CN111083347B - Lens drive control device, lens drive device and camera - Google Patents
Lens drive control device, lens drive device and camera Download PDFInfo
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- CN111083347B CN111083347B CN201811230183.0A CN201811230183A CN111083347B CN 111083347 B CN111083347 B CN 111083347B CN 201811230183 A CN201811230183 A CN 201811230183A CN 111083347 B CN111083347 B CN 111083347B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/66—Remote control of cameras or camera parts, e.g. by remote control devices
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/67—Focus control based on electronic image sensor signals
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Abstract
The invention discloses a lens driving control device, a lens driving device and a camera. The lens driving control device includes: a control unit (1); the device comprises a position detection unit (2) and a motor driver (3), wherein the motor driver (3) drives a voice coil motor (4) in transmission connection with a lens group (6) so as to adjust the position of the lens group (6); the position detection unit (2) detects the position of the lens group (6), and feeds the detected position of the lens group back to the control unit as a lens group detection position; the control unit (1) receives and analyzes an external instruction to determine a lens group target position; and controls the motor driver (3) according to the lens group target position and the lens group detection position.
Description
Technical Field
The present invention relates to the field of zoom cameras, and in particular, to a lens driving control device, a lens driving device, and a camera.
Background
A great development direction of video monitoring is high definition, so that the requirements on the control accuracy of the lens position, the back focus and the like are higher and higher. Under the original lower resolution, the influence brought by the zooming error may not be distinguished by the resolution of human eyes, and as the video resolution is developed to 4K and 8K, the resolution of an image is obviously reduced due to the small error in zooming control, so that the user experience is influenced. In addition, the automatic zooming product has been developed for many years, and the requirement of the user on the product experience is changed from zooming clearly to zooming clearly. Therefore, the development of high definition video requires an improvement in control accuracy to cooperate with the achievement of fast and accurate auto zoom.
In the prior art, the common main control scheme of zoom and focus cameras is an STM + lead screw type unit control scheme. In the STM + lead screw type unit, a stepping motor is adopted, threads are carved on the lead screw of the stepping motor, and the stepping motor can drive the focusing lens group to move back and forth along the guide rod when rotating. The technical scheme can better perform zooming and focusing, but has some problems. Problem 1: the stepping motor has a slow running speed and cannot keep up with the target object moving fast. Problem 2: the distance between the threads on the lead screw has errors, resulting in inaccurate positioning of the lens group. Problem 3: the stepper motor is prone to step out, resulting in virtual focus of the image.
It is therefore desirable to have a solution that overcomes or at least alleviates at least one of the above-mentioned drawbacks of the prior art.
Disclosure of Invention
It is an object of the present invention to provide a camera with a voice coil motor that overcomes or at least alleviates at least one of the above-mentioned disadvantages of the prior art.
To achieve the above object, the present invention provides a lens driving control device including: a control unit; a position detection unit and a motor driver,
the motor driver drives a voice coil motor which is in transmission connection with the lens group so as to adjust the position of the lens group;
the position detection unit detects the position of the lens group and feeds the detected position of the lens group back to the control unit as the detection position of the lens group;
the control unit receives and analyzes an external instruction to determine a lens group target position; and controlling the motor driver according to the lens group target position and the lens group detection position.
Preferably, the external instruction is an image field synchronization instruction, and the image field synchronization instruction corresponds to an image frame and includes a lens group target position corresponding to the image frame or information associated with the lens group target position.
Preferably, the position detection unit includes a photoelectric encoder or a magnetoelectric encoder, and the photoelectric encoder or the magnetoelectric encoder detects the position of the lens group, or the position of the voice coil motor, or the voice coil motor and the position and or displacement of the transmission member between the lens groups.
Preferably, the control unit is a single chip microcomputer, and a counter/timer provided in the control unit is used for counting waveforms generated by high-frequency pulse signals of the photoelectric encoder or the magnetoelectric encoder.
Preferably, the control unit reads the position of the lens group detected by the position detection unit and updates the current position of the lens group while controlling the motor driver.
Preferably, the control unit executes an out-of-frame correction procedure,
wherein the control unit corrects the calculated control amount after calculating the control amount (e.g., PWM duty) according to the lens group target position, and controls the motor driver based on the corrected control amount,
the correction amount is determined according to the difference between the detected position of the current lens group and the target position of the previous lens group.
Preferably, in the case where the motor single-step control time is not more than 1/2 of the image frame rate time, the intra-frame correction procedure is performed within the image frame rate time of the present frame.
Preferably, the intra correction procedure includes:
s41: judging whether the absolute value of the difference between the current target position and the current lens group detection position is smaller than a first set threshold value or not, and if so, ending; otherwise, executing S42;
s42: judging whether the remaining time of the current frame is less than a second set threshold value or not, and if so, ending; otherwise, executing S43;
s43: calculating a correction amount based on a difference between the current target position and the current lens group detection position, and adjusting a PWM duty ratio;
s44: and controlling the motor driver based on the adjusted PWM duty ratio, updating the current lens group detection position at the same time, and going to step S41.
Preferably, in the case where the current lens group target position is different from the previous lens group target position, the out-of-frame correction procedure and the in-frame correction procedure are not performed.
The present invention also provides a lens driving apparatus, including: a lens driving control device and a voice coil motor,
wherein the lens driving control device is the lens driving control device as described above, and the motor driver of the lens driving control device drives the voice coil motor.
The invention also provides a camera which is provided with a voice coil motor in transmission connection with the lens group and comprises the lens driving control device, wherein the motor driver of the lens driving control device drives the voice coil motor, and the voice coil motor adjusts the position of the lens group.
The lens driving control device controls the motor driver according to the target position of the lens group and the detection position of the lens group, so that the driving precision of the voice coil motor can be greatly improved, and the positioning precision of the lens group is finally improved, so that a better imaging effect is obtained.
Drawings
Fig. 1 is a schematic configuration diagram of a camera lens driving apparatus for driving a voice coil motor according to an embodiment of the present invention.
Fig. 2 is a field sync control flow chart.
Fig. 3 is a positioning or position detection flow diagram.
Fig. 4 is a schematic diagram of the entire drive control flow.
Fig. 5 is a schematic diagram of an intra correction flow.
Fig. 6 is a schematic diagram of an off-frame correction flow.
Reference numerals:
| 1 | |
4 | |
| 2 | Position detecting unit | 5 | |
| 3 | |
6 | Lens group |
Detailed Description
In the drawings, the same or similar reference numerals are used to denote the same or similar elements or elements having the same or similar functions. Embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
In the description of the present invention, the terms "central", "longitudinal", "lateral", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and therefore, should not be construed as limiting the scope of the present invention.
The working principle of the voice coil motor is as follows: placing an energized coil (conductor) in a magnetic field produces a force whose magnitude is proportional to the current or voltage applied to the coil. The motion form of the voice coil motor manufactured based on the principle can be a straight line or a circular arc. The inventors of the present application noted that: the voice coil motor has the excellent performances of high acceleration, high speed, quick response, smooth force characteristic and the like. Compared with a stepping motor, the stepping motor has higher response speed, does not need to run step by step, has the same step length of each step, and can move in place directly in one step. Therefore, if the voice coil motor is applied to the camera for adjusting the position of the lens group, the response speed of adjustment can be greatly improved, so that the response speed of devices for focusing, focusing and the like is improved, and finally the imaging performance is improved.
It should be noted that the lens group may further include a diaphragm in addition to the lens. Thus, the position of the lens group may include the position of the diaphragm, or even the aperture size of the diaphragm, in addition to the position of each lens. Of course, it is also possible to control only the position of the individual lenses, without controlling the position of the diaphragm or the aperture size.
Therefore, the embodiment of the invention provides a lens driving control device, which is used for performing good control on a voice coil motor for driving a camera lens group so as to adapt to the requirements of a camera.
Referring to fig. 1, a lens driving control apparatus according to an embodiment of the present invention includes a control unit 1; a position detection unit 2 and a motor driver 3. According to the requirement, the device also comprises peripheral auxiliary circuits such as a control command interface 5 and a power supply circuit, and also comprises a supporting and protecting structure such as a shell.
The motor driver 3 drives the voice coil motor 4 in transmission connection with the lens group 6 to adjust the position of the lens group 6. The voice coil motor 4 is in transmission connection with the lens group 6 and drives the lens group 6 to move. The motor driver 3 may be of any suitable size and form as long as it is capable of controlling the voice coil motor 4 by means of current, voltage, etc. For example, in one embodiment, the motor driver 3 controls the output of the voice coil motor by controlling the supply voltage control to the voice coil motor 4 in the form of PWM. In another embodiment, the motor driver 3 controls the output of the voice coil motor by controlling the magnitude of the current supplied to the voice coil motor 4.
For example, the motor driver 3 may adopt a motor driving chip to control the supply voltage or current of the voice coil motor 5 through the acquired control instruction. For example, a PWM voltage of a certain duty ratio and a certain number of pulses (PWM voltage period) are applied to the voice coil motor by the acquired control command. Thereby controlling the voice coil motor to move a set stroke (rotation angle).
The position detection unit 2 detects the position of the lens group 6, and feeds back the detected lens group position to the control unit 1 as a lens group detection position. In general, the lens group detection position is stored in a device having a storage function, such as a register or a memory provided in the control unit 1 itself, and may be stored in a storage device that is easily accessible by the control unit.
The position detection unit 2 is used to determine the actual position of the lens group 6 to be used as a feedback amount to improve the position control accuracy. More specifically, the difference between the target position and the actual position (measured position) is used as the feedback amount. It is understood that, since the voice coil motor 4 and the lens group 6 are in transmission connection, the position detection unit 2 can actually acquire the position of the output shaft of the voice coil motor 4, the positions of the lenses or lens groups in the lens group 6, or the positions of the transmission members therebetween. Specifically, the position detection method may be an optical encoding method (optical encoder, also referred to as photoelectric encoder), a magnetic encoding method (magnetic encoder, also referred to as magnetoelectric encoder), or may be any position or displacement sensing device or device as long as the position of the lens group 6 can be detected and fed back.
In an alternative embodiment, the position detecting unit 2 includes a photoelectric encoder or a magnetoelectric encoder, and the photoelectric encoder or the magnetoelectric encoder detects the position of the lens group 6, or the position of the voice coil motor 4, or the position and/or displacement of a transmission member between the voice coil motor 4 and the lens group 6.
The photoelectric encoder is a sensor for converting mechanical geometric displacement on an output shaft into pulse or digital quantity by photoelectric conversion, and is the most applied sensor. A typical photoelectric encoder is mainly composed of a grating disk and a photoelectric detection device. For example, since the photoelectric code disc is coaxial with the motor, when the motor rotates, the grating disc rotates at the same speed as the motor, and a plurality of pulse signals are detected and output by a detection device composed of electronic elements such as light emitting diodes. The current rotating speed of the motor can be reflected by calculating the number of pulses output by the photoelectric encoder per second. In addition, in order to judge the rotating direction, the code disc can also provide 2 channels of optical code output with 90-degree phase difference, and the motor steering is determined according to the state change of the two channels of optical code. Encoders can be classified into optical, magnetic, inductive, and capacitive types according to detection principles. The method can be divided into 3 types of increment type, absolute type and mixed type according to the calibration method and the signal output form.
The incremental encoder has the advantages of simple principle and structure, long average mechanical life (over ten thousand hours), high anti-interference capacity and reliability, and is suitable for long-distance transmission. The disadvantage is the inability to output absolute positional information of the shaft rotation.
An absolute encoder is a sensor that directly outputs a digital quantity. The absolute value of the angle coordinate can be directly read; no accumulated error; the position information is not lost after the power supply is cut off.
A hybrid absolute value encoder that outputs two sets of information: one group of information is used for detecting the magnetic pole position and has an absolute information function; the other group is identical to the output information of the incremental encoder.
The present invention preferably employs an absolute encoder or a hybrid absolute value encoder.
The control unit 1 receives and analyzes an external command. For obtaining or determining a lens group target position. Further, the control unit 1 controls the motor driver 3 according to the lens group target position and the lens group detection position. The control unit 1 may adopt any suitable circuit configuration. For example, the system can be a single chip microcomputer system or a microprocessor chip.
The control unit 1 receives an external instruction through the control instruction interface 5. The external command refers to a command from outside the entire camera lens driving apparatus. For example, the external instruction is an instruction from a camera main control chip. The control instruction interface 5 may be integrated within the control unit 1 or may be provided outside the control unit 1 as one of the peripheral circuits of the control unit 1.
The control unit 1 analyzes the external command to obtain a corresponding control voltage parameter and/or control current parameter, and outputs the control voltage parameter and/or control current parameter to the motor driver 3, or controls the motor driver 3 based on the control voltage parameter and/or control current parameter. It may be immediate that there is also usually a matching time parameter. For a voice coil motor, the time parameter is usually constant, i.e. the same time parameter (set voltage or set current hold time) is set for different movement distances to drive the magnet in the voice coil motor to the desired position.
For example, the control voltage parameter and/or the control current parameter correspond to different PWM duty cycles (being a value, which may be in the form of a percentage, for example), and the time parameter corresponds to a fixed time (for example, a few milliseconds). That is, the control unit 1 calculates the duty ratio of PWM and calls a preset time parameter. Thereby, the control unit 1 controls the motor driver 3.
In the case where the control unit 1 is a single chip microcomputer, a timer of the control unit 1 itself drives a motor driver. The motor driver 3 applies the PWM voltage of the duty ratio to the voice coil motor 4, and applies a set time parameter (i.e., a set number of PWM pulse periods or pulses).
The control unit 1 reads the position detection unit 2, for example, recognizes a signal of a magnetoelectric encoder or a photoelectric encoder. The waveform generated by the high-frequency pulse signal of the position detection unit 2 is counted by a counter/timer of the control unit 1 (for example, a single chip microcomputer) itself. To acquire the position detected by the position detecting unit 2.
The external control command refers to a control command from outside the controller. For example commands from the main board of the camera. Typically, there should be one control instruction for each frame image. The control instruction includes, for example, a target position of the lens group, or focal length information, aperture information, and the like corresponding to the target position.
Preferably, the external instruction is an image field synchronization instruction, and the image field synchronization instruction corresponds to an image frame and includes a lens group target position corresponding to the image frame or information associated with the lens group target position.
Preferably, the control unit 1 is a single chip microcomputer, and a counter/timer provided in the control unit is used for counting waveforms generated by high-frequency pulse signals of the photoelectric encoder or the magnetoelectric encoder.
Preferably, the control unit 1 reads the position of the lens group detected by the position detection unit 2 while controlling the motor driver 3, and updates the current position of the lens group stored in the control unit 1.
In order to improve the positioning accuracy, the lens drive control apparatus of the present invention performs position correction. The lens correction control flow has the following two cases: in the first case: and when the single-step motor control time is less than the image frame rate time, correcting the position of the correction lens group in the frame on the premise that the accumulated time does not exceed the frame rate time. In the second case: and when the single-step motor control time is more than or equal to the image frame rate time, correcting the position of the correction lens group in the next frame.
Frame rate in the present invention is a measure for measuring or expressing the number of Frames taken per unit time in units of Frames Per Second (FPS) or "Hertz" (Hz). For example, a typical camera may have 25 frames or 50 frames, or 30 frames and 60 frames per second.
Specifically, the position correction of the present invention includes an out-of-frame correction procedure and an in-frame correction procedure. The off-frame correction procedure refers to correcting a control amount, for example, a PWM duty, using a detection position acquired within a frame rate time of the previous frame image. In other words, the target position P1 acquired within the frame rate time T1 of one frame image, and the detected position (actual position) P1 acquired by the read position detecting unit will be compared within the frame rate time T2 of the next frame image (P1-P1). The result of the comparison (P1-P1) is used to correct the control amount for the target position P2 acquired within the frame rate time T2 within the frame rate time T2 for the next frame image.
The frame rate time is a time period having a start time and an end time. For example, assuming that the shooting speed of the camera is 50 frames per second, the duration of the frame rate time is 1/50 seconds (20 milliseconds). The specific starting time and the specific ending time are determined according to the specific operation condition of the system.
The intra correction process is a process of correcting a control amount, for example, a PWM duty, using a detection position obtained within the frame rate time of the present frame image. Typically, intra-frame corrections are made on the basis of extra-frame corrections. That is, after the off-frame correction (target position unchanged, detected position updated) is performed, the current target position is compared with the updated detected position, and if there is a difference or the amount of the difference exceeds a set value, further correction is performed for the remaining intra-frame time, and position correction is performed again until the remaining intra-frame time is insufficient to perform correction again or the position has been corrected in place.
In the off-frame correction procedure, the control unit 1 calculates a control amount (PWM duty ratio) from the target position of the lens group of the current frame, then corrects the calculated PWM duty ratio, controls the motor driver 3 based on the corrected PWM duty ratio while reading and updating the current detection position,
the correction amount is determined according to the difference between the detected position of the current lens group and the target position of the previous lens group.
In the case where the motor single-step control time is 1/2 times or less, the intra-frame correction process is performed within the image frame rate time of the present frame. That is, if the motor single-step control time is equal to or less than 1/2 of the image frame rate time, the intra-frame correction process is started, otherwise the intra-frame correction process is not started. When the intra-frame correction is executed, a driving command is sent to the motor driver at the same time, and the position detection unit is read at the same time to update the detection position.
As shown, the intra-frame correction procedure includes:
s41: judging whether the absolute value of the difference between the current target position and the current lens group detection position is smaller than a first set threshold value or not, and if so, ending; otherwise, executing S42;
s42: judging whether the remaining time of the current frame is less than a second set threshold value or not, and if so, ending; otherwise, executing S43;
s43: calculating a correction amount based on a difference between the current target position and the current lens group detection position, adjusting the PWM duty ratio S44: the motor driver 3 is controlled based on the adjusted PWM duty ratio while updating the current lens group detection position, and the process goes to step S41.
In order to reduce the amount of calculation and improve the response speed, it is preferable that the out-of-frame correction procedure and the in-frame correction procedure are not performed in the case where the current lens group target position is different from the previous lens group target position. This approach does not substantially degrade imaging performance, but can greatly reduce the amount of computation and improve response speed.
The lens driving control device controls the motor driver according to the target position of the lens group and the detection position of the lens group, so that the driving precision of the voice coil motor can be greatly improved, and the positioning precision of the lens group is finally improved, so that a better imaging effect is obtained.
The lens driving control device can be applied to camera control on almost all voice coil motors in the market, and has the characteristic of wide application range. In terms of positioning accuracy, high positioning accuracy can be obtained. The lens driving control device can greatly improve the positioning precision which can reach 0.1 degree and is corresponding to the displacement of 1 mu m of the lens group.
And the control algorithm is extremely simple, the control model of the voice coil motor and the transmission mode of the positioning system are not required to be known, and the abnormal problem in the running process of the motor is avoided. And still have the characteristics that positioning accuracy is high. In addition, the circuit structure is simple and compact, and various control parameters can be correspondingly adjusted according to actual requirements due to the adoption of the CPU.
An embodiment of the present invention further provides a lens driving device, including: a lens driving control device and a voice coil motor 4. Wherein the lens driving control device is the lens driving control device as described above, and the motor driver 3 of the lens driving control device drives the voice coil motor 4.
The embodiment of the invention also provides a camera, which is provided with a voice coil motor in transmission connection with the lens group and comprises the lens driving control device, wherein the motor driver 3 of the lens driving control device drives the voice coil motor 4, and the voice coil motor 4 adjusts the position of the lens group 6.
The single-step control time, i.e., the motor single-step control time, refers to the time required to perform one position drive (while performing position reading, the position reading time is generally much shorter than the drive time). The motor single step control time generally includes the time taken by the control unit to calculate, the time taken to send commands to the motor controller, and the time taken to maintain the set PWM pulse number.
As shown in fig. 2, the field synchronous control flow (corresponding to the motor single-step control) means that the following operations are performed simultaneously after receiving the field synchronous signal (or the driving control signal).
S21: the control unit 1 controls the motor driver 3 with the calculated control amount, or the corrected control amount, according to the target position.
S22: the control unit 1 reads the position detection unit 2 and updates the actual position (detection position) of the current lens group.
Finally, it should be pointed out that: the above examples are only for illustrating the technical solutions of the present invention, and are not limited thereto. Those of ordinary skill in the art will understand that: modifications can be made to the technical solutions described in the foregoing embodiments, or some technical features may be equivalently replaced; such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (9)
1. A lens driving control device, characterized by comprising: a control unit (1); a position detection unit (2) and a motor driver (3),
the motor driver (3) drives a voice coil motor (4) in transmission connection with the lens group (6) to adjust the position of the lens group (6);
the position detection unit (2) detects the position of the lens group (6), and feeds the detected position of the lens group back to the control unit as a lens group detection position;
the control unit (1) receives and analyzes an external instruction to determine a lens group target position; and controls the motor driver (3) according to the lens group target position and the lens group detection position,
the control unit executes an out-of-frame correction procedure and an in-frame correction procedure,
the out-of-frame correction program corrects the control amount using the detection position acquired within the frame rate time of the last frame image,
the intra-frame correction program corrects the control amount using the detected position acquired within the frame rate time of the image of the present frame, executes the intra-frame correction program within the image frame rate time of the present frame in the case where the motor single-step control time is 1/2 of the image frame rate time or less,
in the case where the current lens group target position is different from the previous lens group target position, the out-of-frame correction procedure and the in-frame correction procedure are not performed.
2. The lens driving control device according to claim 1, wherein the external command is an image field synchronization command, the image field synchronization command corresponding to an image frame and including a lens group target position corresponding to the image frame or information associated with a lens group target position.
3. A lens driving control device according to claim 1, characterized in that the position detection unit (2) comprises a photoelectric or magneto-electric encoder that detects the position of the lens group (6), or the position of the voice coil motor (4), or the position and or displacement of a transmission member between the voice coil motor (4) and the lens group (6).
4. A lens driving control device according to claim 3, wherein the control unit (1) is a single chip microcomputer, and a counter/timer provided in the control unit is used for counting waveforms generated by high-frequency pulse signals of the photoelectric encoder or the magnetoelectric encoder.
5. The lens driving-control apparatus according to claim 1, wherein the control unit (1) reads the lens group position detected by the position-detecting unit (2) and updates the lens group current position while controlling the motor driver (3).
6. The lens drive control device according to claim 1, wherein in the out-of-frame correction procedure, the control unit (1) corrects the calculated control amount after calculating the control amount from the lens group target position of the current frame, and controls the motor driver (3) based on the corrected control amount,
the correction amount is determined according to the difference between the detected position of the current lens group and the target position of the previous lens group.
7. The lens driving control device according to claim 1, wherein the intra correction program includes:
s41: judging whether the absolute value of the difference between the target position and the current lens group detection position is smaller than a first set threshold value or not, and if so, ending; otherwise, executing S42;
s42: judging whether the remaining time of the current frame is less than a second set threshold value or not, and if so, ending; otherwise, executing S43;
s43: calculating a correction amount based on a difference between the current target position and the current lens group detection position, and adjusting a PWM duty ratio;
s44: and controlling the motor driver (3) based on the adjusted PWM duty ratio, updating the current lens group detection position at the same time, and turning to the step S41.
8. A lens driving apparatus, comprising: a lens driving control device and a voice coil motor (4),
wherein the lens driving control device is a lens driving control device according to any one of claims 1 to 7, a motor driver (3) of the lens driving control device driving the voice coil motor (4).
9. A camera having a voice coil motor drivingly connected to a lens cluster, comprising: a lens driving control device according to any one of claims 1 to 7, the motor driver (3) of the lens driving control device driving the voice coil motor (4), the voice coil motor (4) adjusting the position of the lens group (6).
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| CN114866669B (en) * | 2022-04-26 | 2024-06-07 | 杭州海康威视数字技术股份有限公司 | Video camera and voice coil motor driving method for video camera |
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