Anti-shake image-stabilizing binocular telescope and control method

Abstract

The invention belongs to telescopes, and particularly relates to an anti-shake image-stabilizing binocular telescope and a control method. An anti-shake image stabilization telescope comprises an objective lens group, the objective lens group is used for receiving an external optical image, an image stabilization universal joint assembly is arranged behind the objective lens group, and the image stabilization universal joint assembly is used for carrying out anti-shake processing on the optical image received by the objective lens group and sending a processed image signal to an eyepiece group. And the eyepiece group is used for outputting the received optical image to human eyes. Compared with the prior art, the invention has the following beneficial effects: (1) the left prism group and the right prism group share one universal joint assembly, and the optical axis is synchronous and stable; (2) the driving circuit board is used for replacing a driving motor, and the overall structure is small in size and light in weight; (3) the universal joint assembly only comprises one magnetic steel, so that the assembly is simple, and the adjustment is convenient; and (4) the universal joint assembly only comprises one magnetic steel, and two circuit boards can act on the magnetic steel at the same time, so that the response is quick, the image stabilization is quick, and the impression is good.

Description

Technical Field

[0001] The invention belongs to telescopes, and in particular relates to an anti-shake and image-stabilizing binoculars and a control method. Background Art

[0002] When using traditional telescopes, the scene often shakes synchronously due to hand shaking. After the telescope is magnified, the shaking of the scene becomes more obvious, affecting the user experience. Especially when using high magnification or long-term observation, the impact of this shaking will be more obvious. Anti-shake and image-stabilized telescopes can solve this problem very well. Anti-shake and image-stabilized telescopes generally have an anti-shake mechanism between the eyepiece group and the objective lens group. This mechanism can sense hand shaking and dynamically adjust the position of the prism group to compensate, ultimately achieving an anti-shake effect.

[0003] The existing anti-shake mechanism consists of a universal joint structure and a drive device, which is placed at the prism group. The universal joint structure can drive the prism to adjust the position and angle, and the drive device includes drive motors, gyroscopes, sensors, magnets and other components. During use, the relevant sensors sense hand shaking, and the drive device adjusts the prism position according to the sensor feedback to compensate for hand shaking to achieve the anti-shake effect. Its structure mainly has the following two differences:

[0004] 1. The number of anti-shake mechanisms is different. Due to the particularity of the structure of binoculars, the anti-shake mechanism can be set on the left and right prisms separately, or the left and right prisms can share one anti-shake structure. For example, in patent CN117389021A, an anti-shake mechanism is set on the left and right prisms, and the left and right optical paths are independently anti-shake; many patents use one anti-shake mechanism shared by one left and right prism.

[0005] 2. Different drive devices. Currently, the main drive methods used to adjust the position of the universal joint structure include conventional motor drive, voice coil motor drive and electromagnetic drive. For example, patent CN115698842A uses conventional motors; patent US9395551B2 uses voice coil motors; patent CN221782509U uses drive circuit boards and magnets.

[0006] Although the structures mentioned in the above patents can achieve the anti-shake function, they have the following disadvantages:

[0007] 1. The left and right optical paths are provided with separate anti-shake mechanisms, which are complex in structure and difficult to synchronize the optical axes, such as a binocular anti-shake telescope disclosed in patent CN117389021A.

[0008] 2. The traditional motor drive method leads to problems such as large structure volume, heavy weight, insufficient driving force, etc. For example, patents CN115698842A and US9395551B2 both use motors for driving.

[0009] 3. The adjustment of the universal joint structure in the horizontal and vertical directions requires independent drive devices, which makes the assembly complicated and the balancing difficult. For example, patents CN115698842A, US9395551B2, and CN221782509U.

[0010] Therefore, a new anti-shake telescope is needed. Summary of the invention

[0011] The object of the present invention is to provide an anti-shake and image-stabilizing binoculars and a control method thereof in view of the defects of the prior art.

[0012] The specific technical solution adopted by the present invention is as follows: an anti-shake and image-stabilized telescope, which includes an objective lens group, the objective lens group is used to receive an external optical image, and an image-stabilizing gimbal assembly is arranged behind the objective lens group. The image-stabilizing gimbal assembly is used to perform anti-shake processing on the optical image received by the objective lens group and send the processed image signal to the eyepiece group, and the eyepiece group is used to output the received optical image to the human eye.

[0013] An anti-shake and image-stabilized telescope as described above, wherein the image-stabilizing gimbal assembly includes a prism group, the position of the prism group corresponds to the position of the objective lens group, the prism group is arranged on a frame assembly, and a control assembly is arranged on the frame assembly. The frame assembly can rotate left and right and pitch up and down under the control of the control assembly, and the control assembly can also detect and process the signal of the prism group, and the processing result is used to control the movement of the frame assembly.

[0014] An anti-shake and image-stabilized telescope as described above, wherein the frame assembly includes an inner frame and an outer frame that are nested; wherein the outer frame is connected to the outer shell of the image-stabilizing universal joint assembly and can rotate around a connecting axis; the inner frame is connected to the outer frame and can rotate around the connecting axis; and the connecting axis of the outer frame is vertically arranged to the connecting axis of the inner frame.

[0015] In the anti-shake and image-stabilizing telescope as described above, the connecting axis between the outer frame and the image-stabilizing universal joint assembly is arranged horizontally, and the outer frame can rotate in the horizontal direction around the connecting axis.

[0016] In the anti-shake and image-stabilizing telescope as described above, the connecting axis between the inner frame and the outer frame is vertically arranged, and the inner frame can rotate in the vertical direction around the connecting axis.

[0017] In the anti-shake and image-stabilizing telescope as described above, a prism seat is arranged on the inner frame, and the prism group is fixedly connected to the inner frame via the prism seat.

[0018] An anti-shake and image-stabilizing telescope as described above, wherein the control component includes a driving coil, a Hall element, a single-chip microcomputer, a coil driving chip, and a gyroscope chip, wherein Hall elements are provided on both the inner frame and the outer frame, and the Hall elements are data-connected to the single-chip microcomputer; the single-chip microcomputer is data-connected to the coil driving chip; the coil driving chip is data-connected to the driving coil, and the driving coil is provided on both the inner frame and the outer frame.

[0019] A control method for anti-shake and image-stabilizing binoculars comprises the following steps:

[0020] Step 1: Data exploration

[0021] The deflection position data M is detected by the Hall element, and the detected deflection position data is used for subsequent calculations;

[0022] Step 2: Calculate the angular velocity

[0023] The deflection angular velocity is calculated using the following formula

[0024] V=DIFF(M)

[0025] In the above formula, M is the deflection position data M obtained in step 1, DIFF() is the differential function, and V is the calculated deflection angular velocity. This step is the process of obtaining the deflection angular velocity by taking the first-order derivative of the deflection position.

[0026] Step 3: Compensation

[0027] The additional deflection angular velocity GV is calculated using the following formula

[0028] GV=V*P

[0029] In the above formula, V is the deflection angular velocity obtained in step 2, P is the deflection coefficient, and GV is the calculated additional deflection angular velocity after compensation;

[0030] Where P is the deflection coefficient, which is determined by the optical properties of the telescope and the sensitivity of the Hall sensor, and the specific value is determined by adjusting the jitter elimination effect of the telescope.

[0031] Use the following formula to calculate the angular velocity target value GyroV_Aim

[0032] GyroV_Aim=GV+GyroV_Mid

[0033] In the above formula, GV is the calculated additional deflection angular velocity, GyroV_Mid is the additional amount of the return-to-center angular velocity, which affects the speed of the deflection return to center. It is adjusted according to the actual effect during the anti-shake process. A slower return-to-center speed is suitable for observing stationary targets, and a faster return-to-center speed is suitable for tracking moving targets.

[0034] Step 4: Calculate the drive volume

[0035] Calculate the actuation quantity using a feedback control algorithm;

[0036] Step 5: Drive

[0037] The driving amount calculated in step 4 is used to drive the driving magnet, so that it drives the outer frame / inner frame to rotate a specific angle to achieve anti-shake and image stabilization.

[0038] Compared with the prior art, the present invention has the following beneficial effects: (1) the left and right prism groups share a universal joint assembly, and the optical axes are synchronized and stable; (2) a driving circuit board is used instead of a driving motor, and the overall structure is small in size and light in weight; (3) the universal joint assembly contains only one magnet, which is simple to assemble and easy to adjust; (4) the universal joint assembly contains only one magnet, and two circuit boards can act on it at the same time, which has a rapid response, fast image stabilization, and good visual experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 Light path diagram of the anti-shake and image-stabilized telescope;

[0040] Figure 2 Schematic diagram of the image stabilization gimbal assembly;

[0041] Figure 3 Cross-section of the image stabilizing gimbal assembly;

[0042] In the figure: 1-eyepiece group; 2-image stabilizing universal joint assembly; 3-objective lens group; 11-oblique prism; 31-focusing objective lens; 21-outer frame; 22-outer frame shaft; 23-inner frame; 24-prism group; 25-prism seat; 26-inner frame shaft; 27-flexible soft cable; 28-circuit board a; 29-driving magnet; 210-circuit board b. DETAILED DESCRIPTION

[0043] The present invention will be further described and illustrated below in conjunction with the accompanying drawings and specific implementation methods.

[0044] like Figure 1 As shown, an anti-shake image stabilization telescope is mainly composed of an eyepiece group 1, an image stabilization universal joint assembly 2, an objective lens group 3 and a telescope housing. Its focusing method is the same as that of a traditional telescope. The focal length is adjusted by moving the position of the focusing objective lens 31 in the objective lens group 3 to adapt to different observation scenes. Since the left and right prisms in the structure of the present invention share a common image stabilization universal joint assembly 2, an oblique prism 11 is added to the eyepiece group 1, so that the incident prism surface of the light can be subjected to two total reflections and produce lateral displacement, which will not change the propagation direction of the light. At the same time, the addition of the oblique prism 11 also facilitates the telescope to adjust the eye distance.

[0045] like Figure 2 , 3As shown, the image stabilizing universal joint assembly is composed of a prism group 24, a prism seat 25, an inner frame 23, an outer frame 21, a driving magnet 29, a circuit board a28 and a circuit board b210, wherein the inner frame 23 and the prism seat 24 are connected by an inner frame shaft 26 and can rotate around the vertical direction, and the inner frame 23 and the outer frame 21 are connected by an outer frame shaft 22 and can rotate around the horizontal direction. The driving magnet 29 is arranged on the inner frame 23, and can correspond to and interact with the circuit board a28 arranged on the outer frame 21 and the circuit board b210 on the prism seat 25, so as to adjust the horizontal and vertical positions of the prism group, thereby compensating for hand shaking and realizing the anti-shake function.

[0046] The circuit board a28 is connected to the circuit board b210 via a flexible flat cable 27;

[0047] The circuit board a28 is provided with a driving coil, a Hall element, a single chip microcomputer and a coil driving chip; the circuit board b210 is provided with a driving coil, a Hall element and a gyroscope chip; wherein the gyroscope chip can also be installed on the circuit board a as required;

[0048] The Hall elements on circuit board a28 and circuit board b210 are installed near the driving coil.

[0049] The driving coils and Hall elements on circuit board a28 and circuit board b210 correspond to the driving magnet 29 arranged on the inner frame 23, so that the driving coil can drive the magnet to work.

[0050] The rotating shaft can be connected using a screw bearing.

[0051] A control method for an anti-shake and image-stabilizing telescope comprises the following steps:

[0052] Step 1: Data exploration

[0053] The deflection position data M is detected by the Hall element, and the detected deflection position data is used for subsequent calculations;

[0054] Step 2: Calculate the angular velocity

[0055] The deflection angular velocity is calculated using the following formula

[0056] V=DIFF(M)

[0057] In the above formula, M is the deflection position data M obtained in step 1, DIFF() is the differential function, and V is the calculated deflection angular velocity. This step is the process of obtaining the deflection angular velocity by taking the first-order derivative of the deflection position.

[0058] Step 3: Compensation

[0059] The additional deflection angular velocity GV is calculated using the following formula

[0060] GV=V*P

[0061] In the above formula, V is the deflection angular velocity obtained in step 2, P is the deflection coefficient, and GV is the calculated additional deflection angular velocity after compensation;

[0062] Where P is the deflection coefficient, which is determined by the optical properties of the telescope and the sensitivity of the Hall sensor, and the specific value is determined by adjusting the jitter elimination effect of the telescope.

[0063] For example, a deflection coefficient P is randomly set externally and tested by a tester. If the jitter elimination effect is not good, the deflection coefficient P is randomly enlarged or reduced. If the jitter elimination improves, it is continuously adjusted until the tester believes that the best effect is achieved. If the jitter elimination effect becomes worse after randomly enlarging or reducing the deflection coefficient P, the deflection coefficient P is adjusted in the opposite direction until the tester believes that the best effect is achieved.

[0064] Use the following formula to calculate the angular velocity target value GyroV_Aim

[0065] GyroV_Aim=GV+GyroV_Mid

[0066] In the above formula, GV is the calculated additional deflection angular velocity, GyroV_Mid is the additional amount of the return-to-center angular velocity, which affects the speed of the deflection return to center. It can be adjusted according to the actual effect during the anti-shake process. A slower return-to-center speed is suitable for observing stationary targets, and a faster return-to-center speed is suitable for tracking moving targets.

[0067] Step 4: Calculate the drive volume

[0068] The present application uses a feedback control algorithm to calculate the driving quantity. The feedback control algorithm is an algorithm well known in the industry, such as a PID control algorithm.

[0069] Step 5: Drive

[0070] The driving amount calculated in step 4 is used to drive the driving magnet, so that it drives the outer frame / inner frame to rotate a specific angle to achieve anti-shake and image stabilization.

Claims

1. An anti-shake and image-stabilizing telescope, characterized by: The invention comprises an objective lens group (3), the objective lens group (3) is used to receive an external optical image, an image stabilizing universal joint assembly (2) is arranged behind the objective lens group (3), the image stabilizing universal joint assembly (2) is used to perform anti-shake processing on the optical image received by the objective lens group (3), and send the processed image signal to the eyepiece group (1), and the eyepiece group (1) is used to output the received optical image to human eyes.

2. The anti-shake and image-stabilizing telescope according to claim 1, characterized in that: The image stabilizing universal joint assembly (2) comprises a prism group (24), the position of the prism group (24) corresponds to the position of the objective lens group (3), the prism group (24) is arranged on a frame assembly, a control assembly is arranged on the frame assembly, the frame assembly can rotate left and right and pitch up and down under the control of the control assembly, the control assembly can also detect and process the signal of the prism group (24), and the processing result is used to control the movement of the frame assembly.

3. The anti-shake image stabilization telescope according to claim 2, characterized in that: The frame assembly comprises an inner frame (23) and an outer frame (21) which are nested together; wherein the outer frame (21) is connected to the outer shell of the image stabilizing universal joint assembly (2) and is capable of rotating around a connecting axis; the inner frame (23) is connected to the outer frame (21) and is capable of rotating around a connecting axis; and the connecting axis of the outer frame (21) and the connecting axis of the inner frame (23) are arranged perpendicularly.

4. The anti-shake and image-stabilizing telescope according to claim 3, characterized in that: The connecting axis between the outer frame (21) and the image stabilizing universal joint assembly (2) is arranged horizontally, and the outer frame (21) can rotate in the horizontal direction around the connecting axis.

5. The anti-shake and image-stabilizing telescope according to claim 4, characterized in that: The connecting axis between the inner frame (23) and the outer frame (21) is vertically arranged, and the inner frame (23) can rotate in the vertical direction around the connecting axis.

6. The anti-shake image stabilization telescope according to claim 5, characterized in that: A prism seat (25) is arranged on the inner frame (23), and the prism group (24) is fixedly connected to the inner frame (23) via the prism seat (25).

7. The anti-shake and image-stabilizing telescope according to claim 2, characterized in that: The control component comprises a driving coil, a Hall element, a single-chip microcomputer, a coil driving chip, and a gyroscope chip, wherein the inner frame (23) and the outer frame (21) are both provided with Hall elements, the Hall elements and the gyroscope chip are data-connected to the single-chip microcomputer; the single-chip microcomputer is data-connected to the coil driving chip; the coil driving chip is data-connected to the driving coil, and the inner frame (23) and the outer frame (21) are both provided with driving coils.

8. The anti-shake and image-stabilizing telescope according to claim 6, characterized in that: The control component comprises a driving coil, a Hall element, a single-chip microcomputer, a coil driving chip, and a gyroscope chip, wherein the inner frame (23) and the outer frame (21) are both provided with Hall elements, the Hall elements and the gyroscope chip are data-connected to the single-chip microcomputer; the single-chip microcomputer is data-connected to the coil driving chip; the coil driving chip is data-connected to the driving coil, and the inner frame (23) and the outer frame (21) are both provided with driving coils.

9. The anti-shake and image-stabilizing telescope according to claim 8, characterized in that: The eyepiece assembly (1) comprises an oblique square prism (11), and the oblique square prism (11) is used to translate the image to a position matching the human eye.

10. A control method for anti-shake and image-stabilizing binoculars, characterized in that: The steps include: Step 1: Data exploration The deflection position data M is detected by the Hall element, and the detected deflection position data is used for subsequent calculations; Step 2: Calculate the angular velocity The deflection angular velocity is calculated using the following formula V=DIFF(M) In the above formula, M is the deflection position data M obtained in step 1, DIFF() is the differential function, and V is the calculated deflection angular velocity. This step is to obtain the deflection angular velocity by taking the first-order derivative of the deflection position; Step 3: Compensation The additional deflection angular velocity GV is calculated using the following formula GV=V*P In the above formula, V is the deflection angular velocity obtained in step 2, P is the deflection coefficient, and GV is the calculated additional deflection angular velocity after compensation; Where P is the deflection coefficient, which is determined by the optical characteristics of the telescope and the sensitivity of the Hall sensor, and the specific value is determined by adjusting the jitter elimination effect of the telescope; Use the following formula to calculate the angular velocity target value GyroV_Aim GyroV_Aim=GV+GyroV_Mid In the above formula, GV is the calculated additional deflection angular velocity, GyroV_Mid is the additional amount of the return-to-center angular velocity, which affects the speed of the deflection return-to-center. It is adjusted according to the actual effect during the anti-shake process. A slower return-to-center speed is suitable for observing stationary targets, and a faster return-to-center speed is suitable for tracking moving targets. Step 4: Calculate the drive volume Calculate the actuation quantity using a feedback control algorithm; Step 5: Drive The driving amount calculated in step 4 is used to drive the driving magnet, so that it drives the outer frame / inner frame to rotate a specific angle to achieve anti-shake and image stabilization.

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