Periscope imaging holder

Abstract

The application discloses a periscope type imaging holder, characterized in that: comprising optical core, first rotating mechanism, adapter support, second rotating mechanism connected in sequence; the optical core comprises reflection element, first imaging lens, focusing mechanism and first image sensor arranged in sequence; the reflection element makes light produce angle turning; the rotating shaft of the first rotating mechanism is parallel to or coincides with the optical axis of the first imaging lens, and the rotating shafts of the first rotating mechanism and the second rotating mechanism are perpendicular to each other. The application forms a transverse arrangement of a reflection light path and a barrel length, when the lens is long-focus, a shorter rotating force arm and smaller rotating inertia can be obtained when the optical core rotates around the rotating shaft, the shorter rotating force arm can greatly increase stability, the smaller rotating inertia can reduce the torque requirement of the first rotating mechanism, facilitate high-speed rotation, and also benefit the miniaturization of the first rotating mechanism, and the second rotating mechanism is the same.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of imaging equipment, and particularly relates to a periscope type imaging holder. BACKGROUND

[0002] The field of view angle of an imaging system is limited, and it is a common means to use a holder to cooperate with the imaging system to form an imaging holder to increase the field of view range. For example, Chinese Patent CN201821029334.1 and Chinese Patent CN201721429153.3 each provide a holder camera, and Chinese Patent CN201620356018.X provides a theodolite type holder cooperating with a telescope. After the imaging system is combined with the holder, an angle measurement function can also be obtained, for example, Chinese Patent CN201921296755.5 provides an electronic theodolite with imaging function.

[0003] To realize wide range imaging, the holder needs two axes, and the three axes formed by the two axes and the optical axis of the imaging system need to be orthogonal to each other. When the optical barrel length of the imaging system is short, the structure can be very compact, for example, as shown in Chinese Patent CN201821029334.1 and Chinese Patent CN201721429153.3.

[0004] However, when the optical barrel length of the imaging system is long, the traditional holder structure will cause the entire device structure to be large, not only difficult to realize miniaturization, but also low stability due to long mechanical structure force arm and high gravity center, especially when there is wind disturbance, which is easy to cause the imaging system to shake, resulting in difficult imaging. SUMMARY

[0005] In view of at least one of the above defects or improvement needs of the prior art, such as the low stability and poor anti-interference ability of the traditional imaging holder, especially when the optical barrel length of the imaging system is long, the present application provides a periscope type imaging holder. The optical core includes a series of structures such as a reflecting element, a lens, a focusing mechanism, and an image sensor, forming a reflecting light path and a transverse arrangement of the barrel length. When the lens is a long focus and its barrel length is usually greater than its width or diameter, when the rotation axis of the first rotating mechanism is parallel or coincides with the optical axis of the lens, the optical core can obtain a shorter rotation force arm and a smaller rotation inertia when rotating around the rotation axis. The shorter rotation force arm can greatly increase the stability, and the smaller rotation inertia can reduce the torque requirement of the first rotating mechanism, facilitating high-speed rotation, and also facilitating the miniaturization of the first rotating mechanism. The second rotating mechanism is the same.

[0006] To achieve the above purpose, according to one aspect of the present application, a periscope type imaging holder is provided, wherein:

[0007] It includes an optical mechanism, a first rotating mechanism, a connecting bracket, a second rotating mechanism, and (preferably) a base, connected in sequence.

[0008] The optical mechanism includes a reflective element, a first imaging lens and focusing mechanism, and a first image sensor arranged sequentially.

[0009] The reflective element is located on the object side of the first imaging lens, causing the light rays propagating along the optical axis of the first imaging lens to be angled.

[0010] The focusing mechanism is used to adjust the distance between the first imaging lens and the first image sensor;

[0011] The first image sensor is located on the image side of the first imaging lens and is used to convert the spatial distribution information of light into electrical signals and form image data;

[0012] The rotation axis of the first rotating mechanism is parallel to or coincides with the optical axis of the first imaging lens, so that the optical mechanism rotates along the rotation axis of the first rotating mechanism.

[0013] The rotation axes of the first rotation mechanism and the second rotation mechanism are perpendicular to each other, so that the optical mechanism, the first rotation mechanism, and the adapter bracket rotate along the rotation axis of the second rotation mechanism.

[0014] The adapter bracket connects the second rotating mechanism and the first rotating mechanism. The second rotating mechanism is connected to the base, which provides support.

[0015] Preferably, the reflective element is a right-angle prism to facilitate its installation and ensure the shape of the reflective surface. Furthermore, the reflective surface of the right-angle prism is a light-transmitting surface, achieving reflection through total internal reflection.

[0016] Alternatively, the reflecting element may be a plane mirror or an external reflecting right-angle prism, with the inclined surface of the external reflecting right-angle prism being the reflective surface, preferably coated with a reflective film.

[0017] Preferably, the reflective element causes light rays propagating along the optical axis of the first imaging lens to be redirected by an angle α, wherein the angle α satisfies 70°. <a<110°。

[0018] Preferably, the reflective element causes the light rays propagating along the optical axis of the first imaging lens to rotate by an angle α, wherein the angle α satisfies 89°. <a<91°。

[0019] Preferably, the first imaging lens is a telephoto lens. Preferably, its focal length f1 satisfies f1 > 5mm.

[0020] Preferably, the aperture number Fn of the first imaging lens is less than 10, where the aperture number is the ratio of the lens focal length to the entrance pupil diameter.

[0021] Preferably, the distance L1 between the rotation axis of the first rotation mechanism and the geometric center of the optical module satisfies the relation L1 < D1 / 3, where D1 is the average diameter of the optical module.

[0022] Preferably, the distance L2 between the rotation axis of the second rotation mechanism and the geometric center of the whole formed by the optical module and the first rotation mechanism satisfies the relation L2 < D2 / 3, where D2 is the total length of the whole formed by the optical module and the first rotation mechanism.

[0023] Preferably, a wide-angle imaging module is further included;

[0024] Preferably, the wide-angle imaging module includes a second imaging lens and a second image sensor;

[0025] The focal length f2 of the second imaging lens, the diagonal length d2 of the photosensitive surface of the second image sensor, the focal length f1 of the first imaging lens, and the diagonal length d1 of the photosensitive surface of the first image sensor satisfy the relation: d2 / f2 > d1 / f1.

[0026] Preferably, the included angle b between the direction of the optical axis of the second imaging lens and the direction of the optical axis of the first imaging lens after being turned by the reflection element satisfies the relation b < d2 / 4f2.

[0027] Preferably, the direction of the optical axis of the second imaging lens is the same as the direction of the optical axis of the first imaging lens after being turned by the reflection element.

[0028] Preferably, the first rotation mechanism provides elevation angle adjustment, and the second rotation mechanism provides azimuth angle adjustment.

[0029] Preferably, when in use, the periscope imaging pan-tilt is placed or installed on a ground, a tabletop, or other basic platforms such as a tripod. Here, the basic platform can be fixed or movable.

[0030] Preferably, the imaging method of the periscope imaging pan-tilt of the present invention is as follows:

[0031] Obtain a wide-angle image including the imaging target;

[0032] Generate a first angle adjustment signal according to the position of the imaging target in the wide-angle image;

[0033] Control the angle of the rotation axis of the first rotation mechanism and / or the second rotation mechanism according to the first angle adjustment signal;

[0034] Obtain an optical module image including the imaging target.

[0035] Furthermore, it also includes generating a second angle adjustment signal based on the position of the imaging target in the optical mechanism image;

[0036] The angle of the rotation axis of the first rotation mechanism and / or the second rotation mechanism is finely adjusted according to the second angle adjustment signal, so that the imaging target is kept in the center of the field of view of the optical mechanism.

[0037] Furthermore, it also includes obtaining close-up images of the target through focusing and adjusting the focus.

[0038] The aforementioned preferred technical features can be combined with each other as long as they do not conflict with each other.

[0039] In summary, the technical solutions conceived by this invention have the following beneficial effects compared with the prior art:

[0040] (1) The optical mechanism includes a series of structures such as reflective elements, lens, focusing mechanism, and image sensor, forming a reflective light path and a transverse arrangement of the barrel length. When the lens is telephoto, its barrel length is usually greater than its width or diameter. When the rotation axis of the first rotating mechanism is parallel or coincident with the optical axis of the lens, the optical mechanism can obtain a shorter rotation arm and a smaller moment of inertia when it rotates around the rotation axis. A shorter rotation arm can greatly increase stability, and a smaller moment of inertia can reduce the torque requirement of the first rotating mechanism, which is convenient for achieving high-speed rotation and also facilitates the miniaturization of the first rotating mechanism.

[0041] The same principle applies to the second rotating mechanism. When the rotation axis of the second rotating mechanism approaches or coincides with the geometric center of the whole consisting of the optical movement and the first rotating mechanism, the optical movement can obtain a shorter rotation arm and a smaller moment of inertia when rotating around the second rotation axis. The shorter rotation arm can greatly increase stability, and the smaller moment of inertia can reduce the torque requirement of the second rotating mechanism, making it easier to achieve high-speed rotation and also facilitating the miniaturization of the second rotating mechanism.

[0042] (2) The optical mechanism is first driven by the first rotating mechanism to rotate relative to the second rotating mechanism, and then driven by the second rotating mechanism to rotate relative to the base. When the base is placed on the ground, the optical mechanism is placed horizontally (the optical axis of the lens is parallel to the ground). When the length of the optical mechanism is long, this placement method can make the overall height lower than its width, which helps to reduce the overall overturning moment and improve stability.

[0043] (3) The wide-angle imaging module and the optical mechanism are used together. The wide-angle imaging module can provide a preview field of view for the optical mechanism, avoiding the difficulty in searching for the target due to the small field of view of the first imaging lens in the optical mechanism. After the target is searched by the wide-angle imaging module, the imaging system of the optical mechanism is driven by the first rotation mechanism and the second rotation mechanism to take a close-up picture of the target. Attached Figure Description

[0044] Figure 1 This is a first schematic diagram of a periscope imaging gimbal according to an embodiment of the present invention;

[0045] Figure 2 This is a second schematic diagram of a periscope imaging gimbal according to an embodiment of the present invention;

[0046] Figure 3 This is a third schematic diagram of the periscope imaging gimbal according to an embodiment of the present invention. Detailed Implementation

[0047] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention. Furthermore, the technical features involved in the various embodiments of this invention described below can be combined with each other as long as they do not conflict with each other. The invention will be further described in detail below with reference to specific embodiments.

[0048] First embodiment of the present invention, for example Figure 1As shown, a periscope imaging gimbal is provided. It includes an optical mechanism 100, a first rotating mechanism 200, a second rotating mechanism 300, an adapter bracket 400, and a base 500. The optical mechanism 100 includes a right-angle prism 110, a first imaging lens 120, a focusing mechanism 130, a first image sensor 140, and a mechanism housing 150. The right-angle prism 110, the first imaging lens 120, and the first image sensor 140 are arranged sequentially. The first image sensor 140 is closer to the first rotating mechanism 200 than the right-angle prism 110 (in other embodiments, this can be reversed). The right-angle prism 110 acts as a reflective element. One right-angled face of the right-angle prism 110 faces the first imaging lens 120, and this right-angled face is closer to the first imaging lens 120 than the inclined face. The inclined surface of the right-angle prism 110 is a light-transmitting surface, forming a 45° angle with the optical axis of the first imaging lens. Total internal reflection is used to redirect the light path, resulting in an angle α between the optical axis after reflection and the optical axis of the first imaging lens 120 being 90°. The focusing mechanism 130 is connected to the first imaging lens 120 and can drive the first imaging lens 120 to move along the optical axis within the optical mechanism. The focusing mechanism 130 employs a rack and pinion drive, where the gear is driven by a stepper motor, which is fixedly connected to the mechanism housing 150, and the rack is fixedly connected to the lens barrel of the first imaging lens 120. The first image sensor 140 is fixedly connected to the mechanism housing 150. Thus, the focusing mechanism 130 allows the first imaging lens 120 and the first image sensor 140 to move relative to each other. The ratio of the focal length of the first imaging lens 120 to the diagonal length of the photosensitive surface of the first image sensor 140 is 10. The first rotating mechanism 200 is located at one end of the optical mechanism 110. The first rotating shaft 210 of the first rotating mechanism 200 is fixedly connected to the outer casing 150 of the mechanism, thereby enabling the first rotating mechanism 200 to drive the optical mechanism 100 to rotate. The adapter bracket 400 is fixedly connected to the outer casing of the first rotating mechanism 200 and the second rotating shaft 310 of the second rotating mechanism 300, such that the second rotating shaft 310 of the second rotating mechanism 300 and the first rotating shaft 210 of the first rotating mechanism 200 are orthogonal. The outer casing of the second rotating mechanism 300 is fixedly connected to the base 500.

[0049] The first embodiment of the present invention uses a right-angle prism to achieve optical path redirection through total internal reflection. The advantage of this scheme is that total internal reflection has high reflectivity and there is no metal coating such as silver or aluminum plating on the reflective surface, thus avoiding the decline in reflectivity of the metal coating reflective surface due to oxidation after long-term use.

[0050] A second embodiment of the invention, for example Figure 2As shown, a periscope imaging gimbal is provided. It includes an optical mechanism 100, a first rotating mechanism 200, a second rotating mechanism 300, an adapter bracket 400, a base 500, and a wide-angle imaging module 600. The optical mechanism 100 includes a plane mirror 111, a first imaging lens 120, a focusing mechanism 130, a first image sensor 140, and a mechanism housing 150. The plane mirror 111, the first imaging lens 120, and the first image sensor 140 are sequentially distributed. The plane mirror 111 acts as a reflective element. The plane mirror 111 is closer to the first rotating mechanism 200 than the first image sensor 140 (in other embodiments, this can be reversed). The plane mirror forms a 45° angle with the optical axis of the first imaging lens 120. The focusing mechanism 130 is connected to the first imaging lens 120 and can drive the first imaging lens 120 to move along the optical axis within the optical mechanism. The focusing mechanism 130 is driven by a voice coil motor, wherein the stator is fixedly connected to the housing 150, and the mover is fixedly connected to the lens barrel of the first imaging lens 120. The first image sensor 140 is fixedly connected to the housing 150. Thus, the focusing mechanism 130 allows the first imaging lens 120 and the first image sensor 140 to move relative to each other. The wide-angle imaging module 600 is located on the side of the optical mechanism 100 and mounted on the housing 150. The wide-angle imaging module 600 includes a second imaging lens 610 and a second image sensor 620. The optical axis of the second imaging lens 610 is in the same direction as the optical axis of the first imaging lens 120 after being redirected by a reflective element. The ratio of the focal length of the first imaging lens 120 to the diagonal length of the photosensitive surface of the first image sensor 140 is 10. The ratio of the focal length of the second imaging lens 610 to the diagonal length of the photosensitive surface of the second image sensor 620 is 1. The first rotating mechanism 200 is located at one end of the optical mechanism 100. The outer shell of the first rotating mechanism 200 is fixedly connected to the outer shell 150 of the mechanism, thereby enabling the first rotating mechanism 200 to drive the optical mechanism 100 to rotate. The adapter bracket 400 is fixedly connected to the first rotating shaft 210 of the first rotating mechanism 200 and the second rotating shaft 310 of the second rotating mechanism 300, such that the second rotating shaft 310 of the second rotating mechanism 300 and the first rotating shaft 210 of the first rotating mechanism 200 are orthogonal. The outer shell of the second rotating mechanism 300 is fixedly connected to the base 500.

[0051] The second embodiment of the present invention uses a plane mirror to achieve optical path redirection, which has the advantage of saving space and weight. Simultaneously, the second embodiment employs a dual imaging optical path consisting of an optical mechanism and a wide-angle imaging module. The wide-angle imaging module can perform wide-angle preview imaging, while the optical mechanism can perform close-up imaging.

[0052] A third embodiment of the invention, for example Figure 3As shown, a periscope imaging gimbal is provided. It includes an optical mechanism 100, a first rotating mechanism 200, a second rotating mechanism 300, an adapter bracket 400, a base 500, and a wide-angle imaging module 600. The optical mechanism 100 includes an external reflecting right-angle prism 112, a first imaging lens 120, a focusing mechanism 130, a first image sensor 140, and a mechanism housing 150. The external reflecting right-angle prism 112, the first imaging lens 120, and the first image sensor 140 are sequentially distributed. The external reflecting right-angle prism 112 acts as a reflective element. The first image sensor 140 is closer to the first rotating mechanism 200 than the external reflecting right-angle prism 112 (in other embodiments, this can be reversed). The external reflecting right-angle prism 112 is fixed to the mechanism housing 150, and its inclined surface is closer to the first imaging lens 120 than its right-angle surface. The inclined surface of the external reflecting right-angle prism 112 is a reflective surface (preferably coated with a reflective film), and this inclined surface forms a 45° angle with the optical axis of the first imaging lens. The focusing mechanism 130 is connected to the first image sensor 140 and can drive the first image sensor 140 to move along the optical axis of the first imaging lens 120 within the optical mechanism 100. The focusing mechanism 130 includes a lead screw, a stepper motor, an optical rod, and a sensor base. The focusing mechanism 130 adopts a lead screw drive method. The lead screw includes a screw rod and a nut, wherein the screw rod is driven by the stepper motor. The housing of the stepper motor is fixedly connected to the mechanism housing 150. The sensor base is fixedly connected to the first image sensor 140, the nut is fixedly connected to the sensor base, and the optical rod is fixedly connected to the mechanism housing 150. The sensor base has a hole that forms a hole-shaft fit with the optical rod. The lead screw and the optical rod are parallel. The first imaging lens 120 is fixedly connected to the mechanism housing 150. Thus, the focusing mechanism 130 can cause the first imaging lens 120 and the first image sensor 140 to move relative to each other. A wide-angle imaging module 600 is located at one end of the optical mechanism 100 and is fixedly connected to the mechanism housing 150. The wide-angle imaging module 600 includes a second imaging lens 610 and a second image sensor 620. The direction of the optical axis of the second imaging lens 610 is the same as the direction of the optical axis of the first imaging lens 120 after being redirected by a reflective element. The ratio of the focal length of the first imaging lens 120 to the diagonal length of the photosensitive surface of the first image sensor 140 is 10. The ratio of the focal length of the second imaging lens 610 to the diagonal length of the photosensitive surface of the second image sensor 620 is 2. A first rotation mechanism 200 is located at the other end of the optical mechanism 100. The rotation shaft 210 of the first rotation mechanism 200 is fixedly connected to the mechanism housing 150, thereby enabling the first rotation mechanism 200 to drive the optical mechanism 100 to rotate. The adapter bracket 400 is fixedly connected to the housing of the first rotating mechanism 200 and the housing of the second rotating mechanism 300, such that the second rotation axis 310 of the second rotating mechanism 300 and the first rotation axis 210 of the first rotating mechanism 200 are orthogonal. The second rotation axis 310 of the second rotating mechanism 300 is fixedly connected to the base 500.The projection of the adapter bracket 400 and the base 500 onto the optical mechanism does not exceed the external reflecting right-angle prism 112, which serves as a reflecting element. That is, when the first rotating mechanism 200 drives the optical mechanism 100 to rotate to aim directly downward, the adapter bracket 400 and the base 500 do not obstruct the light path. Alternatively, at least the portion of the optical path scanning of the optical mechanism 100 on the adapter bracket 400 and the base 500 is hollowed out or made of transparent material.

[0053] The third embodiment of the present invention uses a reflective coating on the inclined surface of an externally reflecting right-angle prism to achieve optical path redirection through external reflection. The advantage of this scheme is that the right-angle prism is easy to install. A dual-imaging optical path is employed, consisting of an optical mechanism and a wide-angle imaging module. The wide-angle imaging module can perform wide-angle preview imaging, while the optical mechanism can perform close-up imaging. Furthermore, the wide-angle imaging module is located at one end of the optical mechanism, providing ample installation space and allowing for the use of larger aperture wide-angle imaging lenses. Since both the reflective element of the optical mechanism and the wide-angle imaging module are located on one side of the device, and the adapter bracket and base do not obstruct the view, the device can shoot directly downwards, allowing the gimbal to achieve a larger scanning angle for effective imaging.

[0054] The periscope imaging gimbal provided by this invention has the following working principle:

[0055] The ray formed by the reflection of the optical axis of the lens by the reflective element is defined as the aiming line. The aiming direction of the imaging system is the aiming line direction of the first imaging lens (i.e., the direction corresponding to the ray after the optical axis of the first imaging lens is reflected by the reflective element). The light emitted by the target object within the field of view corresponding to the aiming direction is reflected by the reflective element and enters the first imaging lens, converging onto the photosensitive surface of the first image sensor. The focusing mechanism adjusts the distance between the first imaging lens and the first image sensor so that the target object and the photosensitive surface of the first image sensor form a conjugate relationship with respect to the first imaging lens, thereby achieving a clear image of the target object.

[0056] When the object to be observed is not within the field of view of the first imaging lens, the aiming line direction of the first imaging lens is adjusted by the first rotation mechanism and the second rotation mechanism so that the object to be observed is within the field of view of the first imaging lens, thereby realizing the imaging of the object to be observed.

[0057] When the rotation axis of the second rotating mechanism is perpendicular to the horizontal plane, the first rotating mechanism can adjust the elevation angle, and the second rotating mechanism can adjust the azimuth angle, thus forming a directional coordinate in three-dimensional space.

[0058] The imaging method of the periscope imaging gimbal of the present invention is as follows:

[0059] First, the orientation of the wide-angle imaging module is adjusted by changing the angle of the rotation axis of the first and / or second rotation mechanisms, so that the imaging target appears in the field of view of the wide-angle imaging module. Based on the wide-angle image acquired by the wide-angle imaging module, the orientation of the imaging target in the wide-angle image is obtained through target feature extraction, and a first angle adjustment signal is generated. The rotation angle of the first and / or second rotation mechanisms is controlled according to the first angle adjustment signal to adjust the elevation angle and / or azimuth angle of the optical mechanism, so that the target image appears in the field of view of the optical mechanism. When no target is found in the image of the optical mechanism, the orientation of the imaging target in the wide-angle image is detected again, and the above steps are repeated.

[0060] Based on real-time detection of the image by the optical mechanism to check for the imaging target, when the imaging target appears in the image, the rotation angle of the first rotation mechanism and / or the second rotation mechanism is controlled to achieve fine-tuning of the angle of the first rotation mechanism and / or the second rotation mechanism, so that the imaging target is kept in the center of the field of view of the optical mechanism. When the target is not located in the center of the image, the rotation angle of the first rotation mechanism and / or the second rotation mechanism is readjusted, and the above steps are repeated.

[0061] When the target is located in the center of the image, the focusing mechanism of the optical movement is controlled to achieve focusing and focusing, so that the imaging target is of a suitable size in the camera's field of view and the details of the target can be clearly observed.

[0062] If the target is lost in the image, a new wide-angle image is acquired, and the above steps are repeated to re-detect the target's location.

[0063] In summary, compared with the prior art, the solution of the present invention has the following significant advantages:

[0064] (1) The optical mechanism includes a series of structures such as reflective elements, lens, focusing mechanism, and image sensor, forming a reflective light path and a transverse arrangement of the barrel length. When the lens is telephoto, its barrel length is usually greater than its width or diameter. When the rotation axis of the first rotating mechanism is parallel or coincident with the optical axis of the lens, the optical mechanism can obtain a shorter rotation arm and a smaller moment of inertia when it rotates around the rotation axis. A shorter rotation arm can greatly increase stability, and a smaller moment of inertia can reduce the torque requirement of the first rotating mechanism, which is convenient for achieving high-speed rotation and also facilitates the miniaturization of the first rotating mechanism.

[0065] The same principle applies to the second rotating mechanism. When the rotation axis of the second rotating mechanism approaches or coincides with the geometric center of the whole consisting of the optical movement and the first rotating mechanism, the optical movement can obtain a shorter rotation arm and a smaller moment of inertia when rotating around the second rotation axis. The shorter rotation arm can greatly increase stability, and the smaller moment of inertia can reduce the torque requirement of the second rotating mechanism, making it easier to achieve high-speed rotation and also facilitating the miniaturization of the second rotating mechanism.

[0066] (2) The optical mechanism is first driven by the first rotating mechanism to rotate relative to the second rotating mechanism, and then driven by the second rotating mechanism to rotate relative to the base. When the base is placed on the ground, the optical mechanism is placed horizontally (the optical axis of the lens is parallel to the ground). When the length of the optical mechanism is long, this placement method can make the overall height lower than its width, which helps to reduce the overall overturning moment and improve stability.

[0067] (3) The wide-angle imaging module and the optical mechanism are used together. The wide-angle imaging module can provide a preview field of view for the optical mechanism, avoiding the difficulty in searching for the target due to the small field of view of the first imaging lens in the optical mechanism. After the target is searched by the wide-angle imaging module, the imaging system of the optical mechanism is driven by the first rotation mechanism and the second rotation mechanism to take a close-up picture of the target.

[0068] It is understood that the embodiments of the system described above are merely illustrative, and the units described as separate components may or may not be physically separated; they may be located in one place or distributed across different network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any inventive effort.

[0069] Furthermore, those skilled in the art should understand that in the application documents of this invention, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0070] Numerous specific details are set forth in the specification of embodiments of the present invention. However, it should be understood that embodiments of the present invention can be practiced without these specific details. In some instances, well-known methods, structures, and techniques have not been shown in detail so as not to obscure the understanding of this specification. Similarly, it should be understood that, in order to streamline the disclosure of embodiments of the present invention and aid in the understanding of one or more aspects of the invention, various features of the embodiments of the present invention are sometimes grouped together in a single embodiment, figure, or description thereof in the above description of exemplary embodiments of the present invention.

[0071] However, this disclosed approach should not be interpreted as reflecting an intention that the claimed embodiments of the invention require more features than are expressly recited in each claim. Rather, as reflected in the claims, the inventive aspect lies in fewer than all features of a single foregoing disclosed embodiment. Therefore, the claims following the detailed description are hereby expressly incorporated into that detailed description, wherein each claim itself is a separate embodiment of the invention.

[0072] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the embodiments of the present invention, and are not intended to limit them. Although the embodiments of the present invention have been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A periscope imaging pan-tilt head, characterized in that: It includes an optical core, a first rotating mechanism, an adapter bracket, and a second rotating mechanism connected in sequence; The optical core includes a reflection element, a first imaging lens and a focusing mechanism, and a first image sensor arranged in sequence; The reflection element is located on the object side of the first imaging lens, so that the light rays propagating along the optical axis of the first imaging lens generate an angular turn; The rotation axis of the first rotating mechanism is parallel or coincident with the optical axis of the first imaging lens, so that the optical core rotates along the rotation axis of the first rotating mechanism; the distance L1 between the rotation axis of the first rotating mechanism and the geometric center of the optical core satisfies the relationship L1 < D1 / 3, where D1 is the average diameter of the optical core; The rotation axes of the first rotating mechanism and the second rotating mechanism are perpendicular to each other, so that the optical core, the first rotating mechanism, and the adapter bracket rotate along the rotation axis of the second rotating mechanism.

2. The periscope imaging pan-tilt head according to claim 1, characterized in that: The first imaging lens is a telephoto lens.

3. The periscope imaging pan-tilt head according to claim 1, characterized in that: The aperture number Fn of the first imaging lens < 10, where the aperture number is the ratio of the lens focal length to the entrance pupil diameter.

4. The periscope imaging pan-tilt head according to claim 1, characterized in that: The distance L2 between the rotation axis of the second rotating mechanism and the geometric center of the whole formed by the optical core and the first rotating mechanism satisfies the relationship L2 < D2 / 3, where D2 is the total length of the whole formed by the optical core and the first rotating mechanism.

5. The periscope imaging pan-tilt head according to claim 1, characterized in that: The reflection element makes the light rays propagating along the optical axis of the first imaging lens generate a turn of angle a, where the angle a satisfies 70° < a < 110°.

6. The periscope imaging pan-tilt head according to claim 1, characterized in that: It further includes a wide-angle imaging module; The wide-angle imaging module is also mounted on the first rotating mechanism; 7. The periscope imaging pan-tilt head according to claim 6, characterized in that: The wide-angle imaging module includes a second imaging lens and a second image sensor; The relationship between the focal length f2 of the second imaging lens, the diagonal length d2 of the photosensitive surface of the second image sensor, the focal length f1 of the first imaging lens, and the diagonal length d1 of the photosensitive surface of the first image sensor satisfies the relationship: d2 / f2 > d1 / f1.

8. The periscope imaging pan-tilt head according to claim 7, characterized in that: The included angle b between the direction of the optical axis of the second imaging lens and the direction of the optical axis of the first imaging lens after being turned by the reflection element satisfies the relationship b < d2 / 4f2.

9. The periscope imaging pan-tilt head according to claim 7, characterized in that: The direction of the optical axis of the second imaging lens is the same as the direction of the optical axis of the first imaging lens after being turned by the reflection element.

Images