Pan-tilt camera, pan-tilt camera anti-shake control method and pan-tilt camera anti-shake control device

Abstract

The invention discloses a pan-tilt camera and an anti-shake control method and device for the pan-tilt camera. The method comprises the following steps: acquiring first shake data acquired by a first inertial measurement unit arranged on a pan-tilt mechanism of the pan-tilt camera and second shake data acquired by a second inertial measurement unit arranged on a handle part of the pan-tilt camera; according to the first jitter data, the second jitter data, a first frequency response characteristic of the holder mechanism and a second frequency response characteristic of the optical anti-jitter camera module, generating a first anti-jitter compensation amount corresponding to the holder mechanism and a second anti-jitter compensation amount corresponding to the optical anti-jitter camera module; generating a rotation control parameter of each motor of the holder mechanism according to the first anti-shake compensation amount; generating a translation control parameter of each motor of the optical anti-shake camera module according to the second anti-shake compensation amount; and controlling each motor of the holder mechanism to execute rotation motion compensation according to the rotation control parameter, and controlling each motor of the optical anti-shake camera module to execute translation motion compensation according to the translation control parameter.

Description

Technical Field

[0001] This application belongs to the field of gimbal camera technology, specifically relating to a gimbal camera, a gimbal camera image stabilization control method and device. Background Technology

[0002] With the increasing demands for mobile imaging, image stabilization technology is crucial for image quality. Currently, the main stabilization methods include handheld gimbal-based mechanical stabilization and optical image stabilization (OIS). Handheld gimbal stabilization uses a three-axis rotary motor to detect angular velocity and compensate in reverse. While it can compensate for rotational shake over large angles, it suffers from low accuracy, poor dynamic performance, and inability to compensate for translational shake due to mechanical and responsive limitations. Optical image stabilization compensates for shake by shifting the lens or image sensor. It offers advantages such as high accuracy, fast response, and the ability to compensate for translational shake. However, its stabilization angle is limited, making it difficult to adapt to high-dynamic scenes. Furthermore, the sensors used to detect translational shake have large errors and low accuracy, affecting the compensation effect.

[0003] Therefore, a novel gimbal camera and its image stabilization control method are needed to achieve all-around image stabilization with wide angle, high precision, and covering multiple degrees of freedom of rotation and translation. Summary of the Invention

[0004] The purpose of this application is to provide a gimbal camera, a gimbal camera image stabilization control method and device, which can simultaneously achieve wide-angle, high-precision, and multi-degree-of-freedom image stabilization covering rotation and translation.

[0005] In a first aspect, embodiments of this application provide a gimbal camera, including: a support structure, a gimbal mechanism, an optical image stabilization camera module, a first inertial measurement unit, a second inertial measurement unit, and a processor; The support structure includes a main support frame and a handle portion disposed on the main support frame; The gimbal mechanism, mounted on the support structure, includes a pitch axis motor, a roll axis motor, and a yaw axis motor, used to drive the optical image stabilization camera module to perform rotational movements in the pitch, roll, and yaw directions. The optical image stabilization camera module is mounted on the gimbal mechanism and includes a lens, an image sensor, an X-axis drive motor, and a Y-axis drive motor. The X-axis drive motor and the Y-axis drive motor are used to drive the lens or the image sensor to move in a plane perpendicular to the optical axis. The first inertial measurement unit is mounted on the gimbal mechanism and is used to collect a set of jitter data of the gimbal mechanism; The second inertial measurement unit is disposed on the handle of the support structure and is used to collect a set of shaking data generated by the user's grip; The processor is disposed inside the support structure and is electrically connected to the gimbal mechanism, the optical image stabilization camera module, the first inertial measurement unit, and the second inertial measurement unit, respectively, for controlling at least one motor to perform image stabilization operation based on at least one set of jitter data.

[0006] Secondly, embodiments of this application provide a gimbal camera image stabilization control method, the method comprising: Acquire first jitter data collected by a first inertial measurement unit mounted on the gimbal mechanism of the gimbal camera and second jitter data collected by a second inertial measurement unit mounted on the handle of the gimbal camera; Based on the first jitter data, the second jitter data, the first frequency response characteristics of the gimbal mechanism, and the second frequency response characteristics of the optical image stabilization camera module, a first image stabilization compensation amount corresponding to the gimbal mechanism and a second image stabilization compensation amount corresponding to the optical image stabilization camera module are generated. Based on the first image stabilization compensation amount, the rotation control parameters of each motor of the gimbal mechanism are generated; based on the second image stabilization compensation amount, the translation control parameters of each motor of the optical image stabilization camera module are generated. Each motor of the gimbal mechanism is controlled to perform rotational motion compensation according to the rotation control parameters, and each motor of the optical image stabilization camera module is controlled to perform translational motion compensation according to the translation control parameters.

[0007] Thirdly, embodiments of this application provide a gimbal camera image stabilization control device, the device comprising: The acquisition module is used to acquire first jitter data collected by a first inertial measurement unit installed on the gimbal mechanism of the gimbal camera and second jitter data collected by a second inertial measurement unit installed on the handle of the gimbal camera. The generation module is used to generate a first image stabilization compensation amount corresponding to the gimbal mechanism and a second image stabilization compensation amount corresponding to the optical image stabilization camera module based on the first jitter data, the second jitter data, the first frequency response characteristics of the gimbal mechanism and the second frequency response characteristics of the optical image stabilization camera module. The generation module is further configured to generate rotation control parameters for each motor of the gimbal mechanism based on the first anti-shake compensation amount; and to generate translation control parameters for each motor of the optical image stabilization camera module based on the second anti-shake compensation amount. The control module is used to control each motor of the gimbal mechanism to perform rotational motion compensation according to the rotation control parameters, and to control each motor of the optical image stabilization camera module to perform translational motion compensation according to the translation control parameters.

[0008] Fourthly, embodiments of this application provide a gimbal camera, which includes a processor and a memory. The memory stores programs or instructions that can run on the processor, and when the programs or instructions are executed by the processor, they implement the steps of the gimbal camera image stabilization control method as described in the second aspect.

[0009] Fifthly, embodiments of this application provide a readable storage medium storing a program or instructions that, when executed by a processor, implement the steps of the gimbal camera stabilization control method as described in the second aspect.

[0010] In a sixth aspect, embodiments of this application provide a chip, the chip including a processor and a communication interface, the communication interface being coupled to the processor, the processor being used to run programs or instructions to implement the steps of the gimbal camera image stabilization control method as described in the second aspect.

[0011] In a seventh aspect, embodiments of this application provide a computer program product stored in a storage medium, which is executed by at least one processor to implement the steps of the gimbal camera image stabilization control method as described in the second aspect.

[0012] In this embodiment, the gimbal camera achieves five-degree-of-freedom full-dimensional shake compensation through the coordinated operation of the gimbal mechanism and the optical image stabilization camera module. This provides full-band, full-dimensional image stabilization coverage, effectively compensating for both low-frequency large-amplitude shake and high-frequency small-amplitude shake, significantly improving the stability of the captured image. By using dual inertial measurement units to collect motion data from the gimbal mechanism and user grip shake data, comprehensive and accurate shake information is provided to the processor. Combined with the frequency response characteristics of the gimbal mechanism and the optical image stabilization camera module, precise image stabilization control is achieved, avoiding over-compensation or under-compensation. This enables wide-angle, high-precision, and multi-degree-of-freedom image stabilization covering rotation and translation.

[0013] In this embodiment, by acquiring shake data from both the gimbal mechanism and the handle, the overall camera shake is comprehensively perceived, providing rich data support for precise image stabilization. Based on the frequency response characteristics of the gimbal mechanism and the optical image stabilization module, image stabilization compensation amounts are generated, and image stabilization tasks are rationally allocated. This allows the gimbal mechanism to compensate for low-to-mid-frequency shake, while the optical image stabilization module compensates for mid-to-high-frequency shake, fully leveraging their respective advantages. Motor control parameters are generated based on the image stabilization compensation amounts, precisely controlling the movement of each motor and accurately adjusting the camera's attitude and the position of optical components. Through the coordinated control of the gimbal mechanism and the optical image stabilization module, a wider range of shake frequencies can be covered, eliminating the impact of shake from the overall system to specific areas, significantly improving shooting quality, and ultimately obtaining clearer and more stable images. Attached Figure Description

[0014] Figure 1This is one of the structural schematic diagrams of a gimbal camera provided in the embodiments of this application; Figure 2 This is a second schematic diagram of the structure of a gimbal camera provided in the embodiments of this application; Figure 3 This is a flowchart of a gimbal camera image stabilization control method provided in an embodiment of this application; Figure 4 This is a flowchart of one implementation of step 302 provided in the embodiments of this application; Figure 5 This is an example diagram of a gimbal camera image stabilization system provided in an embodiment of this application; Figure 6 This is a structural block diagram of a gimbal camera image stabilization control device provided in an embodiment of this application; Figure 7 This is a schematic diagram of the structure of a gimbal camera provided in an embodiment of this application; Figure 8 This is a schematic diagram of the hardware structure of a gimbal camera that implements the various embodiments of this application. Detailed Implementation

[0015] The technical solutions of the embodiments of this application will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application are within the scope of protection of this application.

[0016] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such terms can be used interchangeably where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class, and the number of objects is not limited; for example, a first object can be one or more. Furthermore, the character " / " generally indicates that the preceding and following objects have an "or" relationship.

[0017] This application provides a gimbal camera, a gimbal camera image stabilization control method, and a device.

[0018] To facilitate understanding, some related concepts involved in the embodiments of this application will be introduced first.

[0019] A gimbal camera is an intelligent shooting device that integrates a gimbal stabilization mechanism. It actively compensates for camera shake through mechanical movement, achieving optical image stabilization effects far exceeding those of ordinary cameras and mobile phones. A gimbal camera is not simply a "camera with a handle," but a high-performance stabilization robotic system integrating perception, decision-making, and execution. It combats shake through active mechanical movement, creating a more stable shooting experience in dynamic environments. This is the fundamental difference between it and any image stabilization technology integrated into mobile phones or traditional cameras.

[0020] An inertial measurement unit (IMU) is a device or sensor combination used to measure the three-axis attitude angles or angular velocities and accelerations of an object.

[0021] A Hall effect sensor is a magnetic sensor based on the Hall effect, used to detect magnetic fields and their changes, and convert them into electrical signals.

[0022] Next, a gimbal camera provided in the embodiments of this application will be described in conjunction with the accompanying drawings.

[0023] Figure 1 This is one of the structural schematic diagrams of a gimbal camera provided in the embodiments of this application, such as... Figure 1 As shown, the gimbal camera 10 may include: a support structure 11, a gimbal mechanism 12, an optical image stabilization camera module 13, a first inertial measurement unit 14, a second inertial measurement unit 15, and a processor 16. This multi-component collaborative structural design of the gimbal camera enables stable and high-quality shooting.

[0024] The support structure 11 may include a main support and a handle portion disposed on the main support.

[0025] In this embodiment, the support structure provides a stable mounting base, mechanical support, and physical protection for each component of the gimbal camera, ensuring the stability and reliability of the overall gimbal camera structure and supporting its normal operation in various usage scenarios. The handle is designed for easy gripping and operation, making the gimbal camera easier to control during use and conforming to ergonomic design.

[0026] The gimbal mechanism 12, mounted on the support structure 11, may include a pitch axis motor, a roll axis motor, and a yaw axis motor, used to drive the optical image stabilization camera module 13 to perform rotational movements in the pitch, roll, and yaw directions.

[0027] In this embodiment, the gimbal mechanism acts as a macro-motion platform, responsible for large-scale rotational motion compensation. It drives the entire optical image stabilization camera module to move, compensating for large-amplitude, low-frequency shaking. Specifically, through the precise control of the three motors, it can compensate for low-frequency, large-amplitude shaking of the camera in different directions, such as maintaining relative image stability when shooting moving scenes or when moving the camera handheld.

[0028] The optical image stabilization camera module 13 is mounted on the gimbal mechanism 12 and may include a lens, an image sensor, an X-axis drive motor and a Y-axis drive motor. The X-axis drive motor and the Y-axis drive motor are used to drive the lens or image sensor to move in a plane perpendicular to the optical axis.

[0029] In this embodiment, the optical image stabilization camera module acts as a micro-motion platform, responsible for compensating for small-range translational motion. It compensates for high-frequency, small-amplitude shake by moving the lens or sensor, and together with the gimbal mechanism, forms a "five-axis image stabilization" system. This design can compensate for image shake caused by high-frequency, small-amplitude translational shake, further improving the clarity and stability of the captured image, especially when shooting static objects or performing macro photography.

[0030] The first inertial measurement unit 14 is mounted on the gimbal mechanism 14 and is used to collect a set of jitter data from the gimbal mechanism 14.

[0031] In this embodiment, the jitter data collected by the first inertial measurement unit reflects the motion state of the gimbal mechanism itself, including information such as the amplitude, frequency and direction of the jitter. It is the core data for calculating the compensation amount and provides a basis for the processor to judge the jitter of the gimbal mechanism so as to perform corresponding anti-shake control.

[0032] The second inertial measurement unit 15 is installed on the handle of the support structure 11 and is used to collect a set of shaking data caused by the user's grip.

[0033] In this embodiment of the application, when a user holds the camera, various types of shaking will inevitably occur. The second inertial measurement unit can sense these shaking in real time and transmit the collected shaking data to the processor, so that the processor can have a more comprehensive understanding of the source and situation of the camera's shaking and cross-validate it with the shaking data collected by the first inertial measurement unit for fault diagnosis.

[0034] The processor 16 is located inside the support structure 11 and is electrically connected to the gimbal mechanism 12, the optical image stabilization camera module 13, the first inertial measurement unit 14, and the second inertial measurement unit 15, respectively. It is used to control at least one motor to perform image stabilization operation based on at least one set of jitter data.

[0035] In this embodiment, the processor, as the core control unit of the entire gimbal camera, is integrated within the support structure. It can establish a complete signal transmission path with the gimbal mechanism, the optical image stabilization camera module, and the two inertial measurement units via electrical connections. Based on at least one set of shake data collected by the inertial measurement units, the processor can generate corresponding control commands to drive at least one actuator motor to complete the image stabilization compensation operation. This architecture, based on at least one set of shake data, gives the gimbal camera the flexibility to handle different scenarios, maintaining effective image stabilization performance whether operating with a single sensor or in dual-sensor collaborative mode.

[0036] In this embodiment, the integrated design of the processor unifies the processing of multi-source sensor data and coordinates multiple actuators, establishing a complete closed-loop control system that ensures the efficient and coordinated operation of the image stabilization system. Furthermore, the centralized control architecture simplifies system complexity, reduces the risk of communication failures between multiple processors, and provides a unified platform for system status monitoring and fault diagnosis.

[0037] For example, such as Figure 2 As shown, the gimbal camera may include: a support structure 20, a gimbal mechanism 21, an optical image stabilization camera module 25, a first inertial measurement unit 26, a second inertial measurement unit 27, and a processor (not shown in the figure).

[0038] from Figure 2 As can be seen, the support structure 20 may include a main bracket and a handle 28 mounted on the main bracket. The gimbal mechanism 21, mounted on the support structure 20, may include a pitch axis motor 23, a roll axis motor 22, and a yaw axis motor 24, used to drive the optical image stabilization camera module 25 to perform rotational movements in the pitch, roll, and yaw directions. The optical image stabilization camera module 25, mounted on the gimbal mechanism 21, may include a lens, an image sensor, an X-axis drive motor, and a Y-axis drive motor. The X-axis and Y-axis drive motors are used to drive the lens or image sensor to move in a plane perpendicular to the optical axis. A first inertial measurement unit 26, mounted on the gimbal mechanism 21, is used to collect the jitter data of the gimbal mechanism 21. A second inertial measurement unit 27, mounted on the handle 28 of the support structure 20, is used to collect the jitter data caused by the user's grip.

[0039] In this embodiment, the gimbal camera combines a gimbal mechanism and an optical image stabilization module to achieve comprehensive shake compensation across five degrees of freedom, covering various situations from low-frequency large-amplitude shake to high-frequency small-amplitude shake. The gimbal mechanism can handle larger-amplitude shakes, ensuring the overall stability of the camera's posture; the optical image stabilization module can fine-tune the lens or image sensor, eliminating the impact of minor shakes on image quality, thereby achieving an all-round, multi-layered shake stabilization effect and improving the stability of the captured images.

[0040] In this embodiment, the gimbal camera structure provides excellent image stabilization in various scenarios, including motion shooting, handheld shooting, and still shooting. In motion shooting, the gimbal mechanism can quickly respond to and compensate for significant camera shake; in handheld shooting, it can simultaneously handle user hand tremors and minor camera shakes; and in still shooting, especially macro shooting, the optical image stabilization module ensures image clarity, meeting diverse shooting needs.

[0041] In this embodiment, users do not need professional shooting skills or stable holding ability to easily capture stable and clear images. This easy-to-operate and effective image stabilization function lowers the shooting threshold and improves user satisfaction and shooting enjoyment.

[0042] As can be seen from the above embodiments, in this embodiment, the gimbal camera achieves five-degree-of-freedom full-dimensional shake compensation through the coordinated operation of the gimbal mechanism and the optical image stabilization camera module, achieving full-band, full-dimensional image stabilization coverage. It can effectively compensate for both low-frequency large-amplitude shake and high-frequency small-amplitude shake simultaneously, significantly improving the stability of the captured image. By collecting motion data of the gimbal mechanism and user grip shake data through dual inertial measurement units, comprehensive and accurate shake information is provided to the processor. Combined with the frequency response characteristics of the gimbal mechanism and the optical image stabilization camera module, precise image stabilization control is achieved, avoiding over-compensation or under-compensation. It can simultaneously achieve wide-angle, high-precision, and multi-degree-of-freedom image stabilization covering rotation and translation.

[0043] In some embodiments provided in this application, the processor is specifically configured to coordinate and control each motor of the gimbal mechanism and each motor of the optical image stabilization camera module to perform image stabilization operations based on the jitter data collected by the first inertial measurement unit, the jitter data collected by the second inertial measurement unit, the first frequency response characteristics of the gimbal mechanism, and the second frequency response characteristics of the optical image stabilization camera module.

[0044] In this embodiment, the processor's control is based not only on jitter data, but also on the "frequency response characteristics" of the two systems. Since the gimbal mechanism is good at handling low-frequency jitter and the optical image stabilization module is good at handling high-frequency jitter, the processor can achieve the optimal image stabilization effect under different jitter conditions through precise calculation and control.

[0045] As can be seen, in this embodiment, two inertial measurement units respectively collect jitter data generated by the gimbal mechanism and the user's grip, providing the processor with comprehensive and accurate jitter information. Based on this data and the frequency response characteristics of the gimbal mechanism and the optical image stabilization camera module, the processor can accurately calculate the compensation action that each motor needs to perform, achieving precise control of the image stabilization operation, effectively avoiding over-compensation or under-compensation, and further improving the image stabilization effect.

[0046] In some embodiments provided in this application, the gimbal mechanism may further include: a brushless motor drive module and a Hall sensor.

[0047] The brushless motor drive module is connected to the processor, pitch axis motor, roll axis motor, and yaw axis motor respectively, and is used to drive the pitch axis motor, roll axis motor, and yaw axis motor to perform rotational motion based on the control commands of the processor; wherein, the control commands are generated by the processor based on at least one set of jitter data; Hall effect sensors, installed on the motor shafts of the gimbal mechanism, are used to detect the rotation angles of the pitch axis motor, roll axis motor, and yaw axis motor and feed them back to the processor.

[0048] In this embodiment, the processor, acting as the control core of the entire gimbal camera, analyzes and calculates data collected by various sensors (such as data from the inertial measurement unit), generates control commands based on the analysis and calculation results, and sends these commands to the brushless motor drive module. Upon receiving the control commands from the processor, the brushless motor drive module converts them into signals suitable for driving the motors, thereby driving the pitch axis motor, roll axis motor, and yaw axis motor to perform corresponding rotational movements. For example, when the processor determines that the camera needs to pitch upwards at a certain angle, it sends a command to the brushless motor drive module, which then drives the pitch axis motor to rotate in the specified direction and angle to achieve the camera's pitch action.

[0049] In this embodiment, the motor shaft is a key component for the motor to achieve rotational motion. Placing a Hall sensor here allows for accurate sensing of the motor shaft's rotation. The Hall sensor detects the motor's rotation angle and feeds this angle information back to the processor in real time. For example, during the rotation of the pitch axis motor, the Hall sensor continuously monitors the motor shaft's rotation angle and transmits this data to the processor. The processor can then understand the motor's actual operating status based on this feedback information and make precise adjustments to the motor's control.

[0050] In this embodiment, the brushless motor drive module accurately executes the processor's control commands, ensuring that the motors of the gimbal mechanism rotate according to predetermined parameters. Simultaneously, Hall effect sensors provide real-time feedback on the motor rotation angle, allowing the processor to promptly understand the actual operating status of each motor in the gimbal mechanism. Based on this feedback, the processor fine-tunes the control commands, achieving more precise motor control, improving the gimbal camera's image stabilization and attitude adjustment accuracy, and ensuring the stability of the captured footage.

[0051] In this embodiment, the gimbal mechanism forms a closed-loop control system through the stable driving of the motor by the brushless motor drive module and the feedback mechanism of the Hall sensor. This closed-loop control can detect and correct deviations in the motor operation in a timely manner, avoid unstable operation of the motor due to external interference or its own errors, and enhance the stability and reliability of the gimbal camera system.

[0052] In this embodiment, precise motor control and stable system operation are ultimately reflected in the shooting effect. Whether shooting dynamic or static scenes, the gimbal camera can more accurately adjust the camera's posture, reduce image shaking and blur, and capture clear and stable images and videos to meet the user's shooting needs in different scenarios.

[0053] In this embodiment, the motor rotation angle information fed back by the Hall sensor can help technicians or the system itself determine whether the motor is operating normally. If the motor malfunctions or operates abnormally, the processor can quickly locate the problem based on the feedback data, which facilitates fault diagnosis and maintenance, and improves the maintainability and service life of the gimbal camera.

[0054] In summary, in this embodiment of the application, precise control of the gimbal mechanism is achieved through the cooperation of the brushless motor drive module and the Hall sensor.

[0055] In some embodiments provided in this application, the optical image stabilization camera module may further include: a voice coil motor drive module and a position feedback sensor.

[0056] The voice coil motor drive module, connected to the processor, is used to drive the X-axis drive motor and the Y-axis drive motor to perform translational motion based on the processor's control instructions; wherein, the control instructions are generated by the processor based on at least one set of jitter data; A position feedback sensor is used to detect the position information of the lens or image sensor and feed it back to the processor.

[0057] In this embodiment, the voice coil motor drive module is directly connected to the processor, establishing a control bridge between the processor and the X-axis and Y-axis drive motors. As the command center of the entire camera module, the processor generates control commands based on optical image stabilization requirements and other relevant data (such as jitter information fed back from the inertial measurement unit), and sends these commands to the voice coil motor drive module. Upon receiving the control commands from the processor, the voice coil motor drive module converts them into signals that can drive the X-axis and Y-axis drive motors, thereby precisely controlling the translational motion of these two motors in a plane perpendicular to the optical axis. For example, when jitter is detected in the lens or image sensor in the X-axis direction, the processor sends a corresponding control command, and the voice coil motor drive module drives the X-axis drive motor to perform a reverse translational motion to compensate for the jitter in that direction.

[0058] In this embodiment, the position feedback sensor detects the lens or image sensor, enabling it to sense their positional changes in a plane perpendicular to the optical axis in real time. The position feedback sensor promptly feeds back the detected positional information of the lens or image sensor to the processor. Based on this feedback, the processor understands the actual execution of optical image stabilization and dynamically adjusts the control commands of the voice coil motor drive module to ensure the accuracy and effectiveness of optical image stabilization.

[0059] In this embodiment, the voice coil motor drive module can precisely drive the X-axis and Y-axis drive motors according to the processor's control instructions, enabling precise translation of the lens or image sensor in a specific direction. Simultaneously, the position feedback sensor provides real-time position information, allowing the processor to promptly grasp the stabilization execution status and fine-tune the motor drive, thereby improving the accuracy of optical image stabilization, effectively reducing image blur caused by shaking, and enhancing the clarity of the captured image.

[0060] In this embodiment, because the voice coil motor itself has a fast response characteristic, the voice coil motor drive module can quickly convert the processor's instructions into motor actions. The position feedback sensor quickly provides position information, enabling the processor to make rapid decisions and adjustments. The entire gimbal camera system forms a fast-response closed-loop control, capable of promptly responding to various sudden shaking situations and ensuring the stability of the captured footage.

[0061] In this embodiment, precise optical image stabilization control ensures that the lens or image sensor remains in the appropriate position in different shooting scenarios, whether it is static or dynamic shooting, reducing image shift and blur. This is crucial for shooting high-quality photos and videos and can meet users' needs for clear and stable images.

[0062] In this embodiment, the position information provided by the position feedback sensor serves as a crucial basis for the debugging and optimization of the gimbal camera system. Technicians can adjust and optimize the processor's control algorithm and the drive parameters of the voice coil motor drive module based on this feedback data, further enhancing the performance of the optical image stabilization camera module and achieving optimal shooting results for the entire gimbal camera.

[0063] In summary, in this embodiment of the application, high-performance control of the optical image stabilization system is achieved through the coordinated operation of the voice coil motor drive module and the position feedback sensor.

[0064] In some embodiments provided in this application, the processor may integrate a gimbal control unit and an optical image stabilization control unit.

[0065] The gimbal control unit is used to control the various motors of the gimbal mechanism to perform anti-shake operations; The optical image stabilization control unit is used to control the motors of the optical image stabilization camera module to perform image stabilization operations.

[0066] In this embodiment, the processor is not a single functional module, but integrates a gimbal control unit and an optical image stabilization control unit. This means that the processor has the ability to manage both gimbal stabilization and optical image stabilization of the camera module at the same time, integrating the control functions of two different stabilization methods into one processor.

[0067] In this embodiment, the gimbal control unit specifically controls each motor of the gimbal mechanism. Based on data collected from sensors such as the inertial measurement unit, it analyzes the overall jitter of the gimbal camera and sends control commands to the pitch axis motor, roll axis motor, and yaw axis motor of the gimbal mechanism, causing these motors to rotate in specific directions and angles. This achieves compensation for the camera's wide-range, low-frequency jitter by the gimbal mechanism, maintaining the stability of the camera's overall attitude.

[0068] In this embodiment, the optical image stabilization control unit is mainly responsible for controlling the motors of the optical image stabilization camera module. Based on the relevant shaking information and the preset stabilization algorithm, it precisely controls the X-axis drive motor and the Y-axis drive motor to perform translational movement in a plane perpendicular to the optical axis, and makes fine adjustments to the lens or image sensor to compensate for the image blur caused by high-frequency, small-amplitude shaking during the shooting process, so as to ensure the clarity of the captured image.

[0069] In this embodiment, the gimbal control unit and the optical image stabilization control unit are integrated into the processor, reducing the number and complexity of hardware components and making the internal structure of the entire gimbal camera more compact and simple. This not only facilitates the miniaturization of the device but also reduces production costs and assembly difficulty.

[0070] In this embodiment, since the two control units are integrated into the same processor, they can share data and information more conveniently. For example, the gimbal control unit and the optical image stabilization control unit can simultaneously acquire jitter data from the inertial measurement unit and work together according to their respective image stabilization strategies: the gimbal mechanism is responsible for handling large-scale jitter, while the optical image stabilization camera module focuses on compensating for minor jitter. The two work together to achieve a more comprehensive and efficient image stabilization effect.

[0071] In this embodiment, the integrated processor can process and respond to various control commands more quickly. The gimbal control unit and the optical image stabilization control unit do not need to interact through complex external communication links, reducing information transmission delays and errors, enabling more timely adjustment of the motor's operating state, and improving the real-time performance and accuracy of image stabilization control.

[0072] In this embodiment, the unified processor integration structure makes the optimization and management of the gimbal camera system more convenient. Technicians can debug and optimize the overall performance of the processor, and coordinate the control algorithms of the gimbal control unit and the optical image stabilization control unit to improve the overall image stabilization performance and shooting quality of the gimbal camera. Furthermore, it makes it easier to locate and handle problems during equipment maintenance and troubleshooting.

[0073] In summary, in this embodiment of the application, by integrating the gimbal control unit and the optical image stabilization control unit into the same processor, a high degree of integration of the gimbal camera is achieved.

[0074] In some embodiments provided in this application, the gimbal camera may further include a display screen and operation controls.

[0075] The display screen, located on the handle of the support structure, is electrically connected to the processor and is used to display the camera preview interface and operating status; The operating controls are located on the handle and include at least one of a shutter button, a mode switching dial, and a joystick.

[0076] In this embodiment, the display screen is located on the handle of the support structure. This design fully considers the convenience of handheld operation, allowing users to naturally see the content on the display screen while shooting with the handheld gimbal camera. Furthermore, it is electrically connected to the processor, enabling the display screen to receive data transmitted from the processor in real time, allowing users to view the captured image in real time, just like through the viewfinder of a traditional camera. It can also display the camera's operating status, such as the current shooting mode (e.g., photo mode, video mode), battery level, storage capacity, and other information, allowing users to easily monitor the camera's working status.

[0077] In this embodiment, the operation controls are also located on the handle, close to the display screen, which conforms to the user's habit of operating with one hand and makes it convenient for the user to perform various operations while observing the display screen.

[0078] In this embodiment, the shutter button is used to trigger the camera's shooting action; pressing it will take a photo or start / stop recording. The mode switching dial allows the user to easily switch between different shooting modes, such as automatic mode, manual mode, night scene mode, etc. The joystick can be used to adjust the shooting angle of the lens or image sensor, select menu options, and perform other operations.

[0079] In this embodiment, the display screen and operation controls are centrally located on the handle, allowing users to view the shooting screen, check the camera status, and perform various shooting operations with one hand, improving convenience and efficiency. For example, when moving the handheld gimbal camera to shoot, users can easily complete shooting and setting adjustments without frequently changing hand positions.

[0080] In this embodiment, the real-time preview interface allows users to adjust shooting parameters and composition in a timely manner, ensuring satisfactory photos and videos are captured. Simultaneously, the intuitive operation controls enable users to quickly get started, eliminating the need for complex procedures, lowering the barrier to entry, and enhancing the user experience.

[0081] In this embodiment, users can quickly switch shooting modes and adjust camera angles using the operation controls. Combined with real-time feedback from the display screen, they can quickly capture ideal shots. For example, in the event of an unexpected shooting scenario, users can quickly press the shutter button or switch to a suitable shooting mode, improving the timeliness and success rate of shooting.

[0082] In this embodiment, the display screen can show a wealth of camera status information, allowing users to understand the camera settings in a timely manner and adjust parameters through the operation controls. For example, when a user finds that the battery is low, they can replace the battery or adjust the shooting settings to save power; when it is necessary to adjust the shooting angle, the joystick can precisely control the camera's rotation to meet different shooting needs.

[0083] In conclusion, by integrating the display screen and operation controls into the handle, the user's interactive experience with the gimbal camera is significantly improved.

[0084] After introducing the implementation examples of the gimbal camera, we will now introduce the image stabilization control method used in conjunction with it.

[0085] Figure 3 This is a flowchart of a gimbal camera image stabilization control method provided in an embodiment of this application, such as... Figure 3As shown, the method may include the following steps: step 301, step 302, step 303, step 304, step 305 and step 306.

[0086] In step 301, the first jitter data collected by the first inertial measurement unit installed on the gimbal mechanism of the gimbal camera and the second jitter data collected by the second inertial measurement unit installed on the handle of the gimbal camera are acquired.

[0087] In this embodiment, the processor of the gimbal camera acquires jitter data collected by inertial measurement units at two different locations. The first inertial measurement unit, located on the gimbal mechanism, is mainly responsible for collecting jitter data of the gimbal mechanism itself, i.e., the first jitter data; while the second inertial measurement unit, located on the handle, collects jitter data caused by the user's grip, i.e., the second jitter data. These data are the basis for subsequent image stabilization calculations and control.

[0088] In this embodiment of the application, the jitter data may include angular velocity data and acceleration data.

[0089] For example, after a user turns on the gimbal camera, they hold the gimbal camera to take photos or videos. Due to hand tremors, the photos will be blurry or the video footage will be shaky, affecting the shooting effect.

[0090] A first inertial measurement unit mounted on the gimbal mechanism and a second inertial measurement unit mounted on the handle detect the user's jitter data at a fixed frequency of 4000 times per second. The specific data includes: first jitter data and second jitter data; wherein, The first jitter data may include: X-axis angular velocity GX1, Y-axis angular velocity GY1, Z-axis angular velocity GZ1, X-axis acceleration data AX1, Y-axis acceleration AY1, and Z-axis acceleration AZ1; for example, GX1=2, GY1=0.5, GZ1=3, all in degrees / second.

[0091] The second jitter data may include: X-axis angular velocity GX2, Y-axis angular velocity GY2, Z-axis angular velocity GZ2, X-axis acceleration data AX2, Y-axis acceleration AY2, and Z-axis acceleration AZ2; for example, GX2=1.2, GY2=0.8, GZ2=3.3, all in degrees per second.

[0092] In step 302, based on the first jitter data, the second jitter data, the first frequency response characteristics of the gimbal mechanism, and the second frequency response characteristics of the optical image stabilization camera module, a first image stabilization compensation amount corresponding to the gimbal mechanism and a second image stabilization compensation amount corresponding to the optical image stabilization camera module are generated.

[0093] In this embodiment, the first frequency response characteristic is used to indicate the suitability of the gimbal mechanism for compensating for low-to-medium frequency jitter with frequencies below a first preset threshold. The first frequency response characteristic of the gimbal mechanism indicates that it is more suitable for compensating for low-to-medium frequency jitter with frequencies below the first preset threshold, such as significant overall camera shake.

[0094] In this embodiment, the second frequency response characteristic is used to indicate the suitability of the optical image stabilization camera module for compensating for mid-to-high frequency jitter with frequencies higher than a second preset threshold. The second frequency response characteristic of the optical image stabilization camera module indicates its ability to compensate for mid-to-high frequency jitter with frequencies higher than the second preset threshold, such as jitter caused by minute vibrations in the lens or image sensor.

[0095] In this embodiment of the application, by comprehensively considering the above factors, the image stabilization tasks of the gimbal mechanism and the optical image stabilization camera module can be reasonably allocated, and their respective corresponding image stabilization compensation amounts can be generated.

[0096] In step 303, rotation control parameters for each motor of the gimbal mechanism are generated based on the first anti-shake compensation amount.

[0097] In this embodiment, the rotation control parameters are used to guide the pitch axis motor, roll axis motor and yaw axis motor of the gimbal mechanism to perform rotational movements in order to achieve gimbal stabilization.

[0098] In step 304, translation control parameters for each motor of the optical image stabilization camera module are generated based on the second image stabilization compensation amount.

[0099] In this embodiment, the translation control parameters are used to guide the X-axis drive motor and Y-axis drive motor of the optical image stabilization camera module to translate in a plane perpendicular to the optical axis, so as to achieve optical image stabilization.

[0100] In step 305, each motor of the control gimbal mechanism performs rotational motion compensation according to the rotation control parameters.

[0101] In this embodiment, the processor of the gimbal camera controls each motor of the gimbal mechanism to perform rotational motion compensation according to the calculated rotational control parameters, so that the gimbal mechanism can adjust the camera's attitude in a timely manner and counteract the effects of low- and mid-frequency jitter.

[0102] In step 306, each motor of the optical image stabilization camera module performs translational motion compensation according to the translation control parameters.

[0103] In this embodiment, the processor of the gimbal camera controls each motor of the optical image stabilization camera module to perform translational motion compensation according to the translation control parameters, and fine-tunes the lens or image sensor to eliminate the image blurring problem caused by mid-to-high frequency shaking.

[0104] As can be seen from the above embodiments, by acquiring shake data from both the gimbal mechanism and the handle, a more comprehensive understanding of the overall shake of the gimbal camera can be obtained. This considers not only the shake of the camera's own structure but also the shake caused by the user's grip, providing richer data support for precise image stabilization. By generating stabilization compensation amounts based on the frequency response characteristics of the gimbal mechanism and the optical image stabilization module, a reasonable allocation of stabilization tasks is achieved. The gimbal mechanism focuses on compensating for low-to-mid-frequency shake, while the optical image stabilization module is responsible for compensating for mid-to-high-frequency shake, fully leveraging their respective advantages to improve stabilization efficiency and effectiveness. The control parameters for the motors are generated based on the stabilization compensation amounts, enabling precise control of the motors in both the gimbal mechanism and the optical image stabilization module. This ensures that the motors move according to specific parameters, accurately adjusting the camera's posture and the position of the lens or image sensor, effectively reducing image shake. Through the coordinated image stabilization control of the gimbal mechanism and the optical image stabilization camera module, a wider range of shake frequencies can be covered, eliminating the effects of shake from the overall to the local, and from large to small, thereby significantly improving the shooting quality of the gimbal camera in different shooting scenarios and producing clearer and more stable photos and videos.

[0105] In some embodiments provided in this application, such as Figure 4 As shown, step 302 may specifically include the following steps: step 401, step 402, step 403, step 404, step 405 and step 406.

[0106] In step 401, the angular velocity data in the first jitter data is converted to the coordinate system of the three motor axes of the gimbal mechanism to obtain the axial jitter angular velocity on the three motor axes.

[0107] In this embodiment, the first jitter data includes information such as angular velocity data. Converting this data to the coordinate system of the three motor axes of the gimbal mechanism is to make the data more closely match the actual movement direction of each motor in the gimbal mechanism. For example, when a user operates a gimbal camera and controls the shooting direction using a joystick, the positions of the three motor axes of the gimbal mechanism differ from their initial positions. The coordinates of the first inertial measurement unit do not coincide with the coordinates of the three motor axes, necessitating coordinate system transformation. Through this transformation, the specific axial jitter angular velocities on the three motor axes can be obtained, clarifying the jitter experienced by each motor axis and providing fundamental data for subsequent precise image stabilization control of each motor.

[0108] For example, the first jitter data includes: X-axis angular velocity GX1, Y-axis angular velocity GY1, and Z-axis angular velocity GZ1. GX1, GY1, and GZ1 are transformed into the coordinate system of the three motor axes of the gimbal mechanism to obtain the axial jitter angular velocities on the three motor axes, which are respectively denoted as the axial jitter angular velocity Vp on the pitch axis, the axial jitter angular velocity Vr on the roll axis, and the axial jitter angular velocity Vy on the yaw axis.

[0109] In step 402, the axial jitter angular velocity is decomposed into jitter components of different frequency bands according to frequency.

[0110] In this embodiment, the axial jitter angular velocity is decomposed into jitter components of different frequency bands to analyze the characteristics of jitter in more detail. Different frequency bands of jitter have different effects on the captured image. After decomposition, different processing methods can be adopted for each frequency band of jitter, which helps to achieve more precise image stabilization control.

[0111] In step 403, the jitter angle at the gimbal mechanism is determined based on the first jitter data.

[0112] In this embodiment, the jitter angle at the gimbal mechanism reflects the attitude change of the gimbal mechanism itself.

[0113] In step 404, the jitter angle at the handle is determined based on the second jitter data.

[0114] In this embodiment, the shaking angle at the handle reflects the effect of the user's grip on camera shake.

[0115] In this embodiment, the shaking angles at the gimbal mechanism and the handle can help the processor to more comprehensively grasp the overall shaking state of the camera and determine whether the gimbal mechanism is malfunctioning.

[0116] In step 405, the weighting coefficients corresponding to the jitter components of each different frequency band are determined based on the jitter angle at the gimbal mechanism, the jitter angle at the handle, the first frequency response characteristics, and the second frequency response characteristics.

[0117] In this embodiment, the characteristics of the gimbal mechanism and the optical image stabilization camera module are fully considered, as well as the actual shaking situation of the camera as a whole and the handle. The stabilization task is reasonably allocated so that the gimbal mechanism and the optical image stabilization camera module can work together to achieve the best stabilization effect in their respective advantageous frequency bands.

[0118] In step 406, a first image stabilization compensation amount and a second image stabilization compensation amount are generated based on the jitter components of different frequency bands and their corresponding weighting coefficients.

[0119] In this embodiment, the precise anti-shake compensation amount is obtained by weighting the jitter components of different frequency bands and their corresponding weighting coefficients. The first anti-shake compensation amount and the second anti-shake compensation amount are used to control the motors of the gimbal mechanism and the optical image stabilization camera module, respectively, to achieve targeted anti-shake operation, compensate for jitter in different frequency bands, ensure that the anti-shake operation is both targeted at a specific frequency and conforms to the characteristics of the anti-shake system, and significantly improve the accuracy and efficiency of anti-shake.

[0120] Therefore, in this embodiment, by converting the first jitter data to the motor coordinate system and decomposing it by frequency, a refined analysis of the jitter signal is achieved, clarifying the jitter characteristics of each motor shaft and the jitter features of different frequency bands, providing a basis for formulating a precise anti-shake strategy; by determining the jitter angles at the gimbal mechanism and the handle, the source and overall state of camera jitter are fully understood, taking into account both the camera's own structural jitter and the impact of user operation; by combining the frequency response characteristics of the gimbal mechanism and the optical image stabilization camera module with the camera jitter state, the weight coefficients corresponding to the jitter components of different frequency bands are determined, achieving a reasonable allocation of anti-shake tasks, allowing each anti-shake system to exert maximum effectiveness in its respective advantageous frequency band; based on precise jitter analysis and reasonable task allocation, an anti-shake compensation amount is generated, making the anti-shake operation of the gimbal mechanism and the optical image stabilization camera module more targeted, effectively compensating for jitter in different frequency bands, and significantly improving the anti-shake effect; by dynamically adjusting the weight coefficients and the anti-shake compensation amount, the gimbal camera can adapt to various complex shooting environments and jitter scenarios, improving the adaptability and practicality of the gimbal camera.

[0121] In some embodiments provided in this application, step 401 above may include the following steps: step 4011 and step 4012.

[0122] In step 4011, the rotation angle of the motor is acquired by the Hall sensors installed on each motor shaft of the gimbal mechanism.

[0123] In this embodiment, Hall sensors are installed on each motor shaft of the gimbal mechanism. These Hall sensors can collect the motor rotation angle in real time. The Hall sensors can accurately sense the rotation of the motor shaft and transmit the collected motor rotation angle data to the processor, providing crucial information for subsequent coordinate transformation.

[0124] For example, by installing Hall sensors on each motor shaft of the gimbal mechanism, the rotation angle of the motors is detected in real time, and the rotation angles of the three motors are obtained: the rotation angle of the pitch axis motor. , Roll axis motor rotation angle yaw motor rotation angle .

[0125] In step 4012, based on the motor rotation angle and the preset coordinate transformation matrix, the angular velocity data in the first jitter data is transformed into the coordinate system of the three motor axes of the gimbal mechanism to obtain the axial jitter angular velocity on the three motor axes.

[0126] In this embodiment, the processor uses the acquired motor rotation angle and a preset coordinate transformation matrix to transform the angular velocity data in the first jitter data. The preset coordinate transformation matrix is ​​a mathematical model pre-defined based on the mechanical structure and kinematic principles of the gimbal mechanism. It can accurately transform the angular velocity data in the global or initial coordinate system to the coordinate system of the three motor axes of the gimbal mechanism, ultimately obtaining the specific axial jitter angular velocities on the three motor axes.

[0127] For example, when a user is shooting video using a gimbal camera, they can manually rotate the shooting direction, rotating the pitch axis by 30 degrees. The angle is 30 degrees. Due to hand tremors, the roll axis moved 15 degrees relative to its initial state, i.e. The yaw angle was 15 degrees; the yaw axis was manually rotated 45 degrees, i.e. The angle is 45 degrees. The current attitude is inconsistent with the initial attitude, and the angular velocities of the three motor axes need to be recalculated.

[0128] The first jitter data includes: X-axis angular velocity GX1, Y-axis angular velocity GY1, and Z-axis angular velocity GZ1. GX1, GY1, and GZ1 are transformed into the coordinate system of the three motor axes of the gimbal mechanism through a preset coordinate transformation matrix to obtain the axial jitter angular velocities on the three motor axes in the following formula (1), which are respectively denoted as the axial jitter angular velocity Vp on the pitch axis, the axial jitter angular velocity Vr on the roll axis, and the axial jitter angular velocity Vy on the yaw axis: (1) For example, GX1 is 2, GY1 is 0.5, and GZ1 is 3. It is 30. It is 15. If the value is 45, then substituting it into formula (1) yields the result of formula (2) as follows: (2) After conversion, the angular velocities of the three motor shafts are Vp=4.07, Vr=1.97, and Vy=3.01, in degrees per second.

[0129] Therefore, in this embodiment, a Hall sensor is directly installed on the motor axis to collect the motor rotation angle, providing a high-precision data foundation for coordinate transformation. The angular velocity data is converted to the coordinate system of each motor axis by combining a preset coordinate transformation matrix and the motor rotation angle, obtaining the axial jitter angular velocity on each motor axis. This fully considers the mechanical characteristics of the gimbal mechanism, achieving precise decomposition of the global angular velocity to each motor axis. Based on the axial jitter angular velocity, the processor can formulate precise anti-shake strategies for each motor axis, rationally allocate anti-shake tasks according to the jitter of each axis, and precisely control the motor movement, significantly improving the overall anti-shake effect and image stability of the gimbal mechanism. The aforementioned coordinate transformation method adapts to various motion postures of the gimbal mechanism, ensuring accurate acquisition of jitter information of each motor axis in different shooting scenarios, effectively enhancing the applicability and stability of the gimbal camera.

[0130] In some embodiments provided in this application, step 402 may include the following steps: step 4021, step 4022, step 4023 and step 4024.

[0131] In step 4021, the axial jitter angular velocity is filtered to remove the DC component.

[0132] In this embodiment, the axial jitter angular velocity data may contain a DC component. The DC component is a constant or slowly changing signal component that does not represent the actual jitter situation. Instead, it can interfere with subsequent frequency domain analysis. Therefore, by filtering it out, the subsequent analysis can focus more on the AC component that reflects the true jitter characteristics.

[0133] In step 4022, the filtered data is subjected to a fast Fourier transform to obtain the corresponding frequency domain signal.

[0134] In this embodiment, the Fast Fourier Transform (FFT) is an effective method for converting time-domain signals into frequency-domain signals. Performing a Fast Fourier Transform on the filtered axial jitter angular velocity data can transform the angular velocity signal, which originally varies over time, into the frequency domain, thereby clearly displaying the different frequency components and their amplitude information contained in the signal.

[0135] For example, taking the processing of axial jitter angular velocity on the pitch axis as an example, the axial jitter angular velocity is denoted as Vp, Vp=[-1.62e-08,-2.482e-05,-8.846e-05,-0.000182,-0.000268,-0.00032,-0.00033,-0.000321,-0.000332,-0.00040,-0.000529,-0.000697,-0.00086,-0.000993,-0.001066,-0.00109,-0.0010,-0.00103,-0.00099,-0.0010141……], and different frequency data are obtained through FFT analysis using the following formula (3). : (3) Here, k represents different frequencies, and the calculations for the other two axes can be obtained similarly.

[0136] In step 4023, the frequency domain signal is divided into low-frequency, mid-frequency and high-frequency components according to a preset frequency threshold.

[0137] In this embodiment, the preset frequency threshold is set in advance based on the frequency response characteristics of the gimbal mechanism and the optical image stabilization camera module, as well as the actual shooting requirements. Since the impact of shaking on the captured image and the suitable image stabilization methods may differ in different frequency bands, dividing the frequency domain signal into low-frequency, mid-frequency, and high-frequency components according to these thresholds helps to process the shaking characteristics of different frequency bands separately.

[0138] For example, the frequency domain signal is denoted as The low-frequency component is extracted using the following formula (4), denoted as: : (4) in, This is the upper limit for low frequencies, for example, a value of 5 Hz.

[0139] The intermediate frequency component is extracted using the following formula (5), denoted as: : (5) in, This is the lower limit for high frequencies, for example, a value of 20 Hz.

[0140] The high-frequency components are extracted using the following formula (6), denoted as: .

[0141] (6) In step 4024, inverse fast Fourier transform is performed on each of the divided frequency band components to reconstruct the jitter components of different frequency bands in the time domain.

[0142] In this embodiment, the Inverse Fast Fourier Transform (IFFT) is the inverse process of the Fast Fourier Transform. By performing IFFT on each frequency band component after division, the signals of different frequency bands in the frequency domain can be converted back to the time domain, obtaining the jitter components of different frequency bands in the time domain. In this way, the processor can perform specific analysis and processing of the jitter of different frequency bands in the time domain.

[0143] For example, by performing inverse FFT analysis on frequency signals of different frequency bands, the time-domain signals of the corresponding frequency bands can be reconstructed to obtain the jitter components of Vp in different frequency bands: The low-frequency jitter component of Vp: ; Vp's mid-frequency jitter component: ; High-frequency jitter components of Vp: .

[0144] Similarly, the jitter components of Vr in different frequency bands can be calculated: Vr's low-frequency jitter components: ; Vr's mid-frequency jitter component: ; Vr's mid-frequency jitter component: .

[0145] Similarly, the jitter components of Vy in different frequency bands can be calculated: The low-frequency jitter component of Vy: ; Vy's mid-frequency jitter component: ; High-frequency jitter components of Vy: .

[0146] The user's jitter data has been decomposed according to different frequencies. The next step is to distribute the jitter data of different frequencies to different anti-shake systems for jitter compensation, so as to achieve the purpose of coordinated anti-shake.

[0147] Therefore, in this embodiment, removing the DC component from the axial jitter angular velocity avoids interference from irrelevant signals, allowing the subsequently obtained frequency domain signal and jitter components in different frequency bands to more accurately reflect the actual jitter situation, providing a reliable data foundation for precise image stabilization. The Fast Fourier Transform (FFT) converts the time-domain signal into a frequency-domain signal, enabling the processor to intuitively understand the various frequency components and their intensities contained in the axial jitter angular velocity. This helps in the in-depth analysis of jitter characteristics and provides a basis for the rational allocation of image stabilization tasks. Dividing the frequency bands according to preset frequency thresholds allows for different image stabilization strategies to be adopted for different frequency bands based on the different frequency response characteristics of the gimbal mechanism and the optical image stabilization camera module. For example, the gimbal mechanism can focus on handling low-frequency jitter, while the optical image stabilization camera module can focus on handling high-frequency jitter, achieving more effective image stabilization control. By reconstructing the frequency domain signal into different frequency band jitter components in the time domain through the Inverse Fast Fourier Transform, the processor can perform real-time monitoring and control of jitter in a familiar time domain. By adjusting the motor control parameters in a timely manner based on the jitter component information in the time domain, dynamic image stabilization compensation is achieved, improving the stability of the captured footage. This method can adapt to complex and varied jitter conditions in different scenarios. Regardless of how the frequency components of the jitter signal change, it can be analyzed and processed through these steps, enabling the gimbal camera's image stabilization system to flexibly cope with various shooting environments and improving the system's adaptability and robustness.

[0148] In some embodiments provided in this application, step 403 above may include the following steps: step 4031.

[0149] In step 4031, the angular velocity data in the first jitter data is integrated to obtain the angular velocity integral angle; the angular velocity integral angle is determined as the jitter angle at the gimbal mechanism.

[0150] In this embodiment, angular velocity is a physical quantity describing the speed and direction of an object's rotation. Integrating the angular velocity data, mathematically speaking, allows the accumulation of changes in angular velocity over time, thus yielding the change in the object's rotation angle. In the context of a gimbal camera, integrating the angular velocity data in the first jitter data involves integrating the angular velocity values ​​of the gimbal mechanism at different times.

[0151] In this embodiment of the application, the integral angle of the angular velocity obtained after integral calculation can reflect the angular deviation of the gimbal mechanism due to the change of angular velocity. Therefore, it is determined as the jitter angle of the gimbal mechanism. This jitter angle reflects the degree of change of the gimbal mechanism's posture during the movement.

[0152] For example, the first jitter data may include: X-axis angular velocity GX1, Y-axis angular velocity GY1, and Z-axis angular velocity GZ1. The integral angle of the angular velocity is obtained by integrating GX1, GY1, and GZ1. , , The jitter angles at the gimbal mechanism are denoted as follows: , , .

[0153] in, ; ; ; ; ; .

[0154] Therefore, in this embodiment, the jitter angle of the gimbal mechanism is obtained by integrating the angular velocity data to quantify its jitter level. This angle value provides the processor with an intuitive and accurate anti-shake control index, simplifying the analysis and calculation process and improving processing efficiency. Based on the magnitude and direction of the jitter angle, the processor can precisely control each motor to perform reverse compensation motion, so that the gimbal mechanism can return to a stable state and achieve precise anti-shake. The integral operation can process the changing angular velocity in real time and dynamically update the jitter angle, so that the anti-shake control system can respond to the changes in the state of the gimbal mechanism in a timely manner, adapt to complex motion scenarios, and always maintain a good anti-shake effect.

[0155] In some embodiments provided in this application, the handle may also shake during the shooting process, and it is necessary to calculate the shaking angle at the handle. Accordingly, the above step 404 may include the following steps: step 4041, step 4042 and step 4043.

[0156] In step 4041, the angular velocity data in the second jitter data is integrated to obtain the integral angle of the angular velocity.

[0157] In this embodiment, angular velocity reflects the speed and direction of an object's rotation. Integrating the angular velocity data at the handle in the second jitter data is mathematically equivalent to accumulating the change in angular velocity over time. Physically, it converts the angular velocity information into the angle of rotation of the handle over a period of time, i.e., the integral angle of the angular velocity. This angle reflects the attitude change of the handle due to its own rotation.

[0158] For example, the second jitter data may include: X-axis angular velocity GX2, Y-axis angular velocity GY2, and Z-axis angular velocity GZ2. The integral angle of the angular velocity is obtained by integrating GX2, GY2, and GZ2. , , .

[0159] in, ; ; .

[0160] In step 4042, the acceleration decomposition angle is calculated based on the acceleration data in the second jitter data.

[0161] In this embodiment, the acceleration data includes the motion information of the handle in three-dimensional space. By analyzing and processing the acceleration data of the handle using specific algorithms and models, the angle information of the attitude change of the handle due to motion can be extracted, that is, the acceleration decomposition angle. This angle reflects the attitude change caused by the handle during linear motion or acceleration change.

[0162] For example, the second jitter data may further include: X-axis acceleration data AX2, Y-axis acceleration AY2, and Z-axis acceleration AZ2. The acceleration decomposition angle is calculated using AX2, AY2, and AZ2. , .

[0163] in, , .

[0164] For example, given AX2 = 0.3 m / s², AY2 = 0.2 m / s², and AZ2 = 9 m / s², the above calculation method yields the following result. It is 1.632. It is 8.67.

[0165] In step 4043, based on the complementary fusion algorithm, the integral angle of angular velocity and the decomposed angle of acceleration are fused to obtain the jitter angle at the handle.

[0166] In this embodiment, both the angular velocity integral angle and the acceleration decomposition angle have their own advantages and disadvantages. The angular velocity integral angle may accumulate errors during long-term integration, while the acceleration decomposition angle is sensitive to high-frequency jitter but easily affected by noise. The complementary fusion algorithm can combine the advantages of both, reasonably allocate weights based on their reliability in different frequency bands and scenarios, and fuse the angular velocity integral angle and the acceleration decomposition angle to obtain a more accurate and comprehensive angle value that reflects the jitter at the handle, i.e., the jitter angle at the handle.

[0167] For example, by using a complementary fusion algorithm, eliminate , , The drift is reduced, improving the accuracy of angle calculation and obtaining the jitter angle at the handle. , , .

[0168] in, ;

[0169] .

[0170] During filming It can be adjusted, and the value is generally set to 0.1.

[0171] The calculated jitter angle at the handle , and Send it to the processor for stabilization weight allocation.

[0172] Therefore, in this embodiment, the complementary fusion algorithm combines the integral angle of angular velocity and the decomposed angle of acceleration to calculate the shake angle at the handle, overcoming the limitations of a single data source. It fully leverages the advantages of each data source to obtain a more accurate handle shake angle, providing a reliable basis for image stabilization control. The complementary fusion algorithm can dynamically adjust the dependence on the two types of data according to the actual shooting scene and motion state, maintaining stable performance under various complex conditions. By simultaneously considering rotational shake and linear motion shake, it comprehensively reflects the shake situation of the handle under different motion forms, providing more comprehensive information support for image stabilization control. In some embodiments provided in this application, step 405 may include the following steps: step 4051 and step 4052.

[0173] In step 4051, the gimbal mechanism is determined to be working properly by comparing the jitter angle at the handle with the jitter angle at the gimbal mechanism and the rotation angle of the motor of the gimbal mechanism.

[0174] In this embodiment, the working status of the gimbal mechanism is determined by comparing the relationship between the jitter angle at the handle, the jitter angle at the gimbal mechanism, and the rotation angle of the motor of the gimbal mechanism. Under normal circumstances, there is a specific correspondence between these angles. If the actual measured value does not match the expected relationship, it indicates that the gimbal mechanism may have malfunctioned, such as motor jamming or sensor failure, thereby determining whether the gimbal mechanism is working properly.

[0175] For example, the jitter angle at the gimbal mechanism is , , The rotation angle of the motor of the gimbal mechanism is , , The shaking angle at the handle is , , .

[0176] When the gimbal mechanism is working normally, ; When the gimbal performance is abnormal .

[0177] In step 4052, under the condition that the gimbal mechanism is working normally, the first weighting coefficient corresponding to the jitter component in the low frequency band, the second weighting coefficient corresponding to the jitter component in the mid frequency band, and the third weighting coefficient corresponding to the jitter component in the high frequency band are determined according to the first frequency response characteristics and the second frequency response characteristics. The first weighting coefficient is used to indicate that the gimbal mechanism undertakes the main compensation task, the second weighting coefficient is used to indicate that the gimbal mechanism and the optical image stabilization camera module jointly undertake the compensation task, and the third weighting coefficient is used to indicate that the optical image stabilization camera module undertakes the main compensation task.

[0178] In this embodiment, when the gimbal mechanism is functioning normally, weighting coefficients are assigned to jitter components in different frequency bands based on the first frequency response characteristic (the gimbal mechanism's ability to respond to jitter at different frequencies) and the second frequency response characteristic (the optical image stabilization camera module's ability to respond to jitter at different frequencies). Low-frequency jitter is generally handled better by the gimbal mechanism, therefore the first weighting coefficient is assigned to allow the gimbal mechanism to undertake the main compensation task; for mid-frequency jitter, both the gimbal mechanism and the optical image stabilization camera module can play a role, so a second weighting coefficient is assigned to allow both to compensate together; for high-frequency jitter, the optical image stabilization camera module responds better, so a third weighting coefficient is assigned to allow it to undertake the main compensation task.

[0179] For example, the first weighting coefficient is denoted as k1, the second weighting coefficient is denoted as k2, and the third weighting coefficient is denoted as k3. If the gimbal mechanism is working normally, then k1=0.8, k2=0.5, and k3=0.2 are set.

[0180] In step 4053, if the gimbal mechanism malfunctions, the first weighting coefficient, the second weighting coefficient, and the third weighting coefficient are all set to zero so that all image stabilization tasks are assigned to the optical image stabilization camera module.

[0181] In this embodiment, if the gimbal mechanism malfunctions, it indicates that it cannot perform image stabilization normally. In this case, the first, second, and third weighting coefficients are all set to zero, so that image stabilization is no longer reliant on the gimbal mechanism. All image stabilization tasks are allocated to the optical image stabilization camera module to ensure a certain level of image stabilization even when the gimbal mechanism fails. In other words, all shake compensation is given to the optical image stabilization system, and the gimbal image stabilization system stops working until the system returns to normal, thus automatically switching to optical image stabilization when the gimbal malfunctions.

[0182] For example, the first weight coefficient is denoted as k1, the second weight coefficient is denoted as k2, and the third weight coefficient is denoted as k3. If the gimbal mechanism malfunctions, then k1=0, k2=0, and k3=0 are set.

[0183] Therefore, in this embodiment, by comparing relevant angle relationships from multiple angles, it is possible to accurately determine whether the gimbal mechanism is working properly, promptly detect any faults in the gimbal mechanism, and provide a basis for subsequent maintenance and adjustment, thus avoiding poor image stabilization or unstable shooting footage due to gimbal mechanism failure. Based on the frequency response characteristics of the gimbal mechanism and the optical image stabilization camera module, weighting coefficients are rationally allocated to different frequency band jitter components, fully leveraging the advantages of both. When the gimbal mechanism is working normally, efficient and coordinated image stabilization control is achieved, improving the overall image stabilization effect; when the gimbal mechanism malfunctions, the image stabilization task can be quickly transferred to the optical image stabilization camera module, ensuring that the image stabilization system can continue to work even with partial component failures, improving the reliability and stability of the entire image stabilization system, and ensuring smooth shooting.

[0184] In some embodiments provided in this application, step 406 may include the following steps: step 4061 and step 4062.

[0185] In step 4061, the first image stabilization compensation amount is calculated according to the first calculation formula: First image stabilization compensation amount = low frequency jitter component × first weighting coefficient + mid frequency jitter component × second weighting coefficient + high frequency jitter component × third weighting coefficient.

[0186] In this embodiment, according to the first calculation formula, the low-frequency, mid-frequency, and high-frequency jitter components are multiplied by their corresponding weighting coefficients and then summed to obtain the first anti-shake compensation amount. This compensation amount is mainly used to control the gimbal mechanism to perform anti-shake compensation. Since the allocation of weighting coefficients has already taken into account the response capability of the gimbal mechanism in different frequency bands, the compensation amount calculated by this formula can enable the gimbal mechanism to more effectively counteract the jitter in the corresponding frequency band.

[0187] In step 4062, the second image stabilization compensation amount is calculated according to the second calculation formula: Second image stabilization compensation amount = low frequency jitter component × (1 - first weighting coefficient) + mid frequency jitter component × (1 - second weighting coefficient) + high frequency jitter component × (1 - third weighting coefficient).

[0188] In this embodiment, the second calculation formula is to subtract each weighting coefficient from 1, then multiply and add the results by the corresponding jitter components to obtain the second image stabilization compensation amount. This compensation amount is mainly used to control the optical image stabilization camera module to perform image stabilization compensation, and it reflects the amount of image stabilization work that the optical image stabilization camera module should undertake in each frequency band.

[0189] For example, the first weighting coefficient is denoted as k1, the second weighting coefficient as k2, and the third weighting coefficient as k3. Due to the different characteristics of gimbal stabilization and optical image stabilization, different systems focus on stabilizing different frequencies. Gimbal systems are suitable for compensating for low-to-mid-frequency velocity signals, while optical image stabilization systems are suitable for compensating for mid-to-high-frequency velocity signals. Therefore, the original three-axis velocities Vp, Vr, and Vy are weighted among non-overlapping frequency bands to obtain the three-axis velocities Vp_gm, Vr_gm, and Vy_gm that the gimbal needs to compensate for, and the three-axis angular velocities Vp_ois, Vr_ois, and Vy_ois that the optical image stabilization needs to compensate for.

[0190] in, ; ; ; ; ; .

[0191] Therefore, in this embodiment, by using two explicit calculation formulas to calculate the image stabilization compensation amounts for the gimbal mechanism and the optical image stabilization camera module, the required compensation amount for each component can be accurately calculated based on the jitter components and weighting coefficients in different frequency bands. This achieves precise control over image stabilization compensation and improves the stabilization effect. The two calculation formulas work together, enabling the gimbal mechanism and the optical image stabilization camera module to collaborate according to their respective frequency response characteristics and assigned tasks. The gimbal mechanism handles the low-frequency and mid-frequency jitter suitable for it, while the optical image stabilization camera module handles high-frequency and some mid-frequency jitter, jointly optimizing the stabilization effect and reducing image shake and blur. Since the jitter frequency components differ in different scenarios, these two calculation formulas can dynamically adjust the weighting coefficients according to the actual situation, thereby adapting to various complex jitter conditions. Whether it is slow low-frequency jitter or fast high-frequency jitter, effective image stabilization control can be achieved through reasonable compensation calculations.

[0192] In some embodiments provided in this application, step 306 may include the following steps: step 3061 and step 3062.

[0193] In step 3061, the first anti-shake compensation amount is converted into the target rotation angle of the pitch axis motor, roll axis motor and yaw axis motor of the gimbal mechanism; based on the target rotation angle, the drive torque parameters of each motor of the gimbal mechanism are calculated.

[0194] In this embodiment, the first anti-shake compensation amount is calculated after comprehensively considering the gimbal mechanism's ability to compensate for jitter in different frequency bands. It reflects the overall degree to which the gimbal mechanism needs to make adjustments to counteract jitter. A gimbal mechanism typically has three rotational degrees of freedom: pitch axis, roll axis, and yaw axis. Through a specific algorithm and coordinate transformation, the first anti-shake compensation amount is decomposed onto these three axes, thereby obtaining the target rotation angles that the pitch axis motor, roll axis motor, and yaw axis motor each need to rotate. These target rotation angles clearly define the rotational position that each motor should achieve to achieve anti-shake.

[0195] In this embodiment, a proportional-integral-derivative (PID) control algorithm can be used to calculate the driving torque parameters of each motor of the gimbal mechanism. The PID control algorithm is a commonly used feedback control algorithm.

[0196] In this embodiment, within the gimbal mechanism, the actual rotation angle of the motor is compared with the target rotation angle calculated above to obtain the angle deviation. Based on this deviation, the PID algorithm comprehensively adjusts the motor's drive torque parameters through calculations in three stages: proportional, integral, and derivative. Specifically, the proportional stage adjusts the torque proportionally to the magnitude of the deviation, enabling the motor to respond quickly; the integral stage eliminates long-term static deviations; and the derivative stage predicts the trend of deviation changes and makes adjustments in advance, thereby improving the stability and response speed of the anti-shake system.

[0197] For example, the three-axis speeds that the gimbal needs to compensate for are denoted as Vp_gm, Vr_gm, and Vy_gm, and the driving torque parameters of the three motors of the gimbal mechanism are denoted as Torque_p_gm, Torque_r_gm, and Torque_y_gm, respectively.

[0198] Taking the calculation of Torque_p_gm for a single motor shaft as an example, ; in, ; ; ; P, I, and D are all set parameters.

[0199] In step 3062, the second image stabilization compensation amount is converted into the target displacement amount of the X-axis drive motor and Y-axis drive motor of the optical image stabilization camera module; based on the target displacement amount, the driving force parameters of each motor of the optical image stabilization camera module are calculated.

[0200] In this embodiment, the second image stabilization compensation amount is calculated based on the image stabilization requirements of the optical image stabilization camera module. Optical image stabilization camera modules typically adjust the position of the camera element using X-axis and Y-axis drive motors to compensate for shake. The second image stabilization compensation amount is converted into target displacement amounts for the X-axis and Y-axis drive motors according to a certain mapping relationship. These target displacement amounts represent the distance the camera element needs to move in the X-axis and Y-axis directions to achieve the effect of counteracting shake.

[0201] In this embodiment, for the motor of the optical image stabilization camera module, the actual displacement of the motor is compared with the target displacement to obtain the displacement deviation. A PID control algorithm is used to calculate the driving force parameters of each motor based on this deviation. The proportional control unit quickly adjusts the driving force according to the magnitude of the displacement deviation, so that the camera element approaches the target position as quickly as possible; the integral control unit eliminates the accumulation of displacement deviation; and the derivative control unit responds to the rate of change of displacement deviation, adjusting the driving force in advance to ensure the smoothness and accuracy of the camera element's movement.

[0202] For example, the three-axis angular velocities that need to be compensated for by optical image stabilization are denoted as Vp_ois, Vr_ois, and Vy_ois, and the driving force parameters of the two motors of the optical image stabilization camera module are denoted as Torque_x_ois and Torque_y_ois, respectively.

[0203] Taking the calculation of Torque_x_ois for a single motor shaft as an example, ; in, hall_x_ois is the position feedback value; EFL and gain are preset parameters; ;

[0204]

[0205] The calculation principle for the other axis, Torque_y_ois, is the same, so it will not be repeated here.

[0206] This completes one cycle of collaborative image stabilization compensation, and the above compensation steps are then repeated. For example, the execution frequency is 4000 to 8000 times per second.

[0207] In this embodiment, by accurately converting the first anti-shake compensation amount into the target rotation angle of each motor and using a PID control algorithm to precisely calculate the drive torque parameters, the motors of the gimbal mechanism can rotate at a predetermined angle, achieving precise adjustment of the gimbal's attitude. This effectively counteracts various types of shaking and improves the stability of the captured footage. The application of the PID control algorithm can adjust the drive torque in real time according to the actual rotation of the motor, quickly eliminating deviations and avoiding over- or under-adjustment of the motor, thus improving the stability and response speed of the gimbal mechanism control system. Even when facing rapidly changing shaking, it can react promptly and maintain the stability of the gimbal. Different shooting scenarios may produce shaking of different frequencies and amplitudes. By reasonably calculating the first anti-shake compensation amount and converting it into motor control parameters, the gimbal mechanism can adapt to various complex shaking scenarios, effectively compensating for both low-frequency, large-amplitude shaking and high-frequency, small-amplitude shaking.

[0208] In this embodiment, by converting the second image stabilization compensation amount into the target displacement of the X-axis and Y-axis motors, and using a PID control algorithm to accurately calculate the driving force parameters, the camera element can move precisely in the X-axis and Y-axis directions, achieving precise compensation for shake. This helps reduce image blur and ghosting caused by shake, improving the clarity of the captured image. The PID control algorithm can dynamically adjust the driving force according to changes in displacement deviation, making the movement of the camera element smoother and avoiding sudden jumps or shakes. This not only improves the image stabilization effect but also reduces interference with the captured image, ensuring image quality. Using a unified PID control algorithm to calculate the driving force parameters of each motor in the optical image stabilization camera module simplifies the control logic and facilitates implementation and debugging. Simultaneously, this standardized control method also improves the maintainability and scalability of the system, facilitating subsequent upgrades and improvements to the optical image stabilization camera module.

[0209] Therefore, in this embodiment, by precisely controlling the gimbal mechanism and the optical image stabilization camera module, the two can work together to fully leverage their respective stabilization advantages. The gimbal mechanism is primarily responsible for counteracting larger amplitude and low-frequency shakes, while the optical image stabilization camera module compensates for high-frequency and small-amplitude shakes, thereby achieving a comprehensive and multi-layered stabilization effect and improving the quality of the captured image. Precise control algorithms and parameter calculations reduce system errors and uncertainties, improving the reliability and stability of the entire stabilization system. Whether under normal working conditions or facing abnormal situations, the gimbal camera can maintain good stabilization performance, ensuring smooth shooting.

[0210] After introducing the embodiments of the gimbal camera image stabilization control method, the corresponding gimbal camera image stabilization system will be introduced next, such as... Figure 5As shown, the image stabilization system of a gimbal camera consists of a gimbal stabilization system and an optical image stabilization system. The gimbal stabilization system includes a gimbal control unit, a first inertial measurement unit, a second inertial measurement unit, three brushless drive motor modules, three Hall effect sensors, a pitch axis motor, a roll axis motor, and a yaw axis motor. The optical image stabilization system includes two voice coil motor drive modules, two position feedback sensors, an X-axis drive motor, and a Y-axis drive motor. During shooting with the gimbal camera, the gimbal stabilization system and the optical image stabilization system can adjust the image according to... Figure 3 The methods shown work together to achieve image stabilization control, thereby capturing high-quality images or videos.

[0211] The gimbal camera image stabilization control method provided in this application can be executed by a gimbal camera image stabilization control device. This application uses the example of a gimbal camera image stabilization control device executing the gimbal camera image stabilization control method to illustrate the gimbal camera image stabilization control device provided in this application.

[0212] Figure 6 This is a structural block diagram of a gimbal camera image stabilization control device provided in an embodiment of this application, such as... Figure 6 As shown, the gimbal camera image stabilization control device 600 may include: an acquisition module 601, a generation module 602, and a control module 603; The acquisition module 601 is used to acquire the first jitter data collected by the first inertial measurement unit installed on the gimbal mechanism of the gimbal camera and the second jitter data collected by the second inertial measurement unit installed on the handle of the gimbal camera. The generation module 602 is used to generate a first image stabilization compensation amount corresponding to the gimbal mechanism and a second image stabilization compensation amount corresponding to the optical image stabilization camera module based on the first jitter data, the second jitter data, the first frequency response characteristics of the gimbal mechanism and the second frequency response characteristics of the optical image stabilization camera module. The generation module 602 is further configured to generate rotation control parameters for each motor of the gimbal mechanism based on the first anti-shake compensation amount; and to generate translation control parameters for each motor of the optical image stabilization camera module based on the second anti-shake compensation amount. The control module 603 is used to control each motor of the gimbal mechanism to perform rotational motion compensation according to the rotation control parameters, and to control each motor of the optical image stabilization camera module to perform translational motion compensation according to the translation control parameters.

[0213] As can be seen from the above embodiments, by acquiring shake data from both the gimbal mechanism and the handle, a more comprehensive understanding of the overall shake of the gimbal camera can be obtained. This not only considers the shake of the camera's own structure but also takes into account the shake caused by the user's grip, providing richer data support for precise image stabilization. By generating image stabilization compensation amounts based on the frequency response characteristics of the gimbal mechanism and the optical image stabilization camera module, a reasonable allocation of image stabilization tasks is achieved. This allows the gimbal mechanism to focus on compensating for low-to-mid-frequency shake, while the optical image stabilization camera module handles mid-to-high-frequency shake, fully leveraging the advantages of both to improve image stabilization efficiency and effectiveness. The control parameters for the motors are generated based on the image stabilization compensation amounts, enabling precise control of the motors in both the gimbal mechanism and the optical image stabilization camera module. This ensures that the motors move according to specific parameters, accurately adjusting the camera's posture and the position of the lens or image sensor, effectively reducing image shake. Through the coordinated image stabilization control of the gimbal mechanism and the optical image stabilization camera module, a wider range of shake frequencies can be covered, eliminating the effects of shake from the overall to the local, and from large to small, thereby significantly improving the shooting quality of the gimbal camera in different shooting scenarios and producing clearer and more stable photos and videos.

[0214] Optionally, as an embodiment, the generation module 602 is specifically used to convert the angular velocity data in the first jitter data to the coordinate system of the three motor axes of the gimbal mechanism to obtain the axial jitter angular velocity on the three motor axes; decompose the axial jitter angular velocity into jitter components of different frequency bands according to frequency; determine the jitter angle at the gimbal mechanism based on the first jitter data; determine the jitter angle at the handle based on the second jitter data; determine the weighting coefficients corresponding to the jitter components of each different frequency band based on the jitter angle at the gimbal mechanism, the jitter angle at the handle, the first frequency response characteristics, and the second frequency response characteristics; and generate the first anti-shake compensation amount and the second anti-shake compensation amount based on the jitter components of different frequency bands and the corresponding weighting coefficients.

[0215] Optionally, as an embodiment, the generation module 602 is specifically used to obtain the motor rotation angle collected by the Hall sensors installed on each motor shaft of the gimbal mechanism; according to the motor rotation angle and the preset coordinate transformation matrix, the angular velocity data in the first jitter data is transformed to the coordinate system of the three motor shafts of the gimbal mechanism to obtain the axial jitter angular velocity on the three motor shafts.

[0216] Optionally, as an embodiment, the generation module 602 is specifically used to filter the axial jitter angular velocity to remove the DC component; perform a fast Fourier transform on the filtered data to obtain the corresponding frequency domain signal; divide the frequency domain signal into low-frequency components, mid-frequency components and high-frequency components according to a preset frequency threshold; and perform an inverse fast Fourier transform on each frequency band component to reconstruct the jitter components of different frequency bands in the time domain.

[0217] Optionally, as an embodiment, the generation module 602 is specifically used to determine, when the gimbal mechanism is working normally, a first weighting coefficient corresponding to the low-frequency jitter component, a second weighting coefficient corresponding to the mid-frequency jitter component, and a third weighting coefficient corresponding to the high-frequency jitter component based on the first frequency response characteristics and the second frequency response characteristics; wherein, the first weighting coefficient is used to instruct the gimbal mechanism to undertake the main compensation task, the second weighting coefficient is used to instruct the gimbal mechanism and the optical image stabilization camera module to jointly undertake the compensation task, and the third weighting coefficient is used to instruct the optical image stabilization camera module to undertake the main compensation task; when the gimbal mechanism is malfunctioning, the first weighting coefficient, the second weighting coefficient, and the third weighting coefficient are all set to zero, so as to allocate all image stabilization tasks to the optical image stabilization camera module.

[0218] Optionally, as an embodiment, the generation module 602 is specifically used to perform an integral operation on the angular velocity data in the first jitter data to obtain the angular velocity integral angle; and to determine the angular velocity integral angle as the jitter angle at the gimbal mechanism.

[0219] Optionally, as an embodiment, the generation module 602 is specifically used to perform an integral operation on the angular velocity data in the second jitter data to obtain the angular velocity integral angle; calculate the acceleration decomposition angle based on the acceleration data in the second jitter data; and fuse the angular velocity integral angle and the acceleration decomposition angle based on a complementary fusion algorithm to obtain the jitter angle at the handle.

[0220] Optionally, as an embodiment, the generation module 602 is specifically used to convert the first image stabilization compensation amount into the target rotation angle of the pitch axis motor, roll axis motor, and yaw axis motor of the gimbal mechanism; calculate the driving torque parameters of each motor of the gimbal mechanism based on the target rotation angle; convert the second image stabilization compensation amount into the target displacement of the X-axis drive motor and Y-axis drive motor of the optical image stabilization camera module; and calculate the driving force parameters of each motor of the optical image stabilization camera module based on the target displacement.

[0221] The gimbal camera stabilization control device in this application embodiment can be a standalone gimbal camera or a component within the gimbal camera, such as an integrated circuit or chip. The gimbal camera can be a terminal or other devices besides a terminal. For example, the gimbal camera can be a mobile phone, tablet computer, laptop computer, PDA, vehicle-mounted gimbal camera, mobile internet device (MID), augmented reality (AR) / virtual reality (VR) device, robot, wearable device, ultra-mobile personal computer (UMPC), netbook, or personal digital assistant (PDA), etc. It can also be a server, network attached storage (NAS), personal computer (PC), television (TV), ATM, or self-service machine, etc. This application embodiment does not specifically limit the device.

[0222] The gimbal camera image stabilization control device in this application embodiment can be a device with an operating system. This operating system can be Android, iOS, or other possible operating systems; this application embodiment does not specifically limit it. The gimbal camera image stabilization control device provided in this application embodiment can achieve... Figure 3 or Figure 4 To avoid repetition, the various processes implemented in the method embodiment shown will not be described again here.

[0223] Optionally, such as Figure 7 As shown, this application embodiment also provides a gimbal camera 700, including a processor 701 and a memory 702. The memory 702 stores a program or instructions that can run on the processor 701. When the program or instructions are executed by the processor 701, they implement the various steps of the above-described gimbal camera anti-shake control method embodiment and can achieve the same technical effect. To avoid repetition, they will not be described again here.

[0224] Figure 8 This is a schematic diagram of the hardware structure of a gimbal camera implementing various embodiments of this application. The gimbal camera 800 includes, but is not limited to, components such as: a radio frequency unit 801, a network module 802, an audio output unit 803, an input unit 804, a sensor 805, a display unit 806, a user input unit 807, an interface unit 808, a memory 809, and a processor 810.

[0225] Those skilled in the art will understand that the gimbal camera 800 may also include a power supply (such as a battery) for powering various components. The power supply may be logically connected to the processor 810 through a power management system, thereby enabling functions such as managing charging, discharging, and power consumption through the power management system. Figure 8 The gimbal camera structure shown does not constitute a limitation on the gimbal camera. The gimbal camera may include more or fewer components than shown, or combine certain components, or have different component arrangements, which will not be elaborated here. The processor 810 is configured to acquire first jitter data collected by a first inertial measurement unit mounted on the gimbal mechanism of the gimbal camera and second jitter data collected by a second inertial measurement unit mounted on the handle of the gimbal camera; generate a first image stabilization compensation amount corresponding to the gimbal mechanism and a second image stabilization compensation amount corresponding to the optical image stabilization camera module based on the first jitter data, the second jitter data, a first frequency response characteristic of the gimbal mechanism, and a second frequency response characteristic of the optical image stabilization camera module; generate rotation control parameters for each motor of the gimbal mechanism based on the first image stabilization compensation amount; generate translation control parameters for each motor of the optical image stabilization camera module based on the second image stabilization compensation amount; control each motor of the gimbal mechanism to perform rotational motion compensation according to the rotation control parameters; and control each motor of the optical image stabilization camera module to perform translational motion compensation according to the translation control parameters.

[0226] Optionally, as an embodiment, the processor 810 is specifically configured to convert the angular velocity data in the first jitter data to the coordinate system of the three motor axes of the gimbal mechanism to obtain the axial jitter angular velocity on the three motor axes; decompose the axial jitter angular velocity into jitter components of different frequency bands according to frequency; determine the jitter angle at the gimbal mechanism based on the first jitter data; determine the jitter angle at the handle based on the second jitter data; determine the weighting coefficients corresponding to each jitter component of different frequency bands based on the jitter angle at the gimbal mechanism, the jitter angle at the handle, the first frequency response characteristics, and the second frequency response characteristics; and generate the first anti-shake compensation amount and the second anti-shake compensation amount based on the jitter components of different frequency bands and the corresponding weighting coefficients.

[0227] Optionally, as an embodiment, the processor 810 is specifically used to acquire the motor rotation angle collected by the Hall sensors installed on each motor shaft of the gimbal mechanism; and according to the motor rotation angle and a preset coordinate transformation matrix, to convert the angular velocity data in the first jitter data to the coordinate system of the three motor shafts of the gimbal mechanism, so as to obtain the axial jitter angular velocity on the three motor shafts.

[0228] Optionally, as an embodiment, the processor 810 is specifically used to filter the axial jitter angular velocity to remove the DC component; perform a fast Fourier transform on the filtered data to obtain the corresponding frequency domain signal; divide the frequency domain signal into low-frequency components, mid-frequency components and high-frequency components according to a preset frequency threshold; and perform an inverse fast Fourier transform on each of the divided frequency band components to reconstruct the jitter components of different frequency bands in the time domain.

[0229] Optionally, as an embodiment, the processor 810 is specifically configured to, when the gimbal mechanism is working normally, determine a first weighting coefficient corresponding to the low-frequency jitter component, a second weighting coefficient corresponding to the mid-frequency jitter component, and a third weighting coefficient corresponding to the high-frequency jitter component based on the first frequency response characteristics and the second frequency response characteristics; wherein, the first weighting coefficient is used to instruct the gimbal mechanism to undertake the main compensation task, the second weighting coefficient is used to instruct the gimbal mechanism and the optical image stabilization camera module to jointly undertake the compensation task, and the third weighting coefficient is used to instruct the optical image stabilization camera module to undertake the main compensation task; when the gimbal mechanism is malfunctioning, the first weighting coefficient, the second weighting coefficient, and the third weighting coefficient are all set to zero, so as to allocate all image stabilization tasks to the optical image stabilization camera module.

[0230] Optionally, as an embodiment, the processor 810 is specifically used to perform an integral operation on the angular velocity data in the first jitter data to obtain the angular velocity integral angle; and to determine the angular velocity integral angle as the jitter angle at the gimbal mechanism.

[0231] Optionally, as an embodiment, the processor 810 is specifically configured to perform an integral operation on the angular velocity data in the second jitter data to obtain the angular velocity integral angle; calculate the acceleration decomposition angle based on the acceleration data in the second jitter data; and fuse the angular velocity integral angle and the acceleration decomposition angle based on a complementary fusion algorithm to obtain the jitter angle at the handle.

[0232] Optionally, as an embodiment, the processor 810 is specifically configured to convert the first image stabilization compensation amount into a target rotation angle of the pitch axis motor, roll axis motor, and yaw axis motor of the gimbal mechanism; calculate the drive torque parameters of each motor of the gimbal mechanism based on the target rotation angle; convert the second image stabilization compensation amount into a target displacement of the X-axis drive motor and Y-axis drive motor of the optical image stabilization camera module; and calculate the drive force parameters of each motor of the optical image stabilization camera module based on the target displacement.

[0233] It should be understood that, in this embodiment, the input unit 804 may include a graphics processing unit (GPU) 8041 and a microphone 8042. The GPU 8041 processes image data of still images or videos obtained by an image capture device (such as a camera) in video capture mode or image capture mode. The display unit 806 may include a display panel 8061, which may be configured in the form of a liquid crystal display, an organic light-emitting diode, or the like. The user input unit 807 includes at least one of a touch panel 8071 and other input devices 8072. The touch panel 8071 is also called a touch screen. The touch panel 8071 may include a touch detection device and a touch controller. Other input devices 8072 may include, but are not limited to, physical keyboards, function keys (such as volume control buttons, power buttons, etc.), trackballs, mice, and joysticks, which will not be described in detail here.

[0234] The memory 809 can be used to store software programs and various data. The memory 809 may primarily include a first storage area for storing programs or instructions and a second storage area for storing data. The first storage area may store the operating system, application programs or instructions required for at least one function (such as sound playback, image playback, etc.). Furthermore, the memory 809 may include volatile memory or non-volatile memory, or both. The non-volatile memory may be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. Volatile memory can be random access memory (RAM), static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDRSDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM), and direct memory bus RAM (DRRAM). The memory 809 in the embodiments of this application includes, but is not limited to, these and any other suitable types of memory.

[0235] Processor 810 may include one or more processing units; optionally, processor 810 integrates an application processor and a modem processor, wherein the application processor mainly handles operations involving the operating system, user interface, and applications, and the modem processor mainly handles wireless communication signals, such as a baseband processor. It is understood that the aforementioned modem processor may also not be integrated into processor 810.

[0236] This application also provides a readable storage medium storing a program or instructions. When executed by a processor, the program or instructions implement the various processes of the above-described gimbal camera image stabilization control method embodiments and achieve the same technical effects. To avoid repetition, these will not be described again here. The processor is the processor in the gimbal camera described in the above embodiments. The readable storage medium includes a computer-readable storage medium, such as a computer read-only memory (ROM), random access memory (RAM), a magnetic disk, or an optical disk.

[0237] This application also provides a chip, which includes a processor and a communication interface. The communication interface is coupled to the processor. The processor is used to run programs or instructions to implement the various processes of the above-described gimbal camera image stabilization control method embodiments, and can achieve the same technical effect. To avoid repetition, it will not be described again here. It should be understood that the chip mentioned in this application embodiment can also be called a system-on-a-chip, system chip, chip system, or system-on-a-chip, etc.

[0238] This application also provides a computer program product, which is stored in a storage medium and executed by at least one processor to implement the various processes of the above-described gimbal camera image stabilization control method embodiment, and can achieve the same technical effect. To avoid repetition, it will not be described again here.

[0239] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element. Furthermore, it should be noted that the scope of the methods and apparatuses in the embodiments of this application is not limited to performing functions in the order shown or discussed, but may also include performing functions substantially simultaneously or in the reverse order, depending on the functions involved. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

[0240] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a computer software product. This computer software product is stored in a storage medium (e.g., ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal (e.g., a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0241] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of this application.

Claims

1. A gimbal camera, characterized in that, It includes: a support structure, a gimbal mechanism, an optical image stabilization camera module, a first inertial measurement unit, a second inertial measurement unit, and a processor; The support structure includes a main support frame and a handle portion disposed on the main support frame; The gimbal mechanism, mounted on the support structure, includes a pitch axis motor, a roll axis motor, and a yaw axis motor, used to drive the optical image stabilization camera module to perform rotational movements in the pitch, roll, and yaw directions. The optical image stabilization camera module is mounted on the gimbal mechanism and includes a lens, an image sensor, an X-axis drive motor, and a Y-axis drive motor. The X-axis drive motor and the Y-axis drive motor are used to drive the lens or the image sensor to move in a plane perpendicular to the optical axis. The first inertial measurement unit is mounted on the gimbal mechanism and is used to collect a set of jitter data of the gimbal mechanism; The second inertial measurement unit is disposed on the handle of the support structure and is used to collect a set of shaking data generated by the user's grip; The processor is disposed inside the support structure and is electrically connected to the gimbal mechanism, the optical image stabilization camera module, the first inertial measurement unit, and the second inertial measurement unit, respectively, for controlling at least one motor to perform image stabilization operation based on at least one set of jitter data.

2. The method according to claim 1, characterized in that, The processor is specifically configured to coordinate and control each motor of the gimbal mechanism and each motor of the optical image stabilization camera module to perform image stabilization operations based on the jitter data collected by the first inertial measurement unit, the jitter data collected by the second inertial measurement unit, the first frequency response characteristics of the gimbal mechanism, and the second frequency response characteristics of the optical image stabilization camera module.

3. The gimbal camera according to claim 1, characterized in that, The gimbal mechanism also includes: A brushless motor drive module is connected to the processor, the pitch axis motor, the roll axis motor, and the yaw axis motor respectively, and is used to drive the pitch axis motor, the roll axis motor, and the yaw axis motor to perform rotational motion based on the control commands of the processor; wherein, the control commands are generated by the processor based on at least one set of jitter data; Hall effect sensors are installed on each motor shaft of the gimbal mechanism to detect the rotation angle of the pitch axis motor, the roll axis motor and the yaw axis motor and feed it back to the processor.

4. The gimbal camera according to claim 1, characterized in that, The optical image stabilization camera module also includes: A voice coil motor drive module, connected to the processor, is used to drive the X-axis drive motor and the Y-axis drive motor to perform translational motion based on the control instructions of the processor; wherein, the control instructions are generated by the processor based on at least one set of jitter data; A position feedback sensor is used to detect the position information of the lens or the image sensor and feed it back to the processor.

5. The gimbal camera according to claim 1, characterized in that, The processor integrates a gimbal control unit and an optical image stabilization control unit; The gimbal control unit is used to control each motor of the gimbal mechanism to perform anti-shake operation; The optical image stabilization control unit is used to control each motor of the optical image stabilization camera module to perform image stabilization operations.

6. The gimbal camera according to claim 1, characterized in that, The gimbal camera also includes: A display screen is disposed on the handle portion of the support structure and electrically connected to the processor, used to display the camera preview interface and operating status; The operation controls, located on the handle, include at least one of a shutter button, a mode switching dial, and a joystick.

7. A method for controlling image stabilization in a gimbal camera, characterized in that, The method includes: Acquire first jitter data collected by a first inertial measurement unit mounted on the gimbal mechanism of the gimbal camera and second jitter data collected by a second inertial measurement unit mounted on the handle of the gimbal camera; Based on the first jitter data, the second jitter data, the first frequency response characteristics of the gimbal mechanism, and the second frequency response characteristics of the optical image stabilization camera module, a first image stabilization compensation amount corresponding to the gimbal mechanism and a second image stabilization compensation amount corresponding to the optical image stabilization camera module are generated. Based on the first image stabilization compensation amount, the rotation control parameters of each motor of the gimbal mechanism are generated; based on the second image stabilization compensation amount, the translation control parameters of each motor of the optical image stabilization camera module are generated. Each motor of the gimbal mechanism is controlled to perform rotational motion compensation according to the rotation control parameters, and each motor of the optical image stabilization camera module is controlled to perform translational motion compensation according to the translation control parameters.

8. The method according to claim 7, characterized in that, The step of generating a first image stabilization compensation amount corresponding to the gimbal mechanism and a second image stabilization compensation amount corresponding to the optical image stabilization camera module based on the first jitter data, the second jitter data, the first frequency response characteristics of the gimbal mechanism, and the second frequency response characteristics of the optical image stabilization camera module includes: The angular velocity data in the first jitter data is converted to the coordinate system of the three motor axes of the gimbal mechanism to obtain the axial jitter angular velocity on the three motor axes; The axial jitter angular velocity is decomposed into jitter components of different frequency bands according to frequency; Based on the first jitter data, determine the jitter angle at the gimbal mechanism; Based on the second jitter data, determine the jitter angle at the handle; Based on the jitter angle at the gimbal mechanism, the jitter angle at the handle, the first frequency response characteristics, and the second frequency response characteristics, the weighting coefficients corresponding to the jitter components of each of the different frequency bands are determined. Based on the jitter components of the different frequency bands and their corresponding weighting coefficients, the first image stabilization compensation amount and the second image stabilization compensation amount are generated.

9. The method according to claim 8, characterized in that, The step of converting the angular velocity data in the first jitter data to the coordinate system of the three motor axes of the gimbal mechanism to obtain the axial jitter angular velocity on the three motor axes includes: Obtain the motor rotation angle collected by the Hall sensors installed on each motor shaft of the gimbal mechanism; Based on the motor rotation angle and the preset coordinate transformation matrix, the angular velocity data in the first jitter data is transformed into the coordinate system of the three motor axes of the gimbal mechanism to obtain the axial jitter angular velocity on the three motor axes.

10. The method according to claim 8, characterized in that, The step of decomposing the axial jitter angular velocity into jitter components of different frequency bands includes: The axial jitter angular velocity is filtered to remove the DC component; Perform a Fast Fourier Transform on the filtered data to obtain the corresponding frequency domain signal; According to a preset frequency threshold, the frequency domain signal is divided into low-frequency components, mid-frequency components, and high-frequency components; The jitter components of different frequency bands in the time domain are reconstructed by performing inverse fast Fourier transform on each of the divided frequency band components.

11. The method according to claim 10, characterized in that, The determination of weighting coefficients corresponding to jitter components in different frequency bands based on the jitter angle at the gimbal mechanism, the jitter angle at the handle, the first frequency response characteristic, and the second frequency response characteristic includes: When the gimbal mechanism is working normally, based on the first frequency response characteristics and the second frequency response characteristics, a first weighting coefficient corresponding to the low-frequency jitter component, a second weighting coefficient corresponding to the mid-frequency jitter component, and a third weighting coefficient corresponding to the high-frequency jitter component are determined; wherein, the first weighting coefficient is used to indicate that the gimbal mechanism undertakes the main compensation task, the second weighting coefficient is used to indicate that the gimbal mechanism and the optical image stabilization camera module jointly undertake the compensation task, and the third weighting coefficient is used to indicate that the optical image stabilization camera module undertakes the main compensation task; In the event of a malfunction in the gimbal mechanism, the first weighting coefficient, the second weighting coefficient, and the third weighting coefficient are all set to zero to allocate all image stabilization tasks to the optical image stabilization camera module.

12. The method according to claim 8, characterized in that, Determining the jitter angle at the gimbal mechanism based on the first jitter data includes: The angular velocity data in the first jitter data is integrated to obtain the integral angle of the angular velocity. The integral angle of the angular velocity is determined as the jitter angle at the gimbal mechanism.

13. The method according to claim 8, characterized in that, Determining the vibration angle at the handle based on the second vibration data includes: Integrate the angular velocity data in the second jitter data to obtain the integral angle of the angular velocity; Calculate the acceleration decomposition angle based on the acceleration data in the second jitter data; Based on the complementary fusion algorithm, the jitter angle at the handle is obtained by fusing the integral angle of the angular velocity and the decomposed angle of the acceleration.

14. The method according to claim 7, characterized in that, The step of generating rotation control parameters for each motor of the gimbal mechanism based on the first anti-shake compensation amount includes: The first anti-shake compensation amount is converted into the target rotation angle of the pitch axis motor, roll axis motor and yaw axis motor of the gimbal mechanism. Based on the target rotation angle, calculate the driving torque parameters of each motor of the gimbal mechanism; The step of generating translation control parameters for each motor of the optical image stabilization camera module based on the second image stabilization compensation amount includes: The second image stabilization compensation amount is converted into the target displacement amount of the X-axis drive motor and Y-axis drive motor of the optical image stabilization camera module; Based on the target displacement, the driving force parameters of each motor in the optical image stabilization camera module are calculated.

15. A gimbal camera image stabilization control device, characterized in that, The device includes: The acquisition module is used to acquire first jitter data collected by a first inertial measurement unit installed on the gimbal mechanism of the gimbal camera and second jitter data collected by a second inertial measurement unit installed on the handle of the gimbal camera. The generation module is used to generate a first image stabilization compensation amount corresponding to the gimbal mechanism and a second image stabilization compensation amount corresponding to the optical image stabilization camera module based on the first jitter data, the second jitter data, the first frequency response characteristics of the gimbal mechanism and the second frequency response characteristics of the optical image stabilization camera module. The generation module is further configured to generate rotation control parameters for each motor of the gimbal mechanism based on the first anti-shake compensation amount; and to generate translation control parameters for each motor of the optical image stabilization camera module based on the second anti-shake compensation amount. The control module is used to control each motor of the gimbal mechanism to perform rotational motion compensation according to the rotation control parameters, and to control each motor of the optical image stabilization camera module to perform translational motion compensation according to the translation control parameters.

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