[0029] In some possible implementations of the first aspect, the fourth center line of the fourth coil, the fifth center line of the fifth coil, the sixth center line of the sixth coil, and the seventh center line of the seventh coil do not pass through the center point of the moving part of the image sensor.

[0030] The fourth center line passes through the center of the fourth coil and is parallel to the first axis; the fifth center line passes through the center of the fifth coil and is parallel to the first axis; the sixth center line passes through the sixth coil and is parallel to the first axis; and the seventh center line passes through the center of the seventh coil and is parallel to the first axis.

[0031] The third center line of the third coil can pass through the center point of the moving part of the image sensor, and the third center line passes through the center of the third coil and is parallel to the third axis.

[0032] In this implementation, the position of each coil can be set to achieve "multi-center unification" of the image sensor's moving part, reducing crosstalk and improving drive control accuracy. If crosstalk compensation is required, the amount of crosstalk compensation performed during drive control can be reduced, improving the real-time performance of drive control.

[0033] In some possible implementations of the first aspect, the fourth, fifth, sixth, and seventh coils are all identical; or, the fourth and sixth coils are identical in size, the fifth and seventh coils are identical in size, and the fourth coil is different from the fifth coil.

[0034] In some possible implementations of the first aspect, the third coil includes an eighth coil and a ninth coil; the aforementioned driver chip is specifically used for:

[0035] Based on the displacement along the third axis, a sixth current signal is applied to the eighth and ninth coils so that the eighth coil generates an eighth Lorentz force acting on the moving part of the image sensor under the action of the magnetic field, and the ninth coil generates a ninth Lorentz force acting on the moving part of the image sensor under the action of the magnetic field.

[0036] The image sensor's moving part translates along the third axis under the combined action of the eighth and ninth Lorentz forces.

[0037] In some possible implementations of the first aspect, the distance between the center point of the moving part of the image sensor and the center of the eighth coil is equal to the distance between the center point of the moving part of the image sensor and the center of the ninth coil.

[0038] In some possible implementations of the first aspect, the center of gravity of the image sensor mover part coincides with the geometric center of the image sensor mover part.

[0039] For example, the center of gravity, geometric center, and mechanical center of the moving part of the image sensor coincide, with the mechanical center being the center of the Lorentz force along the first axis and the Lorentz force along the third axis.

[0040] In some possible implementations of the first aspect, the system includes a position detection module for detecting the position of the image sensor.

[0041] In some possible implementations of the first aspect, the position detection module includes a first position sensor, a second position sensor, and a third position sensor;

[0042] The first position sensor is used in conjunction with the first magnet to acquire the position signal of the image sensor along the first axis;

[0043] The second position sensor is used in conjunction with the second magnet to acquire the position signal of the image sensor on the second axis;

[0044] The third position sensor is used in conjunction with the third magnet to acquire the position signal of the image sensor on the third axis.

[0045] A first position sensor is disposed in the middle region of a first coil; a second position sensor is disposed in the middle region of a second coil; a third position sensor is disposed in the middle region of a third coil;

[0046] When the first coil includes the fourth and fifth coils, and the second coil includes the sixth and seventh coils, the first magnet is located in the middle region of the fifth coil, the second magnet is located in the middle region of the seventh coil, and the third magnet is located in the middle region of the third coil.

[0047] When the first coil includes the fourth and fifth coils, the second coil includes the sixth and seventh coils, and the third coil includes the eighth and ninth coils, the first magnet is located in the middle region of the fifth coil, the second magnet is located in the middle region of the seventh coil, and the third magnet is located in the middle region of the eighth coil.

[0048] The magnets include a first magnet, a second magnet, and a third magnet.

[0049] The position detection system provided in this implementation method can realize three-axis negative feedback of the image sensor, thereby realizing the closed-loop negative feedback control process in three-axis optical image stabilization and improving the accuracy of drive control.

[0050] In some possible implementations of the first aspect, the controller is specifically used to: obtain the target position of the image sensor based on the first jitter data, the second jitter data, and the third jitter data; and obtain the displacement of the image sensor in the first axis, the displacement in the second axis, and the displacement in the third axis based on the target position and the starting position of the image sensor; the starting position of the image sensor is detected by the position detection module.

[0051] In some possible implementations of the first aspect, the controller is specifically used to: acquire the image sensor position signal fed back by the position detection module, the image sensor position signal being used to describe the current position of the image sensor; determine, based on the image sensor position signal, whether the error between the current position and the target position of the image sensor is within a preset range; when the error between the current position and the target position of the image sensor is not within the preset range, obtain the displacement of the image sensor in the first axis, the displacement in the second axis, and the displacement in the third axis based on the current position and the target position of the image sensor;

[0052] Specifically, the driver is used to: read crosstalk calibration data pre-stored in the optical image stabilization motor; find the crosstalk compensation amounts for the first axis, the second axis, and the third axis from the crosstalk calibration data; compensate for crosstalk in the displacement along the first axis using the crosstalk compensation amount for the first axis to obtain the crosstalk-compensated displacement along the first axis; compensate for crosstalk in the displacement along the second axis using the crosstalk compensation amount for the second axis to obtain the crosstalk-compensated displacement along the second axis; compensate for crosstalk in the displacement along the third axis using the crosstalk compensation amount for the third axis to obtain the crosstalk-compensated displacement along the third axis; drive the image sensor to move along the first axis via the optical image stabilization motor based on the crosstalk-compensated displacement along the first axis; drive the image sensor to move along the second axis via the optical image stabilization motor based on the crosstalk-compensated displacement along the second axis; and drive the image sensor to move along the second axis via the optical image stabilization motor based on the crosstalk-compensated displacement along the third axis.

[0053] The crosstalk compensation amount along the first axis includes the crosstalk compensation amount of the image sensor displacement along the second axis to the crosstalk compensation amount along the first axis, and the crosstalk compensation amount of the image sensor displacement along the third axis to the crosstalk compensation amount along the first axis; the crosstalk compensation amount along the second axis includes the crosstalk compensation amount of the image sensor displacement along the first axis to the crosstalk compensation amount along the second axis, and the crosstalk compensation amount of the image sensor displacement along the third axis to the crosstalk compensation amount along the second axis; the crosstalk compensation amount along the third axis includes the crosstalk compensation amount of the image sensor displacement along the first axis to the crosstalk compensation amount along the third axis, and the crosstalk compensation amount of the image sensor displacement along the second axis to the crosstalk compensation amount along the third axis.

[0054] In this implementation, the driver chip uses a pre-calibrated crosstalk compensation amount during the closed-loop negative feedback process to compensate for the crosstalk of the image sensor in each axial direction, thereby reducing the impact of crosstalk, improving the accuracy of anti-shake drive control, and resulting in higher optical image stability with little or no image rotation.

[0055] In some possible implementations of the first aspect, the sensors include gyroscopes and accelerometers.

[0056] Secondly, embodiments of this application provide a three-axis optical image stabilization method based on image sensor displacement, applied to a driver chip. The method includes: acquiring the displacement of the image sensor in a first axis, a second axis, and a third axis; and driving the image sensor to move in each axis using an optical image stabilization motor based on the displacement in the first axis, the second axis, and the third axis.

[0057] The optical image stabilization motor includes an image sensor moving part, a magnet, a first coil, a second coil, and a third coil. The first coil is located on a first side of the image sensor moving part, the second coil is located on a second side of the image sensor moving part, and the third coil is located on a third side of the image sensor moving part. The first and second sides are opposite to each other, and the third side is adjacent to the first side. The image sensor moving part is connected to the image sensor, and the image sensor moves with the movement of the image sensor moving part. The magnet is used to generate a magnetic field. When the first, second, and third coils are energized, they generate a force acting on the image sensor moving part under the action of the magnetic field, thereby pushing the image sensor moving part to move in each axis.

[0058] In some possible implementations of the second aspect, the image sensor is driven to move along each axis by an optical image stabilization motor based on the displacement in the first axis, the displacement in the second axis, and the displacement in the third axis, including:

[0059] Based on the displacement along the first axis, a first current signal is applied to the first coil to cause the first coil to generate a first Lorentz force acting on the moving part of the image sensor under the action of the magnetic field. The first Lorentz force is used to drive the moving part of the image sensor to translate along the first axis.

[0060] Based on the displacement along the second axis, a second current signal is applied to the second coil to cause the second coil to generate a second Lorentz force acting on the moving part of the image sensor under the action of the magnetic field. The second Lorentz force is used to generate a rotational torque to drive the moving part of the image sensor to rotate along the second axis.

[0061] Based on the displacement along the third axis, a third current signal is applied to the third coil to generate a third Lorentz force acting on the moving part of the image sensor under the action of the magnetic field. The third Lorentz force is used to drive the moving part of the image sensor to translate along the third axis.

[0062] Wherein, the first center line of the first coil passes through the center point of the moving part of the image sensor, and the first center line passes through the center of the first coil and is parallel to the first axis;

[0063] The second center line of the second coil does not pass through the center point of the moving part of the image sensor, but passes through the center of the second coil and is parallel to the first axis.

[0064] The third center line of the third coil passes through the center point of the moving part of the image sensor, and the third center line passes through the center of the third coil and is parallel to the third axis.

[0065] In some possible implementations of the second aspect, the first coil includes a fourth coil and a fifth coil, and the second coil includes a sixth coil and a seventh coil; the fourth coil and the sixth coil are arranged opposite to each other, and the fifth coil and the seventh coil are arranged opposite to each other;

[0066] Based on the displacement in the first axis, the displacement in the second axis, and the displacement in the third axis, the image sensor is driven to move in each axis by the optical image stabilization motor, including:

[0067] Based on the displacement in the first axis and the displacement in the second axis, a fourth current signal is applied to the fourth coil and the sixth coil so that the fourth coil generates a fourth Lorentz force acting on the moving part of the image sensor under the action of the magnetic field, and the sixth coil generates a fifth Lorentz force acting on the moving part of the image sensor under the action of the magnetic field.

[0068] Based on the displacement in the first axis and the displacement in the second axis, a fifth current signal is applied to the fifth coil and the seventh coil so that the fifth coil generates a sixth Lorentz force acting on the moving part of the image sensor under the action of the magnetic field, and the seventh coil generates a seventh Lorentz force acting on the moving part of the image sensor under the action of the magnetic field.

[0069] Based on the displacement along the third axis, a sixth current signal is applied to the third coil to cause the third coil to generate a Lorentz force acting on the moving part of the image sensor under the action of the magnetic field, thereby driving the moving part of the image sensor to displace along the third axis.

[0070] The moving part of the image sensor is displaced along the first axis and / or the second axis under the action of the fourth Lorentz force, the fifth Lorentz force, the sixth Lorentz force and the seventh Lorentz force.

[0071] In some possible implementations of the second aspect, the fourth center line of the fourth coil, the fifth center line of the fifth coil, the sixth center line of the sixth coil, and the seventh center line of the seventh coil do not pass through the center point of the moving part of the image sensor; the third center line of the third coil passes through the center point of the moving part of the image sensor, and the third center line passes through the center of the third coil and is parallel to the third axis.

[0072] The fourth center line passes through the center of the fourth coil and is parallel to the first axis; the fifth center line passes through the center of the fifth coil and is parallel to the first axis; the sixth center line passes through the sixth coil and is parallel to the first axis; and the seventh center line passes through the center of the seventh coil and is parallel to the first axis.

[0073] In some possible implementations of the second aspect, the coils of the fourth, fifth, sixth, and seventh coils are all identical;

[0074] Alternatively, the fourth and sixth coils have the same coil size, the fifth and seventh coils have the same coil size, and the fourth coil has a different coil size than the fifth coil.

[0075] In some possible implementations of the second aspect, the third coil includes an eighth coil and a ninth coil;

[0076] Based on the displacement along the third axis, a sixth current signal is applied to the third coil to induce a Lorentz force acting on the moving part of the image sensor under the influence of a magnetic field, including:

[0077] Based on the displacement along the third axis, a sixth current signal is applied to the eighth and ninth coils so that the eighth coil generates an eighth Lorentz force acting on the moving part of the image sensor under the action of the magnetic field, and the ninth coil generates a ninth Lorentz force acting on the moving part of the image sensor under the action of the magnetic field.

[0078] The image sensor's moving part translates along the third axis under the combined action of the eighth and ninth Lorentz forces.

[0079] In some possible implementations of the second aspect, the distance between the center point of the moving part of the image sensor and the center of the eighth coil is equal to the distance between the center point of the moving part of the image sensor and the center of the ninth coil.

[0080] In some possible implementations of the second aspect, the center of gravity of the image sensor mover part coincides with the geometric center of the image sensor mover part.

[0081] In some possible implementations of the second aspect, before driving the image sensor to move along each axis by the optical image stabilization motor according to the displacement in the first axis, the displacement in the second axis, and the displacement in the third axis, the method further includes:

[0082] Read the crosstalk calibration data pre-stored in the optical image stabilization motor;

[0083] Find the crosstalk compensation amount for the first axis, the crosstalk compensation amount for the second axis, and the crosstalk compensation amount for the third axis from the crosstalk calibration data.

[0084] Crosstalk compensation is performed on the displacement in the first axis using the crosstalk compensation amount in the first axis to obtain the crosstalk-compensated displacement in the first axis. Crosstalk compensation is performed on the displacement in the second axis using the crosstalk compensation amount in the second axis to obtain the crosstalk-compensated displacement in the second axis. Crosstalk compensation is performed on the displacement in the third axis using the crosstalk compensation amount in the third axis to obtain the crosstalk-compensated displacement in the third axis.

[0085] The crosstalk compensation amount in the first axis includes the crosstalk compensation amount of the image sensor displacement along the second axis to the displacement along the first axis, and the crosstalk compensation amount of the image sensor displacement along the third axis to the displacement along the first axis.

[0086] The crosstalk compensation amount in the second axis includes the crosstalk compensation amount of the image sensor displacement along the first axis to the displacement along the second axis, and the crosstalk compensation amount of the image sensor displacement along the third axis to the displacement along the second axis.

[0087] The crosstalk compensation amount in the third axis includes the crosstalk compensation amount for the image sensor displacement along the first axis to the displacement along the third axis, and the crosstalk compensation amount for the image sensor displacement along the second axis to the displacement along the third axis.

[0088] Thirdly, embodiments of this application provide a camera module, including a three-axis optical image stabilization system based on image sensor displacement as described in any of the first aspects above.

[0089] Fourthly, embodiments of this application provide an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement a system as described in any of the first aspects above.

[0090] Fifthly, embodiments of this application provide a computer-readable storage medium storing a computer program that, when executed by a processor, implements the method as described in any of the second aspects above.

[0091] Sixthly, embodiments of this application provide a chip system including a processor coupled to a memory. The processor executes a computer program stored in the memory to implement the method described in any of the second aspects above. The chip system may be a single chip or a chip module composed of multiple chips.

[0092] In a seventh aspect, embodiments of this application provide a computer program product that, when run on an electronic device, causes the electronic device to perform the method described in any of the second aspects above.

[0093] It is understood that the beneficial effects of the second to seventh aspects mentioned above can be found in the relevant descriptions in the first aspect mentioned above, and will not be repeated here. Attached Figure Description

[0094] Figure 1 This is a schematic diagram of dual-axis optical image stabilization provided in an embodiment of this application;

[0095] Figure 2 This is a schematic diagram of an application scenario provided by an embodiment of this application;

[0096] Figure 3 A schematic diagram of a camera module 210 provided in an embodiment of this application;

[0097] Figure 4 This is a schematic diagram of a video shooting scene provided in an embodiment of this application;

[0098] Figure 5 A schematic block diagram of an image sensor displacement-based optical image stabilization system provided in this application embodiment;

[0099] Figure 6 A schematic diagram of a three-axis optical image stabilization system based on image sensor displacement provided in this application embodiment;

[0100] Figure 7 A schematic block diagram of a three-axis optical image stabilization drive control based on image sensor displacement provided in this application embodiment;

[0101] Figure 8 This is a schematic diagram of the three-axis optical image stabilization driving process provided in an embodiment of this application;

[0102] Figure 9 This is a schematic diagram of a three-coil electromagnetic drive scheme provided in an embodiment of this application;

[0103] Figure 10 A schematic diagram of a five-coil electromagnetic drive scheme provided in an embodiment of this application;

[0104] Figure 11 Another schematic diagram of the five-coil electromagnetic drive scheme provided in the embodiments of this application;

[0105] Figure 12 A schematic diagram of a six-coil electromagnetic drive scheme provided in an embodiment of this application;

[0106] Figure 13 This is a flowchart illustrating an image sensor displacement-based optical image stabilization method provided in an embodiment of this application. Detailed Implementation

[0107] Currently, in image sensor translation-based optical image stabilization, due to the limitations of the electromagnetic drive scheme, the electromagnetic coil can only generate current thrust in two axes after being energized, which can only drive the image sensor to move in two axes and can only achieve dual-axis optical image stabilization in the pitch and yaw directions.

[0108] For example, see Figure 1 The schematic diagram of dual-axis optical image stabilization provided in the embodiment of this application shows that, in the XY plane, the image sensor 100 can translate along the X-axis and / or along the Y-axis to compensate for jitter displacement in the pitch and / or yaw directions.

[0109] In other words, existing electromagnetic drive schemes can only push the image sensor to translate along the X-axis and / or the Y-axis, but cannot push the image sensor to rotate in the XY plane, and therefore cannot compensate for jitter in the rotation (roll) direction.

[0110] Furthermore, in existing image sensor translation-based dual-axis optical image stabilization, crosstalk problems often exist due to design flaws in the mechanical structure and / or assembly processes, which in turn lead to issues such as image rotation and image instability.

[0111] In the embodiments of this application, crosstalk refers to the additional displacement of the image sensor in other directions when the image sensor is driven to move in any one direction.

[0112] For example, in Figure 1 In some scenarios, the initial position coordinates of the image sensor 100 are assumed to be (0, 0). Based on the jitter data, the target position that the image sensor 100 should reach is determined to be (Δx1, 0). That is, under the current jitter data, in order to suppress jitter, the image sensor 100 should move a displacement of Δx1 in the X-axis direction and a displacement of 0 in the Y-axis direction. After determining the target position that the image sensor 100 should reach, the driving chip can then use the image sensor actuation structure ( Figure 1 (Not shown in the diagram) to drive the image sensor 100 to translate Δx1 along the X-axis. The image sensor actuation structure is used to drive the image sensor to move along the X-axis and / or Y-axis.

[0113] Suppose that due to mechanical design flaws or assembly process defects, the geometric center and center of gravity of the image sensor's actuation structure do not coincide with the mechanical center. The mechanical center refers to the center of force acting along the X-axis and the Y-axis.

[0114] To drive the image sensor 100 to translate along the X-axis, a force along the X-axis needs to be applied to the image sensor actuation structure or components within it. Since the geometric center, center of gravity, and point of application of this force do not coincide, applying the force along the X-axis generates a rotational torque. This torque causes the image sensor 100 to rotate an additional angle in the XY plane. Furthermore, a force along the Y-axis is also generated, causing the image sensor 100 to produce an additional translational amount in the Y-axis direction.

[0115] In other words, due to crosstalk, when the image sensor 100 translates by Δx1 along the X-axis, it will also have a corresponding translation y1 along the Y-axis and a rotation angle in the XY plane. Therefore, the actual possible position of the image sensor 100 is (Δx1, y1).

[0116] Similarly, when the target position that the image sensor 100 should reach is (0, Δy1), the driver chip drives the image sensor 100 to translate Δy1 along the Y-axis. At this time, due to crosstalk, when the image sensor 100 translates Δy1 along the Y-axis, it will generate an additional translation x1 in the X-axis direction and a rotation angle in the XY plane. Therefore, the actual position that the image sensor 100 may reach is (x1, Δy1).

[0117] When the target position that the image sensor 100 should reach is (Δx1, Δy1), the driving chip drives the image sensor 100 to simultaneously translate Δx1 along the X-axis and Δy1 along the Y-axis. Due to crosstalk, the image sensor 100 generates an additional translation of x2 in the X-axis direction and y2 in the Y-axis direction, and also generates a rotation angle Δθ1 in the XY plane. Therefore, the actual position that the image sensor 100 may reach is (Δx1+x2, Δy1+y2).

[0118] As can be seen above, due to crosstalk, the actual position reached by the image sensor 100 is inconsistent with the target position it should reach. That is, crosstalk reduces the accuracy of image stabilization drive control. Furthermore, when driving the image sensor to translate along the X-axis and / or Y-axis, the image sensor will generate an additional rotation angle in the XY plane, leading to image rotation and optical image instability. In other words, crosstalk can cause low accuracy in image stabilization drive control, image rotation, and optical image instability. It should be noted that the coordinate system and numerical values ​​in the above example are merely illustrative.

[0119] To address the aforementioned issues, this application provides a three-axis optical image stabilization solution based on image sensor displacement, achieving three-axis optical image stabilization in the pitch, yaw, and roll directions.

[0120] Furthermore, by using crosstalk compensation to compensate for the movement of the image sensor on each axis, the influence of crosstalk is reduced, resulting in higher accuracy of anti-shake drive control, higher optical image stability, and no or minimal image rotation.

[0121] Furthermore, through mechanical design, the optical image stabilization motor is integrated into a single unit to reduce crosstalk compensation performed by the control algorithm.

[0122] In the following description, specific details such as particular system architectures and technologies are set forth for illustrative purposes and not for limiting purposes, in order to provide a thorough understanding of the embodiments of this application.

[0123] The following provides an exemplary description of the application scenarios that may be involved in the embodiments of this application.

[0124] In this embodiment, the image sensor displacement-based optical image stabilization scheme can be applied to the camera module of an electronic device to suppress shaking in the corresponding direction when shooting through the camera module.

[0125] For example, see Figure 2 This is a schematic diagram illustrating an application scenario provided by an embodiment of this application. For example... Figure 2 As shown, the electronic device 200 includes a camera module 210. The camera module 210 can be a telephoto camera module or a periscope telephoto camera module, a wide-angle camera module, or other types of camera modules, which are not limited here.

[0126] The camera module 210 includes components such as a lens and an image sensor. For example, see... Figure 3 The diagram shows a schematic of a camera module 210, which may include a lens group 2101 and an image sensor 2102. The lens group 2101 includes multiple lenses for transmitting an imaging beam to the image sensor 2102, which converts the imaging beam into an electrical signal to obtain image data.

[0127] in, Figure 3 The coordinate system within the camera module is also shown. The Z-axis is parallel to the optical axis of lens group 2101, and the Y-axis and X-axis are perpendicular to the Z-axis. Rotation around the Y-axis is called yaw, rotation around the X-axis is called pitch, and rotation around the Z-axis is called roll.

[0128] In some embodiments, the optical image stabilization scheme provided in this application can achieve shake suppression in three directions: yaw, pitch, and roll.

[0129] It is understandable that the camera module 210 may include, in addition to the lens group and the image sensor, other devices for optical image stabilization, such as an optical image stabilization motor and a position sensor for detecting the position of the image sensor.

[0130] exist Figure 2 In this embodiment, the electronic device 200 is exemplarily a mobile phone. In other embodiments, the electronic device 200 may also be a laptop computer, tablet computer, dashcam, camera, or monitoring equipment, etc., and is not limited thereto.

[0131] For example, taking electronic device 200 as a mobile phone, see... Figure 4The diagram illustrates a video shooting scenario. During video recording with the user holding the phone 400, the phone's body will shake due to hand tremors. The phone 400 uses integrated gyroscopes and accelerometers to collect angular velocity signals in the yaw, pitch, and roll directions. Based on these angular velocity signals, an optical image stabilization motor drives the image sensor to compensate for shake displacement in these three directions, achieving three-axis optical image stabilization.

[0132] For example, when electronic device 200 is a dashcam, the dashcam is installed on the vehicle and will vibrate due to vehicle vibration during driving. The dashcam collects vibration data in three directions through integrated gyroscopes and accelerometers, and achieves vibration displacement compensation in three directions based on the vibration data in these three directions.

[0133] In addition to introducing the possible application scenarios involved in the embodiments of this application, the optical image stabilization scheme based on image sensor displacement provided by the embodiments of this application will be described below with reference to the accompanying drawings.

[0134] The optical image stabilization system will be introduced first, and the crosstalk compensation process will be illustrated in the process. After introducing the optical image stabilization system, the electromagnetic drive scheme of the optical image stabilization motor will be introduced.

[0135] See Figure 5 This is a schematic block diagram of an image sensor displacement-based optical image stabilization system provided in an embodiment of this application. Figure 5 As shown, the optical image stabilization system 500 may include a signal acquisition module 51, a signal processing module 52, a position acquisition module 53, an image sensor driving module 54, and a position detection module 55.

[0136] The signal acquisition module 51 is used to acquire the raw angular velocity signals in various directions. The raw angular velocity signals are analog signals.

[0137] The aforementioned signal acquisition module 51 can acquire raw angular velocity signals in the corresponding directions according to actual image stabilization needs. For example, when three-axis optical image stabilization is required, the signal acquisition module 51 acquires raw angular velocity signals in the yaw, pitch, and roll directions to suppress jitter in these three directions. As another example, when two-axis optical image stabilization is required, the signal acquisition module 51 acquires raw angular velocity signals in both the yaw and pitch directions to suppress jitter in both directions.

[0138] Of course, the signal acquisition module 51 can also acquire the raw angular velocity signal in only one direction. This is not a limitation.

[0139] In some embodiments, the signal acquisition module 51 may include an inertial measurement unit, which may include, for example, a gyroscope and an accelerometer.

[0140] The signal processing module 52 processes the analog angular velocity signal acquired by the signal acquisition module 51 to obtain a processed angular velocity signal. The processed angular velocity signal is a digital signal.

[0141] For example, the processing of the analog angular velocity signal may include, but is not limited to, analog-to-digital conversion, filtering, integration, and Fourier transform. Specifically, the analog angular velocity signal acquired by the signal acquisition module 51 is converted from analog to digital using an analog-to-digital converter (ADC) to obtain a digital angular velocity signal. Then, a low-pass filter (LPF) is used to filter the digital angular velocity signal to remove high-frequency signals and environmental noise, retaining the low-frequency angular velocity signal. Finally, the filtered low-frequency angular velocity signal is integrated and subjected to a Fourier transform to obtain the frequency spectrum and angle signal. The Fourier transform yields the frequency spectrum, and the integration yields the angle signal.

[0142] In some embodiments, the angular velocity analog signal in each direction is subjected to analog-to-digital conversion, filtering, integration, and Fourier transform.

[0143] For example, the signal acquisition module 51 acquires the raw angular velocity signals in the three directions of yaw, pitch, and roll. For the raw angular velocity signal in the pitch direction, it passes through an analog-to-digital converter, a low-pass filter, an integrator circuit, and a Fourier transform circuit in sequence to obtain the frequency spectrum and angle signal corresponding to the pitch direction.

[0144] The position acquisition module 53 is used to determine the target position that the image sensor should reach based on the output of the signal processing module 52.

[0145] In some embodiments, the position acquisition module 53 can process the output of the signal processing module 52 to obtain the jitter frequency and jitter amplitude in each direction; and then, based on the jitter frequency and jitter amplitude in each direction, obtain the target position that the image sensor should reach in order to suppress jitter.

[0146] For example, the output of signal processing module 52 includes frequency spectrum and angle signals corresponding to the pitch direction, frequency spectrum and angle signals corresponding to the yaw direction, and frequency spectrum and angle signals corresponding to the roll direction. Position acquisition module 53 extracts the jitter frequency and jitter amplitude in the pitch direction from the frequency spectrum and angle signals corresponding to the pitch direction; extracts the jitter frequency and jitter amplitude in the yaw direction from the frequency spectrum and angle signals corresponding to the yaw direction; and extracts the jitter frequency and jitter amplitude in the roll direction from the frequency spectrum and angle signals corresponding to the roll direction.

[0147] The position acquisition module 53 is also used to determine the amount of displacement that the image sensor should move in each direction based on the target position that the image sensor should reach and the starting position of the image sensor. The amount of displacement to be moved is the jitter displacement compensation amount.

[0148] The initial position of the image sensor can be detected by the position detection module 55. The initial position of the image sensor refers to its current location. By determining the initial position of the image sensor, the initial relative position between the reference point on the image sensor and the center of the optical path can be quickly and accurately determined.

[0149] After determining the jitter displacement compensation amount of the image sensor in each direction, the position acquisition module 53 transmits the jitter displacement compensation amount to the image sensor drive module 54. Based on the jitter displacement compensation amount and the image sensor position fed back by the position detection module 55, closed-loop negative feedback control is then performed.

[0150] In some embodiments, the position acquisition module 53 can transmit the jitter displacement compensation amount in each direction to the image sensor driving module 54 through a control signal, the control signal carrying the jitter displacement compensation amount in each direction.

[0151] After obtaining the displacement of the image sensor in each direction, the image sensor driving module 54 drives the image sensor to move in each direction according to the displacement in each direction in order to perform optical jitter compensation.

[0152] In addition to detecting the relative position between the reference point of the image sensor and the center of the optical path, the position detection module 55 can also detect the jitter-compensated position of the image sensor and feed it back to the position acquisition module 53. This allows the position acquisition module 53 to perform closed-loop negative feedback control based on the image sensor position fed back by the position detection module 55.

[0153] The position detection module 55 may include a position detection sensor, which is used to detect the position of the image sensor.

[0154] For example, the closed-loop negative feedback control process is as follows:

[0155] The position acquisition module 53 obtains the jitter displacement compensation amount of the image sensor in each direction based on the jitter frequency and jitter amplitude in each direction, and generates a first control signal based on the jitter displacement compensation amount. This first control signal carries the displacement amount of the image sensor in each direction.

[0156] After receiving the control signal from the position acquisition module 53, the image sensor driving module 54 analyzes the control signal to obtain the displacement of the image sensor in each direction.

[0157] For each direction, the image sensor driving module 54 drives the image sensor to move along the corresponding direction based on the displacement in that direction. For example, for the pitch direction, the image sensor driving module 54 translates the image sensor along the X-axis based on the displacement corresponding to the pitch direction; for the yaw direction, the image sensor driving module 54 translates the image sensor along the Y-axis based on the displacement corresponding to the yaw direction; and for the roll direction, the image sensor driving module 54 rotates the image sensor along the R-axis based on the displacement corresponding to the roll direction.

[0158] In this embodiment, for each direction, the image sensor is driven to move along the corresponding direction based on the displacement amount in that direction. The driving control in each direction is decoupled, that is, the motion control of the image sensor along each direction is decoupled from each other. For example, the motion control of the image sensor along the X-axis, the motion control of the image sensor along the Y-axis, and the motion control of the image sensor along the R-axis are decoupled.

[0159] The image sensor driving module 54 drives the image sensor to move in various directions according to the control signal to perform optical jitter compensation. Then, the position detection module 55 can detect the position of the image sensor in various directions and compare the re-detected image sensor position with the target position. When the deviation between the re-detected image sensor position and the target position is within the allowable range, the detected image sensor position signal is output to the position acquisition module 53.

[0160] In some embodiments, the position detection module 55 can achieve decoupled negative feedback in each direction, that is, the position detection module 55 can detect the position of the image sensor in each direction respectively.

[0161] The position acquisition module 53 acquires the image sensor position signal fed back by the position detection module 55, and then determines whether the error between the current position of the image sensor and the target position is within the preset range based on the re-detected image sensor position signal. If it is, the current drive control process ends; otherwise, the drive control continues.

[0162] The process by which the position acquisition module 53 continues drive control based on the re-detected image sensor position signal can be as follows:

[0163] The position acquisition module 53 determines the displacement of the image sensor in each direction based on the difference between the current position and the target position of the image sensor, and generates control signals based on the displacement in each direction, and then transmits the control signals to the image sensor driving module 54.

[0164] It should be noted that the image sensor driving module 54 may include an image sensor actuation structure, which can be used to drive the image sensor to move in various directions.

[0165] For example, an image sensor actuation structure may include a movable stage, a substrate, and an actuator. The substrate is fixedly disposed, the movable stage is connected to the substrate, and the movable stage is movable relative to the substrate. The movable stage is fixedly connected to the actuator.

[0166] A movable stage is used to support the image sensor. An actuator is used to drive the movable stage to move relative to the substrate. When the movable stage moves, the image sensor moves along with it.

[0167] In some embodiments, the actuator may be an electromagnetic actuator, and the movable stage may be the moving part of the image sensor. In other embodiments, the actuator may be other types of actuators.

[0168] In other words, in this embodiment, after obtaining the displacement of each axis, the image sensor driving module 54 can drive the image sensor to move along each axis via electromagnetic drive, or via other driving methods. No limitation is made to the driving method here.

[0169] In some embodiments, after the image sensor driving module 54 obtains the displacement of the image sensor in each direction according to the control signal, it continues to drive the image sensor to move along each axis direction according to the displacement in each direction. This cycle continues until the position acquisition module 53 determines, based on the image sensor position signal fed back by the position detection module 55, that the error between the current position and the target position of the image sensor is within a preset range. At this point, crosstalk may occur.

[0170] In other embodiments, in order to reduce the impact of crosstalk, a pre-calibrated crosstalk compensation amount can be used to compensate for the displacement of the image sensor in various directions during the closed-loop negative feedback control process.

[0171] For example, after obtaining the displacement of the image sensor in each direction according to the control signal, the image sensor driving module 54 obtains the crosstalk compensation amount in each direction from the crosstalk calibration data. For each direction, the crosstalk compensation amount is used to compensate for crosstalk in the displacement to obtain the crosstalk-compensated displacement. Finally, based on the crosstalk-compensated displacement in each direction, the image sensor is driven to move along the corresponding direction.

[0172] In practical applications, a crosstalk calibration process is performed beforehand to obtain crosstalk calibration data. Based on this crosstalk calibration data, the crosstalk compensation amount at different directions and positions can be found. Crosstalk compensation is then applied to the displacement based on the crosstalk compensation amount. For example, suppose the position acquisition module 53 determines, based on the re-detected image sensor position signal and the target position, that the image sensor should move by a displacement of Δx2 in the X-axis direction, Δy2 in the Y-axis direction, and Δθ2 in the R-axis direction.

[0173] Based on the displacement Δx2 in the X-axis direction and the target position, the crosstalk compensation amount for the X-axis translation Δx2 to the Y-axis translation is y3, and the crosstalk compensation amount for the X-axis translation Δx2 to the R-axis rotation is θ1.

[0174] Based on the displacement Δy2 in the Y-axis direction and the target position, the crosstalk compensation amount for the X-axis translation of the Y-axis translation Δy2 is x3, and the crosstalk compensation amount for the R-axis translation of the Y-axis translation Δy2 is θ2, which is found from the crosstalk calibration data.

[0175] Based on the displacement Δθ2 along the R-axis and the target position, the crosstalk compensation amount for the X-axis translation caused by the R-axis rotation Δθ2 is x4, and the crosstalk compensation amount for the Y-axis translation caused by the R-axis rotation Δθ2 is y4, which is found from the crosstalk calibration data.

[0176] At this point, for the X-axis direction, the displacement after crosstalk compensation is Δx2 + x3 + x4.

[0177] For the Y-axis direction, the displacement after crosstalk compensation is Δy2 + y3 + y4.

[0178] For the R-axis direction, the displacement after crosstalk compensation is Δθ2 + θ1 + θ2.

[0179] Similarly, the image sensor should move by a displacement of Δx2 in the X-axis direction, 0 in the Y-axis direction, and 0 in the R-axis direction.

[0180] Based on the displacement Δx2 in the X-axis direction and the target position, the crosstalk compensation amount for the X-axis translation Δx2 to the Y-axis translation is y3, and the crosstalk compensation amount for the X-axis translation Δx2 to the R-axis rotation is θ1.

[0181] At this point, for the X-axis direction, the displacement after crosstalk compensation is Δx2.

[0182] For the Y-axis direction, the displacement after crosstalk compensation is y3.

[0183] For the R-axis direction, the displacement after crosstalk compensation is θ1.

[0184] The image sensor should move by a displacement of Δx2 in the X-axis direction, Δy2 in the Y-axis direction, and 0 in the R-axis direction.

[0185] Based on the displacement Δx2 in the X-axis direction and the target position, the crosstalk compensation amount for the X-axis translation Δx2 to the Y-axis translation is y3, and the crosstalk compensation amount for the X-axis translation Δx2 to the R-axis rotation is θ1.

[0186] Based on the displacement Δy2 in the Y-axis direction and the target position, the crosstalk compensation amount for the X-axis translation of the Y-axis translation Δy2 is x3, and the crosstalk compensation amount for the R-axis translation of the Y-axis translation Δy2 is θ2, which is found from the crosstalk calibration data.

[0187] At this point, for the X-axis direction, the displacement after crosstalk compensation is Δx2 + x3.

[0188] For the Y-axis direction, the displacement after crosstalk compensation is Δy2 + y3.

[0189] For the R-axis direction, the displacement after crosstalk compensation is θ1 + θ2.

[0190] Crosstalk compensation in other cases is similar to that described above, and will not be listed here again.

[0191] For example, see Figure 1 The dual-axis optical image stabilization scenarios shown in the yaw and pitch directions, in one scenario, in order to suppress jitter, the image sensor should move by a displacement of Δx3 in the X-axis direction and by a displacement of Δy3 in the Y-axis direction.

[0192] Based on the displacement Δx3 in the X-axis direction and the target position, the crosstalk compensation amount for the Y-axis translation Δx3 is found from the crosstalk calibration data as y5.

[0193] Based on the displacement Δy3 in the Y-axis direction and the target position, the crosstalk compensation amount for the X-axis translation of the Y-axis translation Δy3 is found to be x5 from the crosstalk calibration data.

[0194] At this point, for the X-axis direction, the displacement after crosstalk compensation = Δx3 + Δx3. For the Y-axis direction, the displacement after crosstalk compensation = Δy3 + y5.

[0195] The crosstalk compensation method in this application embodiment can be applied to three-axis optical image stabilization, two-axis optical image stabilization, or optical image stabilization with other axes, and is not limited here.

[0196] The image sensor driving module 54 compensates for the displacement of the image sensor on each axis using crosstalk compensation. After obtaining the crosstalk-compensated displacement on each axis, it drives the image sensor to move by the corresponding displacement in each direction according to the crosstalk-compensated displacement on each axis, so that the image sensor reaches the target position and realizes jitter displacement compensation.

[0197] For example, the displacement after X-axis crosstalk compensation is Δx2; the displacement after Y-axis crosstalk compensation is y3; and the displacement after R-axis crosstalk compensation is θ1. At this time, the image sensor driving module 54 drives the image sensor to translate Δx2 along the X-axis, translate y3 along the Y-axis, and rotate θ1 along the R-axis, respectively.

[0198] After the image sensor driving module 54 drives the image sensor to move in the corresponding direction based on the displacement amount after crosstalk compensation in each direction, the position detection module 55 re-detects the position signal of the image sensor in each direction and determines whether the error between the current position and the target position of the image sensor is within the allowable range based on the re-detected position signal. If it is, the position module 55 outputs the image sensor position signal to the position acquisition module 53. The position acquisition module 53 determines whether the error between the current position and the target position of the image sensor is within the preset range based on the acquired image sensor position signal. If it is, the current drive control ends; otherwise, the drive negative feedback control continues. That is, the position acquisition module 53 determines the displacement amount that the image sensor should move in each direction based on the current position and the target position of the image sensor, and then transmits the displacement amount to the image sensor driving module 54. The image sensor driving module 54 continues to search for crosstalk calibration data to obtain the crosstalk compensation amount, uses the crosstalk compensation amount to compensate for the displacement amount, obtains the crosstalk-compensated displacement amount, and finally drives the image sensor to move in each direction based on the crosstalk-compensated displacement amount. This process continues until the error between the current position of the image sensor and the target position, as reported by the position detection module 55, is within a preset range.

[0199] As can be seen from the above, compared with no crosstalk compensation, the embodiments of this application compensate for the crosstalk in the negative feedback control process by using the crosstalk compensation amount to compensate for the displacement of the image sensor in each direction. Then, based on the displacement after crosstalk compensation in each direction, the image sensor is driven to move the corresponding displacement in each direction, thereby reducing the influence of crosstalk, improving the accuracy of anti-shake drive control, and making the optical image more stable and without image rotation.

[0200] As mentioned above, the image sensor-based optical image stabilization system can be applied not only to dual-axis optical image stabilization but also to three-axis optical image stabilization. Furthermore, crosstalk compensation can be performed or not during the closed-loop negative feedback control process.

[0201] For example, when applied to dual-axis optical image stabilization and crosstalk compensation, the raw angular velocity signals in both yaw and pitch directions are acquired, and these signals are processed to obtain the jitter frequency and amplitude in each direction. Based on the jitter frequency and amplitude, the target position that the image sensor should reach is determined. Then, based on the target position and the starting position, the jitter displacement compensation amounts for the image sensor in the X-axis and Y-axis directions are obtained. Based on the jitter displacement compensation amount in the X-axis direction, the image sensor is driven to move along the X-axis, and based on the jitter displacement compensation amount in the Y-axis direction, the image sensor is driven to move along the Y-axis. Furthermore, closed-loop negative feedback control of the image sensor position signal is achieved through a position sensor. In closed-loop negative feedback control, if the error between the current and target positions of the image sensor is determined to be outside the preset range based on the feedback image sensor position signal, the displacement of the image sensor in the X-axis and Y-axis directions is determined again based on the current and target positions. Crosstalk calibration data is then searched to obtain the crosstalk compensation amounts in the X-axis, Y-axis, and R-axis directions. Based on the crosstalk compensation amounts and displacements of each axis, the image sensor is driven to move along each axis. For example, in closed-loop negative feedback, the image sensor can be driven to move in the opposite direction based on the additional rotation angle of the image sensor in the XY plane to compensate for this additional rotation angle. In this way, crosstalk compensation reduces the crosstalk of dual-axis optical image stabilization, thereby improving the accuracy of optical image stabilization drive control, enhancing optical image stability, and eliminating image rotation.

[0202] When applied to three-axis optical image stabilization, raw angular velocity signals in the yaw, pitch, and roll directions are acquired, and jitter suppression in these three directions is achieved based on these raw angular velocity signals. In this case, crosstalk compensation can be performed or not.

[0203] For example, the following is combined with Figure 6 The schematic diagram shown illustrates a three-axis optical image stabilization system based on image sensor displacement, providing an exemplary description of such a system.

[0204] like Figure 6 As shown, the signal acquisition module 51 includes a gyroscope and an accelerometer. The signal processing module 52 may include an analog-to-digital converter, a low-pass filter, an integrator circuit, and a Fourier transform circuit. The position acquisition module 53 may include a target position controller and a comparator. The image sensor driving module 54 includes a driving chip, a PWM drive current, an image sensor motion optical image stabilization motor, and an image sensor mover. The position detection module 55 includes a starting position detection sensor and a position detection sensor. The starting position detection sensor and the position detection sensor may, for example, include one or more of the following: a Hall sensor, a tunneling magnetoresistance (TMR) sensor, and a giant magnetoresistance (GMR) sensor.

[0205] For example, the workflow of this system can be as follows:

[0206] When a user is using a handheld electronic device to take a video, the device's body will inevitably shake due to hand tremors. At this time, a gyroscope and accelerometer integrated into the electronic device are used to detect the shaking caused by hand tremors. Specifically, the gyroscope and accelerometer collect hand tremor signals to obtain raw angular velocity signals in the yaw, pitch, and roll directions. The electronic device may include... Figure 6 The three-axis optical image stabilization system shown further... Figure 6 The three-axis optical image stabilization system shown is integrated, in whole or in part, into the camera module of the electronic device.

[0207] After the gyroscope and accelerometer acquire the raw angular velocity signals in three directions, the acquired raw angular velocity signals are transmitted to an analog-to-digital converter to convert the raw angular velocity analog signals into angular velocity digital signals. The angular velocity digital signals are then transmitted to a low-pass filter to filter out high-frequency interference signals and noise, retaining the hand tremor signals at lower frequencies. Finally, the hand tremor signals at lower frequencies are processed by a Fourier transform circuit and an integrator circuit to obtain the frequency spectrum and angle signals.

[0208] After acquiring the frequency spectrum and angle signals, the target position controller extracts the jitter amplitude and frequency in the yaw, pitch, and roll directions based on these signals. In other words, the target position controller further decomposes and decouples the hand jitter signal according to the output of the signal processing module to obtain the jitter amplitude and frequency in each direction. Then, based on the jitter amplitude and frequency in each direction, the target position controller obtains the target position that the image sensor should reach under the jitter scenario.

[0209] After obtaining the target position of the image sensor, the target position controller transmits the target position and the starting position of the image sensor to the comparator. Through the feedback of the comparator, the jitter compensation displacement of the image sensor in the pitch, yaw, and roll directions is obtained. The jitter compensation displacement refers to the amount of displacement that should be made to compensate for jitter.

[0210] The starting position of the image sensor can be detected by a starting position sensor. After detecting the starting position signal of the image sensor, the starting position sensor transmits the starting position signal to an analog-to-digital converter (ADC) to convert the acquired starting position signal into a digital signal. The digital starting position signal is then transmitted to a comparator.

[0211] The target position controller obtains the jitter displacement compensation amount in each direction through the feedback of the comparator. Based on the jitter displacement compensation amount in each direction, it generates a control signal and transmits the control signal to the driver chip. This control signal carries the jitter displacement compensation amount of the image sensor in each direction.

[0212] After receiving the control signal from the target position controller, the driver chip can analyze the control signal to obtain the jitter displacement compensation amount of the image sensor in the pitch direction, the yaw direction, and the roll direction.

[0213] After the driver chip obtains the jitter displacement compensation amount in each direction, it controls the PWM drive structure to generate a PWM current signal of corresponding magnitude and direction based on the jitter displacement compensation amount and displacement direction in each direction. The PWM current signal is then applied to the image sensor's moving optical image stabilization motor, so that the optical image stabilization motor drives the image sensor's moving part to move in each direction, thereby causing the image sensor to move along each axis. This achieves the goal of driving the image sensor to move along each axis direction based on the jitter displacement compensation amount in each direction.

[0214] It's understandable that the image sensor's moving part can be viewed as the moving part of an optical image stabilization motor, capable of movement under a driving force. The image sensor's moving part is connected to the image sensor; when the moving part moves, the image sensor moves accordingly. Therefore, by driving the image sensor's moving part to move in various directions, the image sensor can be displaced in various directions to compensate for shake.

[0215] The driving control of the image sensor in each direction is decoupled. Specifically, the driving chip obtains the displacement amount and direction of the image sensor along the X-axis based on the jitter displacement compensation amount in the pitch direction. Then, based on the displacement amount and direction along the X-axis, it generates a current signal of corresponding magnitude and direction and applies this current signal to the optical image stabilization motor, so that the optical image stabilization motor drives the image sensor to displace a certain amount along the X-axis.

[0216] Similarly, the driving chip obtains the displacement amount and direction of the image sensor along the Y-axis based on the jitter displacement compensation amount in the yaw direction. Then, based on the displacement amount and direction along the Y-axis, it generates a current signal of corresponding magnitude and direction and applies the current signal to the optical image stabilization motor so that the optical image stabilization motor drives the image sensor to move a certain displacement along the Y-axis.

[0217] The driving chip obtains the rotation angle and direction of the image sensor along the R-axis based on the jitter displacement compensation amount in the rotation (roll) direction. Then, based on the rotation angle and direction along the R-axis, it generates a current signal of corresponding magnitude and direction and applies the current signal to the optical image stabilization motor so that the optical image stabilization motor drives the image sensor to rotate a certain angle along the R-axis.

[0218] like Figure 6 As shown, the driving chip drives the moving part of the image sensor to move in various directions through current signals to perform optical jitter compensation. After this, the position detection sensor can re-detect the image sensor position signal and feed it back to the target position controller. This image sensor position signal is used to describe the position of the image sensor.

[0219] The position detection sensor can achieve three-axis decoupled negative feedback. Specifically, the position detection sensor can independently detect the position of the image sensor on the X-axis, Y-axis, and R-axis, and feed back the position of the image sensor on each axis to the target position controller.

[0220] After receiving the feedback image sensor position signal, the target position controller compares the current position of the image sensor with the target position to obtain the error between the two, and then determines whether the error is within a preset range. If the error is within the preset range, the target position controller ends the current drive control process; if the error is not within the preset range, the target position controller uses the image sensor position signal fed back by the position detection sensor to obtain the current position of the image sensor, and transmits the current position and the target position of the image sensor to the comparator. Through the feedback of the comparator, the displacement that the image sensor should move in each direction is obtained. At this time, the displacement that should move in each direction includes the displacement in the X-axis direction, the displacement in the Y-axis direction, and the displacement in the R-axis direction. Based on the displacement that the image sensor should move in each direction, a control signal is generated, and finally the control signal is transmitted to the driver chip.

[0221] In some embodiments, the driver chip may not perform crosstalk compensation during closed-loop negative feedback control. In this case, after receiving the control signal from the target position controller, the driver chip analyzes the control signal to obtain the displacement of the image sensor in each direction. Based on the displacement and direction of the image sensor in each direction, it generates a PWM current signal of corresponding magnitude and direction, and applies the generated PWM current signal to the coil in the optical image stabilization motor, thereby driving the image sensor's moving part to move along each axis. This process is repeated until the driver chip determines, based on the image sensor position signal detected by the position detection sensor, that the error between the current position and the target position of the image sensor is within a preset range.

[0222] In other embodiments, to reduce the impact of crosstalk, crosstalk calibration data can be used for crosstalk compensation. In this case, after receiving a control signal from the target position controller, the driver chip parses the control signal to obtain the displacement of the image sensor in each direction; then, for each direction, it searches for calibration data to obtain the crosstalk compensation amount for each direction; and for each direction, it uses the crosstalk compensation amount to compensate for the jitter displacement compensation amount, obtaining the crosstalk-compensated displacement amount.

[0223] For example, for the X-axis direction, the driver chip performs crosstalk calibration data search based on the displacement in the Y-axis direction and the displacement in the R-axis direction to obtain the crosstalk compensation amount in the X-axis direction. Then, the crosstalk compensation amount in the X-axis direction is added to the displacement in the X-axis direction to obtain the displacement amount after crosstalk compensation in the X-axis direction.

[0224] Similarly, for the Y-axis direction, the driver chip searches for crosstalk calibration data based on the displacement in the X-axis direction and the displacement in the R-axis direction to obtain the crosstalk compensation amount in the Y-axis direction. Then, the crosstalk compensation amount in the Y-axis direction is added to the displacement in the Y-axis direction to obtain the displacement after crosstalk compensation in the Y-axis direction.

[0225] For the R-axis direction, the driver chip performs crosstalk calibration data search based on the displacement in the X-axis direction and the displacement in the Y-axis direction to obtain the crosstalk compensation amount in the R-axis direction. Then, the crosstalk compensation amount in the R-axis direction is added to the displacement in the R-axis direction to obtain the displacement after crosstalk compensation.

[0226] After obtaining the displacement after crosstalk compensation, the drive chip outputs a current signal of corresponding direction and magnitude through the PWM drive structure based on the crosstalk compensation displacement for each axis, thereby driving the image sensor's moving part to move along each axis. Simultaneously, the position detection sensor also feeds back the image sensor position signal to the target position controller. If the target position controller determines that the error between the re-detected image sensor position and the target position is not within a preset range, it continues to determine the displacement that the image sensor should move in each direction. The drive chip then continues to search for crosstalk calibration data based on the displacement that should move in each direction to obtain the crosstalk compensation amount for each direction. This compensation amount is then used to compensate for crosstalk in the displacement, resulting in the crosstalk-compensated displacement. Finally, the image sensor is driven to move along each axis based on the crosstalk-compensated displacement. This cycle continues until the target position controller determines, based on the image sensor position signal, that the error between the current position and the target position of the image sensor is within the allowable range, at which point the current closed-loop negative feedback control process ends.

[0227] The optical image stabilization motor calibration data is obtained beforehand through crosstalk calibration of the optical image stabilization motor. During crosstalk calibration, crosstalk calibration is performed based on the displacement of the position detection sensor and the sensing magnet in different directions, using the obtained magnetic sensitivity matrix to obtain crosstalk calibration data. This calibration data is then stored in the optical image stabilization motor's memory.

[0228] The crosstalk calibration process can be exemplified as follows:

[0229] First, in open-loop mode, the driver chip applies current signals in three different directions—X-axis, Y-axis, and R-axis—to the optical image stabilization motor. It then acquires the relationship between the current code and stroke in these three directions, as well as the relationship between the image sensor position code (based on the position sensor feedback) and stroke. Stroke information can be obtained using a high-precision laser.

[0230] Next, by comparing the theoretical relationship between current Code and stroke with the relationship between current Code and stroke obtained by testing the optical image stabilization motor under open-loop conditions, the crosstalk compensation amount at different positions in different directions is obtained, and the crosstalk compensation amount is written into the register of the optical image stabilization motor.

[0231] Crosstalk compensation is used to compensate for crosstalk in the displacement, which changes the actual displacement of the image sensor. As the actual displacement changes, the current also changes.

[0232] For example, suppose that in a certain jitter scenario, the drive chip obtains the displacement in each direction by parsing the control signal of the target position controller, and determines the drive current in the X-axis direction to be 90mA based on the displacement in the pitch direction; determines the drive current in the Y-axis direction to be 90mA based on the displacement in the yaw direction; and determines the drive current in the R-axis direction to be 90mA based on the displacement in the roll direction.

[0233] After crosstalk compensation, the drive current in the X-axis direction is determined to be 90mA based on the displacement in the pitch direction; the drive current in the Y-axis direction is determined to be 80mA based on the displacement in the yaw direction; and the drive current in the R-axis direction is determined to be 90mA based on the displacement in the roll direction. By comparison, it can be seen that before crosstalk compensation, the drive current in the Y-axis direction was 90mA, and after crosstalk compensation, the drive current in the Y-axis direction is 80mA.

[0234] The driver chip generates an electromagnetic thrust in the X-axis translation direction by applying a 90mA current to a coil acting on the image sensor's moving part. Under the action of this electromagnetic thrust, the image sensor's moving part translates a certain displacement along the X-axis. The magnitude and direction of this electromagnetic thrust are determined by the magnitude and direction of the current applied to the coil.

[0235] Similarly, the driver chip generates an electromagnetic thrust in the Y-axis translation direction by applying an 80mA current to the coil acting on the Y-axis translation direction, which acts on the image sensor's moving part. Under the action of this electromagnetic thrust, the image sensor's moving part translates a certain displacement along the Y-axis direction. The magnitude and direction of this electromagnetic thrust are determined by the magnitude and direction of the current applied to the coil.

[0236] The driver chip generates an electromagnetic thrust in the R-axis translational direction by applying a 90mA current to a coil acting on the R-axis, which acts on the image sensor's moving part. Under the action of this electromagnetic thrust, the image sensor's moving part generates a torque of a certain magnitude, causing it to rotate a certain angle in the XY plane. The magnitude and direction of this torque are determined by the magnitude and direction of the current applied to the coil.

[0237] In this way, the driving chip applies current of the corresponding direction and magnitude to the coils in each direction according to the displacement in different directions, so as to drive the moving part of the image sensor to move along the X-axis, Y-axis and R-axis respectively, and the movement and control in these three directions are decoupled from each other.

[0238] To better explain crosstalk compensation in three-axis optical image stabilization scenarios, the following section will combine... Figure 7 The schematic block diagram of the image sensor displacement-based three-axis optical image stabilization drive control is shown as an example.

[0239] like Figure 7 As shown, the raw angular velocity signals in the pitch, yaw, and roll directions are acquired by a gyroscope and an accelerometer, respectively. The raw angular velocity signals are then processed by an ADC, filtered, integrated, and Fourier transformed to obtain the jitter amplitude and frequency in each direction. After the control drive chip obtains the jitter amplitude and frequency in each direction, it determines the target position that the image sensor should reach based on the jitter amplitude and frequency in each direction. Then, the starting position signal of the image sensor is obtained through the position detection sensing system. Based on the starting position signal and the target position of the image sensor, the jitter displacement compensation amount on the X-axis, Y-axis, and R-axis of the image sensor is determined. The control drive chip drives the image sensor to move along each axis direction according to the jitter displacement compensation amount on each axis, and obtains the jitter-compensated image sensor position through the position detection sensor system; then, based on the image sensor position and target position fed back by the position detection sensor system, the displacement amount of the image sensor in each axis direction is determined; then, the optical image stabilization motor calibration data is read from the optical image stabilization motor's memory; and then, based on the optical image stabilization motor calibration data, calibration data search is performed to obtain the crosstalk compensation amount of the X-axis, the crosstalk compensation amount of the Y-axis, and the crosstalk compensation amount of the R-axis.

[0240] like Figure 7 As shown, the crosstalk compensation amount for the X-axis includes crosstalk compensation for the Y-axis translation on the X-axis and crosstalk compensation for the R-axis rotation on the X-axis.

[0241] The crosstalk compensation for the Y-axis includes crosstalk compensation for X-axis translation on the Y-axis and crosstalk compensation for R-axis rotation on the Y-axis.

[0242] The crosstalk compensation for the R-axis includes crosstalk compensation for X-axis translation on the R-axis rotation and crosstalk compensation for Y-axis translation on the R-axis rotation.

[0243] The control driver chip uses the X-axis crosstalk compensation amount to compensate for the jitter displacement compensation amount in the X-axis direction, obtaining the crosstalk-compensated displacement amount of the image sensor in the X-axis direction. Similarly, it uses the Y-axis crosstalk compensation amount to compensate for the jitter displacement compensation amount in the Y-axis direction, obtaining the crosstalk-compensated displacement amount of the image sensor in the Y-axis direction. Finally, it uses the R-axis crosstalk compensation amount to compensate for the jitter displacement compensation amount in the R-axis direction, obtaining the crosstalk-compensated displacement amount of the image sensor in the R-axis direction.

[0244] The control drive chip drives the image sensor to perform X-axis translation, Y-axis translation, and R-axis rotation through the optical image stabilization motor based on the displacement amount after crosstalk compensation for each axis.

[0245] As the image sensor moves along each axis, the displacement detection sensing system can detect the real-time position of the image sensor and feed it back to the control driver chip. Based on the feedback image sensor position and the target position, the control driver chip continues to perform closed-loop negative feedback control.

[0246] In some embodiments, Figure 7 The control driver chip in the middle may include Figure 6 The target position controller, comparator, and driver chip are included. The position detection sensing system includes a starting position detection sensor and a position detection sensor.

[0247] For example, see Figure 8 The diagram illustrates the three-axis optical image stabilization drive process. Image sensor 81 is located at the starting position, and image sensor 82 is located at the target position. Image sensor 81 and image sensor 82 are the same image sensor, distinguished by different labels. The center point of the image sensor at the starting position is O', and the center point of the image sensor at the target position is O. The pixel unit on the image sensor at the starting position is located at position A', and the pixel unit on the image sensor at the target position is located at position A.

[0248] To suppress jitter, the image sensor needs to be driven from its starting position to the target position. Figure 8 In this process, the image sensor can be moved from its starting position to its target position by moving the pixel units in the image sensor from point A' to point A.

[0249] like Figure 8 As shown, the displacement that should be moved from point A' to point A is Δx in the X-axis direction, Δy in the Y-axis direction, and Δθ in the R-axis direction.

[0250] It should be noted that the driving order of the image sensor along the X, Y, and R axes can be arbitrary. For example, the image sensor can be driven to move along the X-axis first, then along the Y-axis, and finally along the R-axis. Alternatively, the image sensor can be driven to move along the X, Y, and R axes simultaneously.

[0251] As can be seen, the three-axis optical image stabilization system based on image sensor displacement provided in this application embodiment has low crosstalk, high optical image stability, no image rotation, high precision of image stabilization drive control, and achieves jitter suppression in three directions: pitch, yaw, and roll.

[0252] As shown above, the driving chip can drive the moving part of the image sensor through the optical image stabilization motor to drive the image sensor to move in various directions and perform optical jitter compensation.

[0253] In some embodiments, the optical image stabilization motor may include, but is not limited to, coils and magnets. When the coil is energized, it generates a Lorentz force under the influence of the magnet. This Lorentz force acts on the moving part of the image sensor, causing it to move. With a constant magnetic field, the magnitude and direction of the Lorentz force can be controlled by controlling the magnitude and direction of the current in the coil, thereby controlling the displacement and direction of the image sensor on each axis.

[0254] Specifically, coils are provided on the first, second, and third sides of the moving part of the image sensor. The image sensor is moved along the X-axis, Y-axis, and R-axis directions by the coils on the first, second, and third sides to achieve three-axis optical image stabilization.

[0255] In optical image stabilization motors, the number of coils on each side, the position of the coils on each side, and the size of the coils can all be set according to actual needs, and are not limited here.

[0256] For example, the electromagnetic drive schemes with different numbers of coils are described below with reference to the accompanying drawings.

[0257] (1) Three-coil electromagnetic drive scheme.

[0258] In a three-coil electromagnetic drive scheme, the optical image stabilization motor may include a first coil, a second coil, and a third coil.

[0259] In some embodiments, a first coil is disposed on a first side of the image sensor's moving part, and a second coil is disposed on a second side of the image sensor's moving part. The first side and the second side are opposite sides, meaning the first coil is located on the opposite side of the second coil. A third coil is disposed on a third side of the image sensor's moving part, and the third side is adjacent to both the first and second sides.

[0260] The driving chip outputs a first current signal through a current generation structure (such as a PWM driving structure) based on the displacement amount and direction of the image sensor in the X-axis direction. The first current signal is applied to the first coil so that the first coil generates a force acting on the moving part of the image sensor under the action of the magnetic field, thereby applying a force along the X-axis to the moving part of the image sensor and driving the moving part of the image sensor to translate along the X-axis.

[0261] The driver chip outputs a second current signal based on the displacement and direction of the image sensor in the R-axis direction through a current generation structure (e.g., a PWM drive structure). The second current signal is applied to the second coil, so that the second coil generates a force acting on the moving part of the image sensor under the action of the magnetic field, thereby applying a torque along the R-axis to the moving part of the image sensor, and driving the moving part of the image sensor to rotate along the R-axis.

[0262] The driver chip outputs a third current signal based on the displacement and direction of the image sensor in the Y-axis direction through a current generation structure (such as a PWM drive structure). The third current signal is applied to the third coil, so that the third coil generates a force on the moving part of the image sensor under the action of the magnetic field, thereby applying a force along the Y-axis to the moving part of the image sensor, and driving the moving part of the image sensor to translate along the Y-axis.

[0263] In some embodiments, to further reduce crosstalk and thus reduce crosstalk compensation in drive control, the mechanical structure design can be optimized to allow the mechanical center to coincide with the geometric center of the image sensor mover and the center of gravity of the image sensor mover, thereby achieving "multi-center unification". The mechanical center is the mechanical center of the force along the X-axis and the force along the Y-axis generated by the third coil.

[0264] At this point, the normal passing through the center of the first coil passes through the geometric center of the image sensor's moving part; the normal passing through the center of the second coil does not pass through the geometric center of the image sensor's moving part; and the normal passing through the center of the third coil passes through the geometric center of the image sensor's moving part. Furthermore, the center of gravity and the geometric center of the image sensor's moving part coincide.

[0265] Of course, in some other embodiments, if "multi-center convergence" is not considered, the normals passing through the center of the first coil and the center of the second coil may not pass through the center of the image sensor's moving part. However, in this case, more crosstalk will be generated when the image sensor's moving part is pushed to move along each axis, requiring the control algorithm to perform more crosstalk compensation. More crosstalk compensation by the control algorithm will reduce the real-time performance of optical image stabilization compensation control.

[0266] For example, see Figure 9 The schematic diagram of the three-coil electromagnetic drive scheme shown indicates that after coils 2, 5 and 6 are energized, they can generate Lorentz force on the moving part 3 of the image sensor under the action of magnets 8, 9 and 10, so as to drive the moving part 3 of the image sensor to move on the X-axis, Y-axis and R-axis.

[0267] Among them, coil 6 corresponds to the first coil mentioned above, coil 5 corresponds to the second coil mentioned above, and coil 2 corresponds to the third coil mentioned above. Therefore, in Figure 9 In the diagram, the first side is the left side of the image sensor moving part 3, the second side is the right side of the image sensor moving part 3, and the third side is the upper side of the image sensor moving part 3. In this embodiment, the magnetization direction of the magnet can be either uniformly magnetized on all four poles of a single magnet, or two identical magnets can be bipolar magnetized and then connected together. For example... Figure 9 As shown, two magnets, one with an N pole and the other with an S pole, are connected together. When the coil is energized, a Lorentz force F is generated to the left in the magnetic field of the two magnets.

[0268] Of course, the direction of magnetization of the magnet can also be the same as... Figure 9 The opposite is shown, but no limitation is made here.

[0269] like Figure 9 As shown, according to the Lorentz force and the left-hand rule, when coil 2 is energized, it can generate a Lorentz force F along the Y-axis under the influence of the magnetic field of magnet 9. y When coil 5 is energized, it can generate a Lorentz force F along the Y-axis under the influence of the magnetic field of magnet 8. yr When coil 6 is energized, it generates a Lorentz force F along the X-axis under the influence of the magnetic field of magnet 10. x .

[0270] To achieve "multi-center convergence," the positions of coils 6 and 2 are adjusted so that the normal passing through the center of coil 6 passes through center point O, and the normal passing through the center of coil 2 also passes through center point O. This way, the F generated by coil 2... y F generated by coil 6 x The mechanical center of F coincides with the center point O of the moving part 3 of the image sensor, therefore F y and F x This will not generate additional torque at point O, nor will it cause additional rotation of the image sensor mover part 3. This reduces crosstalk, thereby reducing crosstalk compensation in drive control and improving the real-time performance of drive control.

[0271] In other words, F x It only contributes to the translation of the image sensor's moving part 3 along the X-axis, and does not generate additional torque at point O. Therefore, it does not cause additional rotation of the image sensor's moving part 3 in the XY plane, nor does it cause additional translation of the image sensor's moving part in the Y-axis direction. Similarly, F y The current only contributes to the translation of the image sensor's moving part 3 along the Y-axis, without generating additional torque at point O. This prevents the image sensor's moving part 3 from rotating additionally in the XY plane or translating additionally along the X-axis. Therefore, driving the image sensor's moving part 3 to translate along the X-axis and / or Y-axis avoids rotational and translational crosstalk, eliminating the need for crosstalk compensation for additional rotation and translation, and reducing the crosstalk compensation control in the control algorithm. In practical applications, the driver chip can determine the magnitude and direction of the current applied to coil 6 based on the displacement and direction of the image sensor along the X-axis; and determine the magnitude and direction of the current applied to coil 2 based on the displacement and direction of the image sensor along the Y-axis.

[0272] It should be noted that theoretical mechanical design can achieve "multi-center unification" for the image sensor's moving part, thus preventing crosstalk when driving the moving part to move along the X, Y, and R axes. However, in practical applications, due to assembly process limitations, products assembled according to the theoretical mechanical design cannot achieve complete "multi-center unification," resulting in some errors. Therefore, crosstalk will still occur when driving the image sensor's moving part to move along the X, Y, and R axes. To address crosstalk caused by the assembly process, a pre-calibrated crosstalk compensation amount can be used in the closed-loop negative feedback control process to compensate for the displacement in each axis direction; alternatively, crosstalk compensation can be omitted from the closed-loop negative feedback control process.

[0273] exist Figure 9 In the image sensor, the moving part is in Fx Under the influence of F, it moves along the positive X-axis, and in F y Under the influence of [something], it moves along the negative Y-axis.

[0274] The Lorentz force F generated by coil 5 under the magnetic field after being energized yr Because it does not coincide with the center O of the moving part 3 of the image sensor, there is a lever arm d, therefore F yr Torque M is generated on the moving part 3 of the image sensor. R The image sensor mover part 3 experiences torque M. R Under its influence, it can rotate along the R-axis in the XY plane. Figure 9 In the image sensor, the moving part 3 experiences torque M. R Its function is to rotate counterclockwise in the XY plane.

[0275] in addition, Figure 9 The diagram also shows high-precision position sensors 1, 4, and 7. Position sensor 1 is placed in the middle region of coil 2, position sensor 4 is placed in the middle region of coil 5, and position sensor 7 is placed in the middle region of coil 6.

[0276] Position sensor 1, in conjunction with magnet 9, enables position detection of the image sensor. Position sensor 4, in conjunction with magnet 8, enables position detection of the image sensor. Position sensor 7, in conjunction with magnet 10, enables position detection of the image sensor. In specific applications, position sensor 1 can detect the position of the image sensor in the yaw direction in real time and feed the detected position back to the target position controller. Position sensor 4 can detect the position of the image sensor in the roll direction in real time and feed the detected position back to the target position controller. Position sensor 7 can detect the position of the image sensor in the pitch direction in real time and feed the detected position back to the target position controller.

[0277] It should be noted that, Figure 9 The diagram including position sensor 1, coil 2, image sensor mover part 3, position sensor 4, coil 5, coil 6, and position sensor 7 is a top view. The diagrams of magnets 8, 9, and 10 are front views viewed from the negative Y-axis direction towards the positive Y-axis direction. The diagram including the N and S poles of the magnet is a side view viewed from the positive X-axis direction towards the negative X-axis direction.

[0278] It can be seen that the pitch, yaw, and roll three-axis decoupled negative feedback is achieved through position sensor 1, position sensor 4, and position sensor 7.

[0279] Based on the three-axis decoupling negative feedback of pitch, yaw and roll, the mutual decoupling of the three-axis drive control is realized.

[0280] For example, combined Figure 6 and Figure 9 After the target position controller obtains the position of the image sensor in the pitch direction from the position sensor 7, it compares the current position of the image sensor in the pitch direction with the position the image sensor should have reached in the pitch direction. It then determines whether the error between the current position and the expected position of the image sensor in the yaw direction is within the allowable range. If it is, the closed-loop drive control in the X-axis translation direction ends. If not, the drive chip calculates the displacement that the image sensor should move in the pitch direction based on the current position and the expected position, and transmits this displacement to the drive chip. The drive chip then applies a current of corresponding magnitude and direction to the coil 6 based on the expected displacement of the image sensor in the pitch direction. This causes the coil 6 to generate a Lorentz force under the influence of a magnetic field, pushing the image sensor's moving part 3 to translate along the X-axis. When the image sensor mover part 3 is driven to translate along the X direction by the coil 6, the position sensor 7 and the magnet 10 work together to detect the position of the image sensor in the pitch direction and feed this position back to the target position controller. This cycle continues until the error between the current position of the image sensor in the pitch direction and the position it should have reached is within the allowable range.

[0281] Similarly, after acquiring the position of the image sensor in the yaw direction from the position sensor 1, the target position controller compares the current position of the image sensor in the yaw direction with the position the image sensor should have reached in the yaw direction. It then determines whether the error between the current position and the expected position of the image sensor in the yaw direction is within the allowable range. If it is, the closed-loop drive control in the Y-axis translation direction ends. If not, the drive chip calculates the displacement that the image sensor should move in the yaw direction based on the current position and the expected position, and transmits this displacement to the drive chip. The drive chip then applies a current of corresponding magnitude and direction to coil 2 based on the required displacement, causing coil 2 to generate a Lorentz force under the influence of a magnetic field, thus pushing the image sensor's moving part 3 to translate along the X-axis. When the image sensor moving part 3 is driven to translate along the Y direction by coil 2, position sensor 1 and magnet 9 work together to detect the position of the image sensor in the yaw direction and feed this position back to the target position controller. This cycle continues until the error between the current position of the image sensor in the yaw direction and the position it should have reached is within the allowable range.

[0282] After the target position controller acquires the position of the image sensor in the rotational direction from the position sensor 4, it compares the current position of the image sensor in the rotational direction with the position it should have reached in the rotational direction. It then determines whether the error between the current position and the expected position is within the allowable range. If it is, the closed-loop drive control in the R-axis rotational direction ends. If not, the drive chip calculates the displacement that the image sensor should move in the rotational direction based on the current and expected positions, and transmits this displacement to the drive chip. The drive chip applies a current of appropriate magnitude and direction to the coil 5 based on the required displacement, causing the coil 5 to generate a torque under the influence of the magnetic field, thus rotating the image sensor's moving part 3 in the XY plane by a certain angle. While the image sensor's moving part 3 is rotated in the XY plane by the coil 5, the position sensor 4 and the magnet 8 work together to detect the image sensor's position in the rotational direction and feed this position back to the target position controller. This process is repeated until the error between the current position of the image sensor in the rotation (roll) direction and the position it should have reached is within acceptable limits.

[0283] To better introduce based on Figure 9 The jitter compensation control of the three-coil electromagnetic drive scheme shown below exemplifies several typical image sensor motion modes.

[0284] 1.1 Image sensor panning mode.

[0285] Among them, the translation mode in the X-axis direction: F x ≠0, F y =0,F yr =0.

[0286] Y-axis translation mode: F x =0,F y ≠0, F yr =0.

[0287] Dual-axis translation mode (X and Y axes): F x ≠0, F y ≠0, F yr =0.

[0288] In practical applications, in the X-axis translation mode, the image sensor only needs to translate along the X-axis to compensate for jitter. At this time, the driver chip can apply a current of corresponding direction and magnitude to coil 6 via a PWM drive structure, based on the displacement direction and amount of the image sensor along the X-axis. This causes coil 6 to generate a force F acting on the moving part 3 of the image sensor under a magnetic field. x The image sensor's moving part 3 is driven to translate along the X-axis, thereby driving the image sensor to translate along the X-axis. If the image sensor's moving part does not generate crosstalk to the Y-axis and R-axis when translating along the X-axis, crosstalk compensation is not required or is considered zero. Therefore, the driving chip does not need to apply current to coils 2 and 6. When the image sensor is driven to translate along the X-axis by applying a current of the appropriate direction and magnitude to coil 6, position sensor 7 obtains the image sensor's position signal in the X-axis direction through induction magnet 10, position sensor 1 obtains the image sensor's position signal in the Y-axis direction through induction magnet 9, and position sensor 4 obtains the image sensor's position signal in the R-axis direction through induction magnet 8. These position signals are then fed back to the target position controller. The target position controller performs closed-loop negative feedback control of the drive based on the feedback position signals.

[0289] It should be noted that the various motion modes shown above and below are all based on the "multi-center unification" of the image sensor's moving part under theoretical mechanical design. However, in practical applications, due to assembly process limitations, products assembled according to the theoretical mechanical design still cannot achieve complete "multi-center unification" and contain certain errors. Therefore, crosstalk will still occur when driving the image sensor's moving part to move along the X, Y, and R axes.

[0290] At this point, to ensure the accuracy of the anti-shake drive control, crosstalk compensation can be performed. For example, in the X-axis translation mode, the drive chip drives the image sensor's moving part according to the image sensor's jitter displacement compensation amount in the X-axis direction, thereby driving the image sensor to translate along the X-axis. Then, it enters the drive closed-loop negative feedback control mode. In this mode, the target position controller acquires the real-time position of the image sensor in the X-axis direction, the Y-axis direction, and the R-axis direction, fed back by the position sensor. It compares the acquired feedback positions with the target position to obtain the displacement amounts of the image sensor in the X-axis direction, the Y-axis direction, and the R-axis direction. The drive chip then searches for crosstalk calibration data to obtain the crosstalk compensation amount on each axis, and uses this amount to compensate for the crosstalk in the displacement amounts, obtaining the crosstalk-induced displacement amounts for each axis. Finally, based on the crosstalk-induced displacement amounts for each axis, a current of the corresponding direction and magnitude is applied to the corresponding coil.

[0291] Similarly, in Y-axis translation mode, the image sensor only needs to translate along the Y-axis to compensate for Y-axis jitter. In this case, the driver chip can apply a current of corresponding direction and magnitude to coil 2 via a PWM drive structure, based on the displacement direction and amount of the image sensor along the Y-axis. This causes coil 2 to generate a force acting on the image sensor's moving part 3 under a magnetic field, driving the moving part 3 to translate along the Y-axis, and subsequently, the image sensor to translate along the X-axis. If the image sensor's moving part does not generate crosstalk to the X and R axes during Y-axis translation, crosstalk compensation is unnecessary, and the driver chip does not need to apply current to coils 6 and 5.

[0292] Similar to the X-axis translation mode described above, in the closed-loop negative feedback process of the drive, the drive chip can use crosstalk compensation to compensate for the crosstalk in each axis direction, and then apply a current of the corresponding magnitude and direction to the corresponding coil according to the crosstalk compensation displacement of each axis.

[0293] In the dual-axis translation mode (X-axis and Y-axis), the image sensor needs to translate along both the X-axis and Y-axis to compensate for jitter in the X-axis and Y-axis directions, respectively. At this time, the driver chip can apply a current of corresponding magnitude and direction to coil 6 based on the displacement direction and amount of the image sensor in the X-axis direction; and apply a current of corresponding magnitude and direction to coil 2 based on the displacement direction and amount in the Y-axis direction. If no crosstalk is generated in the R-axis direction during X-axis and Y-axis translation, crosstalk compensation in the R-axis direction is not required, or the crosstalk compensation amount is considered zero, and no current signal needs to be applied to coil 5.

[0294] 1.2 Image sensor in-plane rotation mode: F x =0,F y =0,F yr ≠0.

[0295] In this mode, the image sensor needs to rotate clockwise or counterclockwise in the XY plane to compensate for jitter in the R-axis direction.

[0296] At this time, the driving chip applies a current of the corresponding direction and magnitude to the coil 5 through the PWM driving structure according to the rotation angle and rotation direction of the image sensor, thereby generating a torque acting on the moving part 3 of the image sensor to drive the moving part 3 of the image sensor to rotate clockwise or counterclockwise by a certain angle in the XY plane.

[0297] If no crosstalk is generated on the X and Y axes when driving the image sensor to rotate in the XY plane, then crosstalk compensation is not required, or the crosstalk compensation amount can be considered to be zero, and then no current needs to be applied to coil 2 and coil 6.

[0298] 1.3 Image sensor translation and in-plane rotation modes.

[0299] Among them, the X-axis translation + in-plane rotation mode: F x ≠0, F y =0,F yr ≠0.

[0300] Y-axis translation + in-plane rotation mode: F x =0,F y ≠0, F yr ≠0.

[0301] X-axis and Y-axis dual-axis translation + in-plane rotation mode: F x ≠0, F y ≠0, F yr ≠0.

[0302] In the X-axis translation + in-plane rotation mode, the image sensor needs to rotate a certain angle in the XY plane and translate along the X-axis to compensate for jitter in both the X and R axes. At this time, the driving chip can apply current signals of corresponding direction and magnitude to coils 5 and 6 respectively, based on the displacement and direction of the image sensor in the X and R axes, to drive the image sensor's moving part 3 to translate along the X-axis and rotate along the R-axis in the XY plane. If the image sensor does not generate crosstalk to the Y-axis during X-axis translation and R-axis rotation, crosstalk compensation is not required or is considered zero, therefore no current needs to be applied to coil 2.

[0303] Similarly, the driving process in the Y-axis direction + in-plane rotation mode and the X-axis and Y-axis dual-axis translation + in-plane rotation mode can be found above and will not be repeated here.

[0304] It is worth noting that, in this embodiment of the application, the center of gravity and geometric center of the moving part of the image sensor are aligned with the F axis in the X-axis direction. x and F in the Y-axis direction y The mechanical centers of the three points coincide, ensuring "three-center unity," which can reduce crosstalk compensation in the control algorithm.

[0305] For example, Figure 9 In the middle, F in the X-axis direction x and F in the Y-axis direction y The mechanical center of the force coincides with point O, and these two forces do not generate additional torque on point O. Therefore, when driving the image sensor to perform X-axis and Y-axis translation, there is no need to compensate for crosstalk to the additional torque.

[0306] Assume F x and F y The mechanical center of the force does not coincide with point O. These two forces will generate additional torque on point O. In order to ensure the accuracy of drive control, it is necessary to compensate for the crosstalk of the additional torque when driving the image sensor to perform X-axis translation and / or Y-axis translation. That is, additional crosstalk compensation control is required.

[0307] It is also worth pointing out that, Figure 9 The three-coil electromagnetic drive scheme can be applied not only to three-axis optical image stabilization to suppress jitter in the pitch, yaw, and roll directions, but also to dual-axis optical image stabilization schemes, where crosstalk compensation can be achieved through the additional rotation of coil 5 in the R-axis direction. For example, based on Figure 9 During the assembly of the mechanical design, due to the assembly process, the F in the X-axis direction... x and F in the Y-axis direction yThe mechanical center of the image sensor does not coincide with point O, which generates additional torque at point O. This causes the image sensor to rotate excessively when translated along the X-axis and / or Y-axis, leading to image rotation and optical image instability. To eliminate this additional torque in the XY plane, a counter-torque can be generated by coil 5. For example, if the additional torque causes the image sensor to rotate clockwise by +θ during translation in the XY plane, a compensating torque can be generated by coil 5 to drive the image sensor to rotate counterclockwise by +θ in the XY plane, thus counteracting the additional torque.

[0308] (2) Five-coil electromagnetic drive scheme.

[0309] Based on the above three-coil electromagnetic drive scheme, the coil on one side can be replaced with two or more coils to obtain different electromagnetic drive schemes.

[0310] For example, by replacing both the first and second coils with two coils, while keeping the third coil unchanged, a five-coil electromagnetic drive scheme can be obtained. In this case, the first coil is replaced by the fourth and fifth coils, and the second coil is replaced by the sixth and seventh coils. The fourth and fifth coils are both located on the first side of the image sensor's moving part, the sixth and seventh coils are both located on the second side of the image sensor's moving part, and the third coil is located on the third side.

[0311] The fourth and sixth coils are positioned opposite each other and are controlled by the same circuit. The magnitude and direction of the current in the fourth and sixth coils are the same. Therefore, the Lorentz force generated in the magnetic field when the fourth coil is energized is the same as the Lorentz force generated in the magnetic field when the sixth coil is energized. Similarly, the fifth and seventh coils are positioned opposite each other and are controlled by the same circuit. The magnitude and direction of the current in the fifth and seventh coils are the same. Therefore, the Lorentz force generated in the magnetic field when the fifth coil is energized is the same as the Lorentz force generated in the magnetic field when the seventh coil is energized.

[0312] In practical applications, to ensure that the fourth and sixth coils are controlled on the same circuit, they can be connected in series. Similarly, the fifth and seventh coils can be connected in series. Of course, the fourth and sixth coils can also be separated from the series connection.

[0313] In the five-coil electromagnetic scheme, the normals passing through the center of the fourth coil, the sixth coil, the fifth coil, and the seventh coil may all not pass through the center of the moving part of the image sensor. For example, see... Figure 10 This is a schematic diagram of a five-coil electromagnetic drive scheme provided in an embodiment of this application. Figure 10As shown, when coils 12, 14-1, 14-2, 16-1 and 16-2 are energized, they can generate Lorentz force on the moving part 13 of the image sensor under the action of magnets 18, 19 and 20, so as to drive the moving part 13 of the image sensor to move in the X-axis, Y-axis and R-axis directions.

[0314] Among them, coil 12 corresponds to the third coil mentioned above, coil 14-2 corresponds to the fourth coil mentioned above, coil 14-1 corresponds to the sixth coil mentioned above, coil 16-2 corresponds to the fifth coil mentioned above, and coil 16-1 corresponds to the seventh coil mentioned above.

[0315] like Figure 10 As shown, according to the Lorentz force and the left-hand rule, when coil 12 is energized, it can generate a Lorentz force F along the Y-axis under the influence of the magnetic field of magnet 19. y When coil 14-2 is energized, it can generate a Lorentz force F along the X-axis under the influence of the magnetic field of magnet 20. x1 When coil 16-2 is energized, it generates a Lorentz force F along the X-axis under the influence of the magnetic field of magnet 20. x3 When coil 14-1 is energized, it generates a Lorentz force F along the X-axis under the influence of the magnetic field of magnet 18. x2 When coil 16-1 is energized, it generates a Lorentz force F along the X-axis under the influence of the magnetic field of the magnet. x4 .

[0316] Similar to the three-coil drive scheme mentioned above, in order to reduce crosstalk compensation in drive control, the center of gravity and geometric center of the image sensor mover part 13 are made to coincide with the mechanical center of the Lorentz force along the Y-axis and the Lorentz force along the X-axis, ensuring that the three centers are aligned.

[0317] The normals passing through the center of coil 14-1, coil 14-2, coil 16-1, and coil 16-2 all fail to pass through center O. Therefore, the F generated by coil 14-1... x2 The F generated by coil 14-2 x1 The F generated by coil 16-1 x4 The F generated by coil 16-2 x3 None of them pass through the center point O.

[0318] Coils 14-1, 14-2, 16-1, and 16-2 can generate a Lorentz force contributing to translation in the X-axis direction and a rotational torque M contributing to rotation in the R-axis direction. R F is controlled by adjusting the magnitude and direction of the current applied to each coil. x1 F x2 Fx3 and F x4 The magnitude and direction of the rotational torque M are thus controlled. R The magnitude and direction of the force exerted by the image sensor's moving part 13 in the X-axis direction are also considered. This enables displacement control of the image sensor in both the X-axis and R-axis directions.

[0319] Coil 14-1 and coil 14-2 are controlled by the same circuit, and the magnitude and direction of the current are the same, i.e., F x1 =F x2 .

[0320] Coil 16-1 and coil 16-2 are controlled by the same circuit, and the magnitude and direction of the current are the same, i.e., F x3 =F x4 .

[0321] In addition, similar to the three-coil electromagnetic drive scheme mentioned above, Figure 10 The diagram also shows position sensor 11, position sensor 15, and position sensor 17. Position sensor 11 is placed in the middle region of coil 12, position sensor 15 is placed in the middle region of coil 16-1, and position sensor 17 is placed in the middle region of coil 16-2.

[0322] Position sensor 11 is paired with magnet 19, position sensor 15 is paired with magnet 18, and position sensor 17 is paired with magnet 20 to realize the position detection of the image sensor in the pitch, yaw, and roll directions, and feed back the detected position to the target position controller.

[0323] To better introduce based on Figure 10 The jitter compensation control of the five-coil electromagnetic drive scheme is shown below. Several typical image sensor motion modes are illustrated in the following examples.

[0324] 2.1 Image sensor panning mode.

[0325] Among them, the translation mode in the X-axis direction: F x1 =F x3 ≠0, F y =0.

[0326] Y-axis translation mode: F x1 =F x3 =0,F y ≠0.

[0327] Dual-axis translation mode (X and Y axes): F x1 =F x2 =F x3 =F x4 ≠0, F y≠0.

[0328] 2.2 Image sensor in-plane rotation mode: F x1 =-F x3 ≠0, F y =0. Where, F x1 =F x2 F x3 =F x4 .

[0329] When F x1 >0, the image sensor rotates clockwise in the XY plane; when F x1 When the value is less than 0, the image sensor rotates counterclockwise in the XY plane. The rotation angle in the XY plane can be controlled by adjusting coils 14-1, 14-2, 16-1, and the current in coil 16-1.

[0330] 2.3 Image sensor translation and in-plane rotation modes.

[0331] Among them, the X-axis translation + in-plane rotation mode: F x1 ≠F x3 ≠0, F y =0.

[0332] When F x1 >F x3 The image sensor rotates clockwise in the XY plane; when F x1 <F x3 The image sensor rotates counterclockwise in the XY plane. x1 =F x2 F x3 =F x4 .

[0333] Torque M R =2d*(F x1 -F x3 ).

[0334] Y-axis translation + in-plane rotation mode: F x1 =-F x3 ≠0, F y ≠0. By controlling F x1 The direction to control the rotational torque M R The direction of rotation is controlled by the direction of rotation.

[0335] X-axis and Y-axis dual-axis translation + in-plane rotation mode: F x1 ≠F x3 ≠0, F y ≠0.

[0336] In the various modes shown above, the driver chip can control the magnitude and direction of the Lorentz force, as well as the direction and magnitude of the torque, by controlling the magnitude and direction of the coil current, thereby controlling the displacement direction and amount of the image sensor on each axis.

[0337] For example, in the X-axis translation + in-plane rotation mode, the image sensor needs to rotate a certain angle in the XY plane and translate along the X-axis to compensate for jitter in the X and R axes. In this case, the driving chip can apply current signals of corresponding direction and magnitude to coils 14-1, 14-2, 16-1, and 16-2 respectively, based on the displacement and direction of the image sensor in the X and R axes, to drive the image sensor's moving part 13 to translate along the X-axis and rotate along the R-axis in the XY plane. If the image sensor does not generate crosstalk in the Y-axis during X-axis translation and R-axis rotation, crosstalk compensation is not required or is considered zero, therefore no current needs to be applied to coil 12.

[0338] The drive control process in other modes will not be described in detail here. The drive process and drive closed-loop negative feedback control process in different modes are similar to the three-coil electromagnetic drive scheme above, and will not be described in detail here.

[0339] It is worth noting that the magnitude of the electromagnetic thrust and the structural requirements of the mechanical design can be adjusted accordingly. Figure 10 The size and relative position of the coil are adaptively adjusted. That is, the embodiments of this application do not limit the setting position and size of the coil, which can be set according to actual needs.

[0340] For example, see Figure 11 The diagram shows another schematic of the five-coil electromagnetic drive scheme provided in the embodiment of this application. After coils 22, 24-1, 24-2, 26-1 and 26-2 are energized, they can generate Lorentz force on the moving part 23 of the image sensor under the action of magnets 28, 29 and 30, so as to drive the moving part 23 of the image sensor to move in the X-axis, Y-axis and R-axis directions.

[0341] Among them, coil 22 corresponds to the third coil mentioned above, coil 24-2 corresponds to the fourth coil mentioned above, coil 24-1 corresponds to the sixth coil mentioned above, coil 26-2 corresponds to the fifth coil mentioned above, and coil 26-1 corresponds to the seventh coil mentioned above.

[0342] and Figure 10Similarly, according to the Lorentz force and the left-hand rule, when coil 22 is energized, it generates a Lorentz force along the Y-axis under the magnetic field of magnet 29. When coil 24-2 is energized, it generates a Lorentz force along the X-axis under the magnetic field of magnet 30, and when coil 26-2 is energized, it generates a Lorentz force along the X-axis under the magnetic field of magnet 20. When coil 24-1 is energized, it generates a Lorentz force along the X-axis under the magnetic field of magnet 28, and when coil 26-1 is energized, it generates a Lorentz force along the X-axis under the magnetic field of magnet 28.

[0343] in addition, Figure 11 Position sensor 21, position sensor 25, and position sensor 27 are also shown. Position sensor 21 is placed in the middle region of coil 22, position sensor 25 is placed in the middle region of coil 26-1, and position sensor 27 is placed in the middle region of coil 26-2.

[0344] Position sensor 21 is paired with magnet 29, position sensor 25 is paired with magnet 28, and position sensor 27 is paired with magnet 30 to realize the position detection of the image sensor in the pitch, yaw, and roll directions, and feed back the detected position to the target position controller.

[0345] By comparison Figure 10 and Figure 11 It can be seen that, Figure 10 Coils 14-2 and 16-2 are the same size, coils 14-1 and 14-2 are the same size, and coils 16-1 and 16-2 are the same size.

[0346] and Figure 11 In the diagram, coils 14-2 and 16-2 are of different sizes, with coil 14-2 being larger than coil 16-2. Coils 14-1 and 14-2 are of the same size, as are coils 16-1 and 16-2.

[0347] In comparison, Figure 11 By making the size of coil 14-2 larger than that of coil 16-2, a larger optical image stabilization angle in the X-axis direction of the image sensor can be ensured for the same size.

[0348] and Figure 10 Similarly, in order to reduce crosstalk compensation in drive control, the center of gravity and geometric center of the image sensor mover part 23 are made to coincide with the mechanical center of the Lorentz force along the Y-axis and the Lorentz force along the X-axis, ensuring that the three centers are in harmony.

[0349] Coil 24-1 and coil 24-2 are controlled by the same circuit, and the magnitude and direction of the current are the same. Coil 26-1 and coil 26-2 are controlled by the same circuit, and the magnitude and direction of the current are the same.

[0350] Figure 11 The drive control process under the five-coil electromagnetic drive scheme shown can be found in the corresponding content above, and will not be repeated here.

[0351] (3) Six-coil electromagnetic drive scheme.

[0352] Based on the above three-coil or five-coil electromagnetic drive scheme, the coil on one side can be replaced with two or more coils to obtain different electromagnetic drive schemes.

[0353] For example, with the above Figure 10 Based on the five-coil electromagnetic drive scheme shown above, replacing coil 12 with two coils yields a six-coil electromagnetic drive scheme. For example, using the above... Figure 11 Based on the five-coil electromagnetic drive scheme shown, by replacing coil 22 with two coils, a six-coil electromagnetic drive scheme can be obtained.

[0354] For example, see Figure 12 This is a schematic diagram of a six-coil electromagnetic drive scheme provided in an embodiment of this application. After coils 32-1, 32-2, 34-1, 34-2, 36-1, and 36-2 are energized, they can generate a Lorentz force acting on the moving part 33 of the image sensor under the action of magnets 38, 39, and 40, so as to drive the moving part 33 of the image sensor to move in the X-axis, Y-axis, and R-axis directions.

[0355] and Figure 10 Similarly, according to the Lorentz force and the left-hand rule, when coils 32-1 and 32-2 are energized, they can generate a Lorentz force along the Y-axis under the magnetic field of magnet 39. When coils 34-1 and 36-1 are energized, they can generate a Lorentz force along the X-axis under the magnetic field of magnet 38. When coils 34-2 and 36-2 are energized, they can generate a Lorentz force along the X-axis under the magnetic field of magnet 40.

[0356] in addition, Figure 12 The diagram also shows position sensors 31, 35, and 37. Position sensor 31 is placed in the middle region of coil 32-2, position sensor 35 is placed in the middle region of coil 36-1, and position sensor 37 is placed in the middle region of coil 36-2.

[0357] Position sensor 31 is paired with magnet 39, position sensor 35 is paired with magnet 38, and position sensor 37 is paired with magnet 40 to realize the position detection of the image sensor in the pitch, yaw, and roll directions, and feed back the detected position to the target position controller.

[0358] Similar to the three-coil and five-coil electromagnetic drive schemes mentioned above, to reduce crosstalk compensation in the drive control, the center of gravity and geometric center of the image sensor's moving part 33 are aligned with the mechanical centers of the Lorentz force along the Y-axis and the X-axis, ensuring the three centers are aligned. Coil 34-1 and coil 34-2 are controlled by the same circuit, with the same current magnitude and direction. Coil 36-1 and coil 36-2 are also controlled by the same circuit, with the same current magnitude and direction.

[0359] It is understandable that the Lorentz force generated by coil 32-1 and coil 32-2 are of the same magnitude and direction. There is a lever arm between the Lorentz force generated by coil 32-1 and the center of force O, producing a rotational torque. Similarly, there is a lever arm between the Lorentz force generated by coil 32-2 and the center of force O, producing a rotational torque. These two rotational torques cancel each other out, ensuring that the image sensor's moving part 33 does not rotate in the XY plane when translating along the Y-axis. That is, the Lorentz forces generated by coils 32-1 and 32-2 only contribute to the Y-axis translation of the image sensor's moving part.

[0360] Similar to the five-coil electromagnetic drive scheme described above, the current direction and magnitude of coils 34-2 and 34-1 are the same, meaning these two coils are controlled by the same circuit, and the magnitude and direction of the Lorentz force they generate are the same. Similarly, the current direction and magnitude of coils 36-1 and 36-2 are the same, meaning these two coils are controlled by the same circuit, and the magnitude and direction of the Lorentz force they generate are the same. For an explanation of how coils 34-1, 36-1, and 36-2 drive the image sensor's moving part 33 to rotate along the R-axis and translate along the X-axis, please refer to the five-coil electromagnetic drive scheme section above; it will not be repeated here.

[0361] Figure 12 The drive control process of the six-coil electromagnetic drive scheme can be found in the relevant content above, and will not be repeated here.

[0362] It should be noted that the electromagnetic drive scheme in this application is not limited to the three-coil, five-coil, and six-coil electromagnetic drive schemes mentioned above, and other modified schemes can be obtained based on the above-mentioned content. For example, based on Figure 9The illustrated three-coil electromagnetic drive scheme can be modified by replacing coil 6 with three coils and coil 5 with three coils to obtain a seven-coil electromagnetic drive scheme. For example, based on... Figure 9 The three-coil electromagnetic drive scheme shown can be used to replace coil 6 with three coils, coil 5 with three coils, and coil 2 with three coils to obtain a nine-coil electromagnetic drive scheme.

[0363] In this application embodiment, different electromagnetic drive schemes can be obtained by varying the coil size, number of coils, and coil position. The drive control logic of different electromagnetic drive schemes is similar: the drive chip applies a current of corresponding magnitude and direction to the corresponding coil based on the displacement and direction of the image sensor on each axis, thereby generating a Lorentz force acting on the moving part of the image sensor to drive the image sensor to move in various directions for jitter compensation. The difference lies in the fact that electromagnetic drive schemes with more coils will have a larger electromagnetic driving force and better drive stability.

[0364] Understandably, in order to reduce crosstalk compensation during the drive control process, the center of gravity and geometric center of the moving part of the image sensor are made to coincide with the mechanical centers of the Lorentz force along the Y-axis and the Lorentz force along the X-axis, ensuring that the three centers are aligned.

[0365] It should be noted that the driving method in the embodiments of this application is not limited to the electromagnetic driving method mentioned above. Furthermore, in the electromagnetic driving scheme mentioned above, the driving chip may or may not perform crosstalk compensation.

[0366] For example, based on Figure 9 The electromagnetic drive scheme shown involves the drive chip receiving a control signal from the target position controller. By analyzing the control signal, the drive chip obtains the displacement of the image sensor in the X-axis direction, the Y-axis direction, and the R-axis direction. Based on the displacement and direction in the X-axis direction, the drive chip applies current to coil 6 via a PWM drive structure. Based on the displacement and direction in the Y-axis direction, the drive chip applies current to coil 2. Based on the displacement and direction in the R-axis direction, the drive chip applies current to coil 5.

[0367] Alternatively, during the closed-loop negative feedback process, after the target position controller obtains the displacement of the image sensor on each axis based on the image sensor position fed back by the position sensor, the drive chip obtains the displacement in the X-axis direction, the displacement in the Y-axis direction, and the displacement in the R-axis direction by acquiring the control signal from the target position controller. Furthermore, based on the displacement of the image sensor on each axis, it performs crosstalk calibration data search to obtain the crosstalk compensation amount on each axis; then, it uses the crosstalk compensation amount to compensate for crosstalk in the displacement in each axis direction; finally, based on the crosstalk-compensated displacement, it applies the corresponding current to coils 2, 5, and 6.

[0368] The image sensor displacement-based three-axis optical image stabilization system provided in this application not only reduces the impact of crosstalk to improve the accuracy of image stabilization drive control, but also solves problems such as image rotation and optical image instability. Furthermore, the image sensor displacement-based three-axis optical image stabilization system in this application exhibits low hysteresis. Hysteresis-free operation means that the time taken to drive the image sensor to move back and forth along a certain axis is the same. For example, the time taken to drive the image sensor to move +100μm and -100μm along the X-axis is the same.

[0369] In this embodiment, the optical image stabilization effect can be reflected in the image clarity of the camera module and the electronic device including the camera module. In specific applications, the image stabilization compression ratio can be used to measure the optical image stabilization effect.

[0370] Among them, the image stabilization compression ratio is an important performance indicator for evaluating image stabilization devices. It can be calculated by comparing the blurry pixel values ​​before and after the optical image stabilization system is activated. Specifically, it can be expressed as:

[0371] For example, the image stabilization compression ratio (dB) = -20Log((number of OIS ON pixels - number of Static pixels) / (number of OIS OFF pixels - number of Static pixels)) = -20Log((D2 - D0) / (D1 - D0))

[0372] Where D0, D1, and D2 represent the actual number of pixels in the camera module corresponding to the optical image stabilization system under static conditions, the actual number of pixels with OIS off, and the actual number of pixels with OIS on, respectively. A higher stabilization compression ratio (dB) indicates better image stabilization performance; a stabilization compression ratio of 0 or a negative value indicates that the optical image stabilization system is not functioning properly.

[0373] In a three-axis optical image stabilization scenario, the stabilization compression ratio in three directions at the camera module is measured first, and then the three-axis optical image stabilization effect is comprehensively evaluated based on the test values.

[0374] As can be seen from the above, the embodiments of this application provide a variety of different electromagnetic drive schemes to achieve three-axis optical image stabilization. Furthermore, among these various electromagnetic drive schemes, by enabling the image sensor's moving part to achieve "multi-center unification," crosstalk generated during the drive process is reduced, crosstalk compensation control in the control algorithm is reduced, and the real-time performance of the drive control is improved.

[0375] Of course, the various electromagnetic drive schemes mentioned above can also be used for dual-axis optical image stabilization. In this case, crosstalk compensation can be used to achieve additional rotation compensation of the image sensor in the XY plane, resulting in higher optical image stability and no image rotation. For example, in Figure 9 In the three-coil electromagnetic drive scheme shown, when the image sensor is pushed to move in the X-axis and Y-axis directions by coil 6 and coil 2, the position detection sensor 4 detects the additional rotation angle of the image sensor in the R-axis, and then the coil 5 pushes the image sensor to rotate in the opposite direction in the R-axis by a certain angle to compensate for the rotation caused by crosstalk.

[0376] This application also provides an optical image stabilization method based on image sensor displacement, which can be applied to a driver chip. The method first acquires jitter data and determines the target position the image sensor should reach based on the jitter data. Then, based on the current position of the image sensor and the target position, it determines the displacement amount the image sensor should make on each axis. Next, based on the displacement amount the image sensor should make on each axis, it drives the image sensor to move along each axis. After the target position controller generates a new control signal based on the image sensor position signal fed back by the position detection sensor, the driver chip acquires the new control signal and obtains the displacement amount of the image sensor on each axis based on the new control signal. Based on the displacement amount of the image sensor on each axis, it performs a crosstalk calibration data search to find the corresponding crosstalk compensation amount and uses the crosstalk compensation amount to compensate for the displacement amount on each axis to obtain the crosstalk-compensated displacement amount. Finally, based on the crosstalk-compensated displacement amount, it drives the image sensor to move in each axis direction.

[0377] In this way, after obtaining the displacement that should be moved in each direction, crosstalk compensation is performed on the displacement in each direction according to the pre-calibrated crosstalk compensation amount, reducing the influence of crosstalk and improving the anti-shake drive control accuracy.

[0378] For example, see Figure 13 This is a schematic flowchart of an image sensor displacement-based optical image stabilization method provided in an embodiment of this application. The method may include the following steps:

[0379] Step S1301: The driver chip acquires the jitter displacement compensation amount of the image sensor in each axial direction.

[0380] In some embodiments, the driver chip can receive control signals from the target position controller to obtain the jitter displacement compensation amount and target position of the image sensor in each axial direction.

[0381] The target position controller can obtain the target position that the image sensor should reach in order to suppress jitter based on the jitter frequency and jitter amplitude in each direction. Through the feedback of the comparator, it obtains the jitter displacement compensation amount of the image sensor in each axis direction based on the target position and the starting position of the image sensor. Then, based on the jitter displacement compensation amount in each direction, it generates a control signal and transmits the control signal to the driver chip.

[0382] In dual-axis optical image stabilization scenarios, the driver chip can acquire jitter displacement compensation amounts in the X and Y axes. In three-axis optical image stabilization scenarios, the driver chip can acquire jitter displacement compensation amounts in the X, Y, and R axes.

[0383] Step S1302: The driving chip drives the image sensor to move along each axis direction according to the jitter displacement compensation amount of the image sensor in each axis direction.

[0384] It is understandable that different driving methods may result in different driving processes. For example, in some embodiments, when the driving method is the electromagnetic driving method mentioned above, the driving chip can determine the current signal applied to each coil based on the jitter displacement compensation amount of each axis. This current signal includes the current magnitude and current direction. That is, by controlling the magnitude and direction of the coil current, the displacement amount and displacement direction of the image sensor are controlled, thereby achieving decoupling of the three-axis motion control.

[0385] For electromagnetic drive schemes, please refer to the three-coil electromagnetic drive scheme and the five-coil electromagnetic drive scheme mentioned above, and there is no further limitation here.

[0386] For example, with Figure 9 Taking the three-coil electromagnetic drive scheme shown as an example, the drive chip applies a current signal of corresponding magnitude and direction to coil 6 according to the jitter displacement compensation amount in the X-axis direction; applies a current signal of corresponding magnitude and direction to coil 2 according to the jitter displacement compensation amount in the Y-axis direction; and applies a current signal of corresponding magnitude and direction to coil 5 according to the jitter displacement compensation amount in the R-axis direction.

[0387] Step S1303: The driver chip acquires the displacement of the image sensor in each axial direction.

[0388] In some embodiments, after the driving chip drives the image sensor to move along the axial direction according to the jitter displacement compensation amount on each axis, the position detection sensor can feed back the current position of the image sensor to the target position controller. The target position controller determines whether to end the current drive control by comparing the difference between the current position and the target position of the image sensor. If the current drive control is not to end, the displacement amount of the image sensor in each axial direction is obtained based on the difference between the current position and the target position, and the displacement amount of the image sensor in each axial direction is transmitted to the driving chip.

[0389] Step S1304: The driving chip searches for crosstalk calibration data based on the displacement of the image sensor in each axis direction to obtain the crosstalk compensation amount on each axis.

[0390] Among them, crosstalk calibration data can be obtained in advance through the crosstalk calibration process.

[0391] For each axis, the crosstalk compensation amount can be found from the crosstalk calibration data based on the displacement in that axis direction.

[0392] Step S1305: For each axis, the drive chip uses crosstalk compensation to compensate for crosstalk in the displacement, and obtains the displacement after crosstalk compensation.

[0393] Step S1306: The driving chip drives the image sensor to move on each axis according to the displacement after crosstalk compensation.

[0394] For example, after obtaining the crosstalk compensation displacement of the image sensor in each axial direction, the driving chip applies a current signal of the corresponding direction and magnitude to the coil to drive the image sensor to move in the X-axis, Y-axis and R-axis.

[0395] Understandably, multiple drive controls may be required during closed-loop negative feedback control. From the perspective of the drive chip, steps S1303 to S1306 may be executed repeatedly until the controller determines that the error between the current position of the image sensor and the target position is within a certain range.

[0396] As can be seen, this embodiment compensates for crosstalk in the displacement of the image sensor in each axial direction by using a calibrated crosstalk compensation amount, thereby reducing the impact of crosstalk. Crosstalk may be caused by mechanical design defects or assembly processes; therefore, the causes of crosstalk are not limited here.

[0397] It should be noted that in some embodiments, the driver chip may not perform crosstalk compensation. In this case, during the closed-loop negative feedback control process, after receiving the control signal from the controller, the driver chip analyzes the control signal to obtain the displacement of the image sensor in each axis direction. Based on the displacement in each axis direction, it can then apply a current of appropriate magnitude and direction to the corresponding coil. This process is repeated until the controller determines that the error between the current position and the target position of the image sensor is within a certain range.

[0398] As can be seen from the above, the embodiments of this application propose a crosstalk compensation process and an electromagnetic drive scheme. In some embodiments, the embodiments of this application may only include the electromagnetic drive scheme, that is, without crosstalk compensation, but based on the electromagnetic drive scheme mentioned above, to achieve three-axis optical image stabilization based on image sensor displacement; or they may only include the crosstalk compensation process, that is, the drive chip performs crosstalk compensation according to a pre-calibrated crosstalk compensation amount, and the electromagnetic drive scheme in the optical image stabilization motor is not the scheme mentioned above. Of course, the embodiments of this application may also include both crosstalk compensation and the electromagnetic drive scheme, that is, the embodiments of this application not only achieve three-axis optical image stabilization based on image sensor displacement based on the electromagnetic drive scheme mentioned above, but also, on the basis of achieving three-axis optical image stabilization, the drive chip uses the crosstalk compensation amount to perform crosstalk compensation.

[0399] This application provides a camera module, which may include a lens group, an image sensor, and... Figure 5 or Figure 6 The optical image stabilization system shown is in whole or in part.

[0400] For example, the camera module may include a lens group, an image sensor, an optical image stabilization motor, and a drive chip. The optical image stabilization motor includes a PWM drive structure, coils, a magnet, a position sensor, and a moving part of the image sensor. The moving part of the image sensor is connected to the image sensor, and the image sensor can move along with the moving part of the image sensor. Furthermore, the distribution and setting position of the coils can be as shown in the three-coil, five-coil, or six-coil electromagnetic drive scheme mentioned above. The optical image stabilization drive control process can be found above and will not be repeated here.

[0401] The electronic device provided in this application embodiment may include a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the method as described in any of the above method embodiments. Alternatively, the electronic device may include a system as described in any of the above system embodiments.

[0402] This application also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps described in the various method embodiments above.

[0403] This application provides a computer program product that, when run on an electronic device, enables the electronic device to perform the steps described in the various method embodiments above.

[0404] This application also provides a chip system, which includes a processor coupled to a memory. The processor executes a computer program stored in the memory to implement the methods described in the above embodiments. The chip system may be a single chip or a chip module composed of multiple chips.

[0405] In the above embodiments, the descriptions of each embodiment have their own emphasis. Parts not detailed or described in a particular embodiment can be referred to in the relevant descriptions of other embodiments. It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application. Furthermore, in the description of this application specification and the appended claims, the terms "first," "second," "third," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance. References to "one embodiment" or "some embodiments" in this application specification mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in yet other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized.

[0406] Finally, it should be noted that the above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A three-axis optical image stabilization system based on image sensor displacement, characterized in that, The system includes sensors, a controller, a driver chip, and an optical image stabilization motor. The sensor is used to collect first jitter data in a first direction, second jitter data in a second direction, and third jitter data in a third direction; The controller is used to obtain the displacement of the image sensor in the first axis, the displacement in the second axis, and the displacement in the third axis based on the first jitter data, the second jitter data, and the third jitter data. The optical image stabilization motor includes an image sensor mover portion, a magnet, a coil disposed on a first side of the image sensor mover portion, a coil disposed on a second side of the image sensor mover portion, and a coil disposed on a third side of the image sensor mover portion; the first side and the second side are opposite sides, and the third side is adjacent to the first side; the magnet is used to generate a magnetic field; wherein the center of gravity and geometric center of the image sensor mover portion coincide with the mechanical centers of the forces acting along the first axis and the forces acting along the third axis; When the coil on the first side, the coil on the second side, and the coil on the third side are energized, they generate a force acting on the moving part of the image sensor under the action of the magnetic field, pushing the moving part of the image sensor to move in each axis, thereby driving the image sensor to move in each axis. The driving chip is configured to: apply current to the coil on the first side according to the displacement in the first axial direction to drive the image sensor moving part to translate in the first axial direction; apply current to the coil on the second side according to the displacement in the second axial direction to drive the image sensor moving part to rotate along the second axial direction; or apply current to the coil on the first side and the coil on the second side according to the displacement in the first axial direction and the displacement in the second axial direction to drive the image sensor moving part to translate along the first axial direction and / or rotate along the second axial direction; and apply current to the coil on the third side according to the displacement in the third axial direction to drive the image sensor moving part to translate along the third axial direction.

2. The system according to claim 1, characterized in that, The coil on the first side includes a first coil, the coil on the second side includes a second coil, and the coil on the third side includes a third coil; The driver chip is specifically used for: Based on the displacement along the first axis, a first current signal is applied to the first coil to cause the first coil to generate a first Lorentz force acting on the moving part of the image sensor under the action of a magnetic field. The first Lorentz force is used to drive the moving part of the image sensor to translate along the first axis. Based on the displacement along the second axis, a second current signal is applied to the second coil to cause the second coil to generate a second Lorentz force acting on the moving part of the image sensor under the action of a magnetic field. The second Lorentz force is used to generate a rotational torque to drive the moving part of the image sensor to rotate along the second axis. Based on the displacement along the third axis, a third current signal is applied to the third coil to cause the third coil to generate a third Lorentz force acting on the moving part of the image sensor under the action of a magnetic field. The third Lorentz force is used to drive the moving part of the image sensor to translate along the third axis. Wherein, the first center line of the first coil passes through the center point of the moving part of the image sensor, and the first center line passes through the center of the first coil and is parallel to the first axis; The second center line of the second coil does not pass through the center point of the moving part of the image sensor, and the second center line passes through the center of the second coil and is parallel to the first axis. The third center line of the third coil passes through the center point of the moving part of the image sensor, and the third center line passes through the center of the third coil and is parallel to the third axis.

3. The system according to claim 1, characterized in that, The coil on the first side includes a fourth coil and a fifth coil, and the coil on the second side includes a sixth coil and a seventh coil; the fourth coil and the sixth coil are arranged opposite to each other, and the fifth coil and the seventh coil are arranged opposite to each other. The driver chip is specifically used for: Based on the displacement in the first axial direction and the displacement in the second axial direction, a fourth current signal is applied to the fourth coil and the sixth coil so that the fourth coil generates a fourth Lorentz force acting on the moving part of the image sensor under the action of the magnetic field, and the sixth coil generates a fifth Lorentz force acting on the moving part of the image sensor under the action of the magnetic field. Based on the displacement in the first axial direction and the displacement in the second axial direction, a fifth current signal is applied to the fifth coil and the seventh coil so that the fifth coil generates a sixth Lorentz force acting on the moving part of the image sensor under the action of the magnetic field, and the seventh coil generates a seventh Lorentz force acting on the moving part of the image sensor under the action of the magnetic field. Based on the displacement along the third axis, a sixth current signal is applied to the coil on the third side to cause the coil on the third side to generate a Lorentz force acting on the moving part of the image sensor under the action of a magnetic field, thereby driving the moving part of the image sensor to displace along the third axis. The moving part of the image sensor is displaced along the first axis and / or the second axis under the action of the fourth Lorentz force, the fifth Lorentz force, the sixth Lorentz force, and the seventh Lorentz force.

4. The system according to claim 3, characterized in that, The fourth center line of the fourth coil, the fifth center line of the fifth coil, the sixth center line of the sixth coil, and the seventh center line of the seventh coil do not pass through the center point of the moving part of the image sensor, while the third center line of the coil on the third side passes through the center point of the moving part of the image sensor. The third center line passes through the center of the coil on the third side and is parallel to the third axis; the fourth center line passes through the center of the fourth coil and is parallel to the first axis; the fifth center line passes through the center of the fifth coil and is parallel to the first axis; the sixth center line passes through the center of the sixth coil and is parallel to the first axis; and the seventh center line passes through the center of the seventh coil and is parallel to the first axis.

5. The system according to claim 3 or 4, characterized in that, The fourth, fifth, sixth, and seventh coils are all identical. Alternatively, the fourth coil and the sixth coil may have the same coil size, the fifth coil and the seventh coil may have the same coil size, and the fourth coil and the fifth coil may have different coil sizes.

6. The system according to claim 3 or 4, characterized in that, The coil on the third side includes an eighth coil and a ninth coil; The driver chip is specifically used for: Based on the displacement along the third axis, the sixth current signal is applied to the eighth coil and the ninth coil to cause the eighth coil to generate an eighth Lorentz force acting on the moving part of the image sensor under the action of the magnetic field, and the ninth coil to generate a ninth Lorentz force acting on the moving part of the image sensor under the action of the magnetic field. The image sensor moving part translates along the third axis under the combined action of the eighth and ninth Lorentz forces.

7. The system according to claim 6, characterized in that, The distance between the center point of the moving part of the image sensor and the center of the eighth coil is equal to the distance between the center point of the moving part of the image sensor and the center of the ninth coil.

8. The system according to claim 2, characterized in that, The system includes a position detection module for detecting the position of the image sensor.

9. The system according to claim 8, characterized in that, The position detection module includes a first position sensor, a second position sensor, and a third position sensor; wherein the magnet includes a first magnet, a second magnet, and a third magnet; The first position sensor is used in conjunction with the first magnet to acquire the position signal of the image sensor along the first axis; The second position sensor is used in conjunction with the second magnet to acquire the position signal of the image sensor along the second axis; The third position sensor is used in conjunction with the third magnet to acquire the position signal of the image sensor along the third axis; The first position sensor is disposed in the middle region of the first coil; the second position sensor is disposed in the middle region of the second coil; and the third position sensor is disposed in the middle region of the third coil. When the first coil includes a fourth coil and a fifth coil, and the second coil includes a sixth coil and a seventh coil, the first magnet is disposed in the middle region of the fifth coil, the second magnet is disposed in the middle region of the seventh coil, and the third magnet is disposed in the middle region of the third coil; or, When the first coil includes a fourth and a fifth coil, the second coil includes a sixth and a seventh coil, and the third coil includes an eighth and a ninth coil, the first magnet is disposed in the middle region of the fifth coil, the second magnet is disposed in the middle region of the seventh coil, and the third magnet is disposed in the middle region of the eighth coil.

10. The system according to claim 9, characterized in that, The controller is specifically used for: The target position of the image sensor is obtained based on the first jitter data, the second jitter data, and the third jitter data; the displacement of the image sensor in the first axis, the displacement in the second axis, and the displacement in the third axis are obtained based on the target position and the starting position of the image sensor. The starting position of the image sensor is detected by the position detection module.

11. The system according to claim 10, characterized in that, The controller is specifically used for: The image sensor position signal fed back by the position detection module is obtained, and the image sensor position signal is used to describe the current position of the image sensor; Based on the image sensor position signal, determine whether the error between the current position of the image sensor and the target position is within a preset range; When the error between the current position of the image sensor and the target position is not within the preset range, the displacement of the image sensor in the first axis, the displacement in the second axis, and the displacement in the third axis are obtained based on the current position of the image sensor and the target position. The driver chip is also used for: Read the crosstalk calibration data pre-stored in the optical image stabilization motor; Find the crosstalk compensation amount for the first axis, the crosstalk compensation amount for the second axis, and the crosstalk compensation amount for the third axis from the crosstalk calibration data. Crosstalk compensation is performed on the displacement in the first axis using the crosstalk compensation amount in the first axis to obtain the crosstalk-compensated displacement in the first axis. Crosstalk compensation is performed on the displacement in the second axis using the crosstalk compensation amount in the second axis to obtain the crosstalk-compensated displacement in the second axis. Crosstalk compensation is performed on the displacement in the third axis using the crosstalk compensation amount in the third axis to obtain the crosstalk-compensated displacement in the third axis. Based on the displacement amount after crosstalk compensation in the first axis, the image sensor is driven to move along the first axis by the optical image stabilization motor; based on the displacement amount after crosstalk compensation in the second axis, the image sensor is driven to move along the second axis by the optical image stabilization motor; based on the displacement amount after crosstalk compensation in the third axis, the image sensor is driven to move along the third axis by the optical image stabilization motor. Wherein, the crosstalk compensation amount of the first axis includes the crosstalk compensation amount of the image sensor displacement along the second axis to the displacement along the first axis, and the crosstalk compensation amount of the image sensor displacement along the third axis to the displacement along the first axis. The crosstalk compensation amount in the second axis includes the crosstalk compensation amount of the image sensor displacement along the first axis to the displacement along the second axis, and the crosstalk compensation amount of the image sensor displacement along the third axis to the displacement along the second axis. The crosstalk compensation amount in the third axis includes the crosstalk compensation amount of the image sensor displacement along the first axis to the displacement along the third axis, and the crosstalk compensation amount of the image sensor displacement along the second axis to the displacement along the third axis.

12. The system according to claim 1, characterized in that, The rotation of the image sensor moving part along the second axis means that the image sensor moving part rotates about the lens optical axis, or rotates in the plane formed by the first axis and the third axis, wherein the first axis and the third axis are perpendicular to each other and both are perpendicular to the lens optical axis.

13. A three-axis optical image stabilization method based on image sensor displacement, characterized in that, Applied to a driver chip, the method includes: The displacement of the image sensor in the first axis, the displacement in the second axis, and the displacement in the third axis are acquired. Based on the displacement in the first axial direction, the displacement in the second axial direction, and the displacement in the third axial direction, the image sensor is driven to move in each axial direction by an optical image stabilization motor, including: applying current to a coil on the first side based on the displacement in the first axial direction to drive the image sensor moving part to translate in the first axial direction; applying current to a coil on the second side based on the displacement in the second axial direction to drive the image sensor moving part to rotate along the second axial direction; or applying current to the coils on the first side and the coils on the second side based on the displacement in the first axial direction and the displacement in the second axial direction to drive the image sensor moving part to translate along the first axial direction and / or rotate along the second axial direction. Based on the displacement along the third axis, a current is applied to the coil on the third side to drive the moving part of the image sensor to translate along the third axis; The optical image stabilization motor includes the image sensor mover portion, a magnet, a coil disposed on a first side of the image sensor mover portion, a coil disposed on a second side of the image sensor mover portion, and a coil disposed on a third side of the image sensor mover portion; the first side and the second side are opposite sides, and the third side and the first side are adjacent sides; the image sensor mover portion is connected to the image sensor, and the image sensor moves with the movement of the image sensor mover portion; the magnet is used to generate a magnetic field; wherein the center of gravity and geometric center of the image sensor mover portion coincide with the mechanical centers of the forces acting along the first axis and the forces acting along the third axis; When the coils on the first side, the second side, and the third side are energized, they generate a force acting on the moving part of the image sensor under the action of the magnetic field, pushing the moving part of the image sensor to move in each axis, thereby driving the image sensor to move in each axis.

14. The method according to claim 13, characterized in that, The coil on the first side includes a first coil, the coil on the second side includes a second coil, and the coil on the third side includes a third coil; Based on the displacement along the first axial direction, a current is applied to the coil on the first side to drive the image sensor moving part to translate along the first axial direction; based on the displacement along the second axial direction, a current is applied to the coil on the second side to drive the image sensor moving part to rotate along the second axial direction; based on the displacement along the third axial direction, a current is applied to the coil on the third side to drive the image sensor moving part to translate along the third axial direction, including: Based on the displacement along the first axis, a first current signal is applied to the first coil to cause the first coil to generate a first Lorentz force acting on the moving part of the image sensor under the action of a magnetic field. The first Lorentz force is used to drive the moving part of the image sensor to translate along the first axis. Based on the displacement along the second axis, a second current signal is applied to the second coil to cause the second coil to generate a second Lorentz force acting on the moving part of the image sensor under the action of a magnetic field. The second Lorentz force is used to generate a rotational torque to drive the moving part of the image sensor to rotate along the second axis. Based on the displacement along the third axis, a third current signal is applied to the third coil to cause the third coil to generate a third Lorentz force acting on the moving part of the image sensor under the action of a magnetic field. The third Lorentz force is used to drive the moving part of the image sensor to translate along the third axis. Wherein, the first center line of the first coil passes through the center point of the moving part of the image sensor, and the first center line passes through the center of the first coil and is parallel to the first axis; The second center line of the second coil does not pass through the center point of the moving part of the image sensor, and the second center line passes through the center of the second coil and is parallel to the first axis. The third center line of the third coil passes through the center point of the moving part of the image sensor, and the third center line passes through the center of the third coil and is parallel to the third axis.

15. The method according to claim 13, characterized in that, The coil on the first side includes a fourth coil and a fifth coil, and the coil on the second side includes a sixth coil and a seventh coil; the fourth coil and the sixth coil are arranged opposite to each other, and the fifth coil and the seventh coil are arranged opposite to each other. Based on the displacement in the first axial direction and the displacement in the second axial direction, current is applied to the coil on the first side and the coil on the second side to drive the image sensor moving part to translate along the first axial direction and / or rotate along the second axial direction; based on the displacement in the third axial direction, current is applied to the coil on the third side to drive the image sensor moving part to translate along the third axial direction, including: Based on the displacement in the first axial direction and the displacement in the second axial direction, a fourth current signal is applied to the fourth coil and the sixth coil so that the fourth coil generates a fourth Lorentz force acting on the moving part of the image sensor under the action of the magnetic field, and the sixth coil generates a fifth Lorentz force acting on the moving part of the image sensor under the action of the magnetic field. Based on the displacement in the first axial direction and the displacement in the second axial direction, a fifth current signal is applied to the fifth coil and the seventh coil so that the fifth coil generates a sixth Lorentz force acting on the moving part of the image sensor under the action of the magnetic field, and the seventh coil generates a seventh Lorentz force acting on the moving part of the image sensor under the action of the magnetic field. Based on the displacement along the third axis, a sixth current signal is applied to the coil on the third side to cause the coil on the third side to generate a Lorentz force acting on the moving part of the image sensor under the action of a magnetic field, thereby driving the moving part of the image sensor to displace along the third axis. The moving part of the image sensor is displaced along the first axis and / or the second axis under the action of the fourth Lorentz force, the fifth Lorentz force, the sixth Lorentz force, and the seventh Lorentz force.

16. The method according to claim 15, characterized in that, The fourth center line of the fourth coil, the fifth center line of the fifth coil, the sixth center line of the sixth coil, and the seventh center line of the seventh coil do not pass through the center point of the moving part of the image sensor; the third center line of the coil on the third side passes through the center point of the moving part of the image sensor. The third center line passes through the center of the coil on the third side and is parallel to the third axis; the fourth center line passes through the center of the fourth coil and is parallel to the first axis; the fifth center line passes through the center of the fifth coil and is parallel to the first axis; the sixth center line passes through the center of the sixth coil and is parallel to the first axis; and the seventh center line passes through the center of the seventh coil and is parallel to the first axis.

17. The method according to claim 15 or 16, characterized in that, The fourth, fifth, sixth, and seventh coils are all identical. Alternatively, the fourth coil and the sixth coil may have the same coil size, the fifth coil and the seventh coil may have the same coil size, and the fourth coil and the fifth coil may have different coil sizes.

18. The method according to claim 15 or 16, characterized in that, The coil on the third side includes an eighth coil and a ninth coil; Based on the displacement along the third axis, a sixth current signal is applied to the coil on the third side to cause the coil on the third side to generate a Lorentz force acting on the moving part of the image sensor under the action of a magnetic field, including: Based on the displacement along the third axis, the sixth current signal is applied to the eighth coil and the ninth coil to cause the eighth coil to generate an eighth Lorentz force acting on the moving part of the image sensor under the action of the magnetic field, and the ninth coil to generate a ninth Lorentz force acting on the moving part of the image sensor under the action of the magnetic field. The image sensor moving part translates along the third axis under the combined action of the eighth and ninth Lorentz forces.

19. The method according to claim 18, characterized in that, The distance between the center point of the moving part of the image sensor and the center of the eighth coil is equal to the distance between the center point of the moving part of the image sensor and the center of the ninth coil.

20. The method according to any one of claims 13 to 16, characterized in that, Before driving the image sensor to move along each axis using the optical image stabilization motor based on the displacement in the first axis, the displacement in the second axis, and the displacement in the third axis, the method further includes: Read the crosstalk calibration data pre-stored in the optical image stabilization motor; Find the crosstalk compensation amount for the first axis, the crosstalk compensation amount for the second axis, and the crosstalk compensation amount for the third axis from the crosstalk calibration data. Crosstalk compensation is performed on the displacement in the first axis using the crosstalk compensation amount in the first axis to obtain the crosstalk-compensated displacement in the first axis. Crosstalk compensation is performed on the displacement in the second axis using the crosstalk compensation amount in the second axis to obtain the crosstalk-compensated displacement in the second axis. Crosstalk compensation is performed on the displacement in the third axis using the crosstalk compensation amount in the third axis to obtain the crosstalk-compensated displacement in the third axis. Wherein, the crosstalk compensation amount of the first axis includes the crosstalk compensation amount of the image sensor displacement along the second axis to the displacement along the first axis, and the crosstalk compensation amount of the image sensor displacement along the third axis to the displacement along the first axis. The crosstalk compensation amount in the second axis includes the crosstalk compensation amount of the image sensor displacement along the first axis to the displacement along the second axis, and the crosstalk compensation amount of the image sensor displacement along the third axis to the displacement along the second axis. The crosstalk compensation amount in the third axis includes the crosstalk compensation amount of the image sensor displacement along the first axis to the displacement along the third axis, and the crosstalk compensation amount of the image sensor displacement along the second axis to the displacement along the third axis.

21. A camera module, characterized in that, Including the image sensor displacement-based three-axis optical image stabilization system as described in any one of claims 1 to 12.

22. An electronic device, characterized in that, Including the image sensor displacement-based three-axis optical image stabilization system as described in any one of claims 1 to 12.

23. A chip system, characterized in that, The chip system includes a processor coupled to a memory, the processor executing a computer program stored in the memory to implement the method as described in any one of claims 13 to 20.

24. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it implements the method as described in any one of claims 13 to 20.

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