Parallel driving binocular anti-shake assembly prism

Abstract

The utility model provides a parallel driving binocular anti-shake assembly prism, which relates to the technical field of optical image stabilization, and comprises a left prism shell and a right prism shell which are symmetrically arranged and are respectively arranged in a rotating frame through a rotating shaft bearing; two ends of the bridging type connecting rod are connected with the left prism shell and the right prism shell through bearings to drive the two prism shells to synchronously rotate around respective rotating shafts; the left and right side walls of the rotating frame are hinged to the outer frame through side bearings; an inner shaft driving coil, an outer shaft driving coil, an inner shaft Hall element, an outer shaft Hall element and a gyroscope sensor are integrated on the circuit board; the inner shaft driving magnetic steel is arranged in the middle of the connecting rod and corresponds to the inner shaft driving coil on the circuit board; the inner shaft sensing magnetic steel is arranged on the side wall of the left prism shell or the right prism shell and corresponds to the inner shaft Hall element; and the outer shaft magnetic steel is arranged on the outer frame and corresponds to the outer shaft driving coil and the outer shaft Hall element, so that the transmission precision is improved.

Description

Technical Field

[0001] This utility model relates to the field of optical image stabilization technology, and is particularly applicable to devices such as binocular telescopes that require synchronous image stabilization of dual optical paths. Specifically, it relates to a binocular image stabilization component prism that achieves synchronous movement of dual prisms through a parallel linkage mechanism and uses a split-axis control strategy for parallel drive. Background Technology

[0002] In modern precision optical instruments, especially high-precision equipment such as telescopes, image stabilization technology is an important means to improve the stability and accuracy of observations. With the development of science and technology, the research and application of image stabilization systems have become increasingly in-depth. However, most existing image stabilization technologies still have some shortcomings, particularly in terms of stabilization effectiveness, hardware complexity, and system stability.

[0003] Existing image-stabilized telescopes generally employ a complex method of directly fixing gyroscope sensors to prisms or lenses. This method requires connecting multiple circuit boards, which not only increases the complexity of the system but also affects its reliability and stability to some extent. Furthermore, the transmission mechanism of traditional image-stabilized telescopes typically relies on screw fixing to ensure transmission accuracy, making it difficult to simplify the assembly process while improving transmission accuracy.

[0004] In addition, traditional anti-shake systems mostly rely on complex feedback mechanisms to control the rotating axis, and the control methods for the inner and outer axes often need to be carried out separately. This not only increases the complexity of the system, but may also affect the synchronization and accuracy in actual use.

[0005] Therefore, there are still many problems to be solved in the existing technology, such as how to simplify hardware design, improve transmission accuracy, and optimize control methods. Utility Model Content

[0006] In view of this, the purpose of this utility model is to propose a parallel-driven binocular image stabilization component prism, which can effectively simplify hardware configuration, improve transmission accuracy, simplify control scheme, and achieve more precise image stabilization control. This utility model, through its innovative transmission mechanism, simplified control scheme, and optimized bearing assembly method, breaks through the limitations of traditional image stabilization technology and has broad application prospects, especially suitable for precision optical instruments.

[0007] To achieve the above objectives, this utility model provides the following technical solution:

[0008] To achieve the above objectives, this utility model provides a parallel-driven binocular image stabilization component prism, comprising:

[0009] The symmetrically arranged left and right prism shells are respectively mounted in the rotating frame via rotating shaft bearings;

[0010] The bridging linkage connects the left and right prism housings at both ends via bearings, driving the two prism housings to rotate synchronously around their respective rotation axes, thus achieving azimuth axis movement.

[0011] The rotating frame has its left and right side walls hinged to the outer frame via side bearings, enabling the pitch axis to rotate.

[0012] An integrated circuit board is fixed on a rotating frame. The circuit board integrates an inner shaft drive coil, an outer shaft drive coil, an inner shaft Hall element, an outer shaft Hall element, and a gyroscope sensor.

[0013] The inner shaft drive magnet is located in the middle of the connecting rod and corresponds to the inner shaft drive coil on the circuit board.

[0014] An inner-axis sensing magnet is located on the side wall of the left or right prism housing, corresponding to the inner-axis Hall element.

[0015] The outer shaft magnet is located on the outer frame and corresponds to the outer shaft drive coil and the outer shaft Hall element.

[0016] As a further embodiment of this invention, the rotating shaft bearings of the left and right prism shells adopt a double-row arrangement structure to eliminate the swaying error of the prism shells in the front and back directions; the bearings at both ends of the connecting rod adopt a left-right arrangement structure to reduce the rotation radius of the azimuth axis.

[0017] As a further embodiment of this invention, the inner shaft sensing magnet is deployed on only a single prism shell, and the motion is transmitted to another prism shell through a synchronous connecting rod to achieve synchronous detection of the angles of the two prisms.

[0018] As a further embodiment of this invention, the azimuth axis and pitch axis of the binocular image stabilization component prism adopt separate axis control strategies, wherein the azimuth axis adopts feedforward-feedback composite control, and the pitch axis adopts differential feedback tracking control.

[0019] As a further embodiment of this utility model, the hinge bearing between the rotating frame and the outer frame is a central shaft sleeve structure, replacing screw locking and fixing.

[0020] As a further embodiment of this utility model, the binocular image stabilization component prism is disposed in the optical path between the objective lens and the eyepiece of the binocular telescope. The binocular telescope also includes a focusing component and a housing. The housing is provided with a battery compartment and a switch to power the integrated circuit board.

[0021] As a further embodiment of this invention, the binocular image stabilization component prism includes the following split-axis control strategy:

[0022] Azimuth axis control:

[0023] The displacement target is generated by using the azimuth axis angular velocity detected by the gyroscope and then calculating it through feedforward.

[0024] The actual angle of the prism shell detected by the inner shaft Hall element is used as the feedback quantity, and the inner shaft drive coil is driven by a closed-loop control algorithm.

[0025] Pitch axis control:

[0026] The target angular velocity is generated by differential calculation using the rotation frame angle detected by the external axis Hall element.

[0027] The actual angular velocity of the pitch axis detected by the gyroscope is used as feedback, and the outer shaft drive coil is driven by a tracking control algorithm.

[0028] As a further embodiment of this utility model, the azimuth axis feedforward calculation adopts an angular velocity integral algorithm to convert the gyroscope output into a displacement compensation amount;

[0029] The pitch axis differential calculation uses an angle difference algorithm to convert the Hall element output into angular velocity commands.

[0030] As a further embodiment of this invention, the gyroscope data is used simultaneously for azimuth axis feedforward and pitch axis feedback, thereby achieving single sensor multiplexing.

[0031] Compared with existing technologies, the parallel-driven binocular image stabilization prism proposed in this invention has the following advantages:

[0032] 1. This utility model achieves precise synchronous movement of the left and right prisms by adopting a parallel linkage mechanism. This structure eliminates the angle distortion caused by prism bearing clearance in traditional image stabilization systems, avoids inconsistency in the field of view of binocular images, thereby greatly improving synchronization and ensuring consistent image stability of the binocular telescope at different angles, and significantly improving the synchronization accuracy of the dual prisms.

[0033] 2. This invention employs a split-axis control strategy, where the azimuth and pitch axes are controlled independently. The azimuth axis utilizes a feedforward and feedback composite control algorithm to achieve precise angle compensation; the pitch axis employs differential and feedback control methods to achieve precise tracking. This decoupled control significantly reduces mutual interference and errors between the two axes, resulting in a more stable and responsive anti-shake effect. By decoupling the azimuth and pitch axes, errors caused by control coupling are reduced.

[0034] 3. By designing double-row prism housing bearings at the top and bottom and connecting rod bearings arranged on the left and right, angular distortion caused by bearing clearance, mechanical transmission errors, and eccentricity is effectively reduced. This design not only improves the transmission accuracy of the components but also eliminates the prism swaying error in traditional designs, ensuring the stability of the anti-shake effect. Furthermore, by fixing the sensing magnet to the prism housing and placing the driving magnet in the connecting rod, detection errors caused by connecting rod bearing clearance are effectively avoided. The relative positions of the Hall element and the driving coil are optimized, enabling the sensing system to provide accurate and real-time angle information, thereby improving the response speed and stability of the anti-shake system.

[0035] 4. This invention integrates all sensors, drive coils, control chips, and other components onto a single circuit board, reducing wiring complexity and eliminating the risks of cable interference and loosening in traditional designs, thus improving system reliability. The integrated circuit board design reduces connections between multiple boards, further enhancing product compactness and anti-shake performance. Due to the adoption of a feedforward-feedback composite control strategy and a differential control strategy, this invention exhibits excellent dynamic response performance in dual-axis control. Especially in high-speed motion or rapidly changing environments, it can quickly capture angle changes and perform precise compensation, avoiding image distortion or instability caused by response delays in traditional anti-shake systems.

[0036] 5. This utility model adopts a highly integrated design, reducing the use of numerous discrete components in traditional image stabilization systems. Through optimized magnet layout and simplified wiring structure, hardware costs are reduced by approximately 30%. Simultaneously, due to the modularization of system components and circuit integration, assembly efficiency is improved by approximately 50%, making the production process simpler and more operable. Specifically, the side-mounted arrangement of the upper and lower bearings of the prism housing and the sensing magnet eliminates the back-and-forth swaying error caused by the linkage bearing clearance, improving the accuracy of azimuth axis angle detection. The sensing magnet is placed only on a single prism housing, and motion is transmitted through a rigid linkage, avoiding dual-sensor calibration errors and reducing angle synchronization deviation. Furthermore, by integrating the gyroscope, drive coil, and Hall element onto a single circuit board, the fixed cable connecting the gyroscope and prism in traditional solutions is eliminated, reducing circuit interfaces and lowering the failure rate. The central shaft sleeve bearing replaces the screw-locking structure, reducing bearing coaxiality error and improving assembly efficiency.

[0037] 6. This invention employs a connecting rod and left / right bearing layout, which reduces the azimuth axis rotation radius and the axial space occupied by the component, making it suitable for compact binocular devices. Furthermore, it utilizes a feedforward-feedback composite control system. Hall angle differential generation of the target angular velocity avoids gyroscope zero drift, and gyroscope feedback corrects frame vibration in real time, improving anti-interference capabilities. Synchronizing gyroscope data for azimuth axis feedforward and pitch axis feedback reduces the hardware cost of one gyroscope, lowering power consumption. The dual prisms deflect synchronously under connecting rod constraints, reducing field-of-view translation errors and completely eliminating binocular field-of-view misalignment. The central shaft-inserted bearing enhances vibration tolerance, exhibiting no performance degradation under random vibrations of 5-500Hz. This binocular image stabilization component is not only suitable for binocular telescopes but can also be widely applied to various optical instruments such as drones and cameras. Its high stability and high-precision stabilization effect maintains excellent performance in various harsh environments, significantly improving the reliability and lifespan of the equipment.

[0038] These or other aspects of this application will become more apparent from the following description of embodiments. It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only, and are not intended to limit the application. Attached Figure Description

[0039] To more clearly illustrate the technical solutions in the embodiments of this utility model or related technologies, the accompanying drawings used in the description of the exemplary embodiments or related technologies will be briefly introduced below. The drawings are used to provide a further understanding of this utility model and constitute a part of the specification. They are used together with the embodiments of this utility model to explain this utility model and do not constitute a limitation on this utility model. In the drawings:

[0040] Figure 1 This is a structural diagram of a parallel-driven binocular image stabilization prism according to an embodiment of the present invention.

[0041] Figure 2 This is a structural diagram of the internal rotating frame of a parallel-driven binocular image stabilization component prism according to an embodiment of the present invention.

[0042] Figure 3 This is a structural diagram showing the left and right prism shells connected by a connecting rod inside the rotating frame of a parallel-driven binocular image stabilization component according to an embodiment of this utility model.

[0043] Figure 4 This is a structural diagram of the connecting rod in the prism of a parallel-driven binocular image stabilization component according to an embodiment of the present invention.

[0044] Figure 5 This is a structural diagram of a parallel-driven binocular image stabilization component according to an embodiment of the present invention, showing the connecting rod connecting the left prism shell and the right prism shell.

[0045] Figure 6 This is a structural diagram of the left prism shell in a parallel-driven binocular image stabilization component prism according to an embodiment of the present invention.

[0046] Figure 7 This is a flowchart illustrating a parallel-driven binocular image stabilization component prism split-axis control strategy according to an embodiment of the present invention.

[0047] Marked in the image:

[0048] 1-Left prism shell, 2-Right prism shell, 3-Rotating frame, 4-Rotating shaft bearing, 5-Connecting rod, 6-Side bearing, 7-Outer frame, 8-Circuit board, 9-Inner shaft drive coil, 10-Outer shaft drive coil, 11-Inner shaft Hall element, 12-Outer shaft Hall element, 13-Gyroscope sensor, 14-Inner shaft drive magnet, 15-Inner shaft sensing magnet, 16-Outer shaft magnet. Detailed Implementation

[0049] The present application will now be further described in conjunction with the accompanying drawings and specific embodiments. It should be noted that, without conflict, the various embodiments or technical features described below can be arbitrarily combined to form new embodiments.

[0050] To make the objectives, technical solutions, and advantages of this utility model clearer, the embodiments of this utility model are further described in detail below with reference to specific examples and the accompanying drawings. It should be understood that the specific embodiments described herein are merely illustrative and are not intended to limit this application.

[0051] It should be noted that all uses of the terms "first" and "second" in the embodiments of this utility model are for the purpose of distinguishing two different entities or different parameters with the same name. Therefore, "first" and "second" are merely for convenience of expression and should not be construed as limiting the embodiments of this utility model. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion, such as other steps or units inherent in a process, method, system, product, or device that includes a series of steps or units.

[0052] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0053] The flowchart shown in the attached diagram is for illustrative purposes only and does not necessarily include all content and operations / steps, nor does it necessarily have to be performed in the order described. For example, some operations / steps can be broken down, combined, or partially merged, so the actual execution order may change depending on the actual situation.

[0054] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0055] This invention proposes a parallel-driven binocular image stabilization component prism, which not only enables flexible switching between dual sensors, but also intelligently senses changes in the working environment (such as desktop material and color) and configuration settings (such as LOD settings). Through a dynamic data compensation algorithm, it eliminates the influence of these changes on the cursor movement trajectory, ensuring that users obtain a highly consistent and predictable operating feel.

[0056] See Figures 1 to 6 As shown, an embodiment of this utility model provides a parallel-driven binocular image stabilization prism, comprising:

[0057] The symmetrically arranged left prism shell 1 and right prism shell 2 are respectively installed in the rotating frame 3 via rotating shaft bearings 4;

[0058] The bridging link 5 connects the left prism housing 1 and the right prism housing 2 through bearings at both ends, driving the two prism housings to rotate synchronously around their respective rotation axes, thereby realizing the azimuth axis movement.

[0059] The rotating frame 3 has its left and right side walls hinged to the outer frame 7 via side bearings 6, enabling the pitch axis to rotate.

[0060] An integrated circuit board 8 is fixed on the rotating frame 3. The circuit board 8 integrates an inner shaft drive coil 9, an outer shaft drive coil 10, an inner shaft Hall element 11, an outer shaft Hall element 12, and a gyroscope sensor 13.

[0061] The inner shaft drive magnet 14 is located in the middle of the connecting rod 5 and corresponds to the inner shaft drive coil 9 on the circuit board 8.

[0062] An inner-axis sensing magnet 15 is disposed on the side wall of the left prism housing 1 or the right prism housing 2, corresponding to the inner-axis Hall element 11; and

[0063] The outer shaft magnet 16 is located on the outer frame 7 and corresponds to the outer shaft drive coil 10 and the outer shaft Hall element 12.

[0064] In this invention, the left prism shell 1 and the right prism shell 2 achieve azimuth axis rotation through the push-pull mechanism of the connecting rod 5. This results in a small rotation radius, good optical effect, and simple and reliable operation. The inner axis drive coil 9, outer axis drive coil 10, inner axis Hall element 11, outer axis Hall element 12, and gyroscope sensor 13 are deployed on the main control circuit board 8, which is fixed to the rotating frame 3. The inner rotation axis utilizes gyroscope data feedforward servo control, while the outer rotation axis utilizes gyroscope data feedback control, achieving drive and anti-shake control for both axes. This simplifies sensor configuration, avoids multiple circuit board connections, simplifies hardware, and increases reliability. The rotating structure adopts an internal central shaft and an external bushing, which improves transmission accuracy and reduces assembly complexity compared to existing screw fixing methods. By integrating all sensors, drive coils, control chips, and other components onto a single circuit board 8, not only is wiring complexity reduced, but the risk of cable interference and loosening in traditional designs is also eliminated, improving system reliability. The integrated design of circuit board 8 reduces the connections between multiple circuit boards 8, further improving the product's compactness and anti-shake effect. Due to the adoption of a feedforward-feedback composite control strategy and a differential control strategy, this invention exhibits excellent dynamic response performance in dual-axis control. Especially in high-speed motion or rapidly changing environments, it can quickly capture angle changes and perform precise compensation, avoiding image distortion or instability caused by response delays in traditional anti-shake systems.

[0065] In this embodiment, the rotating shaft bearings 4 of the left prism shell 1 and the right prism shell 2 adopt a double-row structure to eliminate the back-and-forth swaying error of the prism shell; the bearings at both ends of the connecting rod 5 adopt a left-right arrangement to reduce the rotation radius of the azimuth axis. The hinge bearing between the rotating frame 3 and the outer frame 7 is a central shaft-inserted structure, replacing screw locking. By designing the double-row prism shell bearings and the left-right arranged connecting rod 5 bearings, the angular distortion caused by bearing clearance, mechanical transmission error, and eccentricity is effectively reduced. This design not only improves the transmission accuracy of the components but also eliminates the swaying error of the prism in traditional designs, ensuring the stability of the anti-shake effect. Furthermore, by fixing the sensing magnet to the prism shell and placing the driving magnet in the connecting rod 5, the detection error caused by the bearing clearance of the connecting rod 5 is effectively avoided. The relative positions of the Hall element and the driving coil are optimized, enabling the sensing system to provide real-time and accurate angle information, thereby improving the response speed and stability of the anti-shake system.

[0066] In this design, the inner-axis sensing magnet 15 is deployed on only a single prism shell, and its motion is transmitted to the other prism shell via a synchronous connecting rod 5, achieving synchronous detection of the dual-prism angle. This invention, by employing a parallel linkage mechanism, achieves precise synchronous movement of the left and right prisms. This structure eliminates angular distortion caused by prism bearing clearance in traditional image stabilization systems, avoids inconsistencies in the field of view of binocular images, thereby greatly improving synchronization and ensuring consistent image stability of the binocular telescope at different angles, significantly enhancing the synchronization accuracy of the dual prisms.

[0067] In this embodiment, the azimuth and pitch axes of the binocular image stabilization component prism employ separate axis control strategies. The azimuth axis uses a feedforward-feedback composite control, while the pitch axis uses differential feedback tracking control. This invention employs a separate axis control strategy, meaning the azimuth and pitch axes are controlled independently. The azimuth axis achieves precise angle compensation through a feedforward and feedback composite control algorithm; the pitch axis achieves precise tracking using differential and feedback control methods. This decoupled control significantly reduces mutual interference and errors between the two axes, resulting in a more stable and responsive image stabilization effect. Decoupling the azimuth and pitch axes reduces errors caused by control coupling.

[0068] In this embodiment, the binocular image stabilization component prism is disposed in the optical path between the objective lens and the eyepiece of the binocular telescope. The binocular telescope also includes a focusing component and a housing. The housing is provided with a battery compartment and a switch to power the integrated circuit board 8.

[0069] In this embodiment, see Figures 1 to 7 As shown, the binocular image stabilization component prism includes the following split-axis control strategy:

[0070] Azimuth axis control:

[0071] The displacement target is generated by using the azimuth axis angular velocity detected by the gyroscope and then calculating it through feedforward.

[0072] The actual angle of the prism shell detected by the inner shaft Hall element 11 is used as the feedback quantity, and the inner shaft drive coil 9 is driven by the closed-loop control algorithm.

[0073] Pitch axis control:

[0074] The angle of the rotating frame 3 is detected by the external axis Hall element 12, and the target angular velocity is generated by differential calculation.

[0075] The actual angular velocity of the pitch axis detected by the gyroscope is used as feedback, and the outer shaft drive coil 10 is driven by the tracking control algorithm.

[0076] In this embodiment, the azimuth axis feedforward calculation adopts the angular velocity integral algorithm to convert the gyroscope output into a displacement compensation amount;

[0077] The pitch axis differential calculation uses an angle difference algorithm to convert the Hall element output into angular velocity commands.

[0078] In this embodiment, the gyroscope data is used simultaneously for azimuth axis feedforward and pitch axis feedback, realizing single sensor multiplexing.

[0079] This invention employs a highly integrated design, reducing the use of numerous discrete components in traditional image stabilization systems. Through optimized magnet layout and simplified wiring, hardware costs are reduced by approximately 30%. Simultaneously, the modularization of system components and circuit integration improves assembly efficiency by approximately 50%, making the production process simpler and more operable. Specifically, the side-mounted arrangement of the upper and lower bearings of the prism housing and the sensing magnet eliminates the back-and-forth swaying error caused by bearing clearance in the connecting rod 5, improving the accuracy of azimuth angle detection. The sensing magnet is placed only in a single prism housing, transmitting motion through the rigid connecting rod 5, avoiding dual-sensor calibration errors and reducing angle synchronization deviation. Furthermore, by integrating the gyroscope, drive coil, and Hall element onto a single circuit board 8, the fixed cable connecting the gyroscope and prism in traditional solutions is eliminated, reducing circuit interfaces and lowering the failure rate. The central shaft insert bearing replaces the screw-locking structure, reducing bearing coaxiality errors and improving assembly efficiency.

[0080] This invention employs a left and right bearing layout on link 5, which reduces the azimuth axis rotation radius and the axial space occupied by the component, making it suitable for compact binocular devices. Furthermore, it utilizes a feedforward-feedback composite control system. Hall angle differential generation of the target angular velocity avoids gyroscope zero drift, and gyroscope feedback corrects frame vibration in real time, improving anti-interference capabilities. Synchronizing gyroscope data for azimuth axis feedforward and pitch axis feedback reduces the hardware cost of one gyroscope, lowering power consumption. The dual prisms deflect synchronously under the constraint of link 5, reducing field-of-view translation error and completely eliminating binocular field-of-view misalignment. The central shaft-inserted bearing enhances vibration tolerance, exhibiting no performance degradation under random vibrations of 5-500Hz. This binocular image stabilization component is not only suitable for binocular telescopes but can also be widely applied to various optical instruments such as drones and cameras. Its high stability and high-precision stabilization effect maintains excellent performance in various harsh environments, significantly improving the reliability and lifespan of the equipment.

[0081] The above are exemplary embodiments disclosed in this utility model. However, it should be noted that various changes and modifications can be made without departing from the scope of the embodiments of this utility model as defined by the claims. The functions, steps, and / or actions of the methods according to the disclosed embodiments described herein do not need to be performed in any particular order. Furthermore, although the elements disclosed in the embodiments of this utility model may be described or claimed individually, they may be understood as multiple unless explicitly limited to a singular number.

[0082] It should be understood that, as used herein, the singular form "a" is intended to include the plural form as well, unless the context clearly supports an exception. It should also be understood that, as used herein, "and / or" refers to any and all possible combinations of one or more of the associatedly listed items. The embodiment numbers disclosed above are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0083] Those skilled in the art should understand that the discussion of any of the above embodiments is merely exemplary and is not intended to imply that the scope of the present invention (including the claims) is limited to these examples. Within the framework of the present invention, technical features of the above embodiments or different embodiments can also be combined, and many other variations of different aspects of the present invention exist, which are not provided in the details for the sake of brevity. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A parallel-driven binocular image stabilization prism, characterized in that, include: The left prism shell (1) and the right prism shell (2) are symmetrically arranged and are respectively installed in the rotating frame (3) through the rotating shaft bearing (4); The bridging link (5) connects the left prism shell (1) and the right prism shell (2) at both ends through bearings, driving the two prism shells to rotate synchronously around their respective rotation axes to perform azimuth axis movement; The rotating frame (3) has its left and right side walls hinged to the outer frame (7) via side bearings (6) to rotate along the pitch axis. An integrated circuit board (8) is fixed on a rotating frame (3). The circuit board (8) integrates an inner shaft drive coil (9), an outer shaft drive coil (10), an inner shaft Hall element (11), an outer shaft Hall element (12), and a gyroscope sensor (13). An inner shaft drive magnet (14) is located in the middle of the connecting rod (5) and corresponds to the inner shaft drive coil (9) on the circuit board (8); An inner-axis sensing magnet (15) is disposed on the side wall of the left prism shell (1) or the right prism shell (2), corresponding to the inner-axis Hall element (11); An outer shaft magnet (16) is provided on the outer frame (7) and corresponds to the outer shaft drive coil (10) and the outer shaft Hall element (12).

2. The parallel-driven binocular image stabilization prism as described in claim 1, characterized in that, The rotating shaft bearings (4) of the left prism shell (1) and the right prism shell (2) adopt a double-row structure; the bearings at both ends of the connecting rod (5) adopt a left-right arrangement structure.

3. The parallel-driven binocular image stabilization prism as described in claim 2, characterized in that, The inner shaft sensing magnet (15) is deployed on only a single prism shell and transmits motion to another prism shell through a synchronous link (5), so that the angles of the two prisms are detected synchronously.

4. The parallel-drive binocular image stabilization prism as described in claim 3, characterized in that, The azimuth and pitch axes of the binocular image stabilization component prism adopt separate axis control strategies, with the azimuth axis using feedforward-feedback composite control and the pitch axis using differential feedback tracking control.

5. The parallel-driven binocular image stabilization prism as described in claim 1, characterized in that, The hinge bearing between the rotating frame (3) and the outer frame (7) is a central shaft sleeve structure.

6. The parallel-driven binocular image stabilization prism as described in claim 1, characterized in that, The binocular image stabilization prism is disposed in the optical path between the objective lens and the eyepiece of the binocular telescope. The binocular telescope also includes a focusing component and a housing. The housing is provided with a battery compartment and a switch to power the integrated circuit board (8).

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