Camera module and control method therefor

Abstract

An embodiment provides a camera module comprising: a first camera actuator for reflecting incident light; a second camera actuator for allowing the light reflected by the first camera actuator to pass therethrough; and an image sensor for receiving the light having passed through the second camera actuator, wherein: the first camera actuator comprises a mover, a first prism disposed on the mover, a drive unit for driving the first prism, and a control unit for controlling the drive unit; the control unit controls the driving unit according to a unit code; and the control unit controls the drive unit by applying tertiary fitting compensation.

Description

Camera module and control method thereof

[0001] An exemplary embodiment relates to a camera module and a method for controlling the same.

[0002] A camera is a device that captures subjects in photos or videos, and it is mounted on portable devices, drones, vehicles, etc. To improve image quality, camera modules may feature Image Stabilization (IS) to correct or prevent image shake caused by user movement, Auto Focusing (AF) to automatically adjust the distance between the image sensor and the lens to align the lens focal length, and Zooming to increase or decrease the magnification of distant subjects using a zoom lens.

[0003] Meanwhile, as image sensors increase in pixel count, the resolution rises and the size of the pixels decreases; consequently, as pixels become smaller, the amount of light received over the same period of time decreases. Therefore, in high-pixel cameras, image blur caused by hand shake resulting from slow shutter speeds in dark environments can appear more severe. A representative example of image stabilization (IS) technology is optical image stabilization (OIS), which corrects motion by changing the path of light.

[0004] Conventional camera modules consist of multiple lens groups and prisms, and change the magnification by adjusting the FOV according to the position of the zoom lens, and determine the focus according to the position of the AF lens. In general OIS actuators, the linearity of the actuator is related to the linearity of the image formed on the image sensor, as the linearity of the actuator is a lens and sensor shift method. In the conventional prism tilting method, the linearity of the actuator does not lead to the linearity of the image, resulting in a problem where a constant change in angle appears to increase progressively in the image.

[0005] Furthermore, in camera modules, the angle change of the prism acts as OIS. In a prism-tilt type OIS structure, the moving plate is mechanically designed to move in only two directions. To obtain optical gain from a two-pivot system that moves in two directions, it is necessary to design a one-pivot system that can unify the optical axis with the axis of movement. When the mechanical design changes to a one-pivot system, the OIS tilting changes from the existing two degrees of freedom to three degrees of freedom. In this case, a rotational Z-axis movement component is added in addition to the X-axis and Y-axis movements relative to the image sensor. The crosstalk calibration method of conventional OIS control measures the change in Y-axis movement during X-axis movement and the change in X-axis movement during Y-axis movement, and then performs compensation. This method has the problem that compensation for Z-axis movement is impossible.

[0006] An embodiment provides a camera module with improved optical performance and a method for controlling the same.

[0007] In addition, a camera module with increased driving accuracy and driving efficiency and a control method thereof are provided.

[0008] In addition, a camera module with improved linearity during OIS operation and a control method thereof are provided.

[0009] In addition, a camera module capable of performing control compensation even when driving OIS in a 1-pivot manner and a control method thereof are provided.

[0010] The problem to be solved in the embodiments is not limited thereto, and may also include the purpose or effect that can be identified from the means of solving the problem or the form of implementation described below.

[0011] A camera module according to an embodiment includes a first camera actuator that reflects incident light; a second camera actuator that passes light reflected by the first camera actuator; and an image sensor that receives light that has passed through the second camera actuator, wherein the first camera actuator includes a mover, a first prism disposed in the mover, a driving unit that drives the first prism, and a control unit that controls the driving unit, wherein the control unit controls the driving unit according to a unit code, and the control unit can control the driving unit by applying third-order fitting compensation.

[0012] The image sensor receives light to generate image information, and the position of the image information can move in proportion to the change in the unit code.

[0013] The above control unit can correct the position error of the image information by applying a first-order fitting compensation.

[0014] The position change of the above image information may be linearly proportional to the angle at which the driving unit rotates the mover and the first prism.

[0015] The camera module according to the embodiment further includes a Hall sensor that detects the rotation angle of the mover and the first prism, and the control unit can control the driving unit based on the rotation angle of the first prism detected through the Hall sensor.

[0016] The camera module according to the embodiment further includes a gyroscope sensor that detects the angular velocity of the camera module, and the control unit can calculate the unit code using the angular velocity information input from the gyroscope sensor.

[0017] A camera module according to an embodiment includes a first camera actuator that reflects incident light; a second camera actuator that passes light reflected by the first camera actuator; and an image sensor that receives light that has passed through the second camera actuator. The first camera actuator includes a mover, a first prism disposed on the mover, a driving unit that drives the first prism, and a control unit that controls the driving unit. The mover and the first prism rotate around a first axis, a second axis perpendicular to the first axis, and a third axis perpendicular to the first axis and the second axis. The control unit can generate a correction signal for rotation in the third axis direction based on the amount of displacement in the third axis direction when rotating in the first axis direction and the amount of displacement in the third axis direction when rotating in the second axis direction.

[0018] The above control unit can move the mover to multiple points of a predetermined pattern along a driving range to detect the amount of third-axis displacement occurring at each point, and calculate a compensation code based on the amount of third-axis displacement.

[0019] The above predetermined pattern may be a spiral pattern.

[0020] The control unit can calculate the relationship between the amount of displacement in the third axis direction measured at each point and the amount of change in the control code in the first axis or the second axis direction as a sensitivity, and determine the compensation code based on the sensitivity.

[0021] The control unit can perform a first correction based on the sensitivity and the measured third axis displacement amount, and perform a second correction based on the remaining displacement amount after the correction.

[0022] The control unit can detect the amount of displacement in the second axis direction during the first axis direction rotation and the amount of displacement in the first axis direction during the second axis direction rotation, respectively, and correct mutual interference components.

[0023] According to an embodiment, a camera module with improved optical performance and a method for controlling the same can be provided.

[0024] In addition, a camera module with increased driving accuracy and driving efficiency and a method for controlling the same can be provided.

[0025] In addition, a camera module with improved linearity during OIS operation and a control method thereof can be provided.

[0026] In addition, a camera module capable of performing control compensation even when driving OIS in a 1-pivot manner and a control method thereof can be provided.

[0027] The various and beneficial advantages and effects of the present invention are not limited to those described above and may be more easily understood in the process of explaining specific embodiments of the present invention.

[0028] FIG. 1 is a perspective view of a camera module according to an embodiment, and

[0029] FIG. 2 is an exploded perspective view of a camera module according to an embodiment, and

[0030] FIG. 3 is a cross-sectional view of a camera module cut along AA' in FIG. 1, and

[0031] FIG. 4 is a perspective view of a first camera actuator according to an embodiment, and

[0032] FIG. 5 is a cross-sectional view of the first camera actuator cut at BB' in FIG. 4, and

[0033] FIG. 6 is a cross-sectional view of the first camera actuator cut along CC' in FIG. 4, and

[0034] FIGS. 7 to 9 are drawings for explaining a control method of a camera module according to an embodiment, and

[0035] FIG. 10 is a flowchart of a control method for a camera module according to an embodiment, and

[0036] FIGS. 11 to 13 are drawings for explaining a control method of a camera module according to another embodiment, and

[0037] FIG. 14 is a perspective view of a mobile terminal with a camera module applied according to an embodiment, and

[0038] FIG. 15 is a perspective view of a vehicle with a camera module applied according to an embodiment.

[0039] Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the attached drawings.

[0040] However, the technical concept of the present invention is not limited to some of the described embodiments but can be implemented in various different forms, and within the scope of the technical concept of the present invention, one or more of the components among the embodiments may be selectively combined or substituted.

[0041] In addition, terms used in the embodiments of the present invention (including technical and scientific terms) may be interpreted in a sense that is generally understood by those skilled in the art to which the present invention belongs, unless explicitly and specifically defined otherwise. Terms that are commonly used, such as terms defined in advance, may be interpreted in consideration of their meaning in the context of the relevant technology.

[0042] Furthermore, the terms used in the embodiments of the present invention are for the purpose of describing the embodiments and are not intended to limit the present invention.

[0043] In this specification, the singular form may include the plural form unless specifically stated otherwise in the text, and when described as "at least one of A and B and C (or more than one)," it may include one or more of all combinations that can be formed from A, B, and C.

[0044] In addition, terms such as first, second, A, B, (a), (b), etc. may be used when describing the components of the embodiments of the present invention.

[0045] These terms are intended merely to distinguish a component from other components and are not limited by the essence, order, sequence, etc. of the component.

[0046] And, where it is stated that a component is 'connected', 'combined', or 'joined' to another component, this may include not only cases where the component is directly connected, combined, or joined to the other component, but also cases where it is 'connected', 'combined', or 'joined' due to another component located between the component and the other component.

[0047] Furthermore, when described as being formed or placed "above or below" each component, "above" or "below" includes not only cases where two components are in direct contact with each other, but also cases where one or more other components are formed or placed between the two components. Additionally, when expressed as "above or below," it may include the meaning of a downward direction as well as an upward direction relative to a single component.

[0048] FIG. 1 is a perspective view of a camera module according to an embodiment, FIG. 2 is an exploded perspective view of a camera module according to an embodiment, and FIG. 3 is a cross-sectional view of a camera module cut at AA' in FIG. 1.

[0049] Referring to FIGS. 1 and 2, a camera module (1000) according to an embodiment may consist of a cover (CV), a first camera actuator (1100), a second camera actuator (1200), and a circuit board (1300). Here, the first camera actuator (1100) may be used as the first actuator, and the second camera actuator (1200) may be used as the second actuator.

[0050] The cover (CV) can cover the first camera actuator (1100) and the second camera actuator (1200). The coupling force between the first camera actuator (1100) and the second camera actuator (1200) can be improved by the cover (CV).

[0051] Furthermore, the cover (CV) may be made of a material that performs electromagnetic shielding. Accordingly, the first camera actuator (1100) and the second camera actuator (1200) inside the cover (CV) can be easily protected.

[0052] And the first camera actuator (1100) may be an OIS (Optical Image Stabilizer) actuator. For example, the first camera actuator (1100) may move an optical member in a direction perpendicular to the optical axis.

[0053] The first camera actuator (1100) may include a fixed focal length lens disposed in a predetermined barrel (not shown). The fixed focal length lens may also be referred to as a “single focal length lens” or a “single lens.”

[0054] The first camera actuator (1100) can change the path of light. In an embodiment, the first camera actuator (1100) can change the path of light vertically through an internal optical element (e.g., a prism or a mirror). With this configuration, even if the thickness of the mobile terminal is reduced, a lens configuration larger than the thickness of the mobile terminal can be placed within the mobile terminal through the change of the path of light so that magnification, autofocus (AF), and OIS functions can be performed.

[0055] However, it is not limited to this, and the first camera actuator (1100) can change the light path multiple times vertically or at a predetermined angle.

[0056] The second camera actuator (1200) may be positioned at the rear end of the first camera actuator (1100). The second camera actuator (1200) may be coupled with the first camera actuator (1100). And the coupling between them may be achieved in various ways.

[0057] Additionally, the second camera actuator (1200) may be a zoom actuator or an AF (Auto Focus) actuator. For example, the second camera actuator (1200) may support one or more lenses and move the lenses according to a control signal from a predetermined control unit to perform an auto-focusing function or a zoom function. Also, one or more lenses may move independently or individually along the optical axis direction to perform AF.

[0058] A circuit board (1300) may be positioned at the rear end of a second camera actuator (1200). The circuit board (1300) may be electrically connected to the second camera actuator (1200) and the first camera actuator (1100). Additionally, there may be multiple circuit boards (1300). The circuit board (1300) may include an image sensor (IS) and may be fixed inside a camera module (1000). Additionally, the circuit board (1300) may be electrically connected to another sensor module within the terminal or to a processor of the terminal. Through this, the aforementioned camera actuator and the camera module including it can transmit and receive various signals within the terminal. The circuit board (1300) may include a circuit board having a wiring pattern that can be electrically connected, such as a rigid printed circuit board (Rigid PCB), a flexible printed circuit board (Flexible PCB), or a rigid-flexible printed circuit board (Rigid Flexible PCB). However, it is not limited to these types.

[0059] The camera module according to the embodiment may consist of a single or multiple camera modules. For example, the multiple camera modules may include a first camera module and a second camera module.

[0060] And the first camera module may include a single or multiple actuators. For example, the first camera module may include a first camera actuator (1100) and a second camera actuator (1200).

[0061] The second camera module may be disposed in a predetermined housing (not shown) and may include an actuator (not shown) capable of driving a lens portion. The actuator may be a voice coil motor, a micro actuator, a silicon actuator, etc., and may be applied in various ways such as electrostatic, thermal, bimorphic, and electrostatic force methods, but is not limited thereto. In addition, in this specification, the camera actuator may be referred to as an actuator, etc. Furthermore, a camera module composed of a plurality of camera modules may be mounted in various electronic devices such as mobile terminals.

[0062] Referring to FIG. 3, the camera module according to the embodiment may include a first camera actuator (1100) that performs an OIS function and a second camera actuator (1200) that performs a zooming function and an AF function.

[0063] Light can be incident into a camera module or the first camera actuator through an opening region located on the upper surface of the first camera actuator (1100). That is, light is incident into the interior of the first camera actuator (1100) along the optical axis direction (e.g., Z-axis direction), and the optical path can be changed in a vertical direction (e.g., Y-axis direction) through an optical member. Then, light passes through the second camera actuator (1200) and can be incident on an image sensor (IS) located at one end of the second camera actuator (1200) (PATH).

[0064] In this specification, the bottom surface refers to one side in the first direction. The first direction is the Z-axis direction in the drawing and may be used interchangeably with the first axis direction, etc. The second direction is the X-axis direction in the drawing and may be used interchangeably with the second axis direction, etc. The second direction is a direction perpendicular to the first direction. Additionally, the third direction is the Y-axis direction in the drawing and may be used interchangeably with the third axis direction, etc. The third direction is a direction perpendicular to both the first direction and the second direction. Here, the first direction (Z-axis direction) corresponds to the optical axis direction, and the second direction (X-axis direction) and the third direction (Y-axis direction) are directions perpendicular to the optical axis and may be tilted by the first camera actuator. The first direction is a direction perpendicular to the surface of the prism where light is incident, and the second direction may be a direction parallel to the surface of the prism where light is emitted. The third direction may be a direction perpendicular to the surface of the prism where light is emitted. In addition, in the description of the first camera actuator (1100) below, the optical axis direction is the first direction (Z-axis direction), and the description below is based on this.

[0065] Additionally, in this specification, the inner side may be the direction toward the first camera actuator from the cover (CV), and the outer side may be the opposite direction of the inner side. That is, the first camera actuator and the second camera actuator may be located on the inner side of the cover (CV), and the cover (CV) may be located on the outer side of the first camera actuator or the second camera actuator. Additionally, in this specification, the inner side may be the direction toward the first or second camera actuator from the bracket or shield can to be described later, and the outer side may be the opposite direction of the inner side.

[0066] And by this configuration, the camera module according to the embodiment can improve the spatial limitations of the first camera actuator and the second camera actuator by changing the light path. That is, the camera module according to the embodiment can expand the light path while minimizing the thickness of the camera module in response to the change in the light path. Furthermore, it should be understood that the second camera actuator can provide a high range of magnification by controlling focus, etc., in the expanded light path.

[0067] In addition, the camera module according to the embodiment can implement OIS by controlling the optical path through the first camera actuator, thereby minimizing the occurrence of decent or tilt phenomena and producing optimal optical characteristics.

[0068] Furthermore, the second camera actuator (1200) may include an optical system and a lens driving unit. For example, at least one of a first lens assembly, a second lens assembly, a third lens assembly, and a guide pin may be disposed in the second camera actuator (1200). Additionally, the second camera actuator (1200) may be equipped with a coil and a magnet to perform a high-magnification zooming function.

[0069] For example, the first lens assembly and the second lens assembly may be moving lenses that move via coils, magnets, and guide pins, and the third lens assembly may be a fixed lens, but is not limited thereto. For example, the third lens assembly may perform the function of a focuser that forms an image of light at a specific location, and the first lens assembly may perform the function of a variationator that re-forms the image formed by the third lens assembly (focuser) at a different location. Meanwhile, the first lens assembly may be in a state where the magnification changes significantly due to a large change in the distance to the subject or the image distance, and the first lens assembly (variator) may play an important role in the change of focal length or magnification of the optical system. On the other hand, the image formed by the first lens assembly (variator) may differ slightly depending on the location. Accordingly, the second lens assembly may perform a position compensation function for the image formed by the variationator. For example, the second lens assembly can perform the function of a compensator that accurately forms the image formed by the first lens assembly (which acts as a transducer) at the actual image sensor location. For example, the first lens assembly and the second lens assembly can be driven by electromagnetic force resulting from the interaction between a coil and a magnet. The above description may be applied to the lens assembly described below. Furthermore, the first to third lens assemblies can move along the optical axis direction, that is, the third direction. Additionally, the first to third lens assemblies can move in the third direction independently or dependently of each other.

[0070] Meanwhile, according to an embodiment of the present invention, when an actuator for OIS and an actuator for AF or Zoom are arranged, magnetic field interference with the magnet for AF or Zoom can be prevented during OIS operation. Since the first driving magnet of the first camera actuator (1100) is arranged separately from the second camera actuator (1200), magnetic field interference between the first camera actuator (1100) and the second camera actuator (1200) can be prevented. In this specification, OIS may be used interchangeably with terms such as hand shake correction, optical image stabilization, optical image correction, and shake correction.

[0071] FIG. 4 is a perspective view of a first camera actuator according to an embodiment, FIG. 5 is a cross-sectional view of the first camera actuator cut along BB' in FIG. 4, and FIG. 6 is a cross-sectional view of the first camera actuator cut along CC' in FIG. 4.

[0072] Referring to FIGS. 4 to 6, the first camera actuator (1100) may include a first housing (1110), a sub-housing (1120), a first lens module (1130), a mover (1140), a substrate part (1150), and a magnet part (1160).

[0073] The first housing (1110) may form the outer wall of the first camera actuator (1100). A sub-housing (1120), a mover (1140), and a magnet part (1160) may be disposed inside the first housing (1110). A substrate part (1150) may be disposed outside the first housing (1110). The first housing (1110) may include a shape in which the outer side is partially open to allow light to be incident or emitted.

[0074] A sub-housing (1120) may be disposed on a first housing (1110). The sub-housing (1120) may be coupled with the first housing (1110). The sub-housing (1120) may be disposed on one side of the first housing (1110). The sub-housing (1120) may come into contact with a mover (1140). A fourth magnet (1164) for securing the mover (1140) may be disposed on the sub-housing (1120). The sub-housing (1120) may include a ball seating portion (1121) on which a projection (1141) of the mover (1140) is disposed. The ball seating portion (1121) may include at least one inclined surface. The inclined surface of the ball seating portion (1121) may come into contact with the projection (1141).

[0075] The first lens module (1130) may be placed on the outside of the first housing (1110). The first lens module (1130) may be placed on the mover (1140). Light may enter the interior of the first camera actuator (1100) through the first lens module (1130). The first lens module (1130) may include at least one lens. The optical axis direction of the lens of the first lens module (1130) may be formed in the first direction. Light may pass through the first lens module (1130) and enter the first prism (1142). The optical axis of at least one lens of the first lens module (1130) may pass through the center (1141a) of the hemisphere of the projection (1141). That is, the optical axis of at least one lens of the first lens module (1130) may overlap with the first axis (11).

[0076] A first prism (1142) may be placed in the mover (1140). The mover (1140) may rotate around a first axis (l1), a second axis (l2), or a third axis (l3) by contacting the sub-housing (1120). The mover (1140) may perform tilting of the first prism (1142) by rotating around the first axis (l1), the second axis (l2), or the third axis (l3). The mover (1140) may be placed inside the first housing (1110). The mover (1140) may be coupled with the first lens module (1130). The mover (1140) may include a receiving space in which the first prism (1142) is placed. The first to third magnets (1161, 1162, 1163) may be placed in the mover (1140).

[0077] The mover (1140) may include a projection (1141). The projection (1141) may be placed on the ball seating portion (1121) of the sub-housing (1120). The projection (1141) may form the center of the rotation axis of the mover (1140). The center of the hemisphere (1141a) of the projection (1141) may overlap with the intersection of the first axis (l1), the second axis (l2), and the third axis (l3). That is, the first axis (l1), the second axis (l2), and the third axis (l3) may all pass through the center of the hemisphere (1141a) of the projection (1141). The center of the hemisphere (1141a) of the projection (1141) may become the center of rotation of the mover (1140). Additionally, the center (1141a) of the hemisphere of the projection (1141) may overlap with the center of the reflective surface (1142b) of the prism (1142).

[0078] The mover (1140) may include a first member (1140a). The first member (1140a) may be coupled to the mover (1140). A fifth magnet (1165) may be disposed on the first member (1140a). The mover (1140) may be fixed to the sub-housing (1120) through the fifth magnet (1165) disposed on the first member (1140a) and the fourth magnet (1164) disposed on the sub-housing (1120).

[0079] The mover (1140) may include a first prism (1142). The first prism (1142) may reflect light. The first prism (1142) may reflect light incident from the outside and emit it. The first prism (1142) may include an incident surface (1142a) where light is incident, a reflective surface (1142b) that reflects light, and an exit surface (1142c) where light is emitted. The incident surface (1142a) of the first prism (1142) may be positioned perpendicular to the first direction. The exit surface (1142c) of the first prism (1142) may be positioned perpendicular to the third direction. The center of the reflective surface (1142b) of the first prism (1142) may overlap with the optical axis of the first prism (1142) and the optical axis of the reflected light of the first prism (1142). Additionally, the center of the reflective surface (1142b) of the first prism (1142) may overlap with the intersection of the first axis (l1), the second axis (l2), and the third axis (l3).

[0080] The substrate portion (1150) can supply power required for driving the first camera actuator (1100). The substrate portion (1150) may be placed on the outside of the first housing (1110). The substrate portion (1150) may include a coil portion (C1, C2, C3), a Hall sensor, and a driver IC. The coil portion may include a first coil (C1), a second coil (C2), and a third coil (C3). The first to third coils (C1, C2, C3) can each apply electromagnetic force to the first to third magnets (1161, 1162, 1163) to perform OIS driving.

[0081] The magnet part (1160) can tilt the mover (1140) through interaction with the first to third coils (C1, C2, C3). Additionally, the magnet part (1160) can fix the mover (1140). The magnet part (1160) may include at least one magnet and at least one magnet yoke. The magnet part (1160) may include a driving magnet and a fixed magnet. The magnet part (1160) may include first to fifth magnets (1161, 1162, 1163, 1164, 1165). The first to third magnets (1161, 1162, 1163) may be driving magnets. The first to third magnets (1161, 1162, 1163) may be placed on the mover (1140). The fourth magnet (1164) and the fifth magnet (1165) may be fixed magnets. The fourth magnet (1164) and the fifth magnet (1165) may fix the mover (1140) through interaction with each other. The fourth magnet (1164) may be placed in the sub-housing (1120), and the fifth magnet (1165) may be placed in the first member (1140a).

[0082] The coil portions (C1, C2, C3) and the Hall sensor and magnet portions (1160) of the substrate portion (1150) may correspond to a driving portion that drives the mover (1140) of the first camera actuator (1100). Additionally, the driver IC of the substrate portion (1150) may correspond to a control portion that controls the driving portion. The driver IC may include a memory for storing data. For example, the memory of the driver IC may store rotation angle data of the first prism (1142) measured by the Hall sensor, correction data based on third-order fitting compensation, and correction data based on first-order fitting compensation.

[0083] FIGS. 7 to 9 are drawings for explaining a control method of a camera module according to an embodiment.

[0084] Referring to FIGS. 4 to 9, the first camera actuator (1100) of the camera module can perform OIS driving through a control unit and a sensor.

[0085] The camera module may include a gyro sensor and a Hall sensor.

[0086] First, the gyro sensor can measure the angular velocity of the camera module in real time, which is caused by external factors such as user hand tremors or vehicle vibrations. The gyro sensor may be placed on the inside or outside of the first camera actuator. For example, the gyro sensor may be placed on the circuit board of the camera module or on a separate board other than the circuit board. Additionally, the gyro sensor may be placed at a different location within the terminal other than the camera module. The measured angular velocity information is transmitted to the control unit and used as basic data for correcting image shake. The control unit analyzes the hand tremors input from the gyro sensor to calculate the angle at which the first prism (1142) should be tilted, and transmits the corresponding correction command to the driving unit of the first camera actuator. The gyro sensor may be placed on the outside of the first camera actuator. In this way, the gyro sensor acts as a pre-input that quickly detects external movements, enabling the OIS system to perform correction operations without delay. Specifically, the gyroscope sensor can measure the angular velocity per second of the camera module. The gyroscope sensor can calculate the actual rotation angle through the angular velocity per second of the camera module.

[0087] A Hall sensor is provided inside the first camera actuator to detect the tilt position of the first prism (1142). The Hall sensor may be placed on the substrate portion (1150) of the first camera actuator. The Hall sensor is placed inside the first camera actuator together with a magnet portion (1160), and the position of the magnet portion (1160) changes as the first prism (1142) tilts. By detecting this change in magnetic flux and converting it into an electrical signal, the Hall sensor can precisely calculate the current tilt angle of the first prism (1142). Through this, the control unit checks in real time whether the prism has accurately reached the target position, and if a difference occurs between the target value and the actual value, it corrects the driving signal to reduce the error. In other words, the Hall sensor is a key feedback sensor that enables closed-loop control of the actuator and provides high-resolution position detection capabilities capable of detecting even minute changes in angle.

[0088] The control unit may include an interface unit, a computation unit, a conversion unit, and a drive control unit. The interface unit can receive angular velocity data of the camera module from the gyroscope sensor. That is, the interface unit can receive control commands necessary for the operation of the control unit. The computation unit can perform a correction operation using the angular velocity information provided by the gyroscope sensor and the actual rotation angle information of the first prism (1142) detected by the Hall sensor. The computation unit can calculate the error between the target rotation angle and the actual rotation angle and apply a control algorithm to minimize this error. In particular, a correction algorithm to correct non-linear characteristics occurring in the prism tilting method can be performed, thereby allowing pixel movement on the image sensor (IS) to appear linearly. The conversion unit processes the output signal of the Hall sensor to enable the computation unit to use it stably. The Hall sensor detects the actual tilt of the first prism (1142), and the conversion unit can convert this analog signal into digital data and perform noise removal and temperature correction if necessary. Through this, the conversion unit secures accurate position information in real time, enabling precise closed-loop control.

[0089] FIG. 7 shows the tilting of the mover (1140) and the first prism (1142) being controlled by the control unit, FIG. 8 shows a graph to explain the relationship between the tilting angle of the first prism (1142) and the distance traveled by the center of the optical axis on the image sensor, and FIG. 9 shows that the tilting angle of the first prism (1142) and the distance traveled by the center of the optical axis on the image sensor are non-linear.

[0090] The control unit can adjust the optical axis by tilting the mover (1140) and the first prism (1142) with respect to the rotation axis. For example, if hand shaking occurs in the hand holding the camera module, the gyro sensor can detect such shaking, and the calculation unit of the control unit can calculate the control amount of the mover (1140) and the first prism (1142) according to the degree of shaking detected and correct it in the opposite direction of the shaking. The control unit can control the drive unit based on the rotation angle of the first prism (1142) detected through the Hall sensor.

[0091] The control unit can change the angle of the optical axis of the mover (1140) and the first prism (1142) placed on the mover (1140) by rotating the mover (1140). The control unit can rotate the first prism (1142) by a certain angle. The control unit can rotate the first prism (1142) by a certain angle around a first direction, a second direction, or a third direction. The control unit can rotate the first prism (1142) by a first angle (θ). For example, referring to FIG. 7, the control unit can rotate the first prism (1142) by a first angle (θ) around the second direction. If the Hall sensor senses that the first prism (1142) is misaligned by a first angle (θ) around the second direction, the control unit can correct hand tremor by controlling the first prism (1142) to rotate by a first angle (θ) in the opposite direction.

[0092] At this time, when the control unit rotates the first prism (1142) by a first angle (θ), the distance the center of the optical axis moves on the image sensor (IS) becomes tan(θ). Additionally, when the control unit rotates the first prism (1142) by a second angle (2θ), the distance the center of the optical axis moves on the image sensor (IS) becomes tan(2θ). Therefore, in a conventional camera module, even if the control unit controls the rotation angle of the first prism (1142) linearly (e.g., from the first angle (θ) to the second angle (2θ)), the movement of the image formed on the image sensor (IS) due to the rotation of the first prism (1142) appears non-linear (e.g., from tan(θ) to tan(2θ)). That is, the difference between the first angle (θ) and the second angle (2θ) is not linearly proportional to the difference between tan(θ) and tan(2θ). FIG. 8 is a graph to explain that the displacement of an image according to the rotation of the first prism is nonlinear, and FIG. 9 is a diagram showing that the displacement of an image formed on an image sensor is nonlinear. Referring to FIG. 8 and FIG. 9, as the rotation angle of the first prism increases from 0 to θ, the displacement of the image formed on the image sensor can increase from 0 to tanθ. Since tanθ is not proportional to θ, the displacement of the image formed on the image sensor increases nonlinearly.

[0093] The control unit can control the actuator according to a unit code. The control unit can calculate the unit code using angular velocity information input from the gyroscope sensor. The unit code may refer to the minimum unit of a control signal generated by the control unit to control the actuator's actuator. The unit code can produce a minimum increment corresponding to actuator driving, such as, for example, the unit of a digital control command or the reference voltage unit of an analog control signal. The control unit can convert a hand shake correction command input from an external processor into a unit code unit according to internal control logic and apply a current or voltage corresponding to the unit code to the actuator. At this time, linearity of the hand shake correction function can be ensured by controlling the movement of the same pixel position on the image sensor when the same unit code is input.

[0094] That is, the unit code is a control variable that is directly mapped to the physical amount of movement of the driving unit, and its actual driving output value can be converted according to the correction algorithm of the control unit (e.g., third-order fitting correction or first-order correction). Therefore, the unit code can serve as a reference input signal for driving the actuator and as a mediating element that connects the corrected output signal with the amount of pixel movement on the image sensor.

[0095] The control unit of the first camera actuator (1100) according to the embodiment can control the driving unit by applying third-order fitting compensation. The control unit can non-linearly control the rotation of the first prism (1142) of the first camera actuator (1100) by applying third-order fitting compensation.

[0096] Accordingly, the control unit can measure and convert the relationship between the rotation angle of the first prism (1142) and the distance traveled by the center of the optical axis on the image sensor (IS) into data, and can generate a third-order polynomial model as an approximation for the data. Using the third-order polynomial model, the control unit can output a driving signal applied to the actuator driving unit by converting it non-linearly, even if the control command is received linearly. For example, the control unit can control the pixel movement distance on the image sensor (IS) so that it appears linearly by adjusting the difference between the driving signal corresponding to the first angle (θ) and the driving signal corresponding to the second angle (2θ) to a value converted according to the third-order polynomial, rather than simply expanding it linearly. That is, the position change of image information on the image sensor (IS) can be linearly proportional to the angle at which the driving unit rotates the mover (1140) and the first prism (1142). The correction value based on the third-order fitting can be stored in the memory of the driver IC. For example, the correction value based on third-order fitting compensation can be stored in the non-volatile memory of the driver IC or the MCU.

[0097] That is, the control unit can linearize the relationship between the amount of rotation of the first prism (1142) and the amount of image movement on the image sensor (IS) by controlling the drive unit by correcting the non-linear characteristics measured at the actuator unit stage with a third-order fitting curve. Through this third-order fitting compensation control, the same pixel position of the image sensor (IS) moves for every identical control code input, thereby improving image distortion or non-uniform correction phenomena and enabling a more precise optical image stabilization function.

[0098] The control unit of the first camera actuator (1100) according to the embodiment can correct the positional error of the image information by applying first-order fitting compensation. Due to tolerances or alignment deviations that occur during the process of assembling the first camera actuator (1100) into the camera module, even if third-order fitting compensation is applied at the unit stage, a minute error may remain based on the actual image sensor (IS). Accordingly, the control unit may additionally perform a correction process at the module stage. In the state after the camera module assembly, the control unit may re-measure the error data based on the amount of optical axis center displacement on the image sensor (IS), and apply additional linearity correction by approximating the error data with a first-order function. The correction value based on third-order fitting can be stored in the memory of the driver IC. For example, the correction value based on third-order fitting compensation can be stored in the non-volatile memory of the driver IC or the MCU.

[0099] Therefore, the third-order fitting correction value is a value derived to correct structural nonlinearity occurring at the individual component stage of the camera actuator, and the first-order fitting correction value is a value additionally derived to correct residual error in the environment after the assembly of the camera module; since the two correction values ​​differ in their generation time and correction target, they can be stored and applied separately.

[0100] That is, the control unit can form a dual correction structure by correcting nonlinearity through third-order fitting compensation at the unit stage and adding first-order correction at the module stage. Through this, the control unit can control the same pixel on the image sensor (IS) to move linearly in response to the same control code input whenever the actuator is driven. As a result, residual nonlinearity that may occur during the image shake correction process is minimized, and more stable and consistent optical image stabilization performance can be achieved.

[0101] Accordingly, the camera actuator according to the present invention can effectively correct the nonlinear characteristics that inevitably occur in the prism tilting method through third-order fitting compensation and first-order correction at the module stage. As a result, the same pixel on the image sensor moves linearly for the same control code input, thereby greatly improving the linearity of the hand shake correction function.

[0102] In addition, by performing third-order fitting correction prior to the individual part stage, non-linear errors caused by prism rotation can be fundamentally reduced, and by additionally performing first-order correction at the module stage, residual errors that may occur due to assembly deviations or environmental changes can be minimized. Therefore, the present invention provides a high-precision image stabilization function, which has the advantage of securing stable and clear images even in various hand shake situations that occur in the shooting environment.

[0103] Furthermore, the correction algorithm according to the present invention can be implemented in software and applied without hardware changes, and can be easily extended through the firmware or driver IC of the actuator control unit. As a result, characteristic deviations of individual actuators occurring during the production process can be efficiently corrected, and additional effects of improving the yield of the module manufacturing process can be provided.

[0104] FIG. 10 is a flowchart of a control method for a camera module according to an embodiment.

[0105] Referring to FIG. 10, a control method (S1000) of a camera module according to an embodiment may include a step of detecting hand shake (S1100), a step of calculating a rotation angle (S1200), a step of applying a third-order fitting compensation (S1300), a step of applying a first-order fitting compensation (S1400), and a step of rotating a prism (S1500).

[0106] The step of detecting hand shake (S1100) is a process of detecting hand movements or external vibrations of a user using a camera module. For example, a gyroscope sensor can generate angular motion information corresponding to hand shake by measuring changes in the angular velocity of the camera module. The hand shake data obtained from the gyroscope sensor is transmitted to a control unit and used as basic data for correction operations in subsequent steps.

[0107] The step of calculating the rotation angle (S1200) is a process of determining, based on the detected hand tremor data, by how much the first prism must rotate to compensate for the hand tremor. The control unit can calculate the hand tremor angle by integrating the angular velocity data input from the gyroscope sensor, or calculate the target rotation angle of the prism through a preset correction algorithm. The target rotation angle calculated at this time is used as a reference value for the subsequent step of applying the correction algorithm.

[0108] The step of applying third-order fitting compensation (S1300) is a process for correcting non-linear characteristics occurring in the prism tilting method. The control unit generates a third-order polynomial approximation model based on the relationship between the control code value measured at the individual part stage and the amount of pixel movement on the image sensor, and converts the control signal to be applied to the driving unit using the model. As a result, when the actuator is driven, the actual amount of rotation of the prism is controlled non-linearly, but the pixel movement on the image sensor appears linearly.

[0109] The step of applying first-order fitting compensation (S1400) is a process of correcting residual nonlinearity caused by tolerances or alignment errors that may occur during the module assembly process. The control unit minimizes residual error by performing simple first-order function correction based on error data measured at the module level based on the image sensor. This step further enhances the linearity of pixel movement by removing minute deviations that are not resolved by third-order fitting compensation.

[0110] The step of rotating the prism (S1500) is a process of actually tilting the prism by applying the previously corrected control signal to the driving unit. The driving unit rotates the prism according to the current or voltage input from the control unit. As a result, the optical axis on the image sensor moves in the opposite direction to the hand shake, thereby correcting the image shake.

[0111] FIGS. 11 to 13 are drawings for explaining a control method of a camera module according to another embodiment.

[0112] FIG. 11 is a diagram showing the position of an image formed on an image sensor being corrected according to a control method of a camera module according to an embodiment.

[0113] Referring to FIGS. 4 through 6 and FIG. 11, the position of an image formed on an image sensor (IS) can be corrected according to the control method of the camera module according to the embodiment. For example, the control unit can adjust the position of the image in a first direction or a second direction according to hand tremor. The control unit can adjust the position of the image by rotating the first prism (1142) around the first axis (l1) or the second axis (l2). At this time, the image formed on the image sensor (IS) can move in the X-axis direction or the Z-axis direction. For example, when the first prism (1142) rotates around the first axis (l1), the image can move in the X-axis direction, and when the first prism (1142) rotates around the second axis (l2), the image can move in the Z-axis direction.

[0114] The first camera actuator (1100) of the prism tilting type can be controlled to rotate independently around the first axis (11) and the second axis (l2), but in actual operation, a crosstalk phenomenon (see FIG. 11a) may occur in which driving of one axis causes a minute change in the other axis. For example, if the control unit applies a driving signal around the first axis (l1) to induce movement in the second direction, the position of the image may change unintentionally in the first direction as well. Conversely, even if a driving signal is applied around the second axis to induce movement in the first direction, a minute movement may occur in the second direction.

[0115] The control unit of the first camera actuator (1100) according to the embodiment can detect the amount of displacement in the second axis direction when rotating in the first axis direction and the amount of displacement in the first axis direction when rotating in the second axis direction, respectively, and correct the mutual interference components.

[0116] The camera module can measure mutual influence during each axis drive and calculate a correction value. Specifically, the Hall sensor applies a first axis (l1) drive signal while simultaneously measuring the amount of displacement (rotation angle) in the direction of the second axis (l2). At this time, the measured amount of displacement in the second axis (l2) is considered as an interference component due to the drive of the first axis (l1). Similarly, the Hall sensor applies a second axis (l2) drive signal while measuring the amount of displacement in the direction of the first axis (l1), and the control unit can calculate the interference component of the first axis (l1) due to the drive of the second axis (l2). The control unit can calculate the magnitude of the angle of rotation around the second axis (l2) relative to the angle of rotation around the first axis (l1) and apply a correction value for the rotation around the second axis (l2). In addition, the control unit can calculate the magnitude of the angle of rotation around the first axis (l1) for the angle of rotation around the second axis (l2) and apply a correction value for the rotation around the first axis (l1).

[0117] The mutual interference components measured in this way are stored as a correction table or correction coefficient, and subsequently, during actual control, unintended image movement can be minimized by simultaneously applying the second axis (l2) correction signal to the first axis (l1) driving signal or simultaneously applying the first axis (l1) correction signal to the second axis (l2) driving signal. Therefore, through crosstalk calibration, the same effect as the driving of the two axes being mutually independent can be obtained, and as a result, movement on the image sensor can be controlled more precisely.

[0118] The first prism (1142) of the first camera actuator (1100) according to the embodiment can rotate around a first axis (l1), a second axis (l2), and a third axis (l3). When the first prism (1142) rotates around the first axis (l1), the image formed on the image sensor can move in the X-axis direction. When the first prism (1142) rotates around the second axis (l2), the image formed on the image sensor can move in the Z-axis direction. Additionally, when the first prism (1142) rotates around the third axis (l3), the image formed on the image sensor can rotate around the third direction (Y-axis direction). Accordingly, the control method of the camera module according to the embodiment can correct the image formed on the image sensor for three components.

[0119] The control unit of the first camera actuator (1100) according to the embodiment can generate a correction signal for the third axis direction rotation based on the amount of displacement in the third axis direction during the first axis direction rotation and the amount of displacement in the third axis direction during the second axis direction rotation.

[0120] FIG. 12 is a diagram illustrating a method for correcting the position of an image formed on an image sensor according to a control method of a camera module according to an embodiment, and FIG. 13 shows the rotation of an image formed on an image sensor of a camera module according to an embodiment in the direction of a third axis.

[0121] Referring to FIGS. 4 through 6, FIGS. 11, and FIGS. 12, the camera module can move the mover (1140) to the midpoint of each quadrant based on the operating range of the first camera actuator (1100), and then calculate the roll sensitivity for the roll component at that position. The roll sensitivity may refer to the rate of change of the roll angle relative to the change in the X / Y control code. For example, if the driving range of the first camera actuator (1100) is set from -1000 to +1000 Hall code, the control unit can position the mover (1140) to the midpoint of the quadrants such as (500,500), (-500,500), (-500,-500), and (500,-500).

[0122] The control unit can calculate the sensitivity of the relationship between the amount of displacement in the direction of the third axis measured at each point and the amount of change in the control code in the direction of the first axis or the second axis, and determine the compensation code based on the sensitivity. The control unit can calculate the sensitivity of the roll component for the first axis (l1) drive by changing the control code in the direction of the first axis (l1) by a predetermined amount at each point and measuring the change in the roll angle (third axis center rotation angle) of the image on the image sensor (IS) accordingly. Additionally, the control unit can calculate the sensitivity of the roll component for the second axis (l2) drive by changing the control code in the direction of the second axis (l2) at the same point and measuring the change in the roll angle accordingly.

[0123] The roll sensitivity calculated at the representative point of each quadrant in this manner can be utilized as reference data during the process in which the control unit corrects the roll component in real time. That is, when a roll component is detected at a specific point, the control unit can effectively suppress the roll component by referring to the sensitivity value calculated in advance at that point and simultaneously correcting the first and second axis control codes. Therefore, the camera module according to the present embodiment has the effect of securing roll suppression performance across the entire control area with an efficient amount of computation.

[0124] The control unit of the first camera actuator (1100) according to the embodiment moves the mover (1140) to a plurality of points of a predetermined pattern along a driving range to detect the amount of third axis displacement (roll angle) occurring at each point, and can calculate a compensation code based on the amount of third axis displacement.

[0125] Referring to FIG. 12, the camera module according to the embodiment can measure the roll angle at each point by sequentially moving the mover (1140) to a plurality of points along a predetermined pattern to cover the effective driving area of ​​the first camera actuator (1100) after calculating the roll sensitivity at the midpoint of the quadrant. The predetermined pattern may be a spiral pattern. A spiral pattern may refer to a point sequence based on a polar coordinate spiral path. Specifically, the control unit may set the center of the driving area as the origin and generate a movement path to hundreds of points according to a predefined angle increment and radius increment based on a spiral path in polar coordinates. After moving the mover (1140) to each point, the control unit may calculate the roll angle at the corresponding point by extracting the rotation component on the image sensor (IS) during the sampling interval. The control unit may generate a roll map through the spiral scan, and the roll map is directly utilized in determining the compensation code and in the first and second correction procedures to efficiently suppress the roll component in the entire driving area. For example, referring to FIG. 12, the control unit can confirm that a roll component of about 0.01° is detected at the first point, a roll component of about 0.02° is detected at the second point, a roll component of about 0.012° is detected at the third point, and a roll component of about 0.013° is detected at the fourth point.

[0126] The control unit of the camera module according to the embodiment can determine a compensation code using a roll sensitivity value calculated at the midpoint of the quadrant. The compensation code may refer to a first axis or second axis direction correction control amount calculated by the control unit based on a detected error (e.g., roll angle). Specifically, the control unit may simultaneously adjust the control codes of the first axis (l1) and the second axis (l2) by referring to the roll sensitivity at a specific location to offset the roll angle measured at that location. For example, if a roll angle occurs at a specific location, the control unit may calculate a correction amount in the direction of the first axis (l1) and the second axis (l2) to minimize the roll angle, and the calculated correction amount may be determined linearly according to the roll sensitivity.

[0127] The compensation code calculated in this way is added to the original control code and transmitted to the driving unit, and as a result, the tilt of the first prism (1142) is finely adjusted so that the roll component on the image sensor (IS) can be suppressed. Accordingly, the control unit can effectively correct the roll component by generating a correction code that can be applied in real time.

[0128] The control unit can perform a first correction based on the sensitivity and the measured third axis displacement amount, and perform a second correction based on the remaining displacement amount after the correction.

[0129] Since residual roll components may occur in the camera module according to the embodiment even after applying a compensation code, the roll components can be measured by sweeping the driving area once again to verify this. The residual roll component may refer to the remaining roll angle measured after the first correction. Specifically, the control unit can calculate the residual roll angle by sequentially moving the mover (1140) along the path of the spiral pattern and measuring the amount of rotation of the image formed on the image sensor (IS) at each point.

[0130] In addition, if a residual roll component is measured, the control unit can perform additional correction by applying the same roll sensitivity calculated in the previous step to the residual roll component. Specifically, the control unit can use the residual roll angle measured at each point as an input value and recalculate the correction amount using the roll sensitivity calculated in advance.

[0131] The second correction amount calculated in this way is added to the existing control code and applied to the driving unit, thereby finely readjusting the inclination of the first prism (1142). Through this, the residual roll component remaining after the first correction is effectively offset, and unnecessary rotational components on the image sensor (IS) are minimized. The control unit can repeat this process and can terminate the correction when the residual roll component is reduced to below a preset threshold.

[0132] Since the camera module according to the embodiment performs compensation for roll components in real time, it can minimize unnecessary rotational components of the image that the user can perceive during the shooting process. That is, because the control unit can immediately cancel out rotational components on the image sensor caused by hand shake without delay, the end user can obtain the effect of maintaining the image stably without shaking. Therefore, the camera module of the present invention has the advantage of significantly improving user-perceived quality by combining the hardware characteristics of the driving unit and the correction algorithm of the control unit.

[0133] FIG. 14 is a perspective view of a mobile terminal with a camera module applied according to an embodiment.

[0134] Referring to FIG. 14, the mobile terminal of the embodiment may include a camera module (1000), a flash module (1510), and an autofocus device (1530) provided on the rear.

[0135] The camera module (1000) may include an image capturing function and an autofocus function. For example, the camera module (1000) may include an autofocus function using an image.

[0136] The camera module (1000) processes still image or video frame obtained by the image sensor in shooting mode or video call mode.

[0137] The processed image frame may be displayed on a designated display unit and stored in memory. A camera (not shown) may also be placed on the front of the mobile terminal body.

[0138] For example, the camera module (1000) may include a first camera module and a second camera module, and the first camera module may enable the implementation of AF or zoom functions along with OIS. Additionally, AF, zoom, and OIS functions may be performed by the second camera module. In this case, since the first camera module includes both the OIS actuator and the camera actuator described above, the camera module can be easily miniaturized by changing the light path.

[0139] The flash module (1510) may include a light-emitting element that emits light inside. The flash module (1510) may be operated by the operation of the camera of the mobile terminal or by the control of the user.

[0140] The autofocus device (1530) may include one of the packages of surface light-emitting laser elements as a light-emitting part.

[0141] The autofocus device (1530) may include an autofocus function using a laser. The autofocus device (1530) may be mainly used in conditions where the autofocus function using the image of the camera module (1000) is degraded, such as in a close distance of 10m or less or in a dark environment.

[0142] The autofocus device (1530) may include a light-emitting part comprising a vertical cavity surface-emitting laser (VCSEL) semiconductor device and a light-receiving part that converts light energy into electrical energy, such as a photodiode.

[0143] FIG. 15 is a perspective view of a vehicle with a camera module applied according to an embodiment.

[0144] For example, FIG. 15 is an exterior view of a vehicle equipped with a vehicle driving assistance device having a camera module applied according to an embodiment.

[0145] Referring to FIG. 15, the vehicle (700) of the embodiment may be equipped with wheels (13FL, 13FR) that rotate by a power source and a predetermined sensor. The sensor may be a camera sensor (3000), but is not limited thereto.

[0146] The camera sensor (3000) may be a camera sensor to which a camera module according to the embodiment is applied. The vehicle (700) of the embodiment can acquire image information through the camera sensor (3000) that captures a front image or a surrounding image, and can determine a situation where a lane is not identified using the image information and generate a virtual lane when it is not identified.

[0147] For example, a camera sensor (3000) captures the front of a vehicle (700) to obtain a front image, and a processor (not shown) can obtain image information by analyzing objects included in the front image.

[0148] For example, if objects such as a median strip, curb, or roadside tree corresponding to a lane, adjacent vehicle, driving obstruction, and indirect road marking are captured in an image captured by the camera sensor (3000), the processor can detect these objects and include them in the image information. At this time, the processor can obtain distance information with respect to the objects detected through the camera sensor (3000) to further supplement the image information.

[0149] The image information may be information about an object captured in the image. Such a camera sensor (3000) may include an image sensor and an image processing module.

[0150] The camera sensor (3000) can process still images or videos obtained by an image sensor (e.g., CMOS or CCD).

[0151] The image processing module can process still images or videos acquired through an image sensor to extract necessary information and transmit the extracted information to a processor.

[0152] At this time, the camera sensor (3000) may include a stereo camera to improve the measurement accuracy of the object and to obtain more information such as the distance between the vehicle (700) and the object, but is not limited thereto.

[0153] Although the invention has been described above with reference to embodiments, this is merely illustrative and does not limit the invention. Those skilled in the art will understand that various modifications and applications not exemplified above are possible within the scope of the essential characteristics of the embodiments. For example, each component specifically shown in the embodiments may be modified and implemented. Furthermore, differences related to such modifications and applications should be interpreted as being included within the scope of the invention as defined in the appended claims.

Claims

1. A first camera actuator that reflects incident light; A second camera actuator that passes light reflected from the first camera actuator; and It includes an image sensor that receives light passing through the second camera actuator, and The first camera actuator comprises a mover, a first prism disposed on the mover, a driving unit for driving the first prism, and a control unit for controlling the driving unit. The above control unit controls the above driving unit according to the unit code, and The above control unit is a camera module that controls the above driving unit by applying third-order fitting compensation.

2. In Paragraph 1, The above image sensor receives light and generates image information, and A camera module whose position of the above image information moves in proportion to the change in the above unit code.

3. In Paragraph 2, The above control unit is a camera module that corrects the positional error of the image information by applying a first-order fitting compensation.

4. In Paragraph 3, A camera module in which the position change of the above image information is linearly proportional to the angle at which the driving unit rotates the mover and the first prism.

5. In Paragraph 1, It further includes a Hall sensor that detects the rotation angle of the mover and the first prism, and The above control unit is a camera module that controls the driving unit based on the rotation angle of the first prism detected through the Hall sensor.

6. In Paragraph 5, It further includes a gyroscope sensor that detects the angular velocity of the above camera module, The above control unit is a camera module that calculates the unit code using angular velocity information input from the above gyroscope sensor.

7. A first camera actuator that reflects incident light; A second camera actuator that passes light reflected from the first camera actuator; and It includes an image sensor that receives light passing through the second camera actuator, and The first camera actuator comprises a mover, a first prism disposed on the mover, a driving unit for driving the first prism, and a control unit for controlling the driving unit. The mover and the first prism rotate around a first axis, a second axis perpendicular to the first axis, and a third axis perpendicular to the first axis and the second axis. The above control unit is a camera module that generates a correction signal for the third axis direction rotation based on the third axis direction displacement amount during the first axis direction rotation and the third axis direction displacement amount during the second axis direction rotation.

8. In Paragraph 7, The above control unit is a camera module that moves a mover to multiple points of a predetermined pattern along a driving range, detects a third axis displacement amount occurring at each point, and calculates a compensation code based on the third axis displacement amount.

9. In Paragraph 8, The above predetermined pattern is a camera module that is a spiral pattern.

10. In Paragraph 8, A camera module in which the control unit calculates the relationship between the amount of displacement in the third axis direction measured at each point and the amount of change in the control code in the first axis or the second axis direction as sensitivity, and determines the compensation code based on the sensitivity.

Images