Binocular inverted image prism module with image stabilization

Abstract

This invention discloses a binocular image-inverting prism module with image stabilization function, including a mounting frame, an X-axis rotating frame, a left prism assembly, a right prism assembly, a left Y-pivot axis, a right Y-pivot axis, an X-pivot axis, a connecting rod, an X-axis drive mechanism, and a Y-axis drive mechanism. The X-axis drive mechanism drives the X-axis rotating frame to rotate around the X-axis, and the Y-axis drive mechanism drives the left and right prism assemblies to rotate synchronously around the Y-axis. A control circuit board controls the magnitude and direction of the current flowing into a first electromagnetic coil to drive the X-axis rotating frame to rotate around the X-axis for angle compensation, and locks it using an X-axis locking mechanism. Similarly, a control circuit board controls the magnitude and direction of the current flowing into a second electromagnetic coil to drive the left and right prism assemblies to rotate synchronously around the Y-axis for angle compensation, and locks them using a Y-axis locking mechanism. It has a simple structure, a reasonable and compact layout, and more stable and reliable operation, meeting the requirements for image stabilization.

Description

Technical Field

[0001] This invention relates to a binocular inverted image prism module with image stabilization function. Background Technology

[0002] Binoculars generally consist of a left tube and a right tube. The left tube contains the left objective lens group, the left prism group, and the left eyepiece group, while the right tube contains the right objective lens group, the right prism group, and the right eyepiece group. See [link to documentation]. Figure 1 The diagram shown illustrates the optical principle of binoculars. The main functions of the left and right prism groups are to invert the image (or to upright the image).

[0003] like Figure 2 and Figure 3 As shown, image stabilization systems using inverted image prisms need to consider the jitter problem in six degrees of freedom. This means that when a person holds the binoculars, there will be shaking, resulting in back-and-forth movement along the Z, X, and Y axes, as well as rotation around these axes. Extensive experimental research has shown that movement along the Z, X, and Y axes and rotation around the Z axis have a relatively small impact on image stabilization (it can be ignored), while rotation around the X and Y axes has a significant impact on image quality. Therefore, the common approach in binocular inverted image prism stabilization systems is to compensate for the impact of X and Y axis rotation on imaging. Patent application number 202311520311.6, entitled "A Binocular Image Stabilized Telescope and Its Control Method," uses X-axis and Y-axis drive mechanisms to compensate for X-axis and Y-axis rotation in each prism group within the binocular tube. Therefore, a total of four independent drive mechanisms are used to achieve image stabilization.

[0004] This leads to the following technical problems: 1) The four independent drive mechanisms (electromagnetic drive mechanisms) are precision drive mechanisms, which are costly, more complex in structure, and larger in size; 2) The four independent drive mechanisms increase the difficulty of control and cannot make the right prism group rotate synchronously with the left prism group, which affects the imaging quality.

[0005] The applicant filed an invention patent on July 9, 2024, with patent number 2024217113133, entitled "Binocular Inverted Image Prism Module with Anti-shake Function." While it largely overcomes the above problems, it still has the following shortcomings: 1) The prism assembly uses X-axis and Y-axis drive mechanisms to complete X-axis and Y-axis rotation compensation, but lacks a locking device for securing them, leading to instability. 2) This patent only discloses the implemented mechanical structure, without disclosing the specific control principle and method, which requires further improvement. Summary of the Invention

[0006] This invention provides a binocular image inversion prism module with image stabilization, which solves the technical problem in the prior art where the binocular image inversion prism module with image stabilization uses an X-axis drive mechanism and a Y-axis drive mechanism to complete the rotation compensation of the X-axis and Y-axis, but there is no locking device to lock it in place, resulting in instability.

[0007] The technical solution of this invention is implemented as follows:

[0008] The binocular inverted image prism module with image stabilization includes a mounting frame, an X-axis rotating frame, a left prism assembly, a right prism assembly, a left Y-pivot axis, a right Y-pivot axis, an X-pivot axis, a connecting rod, an X-axis drive mechanism, and a Y-axis drive mechanism. The X-axis is horizontal, and the Y-axis is vertical.

[0009] The X-axis rotating frame is nested inside the mounting frame and is rotatably connected to the left and right sides of the mounting frame via X-axis pivots on both sides.

[0010] The left prism assembly is nested inside the X-axis rotating frame and is rotatably connected to the upper and lower ends of the X-axis rotating frame via the left Y-pivot axis.

[0011] The right prism assembly is nested inside the X-axis rotating frame and is rotatably connected to the upper and lower ends of the X-axis rotating frame via the right Y-pivot axis.

[0012] The left Y-pivot axis is located in the center of the left prism assembly, and the right Y-pivot axis is located in the center of the right prism assembly. The first hinge point and the second hinge point are respectively set on the end faces of the left and right prism assemblies near the edge. The two ends of the connecting rod are hinged to the first hinge point and the second hinge point respectively. The connecting rod, the left prism assembly, and the right prism assembly form a parallelogram mechanism that moves together.

[0013] The X-axis drive mechanism is used to drive the X-axis rotating frame to rotate around the X-axis, and the Y-axis drive mechanism is used to drive the left prism assembly and the right prism assembly to rotate synchronously around the Y-axis.

[0014] Its features include: an X-axis locking mechanism, a Y-axis locking mechanism, and a control circuit board. The control circuit board is installed at the top center of the X-axis rotating frame. The X-axis driving mechanism includes a first electromagnetic coil and a first magnet, and the Y-axis driving mechanism includes a second electromagnetic coil and a second magnet, wherein:

[0015] The first electromagnetic coil is integrated and installed on the top surface of the control circuit board. The first magnet is installed directly above the first electromagnetic coil on the mounting frame. The first electromagnetic coil and the first magnet are magnetically coupled.

[0016] The second electromagnetic coil is integrated and installed on the bottom surface of the control circuit board. The second magnet is installed on the connecting rod directly below the second electromagnetic coil. The second electromagnetic wire is magnetically coupled to the second magnet.

[0017] The control circuit board controls the magnitude and direction of the current flowing into the first electromagnetic coil to drive the X-axis rotating frame to rotate around the X-axis for angle compensation, and uses the X-axis locking mechanism for locking; the control circuit board controls the magnitude and direction of the current flowing into the second electromagnetic coil to drive the left prism assembly and the right prism assembly to rotate synchronously around the Y-axis for angle compensation, and uses the Y-axis locking mechanism for locking.

[0018] Preferably, the X-axis locking mechanism includes a first slider, a first steel ball, a third magnet, a third electromagnetic coil, and a first pressure plate. A first groove is provided on the side wall of the mounting frame. The first slider is nested in the first groove and can slide up and down along the first groove. A sloping groove is provided on the bottom surface of the first slider. A first recess is opened on the side wall of the X-axis rotating frame. The bottom of the first steel ball is nested in the first recess, and the top of the first steel ball is nested in the sloping groove. A third magnet is installed at the end of the first slider. A third electromagnetic coil is arranged next to the third magnet to form magnetic coupling. The third electromagnetic coil is installed on the first pressure plate. The first pressure plate is fixedly installed on the side wall of the mounting frame. One side of the first slider is blocked by the first pressure plate. When the X-axis rotating frame reaches a predetermined position, the third electromagnetic coil receives a control signal to drive the first slider to move, so that the highest point of the sloping groove presses against the first steel ball, thus locking the X-axis rotating frame. When it is necessary to rotate the X-axis rotating frame, the third electromagnetic coil receives a control signal to drive the first slider to move in the opposite direction, so that the first steel ball slides into the lowest point of the sloping groove.

[0019] Preferably, the Y-axis locking mechanism includes a second slider, a second steel ball, a fourth magnet, a fourth electromagnetic coil, and a second pressure plate. A second slide groove is provided on one side of the top of the X-axis rotating frame. The second slider is nested in the second slide groove and can slide left and right along the second slide groove.

[0020] A fourth electromagnetic coil is mounted on the second pressure plate. A second sloping groove is provided on the bottom surface of the second slider. A second concave hole is opened on the top surface of the left prism assembly. The bottom of the second steel ball is nested in the second concave hole, and the top of the second steel ball is nested in the second sloping groove. A fourth magnet is installed at the end of the second slider. A fourth electromagnetic coil is placed next to the fourth magnet to form magnetic coupling. The second pressure plate is fixedly installed on the top of the X-axis rotating frame. One side of the second slider is blocked by the second pressure plate. When the left prism assembly reaches the predetermined position, the fourth electromagnetic coil receives a control signal to drive the second slider to move, so that the highest point of the second sloping groove presses against the second steel ball, thus locking the left prism assembly. When it is necessary to rotate the left prism assembly, the fourth electromagnetic coil receives a control signal to drive the second slider to move in the opposite direction, so that the second steel ball slides into the lowest point of the second sloping groove.

[0021] Preferably, the control circuit board also integrates a microcontroller (MCU) and a Hall sensor. The MCU uses a driving circuit to drive the first electromagnetic coil, the second electromagnetic coil, the third electromagnetic coil, and the fourth electromagnetic coil respectively. The Hall sensor is used to detect the rotation compensation angle signal of the left prism assembly and the right prism assembly and feed it back to the MCU.

[0022] The X-axis jitter deflection angle α1 is detected by the gyroscope and sent to the microcontroller MCU. The microcontroller MCU obtains the X-axis jitter compensation angle β1 according to the function β1=f(α1) or an experimental data table. The microcontroller MCU outputs a control signal to drive the left prism assembly and the right prism assembly of the X-axis drive mechanism to rotate around the X-axis pivot axis by a jitter compensation angle β1 at the same time. Then, the X-axis locking mechanism is used to lock them.

[0023] The gyroscope detects the Y-axis jitter deflection angle α2 and sends it to the microcontroller (MCU). The MCU obtains the Y-axis jitter compensation angle β2 based on the function β2=f(α2) or an experimental data table. The MCU outputs a control signal to drive the Y-axis drive mechanism to rotate the left and right prism components synchronously around the left and right Y-axis pivots by a jitter compensation angle β2, respectively. Then, the Y-axis locking mechanism is used to lock them.

[0024] Preferably, the function β1=f(α1) is a first-order function, β1=K0+K1*α1; the function β2=f(α2) is a first-order function, β2=K2+K3*α2, where K0, K1, K2, and K3 are coefficients.

[0025] Preferably, the mounting frame and the X-axis rotation frame are rectangular frames.

[0026] Preferably, screw mounting seats are provided at the corners of the mounting frame, and the mounting frame can be installed inside the binoculars tube by screwing screws into the screw mounting seats.

[0027] Preferably, a first groove is provided in the middle of the connecting rod for installing and fixing the second magnet, and a second groove is provided in the middle of the top of the mounting frame for installing and fixing the first magnet.

[0028] Compared with the prior art, the present invention has the following advantages:

[0029] 1. This invention also includes an X-axis locking mechanism, a Y-axis locking mechanism, and a control circuit board. The control circuit board is installed at the top center of the X-axis rotating frame. The X-axis driving mechanism includes a first electromagnetic coil and a first magnet, and the Y-axis driving mechanism includes a second electromagnetic coil and a second magnet. The first electromagnetic coil is integrated and installed on the top surface of the control circuit board, and the first magnet is installed directly above the first electromagnetic coil on the mounting frame. The first electromagnetic coil and the first magnet are magnetically coupled. The second electromagnetic coil is integrated and installed on the bottom surface of the control circuit board, and the second magnet is installed on the connecting rod directly below the second electromagnetic coil. The second electromagnetic coil is magnetically coupled to the second magnet. The control circuit board controls the magnitude and direction of the current flowing into the first electromagnetic coil to drive the X-axis rotating frame to rotate around the X-axis for angle compensation, and locks it using the X-axis locking mechanism. The control circuit board controls the magnitude and direction of the current flowing into the second electromagnetic coil to drive the left prism assembly and the right prism assembly to rotate synchronously around the Y-axis for angle compensation, and locks them using the Y-axis locking mechanism. The structure is simple, the layout is reasonable and compact, the operation is more stable and reliable, and it meets the requirements for anti-shake.

[0030] 2. The control circuit board of the present invention also integrates a microcontroller (MCU) and a Hall sensor. The MCU uses a driving circuit to drive the first electromagnetic coil, the second electromagnetic coil, the third electromagnetic coil, and the fourth electromagnetic coil respectively. The Hall sensor is used to detect the rotation compensation angle signal of the left prism assembly and the right prism assembly and feed it back to the MCU. Through the reasonable calculation and control of the MCU and the cooperation of other mechanisms, fast response control is achieved to meet the technical requirements of anti-shake.

[0031] 3. Other advantages of the present invention are described in detail in the Embodiments section. Attached Figure Description

[0032] Figure 1 This is an optical schematic diagram of an existing binoculars;

[0033] Figure 2 This is a schematic diagram of the prism assembly of an existing binoculars;

[0034] Figure 3 for Figure 2 Top view;

[0035] Figure 4 This is a perspective view of the present invention;

[0036] Figure 5 This is an exploded view of the present invention from one angle;

[0037] Figure 6 This is an exploded view of the invention from another angle;

[0038] Figure 7 This is a perspective view of the invention with the installation frame hidden.

[0039] Figure 8 This is an exploded view from one angle after the installation frame of this invention has been hidden.

[0040] Figure 9 This is an exploded view from another angle after the installation frame of this invention has been hidden;

[0041] Figure 10 This is a side view of the present invention;

[0042] Figure 11 yes Figure 10 AA section view;

[0043] Figure 12 This is a top view of the present invention with the installation frame omitted;

[0044] Figure 13 yes Figure 12 BB section view;

[0045] Figure 14 This is a perspective view of the parallelogram mechanism composed of the connecting rod, the left prism assembly, and the right prism assembly of the present invention.

[0046] Figure 15 This is a perspective view of the X-axis locking mechanism of the present invention;

[0047] Figure 16 This is an exploded view of the X-axis locking mechanism of the present invention;

[0048] Figure 17 This is a side view of the present invention;

[0049] Figure 18 yes Figure 17 CC section view;

[0050] Figure 19 This is a perspective view of the Y-axis locking mechanism of the present invention;

[0051] Figure 20 This is an exploded view of the Y-axis locking mechanism of the present invention;

[0052] Figure 21 This is a top view of the present invention;

[0053] Figure 22 yes Figure 21 DD sectional view;

[0054] Figure 23 This is a perspective view of the second slider of the Y-axis locking mechanism of the present invention;

[0055] Figure 24 This is a circuit block diagram of the present invention;

[0056] Figure 25This is a schematic diagram of the parallelogram mechanism composed of the connecting rod, the left prism assembly, and the right prism assembly in Embodiment 1 of the present invention.

[0057] Figure 26 This is a perspective view of the binoculars according to Embodiment 2 of the present invention;

[0058] Figure 27 This is a structural cross-sectional view of the binoculars according to Embodiment 2 of the present invention;

[0059] Figure 28 This is the optical path diagram of the binoculars in Embodiment 2 of the present invention without jitter compensation;

[0060] Figure 29 This is the optical path diagram of the binoculars in Embodiment 2 of the present invention after jitter compensation. Detailed Implementation

[0061] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0062] Example:

[0063] like Figures 4 to 25 As shown, the binocular inverted image prism module with image stabilization provided in this embodiment includes a mounting frame 1, an X-axis rotating frame 2, a left prism assembly 3, a right prism assembly 4, a left Y-pivot axis 5, a right Y-pivot axis 6, an X-pivot axis 7, a connecting rod 8, an X-axis drive mechanism 9, and a Y-axis drive mechanism 10. The X-axis is horizontal, and the Y-axis is vertical.

[0064] The X-axis rotating frame 2 is nested inside the mounting frame 1 and is rotatably connected to the left and right sides of the mounting frame 1 by means of the X-axis pivot shafts 7 on both sides.

[0065] The left prism assembly 3 is nested inside the X-axis rotating frame 2 and is rotatably connected to the upper and lower ends of the X-axis rotating frame 2 via the left Y-pivot shaft 5.

[0066] The right prism assembly 4 is nested inside the X-axis rotating frame 2 and is rotatably connected to the upper and lower ends of the X-axis rotating frame 2 via the right Y-pivot 6.

[0067] The left Y-pivot 5 is located in the center of the left prism assembly 3, and the right Y-pivot 6 is located in the center of the right prism assembly 4. The first hinge fulcrum 31 and the second hinge fulcrum 41 are respectively set on the end faces of the left prism assembly 3 and the right prism assembly 4 near the edge. The two ends of the connecting rod 8 are hinged to the first hinge fulcrum 31 and the second hinge fulcrum 41 respectively. The connecting rod 8, the left prism assembly 3, and the right prism assembly 4 form a parallelogram mechanism that moves together.

[0068] X-axis drive mechanism 9 is used to drive the X-axis rotating frame 2 to rotate around the X-axis, and Y-axis drive mechanism 10 is used to drive the left prism assembly 3 and the right prism assembly 4 to rotate synchronously around the Y-axis.

[0069] Its features include: an X-axis locking mechanism 11, a Y-axis locking mechanism 12, and a control circuit board 13. The control circuit board 13 is installed at the top center of the X-axis rotating frame 2. The X-axis driving mechanism 9 includes a first electromagnetic coil 91 and a first magnet 92, and the Y-axis driving mechanism 10 includes a second electromagnetic coil 101 and a second magnet 102.

[0070] The first electromagnetic coil 91 is integrated and installed on the top surface of the control circuit board 13. The first magnet 92 is installed directly above the first electromagnetic coil 91 on the mounting frame 1. The first electromagnetic coil 91 and the first magnet 92 are magnetically coupled.

[0071] The second electromagnetic coil 101 is integrated and installed on the bottom surface of the control circuit board 13. The second magnet 102 is installed on the connecting rod 8 directly below the second electromagnetic coil 101. The second electromagnetic wire is magnetically coupled to the second magnet 102.

[0072] The control circuit board 13 controls the magnitude and direction of the current flowing into the first electromagnetic coil 91 to drive the X-axis rotating frame 2 to rotate around the X-axis for angle compensation, and locks it using the X-axis locking mechanism 11; the control circuit board 13 also controls the magnitude and direction of the current flowing into the second electromagnetic coil 101 to drive the left prism assembly 3 and the right prism assembly 4 to rotate synchronously around the Y-axis for angle compensation, and locks them using the Y-axis locking mechanism 12. The entire module has a simple structure, a reasonable and compact layout, and more stable and reliable operation.

[0073] Preferably, the X-axis locking mechanism 11 includes a first slider 111, a first steel ball 112, a third magnet 113, a third electromagnetic coil 114, and a first pressure plate 115. A first groove 1a is provided on the side wall of the mounting frame 1, and the first slider 111 is nested in the first groove 1a and can slide up and down along the first groove 1a. A sloping groove 1112 is provided on the bottom surface of the first slider 111, and a first recess 21 is opened on the side wall of the X-axis rotating frame 2. The bottom of the first steel ball 112 is nested in the first recess 21, and the top of the first steel ball 112 is nested in the sloping groove 1112. The third magnet 113 is installed at the end of the first slider 111, and the third electromagnetic coil 114 is arranged next to the third magnet 113 to form magnetic coupling. The third electromagnetic coil 114 is installed on the first pressure plate 115. The first slider 111 is fixedly mounted on the side wall of the mounting frame 1 by screws 116. One side of the first slider 111 is blocked by the first pressure plate 115. When the X-axis rotating frame 2 reaches the predetermined position, the third electromagnetic coil 114 receives a control signal to drive the first slider 11 to move, so that the highest point of the ramp groove 1112 presses against the first steel ball 112, thus locking the X-axis rotating frame 2. When it is necessary to rotate the X-axis rotating frame 2, the third electromagnetic coil 114 receives a control signal to drive the first slider 111 to move in the opposite direction, so that the first steel ball 112 slides into the lowest point of the ramp groove 1112. The structure is simple and reasonable, and the control response is fast.

[0074] Preferably, the Y-axis locking mechanism 12 includes a second slider 121, a second steel ball 122, a fourth magnet 123, a fourth electromagnetic coil 124, and a second pressure plate 125. A second slide groove 2a is provided on one side of the top of the X-axis rotating frame 2. The second slider 121 is nested in the second slide groove 2a and can slide left and right along the second slide groove 2a.

[0075] The fourth electromagnetic coil 124 is mounted on the second pressure plate 125. A second sloping groove 1212 is provided on the bottom surface of the second slider 121. A second recessed hole 35 is opened on the top surface of the left prism assembly 3. The bottom of the second steel ball 122 is nested in the second recessed hole 35, and the top of the second steel ball 122 is nested in the second sloping groove 1212. A fourth magnet 123 is installed at the end of the second slider 121. A fourth electromagnetic coil 124 is arranged next to the fourth magnet 123 to form magnetic coupling. The second pressure plate 125 is fixedly mounted on the X-axis by screws 126. At the top of the rotating frame 2, one side of the second slider 121 is blocked by the second pressure plate 125. When the left prism assembly 3 reaches the predetermined position, the fourth electromagnetic coil 124 receives a control signal to drive the second slider 121 to move, so that the highest point of the second ramp groove 1212 presses against the second steel ball 122, thus locking the left prism assembly 3. When it is necessary to rotate the left prism assembly 3, the fourth electromagnetic coil 124 receives a control signal to drive the second slider 121 to move in the opposite direction, so that the second steel ball 122 slides into the lowest point of the second ramp groove 1212. The structure is simple and reasonable, and the control response is fast.

[0076] Preferably, the control circuit board 13 also integrates a microcontroller (MCU) and Hall effect sensors. The MCU uses a drive circuit to drive the first electromagnetic coil 91, the second electromagnetic coil 101, the third electromagnetic coil 114, and the fourth electromagnetic coil 124 respectively. The Hall effect sensors are used to detect the rotation compensation angle signals of the left prism assembly 3 and the right prism assembly 4 and feed them back to the MCU. Using Hall effect sensors to detect angular position signals is a common technique in the fields of motors and angle measurement, and will not be described further here.

[0077] The X-axis jitter deflection angle α1 is detected by the gyroscope and sent to the microcontroller MCU. The microcontroller MCU obtains the X-axis jitter compensation angle β1 according to the function β1=f(α1) or an experimental data table. The microcontroller MCU outputs a control signal to make the X-axis drive mechanism 9 drive the left prism assembly 3 and the right prism assembly 4 to rotate around the X-axis pivot 7 by a jitter compensation angle β1 at the same time, and then locks them using the X-axis locking mechanism 11.

[0078] The Y-axis jitter deflection angle α2 is detected by a gyroscope and sent to the microcontroller (MCU). The MCU obtains the Y-axis jitter compensation angle β2 based on the function β2=f(α2) or an experimental data table. The MCU outputs a control signal to drive the Y-axis drive mechanism 10 to rotate the left prism assembly 3 and the right prism assembly 4 simultaneously around the left Y-pivot axis 5 and the right Y-pivot axis 6 by a jitter compensation angle β2, respectively. Then, the Y-axis locking mechanism 12 locks them in place. The control is simple and convenient, the algorithm is also simple, and it saves the computing resources of the MCU.

[0079] Preferably, the function β1=f(α1) is a first-order function, β1=K0+K1*α1; the function β2=f(α2) is a first-order function, β2=K2+K3*α2, where K0, K1, K2, and K3 are coefficients.

[0080] Preferably, the mounting frame 1 and the X-axis rotating frame 2 are rectangular frames.

[0081] Preferably, screw mounting seats 103 are provided at the corners of the mounting frame 1. By screwing screws into the screw mounting seats 103, the mounting frame 1 can be installed inside the binoculars tube. The structure is simple and the installation is convenient.

[0082] Preferably, the connecting rod 8 has a first groove 81 in the middle for mounting and fixing the second magnet 102, and the mounting frame 1 has a second groove 1b in the middle of its top for mounting and fixing the first magnet 92. The structure is simple and the installation is convenient.

[0083] Figure 14 The diagram shows an XYZ coordinate system, where the Z-axis is along the optical axis of the telescope, the X-axis is horizontal, and the Y-axis is vertical. In this invention, when the X-axis drive mechanism 9 drives the X-axis rotating frame 2 to rotate around the X-axis, the left prism assembly 3 and the right prism assembly 4, both mounted on the X-axis rotating frame 2, rotate together around the X-axis, thus achieving synchronous X-axis rotation. When the Y-axis drive mechanism 10 drives the left prism assembly 3 and the right prism assembly 4 to rotate synchronously around the Y-axis, the connecting rod 8, the left prism assembly 3, and the right prism assembly 4 form a parallelogram mechanism that moves together. The Y-axis drive mechanism 10 drives the connecting rod 8 to move left and right, achieving synchronous rotation of the left prism assembly 3 and the right prism assembly 4 around the Y-axis. Furthermore, the left prism assembly 3 and the right prism assembly 4 rotate independently around their respective left Y-pivot axes 5 and right Y-pivot axes 6, respectively, without any front-to-back displacement difference in the Z-axis direction, ensuring image quality. This invention requires only two drive mechanisms to complete rotational compensation along the X-axis and Y-axis. The ingenious and significantly simplified structural design reduces production costs and results in a more compact structure. The X-axis drive mechanism drives the X-axis rotating frame to rotate around the X-axis, while the Y-axis drive mechanism drives the left and right prism assemblies to rotate synchronously around the Y-axis. This synchronized operation of the left and right prism assemblies reduces control complexity and ensures image quality.

[0084] The left prism assembly 3 and the right prism assembly 4 mentioned above have basically the same structure. They both include a half pentagonal prism 201, a ridge prism 202 and a mounting base 203. The half pentagonal prism 201 and the ridge prism 202 are nested in the mounting base 203. The structure is simple, reasonable and modular.

[0085] Both the X-axis drive mechanism 9 and the Y-axis drive mechanism 10 described above use electromagnetic coil drivers, which are simple and convenient to control and have relatively low cost. Figure 24As shown, when the gyroscope sensor installed in the telescope detects jitter, it is assumed that the gyroscope sensor sends the X-axis rotation angle signal to the microcontroller (MCU). The MCU calculates the compensation data based on the rotation angle signal and then uses a drive circuit to drive the electromagnetic coil, controlling the direction and magnitude of the current in the electromagnetic coil. The electromagnetic coil attracts or repels the magnet, causing the X-axis rotating frame 2 to rotate for compensation. The Hall sensor detects the rotation angle signal of the X-axis rotating frame 2 and feeds it back to the MCU, thus forming a closed-loop control and ultimately achieving compensation. The principle of this electromagnetic coil driver has been described in detail in patent application number 202311520311.6, entitled "A Binocular Image Stabilizing Telescope and Its Control Method," and will not be repeated here. Furthermore, the electromagnetic coil driver is not the core of this patent; the core of this patent is the mechanical linkage mechanism and control, which have been described in detail above. The microcontroller (MCU) obtains the jitter compensation angle β1 of the X-axis or the jitter compensation angle β2 of the Y-axis based on the X-axis jitter deflection angle α1 or the Y-axis jitter deflection angle α2 sent by the gyroscope 11. The MCU outputs a control signal to make the left prism assembly 3 and the right prism assembly 4 rotate simultaneously around the X-axis pivot by a jitter compensation angle β1 through the interaction of the coil and the electromagnet; or the MCU outputs a control signal to make the left prism assembly and the right prism assembly rotate simultaneously around the left Y-axis pivot and the right Y-axis pivot by a jitter compensation angle β2, respectively.

[0086] Screw mounting bases 103 are provided at the corners of the aforementioned mounting frame 1. By screwing screws into the screw mounting bases 103, the mounting frame 1 can be installed inside the binoculars tube, which is convenient to install and use and has a high degree of integration.

[0087] The experimental data is shown in Table 1. In Table 1, the X-axis jitter angle α1 or Y-axis jitter angle α2 ranges from -5º to +5º. A jitter compensation angle β1 or Y-axis jitter compensation angle β2 is measured every 0.1º to ensure the imaging quality meets requirements. A total of 100 sets of data are required. The data in Table 1 is stored in the microcontroller (MCU) of the electromagnetic coil driver for easy retrieval. Alternatively, we can plot the 100 sets of data on a plane coordinate system with the X-axis jitter angle α1 as the x-axis and the jitter compensation angle β1 as the y-axis, and then draw a straight line. The function β1 = f(α1) can be expressed as a first-order function, β1 = K0 + K1 * α1. This knowledge is covered in high school mathematics and will not be elaborated further here. Similarly, it can be deduced that the function β2=f(α2) can be a first-order function, β2=K2+K3*α2, where K0, K1, K2, and K3 are coefficients. This simplifies control and enhances functionality.

[0088] Of course, the functions β1=f(α1) and β2=f(α2) can also be expressed as second-order functions. They can be plotted on a plane coordinate system by plotting points, and then a curve can be drawn to represent the function, which can improve the compensation accuracy. This will not be described further here.

[0089]

[0090] Example 2:

[0091] like Figure 26 and Figure 27 As shown, this embodiment provides a binocular telescope, including a left telescope tube 30 and a right telescope tube 40. The left telescope tube 30 houses a left objective lens group 32, a left prism group 3, and a left eyepiece group 33. The right telescope tube 40 houses a right objective lens group 42, a right prism group 4, and a right eyepiece group 43. The left telescope tube 30 and the right telescope tube 40 are partially connected to each other to install a binocular image inversion prism module 100. The binocular image inversion prism module 100 is the binocular image inversion prism module with image stabilization function described in Embodiment 1.

[0092] like Figure 28 As shown, when a person shakes their binoculars and rotates them 2° to the right around the Y-axis, the image seen by the eye is shifted before image stabilization is achieved; the image of the observed point is no longer in the center of the field of view on the imaging plane. Figure 29 As shown, compensation is performed with a compensation angle of 2.88º, and the image of the observed point is deflected to the left by 2.88º around the Y-axis in the opposite direction, so that the image of the observed point is not in the center of the field of view of the imaging plane, which meets the requirements of image stabilization.

[0093] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has 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; and these 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 binocular inverted image prism module with image stabilization function, comprising a mounting frame (1), an X-axis rotating frame (2), a left prism assembly (3), a right prism assembly (4), a left Y-pivot axis (5), a right Y-pivot axis (6), an X-pivot axis (7), a connecting rod (8), an X-axis drive mechanism (9), and a Y-axis drive mechanism (10), wherein the X-axis is horizontal and the Y-axis is vertical, and: The X-axis rotating frame (2) is nested inside the mounting frame (1) and is rotatably connected to the left and right sides of the mounting frame (1) by means of the X-axis pivot shafts (7) on both sides. The left prism assembly (3) is nested inside the X-axis rotating frame (2) and is rotatably connected to the upper and lower ends of the X-axis rotating frame (2) via the left Y-axis pivot (5); The right prism assembly (4) is nested inside the X-axis rotating frame (2) and is rotatably connected to the upper and lower ends of the X-axis rotating frame (2) via the right Y-axis pivot (6); The left Y-pivot (5) is located in the center of the left prism assembly (3), and the right Y-pivot (6) is located in the center of the right prism assembly (4). The first hinge point (31) and the second hinge point (41) are respectively set on the end faces of the left prism assembly (3) and the right prism assembly (4) near the edge. The two ends of the connecting rod (8) are hinged to the first hinge point (31) and the second hinge point (41) respectively. The connecting rod (8), the left prism assembly (3), and the right prism assembly (4) form a parallelogram mechanism that moves together. The X-axis drive mechanism (9) is used to drive the X-axis rotating frame (2) to rotate around the X-axis, and the Y-axis drive mechanism (10) is used to drive the left prism assembly (3) and the right prism assembly (4) to rotate synchronously around the Y-axis. Its features include: an X-axis locking mechanism (11), a Y-axis locking mechanism (12), and a control circuit board (13). The control circuit board (13) is installed at the top center of the X-axis rotating frame (2). The X-axis driving mechanism (9) includes a first electromagnetic coil (91) and a first magnet (92). The Y-axis driving mechanism (10) includes a second electromagnetic coil (101) and a second magnet (102). The first electromagnetic coil (91) is integrated and installed on the top surface of the control circuit board (13). The first magnet (92) is installed directly above the first electromagnetic coil (91) on the mounting frame (1). The first electromagnetic coil (91) and the first magnet (92) are magnetically coupled. The second electromagnetic coil (101) is integrated and installed on the bottom surface of the control circuit board (13). The second magnet (102) is installed on the connecting rod (8) directly below the second electromagnetic coil (101). The second electromagnetic wire is magnetically coupled to the second magnet (102). The control circuit board (13) controls the magnitude and direction of the current flowing into the first electromagnetic coil (91) to drive the X-axis rotating frame (2) to rotate around the X-axis for angle compensation, and uses the X-axis locking mechanism (11) to lock it; the control circuit board (13) controls the magnitude and direction of the current flowing into the second electromagnetic coil (101) to drive the left prism assembly (3) and the right prism assembly (4) to rotate around the Y-axis synchronously for angle compensation, and uses the Y-axis locking mechanism (12) to lock it.

2. The binocular image-inverting prism module with image stabilization function according to claim 1, characterized in that: The X-axis locking mechanism (11) includes a first slider (111), a first steel ball (112), a third magnet (113), a third electromagnetic coil (114), and a first pressure plate (115). A first groove (1a) is provided on the side wall of the mounting frame (1). The first slider (111) is nested in the first groove (1a) and can slide up and down along the first groove (1a). A sloping groove (1112) is provided on the bottom surface of the first slider (111). A first recess (21) is opened on the side wall of the X-axis rotating frame (2). The bottom of the first steel ball (112) is nested in the first recess (21), and the top of the first steel ball (112) is nested in the sloping groove (1112). The third magnet (113) is installed at the end of the first slider (111). A third electromagnetic coil (114) is provided next to the third magnet (113) and forms magnetic coupling. The third electromagnetic coil (114) is installed on the first pressure plate (115). The first pressure plate (115) is fixedly installed on the side wall of the mounting frame (1). The first slider (111) is blocked on one side by the first pressure plate (115). When the X-axis rotating frame (2) reaches the predetermined position, the third electromagnetic coil (114) receives a control signal to drive the first slider (111) to move, so that the highest point of the ramp groove (1112) presses against the first steel ball (112), thus locking the X-axis rotating frame (2). When it is necessary to rotate the X-axis rotating frame (2), the third electromagnetic coil (114) receives a control signal to drive the first slider (111) to move in the opposite direction, so that the first steel ball (112) slides into the lowest point of the ramp groove (1112).

3. The binocular image-inverting prism module with image stabilization function according to claim 1 or 2, characterized in that: The Y-axis locking mechanism (12) includes a second slider (121), a second steel ball (122), a fourth magnet (123), a fourth electromagnetic coil (124), and a second pressure plate (125). A second slide groove (2a) is provided on one side of the top of the X-axis rotating frame (2). The second slider (121) is nested in the second slide groove (2a) and can slide left and right along the second slide groove (2a). The fourth electromagnetic coil (124) is mounted on the second pressure plate (125). The bottom surface of the second slider (121) is provided with a second inclined groove (1212). The top surface of the left prism assembly (3) is provided with a second recessed hole (35). The bottom of the second steel ball (122) is nested in the second recessed hole (35), and the top of the second steel ball (122) is nested in the second inclined groove (1212). The end of the second slider (121) is equipped with a fourth magnet (123). The fourth electromagnetic coil (124) is arranged next to the fourth magnet (123) and forms magnetic coupling. The second pressure plate (125) is fixedly mounted on the X-axis rotation. At the top of the frame (2), one side of the second slider (121) is blocked by the second pressure plate (125); when the left prism assembly (3) reaches the predetermined position, the fourth electromagnetic coil (124) receives a control signal to drive the second slider (121) to move, so that the highest point of the second ramp groove (1212) presses against the second steel ball (122), thus locking the left prism assembly (3); when it is necessary to rotate the left prism assembly (3), the fourth electromagnetic coil (124) receives a control signal to drive the second slider (121) to move in the opposite direction, so that the second steel ball (122) slides into the lowest point of the second ramp groove (1212).

4. The binocular image-inverting prism module with image stabilization function according to claim 3, characterized in that: The control circuit board (13) also integrates a microcontroller (MCU) and a Hall sensor. The microcontroller (MCU) uses a driving circuit to drive the first electromagnetic coil (91), the second electromagnetic coil (101), the third electromagnetic coil (114), and the fourth electromagnetic coil (124) respectively. The Hall sensor is used to detect the rotation compensation angle signal of the left prism assembly (3) and the right prism assembly (4) and feed it back to the microcontroller (MCU). The X-axis jitter deflection angle α1 is detected by the gyroscope and sent to the microcontroller MCU. The microcontroller MCU obtains the X-axis jitter compensation angle β1 according to the function β1=f(α1) or an experimental data table. The microcontroller MCU outputs a control signal to make the X-axis drive mechanism (9) drive the left prism assembly (3) and the right prism assembly (4) to rotate around the X-axis pivot axis (7) by a jitter compensation angle β1 at the same time. Then, the X-axis locking mechanism (11) is used to lock it. The gyroscope detects the Y-axis jitter deflection angle α2 and sends it to the microcontroller MCU. The microcontroller MCU obtains the Y-axis jitter compensation angle β2 according to the function β2=f(α2) or an experimental data table. The microcontroller MCU outputs a control signal to make the Y-axis drive mechanism (10) drive the left prism assembly (3) and the right prism assembly (4) to rotate simultaneously around the left Y-pivot axis (5) and the right Y-pivot axis (6) by a jitter compensation angle β2. Then, the Y-axis locking mechanism (12) is used to lock it.

5. The binocular image-inverting prism module with image stabilization function according to claim 4, characterized in that: The function β1=f(α1) is a first-order function, β1=K0+K1*α1; the function β2=f(α2) is a first-order function, β2=K2+K3*α2, where K0, K1, K2, and K3 are coefficients.

6. The binocular image-inverting prism module with image stabilization function according to claim 5, characterized in that: The mounting frame (1) and the X-axis rotation frame (2) are rectangular frames.

7. The binocular image-inverting prism module with image stabilization function according to claim 6, characterized in that: Screw mounts (103) are provided at the corners of the mounting frame (1). By screwing screws into the screw mounts (103), the mounting frame (1) can be installed inside the binoculars.

8. The binocular image-inverting prism module with image stabilization function according to claim 7, characterized in that: The connecting rod (8) has a first groove (81) in the middle for installing and fixing the second magnet (102), and the mounting frame (1) has a second groove (1b) in the middle of the top for installing and fixing the first magnet (92).

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