Stereo camera and control method thereof

Abstract

The invention discloses a stereo camera and a control method thereof, and relates to the technical field of stereo video shooting, the stereo camera comprises two zoom lenses, a driving mechanism and a control module, the driving mechanism is respectively in transmission connection with the two zoom lenses, and the driving mechanism is used for driving the two zoom lenses to move relatively along a baseline direction; the midpoint position of a base line between the two zoom lenses is kept fixed in the moving process; the control module is electrically connected with the driving mechanism and the two zoom lenses. The control module is used for adjusting the focal length of the zoom lens based on the zoom instruction; the control module is also used for calculating a specified distance based on the zoom instruction, and controlling the driving mechanism to drive the two zoom lenses to move relatively, so that the baseline distance between the two zoom lenses becomes the specified distance. According to the invention, through cooperation of the driving mechanism and the control module, synchronous adjustment of the base line spacing is automatically completed while the focal length is changed, so that the consistency of stereoscopic impression is ensured, and stereoscopic parallax imbalance is avoided.

Description

Technical Field

[0001] This invention relates to the field of stereoscopic video shooting technology, and in particular to a stereoscopic camera and its control method. Background Technology

[0002] Stereoscopic video shooting technology is based on the principle of binocular vision, achieving three-dimensional perception by simulating human eye parallax. Early stereoscopic shooting relied on a combination of two cameras at a fixed distance, but later integrated binocular cameras were developed and gradually applied to fields such as consumer electronics, film and television production, and virtual reality.

[0003] Stereo cameras achieve stereo video recording by using binocular lenses to capture images simultaneously. Currently, most binocular stereo cameras on the market lack zoom capabilities, making it difficult to clearly see distant objects. A few stereo cameras incorporate optical zoom to capture distant scenes, but they generally maintain a constant binocular distance, i.e., a fixed baseline.

[0004] However, even for the few stereo cameras with zoom capabilities, there is a mismatch between the field of view and the baseline length after zooming, resulting in stereo parallax imbalance, which can easily cause visual confusion and dizziness when viewing.

[0005] Therefore, the problem of stereoscopic parallax misalignment after zooming in a stereo camera urgently needs to be solved. Summary of the Invention

[0006] The main objective of this invention is to propose a stereo camera and its control method, which aims to solve the problem of stereo parallax misalignment that exists after zooming in a stereo camera.

[0007] To achieve the above objectives, the stereo camera proposed in this invention includes a drive mechanism, a control module, and two zoom lenses. The drive mechanism is connected to the two zoom lenses in a transmission manner, and is used to drive the two zoom lenses to move relative to each other along a baseline direction, while keeping the midpoint of the baseline between the two zoom lenses fixed during the movement. The control module is electrically connected to the drive mechanism and the two zoom lenses respectively. The control module is used to adjust the focal length of the zoom lenses based on zoom commands. The control module is also used to calculate a specified distance based on zoom commands and control the drive mechanism to drive the two zoom lenses to move relative to each other, so that the baseline distance between the two zoom lenses becomes the specified distance.

[0008] In one embodiment, the stereo camera further includes a camera housing and a slide rail. The drive mechanism, zoom lens, control module, and slide rail are all disposed inside the camera housing. Both zoom lenses can be slidably mounted on the slide rail, and the extension direction of the slide rail is parallel to the baseline direction.

[0009] In one embodiment, the drive mechanism includes a motor, which is connected to two zoom lenses respectively.

[0010] In one embodiment, the drive mechanism further includes a drive gear and two racks. The rotating part of the motor is connected to the drive gear, and the drive gear meshes with the two racks respectively. The two racks are symmetrically arranged about the rotation center of the drive gear, and the two racks are connected to the two zoom lenses one by one.

[0011] In one embodiment, the drive mechanism further includes two sets of linkage mechanisms. The rotating part of the motor is connected to one end of each of the two sets of linkage mechanisms, and the two zoom lenses are rotatably connected to the other end of each of the two sets of linkage mechanisms.

[0012] In one embodiment, the control module is further configured to acquire a specified focal length based on a zoom command, and determine whether the specified focal length is greater than the maximum optical focal length of the zoom lens; if the specified focal length is less than or equal to the maximum optical focal length, adjust the focal length of the zoom lens to the specified focal length; if the specified focal length is greater than the maximum optical focal length, adjust the focal length of the zoom lens to the maximum optical focal length, and digitally zoom the image obtained by the image sensor of the zoom lens until the product of the digital magnification of the digital zoom and the maximum optical focal length equals the specified focal length.

[0013] In one embodiment, the control module is further configured to determine whether the specified distance is less than the minimum physical distance between the two zoom lenses; if the specified distance is greater than or equal to the minimum physical distance, the control drive mechanism is configured to synchronously drive the two zoom lenses to move relative to each other so that the baseline distance between the two zoom lenses becomes the specified distance; if the specified distance is less than the minimum physical distance, the control drive mechanism is configured to synchronously drive the two zoom lenses to move relative to each other so that the baseline distance between the two zoom lenses becomes the minimum physical distance, and the center displacement cropping is performed on both image frames acquired by the image sensors of the two zoom lenses until the difference between the minimum physical distance and the equivalent baseline displacement of the center displacement cropping is equal to the specified distance.

[0014] In one embodiment, the control module is further configured to dynamically match the zoom rate of the zoom lens with the drive rate of the drive mechanism so that the product of the real-time focal length of the zoom lens and the real-time baseline spacing remains constant.

[0015] This invention also proposes a stereo camera control method, comprising the following steps:

[0016] Get zoom command; Based on the zoom command, the specified focal length and specified spacing are calculated; Adjust the focal length of the zoom lens to the specified focal length, and drive the two zoom lenses to move relative to each other so that the baseline distance between the two zoom lenses is adjusted to the specified distance; wherein, during the movement of the two zoom lenses, the midpoint of the baseline between the two zoom lenses remains fixed.

[0017] In one embodiment, the step of calculating the specified focal length and specified spacing based on the zoom command includes: Based on the zoom command, the specified focal length is obtained; Obtain the current focal length and current baseline distance between the two zoom lenses; The specified distance is calculated based on the current focal length, the current baseline spacing, and the specified focal length; wherein the product of the current focal length and the current baseline spacing is equal to the product of the specified focal length and the specified distance.

[0018] In one embodiment, the step of adjusting the focal length of the zoom lens to the specified focal length includes: Determine whether the specified focal length is greater than the maximum optical focal length of the zoom lens; If the specified focal length is less than or equal to the maximum optical focal length, then adjust the focal length of the zoom lens to the specified focal length; If the specified focal length is greater than the maximum optical focal length, the focal length of the zoom lens is adjusted to the maximum optical focal length, and the image obtained by the image sensor of the zoom lens is digitally zoomed until the product of the digital magnification of the digital zoom and the maximum optical focal length equals the specified focal length.

[0019] In one embodiment, the step of driving the two zoom lenses to move relative to each other to adjust the baseline spacing between the two zoom lenses to the specified spacing includes: Determine whether the specified distance is less than the minimum physical distance between the two zoom lenses; If the specified spacing is greater than or equal to the minimum physical spacing, then the two zoom lenses are driven to move relative to each other so that the baseline spacing between the two zoom lenses is adjusted to the specified spacing. If the specified spacing is less than the minimum physical spacing, the two zoom lenses are driven to move relative to each other, so that the baseline spacing between the two zoom lenses is adjusted to the minimum physical spacing, and the center displacement cropping is performed on the two image frames acquired by the image sensors of the two zoom lenses until the difference between the minimum physical spacing and the equivalent baseline displacement of the center displacement cropping is equal to the specified spacing.

[0020] In one embodiment, during the zoom adjustment and baseline spacing adjustment of the zoom lens, the product of the real-time focal length of the zoom lens and the real-time baseline spacing remains constant.

[0021] The technical solution of this invention connects the drive mechanism to two zoom lenses respectively, enabling the drive mechanism to drive the two zoom lenses to move relative to each other along the baseline direction. This achieves active adjustment of the baseline distance between the two zoom lenses, overcoming the problem of mismatch between the field of view and baseline length after zooming caused by a fixed baseline. Furthermore, by electrically connecting the control module to the drive mechanism and the two zoom lenses respectively, and adjusting the focal length of the zoom lenses based on zoom commands, optical zoom functionality is achieved, allowing the stereo camera to clearly capture distant objects. Simultaneously, the control module can calculate a specified distance based on zoom commands and control the drive mechanism to move the two zoom lenses relative to each other, adjusting the baseline distance to that specified distance. This achieves linked adjustment of focal length and baseline length, ensuring that the baseline length and focal length remain matched during zooming, thus maintaining the consistency of stereoscopic parallax and effectively solving the problem of stereoscopic parallax misalignment, avoiding visual confusion and dizziness during viewing. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0023] Figure 1 This is a schematic diagram of the structure of an embodiment of the stereo camera provided by the present invention; Figure 2 This is a flowchart illustrating the first embodiment of the stereo camera control method provided by the present invention. Figure 3 This is a flowchart illustrating a second embodiment of the stereo camera control method provided by the present invention. Figure 4 This is a flowchart illustrating the third embodiment of the stereo camera control method provided by the present invention. Figure 5 This is a flowchart illustrating the fourth embodiment of the stereo camera control method provided by the present invention.

[0024] Explanation of icon numbers: 1. Drive mechanism; 11. Motor; 12. Lead screw; 2. Zoom lens; 3. Camera housing; 4. Slide rail.

[0025] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0026] 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 a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0027] It should be noted that if the embodiments of the present invention involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a specific posture. If the specific posture changes, the directional indicators will also change accordingly.

[0028] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the use of "and / or" or "and / or" throughout the text includes three parallel solutions. For example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0029] Stereoscopic video shooting technology is based on the principle of binocular vision, achieving three-dimensional perception by simulating human eye parallax. Early stereoscopic shooting relied on a combination of two cameras at a fixed distance, but later integrated binocular cameras were developed and gradually applied to fields such as consumer electronics, film and television production, and virtual reality.

[0030] Stereo cameras achieve stereo video recording by using binocular lenses to capture images simultaneously. Currently, most binocular stereo cameras on the market lack zoom capabilities, making it difficult to clearly see distant objects. A few stereo cameras incorporate optical zoom to capture distant scenes, but they generally maintain a constant binocular distance, i.e., a fixed baseline.

[0031] However, even for the few stereo cameras with zoom capabilities, the fixed baseline causes a mismatch between the field of view and the baseline length after zooming, resulting in stereo parallax imbalance and making it easy to experience visual confusion and dizziness when viewing.

[0032] Therefore, the problem of stereoscopic parallax misalignment after zooming in a stereo camera urgently needs to be solved.

[0033] To address the above problems, this invention proposes a stereo camera.

[0034] Please see Figure 1 In one embodiment of the present invention, the stereo camera includes a drive mechanism 1, a control module (not shown in the figure), and two zoom lenses 2. The drive mechanism 1 is connected to the two zoom lenses 2 in a transmission manner. The drive mechanism 1 is used to drive the two zoom lenses 2 to move relative to each other along a baseline direction, and to keep the midpoint of the baseline between the two zoom lenses 2 fixed during the movement. The control module is electrically connected to the drive mechanism 1 and the two zoom lenses 2 respectively. The control module is used to adjust the focal length of the zoom lenses 2 based on zoom commands. The control module is also used to calculate a specified distance based on zoom commands and control the drive mechanism 1 to drive the two zoom lenses 2 to move relative to each other, so that the baseline distance between the two zoom lenses 2 becomes the specified distance.

[0035] It should be noted that in a stereo vision system, the baseline refers to the straight-line distance between the optical centers (or projection centers) of the two lenses. In a stereo camera, the baseline refers to the straight-line distance between the optical centers of the two binocular lenses. The baseline direction is the direction of the line connecting the optical centers of the two zoom lenses 2. Furthermore, zoom commands are triggered by the user. The stereo camera can obtain zoom commands in various ways, such as remote reception via wireless communication by the control module, receiving information input by the user on the camera's operating interface, or automatically focusing after detecting the user pressing the focus button (such as the shutter button on a conventional camera), etc., without being limited to these methods here.

[0036] The technical solution of this invention connects the drive mechanism 1 to two zoom lenses 2, enabling the drive mechanism 1 to drive the two zoom lenses 2 to move relative to each other along the baseline direction. This achieves active adjustment of the baseline distance between the two zoom lenses 2, overcoming the problem of mismatch between the field of view and baseline length after zooming caused by a fixed baseline. Furthermore, by electrically connecting the control module to the drive mechanism 1 and the two zoom lenses 2, and adjusting the focal length of the zoom lenses 2 based on zoom commands, optical zoom functionality is achieved, allowing the stereo camera to clearly capture distant objects. Simultaneously, the control module can calculate a specified distance based on zoom commands and control the drive mechanism 1 to drive the two zoom lenses 2 to move relative to each other, adjusting the baseline distance to the specified distance. This achieves linked adjustment of the focal length and baseline length, ensuring that the baseline length and focal length remain matched during zooming, thus maintaining the consistency of stereoscopic parallax and effectively solving the problem of stereoscopic parallax misalignment, avoiding visual confusion and dizziness during viewing.

[0037] Furthermore, since the drive mechanism 1 can keep the baseline midpoint between the two zoom lenses 2 fixed during the relative movement of the two zoom lenses 2, that is, by driving in both directions symmetrically, it ensures that the geometric midpoint of the two optical axes always coincides with the central axis of the camera body, thereby eliminating the phenomenon of image center shift caused by the unilateral movement of the zoom lens 2, ensuring that the image center remains stable during zooming, avoiding perspective jumps, and effectively improving the continuity and realism of stereoscopic video viewing.

[0038] Overall, this invention, through the coordinated operation of the drive mechanism 1 and the control module, can automatically complete the synchronous adjustment of the baseline spacing while the zoom lens 2 changes its focal length, and always keep the center position of the image fixed. Thus, while ensuring the stability of the visual center, it achieves the consistency of the stereoscopic effect, enabling the stereo camera to provide a comfortable and natural stereoscopic visual experience in consumer-grade portable scenarios.

[0039] In actual operation, the control module of the stereo camera receives the zoom command triggered by the user. Upon receiving the zoom command, the control module parses it to obtain the specified focal length and calculates the specified baseline distance. Then, it controls the zoom lens 2 to zoom to the specified distance and controls the drive mechanism 1 to drive the two zoom lenses 2 to move relative to each other along the baseline direction, thereby adjusting the baseline distance between the two zoom lenses 2 to the specified distance. The zoom process and the baseline distance adjustment process are synchronized and interconnected; that is, during the adjustment process, the real-time distance and the real-time baseline distance should match to ensure that the captured stereo image has a consistent and stable stereoscopic effect.

[0040] The zoom mechanism of the zoom lens 2 can be mainly divided into optical zoom and digital zoom. In optical zoom, as a feasible implementation, the stereo camera can also be equipped with another driving mechanism to drive the lens group in the zoom lens 2 to move, thereby achieving optical zoom. In digital zoom, the image is first acquired by the image sensor corresponding to the zoom lens 2, and then the local image is cropped and enlarged to achieve digital zoom.

[0041] In addition, the drive mechanism 1 can be a single drive component, such as a single motor, which synchronously drives the two zoom lenses 2 through a transmission structure; the drive mechanism 1 can also be multiple drive components, such as two motors that drive the two zoom lenses 2 respectively, without limitation.

[0042] In addition, the control module can be a processing chip or microcontroller unit built into the stereo camera, and there are no restrictions here.

[0043] Please see Figure 1In an embodiment of the present invention, the stereo camera further includes a camera housing 3 and a slide rail 4. The drive mechanism 1, zoom lens 2, control module, and slide rail 4 are all disposed inside the camera housing 3. Both zoom lenses 2 can be slidably mounted on the slide rail 4, and the extension direction of the slide rail 4 is parallel to the baseline direction.

[0044] It should be noted that the camera housing 3 provides physical protection and structural support for the internal components of the stereo camera, while the slide rail 4 provides precise guidance and support for the zoom lens 2.

[0045] In this embodiment, by housing the drive mechanism 1, zoom lens 2, control module, and slide rail 4 within the camera housing 3, the camera housing 3 provides integrated installation space and physical protection for each functional module, resulting in a compact, integrated structure for the stereo camera. This facilitates portability and use, meeting the miniaturization and portability requirements of consumer products. Furthermore, by slidably mounting both zoom lenses 2 onto the slide rail 4, the slide rail 4 provides precise guiding constraints for the zoom lenses 2, ensuring they can only move along a predetermined trajectory. Simultaneously, by aligning the extension direction of the slide rail 4 parallel to the baseline direction, the zoom lenses 2 are ensured to move strictly along the baseline direction during baseline adjustment, avoiding positional deviations perpendicular to the baseline direction. This ensures the optical axes of the two zoom lenses 2 remain on the same horizontal plane, thereby ensuring accurate alignment of the binocular images, preventing additional vertical parallax, and improving the accuracy and viewing comfort of stereo imaging.

[0046] In actual operation, after the control module calculates the specified distance according to the zoom command, the drive mechanism 1 drives the two zoom lenses 2 to slide relative to each other on the slide rail 4 along the baseline direction, thereby adjusting the baseline distance to the specified distance. Due to the guiding effect of the slide rail 4, the zoom lenses 2 will not shift or shake during the movement, ensuring the stability of the adjustment process.

[0047] In addition, the slide rail 4 can adopt a single rail or double rail structure, and can adopt a linear guide rail, slide rod or other equivalent guiding mechanism, which is not limited here.

[0048] Please see Figure 1 In an embodiment of the present invention, the drive mechanism 1 includes a motor 11, which is connected to two zoom lenses 2 respectively.

[0049] In this embodiment, a motor 11 is used as the drive mechanism 1, thereby utilizing the fast response characteristics of the motor 11 to achieve real-time adjustment of the baseline distance between the zoom lenses 2. Combined with the control module, millisecond-level closed-loop control is achieved, ensuring the synchronization of focal length changes and baseline adjustment. Furthermore, by connecting the motor 11 to each of the two zoom lenses 2, a stable power transmission path is established, enabling the motor 11 to synchronously drive the two zoom lenses 2 to move in opposite directions at the same speed, ensuring that the baseline midpoint position remains fixed. Overall, this embodiment, through the motor 11 drive, achieves automation and precision in baseline distance adjustment, avoiding the tediousness and errors of manual adjustment, while ensuring the real-time performance and stability of the adjustment process.

[0050] In actual operation, the control module sends a control signal to the motor 11 according to the calculated specified distance. The motor 11 rotates accordingly according to the control signal and converts the rotation into relative linear motion of the two zoom lenses 2 along the baseline direction through the transmission connection, thereby realizing the precise adjustment of the baseline distance.

[0051] In addition, the motor 11 can be a stepper motor 11, a servo motor 11 or other types of drive motor 11. It can be one motor 11 driving two zoom lenses 2 simultaneously through a transmission structure, or it can be two motors 11 driving two zoom lenses 2 independently and achieving synchronous control through a control module. There are no restrictions here.

[0052] In an embodiment of the present invention, the drive mechanism 1 further includes a drive gear and two racks. The rotating part of the motor 11 is connected to the drive gear. The drive gear meshes with the two racks respectively. The two racks are symmetrically arranged about the rotation center of the drive gear. The two racks are connected to the two zoom lenses 2 in a one-to-one correspondence.

[0053] In this embodiment, by setting an active gear and two racks in the drive mechanism 1, and connecting the rotating part of the motor 11 to the active gear, the rotational motion of the motor 11 is converted into the linear motion of the racks using gear transmission. The transmission relationship is precise and slip-free, ensuring the accuracy of the movement displacement of the two zoom lenses 2. In addition, by meshing the active gear with the two racks respectively, and symmetrically setting the two racks about the rotation center of the active gear, when the active gear rotates, the two racks can move synchronously in opposite directions, with equal speeds and opposite directions. This ensures that the two zoom lenses 2 move symmetrically about the baseline midpoint, strictly maintaining the fixed position of the baseline midpoint and avoiding image center shift. At the same time, by connecting the two racks to the two zoom lenses 2 one-to-one, the linear motion of the racks is directly transmitted to the zoom lenses 2, realizing precise displacement adjustment of the zoom lenses 2 along the baseline direction.

[0054] Overall, this embodiment achieves synchronous and symmetrical driving of the two zoom lenses 2 with a simple mechanical structure through a gear and rack transmission mechanism. It has high transmission accuracy, compact structure, and fast response speed, effectively ensuring the synchronicity and center stability of baseline adjustment.

[0055] It should be noted that the specifications of the two racks are consistent, that is, the tooth groove width, tooth tip height, tooth root height, tooth height, tooth thickness, tooth root circle radius, etc. are consistent, so that the transmission ratio of the two zoom lenses 2 is consistent, ensuring that the two zoom lenses 2 move synchronously relative to each other and that the baseline center does not shift.

[0056] In actual operation, the control module controls the motor 11 to drive the drive gear to rotate. The drive gear simultaneously drives the two racks to move in opposite directions, thereby driving the two zoom lenses 2 to slide synchronously in opposite directions on the slide rail 4, thereby expanding or shrinking the baseline distance. Due to the rigid transmission characteristics of gear meshing, the displacement of the two zoom lenses 2 remains equal, ensuring that the midpoint of the baseline is always located on the central axis of the camera.

[0057] In an embodiment of the present invention, the drive mechanism 1 further includes two sets of linkage mechanisms. The rotating part of the motor 11 is connected to one end of each of the two sets of linkage mechanisms, and the two zoom lenses 2 are rotatably connected to the other end of each of the two sets of linkage mechanisms.

[0058] In this embodiment, by setting two sets of linkage mechanisms in the drive mechanism 1 and connecting the rotating part of the motor 11 to one end of each of the two linkage mechanisms, the rotational output of the motor 11 is converted into a driving force to move the zoom lens 2, thus realizing the transmission of power and the conversion of motion form. Furthermore, by rotatably connecting the two zoom lenses 2 to the other end of each of the two linkage mechanisms, when the motor 11 rotates, the two linkage mechanisms can respectively drive the two zoom lenses 2 to move relative to each other along the baseline direction. By rationally designing the size and hinge point position of the linkage mechanisms, the two zoom lenses 2 can always maintain symmetry about the central axis of the camera body during movement, ensuring a fixed baseline midpoint and avoiding image center jumps. Overall, this embodiment achieves a flexible connection between the motor 11 and the zoom lens 2 through two sets of linkage mechanisms, adapting to specific spatial layout requirements. Simultaneously, the rigid constraint of the mechanical linkages ensures the synchronicity and symmetry of the movement of the two zoom lenses 2, guaranteeing the accuracy of baseline adjustment and the stability of the visual center.

[0059] In actual operation, the rotation of motor 11 drives one end of the linkage mechanism of the two sets of linkage mechanisms to swing or rotate, and then through linkage transmission, the other end of the linkage pushes or pulls the corresponding zoom lens 2 to move along the baseline direction on the slide rail 4; in addition, by symmetrically arranging the two sets of linkage mechanisms about the rotation center of motor 11, the two zoom lenses 2 can obtain displacements of equal magnitude and opposite directions, thereby realizing synchronous adjustment of the baseline spacing.

[0060] In addition, the linkage mechanism can be a four-bar linkage, a crank-slider mechanism or other equivalent linkage structure, and the rotational connection between the linkage and the zoom lens 2 can be a hinge, ball joint or other equivalent connection method, which is not limited here.

[0061] Please see Figure 1 In an embodiment of the present invention, the drive mechanism 1 further includes two lead screws 12. The housing of the zoom lens 2 is provided with corresponding screw holes. The motor 11 is connected to one end of each of the two lead screws 12 for transmission. The other ends of the two lead screws 12 pass through the screw holes of the two zoom lenses 2 respectively. The external threads of the lead screws 12 are engaged with the screw holes for transmission. The external threads of the two lead screws are in opposite directions.

[0062] In this embodiment, a motor 11 is connected to one end of each of the two lead screws 12, thereby driving the two lead screws 12 to rotate in the same direction using a single motor 11. The mechanical design ensures that the transmission efficiency of the motor 11 to the two lead screws 12 is consistent, thus enabling the two lead screws 12 to rotate synchronously. Since the external threads of the two lead screws are opposite in direction, the zoom lenses 2 that are respectively engaged with the two lead screws will move in opposite directions, thereby achieving synchronous adjustment of the displacement of the two zoom lenses 2 and ensuring that the two zoom lenses 2 can move in opposite directions at the same speed, thus keeping the baseline midpoint position fixed. Furthermore, by setting a screw hole in the housing of the zoom lens 2 to engage with the lead screw 12, and passing the other end of the lead screw 12 through the screw hole to form a threaded transmission, the rotational motion of the lead screw 12 is precisely converted into linear motion of the zoom lens 2 along the baseline direction using the helical pair structure between the external thread of the lead screw 12 and the screw hole. Because the lead screw 12 transmission has high transmission accuracy and resolution, it can achieve micron-level displacement control, thereby ensuring the adjustment accuracy and repeatability of the baseline spacing, making the matching relationship between the focal length and the baseline more precise, and effectively improving the accuracy of stereo parallax calculation. Simultaneously, utilizing the self-locking characteristic of the lead screw 12 and screw hole engagement transmission, when the motor 11 stops rotating, the thread friction resistance between the lead screw 12 and the screw hole effectively prevents the zoom lens 2 from unexpected displacement or retraction under external forces (such as gravity, vibration, or accidental touch), ensuring that the baseline spacing remains stable and locked after adjustment, avoiding stereo parallax changes caused by baseline drift, and guaranteeing the consistency and stability of stereo imaging.

[0063] During actual operation, the control module sends a synchronous control signal to the motor 11 according to the calculated specified interval. The motor 11 rotates and drives the two lead screws 12 to rotate. The two lead screws 12 are screwed into the screw holes on the housing of the two zoom lenses 2 through the external thread, pushing the two zoom lenses 2 to move synchronously in opposite directions along the baseline, thereby precisely adjusting the baseline interval to the specified value. When the target position is reached, the motor 11 stops rotating, and the self-locking effect of the thread pair automatically locks the current position of the zoom lens 2, maintaining baseline stability without the need for an additional braking mechanism.

[0064] In addition, the lead screw 12 can be a ball screw 12 to further improve transmission efficiency and accuracy, or a trapezoidal lead screw 12 to enhance self-locking capability and load-bearing capacity.

[0065] In an embodiment of the present invention, the control module is further configured to obtain a specified focal length based on a zoom command, and determine whether the specified focal length is greater than the maximum optical focal length of the zoom lens 2; if the specified focal length is less than or equal to the maximum optical focal length, the focal length of the zoom lens 2 is adjusted to the specified focal length; if the specified focal length is greater than the maximum optical focal length, the focal length of the zoom lens 2 is adjusted to the maximum optical focal length, and the image obtained by the image sensor of the zoom lens 2 is digitally zoomed until the product of the digital magnification of the digital zoom and the maximum optical focal length equals the specified focal length.

[0066] It should be noted that the maximum optical focal length refers to the maximum focal length that the zoom lens 2 can achieve under the adjustment of the physical optical structure. The maximum optical focal length is limited by the physical movement range of the lens group. Digital zoom, on the other hand, is a technical means that, after the optical zoom reaches its limit, the image captured by the image sensor is cropped and interpolated and enlarged by software algorithms to effectively extend the focal length.

[0067] In this embodiment, the control module obtains a specified focal length based on the zoom command and determines the relationship between the specified focal length and the maximum optical focal length, thereby intelligently deciding which zoom mode to use: If the specified focal length is less than or equal to the maximum optical focal length, it indicates that the current zoom requirement is within the physical range of the optical zoom capability. In this case, the focal length of the zoom lens 2 is directly adjusted to the specified focal length. Since there is no need to sacrifice image quality through image cropping, optical zoom can have the advantage of lossless zoom, ensuring image clarity and detail reproduction. If the specified focal length is greater than the maximum optical focal length, the focal length of the zoom lens 2 is first adjusted to the maximum optical focal length to fully exploit the physical potential of optical zoom. Then, digital zoom is performed on the image obtained by the image sensor, and the focal length is effectively extended through cropping and magnification processing until the product of the digital magnification and the maximum optical focal length equals the specified focal length. Thus, while ensuring the baseline matching relationship, the physical focal length limitation of the optical structure is broken, and the usable zoom range of the stereo camera is greatly expanded. In addition, since the baseline can still be adjusted according to the equivalent focal length (maximum optical focal length × digital magnification) during digital zoom, it ensures that the product of focal length and baseline remains constant even in the digital zoom range, thereby maintaining the consistency of stereo parallax and avoiding the problem of stereo distortion caused by the expansion of the zoom range.

[0068] Overall, this embodiment effectively expands the zoom range while prioritizing image quality through an intelligent segmented switching strategy between optical zoom and digital zoom. At the same time, it ensures adaptive matching of the baseline across the entire focal length through equivalent focal length calculation, achieving a wide-range stereoscopic shooting capability from wide-angle to super telephoto, and maintaining a stable stereoscopic visual effect across all focal lengths, avoiding stereoscopic parallax distortion.

[0069] The image processing for digital zoom can refer to the digital zoom processing methods used in regular mobile phone photography, and will not be elaborated here.

[0070] In an embodiment of the present invention, the control module is further configured to determine whether the specified distance is less than the minimum physical distance between the two zoom lenses 2; if the specified distance is greater than or equal to the minimum physical distance, the control drive mechanism 1 is configured to synchronously drive the two zoom lenses 2 to move relative to each other, so that the baseline distance between the two zoom lenses 2 becomes the specified distance; if the specified distance is less than the minimum physical distance, the control drive mechanism 1 is configured to synchronously drive the two zoom lenses 2 to move relative to each other, so that the baseline distance between the two zoom lenses 2 becomes the minimum physical distance, and the center displacement cropping is performed on both image frames acquired by the image sensors of the two zoom lenses 2 until the difference between the minimum physical distance and the equivalent baseline displacement of the center displacement cropping is equal to the specified distance.

[0071] It should be noted that the minimum physical distance refers to the minimum optical center distance achievable between the two zoom lenses 2, constrained by the internal space of the camera housing 3, the physical dimensions of the lens module, and the travel of the slide rail 4, among other mechanical structural constraints. Ideally, the minimum physical distance between the two zoom lenses 2 is the baseline distance when the outer peripheries of the lens groups of the two zoom lenses 2 are adjacent and abutting. Center displacement cropping refers to the sub-pixel-level cropping and position shifting of the center region of the original image acquired by the image sensor through software algorithms to simulate an equivalent baseline length shorter than the physical baseline.

[0072] In this embodiment, the control module determines the relationship between the specified distance and the minimum physical distance, thereby intelligently coordinating physical adjustment and software compensation. If the specified distance is greater than or equal to the minimum physical distance, it indicates that the current baseline requirement is within the feasible range of the mechanical structure. At this time, the control drive mechanism 1 synchronously drives the two zoom lenses 2 to move relative to each other, directly realizing the mechanical adjustment of the physical baseline. This ensures that the binocular parallax is generated based on the real physical optical center distance, guaranteeing the accuracy of depth calculation and the resolution of the parallax map. If the specified distance is less than the minimum physical distance, it indicates that the theoretical baseline corresponding to the long focal length required by the current zoom command is less than the limit allowed by the mechanical structure. At this time, the control drive mechanism 1 first moves the two zoom lenses 2 to the position of the minimum physical distance, fully exploring the physical potential of the mechanical structure to adjust the baseline distance. Then, the center displacement cropping is performed on the images acquired by the two image sensors. The software algorithm simulates an equivalent baseline effect smaller than the physical limit until the difference between the minimum physical distance and the equivalent baseline displacement of the center displacement cropping equals the specified distance. This satisfies the requirements of long focal length shooting while breaking through the physical limitation of the minimum baseline imposed by the mechanical structure. Meanwhile, since center displacement cropping only changes the cropped area of ​​the image without changing the optical imaging quality, it can accurately simulate the effect of any narrow baseline through software while keeping the center of the image stable. This ensures that even at ultra-long focal lengths, a stereoscopic image that conforms to the parallax range that is comfortable for the human eye can be obtained, avoiding stereoscopic parallax caused by an excessively wide baseline.

[0073] Overall, this embodiment creatively employs a segmented collaborative mechanism of physical baseline and digital displacement compensation. While prioritizing the authenticity of image resolution and depth, it effectively overcomes the limitations of mechanical structure on the minimum baseline, achieving precise baseline matching across a wide focal length range. In particular, it provides software simulation capabilities for ultra-narrow baseline spacing in the telephoto range, ensuring that the stereo camera can provide comfortable and natural depth perception at all focal lengths.

[0074] In addition, the offset calculation of the center displacement clipping can be based on a simple geometric projection relationship, or it can be combined with the lens distortion parameters for nonlinear correction, which is not limited here.

[0075] In an embodiment of the present invention, the control module is further configured to dynamically match the zoom rate of the zoom lens 2 with the drive rate of the drive mechanism 1, so that the product of the real-time focal length of the zoom lens 2 and the real-time baseline spacing remains constant.

[0076] In this embodiment, the zoom rate of the zoom lens 2 and the drive rate of the drive mechanism 1 are dynamically matched by the control module. This ensures that the real-time focal length change and the real-time baseline distance change during the zoom process maintain a synchronous proportional relationship, guaranteeing that the product of the real-time focal length and the real-time baseline distance remains constant throughout the zoom process. This effectively solves the problem of instantaneous parallax misalignment caused by the step-by-step or asynchronous zoom and baseline changes in traditional solutions. Since the human eye is extremely sensitive to parallax jumps during continuous playback of stereoscopic video, even a brief mismatch between the focal length and the baseline can produce obvious stereoscopic distortion and dizziness. Through dynamic rate matching, the system can maintain a constant product relationship at every moment of zoom command execution, eliminating parallax deviation in intermediate transition states and achieving smooth and continuous parallax changes. In addition, through the dynamic matching strategy, the system can also make real-time adjustments based on the actual response characteristics of the zoom lens 2 and the drive mechanism 1 (such as the acceleration curve of the motor 11, the movement damping of the lens group, etc.), automatically compensate for the phase difference caused by mechanical inertia or response delay, and ensure that the focal length and baseline can be accurately synchronized at the actual physical execution level, further improving the stability of stereoscopic imaging and viewing comfort.

[0077] Overall, this embodiment improves baseline adjustment from discrete endpoint matching to continuous end-range matching through a dynamic rate matching mechanism, ensuring the constancy of stereoscopic effect during zooming, completely eliminating visual discomfort caused by zooming operation, and providing a professional-grade smooth stereoscopic zooming experience.

[0078] During actual operation, the control module monitors the current focal length change rate of the zoom lens 2 in real time and calculates the corresponding theoretical baseline change rate in real time according to the preset constant product algorithm (B×f=const, where B is the baseline distance, f is the focal length, and const is a constant). Then, it sends the corresponding speed control command to the drive mechanism 1, so that the drive mechanism 1 drives the zoom lens 2 to move at the calculated rate. During the adjustment process, the control module continuously provides feedback adjustment and dynamically fine-tunes the drive rate according to the real-time position sensor data of the two actuators to ensure that the motion curves of the two are strictly synchronized in time until the final specified focal length and specified distance are reached.

[0079] In addition, dynamic matching can employ different control strategies such as PID (proportional-integral-derivative) closed-loop control algorithm, feedforward compensation algorithm, or model-based predictive control algorithm. The proportional coefficient of the rate matching can be adaptively adjusted according to different shooting scenarios (such as slow fine zoom or fast capture zoom), and is not limited here.

[0080] This invention also proposes a stereo camera control method, referring to... Figure 2 , Figure 2 This is a flowchart illustrating the first embodiment of the stereo camera control method of the present invention.

[0081] It should be noted that the execution entity in this embodiment can be a computing module with data processing and program execution functions, such as the processing chip or microcontroller unit built into a stereo camera, or the aforementioned control module. The following description uses a control module as an example to illustrate this embodiment and the subsequent embodiments.

[0082] In this embodiment, the stereo camera control method includes steps S10~S30: Step S10: Obtain zoom command; It should be noted that the zoom command is a user's request to adjust the focal length of the stereo camera. The specific triggering method can be pressing the shutter button, entering the focal length value on the stereo camera's touch screen, etc.

[0083] Step S20: Based on the zoom command, calculate the specified focal length and specified spacing; The specified focal length can be obtained directly from the zoom command. The calculation of the specified focal length and the specified distance can be based on the constant product formula, the preset lookup table or the adaptive learning model, and there are no restrictions here.

[0084] Step S30: Adjust the focal length of the zoom lens to the specified focal length, and drive the two zoom lenses to move relative to each other so that the baseline distance between the two zoom lenses is adjusted to the specified distance; wherein, during the movement of the two zoom lenses, the midpoint of the baseline between the two zoom lenses remains fixed.

[0085] The adjustment in step S30 can be achieved using open-loop control, closed-loop feedback control, or feedforward compensation control, and no specific method is specified here.

[0086] In this embodiment, zoom commands are first acquired to promptly detect the user's zoom intentions, providing trigger signals and target parameter sources for subsequent automatic adjustment processes. Then, a specified focal length and a specified distance are calculated based on the zoom commands. This satisfies the user's zoom needs while pre-determining a target baseline length matching the target focal length, establishing a mapping relationship between focal length and baseline, and providing precise parameter basis for subsequent synchronous adjustment. Next, the focal length of the zoom lens is adjusted to the specified focal length, and the two zoom lenses are driven to move relative to each other to adjust the baseline distance to the specified distance. This allows for simultaneous changes in both optical focal length and physical baseline in a single adjustment action, ensuring they are always matched and effectively overcoming parallax misalignment caused by a fixed baseline. Furthermore, because the baseline midpoint remains fixed during the movement of the two zoom lenses—that is, bidirectional symmetrical movement ensures the two zoom lenses move in opposite directions at the same speed—the geometric center of the image is always located on the central axis of the camera body, eliminating image center shift and viewing angle jumps caused by unilateral movement, ensuring visual center stability and viewing continuity.

[0087] Overall, this embodiment constructs a complete closed-loop control process from instruction acquisition and parameter calculation to synchronous execution through the execution of steps S10 to S30. While realizing real-time linkage adjustment of focal length and baseline, it always keeps the center of the image stable, ensuring the consistency of stereoscopic parallax and visual comfort during full zoom, and providing users with a natural and smooth stereoscopic shooting experience.

[0088] Based on the above embodiments, in the second embodiment of the stereo camera control method of the present invention, the contents that are the same as or similar to those in the first embodiment of the stereo camera control method can be referred to the above description and will not be repeated hereafter. Based on this, please refer to... Figure 3 Step S20 includes steps S21 to S23: Step S21: Based on the zoom command, obtain the specified focal length; Step S22: Obtain the current focal length and current baseline distance of the two zoom lenses; It should be noted that the current focal length refers to the real-time focal length value of the zoom lens before adjustment, and the current baseline distance refers to the real-time optical center distance between the two zoom lenses before movement.

[0089] Step S23: Calculate the specified distance based on the current focal length, the current baseline spacing, and the specified focal length; wherein the product of the current focal length and the current baseline spacing is equal to the product of the specified focal length and the specified distance.

[0090] In this embodiment, the user's final zoom target is determined by obtaining the specified focal length based on the zoom command, providing endpoint parameters for subsequent calculations. Then, the initial state parameters of the system are monitored in real time by acquiring the current focal length and baseline distance between the two zoom lenses, providing accurate reference data for dynamic calculations and avoiding cumulative errors caused by relying on theoretical initial values. Next, the specified distance is calculated based on the current focal length, current baseline distance, and specified focal length, ensuring that the product of the current focal length and current baseline distance equals the product of the specified focal length and specified distance. This strictly adheres to the constant parallax principle of stereoscopic vision, ensuring that the parallax angle remains constant during zooming, effectively avoiding abrupt changes in stereoscopic perception and visual dizziness during zooming, and achieving constant depth perception across a wide focal length range. Furthermore, since the calculation process is based on the real-time acquired current state parameters, the system can accurately calculate the target baseline according to the actual starting conditions, rather than relying on theoretical or preset values ​​at startup. This effectively compensates for initial position deviations caused by mechanical wear, temperature drift, and other factors, improving adjustment accuracy and long-term system stability.

[0091] Overall, this embodiment establishes a precise calculation process based on real-time state feedback through the progressive execution of steps S21 to S23. It ensures the consistency of stereo parallax by strictly maintaining the constant product relationship, and improves the system's environmental adaptability and robustness by utilizing the current parameter acquisition mechanism, thus achieving the continuity and realism of depth perception across the entire focal length.

[0092] In actual operation, the control module first executes step S21 to parse the zoom command and obtain the target focal length value as the specified focal length; then it executes step S22 to read the current actual focal length value and actual baseline distance of the two zoom lenses through the position sensor, lens encoder or Hall sensor; finally, it executes step S23 to calculate the specified distance using the formula B2=(B1×f1) / f2, where B1 is the current baseline distance, f1 is the current focal length, f2 is the specified focal length, and B2 is the calculated specified distance, ensuring that the product of B×f remains unchanged throughout the zoom process, maintaining a constant sense of depth.

[0093] In addition, the calculation in step S23 can use floating-point arithmetic to ensure accuracy, or fixed-point arithmetic or lookup table method to improve calculation speed. The current parameter can be obtained by real-time measurement through the built-in sensor, or by recording the target value after the last adjustment as the current value. There are no restrictions here.

[0094] Based on the above embodiments, in the third embodiment of the stereo camera control method of the present invention, the contents that are the same as or similar to those in the first embodiment of the stereo camera control method can be referred to the above description and will not be repeated hereafter. Please refer to [further details omitted]. Figure 4Step S30 includes steps A31 to A33: Step A31: Determine whether the specified focal length is greater than the maximum optical focal length of the zoom lens; Step A32: If the specified focal length is less than or equal to the maximum optical focal length, then adjust the focal length of the zoom lens to the specified focal length. Step A33: If the specified focal length is greater than the maximum optical focal length, adjust the focal length of the zoom lens to the maximum optical focal length, and digitally zoom the image obtained by the image sensor of the zoom lens until the product of the digital zoom magnification and the maximum optical focal length equals the specified focal length.

[0095] In this embodiment, by determining whether the specified focal length is greater than the maximum optical focal length, the range of zoom requirements is pre-identified before adjustment, providing a basis for subsequent selection of optical zoom or digital zoom and avoiding ineffective optical adjustments to focal lengths exceeding physical capabilities. Then, when the specified focal length is less than or equal to the maximum optical focal length, the zoom lens's focal length is directly adjusted to the specified focal length, thereby fully utilizing the lossless imaging advantages of optical zoom to ensure optimal image detail, sharpness, and signal-to-noise ratio, avoiding image quality loss caused by digital zoom. Conversely, when the specified focal length is greater than the maximum optical focal length... First, the zoom lens is adjusted to its maximum optical focal length. Then, the image obtained by the zoom lens's image sensor is digitally zoomed until the product of the digital magnification and the maximum optical focal length equals the specified focal length. Thus, after the optical zoom reaches its physical limit, the equivalent focal length range is further extended through software algorithms. This breaks through the physical limitations of the hardware structure, significantly expanding the usable zoom range of the stereo camera. At the same time, it ensures that even in the digital zoom range, the baseline can be maintained through equivalent focal length calculation, thus maintaining the consistency of the stereoscopic effect and avoiding parallax distortion caused by the baseline not being adjusted accordingly in the digital zoom range.

[0096] Overall, this embodiment achieves intelligent and seamless switching between optical zoom and digital zoom by judging the specified focal length and using a segmented processing mechanism. While prioritizing image quality, it effectively expands the zoom range and ensures that the correct baseline matching relationship is maintained throughout the entire focal length, providing users with continuous stereo shooting capabilities from wide-angle to super telephoto.

[0097] In specific operation, the control module executes step A31 to compare the parsed specified focal length with the preset maximum optical focal length threshold; if the determination result is negative (specified focal length ≤ maximum optical focal length), then step A32 is executed to drive the lens group to move to the specified focal length position; if the determination result is positive (specified focal length > maximum optical focal length), then step A33 is executed to first drive the lens group to the maximum optical position, then calculate the required digital magnification (specified focal length / maximum optical focal length), and perform center cropping and interpolation magnification processing on the original image acquired by the image sensor until the target equivalent focal length is reached.

[0098] Based on the above embodiments, in the fourth embodiment of the stereo camera control method of the present invention, the contents that are the same as or similar to those in the first embodiment of the stereo camera control method can be referred to the above description and will not be repeated hereafter. Please refer to [further details omitted]. Figure 5 Step S30 includes steps B31 to B33: Step B31: Determine whether the specified distance is less than the minimum physical distance between the two zoom lenses; Step B32: If the specified distance is greater than or equal to the minimum physical distance, then drive the two zoom lenses to move relative to each other so that the baseline distance between the two zoom lenses is adjusted to the specified distance. Step B33: If the specified distance is less than the minimum physical distance, drive the two zoom lenses to move relative to each other, so that the baseline distance between the two zoom lenses is adjusted to the minimum physical distance, and perform center displacement cropping on both image frames acquired by the image sensors of the two zoom lenses until the difference between the minimum physical distance and the equivalent baseline displacement of the center displacement cropping is equal to the specified distance.

[0099] Among them, center displacement cropping involves two zoom lenses performing subpixel-level center cropping and position offset processing on the two acquired images, making the two images closer together as a whole, thereby simulating the effect of reducing the baseline distance.

[0100] In this embodiment, the feasibility of the baseline requirement is first determined by judging whether the specified distance is less than the minimum physical distance between the two zoom lenses, thus avoiding the execution of mechanical actions that cannot be completed and reducing ineffective energy consumption and mechanical wear. Then, when the specified distance is greater than or equal to the minimum physical distance, the two zoom lenses are directly driven to move relative to each other so that the baseline distance is adjusted to the specified distance. This directly achieves the target baseline using physical mechanical means, ensuring that the binocular parallax is generated based on the actual optical center distance, guaranteeing the accuracy of depth calculation and the resolution of the parallax map. When the specified distance is less than the minimum physical distance, the baseline distance between the two zoom lenses is first adjusted to the minimum physical distance. Then, the center displacement is cropped on both images acquired by the image sensors of the two zoom lenses until the difference between the minimum physical distance and the equivalent baseline displacement of the center displacement cropping is equal to the specified distance. Thus, after the mechanical structure reaches its physical limit, the software algorithm simulates an equivalent baseline that is narrower than the physical limit, breaking through the spatial limitation of the minimum baseline on the mechanical structure. This ensures that a stereoscopic image that conforms to the comfortable parallax range of the human eye can still be obtained when shooting with a telephoto lens, avoiding stereoscopic parallax misalignment and dizziness caused by an excessively wide baseline.

[0101] Overall, this embodiment establishes a collaborative mechanism of mechanical adjustment and software compensation by judging and segmenting the specified spacing. Under the premise of prioritizing image quality and depth authenticity, it effectively breaks through the physical space constraint on the minimum baseline and achieves accurate matching of baseline and focal length and comfortable stereoscopic effect within a wide focal length range.

[0102] In actual operation, the control module executes step B31 to compare the calculated specified distance with the preset minimum physical distance (a mechanical limit value determined by the internal space of the camera housing, the size of the lens module, and the travel of the slide rail); if the determination result is negative (specified distance ≥ minimum physical distance), then step B32 is executed to control the drive mechanism to move the two zoom lenses to the target position; if the determination result is positive (specified distance < minimum physical distance), then step B33 is executed to control the drive mechanism to move the two lenses to the completely adjacent minimum distance position, then calculates the required equivalent baseline compensation amount (minimum physical distance - specified distance), and performs corresponding sub-pixel-level center cropping and position offset processing on the left and right images so that the final parallax effect is equivalent to the specified narrow baseline distance.

[0103] It should be noted that the corresponding steps A31~A33 and B31~B33 above are executed in parallel, that is, A31 and B31 are executed in parallel, A32 and B32 are executed in parallel, and A33 and B33 are executed in parallel, thereby linking the zoom adjustment and the baseline spacing adjustment to ensure stereoscopic vision consistency.

[0104] Based on the above embodiments, in the fifth embodiment of the stereo camera control method of the present invention, the contents that are the same as or similar to any of the above embodiments of the stereo camera control method can be referred to the above description and will not be repeated hereafter. Furthermore, during the zoom adjustment and baseline spacing adjustment of the zoom lens, the product of the real-time focal length of the zoom lens and the real-time baseline spacing remains constant.

[0105] It should be noted that real-time focal length refers to the instantaneous focal length value of the zoom lens at any moment during the adjustment process, and real-time baseline distance refers to the instantaneous distance between the optical centers of the two zoom lenses at any moment during the movement process. The product remains constant means that the mathematical product of real-time focal length and real-time baseline distance is always maintained as a fixed constant throughout the entire adjustment process (i.e., B×f=const, where B is the real-time baseline distance, f is the real-time focal length, and const is a fixed constant).

[0106] In this embodiment, by maintaining a constant product of real-time focal length and real-time baseline spacing during zoom adjustment and baseline spacing adjustment of the zoom lens, a constant parallax angle is ensured at every moment and in every frame of the zoom operation. This ensures that the depth mapping relationship in the 3D scene remains consistent throughout the dynamic changes, effectively overcoming the parallax mismatch problem in intermediate transition states that exists in step-by-step or asynchronous adjustment schemes. Furthermore, since the human eye is highly sensitive to continuously played stereoscopic video sequences, even a brief mismatch between focal length and baseline can produce obvious stereoscopic jumps and visual flicker in the time series. By maintaining a constant product throughout, the system eliminates any instantaneous parallax deviation that may occur at any moment during zooming, achieving a smooth and continuous transition of stereoscopic perception from the initial state to the target state, avoiding visual confusion and dizziness during the transition period.

[0107] Overall, this embodiment improves baseline adjustment from discrete endpoint matching to continuous end-range matching by maintaining a constant product throughout the adjustment process. This ensures seamless continuity of stereoscopic effect and inter-frame consistency during zooming, providing a smooth stereoscopic zoom experience. This allows users to obtain natural and smooth depth-of-field changes when shooting dynamic stereoscopic videos by pushing and pulling the lens.

[0108] In actual operation, after the zoom adjustment is started, the control module adopts a high-frequency real-time feedback control mechanism to continuously monitor the real-time focal length feedback signal of the zoom lens and the real-time position feedback signal of the two zoom lenses. It calculates the current real-time product value at a fixed frequency (such as 60 times per second or higher), generates a real-time control error signal by comparing it with the target constant value, and dynamically adjusts the zoom drive rate and the baseline drive rate to ensure that the real-time focal length and the real-time baseline distance satisfy the mathematical relationship of constant product at every point of the adjustment curve until the adjustment process ends.

[0109] The above description is merely an exemplary embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural transformations made using the contents of the present invention specification and drawings under the technical concept of the present invention, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present invention.

Claims

1. A stereo camera, characterized in that, include: Two zoom lenses; A drive mechanism is connected to the two zoom lenses respectively. The drive mechanism is used to drive the two zoom lenses to move relative to each other along the baseline direction, and to keep the midpoint of the baseline between the two zoom lenses fixed during the movement. A control module is electrically connected to the drive mechanism and the two zoom lenses respectively; the control module is used to adjust the focal length of the zoom lenses based on zoom commands. The control module is also used to calculate a specified distance based on the zoom command, and control the drive mechanism to drive the two zoom lenses to move relative to each other, so that the baseline distance between the two zoom lenses becomes the specified distance.

2. The stereo camera as described in claim 1, characterized in that, The stereo camera also includes a camera housing and a slide rail, and the drive mechanism, the zoom lens, the control module, and the slide rail are all disposed inside the camera housing; Both zoom lenses can be slidably mounted on the slide rail, the slide rail being parallel to the baseline direction.

3. The stereo camera as described in claim 1, characterized in that, The control module is also used to obtain a specified focal length based on the zoom command, and to determine whether the specified focal length is greater than the maximum optical focal length of the zoom lens. If the specified focal length is less than or equal to the maximum optical focal length, then adjust the focal length of the zoom lens to the specified focal length; If the specified focal length is greater than the maximum optical focal length, the focal length of the zoom lens is adjusted to the maximum optical focal length, and the image obtained by the image sensor of the zoom lens is digitally zoomed until the product of the digital zoom magnification and the maximum optical focal length equals the specified focal length.

4. The stereo camera as described in claim 3, characterized in that, The control module is also used to determine whether the specified distance is less than the minimum physical distance between the two zoom lenses; if the specified distance is greater than or equal to the minimum physical distance, the control module controls the drive mechanism to synchronously drive the two zoom lenses to move relative to each other so that the baseline distance between the two zoom lenses becomes the specified distance. If the specified spacing is less than the minimum physical spacing, the drive mechanism is controlled to synchronously drive the two zoom lenses to move relative to each other, so that the baseline spacing between the two zoom lenses becomes the minimum physical spacing, and the center displacement cropping is performed on the two image frames acquired by the image sensors of the two zoom lenses until the difference between the minimum physical spacing and the equivalent baseline displacement of the center displacement cropping is equal to the specified spacing.

5. The stereo camera as described in claim 3, characterized in that, The control module is also used to dynamically match the zoom rate of the zoom lens with the drive rate of the drive mechanism, so that the product of the real-time focal length of the zoom lens and the real-time baseline spacing remains constant.

6. A method for controlling a stereo camera, characterized in that, Includes the following steps: Get zoom command; Based on the zoom command, the specified focal length and specified spacing are calculated; Adjust the focal length of the zoom lens to the specified focal length, and drive the two zoom lenses to move relative to each other so that the baseline distance between the two zoom lenses is adjusted to the specified distance; wherein, during the movement of the two zoom lenses, the midpoint of the baseline between the two zoom lenses remains fixed.

7. The stereo camera control method as described in claim 6, characterized in that, The step of calculating the specified focal length and specified spacing based on the zoom command includes: Based on the zoom command, the specified focal length is obtained; Obtain the current focal length and current baseline distance between the two zoom lenses; The specified distance is calculated based on the current focal length, the current baseline spacing, and the specified focal length; wherein the product of the current focal length and the current baseline spacing is equal to the product of the specified focal length and the specified distance.

8. The stereo camera control method as described in claim 6, characterized in that, The step of adjusting the focal length of the zoom lens to the specified focal length includes: Determine whether the specified focal length is greater than the maximum optical focal length of the zoom lens; If the specified focal length is less than or equal to the maximum optical focal length, then adjust the focal length of the zoom lens to the specified focal length; If the specified focal length is greater than the maximum optical focal length, the focal length of the zoom lens is adjusted to the maximum optical focal length, and the image obtained by the image sensor of the zoom lens is digitally zoomed until the product of the digital magnification of the digital zoom and the maximum optical focal length equals the specified focal length.

9. The stereo camera control method as described in claim 6, characterized in that, The step of driving the two zoom lenses to move relative to each other to adjust the baseline distance between the two zoom lenses to the specified distance includes: Determine whether the specified distance is less than the minimum physical distance between the two zoom lenses; If the specified spacing is greater than or equal to the minimum physical spacing, then the two zoom lenses are driven to move relative to each other so that the baseline spacing between the two zoom lenses is adjusted to the specified spacing. If the specified spacing is less than the minimum physical spacing, the two zoom lenses are driven to move relative to each other, so that the baseline spacing between the two zoom lenses is adjusted to the minimum physical spacing, and the center displacement cropping is performed on the two image frames acquired by the image sensors of the two zoom lenses until the difference between the minimum physical spacing and the equivalent baseline displacement of the center displacement cropping is equal to the specified spacing.

10. The stereo camera control method according to any one of claims 6 to 9, characterized in that, During the zoom adjustment and baseline spacing adjustment of the zoom lens, the product of the real-time focal length of the zoom lens and the real-time baseline spacing remains constant.

Images