Optical imaging device and optical imaging method

Abstract

The present application relates to the technical field of optical imaging, and provides an optical imaging device and an optical imaging method. The device comprises a first optical path assembly, a second optical path assembly, and a transmission structure. The first optical path assembly is fixedly connected to the transmission structure and is configured to move on the basis of the driving of the transmission structure; the second optical path assembly is disposed inside the transmission structure and is configured to move on the basis of the driving of the transmission structure; the first optical path assembly is in optical path communication with the second optical path assembly; a first optical transmission path of the first optical path assembly and a second optical transmission path of the second optical path assembly form a fold angle; and during the movement of the transmission structure, the second optical path assembly and the first optical path assembly remain relatively stationary. In the present application, a linear optical path structure is converted into a fold-line-type optical path structure, thereby effectively utilizing the space inside the transmission structure, reducing the volume occupied by the optical path assemblies, thus reducing the overall device volume size and weight of the optical imaging device, and meeting various miniaturization requirements.

Description

Optical imaging device and optical imaging method

[0001] The present application claims priority from the Chinese patent application No. ZL2024113632361 filed on September 27, 2024, and entitled "Optical imaging device and optical imaging method", the content of which is incorporated herein by reference in its entirety. TECHNICAL FIELD

[0002] The present application relates to the field of optical imaging technology, in particular, to an optical imaging device and an optical imaging method. BACKGROUND

[0003] A lens barrel is a commonly used component in various optical devices and image acquisition devices, which can be a specially designed cylindrical structure for fixing a lens group of lenses and form a corresponding optical path for imaging or image acquisition. According to different application fields, the lens barrel can be divided into various types, such as a photographic lens barrel, a microscope lens barrel, etc.

[0004] In the field of photography, the length of the lens barrel varies with the focal length of the lens, and the distance of adjusting the focal length during focusing is related to the length of the optical path inside the lens barrel, that is, it is generally believed that the length of the lens barrel is related to the focal length and the imaging quality at a certain focal length. The current lens barrel is usually designed in a straight barrel manner, and the optical path is transmitted along a straight line from the lens to the image sensor for image acquisition. In order to consider the quality of imaging, the overall length of the lens barrel is relatively long, and the size of the entire lens barrel is relatively large, thereby resulting in a large size of the device containing the lens barrel, which cannot meet the user's demand for miniaturization of the device. SUMMARY

[0005] Therefore, the purpose of the embodiments of the present application is to provide an optical imaging device and an optical imaging method to improve the problem of large size of the optical device in the prior art.

[0006] In order to solve the above problems, in a first aspect, the embodiments of the present application provide an optical imaging device, which comprises: a first optical path assembly, a second optical path assembly, and a transmission structure;

[0007] The first optical path assembly is fixedly connected with the transmission structure and is configured to move based on the driving of the transmission structure;

[0008] The second optical path assembly is arranged inside the transmission structure and is configured to move based on the driving of the transmission structure;

[0009] The first optical path assembly and the second optical path assembly are in optical communication; a first light transmission path of the first optical path assembly and a second light transmission path of the second optical path assembly are at an angle;

[0010] In the process of moving the transmission structure, the second optical path assembly and the first optical path assembly remain relatively static.

[0011] In the above implementation process, by connecting the first optical path assembly with the transmission structure, setting the second optical path assembly inside the transmission structure, and placing the light transmission paths of the two connected optical path assemblies at an angle, the linear optical path structure is disassembled into a zigzag optical path structure, the disassembly of the optical path assembly for light transmission is realized, thereby reducing the volume occupied by the linear optical path structure and the installation difficulty. By setting part of the optical path structure inside the transmission structure, the space inside the transmission structure is effectively utilized, the volume occupied by the optical path assembly is reduced, thereby reducing the overall device volume and weight of the optical imaging device, and meeting the needs of miniaturization of the device. Moreover, both the two optical path assemblies arranged inside and outside the transmission structure are configured to move based on the driving of the transmission structure. Due to the structural characteristics of the two optical path assemblies and the transmission structure, the second optical path assembly and the first optical path assembly can remain relatively static when moving with the transmission structure, i.e., the first optical path assembly and the second optical path assembly can realize synchronous movement during the movement, thereby not affecting the relative static relationship between the optical path assembly and the image / imaging sensor during the movement, so that the optical imaging device can realize stable optical imaging function during the movement.

[0012] Optionally, the transmission structure comprises a horizontal transmission structure and a height transmission structure.

[0013] The horizontal transmission structure is connected with the height transmission structure.

[0014] The first optical path assembly is fixed on the connection area of the height transmission structure, and the second optical path assembly is arranged in a hollow cavity corresponding to the connection area inside the height transmission structure.

[0015] The horizontal transmission structure is used to drive the first optical path assembly and the second optical path assembly to move in the horizontal axis direction parallel to the installation plane of the optical imaging device.

[0016] The height transmission structure is used to drive the first optical path assembly and the second optical path assembly to move in the height axis direction with an angle change with respect to the installation plane.

[0017] In the implementation process, in order to realize the automatic tracking and shooting function of the target, the transmission structure can be provided with corresponding horizontal transmission structure and height transmission structure to control the synchronous movement of the first light path assembly and the second light path assembly in the horizontal and height directions. In order to realize the synchronous movement of the two light path assemblies, the first light path assembly is connected with the connection area of the height transmission structure, and the second light path assembly is arranged in the hollow cavity corresponding to the connection area in the height transmission structure, which can realize the communication of the two light path assemblies, and can effectively utilize the space in the height transmission structure, reduce the space volume occupied by the light path assembly, thereby reducing the overall equipment volume and weight of the optical imaging equipment, and meeting the miniaturization requirements of the equipment. The movement control in the horizontal and height directions can effectively improve the efficiency and accuracy of the optical imaging equipment for automatic tracking of the target.

[0018] Optionally, wherein the inner wall of the shell of the height transmission structure surrounds the hollow cavity for transmitting the light rays refracted through the first light path assembly to accommodate the second light transmission path of the second light path assembly;

[0019] The second light path assembly comprises an image sensor.

[0020] The image sensor is arranged at one end of the hollow cavity away from the connection area.

[0021] The image sensor is used for receiving light rays and performing imaging processing to obtain a target image.

[0022] In the implementation process, since the second light path assembly is arranged in the interior of the transmission structure, the hollow cavity for transmitting the light rays refracted through the first light path assembly to accommodate the second light transmission path can be formed by the inner wall of the shell of the height transmission structure, and the image sensor in the second light path assembly is arranged at one end of the hollow cavity away from the connection area, so as to realize the long light path design through the hollow cavity, which is suitable for various shooting targets and application scenarios.

[0023] Optionally, wherein the second light path assembly further comprises a sensor focusing assembly.

[0024] The sensor focusing assembly is arranged at one end of the image sensor away from the first light path assembly.

[0025] The sensor focusing assembly is used for adjusting the position of the image sensor on the second light transmission path.

[0026] In the implementation process, due to the difference of the target, the corresponding focal length position in the light path structure is also different. Therefore, in order to realize the real-time focusing function, a corresponding sensor focusing component can be arranged at one end of the image sensor away from the first light path component, that is, at one end that does not affect the normal transmission of light, to adjust the position on the second light transmission path of the image sensor, so as to adjust the image sensor to the appropriate focusing position on the second light transmission path for light receiving and image imaging processing, effectively improving the quality of image imaging, and being suitable for various image acquisition scenes.

[0027] Optionally, the height transmission structure comprises a driving mechanism and a driving member;

[0028] The driving mechanism is connected with the driving member;

[0029] The driving mechanism is used to provide the driving member with the driving force in the height axial direction;

[0030] The driving member is used to drive the first light path component and the second light path component to move in the height axial direction based on the driving force;

[0031] The driving member comprises a first hollow structure;

[0032] The inner wall of the shell of the first hollow structure surrounds a part of the hollow cavity.

[0033] In the implementation process, the corresponding driving mechanism and driving member can be arranged in the height transmission structure to control the first light path component and the second light path component to move in the height axial direction. The driving mechanism is connected with the driving member, and the driving member is connected with the second light path component, so as to provide the driving member with the driving force to move in the height axial direction through the driving mechanism, and to drive the second light path component inside the height transmission structure and the first light path component connected with the height transmission structure to move synchronously based on the driving force generated by the driving member. The movement of the first light path component and the second light path component in the height axial direction can be accurately and effectively controlled, thereby effectively improving the accuracy of the height control of the first light path component and the second light path component, and further improving the effectiveness of the target automatic tracking of the optical imaging equipment. In order to form a corresponding hollow cavity inside the height transmission structure to accommodate the second light path component, the driving member can comprise a first hollow structure, so that the inner wall of the shell of the first hollow structure surrounds a part of the hollow cavity, and provides sufficient hollow space for the hollow cavity, so that the second light path component can be arranged inside the height transmission structure, without blocking the light transmission and receiving processing inside the height transmission structure, to realize effective image imaging processing.

[0034] Optionally, the height transmission structure further comprises a height angle center shaft.

[0035] The driving member is connected with the height angle center shaft, and the driving member drives the first optical path assembly and the second optical path assembly to move along the axial rotation direction of the height angle center shaft.

[0036] The height angle center shaft and the first optical path assembly are connected through a cavity center shaft.

[0037] The height angle center shaft is connected with the cavity center shaft, and the axial centers of the height angle center shaft and the cavity center shaft are coaxial.

[0038] In the above implementation process, the height transmission structure is provided with a corresponding height angle center shaft, so that the first optical path assembly and the second optical path assembly are driven to move synchronously along the axial rotation direction of the height angle center shaft in the height axial movement control process. In order to drive the first optical path assembly connected to the height transmission structure to move synchronously, a cavity center shaft can be arranged between the first optical path assembly and the height angle center shaft, so as to connect the first optical path assembly and the height angle center shaft through the cavity center shaft, and set the axial centers of the height angle center shaft and the cavity center shaft to be coaxial, so as to realize the synchronous movement of the first optical path assembly and the second optical path assembly, thereby keeping the first optical path assembly and the second optical path assembly relatively stationary during the movement of the first optical path assembly, and enabling the image sensor to always be located at the imaging center during the movement, thereby effectively improving the effectiveness and stability of the optical path assembly during light transmission and image imaging.

[0039] Optionally, the height angle center shaft is arranged in a second hollow structure, and a partial hollow cavity is formed around the inner wall of the shell of the second hollow structure.

[0040] The cavity center shaft is arranged in a third hollow structure, and a partial hollow cavity is formed around the inner wall of the shell of the third hollow structure.

[0041] In the above implementation process, in order to form a corresponding hollow cavity inside the height transmission structure to accommodate the second optical path assembly, the height angle center shaft can be arranged in a second hollow structure, so that a partial hollow cavity is formed around the inner wall of the shell of the second hollow structure, and the cavity center shaft can be arranged in a third hollow structure, so that a partial hollow cavity is formed around the inner wall of the shell of the third hollow structure. Therefore, by combining and connecting a plurality of hollow structures, a corresponding hollow cavity can be formed, and the second optical path assembly can be arranged inside the height transmission structure, without blocking the light transmission and reception process inside the height transmission structure, so as to realize effective image imaging processing.

[0042] Optionally, the first optical path assembly comprises a lens, a lens barrel housing and a lens focusing assembly.

[0043] The lens is arranged inside or at an end of the lens barrel housing.

[0044] The lens barrel housing is fixed on the transmission structure.

[0045] The lens is used for transmitting light.

[0046] The lens focusing assembly is sleeved between the lens and the lens barrel housing.

[0047] The lens focusing assembly is used for adjusting the position of the lens on the first light transmission path of the first optical path assembly.

[0048] In the implementation process, the first optical path assembly can include a lens for transmitting light and a lens barrel housing for connection and fixation. The lens is arranged inside or at an end of the lens barrel housing to reduce the adverse effects of external factors such as water vapor, high temperature and liquid on the lens. The lens barrel housing is fixed on the external transmission structure, so that the lens barrel housing and the lens inside can move according to the movement of the transmission structure. The first optical path assembly can be controlled by the transmission structure to move to a corresponding position for image acquisition and other processing, which is suitable for various shooting targets and application scenarios. In addition, considering that the focal length position in the optical path structure is different due to different targets during image acquisition. Therefore, in order to realize real-time focusing function, a corresponding lens focusing assembly can be sleeved between the lens and the lens barrel housing to adjust the position of the lens on the first light transmission path of the first optical path assembly. The lens is adjusted to a suitable focusing position on the first light transmission path for light transmission, which effectively improves the quality of image imaging and is suitable for various image acquisition scenarios.

[0049] In a second aspect, the embodiments of the present application provide an optical imaging method, the method comprising:

[0050] Controlling the optical imaging device to move to a target pose based on the imaging target by a control device; wherein the optical imaging device is any of the devices described above;

[0051] Performing image acquisition at the target pose by the optical imaging device to obtain a target image.

[0052] In the implementation process, considering the diversity of imaging targets, different imaging targets correspond to different shooting positions, so the optical imaging device can be controlled to move to a target pose for shooting the target according to the current imaging target, so as to obtain the target image by image acquisition at the target pose. Since the overall device volume and size of the optical imaging device are small, it can be applied to various shooting scenes and various types of imaging targets, effectively expanding the application range of the optical imaging method and meeting the various shooting needs of users.

[0053] Optionally, the image acquisition at the target pose by the optical imaging device to obtain the target image comprises:

[0054] acquiring an initial image by an image sensor in the optical imaging device, and sending the initial image to the control device;

[0055] verifying, by the control device, whether the clarity of the initial image meets the clarity requirement;

[0056] if it is determined that the clarity of the initial image meets the clarity requirement, taking the initial image as the target image;

[0057] if it is determined that the clarity of the initial image does not meet the clarity requirement, adjusting the focal length by a lens focusing component and / or a sensor focusing component in the optical imaging device controlled by the control device until the image acquired by the image sensor meets the clarity requirement, and taking the acquired image as the target image.

[0058] In the implementation process, after the optical imaging device reaches the target pose, an image sensor arranged therein can perform image acquisition to obtain an initial image. In order to improve the quality of the finally obtained image, the control device can analyze the clarity of the initial image and determine whether the initial image meets the clarity requirement in combination with the preset clarity requirement. In the case that the initial image meets the clarity requirement, the initial image is relatively clear, and the initial image can be directly used as the corresponding target image. In the case that the initial image does not meet the clarity requirement, the initial image may be blurred or the like, the control device can issue a focusing instruction to the optical imaging device to control a lens focusing assembly in the optical imaging device to adjust the position of the lens and / or control a sensor focusing assembly to adjust the position of the image sensor, so as to adjust the focal length and re-perform image acquisition until the image obtained by the image sensor meets the clarity requirement, and the finally obtained image is used as the target image. The clarity of the image collected by the optical imaging device can be analyzed, and the focusing control process is performed when the clarity is low, so as to improve the quality of the finally obtained target image.

[0059] In summary, the optical imaging device and the optical imaging method provided in the embodiments of the present application decompose the straight light path structure into a folded light path structure, and arrange part of the light path structure inside the transmission structure, effectively utilize the space inside the transmission structure, reduce the volume occupied by the light path assembly, and thus reduce the overall device volume and weight of the optical imaging device, meeting the miniaturization requirements of various devices. The synchronous movement of the multiple light path assemblies is realized, so that the optical imaging device can realize stable optical imaging function during movement. BRIEF DESCRIPTION OF DRAWINGS

[0060] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments of the present application. It should be understood that the following drawings only show some embodiments of the present application, and thus should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can also be obtained without creative labor.

[0061] FIG. 1 is a block schematic diagram of a control device according to an embodiment of the present application;

[0062] FIG. 2 is a structural schematic diagram of an optical imaging device according to an embodiment of the present application;

[0063] FIG. 3 is a detailed structural schematic diagram of an optical imaging device according to an embodiment of the present application;

[0064] FIG. 4 is a structural schematic diagram of a second light path assembly according to an embodiment of the present application;

[0065] FIG. 5 is a structural schematic diagram of a first optical path assembly according to an embodiment of the present application;

[0066] FIG. 6 is a flowchart of a first optical imaging method according to an embodiment of the present application;

[0067] FIG. 7 is a detailed flowchart of step S310 according to an embodiment of the present application;

[0068] FIG. 8 is a flowchart of a second optical imaging method according to an embodiment of the present application;

[0069] FIG. 9 is a flowchart of a third optical imaging method according to an embodiment of the present application;

[0070] FIG. 10 is a flowchart of a fourth optical imaging method according to an embodiment of the present application;

[0071] FIG. 11 is a detailed flowchart of step S320 according to an embodiment of the present application;

[0072] FIG. 12 is a detailed flowchart of step S324 according to an embodiment of the present application;

[0073] FIG. 13 is a detailed flowchart of step S324 according to another embodiment of the present application;

[0074] FIG. 14 is a schematic diagram of a running structure of an optical imaging system according to an embodiment of the present application.

[0075] FIG. 14 is a schematic diagram of a running structure of an optical imaging system according to an embodiment of the present application. DETAILED DESCRIPTION

[0076] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the scope of protection of the present application.

[0077] At present, the barrel is usually designed in a straight barrel manner, such as various types of astronomical telescopes, camera devices and the like, the light path is transmitted in a straight line to an image sensor through a lens for image acquisition, the overall length of the barrel is relatively long, and the size of the entire barrel is relatively large, thereby causing the volume size of the device containing the barrel to be relatively large, which cannot meet the miniaturization demand of the user on the device.

[0078] In order to solve the above problems, the present application provides an optical imaging device, which can be various types of control devices with imaging function, such as various types of electronic telescopes, camera devices and the like.

[0079] Optionally, the optical imaging device can be arranged in a corresponding optical imaging system, and the optical imaging system can further include a control device for controlling the optical imaging device. The control device is in communication connection with the optical imaging device to realize corresponding data transmission and control functions. For example, the control device can be a separate external device connected with the optical imaging device through a network, Bluetooth or the like, or the control device can be a certain module integrated in the optical imaging device and connected with the optical imaging device through a wire.

[0080] For example, the control device can be a server, a personal computer (PC), a tablet computer, a smart phone, a personal digital assistant (PDA) or the like, which is an electronic device with logical computing function and can control the optical imaging device to move and collect images according to the actual demand of the user.

[0081] Optionally, referring to FIG. 1, FIG. 1 is a block schematic diagram of a control device provided in the embodiments of the present application. The control device 100 can include a memory 111, a storage controller 112, a processor 113, a peripheral interface 114, an input / output unit 115 and a display unit 116. Those skilled in the art can understand that the structure shown in FIG. 1 is only schematic, which does not limit the structure of the control device 100. For example, the control device 100 can further include more or less components than those shown in FIG. 1, or have a different configuration from that shown in FIG. 1.

[0082] The above-mentioned memory 111, storage controller 112, processor 113, peripheral interface 114, input / output unit 115 and display unit 116 are electrically connected to each other directly or indirectly to realize data transmission or interaction. For example, these elements can be electrically connected to each other through one or more communication buses or signal lines. The above-mentioned processor 113 is used to execute the executable modules stored in the memory.

[0083] The memory 111 can be, but is not limited to, a random access memory (RAM), a read only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), etc. The memory 111 is used to store programs, and the processor 113 executes the programs after receiving execution instructions. The method executed by the control device 100 defined by the processes disclosed in any of the embodiments of the present application can be applied in the processor 113 or implemented by the processor 113.

[0084] The above-mentioned processor 113 can be an integrated circuit chip with signal processing capability. The above-mentioned processor 113 can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. It can implement or execute the disclosed methods, steps and logic block diagrams in the embodiments of the present application. The general-purpose processor can be a microprocessor, or any conventional processor, etc.

[0085] The above-mentioned peripheral interface 114 couples various input / output devices to the processor 113 and the memory 111. In some embodiments, the peripheral interface 114, the processor 113 and the storage controller 112 can be implemented in a single chip. In other examples, they can be implemented by independent chips respectively.

[0086] The input / output unit 115 is configured to provide data input to a user. The input / output unit 115 can be, but is not limited to, a mouse, a keyboard, and the like.

[0087] The display unit 116 is configured to provide an interactive interface (e.g., a user operation interface) between the control device 100 and a user, or to display image data for a user to refer. In the embodiment, the display unit can be a liquid crystal display or a touch display. If the display unit is a touch display, the touch display can be a capacitive touch screen or a resistive touch screen that supports single-point and multi-point touch operations. The support of single-point and multi-point touch operations means that the touch display can sense a touch operation generated at one or more positions on the touch display at the same time, and transmit the sensed touch operation to the processor for calculation and processing. In the embodiment, the display unit 116 can display various image data collected by the optical imaging device.

[0088] Referring to FIG. 2, FIG. 2 is a structural schematic diagram of an optical imaging device according to an embodiment of the present application. The optical imaging device can include a first optical path assembly 210, a second optical path assembly 220, and a transmission structure 230.

[0089] Optionally, the transmission structure 230 can include various structures having transmission and driving functions. The transmission structure 230 can be provided with various driving mechanisms and driving members, such as motors, transmission belts, screws, worm gears, and worm rods.

[0090] Optionally, the first optical path assembly 210 is fixedly connected to the transmission structure 230. The first optical path assembly 210 can be fixed to the transmission structure 230 by means of screws, nuts, buckles, or the like. The first optical path assembly 210 is configured to move based on the driving of the transmission structure 230. The second optical path assembly 220 is arranged in the interior of the transmission structure 230 and is configured to move based on the driving of the transmission structure 230.

[0091] It should be noted that the overall optical path assembly can be divided into two modules, i.e. the first optical path assembly 210 and the second optical path assembly 220, which are in optical communication, wherein the first optical path assembly 210 arranged outside the transmission structure 230 can serve as the input end of the light, and the second optical path assembly 220 arranged inside the transmission structure 230 can serve as the receiving end of the light, and the first optical transmission path A of the first optical path assembly 210 and the second optical transmission path B of the second optical path assembly 220 can be arranged in a folded angle structure to realize a folded line type optical path structure through reflection of the light, thereby reducing the straight line distance of the optical path assembly and the volume occupied by the straight line optical path structure, and the application does not need to additionally increase the width, thickness and other sizes of the optical path assembly. By arranging part of the optical path structure inside the transmission structure 230, the space inside the transmission structure 230 is effectively utilized to fully utilize the internal and external space of the optical imaging device 200, thereby reducing the volume occupied by the optical path assembly, and thus reducing the overall device volume and weight of the optical imaging device 200, meeting the needs of miniaturization of various devices.

[0092] For example, the folded angle between the two optical path assemblies can be set according to specific structural requirements, appearance requirements, etc., for example, it can be set to 85 to 95 degrees, etc., preferably 90 degrees, so that a folded line type optical path structure close to a right angle can be realized, further reducing the space volume occupied by the optical path assembly, and the right angle folded line type optical path structure can also reduce the scratching of the optical path assembly when moving with other external structures, thereby realizing stable image acquisition.

[0093] It should be noted that since the first optical path assembly 210 needs to process the imaging target, when the transmission structure 230 moves, the transmission structure 230 can drive the second optical path assembly 220 arranged inside and the first optical path assembly 210 fixedly connected outside to move synchronously, and the transmission structure 230 can move according to the movement requirement of the first optical path assembly 210. During the movement of the transmission structure 230, the second optical path assembly 220 and the first optical path assembly 210 remain relatively stationary, so as not to affect the relative stationary relationship between the optical path assembly and the image / imaging sensor during the movement, so that the optical imaging device 200 can realize stable optical imaging function during the movement.

[0094] Optionally, in order to track the imaging target, the transmission structure 230 can realize latitude and longitude based tracking or multi-dimensional motion based on relative motion of latitude and longitude. During motion in different dimensions, there can be consistent or inconsistent linear velocity between the first optical path assembly 210 and the second optical path assembly 220, but the overall first optical path assembly 210 and the second optical path assembly 220 can still maintain a relatively static L-shaped integrated structure, realizing stable light transmission and optical imaging functions.

[0095] Optionally, referring to FIG. 3, which is a detailed structural schematic diagram of an optical imaging device provided by an embodiment of the present application, in order to realize automatic tracking and shooting of the target, the transmission structure 230 can include a horizontal transmission structure 231 and a height transmission structure 232 to control the synchronous motion of the first optical path assembly 210 and the second optical path assembly 220 in the horizontal and height directions. It should be noted that the horizontal transmission structure 231 and the height transmission structure 232 are connected, and the rotation center axis of the horizontal transmission structure 231 and the rotation center axis of the height transmission structure 232 are arranged vertically to realize latitude and longitude adjustment, respectively. The actual pose of the optical path assembly can be determined according to the actual rotation of the two rotation center axes during motion.

[0096] In order to realize synchronous movement of the two optical path assemblies, the first optical path assembly 210 is fixed on the connection area outside the height transmission structure 232, and the second optical path assembly 220 is arranged in the hollow cavity corresponding to the connection area inside the height transmission structure 232, which can effectively utilize the space in the height transmission structure 232, reduce the space volume occupied by the optical path assembly, and thus reduce the overall device volume and weight of the optical imaging device 200, meeting various miniaturization requirements of the device.

[0097] The horizontal transmission structure 231 is used to drive the height transmission structure 232, the first optical path assembly 210 and the second optical path assembly 220 to move in the horizontal axis direction parallel to the installation plane of the optical imaging device 200, to realize horizontal angle movement; and the height transmission structure 232 is used to drive the first optical path assembly 210 and the second optical path assembly 220 to move in the height axis direction with an angle change with respect to the installation plane, to realize height angle movement.

[0098] It should be noted that the rotation center axis of the horizontal transmission structure 231 can be arranged perpendicular to the installation plane, and the horizontal axis direction of the rotation center axis of the horizontal transmission structure 231 during motion can be the rotation axis direction with the normal line of the installation plane as the center line; and the rotation center axis of the height transmission structure 232 can be arranged parallel to the installation plane, and the height axis direction of the rotation center axis of the height transmission structure 232 during motion can be the rotation axis direction with the parallel line parallel to the installation plane as the center line.

[0099] It should be noted that the actual position of the connecting area and the connection structure of the horizontal transmission structure 231 and the height transmission structure 232 can be determined according to the actual size of the first optical path assembly 210, for example, the connecting area is arranged at the first edge of the height transmission structure 232, and the connecting piece (such as a screw, a nut, etc.) of the horizontal transmission structure 231 and the height transmission structure 232 is arranged at the second edge in diagonal relationship or opposite relationship with the first edge, so as to reduce the collision between the horizontal transmission structure 231 and the first optical path assembly and other adverse conditions when the two optical path assemblies move, thereby achieving the movement control of the horizontal and height axes without affecting each other, and effectively improving the efficiency and accuracy of the target automatic tracking of the optical imaging device 200.

[0100] Optionally, the first optical transmission path A, the second optical transmission path B, and the virtual light route E are shown in FIG. 3 to illustrate the transmission process of the light.

[0101] For example, various types of motors, worm gears, and worms can be arranged in the height transmission structure 232 to adjust the height angle. Various types of motors, worm gears, and worms can also be arranged in the horizontal transmission structure 231 to adjust the horizontal angle.

[0102] Optionally, the first optical path assembly 210 can also be fixed on the horizontal transmission structure 231, and the second optical path assembly 220 can be arranged inside the horizontal transmission structure 231, so as to drive the first optical path assembly 210 and the second optical path assembly 220 to move through the horizontal transmission structure 231.

[0103] Optionally, referring to FIG. 4, which is a structural schematic diagram of a second optical path assembly provided by an embodiment of the present application, the second optical path assembly 220 can include an image sensor 221, and a hollow cavity 222 is formed around the inner wall of the shell of the height transmission structure 232, which is used to transmit the light refracted by the first optical path assembly 210 to accommodate the second optical transmission path B of the second optical path assembly 220. The image sensor 221 is arranged at one end of the hollow cavity 222 away from the connecting area, the hollow cavity 222 is used to transmit the light refracted by the first optical path assembly 210, and the image sensor 221 is used to receive the light and perform imaging processing to obtain a target image.

[0104] Since the second optical path assembly 220 is arranged inside the transmission structure 230, the hollow cavity 222 can be formed around the inner wall of the shell of the height transmission structure 232, and the image sensor 221 can be arranged at one end of the hollow cavity 222 away from the first optical path assembly 210, so as to realize a long optical path design through the hollow cavity 222, which is suitable for various different shooting targets and application scenarios.

[0105] For example, the image sensor 221 can be set as a plurality of types of CMOS (Complementary Metal-Oxide-Semiconductor) sensor, CCD (Charge-Coupled Device), and the like, which can convert optical signals into electrical signals, to achieve corresponding imaging functions.

[0106] Optionally, please continue to refer to FIG. 4. In the process of image acquisition, due to the difference of the target, the corresponding focal position in the optical path structure is also different. Therefore, in order to realize the real-time focusing function, the second optical path assembly 220 can further include a sensor focusing assembly 223.

[0107] The sensor focusing assembly 223 is arranged at the end of the image sensor 221 away from the first optical path assembly 210, and the sensor focusing assembly 223 is used to adjust the position of the image sensor 221 on the second optical transmission path B of the second optical path assembly 220. The corresponding sensor focusing assembly 223 can be arranged at the end of the image sensor 221 away from the first optical path assembly 210, that is, the end that does not affect the normal transmission of light, to adjust the position of the image sensor 221 on the second optical transmission path B of the second optical path assembly 220, so as to adjust the image sensor 221 to the appropriate focusing position on the second optical transmission path B for light receiving and image imaging processing, effectively improving the quality of image imaging, and being suitable for a plurality of different image acquisition scenes.

[0108] It should be noted that the second optical transmission path B is the transmission path of light in the second optical path assembly 220, and can be collinear with the center line of the hollow cavity 222. The second light propagation direction D in the second optical path assembly 220 is shown in FIG. 4, and the light enters from the end away from the image sensor 221 and is transmitted to the image sensor 221 along the second optical transmission path B.

[0109] For example, the sensor focusing assembly 223 can be set as a device with a position adjusting function, for example, can be set as a motor, a lead screw, and the like.

[0110] Optionally, the sensor focusing assembly 223 can comprise a first driving mechanism and a first driving member. The first driving mechanism is connected with the first driving member, the first driving member is connected with the image sensor 221, and the first driving mechanism is configured to provide a driving force parallel to the second light transmission path B for the first driving member. The first driving member is configured to drive the image sensor 221 to move on the second light transmission path B based on the driving force. The corresponding first driving mechanism and the first driving member can be configured to control the movement of the image sensor 221 on the second light transmission path B. The first driving mechanism is connected with the first driving member, and the first driving member is connected with the image sensor 221. The first driving mechanism is configured to provide a driving force for the first driving member to move in a direction parallel to the second light transmission path B. The first driving member is configured to generate movement based on the driving force and drive the connected image sensor 221 to move. The movement of the image sensor 221 on the second light transmission path B can be accurately and effectively controlled, and the accuracy of focusing the image sensor 221 and the accuracy during focusing are effectively improved.

[0111] For example, the first driving mechanism can be a corresponding motor, such as a lead screw motor, and the first driving member can be a corresponding lead screw, connecting rod, or the like. The lead screw motor drives the lead screw to push the image sensor 221 to move back and forth in a direction parallel to the second light transmission path B. Only a corresponding space needs to be reserved at one end of the image sensor 221 away from the first light path assembly 210 to achieve the control of the movement back and forth, and the space in the transmission structure 230 can be fully utilized. The control difficulty of the first driving member is low and the cost is low, and the purpose of changing the focal length of the image sensor 221 and focusing different imaging targets can be achieved at low cost and high efficiency.

[0112] Optionally, the sensor focusing assembly 223 can further comprise a corresponding motor support. The first driving mechanism can be fixed on the motor support, the image sensor 221 can be fixed on the sensor sliding support, and the first driving member can be connected with the sensor sliding support through a nut or the like fixing member. The first driving member moves back and forth under the driving of the first driving mechanism to push the sensor sliding support and the fixed image sensor 221 to move.

[0113] It should be noted that the moving stroke of the first driving member is determined based on the imaging clarity requirement of the image sensor 221. Since the type and application scenario of the optical imaging device 200 are different, the model of the image sensor 221 used is also different, and thus the imaging clarity requirement of different types of image sensor 221 is also different. In order to realize high-precision image sensor 221 focal position adjustment, the moving stroke of the first driving member can be set according to the imaging clarity requirement of the image sensor 221 used, and the focal position adjustment can be performed for each type of image sensor 221, effectively improving the imaging clarity of the image sensor 221 focal position, thereby improving the quality of image imaging.

[0114] Optionally, the imaging clarity requirement of the image sensor 221 can be determined according to the model of the image sensor 221, the distance of the imaging target, the size, etc.

[0115] Please continue to refer to FIG. 3. Optionally, the height transmission structure 232 can include a driving mechanism and a driving member. In order to distinguish from the first driving mechanism and the first driving member described above, the driving mechanism in the height transmission structure is referred to as a second driving mechanism, and the driving member is referred to as a second driving member.

[0116] Among them, the second driving mechanism 2410 is connected with the second driving member, the second driving mechanism 2410 is used for providing the second driving member with a driving force in the height axial direction, and the second driving member is used for driving the first optical path assembly 210 and the second optical path assembly 220 to move in the height axial direction based on the driving force. The movement of the first optical path assembly 210 and the second optical path assembly 220 in the height axial direction can be accurately and effectively controlled, effectively improving the accuracy when the height of the first optical path assembly 210 and the second optical path assembly 220 is controlled, thereby further improving the effectiveness of the optical imaging device 200 when the target is automatically tracked.

[0117] By way of example, the second driving mechanism 2410 can be configured as a corresponding torque motor, brush direct current motor, brushless direct current motor, asynchronous motor, synchronous motor, stepping motor, reduction motor, etc., and the second driving member can be configured as a corresponding worm gear, worm, stator, rotor, synchronous wheel, etc., and the second driving mechanism 2410 and the second driving member can be connected through a belt or the like to transmit driving force and achieve adjustment of the height angle by rotation. When a torque motor and a worm gear are used for rotation control, a fixed permanent magnet or an electromagnetic coil is usually used in the torque motor to generate a magnetic field. This magnetic field can be constant or its strength and direction can be adjusted by a controller. After the torque motor is powered on, the magnetic field interacts with the current passing through the armature (i.e., the rotor part of the motor). According to the current direction and the polarity of the magnetic field, a torque is generated, which is transmitted to the worm and the worm gear. The torque motor adjusts the output torque by changing the size and direction of the current to adapt to different load requirements. The two shafts of the worm gear are crossed and perpendicular to each other. When meshing, the worm rotates to drive the worm gear to rotate one tooth or several teeth (depending on the number of worm heads). Since the speed ratio of the worm gear is equal to the number of worm heads divided by the number of worm gear teeth, a large reduction ratio can be achieved, and the rotation control has a large transmission ratio range and high load capacity, and the structure is compact, the noise is low, and the self-locking performance is high. The stator of the brush direct current motor has a static magnetic field (usually generated by a permanent magnet or an electromagnet), and the rotor has brushes and a commutator. When the current passes through the brushes and the commutator, a magnetic field is generated on the rotor, which interacts with the stator magnetic field to rotate the rotor. The rotor of the brushless direct current motor usually has embedded permanent magnets, and the stator has multi-phase windings. The cost of control is low, the control difficulty is low, and the control range is adjustable. The direction of the current is controlled by an electronic commutator to achieve continuous rotation of the rotor. The position of the rotor can be detected by a Hall sensor or a back electromotive force, and the controller switches the direction of the current according to the rotor position information to make the rotor continuously receive forward driving force. The efficiency of the rotation control is high, the noise is low, and the service life is long. The stator of the asynchronous motor has a multi-phase winding, and the rotor has a squirrel cage or a wire wound winding (or only a bar and an end ring). When the stator winding is powered by alternating current, a rotating magnetic field is generated, which induces current in the rotor to generate electromagnetic torque to drive the rotor to rotate. The cost of control is low, the efficiency is high, and the stability is high. The rotor of the synchronous motor usually has a permanent magnet or a direct current excitation winding to achieve synchronous rotation with the stator magnetic field. The stator magnetic field interacts with the rotor magnetic field to generate electromagnetic torque, which makes the rotor rotate at the same speed as the stator magnetic field. The precision of the rotation control is high, and the stability is high.The stepping motor can rotate the rotor according to a predetermined step angle by precisely controlling the sequence and size of the current, can use electromagnetic force to push the rotor teeth to rotate step by step, and can rotate a step angle for each input electric pulse. The control accuracy is high, the noise is low, and the control is easy.

[0118] It should be noted that in order to form a corresponding hollow cavity 222 inside the height transmission structure 232 to accommodate the second optical path assembly 220, the second driving member can include a first hollow structure, and the shell inner wall of the first hollow structure surrounds part of the hollow cavity. For example, the first hollow structure can include a hollow worm gear, a hollow synchronous gear, or a hollow gear, etc.

[0119] For example, please continue to refer to FIG. 3, in order to achieve high efficiency of the reduction ratio, higher transmission ratio and load capacity, the second driving member can include: a first worm gear 2411 and a first worm 2412.

[0120] The first worm 2412 is connected with the second driving mechanism 2410, the first worm gear 2411 is connected with the first worm 2412, the first worm gear 2411 is arranged around the second optical path assembly 220, and the first worm 2412 and the first worm gear 2411 are used to drive the first optical path assembly 210 and the second optical path assembly 220 to move in the height axial direction based on the torque power provided by the second driving mechanism 2410. The movement control can be realized through the connection with the second driving mechanism 2410 and the connection between the worm gear and the worm. Moreover, considering that the height transmission structure 232 needs to drive the second optical path assembly 220 to move, the first worm gear 2411 can be arranged around the second optical path assembly 220, so that the first worm 2412 and the first worm gear 2411 can drive the second optical path assembly 220 and the first optical path assembly 210 connected with the height transmission structure 232 to move in the height axial direction according to the torque power provided by the second driving mechanism 2410. The second optical path assembly 220 can be driven to move through the structure of the worm gear, thereby reducing the adverse effects on image imaging during the movement.

[0121] It should be noted that in order to realize the hollow cavity structure, the first worm gear 2411 in the second driving member can be arranged as a corresponding first hollow structure, so that the shell inner wall of the first hollow structure surrounds part of the hollow cavity 222, and provides sufficient hollow space for the hollow cavity 222, so that the second optical path assembly 220 can be arranged inside the height transmission structure 232, without blocking the light transmission and receiving processing inside the height transmission structure 232, to realize effective image imaging processing.

[0122] It needs to be explained that please continue to refer to Figure 3, the height transmission structure 232 can also include: a height angle center shaft 2413. The second driving member drives the first optical path assembly 210 and the second optical path assembly 220 to move along the axial rotation direction of the height angle center shaft 2413, the height angle center shaft 2413 and the first optical path assembly 210 are connected through the cavity center shaft 2414, the height angle center shaft 2413 is connected with the cavity center shaft 2414, and the shaft centers of the height angle center shaft 2413 and the cavity center shaft 2414 are coaxial. The height angle center shaft 2413 is arranged in the height transmission structure 232 to realize the rotation of the height angle, and in the movement control process in the height direction, the second driving member drives the first optical path assembly 210 and the second optical path assembly 220 to move synchronously along the axial rotation direction of the height angle center shaft 2413. Moreover, in order to drive the first optical path assembly 210 connected to the height transmission structure 232 to move synchronously, the cavity center shaft 2414 can be arranged between the first optical path assembly 210 and the height angle center shaft 2413 to connect the first optical path assembly 210 and the height angle center shaft 2413 through the cavity center shaft 2414, and the shaft centers of the height angle center shaft 2413 and the cavity center shaft 2414 are coaxial, so as to realize the synchronous movement of the first optical path assembly 210 and the second optical path assembly 220, thereby the relative stillness of the first optical path assembly 210 and the second optical path assembly 220 can be maintained during the movement of the first optical path assembly 210, and the image sensor 221 can be located at the imaging center at all times during the movement, thereby the effectiveness and stability of the optical path assembly during the light transmission and image imaging are improved.

[0123] Optionally, one end of the cavity center shaft 2414 connected with the first optical path assembly 210 can be a corresponding connecting area, and the cavity center shaft 2414 can be fixedly connected with the first optical path assembly 210 through screws, nuts, buckles and the like, so as to drive the first optical path assembly 210 to move through the fixed connection. It needs to be explained that in order to facilitate assembly, the height angle center shaft 2413 and the cavity center shaft 2414 can be arranged as two structures that are connected in a split manner or as an integrated structure, and even if they are split, the relative structures of the inner, outer, front and rear can be changed to realize the synchronous movement in a coaxial manner.

[0124] Optionally, the height angle center shaft 2413 can be fixed in the height transmission structure 232 through a support, a deep groove ball bearing and a corresponding fixing member.

[0125] Optionally, in order to form the corresponding hollow cavity 222 inside the height transmission structure 232 to accommodate the second optical path assembly 220, the height angle central axis 2413 can be provided as a second hollow structure, so that the shell inner wall of the second hollow structure surrounds part of the hollow cavity 222, and the cavity central axis 2414 can be provided as a third hollow structure, so that the shell inner wall of the third hollow structure surrounds part of the hollow cavity 222, so that by combining and connecting multiple hollow structures, the corresponding hollow cavity 222 can be formed, and the second optical path assembly 220 is arranged inside the height transmission structure 232, which does not block the light transmission and reception processing inside the height transmission structure 232, so as to realize effective image imaging processing.

[0126] For example, the hollow size of the first hollow structure, the second hollow structure and the third hollow structure can be designed according to the actual optical path requirement of the second optical path assembly 220 and the size of the image sensor 221. For example, when the size of the image sensor 221 is large, the space requirement of the cavity part in the optical path requirement of the second optical path assembly 220 is large, and the first worm gear 2411, the height angle central axis 2413 and the cavity central axis 2414 with large hollow size can be provided.

[0127] Optionally, the shaft centers of the height angle central axis 2413 and the cavity central axis 2414 coincide with the light-sensing imaging center of the image sensor 221.

[0128] Optionally, the horizontal transmission structure 231 can include a third driving mechanism and a third driving member.

[0129] The third driving mechanism is connected with the third driving member, the third driving member is connected with the height transmission structure 232, and the third driving mechanism is configured to provide a horizontal axial driving force for the third driving member. The third driving member is configured to drive the height transmission structure 232, the first optical path assembly 210 and the second optical path assembly 220 to move in the horizontal axial direction based on the driving force. The third driving mechanism and the third driving member can be configured to control the first optical path assembly 210 and the second optical path assembly 220 to move in the horizontal axial direction. The third driving mechanism is connected with the third driving member, the third driving member is connected with the height transmission structure 232, and the third driving mechanism is configured to provide a horizontal axial driving force for the third driving member. The third driving member is configured to drive the height transmission structure 232, the second optical path assembly 220 inside the height transmission structure 232, and the first optical path assembly 210 connected with the height transmission structure 232 to move synchronously based on the driving force. The movement of the first optical path assembly 210 and the second optical path assembly 220 in the horizontal axial direction can be accurately and effectively controlled, the accuracy of the horizontal control of the first optical path assembly 210 and the second optical path assembly 220 is effectively improved, and the effectiveness of the automatic target tracking of the optical imaging device 200 is further improved.

[0130] For example, the third driving mechanism can be a corresponding brush DC motor, brushless DC motor, asynchronous motor, synchronous motor, stepper motor, reduction motor, etc., the driving member can be a corresponding worm gear, worm, stator, rotor, synchronous wheel, etc., the third driving mechanism and the third driving member can be connected through a belt or the like to transmit the driving force and realize the adjustment of the horizontal angle through rotation. The types and working modes of the third driving mechanism and the third driving member are similar to those of the second driving mechanism and the second driving member, and will not be described again.

[0131] Optionally, in order to realize efficient reduction ratio, higher transmission ratio and load capacity, the third driving member can include a second worm gear and a second worm.

[0132] The second worm is connected with the third driving mechanism, the second worm wheel is connected with the second worm and the height transmission structure 232, and the second worm and the second worm wheel are used to drive the height transmission structure 232 and the first optical path assembly 210 and the second optical path assembly 220 to move in the horizontal axial direction based on the torque power provided by the third driving mechanism. The movement control can be realized through the connection with the third driving mechanism and the connection between the worm wheel and the worm. The second worm and the second worm wheel can drive the connected height transmission structure 232, the second optical path assembly 220 inside the height transmission structure 232, and the first optical path assembly 210 connected on the height transmission structure 232 to move in the horizontal axial direction according to the torque power provided by the third driving mechanism. The two optical path assemblies can be driven to move through the synchronous movement structure, thereby reducing the adverse effects on image imaging during the movement.

[0133] Optionally, a plurality of bearings, center shafts and other parts can be arranged in the horizontal transmission structure 231 to realize the rotation control in the horizontal angle.

[0134] Optionally, the materials of the device structures in the transmission structure 230 can be selected according to the weight requirements or application requirements of the optical imaging device 200. For example, when the weight requirement of the optical imaging device 200 is the lightweight requirement, the device structures can be made of plastic material. When the application requirement of the optical imaging device 200 is high strength, the device structures can be made of metal material.

[0135] Optionally, referring to FIG. 5, FIG. 5 is a structural schematic diagram of a first optical path assembly provided by an embodiment of the present application. The first optical path assembly 210 can include a lens 211, a lens barrel shell 212 and a lens focusing assembly 213.

[0136] The lens 211 can be arranged inside or at the end of the lens barrel shell 212, the lens barrel shell 212 is fixed on the transmission structure 230, and the lens 211 is used to transmit light. The lens 211 is arranged inside or at the end of the lens barrel shell 212 to reduce the adverse effects of external water vapor, high temperature, liquid and other adverse factors on the lens. The lens barrel shell 212 is fixed on the external transmission structure 230, so that the lens barrel shell 212 and the internal lens 211 are driven to move according to the movement of the transmission structure 230. The movement of the first optical path assembly 210 to the corresponding position for image acquisition and other processing can be controlled through the transmission structure 230, which is suitable for various shooting targets and application scenarios.

[0137] The lens 211 can be sleeved in the inside or end of the lens barrel shell 212, and a corresponding space can be left between the lens 211 and the lens barrel shell 212. For example, the lens 211 is arranged in a circular structure, the lens barrel shell 212 can be arranged in a square structure with a side length greater than the diameter of the circular structure, and the remaining space between the lens 211 and the lens barrel shell 212 can be used to place the lens focusing assembly 213. The lens focusing assembly 213 can be sleeved between the lens 211 and the lens barrel shell 212, and is used to adjust the position of the lens 211 on the first light transmission path A of the first optical path assembly 210. The lens focusing assembly 213 can be arranged between the lens 211 and the lens barrel shell 212 to adjust the position of the lens 211 on the first light transmission path A in the first optical path assembly 210, so that the lens 211 is adjusted to the appropriate focusing position on the first light transmission path A for light transmission, effectively improving the quality of image imaging, and being suitable for various image acquisition scenes.

[0138] Optionally, the lens focusing assembly 213 can also be arranged at one end of the lens 211 close to the center of the lens barrel shell 212, and is used to adjust the position of the lens 211 arranged in the inside or end of the lens barrel shell 212. The lens focusing assembly 213 can adjust the position of the lens 211 in the inside of the lens barrel shell 212, and in some application scenarios requiring a longer focal length, the lens focusing assembly 213 can also control the lens 211 arranged at the end of the lens barrel shell 212 to move to the outside of the lens barrel shell 212 for light transmission processing. In FIG. 2, only a structure in which the lens focusing assembly 213 is sleeved between the lens 211 and the lens barrel shell 212 is exemplarily shown, and other structures will not be described in detail.

[0139] It should be noted that the first light transmission path A is the transmission path of light in the first optical path assembly 210, and can be collinear with the center line of the lens barrel shell 212. The first light propagation direction C is shown in FIG. 3, and the light enters from the lens 211 and is transmitted along the first light transmission path A to the other end of the lens barrel shell 212.

[0140] For example, the lens focusing assembly 213 can be arranged as a device with a position adjusting function, such as a motor, a pulley, a slider, etc.

[0141] Optionally, the lens focusing assembly 213 can include a fourth driving mechanism and a fourth driving member. The fourth driving mechanism is connected with the fourth driving member, the fourth driving member is connected with the lens 211, and the fourth driving mechanism is configured to provide a driving force parallel to the first light transmission path A for the fourth driving member. The fourth driving member is configured to move the lens 211 on the first light transmission path A based on the driving force. A corresponding fourth driving mechanism and fourth driving member can be provided to control the movement of the lens 211 on the first light transmission path A. The fourth driving mechanism is connected with the fourth driving member, the fourth driving member is connected with the lens 211, and the fourth driving mechanism is configured to provide a driving force for the fourth driving member to move in a direction parallel to the first light transmission path A. The fourth driving member generates movement based on the driving force and drives the connected lens 211 to move. The movement of the lens 211 on the first light transmission path A can be accurately and effectively controlled, effectively improving the accuracy of focusing the lens 211 and during focusing.

[0142] For example, the fourth driving mechanism can be a corresponding motor, such as a lead screw motor, etc., and the fourth driving member can be a corresponding pulley, slider, push block, bearing, etc. structure. One or more guide rails can be provided inside the lens barrel housing 212. When the lens barrel housing 212 is a four-sided cylindrical structure, a corresponding slide rail can be provided at each of the four corners of the cylindrical structure to be connected with the plurality of fourth driving members. The guide rail can be closely matched with the positioning hole pressed inside the lens barrel housing 212, so that the guide rail is parallel to the first light transmission path A of the first light path assembly 210. The control difficulty of the fourth driving member is low and the cost is low. Stainless steel or other wear-resistant materials can also be used to manufacture the corresponding fourth driving member to reduce wear caused by friction between the fourth driving member and the guide rail when the fourth driving member moves, further prolonging the service life of the fourth driving member. In order to fix the lens 211, a corresponding lens 211 support can also be provided. The lens 211 support can be matched with the guide rail through its own sliding groove structure. The lens 211 support is connected with the fourth driving member, and the fourth driving mechanism can be connected with the fourth driving member through its own lead screw structure. When the motor lead screw rotates, the fourth driving member can move linearly in a direction parallel to the first light transmission path A. The fourth driving member transmits the pushing force (pulling force) to the lens 211 support through the guide groove on the lens 211 support, drives the lens 211 support and the fixed lens 211 therein to move forward and backward (up and down), thereby realizing the change of focal length and improving the effectiveness and stress uniformity of the position adjustment of the lens 211.

[0143] It should be noted that the movement stroke of the fourth driving member is determined based on the focusing information and / or the focal length information of the lens 211. Due to different types and application scenarios of the optical imaging device 200, the model of the lens 211 used is also different, and therefore the focusing information in different scenarios and the focal length information of different types of lens 211 are also different. In order to achieve high-precision lens 211 focal position adjustment, the movement stroke of the fourth driving member can be set according to the focusing information corresponding to the scene and / or the focal length information of the lens 211 used, so that the focal position adjustment can be performed for different scenes and / or each type of lens 211, effectively improving the effectiveness of the focal position of the lens 211 and the efficiency of focusing, thereby improving the quality of image imaging.

[0144] Optionally, the focusing information can be determined according to the distance, size and other parameters of the imaging target, and the focal length information of the lens 211 can be determined according to the model, material, thickness and other parameters of the lens 211.

[0145] Optionally, a corresponding position sensor can also be arranged in the lens focusing assembly 213 to control the distance of the fourth driving mechanism driving the fourth driving member to move.

[0146] Optionally, the lens barrel shell 212 can be provided in a plurality of shapes, such as a cylindrical shape, a columnar shape, etc. The lens barrel shell 212 can be made of a plurality of types of materials, such as metal materials, plastic materials, etc. The shape and material of the lens barrel shell 212 can be designed and selected according to actual volume requirements, weight requirements, etc.

[0147] It should be noted that the lens 211 can include an achromatic lens composed of a plurality of lenses. Considering that in the optical imaging process, due to the different refractive indices of different color lights, abnormal situations such as partial color blurring often occur, thereby causing adverse situations such as imaging blurring and adversely affecting the image quality of imaging. In order to effectively improve the quality of the image, the lens 211 can be set as an achromatic lens composed of a plurality of lenses, for example, a three-piece APO (Apochromatic, complex achromatic) main lens, etc. Through special optical design and material selection, a plurality of color lights can be converged to the same point, thereby eliminating or greatly reducing chromatic aberration, optimizing the focusing effect of the lens 211, providing better light focusing and transmission capability for image imaging, and better preserving details during imaging, making the picture more delicate and clear, and reducing adverse situations caused by chromatic aberration. It is suitable for application scenarios of various high-precision imaging requirements.

[0148] For example, a three-piece complex achromatic lens can be designed by a bonding process, the clear aperture of the lens 211 is designed to be 30mm, and the focal length is designed to be 150mm, thereby providing excellent light gathering and transmission capability for the optical imaging device.

[0149] For example, the lens 211 can be made of a low dispersion material such as fluorite lens, AD glass, UD glass, ED glass, etc. to further reduce chromatic aberration.

[0150] Optionally, the lens 211 can be arranged inside or at the end of the lens barrel housing 212. It should be noted that the first end of the lens barrel housing 212 can be fixedly connected at a position corresponding to the second optical path assembly 220 on the transmission structure 230 by a fixing member or a fixing method such as a screw, a nut, welding, etc. In order to transmit light, the lens 211 can be arranged inside or at the end of the second end of the lens barrel housing 212 to reduce the adverse effects of external water vapor, high temperature, liquid, etc. on the lens 211. The lens barrel housing 212 is fixed on the external transmission structure 230, so that the lens barrel housing 212 and the internal lens 211 can be driven to move accordingly according to the movement of the transmission structure 230. The first optical path assembly 210 can be controlled by the transmission structure 230 to move to a corresponding position for image acquisition and other processing, which is suitable for various shooting targets and application scenarios.

[0151] Optionally, the lens barrel housing 212 can also be provided with a corresponding filter assembly, which can be combined with the lens 211 by magnetic attraction, buckling or the like to protect the lens 211 when the light is strong, or to realize dark field and light wave filtering.

[0152] Optionally, please continue to refer to FIG. 5. Considering the temperature difference of the application scenario of the optical imaging device 200, the lens 211 may be affected by the temperature difference to cause fogging and other adverse conditions that affect the normal image acquisition of the optical imaging device 200. Artificial processing may cause damage to the lens 211 or leave marks on the lens 211 affecting the normal use of the lens 211. Therefore, the edge of the lens 211 can be provided with a temperature modulation assembly 2111 for temperature modulation of the lens 211 based on control. By arranging the corresponding temperature modulation assembly 2111 at the edge of the lens 211, the temperature of the lens 211 can be changed by temperature modulation to eliminate the fog on the lens 211 caused by temperature difference and other conditions, without the need for artificial processing, effectively optimizing the efficiency and effect of fog removal, so that the optical imaging device 200 can quickly adapt to various different temperature difference environments.

[0153] Optionally, the temperature modulation component 2111 can be provided with a corresponding temperature sensor and a heating strip structure, the heating strip structure can be provided with a plurality of heating resistors, and the temperature sensor can detect the ambient temperature and the temperature of the lens. When the temperature difference between the lens temperature and the ambient temperature is greater than a preset temperature threshold, for example, 20 degrees Celsius, the temperature of the lens can be adjusted. For example, when the temperature of the lens 211 is 10 degrees Celsius and the ambient temperature is 35 degrees Celsius, the lens can be heated by the heating strip structure to approach the ambient temperature, for example, heated to 30 degrees and maintained for a period of time, for example, 3 seconds, and then the heating is stopped, so as to eliminate the fog on the lens caused by the temperature difference.

[0154] Optionally, the temperature modulation component 2111 can be provided with a corresponding TEC (Thermo-Electric Cooler, temperature control device) device capable of thermoelectric effect for temperature control. The TEC device can be provided with semiconductor thermoelectric elements, which are usually composed of a plurality of N-type and P-type semiconductor pairs (cooling pairs), and each cooling pair is connected by a conductive electrode. These cooling pairs are combined in series or parallel to enhance the cooling or heating capacity of the TEC. When a direct current passes through a couple composed of N-type and P-type semiconductor materials, a temperature difference effect will be generated at both ends of the couple. For example, when the current flows from the N-type semiconductor to the P-type semiconductor, heat will be absorbed, and the lens 211 can be cooled; on the contrary, when the current flows from the P-type semiconductor to the N-type semiconductor, heat will be released, and the lens 211 can be heated. The TEC device can be controlled by a PWM (Pulse Width Modulation) controller, and the TEC device realizes cooling or heating through thermoelectric effect, and its cooling or heating capacity is affected by the current size and direction. The PWM controller can adjust the output power of the power equipment by changing the duty cycle of the pulse signal (i.e. the ratio of pulse width to period), so as to realize accurate control of the current. When the TEC device is combined with the PWM controller, the PWM controller can control the current size and direction of the TEC device by adjusting the duty cycle of the pulse signal output to the TEC device according to the preset temperature target value, so as to realize accurate adjustment of the cooling or heating capacity of the TEC device, and then achieve stable control of the temperature of the lens 211.

[0155] Optionally, please continue to refer to FIG. 5. Due to the tolerance of the motor control, the fourth driving member can also have a corresponding backlash when driving the lens 211 to move. In order to reduce the error of the backlash, the lens focusing assembly 213 can further include a resilient component 2131. The first end of the resilient component 2131 is connected to the lens 211 in the direction parallel to the first light transmission path A, and the second end of the resilient component 2131 is connected to the fourth driving member. The resilience of the resilient component 2131 changes with the stroke movement of the fourth driving member. It should be noted that the resilience of the resilient component 2131 is greater than the gravity of the lens 211, and the resilient component 2131 is used to provide an abutting force for the lens 211. In the lens focusing assembly 213, the resilient component 2131 is arranged to abut the lens 211 in the direction parallel to the first light transmission path A, so as to limit the movement of the lens 211. Moreover, in order to further reduce the shaking of the lens 211 caused by gravity during movement, the resilience of the resilient component 2131 is greater than the gravity of the lens 211, so as to provide sufficient abutting force for the lens 211, so that the lens 211 can always be under force, reducing the adverse effects caused by the shaking of the lens 211, and offsetting the backlash caused by the position adjustment of the lens 211.

[0156] For example, the resilient component 2131 can be a corresponding spring, disc spring, gasket or other elastic functional device.

[0157] For example, taking the fourth driving mechanism as a lead screw motor and the fourth driving member as a sliding block as an example. Due to the tolerance of the motor, the sliding block sliding stroke position also has backlash, so a spring or other resilient component 2131 can be added to resist the lens 211 throughout the stroke, so that the lens 211 is always under force and cannot shake due to its own gravity, thereby offsetting the backlash of the motor. Optionally, the resilient component 2131 can be sleeved on the sliding rail to abut the lens 211 support of the lens 211, thereby achieving abutment with the lens 211.

[0158] Optionally, please continue to refer to FIG. 3, in order to further reduce the occupied volume of the optical path assembly, the optical imaging device 200 can further comprise a reflection assembly. The reflection assembly is arranged between the first optical path assembly 210 and the second optical path assembly 220, and the first optical path assembly 210 reflects light into the second optical path assembly 220 through the reflection assembly for imaging. By arranging corresponding reflection assemblies in the two optical path assemblies, the reflection of light in the two optical path assemblies is realized, so that the first optical path assembly 210 reflects light into the second optical path assembly 220 through the reflection assembly for imaging. The optical path of the optical path assembly can be divided into multiple parts, and the light of the two optical path assemblies is combined by the reflection assembly, which effectively reduces the size of the whole optical path assembly, thereby reducing the overall device volume and weight of the optical imaging device 200, and meeting the needs of miniaturization of the device.

[0159] Optionally, the reflection assembly can comprise a reflecting mirror 251 and a fixing assembly 252. The reflecting mirror 251 is fixed in the first optical path assembly 210 or the second optical path assembly 220 through the fixing assembly 252, wherein the fixing assembly 252 comprises an elastic fixing structure, which can reduce the stress on the reflecting mirror 251 during installation or movement by its elastic deformation, so that the reflecting mirror 251 can maintain a stable position and state during movement, thereby enabling the reflecting mirror 251 to accurately and stably reflect light into the image sensor 221 located at the imaging center for imaging processing. The reflection assembly can comprise a reflecting mirror 251 for reflecting light and a fixing assembly 252 for fixing the reflecting mirror 251. One or more reflecting mirrors 251 can be arranged according to requirements, and the reflecting mirror 251 is fixed in the first optical path assembly 210 or the second optical path assembly 220 through the fixing assembly 252 to realize the corresponding light reflection function. In addition, the fixing assembly 252 can also be arranged as an elastic fixing structure to reduce the installation stress when fixing the reflecting mirror 251 and improve the stability and effectiveness of the reflecting mirror 251 during movement.

[0160] For example, in order to reduce the loss in the process of light transmission, a group of reflection assemblies can be arranged for light reflection, and the reflecting mirror 251 can be arranged as a plane mirror with reflection function; in order to further increase the optical path distance, a plurality of reflection assemblies can be arranged for light path folding to shorten the physical size of the optical path assembly, such as using a roof prism, a Paul prism, etc. as the reflecting mirror 251.

[0161] It should be noted that the folding angle between the first light transmission path A of the first optical path assembly 210 and the second light transmission path B of the second optical path assembly 220 can be adjusted based on the setting angle and number of the reflection assembly. For example, in the embodiment shown in FIG. 3, in the case of only one set of reflection assembly, the reflection mirror can be arranged at an angle of 45 degrees with the first light transmission path A and the second light transmission path B respectively, and the folding angle between the first light transmission path A and the second light transmission path B is set to 90 degrees to realize 90-degree turning processing of the optical path, so as to realize corresponding light transmission and provide longer optical path distance as much as possible while reducing light transmission loss.

[0162] It should be noted that the optical imaging device 200 can also be provided with a corresponding power module, and the power module can be provided with a detachable battery, such as a lithium ion battery, to provide the required power for the operation of each device. In order to realize the corresponding data processing and transmission function, the optical imaging device 200 can also be provided with a corresponding controller, which can be a main control circuit board, and the main control circuit board can be integrated with a motor control driver, a compass sensor, an image processor, a WIFI / Bluetooth module, an audio player and other types of functional devices.

[0163] Please refer to FIG. 6, which is a flowchart of a first optical imaging method provided by the embodiment of the present application. The method can include steps S310-S320.

[0164] Step S310: controlling the optical imaging device to move to a target pose based on an imaging target by a control device.

[0165] The optical imaging device is any device in FIGS. 1-5. Considering the diversity of imaging targets, different imaging targets correspond to different shooting positions. Therefore, the control device can control the optical imaging device to move to a target pose for shooting the target based on the current imaging target.

[0166] For example, the imaging target can be various types of targets, such as a task, a building, a certain area or a corresponding star, etc.

[0167] Step S320: performing image acquisition at the target pose by the optical imaging device to obtain a target image.

[0168] The target image obtained by the optical imaging device at the target pose is the required target image.

[0169] It should be noted that the target image obtained by the optical imaging device at the target pose can be a single-frame image data or a video data composed of multiple frames of image data.

[0170] In the embodiment shown in FIG. 6, due to the small device volume and size of the optical imaging device as a whole, the optical imaging device can be applied to various different shooting scenes and used for shooting various different types of imaging targets, effectively expanding the application range of the optical imaging method and meeting various shooting requirements of users.

[0171] Optionally, referring to FIG. 7, FIG. 7 is a detailed flowchart of step S310 provided by the embodiment of the present application. Step S310 can include steps S311-S314.

[0172] In step S311, input information is acquired by the control device.

[0173] The input information input by the user can be various types of information such as text information, voice information, picture information, and selection information. The control device can acquire the corresponding input information based on a set human-computer interaction interface or a network.

[0174] In step S312, the control device analyzes the input information to determine an imaging target.

[0175] The control device can perform various analysis processes such as text recognition, voice recognition, picture recognition, and option determination according to the type of the input information to determine the imaging target that the user needs to shoot corresponding to the input information.

[0176] Optionally, an algorithm such as OCR (Optical Character Recognition) can be used to recognize the text in the picture information. When processing, the image can be preprocessed by operations such as greying, binarization, and denoising to extract text features in the image. The extracted text features are usually positioned using algorithms such as edge detection and connected component analysis. The positioned text is segmented using techniques such as projection and connected component analysis. The segmented text is converted into editable text format using models such as pattern matching, neural networks, and deep learning. Voice information can also be recognized through an acoustic model such as a hidden Markov model (HMM) or a deep neural network (DNN). When processing, the collected voice signal can be first processed by operations such as noise reduction, echo removal, and normalization to improve signal quality and reduce background noise and echo interference factors, making the voice signal clearer and facilitating subsequent feature extraction and recognition. The noise-reduced voice signal is converted into a series of feature parameters such as mel-frequency cepstral coefficients (MFCC) and perceptual linear prediction coefficients (PLP) to convert the voice signal from the time domain to the frequency domain or other feature domain, extract information that can represent the essential features of the voice, and facilitate recognition and processing. The feature parameters are then input into the model, combined with phonemes and scales for matching and recognition to identify basic voice units. The recognized voice units are further processed in combination with the grammar rules and vocabulary knowledge of the language model (such as the N-gram model and recurrent neural network (RNN)) to improve recognition accuracy. Finally, the matching results of the acoustic model and the language model are decoded into text or other forms of output for analysis.

[0177] Also, the recognized text information or the input text information can be analyzed using various types of semantic analysis models, and when processing, text preprocessing can be performed first: removing noise data in the text, such as HTML tags, special symbols, meaningless characters, etc., to reduce invalid content in the text content. When the text content is Chinese, considering that there is no obvious separator in Chinese, the continuous text after cleaning can be divided into individual independent words or phrase units, and then the words that frequently appear in the text but have little contribution to understanding the text content, such as "of", "is", "is", etc. are removed to reduce the complexity of data processing and improve the accuracy of subsequent analysis. The part of speech of each word in the text is labeled, such as noun, verb, adjective, etc., to facilitate understanding of the grammatical function and semantic role of the word in the sentence. After completing the preprocessing, the preprocessed text can be subjected to semantic analysis: analyzing the prefix, suffix, root, etc. of the word, as well as the synonym, antonym, etc. relationship between words, identifying the syntactic structure in the sentence, such as the subject, predicate, object, etc. sentence components, and their grammatical relationships, in order to understand the overall structure and meaning of the sentence. On the basis of syntactic analysis, further label the semantic relationship between the components in the sentence, such as the agent, the recipient, the tool, the location, etc. semantic roles. The words and sentences in the text are represented in the form of a network, with nodes representing words or sentences and edges representing semantic relationships between them. Identify the sentiment of the text, such as positive, negative or neutral, in order to understand the emotions and attitudes expressed in the text. Combine the context, language background, cultural background, etc. of the text to understand it more comprehensively. By analyzing the key words, sentence structure and semantic information in the text, the author's intention or purpose is identified. Entities, relationships, etc. in the text can also be extracted to construct a knowledge graph to extract the user's relevant needs from the text and determine the corresponding imaging target.

[0178] In step S313, the control device determines the target pose according to the imaging target and the current state parameters of the optical imaging device.

[0179] The state parameters can include angle parameters of the horizontal angle and height angle of the optical imaging device in the horizontal and height axial directions of the installation plane, and longitude and latitude parameters corresponding to the angle parameters, etc. The control device can determine the target pose corresponding to the shooting of the optical imaging device in combination with the imaging target and the current state parameters of the optical imaging device.

[0180] It should be noted that the pose of the optical imaging device is determined according to the height angle and horizontal angle when it moves, and the target pose is a specific height angle and horizontal angle suitable for shooting the imaging target.

[0181] In step S314, the control device controls the optical imaging device to move based on the target pose.

[0182] The control device is further capable of controlling the movement of the optical imaging device according to the target pose, so that the optical imaging device can move to the corresponding target pose for shooting.

[0183] Optionally, the control device can control the movement of the optical imaging device by issuing instructions. The control instructions issued can include specific height angles and horizontal angles included in the target pose.

[0184] In the embodiment shown in FIG. 7, the target pose for shooting can be determined according to the actual needs of the user and the actual state of the optical imaging device, and the pose of the optical imaging device can be changed by controlling the movement of the optical imaging device, so as to realize the function of automatically finding the target for shooting, and effectively improve the efficiency and effectiveness of shooting.

[0185] Optionally, referring to FIG. 8, FIG. 8 is a flowchart of a second optical imaging method provided by the embodiment of the present application. The method can further include steps S331-S332.

[0186] In step S331, the control device acquires pose feedback information during the movement of the optical imaging device.

[0187] In the embodiment shown in FIG. 8, the pose feedback information of the optical imaging device can be acquired in real time by the control device during the movement. The pose feedback information can be the data of the height angle and the horizontal angle collected by the angle sensor arranged in the optical imaging device.

[0188] Optionally, the angle sensor can be a sensor arranged in the horizontal transmission structure and the height transmission structure. The current height angle and horizontal angle can be determined according to the rotation degree of the horizontal transmission structure and the height transmission structure, such as the torque size of the torque motor and the rotation angle of the worm gear, as the corresponding pose feedback information.

[0189] In step S332, the control device compares the pose feedback information and the target pose to determine whether the optical imaging device reaches the target pose.

[0190] In the embodiment shown in FIG. 8, the current position of the optical imaging device can be determined in real time during the movement, which effectively improves the effectiveness and accuracy of the movement control.

[0191] In the embodiment shown in FIG. 8, the current position of the optical imaging device can be determined in real time during the movement, which effectively improves the effectiveness and accuracy of the movement control.

[0192] Optionally, refer to FIG. 9, which is a flowchart of a third optical imaging method according to an embodiment of the present application. The method can further include steps S341-S343.

[0193] In step S341, if it is determined that the optical imaging device does not reach the target pose, the control device determines pose difference data between the pose feedback information and the target pose.

[0194] In the embodiment, if it is determined that the optical imaging device does not reach the target pose, the control device determines pose difference data between the pose feedback information and the target pose according to the current pose feedback information and the target pose. The pose difference data is angle difference data between two sets of horizontal angles and height angles.

[0195] For example, the target pose is to rotate 90 degrees to the left and 40 degrees upward, and the pose feedback information is that the optical imaging device currently rotates 60 degrees to the left and 20 degrees upward. In this case, the corresponding pose difference data is an angle difference of 90 degrees-60 degrees=30 degrees in horizontal angle and an angle difference of 40 degrees-20 degrees=20 degrees in height angle.

[0196] In step S342, the control device determines an adjustment angle of the optical imaging device based on the pose difference data.

[0197] In step S343, the control device controls the optical imaging device to move based on the adjustment angle.

[0198] In the embodiment, the adjustment angle of the optical imaging device for continuous movement control can be determined based on the pose difference data, so as to continue to control the optical imaging device to move until the optical imaging device can reach the target pose.

[0199] Optionally, the adjustment angle can include an adjustment direction and angle data of rotation, for example, continuing to rotate 20 degrees to the left or continuing to lift 20 degrees upward.

[0200] In the embodiment shown in FIG. 9, the optical imaging device can be controlled to move in real time according to the actual difference between the real-time position of the optical imaging device and the target pose when the optical imaging device does not reach the target pose, thereby effectively improving the effectiveness and accuracy of the movement control.

[0201] Optionally, refer to FIG. 10, which is a flowchart of a fourth optical imaging method according to an embodiment of the present application. The method can further include steps S351-S353.

[0202] In step S351, if it is determined that the imaging target is a moving target, the control device determines a moving path of the moving target.

[0203] In the case that the imaging target is a moving target, such as a moving star, a person, a vehicle, etc., the control device can determine the moving path of the moving target according to the moving characteristics of the imaging target. For example, in the case that the moving target is a star, the moving path of the star target can be determined from a star database according to the identity information of the star target, such as the name of the star target.

[0204] In step S352, the control device controls the optical imaging device to track the moving target along the moving path.

[0205] In step S353, the optical imaging device collects images during the movement of the moving target.

[0206] In the case that the imaging target is a moving target, such as a moving star, a person, a vehicle, etc., the control device can determine the moving path of the moving target according to the moving characteristics of the imaging target. For example, in the case that the moving target is a star, the moving path of the star target can be determined from a star database according to the identity information of the star target, such as the name of the star target.

[0207] It should be noted that when the optical imaging device moves to each target pose, the starting point of the movement is the previous target pose, so as to realize a continuous movement process. The determination of whether the target pose is reached and the adjustment of the pose when the target pose is not reached are similar to the solutions in the embodiments shown in FIGS. 8 and 9, and thus will not be described herein.

[0208] In the embodiment shown in FIG. 10, the imaging target can be automatically found and tracked according to the moving characteristics of the imaging target, and the moving photographing can be realized during the tracking movement, thereby effectively improving the success rate and completeness of the image collection of the target.

[0209] Optionally, referring to FIG. 11, FIG. 11 is a detailed flowchart of step S320 provided by an embodiment of the present application. Step S320 can include steps S321-S324.

[0210] In step S321, the image sensor in the optical imaging device collects images to obtain an initial image, and sends the initial image to the control device.

[0211] In the case that the imaging target is a moving target, such as a moving star, a person, a vehicle, etc., the control device can determine the moving path of the moving target according to the moving characteristics of the imaging target. For example, in the case that the moving target is a star, the moving path of the star target can be determined from a star database according to the identity information of the star target, such as the name of the star target.

[0212] In step S322, the control device verifies whether the clarity of the initial image meets the clarity requirement.

[0213] Wherein, in order to improve the quality of the final obtained image, the control device can analyze the sharpness of the initial image, and judge in combination with the preset sharpness requirement to determine whether the initial image meets the sharpness requirement.

[0214] Optionally, the preset sharpness requirement can be determined according to the user's demand and the type of image sensor, etc., and the sharpness requirement includes corresponding parameters of multiple evaluation conditions such as resolution, sharpness, edge strength, etc. Resolution is one of the important indicators for measuring the sharpness of an image. The higher the resolution, the richer the detailed information in the image, and the clearer the image looks. Sharpness reflects the sharpness of the image edge. The image edge with high sharpness is clear and detailed. The edge is a basic feature in the image, and the contrast is large at the edge, and the gray gradient changes obviously. A clear image should contain rich details and clear contour edges. Accordingly, when analyzing the sharpness of the initial image, it can also be analyzed from multiple angles such as resolution, sharpness, and edge strength. For example, the sharpness of the image can be evaluated by calculating the change amount of the edge or detail in the image. According to the difference of image details and edge information, the in-focus image has more obvious detail changes, sharper edges, and larger amplitude of gray value changes than the out-of-focus image. The sharpness of the image can also be evaluated by analyzing the high-frequency components in the frequency domain. The image is subjected to two-dimensional discrete Fourier transform and converted to the corresponding frequency domain. In the frequency domain, the high-frequency part determines the image edge detail information, and the low-frequency part determines the contrast information. When analyzing the sharpness, a variety of algorithms can be used for processing, such as: Brenner gradient method: calculate the gray difference of two pixel points with a phase difference of two units, and evaluate the sharpness of the image by the change of the gray difference; Tenegrad gradient method: use Sobel operator to extract horizontal and vertical gradients, and evaluate the sharpness of the image by calculating the gradient value; Laplace gradient method: use Laplace operator instead of Sobel operator to calculate the gradient, and also evaluate the sharpness of the image based on the gradient value; variance method: the focused clear image has larger gray difference than the blurred image, so the sharpness can be evaluated by calculating the gray variance of the image; energy gradient method: comprehensively consider the gray change of adjacent pixels in the image, and evaluate the sharpness of the image by calculating the energy gradient. This method is suitable for real-time evaluation of image sharpness.

[0215] Step S323, if the control device determines that the sharpness of the initial image meets the sharpness requirement, the initial image is taken as the target image.

[0216] Wherein, in the case that the initial image meets the sharpness requirement, the initial image is relatively clear, and the initial image can be directly taken as the corresponding target image.

[0217] If the control device determines that the sharpness of the initial image does not meet the sharpness requirement, the control device controls the lens focusing component and / or the sensor focusing component in the optical imaging device to adjust the focal length until the image currently acquired by the image sensor meets the sharpness requirement, and the currently acquired image is taken as the target image.

[0218] If the initial image does not meet the sharpness requirement, it indicates that the initial image may be blurred, and the control device sends a focusing instruction to the optical imaging device to control the lens focusing component in the optical imaging device to adjust the position of the lens and / or control the sensor focusing component to adjust the position of the image sensor, so as to adjust the focal length and re-acquire an image until the image currently acquired by the image sensor meets the sharpness requirement, and the currently acquired image is taken as the final target image.

[0219] Optionally, when the focusing processing is performed, the position of the lens or the image sensor in the optical imaging device can be adjusted through point position traversal, focusing mode conversion, and other methods, and a target image with high sharpness can be finally acquired.

[0220] In the embodiment shown in FIG. 11, the sharpness of the image acquired by the optical imaging device can be analyzed, and the focusing control processing can be performed when the sharpness is low, so as to improve the quality of the finally obtained target image.

[0221] Optionally, referring to FIG. 12, FIG. 12 is a detailed flowchart of step S324 provided by an embodiment of the present application. Step S324 can include steps S3241-S3242.

[0222] In step S3241, the control device sends a focusing instruction to the optical imaging device.

[0223] The control device can send a focusing instruction for focusing the lens to the optical imaging device.

[0224] In step S3242, the optical imaging device adjusts the position of the lens on the first light transmission path based on the lens focusing component in the first optical path component in the optical imaging device.

[0225] The lens focusing component in the first optical path component in the optical imaging device can be used to adjust the position of the lens on the first light transmission path, so that the lens is adjusted to a suitable focusing position on the first light transmission path for light transmission, thereby effectively improving the quality of image imaging and being suitable for various image acquisition scenarios.

[0226] Optionally, refer to Fig. 13, which is a detailed flowchart of another step S324 provided by the embodiment of the present application. The step S324 can include steps S3243-S3244.

[0227] In step S3243, the control device sends a focusing instruction to the optical imaging device.

[0228] In the embodiment, the control device can send a focusing instruction to the optical imaging device to focus the image sensor.

[0229] In step S3244, the optical imaging device adjusts the position of the image sensor on the second light transmission path based on the sensor focusing component in the second optical path component in the optical imaging device in response to the focusing instruction.

[0230] In the embodiment, the position of the image sensor on the second light transmission path can be adjusted by the sensor focusing component in the second optical path component in the optical imaging device, so that the image sensor is adjusted to the appropriate focusing position on the second light transmission path for light reception and image imaging processing, effectively improving the quality of image imaging, and being suitable for various image acquisition scenarios.

[0231] Optionally, one of the lens focusing component and the sensor focusing component can be selected for control to achieve the focal length adjustment function according to actual conditions or repair. Alternatively, the two focusing components can be controlled in sequence for focusing processing.

[0232] It should be noted that, the optical imaging device drives the second optical path component inside the transmission structure and the first optical path component connected to the transmission structure to move through the transmission structure. During the movement of the transmission structure, the second optical path component and the first optical path component remain relatively stationary. The optical imaging device moves through the transmission structure. When the transmission structure moves, it can drive the second optical path component inside the transmission structure and the first optical path component connected to the transmission component outside to move synchronously, so that the second optical path component can remain relatively stationary with the first optical path component during the movement of the transmission structure. Thus, the relative stationary relationship between the optical path component and the image / imaging sensor is not affected during the movement, so that the optical imaging device can realize stable optical imaging function.

[0233] Optionally, refer to Fig. 14, which is a schematic diagram of the running structure of an optical imaging system provided by the embodiment of the present application. The optical imaging system includes a control device 100 and an optical imaging device 200 of any of the above embodiments.

[0234] In the embodiment, the control device 100 and the optical imaging device 200 are communicatively connected through a network, Bluetooth, a wire, or the like.

[0235] The control device 100 is configured to control the optical imaging device to move to a target pose based on an imaging target;

[0236] The optical imaging device 200 is configured to perform image acquisition at the target pose to obtain a target image.

[0237] In the embodiment shown in FIG. 14, the control device in the system is in communication connection with the optical imaging device to realize corresponding data transmission and control functions. By controlling the target according to the current imaging target, the optical imaging device is controlled to move to a target pose for shooting the target, so as to perform image acquisition at the target pose by the optical imaging device to obtain the required target image.

[0238] Since the system in the embodiment of the present application has a similar problem solving principle as the foregoing optical imaging device, the implementation of the system in the embodiment can refer to the description in the foregoing optical imaging device, and the repeated parts will not be described herein.

[0239] In several embodiments provided in the present application, it should be understood that the disclosed device can also be implemented by other manners. The system embodiments described above are only schematic, for example, the block diagram in the drawings shows the possible implementation architecture, function and operation of the device according to the embodiments of the present application. In this regard, each block in the block diagram can represent a module, a program segment or a part of code, which contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementation manners, the functions noted in the blocks can also occur in different order from that noted in the drawings. For example, two consecutive blocks can actually be executed substantially in parallel, and sometimes they can be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagram, and the combination of the block diagram, can be implemented by a dedicated hardware-based system for performing the specified function or action, or can be implemented by a combination of dedicated hardware and computer instructions.

[0240] In addition, each functional module in each embodiment of the present application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0241] If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer readable storage medium. Based on this understanding, the technical solutions of the present application essentially or the parts that make contributions to the prior art or parts of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for making a computer device (which can be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, and various media that can store program codes.

[0242] The above merely provides an example of the present application and is not intended to limit the protection scope of the present application. For those skilled in the art, the present application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application. It should be noted that similar reference numbers and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0243] The above merely provides an example of the present application and is not intended to limit the protection scope of the present application. For those skilled in the art, the present application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application. It should be noted that similar reference numbers and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0244] It should be noted that, in the present document, the relationship terms such as first and second are merely used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between the entities or operations. Moreover, the terms "include", "contain" or any other variants thereof are intended to cover non-exclusive inclusion, so that the processes, methods, articles or devices including a series of elements not only include those elements, but also include other elements not explicitly listed or inherent to such processes, methods, articles or devices. Without more limitations, the elements defined by the statement "include" do not exclude the presence of other identical elements in the processes, methods, articles or devices including the elements.

Claims

1. An optical imaging device, characterized by, The device comprises a first optical path component, a second optical path component and a transmission structure; The first optical path component is fixedly connected with the transmission structure and is configured to move based on the driving of the transmission structure; The second optical path component is arranged inside the transmission structure and is configured to move based on the driving of the transmission structure; The first optical path component and the second optical path component are in optical communication; the first optical transmission path of the first optical path component and the second optical transmission path of the second optical path component are at an angle; During the movement of the transmission structure, the second optical path component and the first optical path component remain relatively static.

2. The apparatus of claim 1, wherein, Among them, The transmission structure comprises a horizontal transmission structure and a height transmission structure; The horizontal transmission structure is connected with the height transmission structure; The first optical path component is fixed on the connection area of the height transmission structure, and the second optical path component is arranged in the hollow cavity corresponding to the connection area inside the height transmission structure; The horizontal transmission structure is used to drive the first optical path component and the second optical path component to move in the horizontal axis parallel to the installation plane of the optical imaging device; The height transmission structure is used to drive the first optical path component and the second optical path component to move in the height axis with an angle change with the installation plane.

3. The apparatus of claim 2, wherein, Among them, The inner wall of the shell of the height transmission structure surrounds the hollow cavity for transmitting the light rays refracted by the first optical path component to accommodate the second optical transmission path of the second optical path component; The second optical path component comprises an image sensor; The image sensor is arranged at one end of the hollow cavity away from the connection area; The image sensor is used to receive light rays and perform imaging processing to obtain a target image.

4. The apparatus of claim 3, wherein, Among them, The second optical path component further comprises a sensor focusing component; The sensor focusing component is arranged at one end of the image sensor away from the first optical path component; The sensor focusing component is used to adjust the position of the image sensor on the second optical transmission path.

5. The apparatus of claim 2, wherein, Among them, The height transmission structure comprises a driving mechanism and a driving member; The driving mechanism is connected with the driving member; The driving mechanism is used to provide the driving member with driving force in the height axis; The driving member is used to drive the first optical path component and the second optical path component to move in the height axis based on the driving force; The driving member comprises a first hollow structure; The inner wall of the shell of the first hollow structure surrounds part of the hollow cavity.

6. The apparatus of claim 5, wherein, Among them, The height transmission structure further comprises a height angle center axis; The driving member is connected with the height angle center axis, and the driving member drives the first optical path component and the second optical path component to move along the axial direction of the height angle center axis; The height angle center axis and the first optical path component are connected through a cavity center axis; The height angle center axis and the cavity center axis are coaxial.

7. The apparatus of claim 6, wherein, Among them, The height angle center axis is arranged as a second hollow structure, and a shell inner wall of the second hollow structure surrounds a partial hollow cavity; The cavity center axis is arranged as a third hollow structure, and a shell inner wall of the third hollow structure surrounds a partial hollow cavity.

8. The apparatus of any one of claims 1-7, wherein, Wherein, The first light path assembly comprises a lens, a lens barrel shell and a lens focusing assembly; The lens is arranged inside or at the end of the lens barrel shell; The lens barrel shell is fixed on the transmission structure; The lens is used for transmitting light; The lens focusing assembly is sleeved between the lens and the lens barrel shell; The lens focusing assembly is used for adjusting the position of the lens on the first light transmission path of the first light path assembly.

9. An optical imaging method, characterized by, The method comprises: controlling, by a control device, an optical imaging device to move to a target pose based on an imaging target, wherein the optical imaging device is any one of the devices of claims 1 to 8; performing image acquisition at the target pose by the optical imaging device to obtain a target image.

10. The method of claim 9, wherein, The image acquisition at the target pose by the optical imaging device to obtain a target image comprises: performing image acquisition by an image sensor in the optical imaging device to obtain an initial image, and sending the initial image to the control device; verifying, by the control device, whether the clarity of the initial image meets a clarity requirement; if the control device determines that the clarity of the initial image meets the clarity requirement, taking the initial image as the target image; if the control device determines that the clarity of the initial image does not meet the clarity requirement, controlling, by the control device, a lens focusing assembly and / or a sensor focusing assembly in the optical imaging device to perform focus adjustment until the image acquired by the image sensor at present meets the clarity requirement, and then taking the image acquired at present as the target image.

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