IMU camera module and test method and test system thereof

Abstract

The invention discloses an IMU camera module and a test method and test system thereof, and the IMU camera module comprises a lens which is used for converging light onto an image sensing processing module; the IMU module is used for acquiring motion state information of the IMU camera module, and the motion state information comprises acceleration, angular velocity and motion direction; and the image sensing processing module is used for converting the light signal of the converged light into an electric signal and processing the electric signal to generate a first digital image signal. The image sensing processing module is also used for outputting the first digital image signal to the equipment end; or the processor is used for performing stability processing on the first digital image signal based on the motion state information, generating a second digital image signal and outputting the second digital image signal to the equipment end. The IMU camera module can accurately detect the movement of the lens in real time, effectively avoids the adverse effect of the movement of the lens on the image quality, and is high in reliability and easy to implement. And the effect is particularly obvious for the scene of the unmanned aerial vehicle.

Description

Technical Field

[0001] The present application relates to the technical field of camera modules, and in particular to an IMU camera module and a testing method and system thereof. Background Art

[0002] When recording lens movement, the camera module is subject to external environmental interference and the limitations of the internal mechanical structure, which can easily lead to problems such as image jitter and distortion. In related technologies, stabilization processing is often performed by improving image processing algorithms, but these methods cannot effectively eliminate the negative impact of movement and directly affect the image quality. Based on this, how to design a camera module to effectively avoid the adverse effects of lens movement on image quality has become an urgent problem to be solved in the industry. Summary of the invention

[0003] In order to solve at least one problem existing in the prior art, the purpose of this application is to provide an IMU camera module and its test method and test system, which can detect lens motion in real time and accurately, effectively avoid the adverse effect of lens motion on picture quality, and have high reliability and easy implementation. Especially for scenes used in drones, the effect is particularly obvious.

[0004] To achieve the above objectives, in the first aspect, the IMU camera module provided by the present application includes:

[0005] A lens, used to focus light onto the image sensing and processing module;

[0006] An IMU module, used to obtain the motion state information of the IMU camera module; wherein the motion state information includes at least one of acceleration, angular velocity and motion direction; and,

[0007] An image sensing processing module, used for converting the optical signal of the converged light into an electrical signal, and processing the electrical signal to generate a first digital image signal;

[0008] Furthermore, the image sensing processing module is used to output the first digital image signal to a device end, so that the device end can perform stability processing on the first digital image signal based on the motion state information; or, to perform stability processing on the first digital image signal based on the motion state information to generate a second digital image signal, and output it to the device end.

[0009] To achieve the above purpose, in a second aspect, the present application provides a method for testing an IMU camera module, which is used to test the IMU camera module as described above; the method comprises:

[0010] The testing device obtains the motion state information of the IMU camera module and the first digital image signal;

[0011] The testing device obtains a motion state evaluation parameter based on the motion state information, and obtains an image state evaluation parameter based on the first digital image signal;

[0012] The testing device determines the first operating state information of the IMU module based on the motion state evaluation parameter and the corresponding first threshold range, and determines the second operating state information of the image sensing processing module based on the image state evaluation parameter and the corresponding second threshold range;

[0013] The test device stores the first running status information in a first register of the test device, and stores the second running status information in a second register of the test device for reading by a test platform.

[0014] Further, the method comprises:

[0015] In response to the motion state assessment parameter being within the first threshold range, determining that the operating state of the IMU module is normal;

[0016] In response to the motion state assessment parameter not being within the first threshold range, it is determined that the operating state of the IMU module is abnormal.

[0017] Further, the method comprises:

[0018] In response to the image state evaluation parameter being in the second threshold range, determining that the operating state of the image sensing processing module is normal;

[0019] In response to the image state evaluation parameter not being within the second threshold range, it is determined that the operating state of the image sensing processing module is abnormal.

[0020] Further, the method also includes that the motion state assessment parameter is preconfigured as at least one of an accelerometer three-axis variance, an accelerometer three-axis average value, a gyroscope three-axis variance, a gyroscope three-axis average value and a three-axis accelerometer modulus.

[0021] Furthermore, the method also includes that the image state evaluation parameter is preconfigured as at least one of a resolution parameter, a relative illumination parameter and a stain parameter of the camera module.

[0022] Furthermore, before the step of the testing device acquiring the motion state information of the IMU camera module and the first digital image signal, the method further includes:

[0023] Determine the connection status between the IMU camera module and the test device;

[0024] In response to the connection state being normal, the testing device controls the IMU camera module to remain in a stationary state, and performs a trigger test on the first register and the second register to determine whether the corresponding register operation states are normal;

[0025] In response to the register operating status of the first register and the second register being normal, the motion state information of the IMU camera module and the first digital image signal are obtained.

[0026] Furthermore, the method further comprises,

[0027] In response to the abnormal connection status, the testing device issues a connection status abnormality reminder;

[0028] In response to the abnormal operation state of the register, the test device issues a reminder of the abnormal operation state of the register.

[0029] Furthermore, the method includes that the test device obtains the motion status information and the first digital image signal of the IMU camera module through a Socket; the test device is configured on an I2C bus so that the test platform reads the first operating status information and the second operating status information through the I2C bus.

[0030] To achieve the above purpose, in a third aspect, the present application also provides a test system for an IMU camera module, which is used to test the IMU camera module as described above; the system includes a test device and a test platform, and the test device includes a test board and an adapter board; wherein,

[0031] The adapter board is used to transmit signals between the IMU camera module, the test board and the test platform;

[0032] The test board is used to obtain the motion state information and the first digital image signal of the IMU camera module through the adapter board; obtain motion state evaluation parameters based on the motion state information, and obtain image state evaluation parameters based on the first digital image signal; determine the first operating state information of the IMU module based on the motion state evaluation parameters and the corresponding first threshold range, and determine the second operating state information of the image sensing processing module based on the image state evaluation parameters and the corresponding second threshold range; and store the first operating state information in a first register of the test device, and store the second operating state information in a second register of the test device;

[0033] The test platform is used to read the first operating status information and the second operating status information through the adapter board.

[0034] An IMU camera module of the present application obtains the motion state information of the IMU camera module through the IMU module; and converts the optical signal of the converged light into an electrical signal through the image sensing processing module, processes the electrical signal, and generates a first digital image signal; and outputs the first digital image signal to the device end through the image sensing processing module, so that the device end can perform stability processing on the first digital image signal based on the motion state information; or directly performs stability processing on the first digital image signal based on the motion state information through the image sensing processing module, generates a second digital image signal, and outputs it to the device end. In this way, the lens motion can be detected in real time and accurately, effectively avoiding the adverse effects of the lens motion on the picture quality, and the reliability is high and easy to implement. In particular, the effect is particularly obvious for scenes used for drones.

[0035] The present application discloses a test method for an IMU camera module, which obtains motion state information and a first digital image signal of the IMU camera module through a test device; obtains motion state evaluation parameters based on the motion state information through the test device, and obtains image state evaluation parameters based on the first digital image signal; and determines the first operation state information of the IMU module based on the motion state evaluation parameters and the corresponding first threshold range through the test device, and determines the second operation state information of the image sensor processing module based on the image state evaluation parameters and the corresponding second threshold range through the test device; and stores the first operation state information in the first register of the test device through the test device, and stores the second operation state information in the second register of the test device for reading by the test platform. Thus, for an IMU camera module that can avoid the adverse effects of lens motion on image quality, not only is the test accuracy and reliability high, which further ensures product quality, but also realizes the integrated test of the IMU module and the image sensor processing module of the IMU camera module, which helps to improve the test efficiency.

[0036] Other features and advantages of the present application will be set forth in the following description, and in part will become apparent from the description, or may be understood by practicing the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The accompanying drawings are used to provide a further understanding of the present application and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the present application and do not constitute a limitation of the present application. In the accompanying drawings:

[0038] Figure 1 It is a structural block diagram of an IMU camera module according to an embodiment of the present application;

[0039] Figure 2 A side view of an IMU camera module according to an embodiment of the present application;

[0040] Figure 3A bottom view of an IMU camera module according to an embodiment of the present application;

[0041] Figure 4 A flowchart of a method for testing an IMU camera module according to an embodiment of the present application;

[0042] Figure 5 This is a flow chart of a method for testing an IMU camera module according to another embodiment of the present application;

[0043] Figure 6 It is a structural schematic diagram of a test system for an IMU camera module according to an embodiment of the present application. DETAILED DESCRIPTION

[0044] The embodiments of the present application will be described in more detail below with reference to the accompanying drawings. Although certain embodiments of the present application are shown in the accompanying drawings, it should be understood that the present application can be implemented in various forms and should not be construed as being limited to the embodiments described herein. Instead, these embodiments are provided to provide a more thorough and complete understanding of the present application. It should be understood that the drawings and embodiments of the present application are only for exemplary purposes and are not intended to limit the scope of protection of the present application.

[0045] The term "including" and its variations used herein are open inclusions, i.e., "including but not limited to". The term "based on" means "based at least in part on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments". The relevant definitions of other terms will be given in the following description.

[0046] It should be noted that the concepts such as "first" and "second" mentioned in this application are only used to distinguish different parameters, units or data, and are not used to limit the order or interdependence of the functions performed by these parameters, units or data.

[0047] It should be noted that the modifications of "one" and "plurality" mentioned in this application are illustrative rather than restrictive, and those skilled in the art should understand that unless otherwise clearly indicated in the context, it should be understood as "one or more". "Plurality" should be understood as two or more.

[0048] Hereinafter, embodiments of the present application will be described in detail with reference to the accompanying drawings.

[0049] Example 1

[0050] like Figure 1-Figure 3 As shown, the IMU (Inertial Measurement Unit) camera module 100 includes a lens 110, an IMU module 120 and an image sensor processing module 130.

[0051] The lens 110 is used to focus light onto the image sensing and processing module 130 .

[0052] The IMU module 120 is used to obtain the motion state information of the IMU camera module 100. The motion state information includes at least one of acceleration, angular velocity and motion direction.

[0053] The image sensing processing module 130 is used to convert the optical signal of the converged light into an electrical signal, and process the electrical signal to generate a first digital image signal.

[0054] Furthermore, as an embodiment, the image sensing processing module 130 is further configured to output the first digital image signal to a device end, so that the device end can perform stability processing on the first digital image signal based on the motion state information.

[0055] As another embodiment, the image sensing processing module 130 is further used to perform stability processing on the first digital image signal based on the motion state information, generate a second digital image signal, and output it to the device end.

[0056] That is to say, the image sensing processing module 130 may include an image sensor (Sensor) 131 and an image processing chip 132. Among them, the image sensor 131 is used to convert the optical signal of the converged light into an electrical signal; the image processing chip 132 is used to process the electrical signal to generate a first digital image signal. And it can be understood that the image processing chip 132 can directly compensate the first digital image signal based on the motion state information to achieve stability processing; or the device end can perform stability processing on the first digital image signal based on the motion state information. This application does not impose specific restrictions on this.

[0057] It should be noted that the device end here is the device end that applies the IMU camera module. In the specific example, when the IMU camera module is used for a drone group, the device end here is the corresponding drone system.

[0058] In a specific example, Figure 2 and Figure 3 As shown, a connector 140 is also provided on the circuit board of the IMU camera module 100. The connector 140 can be used to connect the test system of the IMU camera module during testing.

[0059] According to the IMU camera module of the embodiment of the present application, the motion state information of the IMU camera module is obtained through the IMU module; and the optical signal of the converged light is converted into an electrical signal through the image sensing processing module, and the electrical signal is processed to generate a first digital image signal; and the first digital image signal is output to the device end through the image sensing processing module, so that the device end can perform stability processing on the first digital image signal based on the motion state information; or the image sensing processing module directly performs stability processing on the first digital image signal based on the motion state information, generates a second digital image signal, and outputs it to the device end. In this way, the lens motion can be detected in real time and accurately, effectively avoiding the adverse effects of the lens motion on the picture quality, and the reliability is high and easy to implement. In particular, the effect is particularly obvious for scenes used for drones.

[0060] Example 2

[0061] Figure 4 The flowchart of the test method of the IMU camera module according to the embodiment of the present application is used to test the IMU camera module in the above embodiment. Figure 4 , the testing method of the IMU camera module of the present application is described in detail.

[0062] In step 201, the testing device obtains motion state information and a first digital image signal of the IMU camera module.

[0063] In an embodiment of the present application, the testing device can obtain the motion state information and the first digital image signal of the IMU camera module through a socket.

[0064] In step 202, the testing device obtains a motion state evaluation parameter based on the motion state information, and obtains an image state evaluation parameter based on the first digital image signal.

[0065] In an embodiment of the present application, the method also includes that the motion state assessment parameters are preconfigured as at least one of the accelerometer three-axis variance, the accelerometer three-axis average value, the gyroscope three-axis variance, the gyroscope three-axis average value and the three-axis accelerometer modulus.

[0066] That is to say, one or more of the above parameters are used as evaluation parameters to determine whether the IMU module can pass the quality test.

[0067] It should be noted that the triaxial variance of the IMU accelerometer is a statistic that describes the degree of dispersion of the accelerometer's measured data on the X, Y, and Z axes. Variance is used to quantify the difference between the data and its average value, reflecting the stability and consistency of the data. If the variance on a certain axis is large, it means that the measured data on that axis fluctuates greatly and may be affected by more noise or interference. On the contrary, if the variance is small, it means that the measured data is more stable and reliable.

[0068] The three-axis average value of the IMU's accelerometer refers to the average value of the acceleration data measured by the accelerometer on the three coordinate axes of X, Y, and Z. This average value reflects the average acceleration of the IMU in each direction within a specific time period.

[0069] The three-axis variance of the IMU's gyroscope is a statistic that measures the degree of dispersion of the gyroscope's angular velocity measurement data in the three directions of X, Y, and Z. It reflects the degree of difference between the gyroscope's measurement data in each direction and its average value. The smaller the variance, the more stable the measurement data and the smaller the degree of dispersion; the larger the variance, the greater the fluctuation of the measurement data and the more likely it is to be affected by more noise or interference. Therefore, the three-axis variance of the gyroscope is one of the important indicators for evaluating the performance and accuracy of the IMU.

[0070] The three-axis average value of the IMU's gyroscope refers to the average value of the angular velocity data measured by the gyroscope on the three coordinate axes of X, Y, and Z. These average values ​​reflect the average angular velocity of the IMU's rotation in each direction within a specific time period and are important evaluation parameters of the IMU regarding the object's attitude and rotation state.

[0071] The modulus of the IMU's three-axis accelerometer refers to the magnitude of the acceleration vector measured by the accelerometer on the three coordinate axes of X, Y, and Z. Specifically, it is obtained by calculating the square sum of the acceleration components in the three directions and taking the square root. The modulus reflects the overall acceleration of the object at the current moment and is an important parameter for evaluating the motion state or acceleration characteristics of the object.

[0072] In an embodiment of the present application, the method also includes that the image state evaluation parameter is preconfigured as at least one of a resolution parameter, a relative illumination parameter, and a stain parameter of the camera module.

[0073] That is to say, one or more of the above parameters are used as evaluation parameters for determining whether the image sensing processing module can pass the quality test.

[0074] It should be noted that the resolution parameters of the camera module may specifically include the resolution for evaluating the camera module's ability to capture image details, the imaging clarity for evaluating the camera module's ability to resolve details, or the distortion parameters for checking whether the image is deformed due to lens design or installation problems.

[0075] Relative Illumination (RI) is a parameter that measures the ratio of the center and edge illumination of a camera module at different field of view angles. It is of great significance for evaluating the imaging quality of a camera module under different lighting conditions.

[0076] The stain parameter is used to reflect the dust particles or contaminated debris in the external environment attached to key components such as the lens or image sensor, which affects the imaging quality and clarity of the camera module.

[0077] In step 203, the testing device determines first operating state information of the IMU module based on the motion state evaluation parameter and the corresponding first threshold range, and determines second operating state information of the image sensor processing module based on the image state evaluation parameter and the corresponding second threshold range.

[0078] Specifically, the first operating status information is that the operating status of the IMU module is normal or the operating status of the IMU module is abnormal; the second operating status information is that the operating status of the image sensor processing module is normal or the operating status of the image sensor processing module is abnormal.

[0079] In the embodiment of the present application, step 203 may include the following sub-steps:

[0080] Step 2031, in response to the motion state evaluation parameter being within a first threshold range, determining that the operating state of the IMU module is normal.

[0081] Step 2032: In response to the motion state evaluation parameter not being within the first threshold range, determining that the operating state of the IMU module is abnormal.

[0082] Furthermore, step 203 may also include the following sub-steps:

[0083] Step 2033: In response to the image status evaluation parameter being within the second threshold range, determining that the operating status of the image sensing processing module is normal.

[0084] Step 2034: In response to the image state evaluation parameter not being within the second threshold range, determining that the operating state of the image sensing processing module is abnormal.

[0085] In step 204 , the test device stores the first running status information in a first register of the test device, and stores the second running status information in a second register of the test device for the test platform to read.

[0086] In a specific example, the test platform can be the Duxin platform corresponding to the Duxin test box. Moreover, the test device can be configured on the I2C bus so that the test platform reads the first operating status information and the second operating status information through the I2C bus. That is, the MCU (Microcontroller Unit) on the IMU test board is mounted on the I2C bus as an I2C slave device, and the Duxin platform can access the test board data through the I2C read register method.

[0087] It is understandable that the present application does not impose any specific limitation on the number of the first register and the second register.

[0088] It is understandable that the above test of the IMU module can be specifically integrated into the analysis or other workstations that can ensure static state. This application does not make specific restrictions on this.

[0089] According to the test method of the IMU camera module of the embodiment of the present application, the motion state information and the first digital image signal of the IMU camera module are obtained by the test device; the motion state evaluation parameter is obtained based on the motion state information by the test device, and the image state evaluation parameter is obtained based on the first digital image signal; and the first operation state information of the IMU module is determined by the test device based on the motion state evaluation parameter and the corresponding first threshold range, and the second operation state information of the image sensor processing module is determined based on the image state evaluation parameter and the corresponding second threshold range; and the first operation state information is stored in the first register of the test device by the test device, and the second operation state information is stored in the second register of the test device for reading by the test platform. Therefore, for the IMU camera module that can avoid the adverse effects of lens motion on the picture quality, not only the test accuracy and reliability are high, the product quality is further ensured, but also the integrated test of the IMU module and the image sensor processing module of the IMU camera module is realized, which helps to improve the test efficiency.

[0090] In the embodiment of the present application, before the step of obtaining the motion state information and the first digital image signal of the IMU camera module by the testing device, as Figure 5 As shown, the method may further include the following steps:

[0091] Step 301, determine the connection status between the IMU camera module and the test device.

[0092] Step 302, in response to the connection status being normal, the testing device controls the IMU camera module to remain stationary, and performs a trigger test on the first register and the second register to determine whether the corresponding register operating status is normal.

[0093] Step 303, in response to the register operating status of the first register and the second register being normal, obtaining the motion state information and the first digital image signal of the IMU camera module.

[0094] Furthermore, the method may also include the following steps:

[0095] Step 304: In response to the abnormal connection status, the testing device issues a connection status abnormality reminder.

[0096] Step 305: In response to the abnormal operation state of the register, the test device issues a reminder of the abnormal operation state of the register.

[0097] That is to say, before the formal test, the connection status between the camera module and the test device is confirmed, and the register operation status of the first register and the second register is confirmed, so as to ensure the stability of the test, further improve the accuracy and reliability of the test, and help to further ensure the quality of the product.

[0098] Example 3

[0099] Figure 6 Schematic diagram of the structure of the test system of the IMU camera module according to the embodiment of the present application. Figure 6 As shown, the test system 400 of the IMU camera module is used to test the IMU camera module 100 in the above embodiment, which includes a test device 410 and a test platform. The test device 410 includes a test board 411 and an adapter board 412; the test platform can be specifically implemented by a Duxin test box 420.

[0100] The adapter board 412 is used to transmit signals between the IMU camera module 100 , the test board 411 and the test platform 420 .

[0101] The test board 411 is used to obtain the motion state information and the first digital image signal of the IMU camera module 100 through the adapter board 412; obtain the motion state evaluation parameter based on the motion state information, and obtain the image state evaluation parameter based on the first digital image signal; determine the first operating state information of the IMU module based on the motion state evaluation parameter and the corresponding first threshold range, and determine the second operating state information of the image sensor processing module based on the image state evaluation parameter and the corresponding second threshold range; and store the first operating state information in the first register of the test device, and store the second operating state information in the second register of the test device.

[0102] The reliability test box 420 is used to read the first operation status information and the second operation status information through the adapter board 412.

[0103] In an embodiment of the present application, the test board 411 is specifically used to: in response to the motion state evaluation parameter being within the first threshold range, determine that the operating state of the IMU module is normal; in response to the motion state evaluation parameter not being within the first threshold range, determine that the operating state of the IMU module is abnormal.

[0104] In the embodiment of the present application, the test board 411 is specifically used to: in response to the image status evaluation parameter being within the second threshold range, determine that the operating status of the image sensing processing module is normal; in response to the image status evaluation parameter not being within the second threshold range, determine that the operating status of the image sensing processing module is abnormal.

[0105] In the embodiment of the present application, the test system of the IMU camera module 100 further includes a preconfiguration module (not shown in the figure). The preconfiguration module is used to preconfigure the motion state evaluation parameter to at least one of the accelerometer three-axis variance, the accelerometer three-axis average value, the gyroscope three-axis variance, the gyroscope three-axis average value and the three-axis accelerometer modulus.

[0106] In the embodiment of the present application, the preconfiguration module is used to preconfigure the image state evaluation parameter as at least one of the resolution parameter, relative illumination parameter and stain parameter of the camera module 100 .

[0107] In an embodiment of the present application, before the test board 411 obtains the motion state information and the first digital image signal of the IMU camera module 100, the test board 411 is also used to: determine the connection state between the IMU camera module 100 and the test device; in response to the connection state being normal, the test device controls the IMU camera module 100 to remain stationary, and triggers the first register and the second register to determine whether the corresponding register operating states are normal; in response to the register operating states of the first register and the second register being normal, obtain the motion state information and the first digital image signal of the IMU camera module 100.

[0108] Furthermore, the test board 411 is also used for: in response to an abnormal connection state, the test device issues an abnormal connection state reminder; in response to an abnormal register operation state, the test device issues an abnormal register operation state reminder.

[0109] In the embodiment of the present application, the adapter board 412 is used to: obtain the motion state information and the first digital image signal of the IMU camera module 100 through the Socket; the adapter board 412 is used to connect the test board 411 and the I2C bus, so that the trust test box 420 can read the first operating state information and the second operating state information from the test board 411 through the I2C bus via the adapter board 412.

[0110] It should be noted that the explanation of the testing method of the IMU camera module in the above embodiment is also applicable to the testing system of the IMU camera module in the above embodiment, and will not be repeated here.

[0111] It should be understood that, although the steps in the flowcharts of the accompanying drawings of the specification are displayed in sequence according to the indications of the arrows, these steps are not necessarily executed in sequence in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowchart may include multiple sub-steps or multiple stages, and these sub-steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these sub-steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the sub-steps or stages of other steps.

[0112] Those skilled in the art can understand that the above are only preferred embodiments of the present application and are not intended to limit the present application. Although the present application is described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions recorded in the aforementioned embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. An IMU camera module, characterized in that: include, A lens, used to focus light onto the image sensing and processing module; An IMU module, used to obtain the motion state information of the IMU camera module; wherein the motion state information includes at least one of acceleration, angular velocity and motion direction; and, An image sensing processing module, used for converting the optical signal of the converged light into an electrical signal, and processing the electrical signal to generate a first digital image signal; Furthermore, the image sensing processing module is used to output the first digital image signal to a device end, so that the device end can perform stability processing on the first digital image signal based on the motion state information; or, to perform stability processing on the first digital image signal based on the motion state information to generate a second digital image signal, and output it to the device end.

2. A method for testing an IMU camera module, characterized in that: Used to test the IMU camera module as claimed in claim 1; the method comprises: The testing device obtains the motion state information of the IMU camera module and the first digital image signal; The testing device obtains a motion state evaluation parameter based on the motion state information, and obtains an image state evaluation parameter based on the first digital image signal; The testing device determines the first operating state information of the IMU module based on the motion state evaluation parameter and the corresponding first threshold range, and determines the second operating state information of the image sensing processing module based on the image state evaluation parameter and the corresponding second threshold range; The test device stores the first running status information in a first register of the test device, and stores the second running status information in a second register of the test device for reading by a test platform.

3. The method according to claim 2, characterized in that The method comprises, In response to the motion state assessment parameter being within the first threshold range, determining that the operating state of the IMU module is normal; In response to the motion state assessment parameter not being within the first threshold range, it is determined that the operating state of the IMU module is abnormal.

4. The method according to claim 2, characterized in that: The method comprises, In response to the image state evaluation parameter being in the second threshold range, determining that the operating state of the image sensing processing module is normal; In response to the image state evaluation parameter not being within the second threshold range, it is determined that the operating state of the image sensing processing module is abnormal.

5. The method according to claim 2, characterized in that: The method also includes that the motion state assessment parameter is preconfigured as at least one of an accelerometer three-axis variance, an accelerometer three-axis average, a gyroscope three-axis variance, a gyroscope three-axis average, and a three-axis accelerometer modulus.

6. The method according to claim 2, characterized in that The method also includes that the image state evaluation parameter is preconfigured as at least one of a resolution parameter, a relative illumination parameter, and a stain parameter of the camera module.

7. The method according to claim 2, characterized in that Before the step of the test device acquiring the motion state information of the IMU camera module and the first digital image signal, the method further includes: Determine the connection status between the IMU camera module and the test device; In response to the connection state being normal, the testing device controls the IMU camera module to remain in a stationary state, and performs a trigger test on the first register and the second register to determine whether the corresponding register operation states are normal; In response to the register operating status of the first register and the second register being normal, the motion state information of the IMU camera module and the first digital image signal are obtained.

8. The method according to claim 7, characterized in that The method further comprises, In response to the abnormal connection status, the testing device issues a connection status abnormality reminder; In response to the abnormal operation state of the register, the test device issues a reminder of the abnormal operation state of the register.

9. The method according to any one of claims 2 to 8, characterized in that: The method includes, the testing device acquiring the motion state information and the first digital image signal of the IMU camera module through a Socket; The test device is configured on an I2C bus, so that the test platform reads the first operating status information and the second operating status information through the I2C bus.

10. A test system for an IMU camera module, characterized in that: Used to test the IMU camera module as claimed in claim 1; the system includes a test device and a test platform, and the test device includes a test board and an adapter board; wherein, The adapter board is used to transmit signals between the IMU camera module, the test board and the test platform; The test board is used to obtain the motion state information and the first digital image signal of the IMU camera module through the adapter board; obtain motion state evaluation parameters based on the motion state information, and obtain image state evaluation parameters based on the first digital image signal; determine the first operating state information of the IMU module based on the motion state evaluation parameters and the corresponding first threshold range, and determine the second operating state information of the image sensing processing module based on the image state evaluation parameters and the corresponding second threshold range; and store the first operating state information in a first register of the test device, and store the second operating state information in a second register of the test device; The test platform is used to read the first operating status information and the second operating status information through the adapter board.

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