CN116830592A

CN116830592A - Shooting device and mobile platform

Info

Publication number: CN116830592A
Application number: CN202180080913.7A
Authority: CN
Inventors: 雷蕾; 刘煜程
Original assignee: SZ DJI Technology Co Ltd
Current assignee: SZ DJI Technology Co Ltd
Priority date: 2021-04-12
Filing date: 2021-04-12
Publication date: 2023-09-29
Also published as: WO2022217404A1

Abstract

A photographing apparatus (100) and a mobile platform (300). The imaging device (100) includes a housing (11), a lens (13), an image sensor (15), and a first drive mechanism (17). The lens (13) is located in the housing (11). The lens (13) has an optical axis L. The image sensor (15) is located in the housing (11) and is disposed on the image side of the lens (13). A first driving mechanism (17) is mounted on the housing (11) and is connected to the image sensor (15). The first driving mechanism (17) is used for driving the image sensor (15) to move back and forth along the optical axis L of the lens (13) so as to enable the shooting device (100) to focus.

Description

Shooting device and mobile platform

Technical Field

The application relates to the technical field of imaging, in particular to a shooting device and a mobile platform.

Background

The tele lens has a short depth of field and requires more frequent focusing. However, a tele lens generally has a large volume and weight, and if a structure for focusing is additionally added, the volume and weight of the lens may be further increased, or a driving structure may be complicated, resulting in a decrease in the moving reliability of the entire lens.

Disclosure of Invention

The embodiment of the application provides a shooting device and a mobile platform.

An imaging apparatus according to an embodiment of the present application includes:

a housing;

a lens located within the housing, the lens having an optical axis;

the image sensor is positioned in the shell and is arranged at the image side of the lens;

the first driving mechanism is installed on the shell and connected with the image sensor, and is used for driving the image sensor to move back and forth along the optical axis of the lens so as to enable the shooting device to focus.

In the shooting device, the weight and the complexity of the driving mechanism can be effectively reduced through the image sensor with smaller driving quality, and the reliability of the shooting device can be improved.

The mobile platform provided by the embodiment of the application comprises:

a body, and

the photographing device according to the above embodiment, wherein the photographing device is mounted on the body.

In the mobile platform, the weight and the complexity of the driving mechanism can be effectively reduced through the image sensor with smaller driving quality, and the reliability of the shooting device can be improved.

Additional aspects and advantages of the application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the application.

Drawings

The foregoing and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings, in which:

fig. 1 is a schematic diagram of a photographing apparatus according to an embodiment of the present application;

fig. 2 is a schematic view of a part of the structure of a photographing apparatus according to an embodiment of the present application;

fig. 3 is a schematic view of a part of the structure of a photographing apparatus according to an embodiment of the present application;

fig. 4 is a schematic block diagram of a photographing apparatus according to an embodiment of the present application;

fig. 5 is a correspondence between the distance of the image sensor to the in-focus position and the gray value of the image according to the embodiment of the present application;

fig. 6 is another schematic block diagram of a photographing apparatus according to an embodiment of the present application;

FIG. 7 is a schematic view of a scene of a ranging assembly according to an embodiment of the present application ranging a subject;

fig. 8 is a schematic structural diagram of a mobile platform according to an embodiment of the present application.

Main figure element description:

a photographing device 100, a photographed object 200, and a moving platform 300;

a housing 11, a lens 13, an image sensor 15, a first driving mechanism 17, a first motor 171, a screw 173;

a guide rod 21, a base plate 23 and a through hole 25;

a processor 31, a ranging component 33;

a shutter mechanism 41, a shutter blade 43, and a second driving mechanism 45;

a body 301.

Detailed Description

Embodiments of the present application are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary only for explaining the present application and are not to be construed as limiting the present application.

In the description of the application, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more of the described features. In the description of the application, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.

In the description of the present application, it should be noted that the terms "mounted," "connected," and "coupled" are to be construed broadly, as well as, for example, fixedly coupled, detachably coupled, or integrally coupled, unless otherwise specifically indicated and defined. Either mechanically or electrically. Can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art according to the specific circumstances.

The following disclosure provides many different embodiments, or examples, for implementing different features of the application. In order to simplify the present disclosure, components and arrangements of specific examples are described below. They are, of course, merely examples and are not intended to limit the application. Furthermore, the present application may repeat reference numerals and/or letters in the various examples, which are for the purpose of brevity and clarity, and which do not themselves indicate the relationship between the various embodiments and/or arrangements discussed. In addition, the present application provides examples of various specific processes and materials, but one of ordinary skill in the art will recognize the application of other processes and/or the use of other materials.

Referring to fig. 1, a photographing device 100 according to an embodiment of the present application includes a housing 11, a lens 13, an image sensor 15, and a first driving mechanism 17. The lens 13 is located within the housing 11. The lens 13 has an optical axis L. The image sensor 15 is located in the housing 11 and is disposed on the image side of the lens 13. The first driving mechanism 17 is mounted on the housing 11 and is connected to the image sensor 15. The first driving mechanism 17 is used for driving the image sensor 15 to move back and forth along the optical axis L of the lens 13, so that the photographing device 100 focuses.

Specifically, in the embodiment of the present application, the image sensor 15 is driven by the first driving mechanism 17 to move back and forth along the optical axis L, so that the image sensor 15 finally stays at the in-focus position of the lens 13, and focusing of the photographing device 100 is achieved. Since the image sensor 15 has a smaller size and weight relative to the overall lens 13, it is advantageous to reduce the weight and structural complexity of the focusing mechanism and to improve the reliability of focusing the camera of the photographing apparatus 100.

That is, in the photographing device 100, the image sensor 15 having a small driving mass can effectively reduce the weight and complexity of the driving mechanism, and the reliability of the photographing device 100 can be improved.

In addition, in one embodiment, the photographing device 100 may be applied to an infrared imaging system, and the image sensor 15 may include an infrared detector. Specifically, in a case where infrared light passes through the lens 13 and reaches the image side on the object side of the lens 13, the image sensor 15 can capture infrared light on the image side and obtain infrared image information.

The embodiments of the present application are described in the context of the image sensor 15 comprising an infrared detector, it being understood that in other embodiments the image sensor 15 may also comprise at least one of a visible light detector, a laser detector, etc. Specifically, in embodiments in which the image sensor 15 includes a visible light detector, the image sensor 15 may obtain visible light image information; in embodiments where the image sensor 15 includes a laser detector, the image sensor 15 may obtain laser image information. That is, it is possible for those skilled in the art to achieve the same or similar technical effect of focusing the photographing device 100 as in the embodiment in which the image sensor 15 includes the infrared detector.

In addition, in some embodiments, where the image sensor 15 includes an infrared detector, the infrared detector may include one of a short wave detector, a medium wave detector, and a long wave detector. In such an embodiment, the infrared detector may further comprise a multi-band detector. The multiband may include at least two of short wave, medium wave, long wave. Short waves refer to infrared light at frequencies of 3MHz to 30 MHz. Mid-wave refers to infrared light at a frequency of 300kHz to 3 MHz. Long wave refers to infrared light having a frequency of less than 300 kHz.

Referring to fig. 1, in some embodiments, a photographing device 100 includes a guide bar 21 mounted to a housing 11. The length direction of the guide rod 21 is parallel to the optical axis L direction. The image sensor 15 is slidably connected to the guide bar 21.

In this way, the image sensor 15 can be made more convenient to move in the direction of the optical axis L.

Specifically, in the illustrated embodiment, the guide rod 21 extends along the direction of the optical axis L, so that the length direction of the guide rod 21 is parallel to the direction of the optical axis L, and when the image sensor 15 is driven, the guide rod 21 slides on the surface of the guide rod 21 in a limited manner, so that the image sensor 15 can move along the direction of the optical axis L.

Furthermore, the stability of the image sensor 15 at the time of movement can also be improved during the movement of the image sensor 15.

Specifically, in some embodiments, the number of guide rods 21 is at least two. At least two guide rods 21 are parallel to each other. It will be appreciated that, in the case where the plurality of guide rods 21 are mounted on the housing 11, the image sensor 15 is limited in the movement range by the plurality of guide rods 21, and the image sensor 15 is not easy to shake during the movement, so that the stability of the image sensor 15 during the movement can be increased.

In addition, in such embodiments, the guide bar 21 may be a non-sensing region penetratingly connected to the image sensor 15.

Specifically, referring to fig. 2, in some embodiments, the image sensor 15 is mounted on a square substrate 23. The base plate 23 is slidably connected to the guide rod 21. At least two guide rods 21 are arranged at diagonal positions of the base plate 23.

In the embodiment shown in fig. 2, the base plate 23 is provided with a through hole 25, and the guide bar 21 is inserted through the through hole 25 of the base plate 23. The number of guide rods 21 is two, and the number of through holes 25 is two. The two through holes 25 are provided on both sides of the substrate 23 in the diagonal direction of the substrate 23 so that the two guide rods 21 are correspondingly disposed at the diagonal of the substrate 23, respectively, so that the structure of the guide rods 21 can be simplified while ensuring the reliability when the image sensor 15 is moved.

In addition, referring to fig. 3, in the embodiment shown in fig. 3, the number of the guide rods 21 is four, and the number of the through holes 25 is four. Four through holes 25 are provided at four corners of the substrate 23, and four guide rods 21 are provided at four corners of the substrate 23, respectively, so that the reliability of the image sensor 15 when it is moved can be further improved.

It will be appreciated that, based on the above embodiments, it is possible for those skilled in the art to flexibly adjust the number of guide rods 21, such as three, five and more, according to circumstances, and to make all the guide rods 21 parallel to each other along the respective length directions. The principles of the specific embodiments are the same as or similar to those of the above embodiments, and will not be described in detail herein.

Moreover, in other embodiments, the substrate 23 may be shaped in other ways, such as regular or irregular, e.g., circular, triangular, annular, etc. Specifically, in these embodiments, the substrate 23 has a circular structure, and the optical axis L passes through the center of the substrate 23. In embodiments where the number of guide rods 21 is two, two guide rods 21 may be distributed along the diameter of the substrate 23 and connect the substrate 23; in an embodiment in which the number of guide bars 21 is three, the three guide bars 21 may be disposed on the substrate 23 at successive intervals of 120 ° with respect to the optical axis L; in an embodiment in which the number of guide bars 21 is four, the four guide bars 21 may be disposed on the substrate 23 at sequentially intervals of 90 ° with respect to the optical axis L. The embodiments in which the number of the guide rods 21 is five or more can refer to the arrangement rule of the guide rods 21 on the substrate 23 in the above embodiments, so that the same or similar technical effects can be achieved. The specific shape of the substrate 23 may be determined according to specific situations (e.g., actual application scene, internal configuration of the photographing device 100).

Of course, the connection positions of the base plate 23 and the guide rod 21 are determined according to a predetermined rule in the above embodiment, and in other embodiments, the connection positions of the guide rod 21 on the base plate 23 may be random or irregular, so long as the same or similar technical effects as those in the above embodiment can be achieved, and will not be further described in detail herein.

In some embodiments, the first driving mechanism 17 may drive the image sensor 15 in a screw driving manner.

Referring to fig. 1, in some embodiments, the image sensor 15 is mounted on a substrate 23. The first driving mechanism 17 includes a first motor 171 and a screw 173. The length direction of the screw 173 is parallel to the optical axis L direction. The screw 173 is threaded through the base plate 23. The first motor 171 is connected to a screw 173. The first motor 171 is configured to drive the screw 173 to rotate, so that the substrate 23 drives the image sensor 15 to move back and forth along the optical axis L.

In this way, the first driving mechanism 17 can drive the image sensor 15 to move.

Specifically, in the embodiment shown in fig. 1, when the image sensor 15 is not at the in-focus position of the lens 13, the first motor 171 may drive the screw 173 to rotate along the length direction thereof, so that the substrate 23 in threaded connection with the screw 173 may be driven to move along the thread structure of the screw 173, and further the image sensor 15 may move back and forth along the optical axis L. In one embodiment, when the screw 173 rotates clockwise, the image sensor 15 moves in a direction approaching the lens 13, and when the screw 173 rotates counterclockwise, the image sensor 15 moves in a direction separating from the lens 13. Since the rotational direction of the screw 173 can be changed by the first motor 171, this means that the moving direction of the image sensor 15 can be changed, and has an effect of converting rotational motion into linear motion. The first motor 171 may be a stepping motor. The in-focus position of the lens 13 may be a position of a focal point of the lens 13 on the optical axis L after the completion of the in-focus.

In addition, as shown in fig. 2 and 3, when the photographing device 100 includes the guide rod 21, the guide rod 21 and the screw 173 cooperatively drive the image sensor 15 to move, and thus have good guiding performance and reliability.

In other embodiments, the first driving mechanism 17 may also drive the image sensor 15 to move by elastic stretching.

Specifically, referring to fig. 1, in some embodiments, the first driving mechanism 17 includes a second motor (not shown) and an elastic member (not shown). The image sensor 15 is mounted on a substrate 23. The elastic member elastically connects the base plate 23. The second motor is connected with the elastic piece. The second motor is used for driving the elastic member to elastically stretch along the direction of the optical axis L, so that the substrate 23 drives the image sensor 15 to move back and forth along the optical axis L.

It will be appreciated that the resilient member has an initial state. In such an embodiment, when the second motor is in the energized state, the elastic member may be driven to expand and contract along the optical axis L, so that the elastic member may elastically stretch or compress the substrate 23 connected thereto, thereby driving the substrate 23 to move. When the second motor is switched to the power-off state, the elastic piece can return to the initial state. The elastic piece can be a spring, a tension spring or a torsion spring. The elastic member may be made of rubber and other elastic materials. The second Motor may be a VCM (Voice Coil Motor), a USM (Ultrasonic Motor), so that a driving force for driving the elastic member to expand and contract can be generated in a state of being energized.

Referring to fig. 4, in some embodiments, the photographing device 100 includes a processor 31. The processor 31 is configured to collect an image output by the image sensor 15, and control the first driving mechanism 17 to drive the image sensor 15 to move according to the image.

In this way, it can be determined by means of image detection whether the image sensor 15 is in a specific in-focus position.

Specifically, for the photographing device 100, whether the image sensor 15 is located at the in-focus position of the lens 13 may be determined by judging the gray value of the image.

In some embodiments, the processor 31 is configured to determine a difference between gray values of two images acquired before and after, and when the gray value of the image acquired after is greater than the gray value of the image acquired before, the processor 31 is configured to control the first driving mechanism 17 to drive the image sensor 15 to move continuously along the original moving direction. When the gray level of the image acquired later is smaller than the gray level of the image acquired earlier, the processor 31 is configured to control the first driving mechanism 17 to drive the image sensor 15 to move in the opposite direction to the original moving direction.

More specifically, in such an embodiment, the image sensor 15 has the largest gray value with the in-focus position. Referring to fig. 5, when the initial position of the image sensor 15 along the direction of the optical axis L corresponds to the point a, and the image sensor 15 moves to the position corresponding to the point B along the direction of the optical axis L, it can be determined that the gray value corresponding to the point B is greater than the gray value corresponding to the point a, so that the current moving direction can be kept moving continuously. When the image sensor 15 moves to the position corresponding to the point C along the direction of the optical axis L, it may be determined that the gray value corresponding to the point C is greater than the gray value corresponding to the point B until the image sensor moves to the position corresponding to the point D, and it may be determined that the gray value corresponding to the point D is less than the gray value corresponding to the point C, so that the image sensor moves in the reverse direction and continues to move when passing through the position corresponding to the point E; and so on until the image sensor 15 eventually moves to the in-focus position (i.e., point 0 shown in fig. 5). In one embodiment, the first drive mechanism 17 comprises a stepper motor so that the image sensor 15 can be moved to the in-focus position by adjusting the step size in which the image sensor 15 is driven.

Referring to fig. 6, in some embodiments, the camera 100 includes a processor 31 and a ranging component 33. The distance measuring component 33 is used for determining the distance between the photographed object 200 and the photographing device 100, and the processor 31 is used for controlling the first driving mechanism 17 to drive the image sensor 15 to move according to the distance.

Specifically, referring to fig. 7, in some such embodiments, when the photographing device 100 photographs the photographed object 200, the distance measuring assembly 33 may measure the distance between the photographed object 200 and the photographing device 100, so that the processor 31 determines the in-focus position of the lens 13 according to the distance between the photographed object 200 and the photographing device 100. In the case of determining the current position of the image sensor 15, position information of the current position of the image sensor 15 and the in-focus position of the lens 13 may be transmitted to the first driving mechanism 17, so that the first driving mechanism 17 drives the image sensor 15 to move in the optical axis L direction according to the pitch information. The positional information may include a moving direction and a moving distance of the image sensor 15 with respect to the in-focus position of the lens 13. In the case where the processor 31 determines that the current position of the image sensor 15 and the in-focus position of the lens 13 coincide, the first driving mechanism 17 may be controlled to stop driving the image sensor 15.

In certain embodiments, the ranging assembly 33 includes at least one of a laser assembly, an ultrasonic assembly, and an infrared assembly. Specifically, in one embodiment, the ranging assembly 33 includes a laser assembly, and the ranging assembly 33 may determine the distance between the object 200 and the photographing device 100 by detecting a time difference between the emitted laser light and the received laser light in such a manner that the laser light is emitted and received. In another embodiment, the ranging assembly 33 includes an ultrasonic assembly, and the ranging assembly 33 may determine the distance between the object 200 and the photographing device 100 by detecting a time difference between transmitting and receiving ultrasonic waves in such a manner that the ultrasonic waves are transmitted and received. In another embodiment, ranging assembly 33 includes an infrared assembly, and ranging assembly 33 may determine the distance between subject 200 and camera 100 by detecting the time difference between transmitting and receiving infrared light in a manner that transmits and receives infrared light. In other embodiments, the ranging assembly 33 may include at least two of a laser assembly, an ultrasonic assembly, and an infrared assembly, thereby enabling the ranging assembly 33 to select different ranging modes according to actual conditions. In other embodiments, the distance measuring assembly 33 may choose to measure distance by infrared light when the ambient light intensity is low and by laser light when the ambient light intensity is high. The present application is not particularly limited herein.

Referring to fig. 1, in some embodiments, a camera 100 includes a shutter mechanism 41. The shutter mechanism 41 includes a shutter blade 43. The number of shutter pieces 43 is at least one. The shutter plate 43 is disposed between the lens 13 and the image sensor 15.

Thus, the exposure of the image can be conveniently controlled.

Specifically, in the embodiment shown in fig. 1, the number of shutter pieces 43 is one. Of course, it will be understood to those skilled in the art that, on the basis of the above-described embodiment, the shutter piece 43 may be disposed on the object side of the lens 13 in the optical axis L direction so that the shutter piece 43 is located on the other side of the lens 13 with respect to the image sensor 15. Also, in some embodiments, the lens 13 may be composed of a plurality of lenses, with the shutter blade 43 disposed at a position between two of the lenses, so that the shutter blade 43 is disposed in the lens 13.

In other embodiments, the number of shutter pieces 43 may be two or more. In one embodiment, the number of shutter pieces 43 is two, and the two shutter pieces 43 can be moved back and forth in opposite directions along the perpendicular direction of the optical axis L, so that the shutter mechanism 41 can be opened and closed. In another embodiment, the number of shutter pieces 43 is three, and the three shutter pieces 43 can be moved back and forth in the vertical direction of the optical axis L at intervals of 120 ° in sequence around the optical axis L. In still another embodiment, the number of shutter pieces 43 is four, and three shutter pieces 43 may be moved back and forth in the vertical direction of the optical axis L at intervals of 90 ° in sequence around the optical axis L. The shutter blade 43 is not developed in detail here on the premise that exposure of an image can be controlled.

Referring to fig. 1, in some embodiments, the shutter mechanism 41 includes a second drive mechanism 45. The second driving mechanism 45 is connected to the shutter piece 43.

In this way, the second driving mechanism 45 can be caused to drive the shutter blade 43 to achieve controllable exposure to an image.

Specifically, in the embodiment shown in fig. 1, the second driving mechanism 45 is mounted on the outside of the housing 11 and is connected to the shutter 43, so that the second driving mechanism 45 can drive the shutter 43 to open and close in a direction perpendicular to the optical axis L.

It should be noted that in other embodiments, the second driving mechanism 45 may be an annular structure.

Specifically, in such an embodiment, the second driving mechanism 45 has a center along its own annular structure, the second driving mechanism 45 is disposed around the optical axis L in the annular structure, and the center of the annular structure is located on the optical axis L, and the plane of the annular shape corresponding to the center of the circle is perpendicular to the optical axis L. In the case of driving the shutter 43 to open and close, the second driving mechanism 45 can be made to apply a uniform driving force to the shutter 43 so that the shutter 43 can be opened and closed uniformly. In the case where the number of shutter pieces 43 is plural, the magnitude of the driving force received by each shutter piece 43 can be made the same. That is, in the above-described embodiment, damage to the shutter 43 due to uneven stress when opening and closing is avoided, so that controllable exposure to an image can be realized.

Referring to fig. 8, a mobile platform 300 according to an embodiment of the present application includes a body 301 and the photographing apparatus 100 according to any of the above embodiments. The photographing device 100 is mounted on the body 301.

In the mobile platform 300, the image sensor 15 with smaller driving quality can effectively reduce the weight and complexity of the driving mechanism, and can also improve the reliability of the photographing device 100.

Specifically, in embodiments of the present application, mobile platform 300 includes, but is not limited to, an unmanned aerial vehicle, a robot, an unmanned vehicle, an unmanned ship, a manned aircraft, a detection device, and the like. In an embodiment in which the mobile platform 300 includes an unmanned aerial vehicle, the body 301 may be a body of the unmanned aerial vehicle, and the photographing device 100 may be mounted with the body of the unmanned aerial vehicle, and may be adjusted in orientation with respect to the body, so that photographing at different angles may be performed on the unmanned aerial vehicle. The unmanned aerial vehicle may further comprise a cradle head, in an embodiment, the body 301 is connected to the cradle head, and the photographing device 100 is connected to the cradle head, so that the photographing device 100 can perform multi-dimensional photographing, detection, and the like through the cradle head.

In the description of the present specification, the descriptions of the terms "certain embodiments," "one embodiment," "some embodiments," "an exemplary embodiment," "an example," "a particular example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

While embodiments of the present application have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the application, and that variations, modifications, alternatives and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the application.

Claims

A photographing device, characterized in that the photographing device comprises:

a housing;

a lens located within the housing, the lens having an optical axis;

the image sensor is positioned in the shell and is arranged at the image side of the lens;

the first driving mechanism is installed on the shell and connected with the image sensor, and is used for driving the image sensor to move back and forth along the optical axis of the lens so as to enable the shooting device to focus.
The photographing device of claim 1, wherein the photographing device includes a guide bar mounted to the housing, a length direction of the guide bar being parallel to the optical axis direction, the image sensor being slidably coupled to the guide bar.
The photographing device of claim 2, wherein the number of the guide bars is at least two, and the at least two guide bars are parallel to each other.
A camera according to claim 3, wherein the image sensor is mounted on a square base plate slidably connecting the guide bars, the at least two guide bars being arranged at diagonal positions of the base plate or at four corner positions of the base plate.
The photographing device of claim 1, wherein the image sensor is mounted on a substrate, the first driving mechanism comprises a first motor and a screw, a length direction of the screw is parallel to the optical axis direction, the screw is threaded through and connected with the substrate, the first motor is connected with the screw,

the first motor is used for driving the screw rod to rotate, so that the substrate drives the image sensor to move back and forth along the optical axis.
The photographing device of claim 1, wherein the image sensor is mounted on a substrate, the first driving mechanism includes a second motor and an elastic member, the elastic member is elastically connected to the substrate, the second motor is connected to the elastic member,

the second motor is used for driving the elastic piece to elastically stretch along the optical axis direction, so that the substrate drives the image sensor to move back and forth along the optical axis.
The photographing device of claim 1, comprising a processor for capturing an image output by the image sensor and controlling the first driving mechanism to drive the image sensor to move according to the image.
The photographing device of claim 7, wherein the processor is configured to determine a difference between gray values of two images collected before and after, and when a gray value of an image collected after is greater than a gray value of an image collected before, the processor is configured to control the first driving mechanism to drive the image sensor to move continuously along an original moving direction, and when a gray value of an image collected after is less than a gray value of an image collected before, the processor is configured to control the first driving mechanism to drive the image sensor to move along a direction opposite to the original moving direction.
The photographing device of claim 1, comprising a processor and a ranging assembly, wherein the ranging assembly is configured to determine a distance between an object to be photographed and the photographing device, and wherein the processor is configured to control the first driving mechanism to drive the image sensor to move according to the distance.
The camera of claim 9, wherein the ranging assembly comprises at least one of a laser assembly, an ultrasonic assembly, and an infrared assembly.
The photographing device according to claim 1, characterized in that the photographing device comprises a shutter mechanism including at least one shutter piece, the shutter piece being provided on an object side of the lens, or between the lens and the image sensor, or in the lens.
The photographing device of claim 11, wherein the shutter mechanism comprises a second driving mechanism coupled to the shutter blade,

the second driving mechanism is arranged outside the shell, or

The second drive mechanism is disposed around the optical axis in a ring-like structure.
The imaging apparatus according to claim 1, wherein the image sensor includes an infrared detector.
The imaging apparatus according to claim 13, wherein the infrared detector includes one of a short wave detector, a medium wave detector, a long wave detector, and a multiband detector.
A mobile platform, the mobile platform comprising:

a body, and

the camera of any one of claims 1-14, the camera mounted to the body.