Optical pod, optical pod optical axis adjustment method and unmanned aerial vehicle

Abstract

This invention discloses an optoelectronic pod, an optical axis adjustment method for the optoelectronic pod, and a drone. The optoelectronic pod includes a pod shell and a pod bracket. A lens bracket is connected to the pod bracket, and a lens assembly is connected to the lens bracket. At least one lens bracket is connected to the pod bracket using an optical axis adjustment mechanism. The optical axis adjustment mechanism includes at least three adjustment units, each including an optical axis adjustment screw and an elastic component. Screw holes are provided on the lens bracket corresponding to the positions of the optical axis adjustment screws. The optical axis adjustment screws are sequentially passed through the pod bracket and the elastic component and screwed into the screw holes. In this invention, the lens bracket of the lens assembly is connected to the pod bracket using three adjustment units, which facilitates the optical axis center calibration of the lens assembly.

Description

Technical Field

[0001] This invention belongs to the field of optoelectronic pods, and specifically relates to an optoelectronic pod, an optoelectronic pod optical axis adjustment method, and an unmanned aerial vehicle (UAV). Background Technology

[0002] The electro-optical pod is the core sensor system of a drone, acting as its "eyes." It typically integrates multiple lens components for imaging, enabling long-range, high-definition target detection and information acquisition in complex environments. Due to inherent deviations in the mechanical installation of different lens components within the pod, and external factors such as temperature and vibration further causing optical axis shifts, optical axis correction is essential to ensure all optical channels (or laser beams) point to the same reference, maintaining system measurement accuracy. Furthermore, to achieve high-quality image fusion (such as visible light and infrared image fusion), corresponding pixels of different imaging sensors must be strictly aligned to ensure they observe the same ground target. Current technologies generally calibrate each imaging module separately using hardware alignment methods; however, these methods require expensive automated calibration mechanisms, resulting in high calibration costs. Summary of the Invention

[0003] In view of the shortcomings of the prior art, the technical problem to be solved by the present invention is to provide an optoelectronic pod, an optoelectronic pod optical axis adjustment method and a drone.

[0004] To solve the above-mentioned technical problems, the present invention provides the following technical solution: An optoelectronic pod includes a pod housing, an internal pod support frame, and multiple lens supports connected to the pod support frame. Each lens support frame has a lens assembly fixedly connected to it. At least one lens support frame is connected to the pod support frame using an optical axis adjustment mechanism. The optical axis adjustment mechanism includes at least three adjustment units, each including an optical axis adjustment screw and an elastic component. The elastic component is disposed between the pod support frame and the lens supports. Each lens support frame has a screw hole corresponding to the position of each optical axis adjustment screw. The optical axis adjustment screw passes through the pod support frame and the elastic component sequentially and is screwed into the screw hole.

[0005] Furthermore, the elastic component is a silicone ring, foam, or spring washer.

[0006] Furthermore, the lens assembly includes a circular lens assembly with a circular lens shape, and the lens bracket connected to the circular lens assembly is a first lens bracket. The first lens bracket has three first protrusions evenly spaced on the periphery of the circular lens assembly, and each first protrusion is provided with a first screw hole. The optical axis adjustment mechanism includes three adjustment units, and the three adjustment units are respectively connected to the three first screw holes.

[0007] Furthermore, the lens assembly includes a rectangular lens assembly with a rectangular lens shape, and the lens bracket connected to the rectangular lens assembly is a second lens bracket. The second lens bracket is provided with a second protrusion on the outer side of the two ends of the first long side and the outer side of the middle of the second long side of the rectangular lens assembly, and a second screw hole is provided on each of the second protrusions. The optical axis adjustment mechanism includes three adjustment units, and the three adjustment units are respectively connected to the three second screw holes.

[0008] A method for calibrating the optical axis of an optoelectronic pod, employing an optoelectronic pod as described in any of the above-mentioned methods; comprising the following steps: S100. Mark the optical axis center position of each lens assembly on the calibration drawing board according to the actual structure of the optoelectronic pod, forming the optical axis center mark of each lens assembly; the lens assembly of the optoelectronic pod includes a visible light lens and an auxiliary imaging lens; S200. Securely place the photoelectric pod and position the calibration board directly in front of the photoelectric pod; S300. Select a visible light lens as the standard component and use the standard component to capture an image of the calibration chart. S400, fine-tune the position of the calibration chart or photoelectric pod, or adjust the optical axis adjustment screw of the optical axis adjustment mechanism connected to the standard component so that the optical axis center of the image captured by the standard component coincides with the optical axis center mark of the standard component on the image of the calibration chart; S500: The optical axis center of each lens assembly (excluding the standard assembly) connected to the pod bracket by the optical axis adjustment mechanism is calibrated sequentially through the optical axis adjustment mechanism.

[0009] Furthermore, the visible light lens includes a zoom lens, which is used as a standard component in step S300.

[0010] Furthermore, the visible light lens also includes a wide-angle lens, which is connected to the pod support via an optical axis adjustment mechanism; in step S500, the method for calibrating the optical axis center of the wide-angle lens is as follows: Use the wide-angle lens to capture an image of the calibration chart, and adjust the optical axis adjustment screw of the optical axis adjustment mechanism connected to the wide-angle lens so that the center of the optical axis of the image captured by the wide-angle lens coincides with the center mark of the optical axis of the wide-angle lens on the image of the calibration chart.

[0011] Furthermore, the auxiliary imaging lens includes a thermal imaging lens, which is connected to the pod support via an optical axis adjustment mechanism; the calibration plate also includes a heat source positioned on the back of the calibration plate corresponding to the location of the thermal imaging lens, the center of which coincides with the optical axis center mark of the thermal imaging lens on the calibration plate; in step S500, the method for calibrating the optical axis center of the thermal imaging lens is as follows: The thermal imaging lens captures an image of the calibration chart. The optical axis adjustment mechanism connected to the thermal imaging lens is adjusted so that the center of the optical axis of the image captured by the thermal imaging lens coincides with the center mark of the optical axis of the thermal imaging lens on the image of the calibration chart.

[0012] Furthermore, the auxiliary imaging lens includes a laser rangefinder lens, which is connected to the pod support via an optical axis adjustment mechanism; in step S500, the method for calibrating the optical axis center of the laser rangefinder lens is as follows: S510, An IR camera is fixedly placed on one side of the optoelectronic pod; S520: Enable the laser rangefinder lens to work and use an IR camera to capture images of the calibration chart and the position of the laser spot formed on the calibration chart by the laser emitted by the laser rangefinder lens. S530. Adjust the optical axis adjustment mechanism connected to the laser rangefinder lens so that the center of the laser spot coincides with the center mark of the optical axis of the laser rangefinder lens on the image of the calibration board.

[0013] An unmanned aerial vehicle (UAV) is equipped with a gimbal pod, wherein the gimbal pod is an optoelectronic pod as described in any of the preceding claims.

[0014] In this invention, the lens bracket of the lens assembly is connected to the pod bracket using three optical axis adjustment screws, and is equipped with elastic components such as silicone rings. The optical axis center of the lens assembly can be adjusted in any direction by rotating the three optical axis adjustment screws clockwise or counterclockwise, thereby achieving optical axis center calibration of the lens assembly. The optical axis adjustment mechanism of this embodiment has a simple structure, low cost, and is easy to adjust. Furthermore, through improvements to the calibration chart, each lens assembly can be calibrated using the same calibration chart, eliminating the need for separate, specially designed calibration charts for each imaging module and laser ranging module. By adjusting the three optical axis adjustment screws in conjunction with the imaging image of the lens assembly, the optical axis center calibration of the lens assembly can be achieved; the calibration method is simple and highly efficient. Attached Figure Description

[0015] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings: Figure 1This is an exploded view of an embodiment of the photoelectric pod of the present invention.

[0016] Figure 2 A schematic diagram of the structure of the optoelectronic pod after removing the outer shell.

[0017] Figure 3 This is a partial cross-sectional view of an optical axis adjustment mechanism of a thermal imaging lens.

[0018] Figure 4 This is a flowchart of an embodiment of the optoelectronic pod optical axis adjustment method of the present invention.

[0019] Figure 5 This is a structural schematic diagram for calibrating the drawing board.

[0020] The diagrams in the instruction manual are labeled as follows: Zoom lens - 100; Wide-angle lens - 200; Thermal imaging lens - 300; Laser rangefinder lens - 400; Pod front cover - 510; Pod rear shell - 520; Pod bracket - 530; First lens bracket - 610; First protrusion - 611; First screw hole - 612; Second lens bracket - 620; Second protrusion - 621; Second screw hole - 622; Adjustment unit - 630; Optical axis adjustment screw - 631; Silicone ring - 632; Calibration plate - 900; First contour graphic - 910; First optical axis center mark - 911; Second contour graphic - 920; Second optical axis center mark - 921; Third contour graphic - 930; Third optical axis center mark - 931; Fourth contour graphic - 940; Fourth optical axis center mark - 941. Detailed Implementation

[0021] The following specific examples illustrate the implementation of the present invention. The illustrations provided in the following embodiments are only schematic representations of the basic concept of the present invention. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0022] Please see Figure 1 , Figure 1 This is an exploded view of an embodiment of the optoelectronic pod of the present invention. The optoelectronic pod of this embodiment includes a pod shell, which may include a front cover 510 and a rear shell 520. Multiple lens supports are connected to the pod bracket 530, and a lens assembly is fixedly connected to each lens support. The lens assemblies inside the optoelectronic pod may include a zoom lens 100, a wide-angle lens 200, a thermal imaging lens 300, and a laser rangefinder lens 400. Of course, the optoelectronic pod may also contain only a portion of the above four lens assemblies, or other lens assemblies.

[0023] Please see Figure 2At least one of the lens assemblies is connected to the pod bracket 530 via an optical axis adjustment mechanism. In this embodiment, the lens brackets of the thermal imaging lens 300 and the laser rangefinder lens 400 are connected to the pod bracket 530 via an optical axis adjustment mechanism. Similarly, the lens brackets of the zoom lens 100 and the wide-angle lens 200 can also be connected to the pod bracket 530 via an optical axis adjustment mechanism. The optical axis adjustment mechanism includes at least three adjustment units 630. Since more than three adjustment units 630 in the optical axis adjustment mechanism do not provide significant benefits, in this embodiment, it is preferable that each optical axis adjustment mechanism includes three adjustment units 630.

[0024] Please see Figure 3 The adjustment unit 630 includes an optical axis adjustment screw 631 and an elastic component. The elastic component is disposed between the pod bracket 530 and the lens bracket. A screw hole is provided on the lens bracket corresponding to the position of each optical axis adjustment screw 631. The optical axis adjustment screw 631 passes through the pod bracket 530 and the elastic component sequentially and is screwed into the screw hole. The elastic component can be a silicone ring 632, foam, spring washer, or other components with compression and rebound functions. In this embodiment, the elastic component is preferably a compressible silicone ring 632.

[0025] Specifically, the lens assembly may include a circular lens assembly with a circular shape, such as the zoom lens 100, wide-angle lens 200, and thermal imaging lens 300, which are generally circular lens assemblies. The lens bracket connected to the circular lens assembly is a first lens bracket 610. The first lens bracket 610 has three first protrusions 611 spaced at equal intervals (i.e., 120° apart) on the outer periphery of the circular lens assembly. Each first protrusion 611 has a first screw hole 612. Please continue reading. Figure 3 The three adjustment units 630 of the optical axis adjustment mechanism are respectively connected to the three first screw holes 612; that is, the optical axis adjustment screws 631 of the three adjustment units 630 corresponding to the circular lens assembly are respectively screwed into the three first screw holes 612.

[0026] Of course, the lens assembly may also include a rectangular lens assembly, for example, a laser rangefinder lens 400 is generally a rectangular lens assembly. The lens bracket connected to the rectangular lens assembly is a second lens bracket 620. The second lens bracket 620 has a second protrusion 621 on the outer side of both ends of the first long side and the outer side of the middle of the second long side of the rectangular lens assembly, and a second screw hole 622 is provided on each of the second protrusions 621. The three adjustment units 630 of the optical axis adjustment mechanism are respectively connected to the three second screw holes 622, that is, the optical axis adjustment screws 631 of the three adjustment units 630 corresponding to the rectangular lens assembly are respectively screwed into the three second screw holes 622.

[0027] In this embodiment, the lens bracket of the lens assembly is connected to the pod bracket 530 using three optical axis adjustment screws 631, and is equipped with elastic components such as silicone rings 632. The optical axis center of the lens assembly can be adjusted in any direction by rotating the three optical axis adjustment screws 631 clockwise or counterclockwise, thereby achieving optical axis center calibration of the lens assembly. The optical axis adjustment mechanism of this embodiment has a simple structure, low cost, and is easy to adjust.

[0028] Please see Figure 4 , Figure 4 This is a flowchart of an embodiment of the optical axis adjustment method for the optoelectronic pod of the present invention. The optical axis adjustment method of this embodiment uses an optoelectronic pod as described in any of the above embodiments; the optical axis adjustment method includes the following steps: S100, please refer to Figure 5 On the calibration drawing board 900, the optical axis center positions of each lens assembly are generally marked at a 1:1 scale according to the actual structure of the optoelectronic pod, forming the optical axis center marks of each lens assembly. For example, the outline of each lens assembly can be drawn on the calibration drawing board 900 at a 1:1 scale based on the actual structure of the optoelectronic pod, and then the center point of each lens assembly's outline can be marked to form the optical axis center marks of each lens assembly, ensuring the accuracy of the optical axis center marks. The lens assembly of the optoelectronic pod includes visible light lenses and auxiliary imaging lenses; in this embodiment, the lens assembly in the optoelectronic pod includes a zoom lens 100, a wide-angle lens 200, a thermal imaging lens 300, and a laser rangefinder lens 400 as an example for explanation. Among them, the zoom lens 100 and the wide-angle lens 200 are visible light lenses, and the thermal imaging lens 300 and the laser rangefinder lens 400 are auxiliary imaging lenses.

[0029] At this time, a first contour pattern 910 with the same outline shape as the strain gauge lens 100 is formed on the calibration plate 900, and a first optical axis center mark 911 is formed at the center of the first contour pattern 910; a second contour pattern 920 with the same outline shape is formed at the position of the wide-angle lens 200, and a second optical axis center mark 921 is formed at the center of the second contour pattern 920; a third contour pattern 930 with the same outline shape is formed at the position of the thermal imaging lens 300, and a third optical axis center mark 931 is formed at the center of the third contour pattern 930; a fourth contour pattern 940 with the same outline shape is formed at the position of the laser rangefinder lens 400, and a fourth optical axis center mark 941 is formed at the center of the fourth contour pattern 940. It should be noted that in this embodiment, the position of the lens assembly corresponds to the position of the contour pattern when the photoelectric pod is facing the calibration plate 900.

[0030] S200. Fix the optoelectronic pod in place and place the calibration plate 900 directly in front of the optoelectronic pod, so that each outline pattern on the calibration plate 900 is located directly in front of the corresponding lens assembly. Generally, the calibration plate 900 is placed at the 1.0X focal length magnification of the zoom lens 100.

[0031] S300: Select a visible light lens as a standard component and use the standard component to capture an image of the calibration plate 900. In this embodiment, the zoom lens 100 is used as the standard component; of course, other visible light lenses can also be used as the standard component.

[0032] S400, adjust the position of the fine-tuning calibration plate 900 or the photoelectric pod so that the optical axis center of the image captured by the zoom lens 100 coincides with the first optical axis center mark 911 (i.e., the optical axis center mark of the standard component) on the image of the calibration plate 900. When the lens bracket of the zoom lens 100 (i.e., the standard component) is connected to the pod bracket 530 through the optical axis adjustment mechanism, the optical axis adjustment screw 631 of the optical axis adjustment mechanism connected to the zoom lens 100 can also be adjusted to make the optical axis center of the image captured by the zoom lens 100 coincide with the first optical axis center mark 911 on the image of the calibration plate 900.

[0033] Taking the silicone ring 632 as an example of an elastic component, when the optical axis adjustment screw 631 is tightened to the appropriate number of threads, the silicone ring 632 will compress. At this time, the rebound force of the compression will prevent the optical axis adjustment screw 631 from loosening. Then, by rotating the optical axis adjustment screw 631 clockwise or counterclockwise, the corresponding connection position in the lens bracket can be adjusted. By using the three optical axis adjustment screws 631 in combination, the optical axis can be adjusted in any direction, so that the center of the optical axis of the image captured by the zoom lens 100 coincides with the first optical axis center mark 911 on the image of the calibration plate 900.

[0034] S500: The optical axis centers of each lens assembly (excluding the standard assembly) connected to the pod bracket 530 via the optical axis adjustment mechanism are calibrated sequentially. For example, when the wide-angle lens 200, thermal imaging lens 300, and laser rangefinder lens 400 are all connected to the pod bracket 530 via the optical axis adjustment mechanism, this step requires calibrating the wide-angle lens 200, thermal imaging lens 300, and laser rangefinder lens 400 separately.

[0035] The method for calibrating the optical axis center of the wide-angle lens 200 is as follows: the wide-angle lens 200 takes an image of the calibration plate 900; each optical axis adjustment screw 631 of the optical axis adjustment mechanism connected to the wide-angle lens 200 is adjusted so that the optical axis center of the image taken by the wide-angle lens 200 coincides with the second optical axis center mark 921 (i.e., the optical axis center mark of the wide-angle lens 200) on the image of the calibration plate 900, thus completing the optical axis center calibration of the wide-angle lens 200.

[0036] When the optical axis center of the thermal imaging lens 300 needs to be calibrated, the calibration plate 900 also includes a heat source (not shown in the figure) positioned on the back of the calibration plate 900 corresponding to the position of the thermal imaging lens 300. The center of the heat source coincides with the third optical axis center mark 931 (i.e., the optical axis center mark of the thermal imaging lens 300) on the calibration plate 900. For example, the outline of the heat source can be consistent with the outline of the thermal imaging lens 300 on the calibration plate 900, so that the two outlines coincide; at this time, the center of the heat source and the third optical axis center mark 931 on the calibration plate 900 can be aligned.

[0037] The method for calibrating the optical axis center of the thermal imaging lens 300 is as follows: the thermal imaging lens 300 captures an image of the calibration plate 900; each optical axis adjustment screw 631 of the optical axis adjustment mechanism connected to the thermal imaging lens 300 is adjusted so that the optical axis center of the image captured by the thermal imaging lens 300 coincides with the third optical axis center mark 931 (i.e., the optical axis center mark of the thermal imaging lens 300) on the image of the calibration plate 900, thus completing the optical axis center calibration of the thermal imaging lens 300.

[0038] The method for calibrating the optical axis center of the laser rangefinder lens 400 includes the following sub-steps: S510. An IR camera (i.e., an infrared camera) is fixedly placed on one side of the optoelectronic pod for imaging the laser spot.

[0039] S520: Activate the laser rangefinder lens 400 and use an IR camera to capture an image of the calibration plate 900 and the position of the laser spot formed on the calibration plate 900 by the laser emitted by the laser rangefinder lens 400.

[0040] S530. Adjust each optical axis adjustment screw 631 of the optical axis adjustment mechanism connected to the laser rangefinder lens 400 so that the center of the laser spot coincides with the fourth optical axis center mark 941 (i.e., the optical axis center mark of the laser rangefinder lens 400) on the image of the calibration plate 900, thus completing the optical axis center calibration of the laser rangefinder lens 400.

[0041] In this embodiment, by using an optical axis adjustment mechanism to connect the lens assembly, and by improving the calibration plate 900, each lens assembly can be calibrated using the same calibration plate 900, eliminating the need for a separate, specially designed calibration plate for each lens assembly. Furthermore, by adjusting the three optical axis adjustment screws 631 in conjunction with the image captured by the lens assembly, the optical axis center calibration of the lens assembly can be achieved. This calibration method is simple and highly efficient.

[0042] The present invention also discloses an unmanned aerial vehicle (UAV) equipped with a gimbal pod. The gimbal pod adopts an optoelectronic pod as described in any of the above embodiments. The optoelectronic pod can be pre-calibrated using the optoelectronic pod optical axis adjustment method described in any of the above embodiments.

[0043] The above embodiments merely illustrate preferred implementations of the present invention, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this invention should be determined by the appended claims.

Claims

1. A method for adjusting the optical axis of an optoelectronic pod, characterized in that, The optoelectronic pod includes a pod shell, inside which a pod bracket is installed. Multiple lens brackets are connected to the pod bracket, and a lens assembly is fixedly connected to each lens bracket. At least one lens bracket is connected to the pod bracket using an optical axis adjustment mechanism. The optical axis adjustment mechanism includes at least three adjustment units, each including an optical axis adjustment screw and a spring component. The spring component is disposed between the pod bracket and the lens bracket. Each lens bracket has a screw hole corresponding to the position of each optical axis adjustment screw. The optical axis adjustment screw passes through the pod bracket and the spring component sequentially and is screwed into the screw hole. The adjustment method includes the following steps: S100. Mark the optical axis center position of each lens assembly on the calibration drawing board according to the actual structure of the optoelectronic pod, forming the optical axis center mark of each lens assembly; the lens assembly of the optoelectronic pod includes a visible light lens and an auxiliary imaging lens; S200. Securely place the photoelectric pod and position the calibration board directly in front of the photoelectric pod; S300. Select a visible light lens as the standard component and use the standard component to capture an image of the calibration chart. S400, fine-tune the position of the calibration chart or photoelectric pod, or adjust the optical axis adjustment screw of the optical axis adjustment mechanism connected to the standard component so that the optical axis center of the image captured by the standard component coincides with the optical axis center mark of the standard component on the image of the calibration chart; S500: The optical axis center of each lens assembly (excluding the standard assembly) connected to the pod bracket by the optical axis adjustment mechanism is calibrated sequentially through the optical axis adjustment mechanism.

2. The method of optical axis alignment of a pod according to claim 1, wherein: The elastic component is a silicone ring, foam, or spring washer.

3. The method of optical axis alignment of a pod according to claim 1, wherein: The lens assembly includes a circular lens assembly with a circular lens shape. The lens bracket connected to the circular lens assembly is a first lens bracket. The first lens bracket has three first protrusions evenly spaced on the periphery of the circular lens assembly, and each first protrusion has a first screw hole. The optical axis adjustment mechanism includes three adjustment units, and the three adjustment units are respectively connected to the three first screw holes.

4. The method of optical pod optical axis alignment as claimed in claim 1, wherein: The lens assembly includes a rectangular lens assembly with a rectangular lens shape. The lens bracket connected to the rectangular lens assembly is a second lens bracket. The second lens bracket has a second protrusion on the outer side of the two ends of the first long side and the outer side of the middle of the second long side of the rectangular lens assembly, and a second screw hole is provided on each of the second protrusions. The optical axis adjustment mechanism includes three adjustment units, and the three adjustment units are respectively connected to the three second screw holes.

5. The method for adjusting the optical axis of the optoelectronic pod as described in any one of claims 1 to 4, characterized in that: The visible light lens includes a zoom lens, and in step S300, the zoom lens is used as a standard component.

6. The method for adjusting the optical axis of the optoelectronic pod as described in any one of claims 1 to 4, characterized in that: The visible light lens also includes a wide-angle lens, which is connected to the pod support via an optical axis adjustment mechanism; in step S500, the method for calibrating the optical axis center of the wide-angle lens is as follows: Use the wide-angle lens to capture an image of the calibration chart, and adjust the optical axis adjustment screw of the optical axis adjustment mechanism connected to the wide-angle lens so that the center of the optical axis of the image captured by the wide-angle lens coincides with the center mark of the optical axis of the wide-angle lens on the image of the calibration chart.

7. The method for adjusting the optical axis of the optoelectronic pod as described in any one of claims 1 to 4, characterized in that: The auxiliary imaging lens includes a thermal imaging lens, which is connected to the pod support via an optical axis adjustment mechanism. The calibration plate also includes a heat source positioned on the back of the calibration plate corresponding to the location of the thermal imaging lens, the center of which coincides with the optical axis center mark of the thermal imaging lens on the calibration plate. In step S500, the method for calibrating the optical axis center of the thermal imaging lens is as follows: The thermal imaging lens captures an image of the calibration chart. The optical axis adjustment mechanism connected to the thermal imaging lens is adjusted so that the center of the optical axis of the image captured by the thermal imaging lens coincides with the center mark of the optical axis of the thermal imaging lens on the image of the calibration chart.

8. The method for adjusting the optical axis of the optoelectronic pod as described in any one of claims 1 to 4, characterized in that: The auxiliary imaging lens includes a laser rangefinder lens, which is connected to the pod support via an optical axis adjustment mechanism; in step S500, the method for calibrating the optical axis center of the laser rangefinder lens is as follows: S510, An IR camera is fixedly placed on one side of the optoelectronic pod; S520: Enable the laser rangefinder lens to work and use an IR camera to capture images of the calibration chart and the position of the laser spot formed on the calibration chart by the laser emitted by the laser rangefinder lens. S530. Adjust the optical axis adjustment mechanism connected to the laser rangefinder lens so that the center of the laser spot coincides with the center mark of the optical axis of the laser rangefinder lens on the image of the calibration board.

9. A drone, wherein the drone is equipped with a gimbal pod, characterized in that: The gimbal pod is an optoelectronic pod calibrated using the optical axis calibration method described in any one of claims 1 to 4.

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