CN105824184B - A kind of hemisphere face and side omnidirectional imaging system - Google Patents
A kind of hemisphere face and side omnidirectional imaging system Download PDFInfo
- Publication number
- CN105824184B CN105824184B CN201610246822.7A CN201610246822A CN105824184B CN 105824184 B CN105824184 B CN 105824184B CN 201610246822 A CN201610246822 A CN 201610246822A CN 105824184 B CN105824184 B CN 105824184B
- Authority
- CN
- China
- Prior art keywords
- imaging
- lens
- lens group
- bull
- eye
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 238000003384 imaging method Methods 0.000 title claims abstract description 131
- 244000309464 bull Species 0.000 claims abstract description 17
- 238000005286 illumination Methods 0.000 claims abstract description 3
- 239000011248 coating agent Substances 0.000 claims description 16
- 238000000576 coating method Methods 0.000 claims description 16
- 238000001228 spectrum Methods 0.000 claims description 8
- 230000005540 biological transmission Effects 0.000 claims description 4
- 230000003595 spectral effect Effects 0.000 claims description 4
- 230000000007 visual effect Effects 0.000 abstract description 29
- 238000000034 method Methods 0.000 description 5
- 230000003287 optical effect Effects 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 239000003814 drug Substances 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 241000251468 Actinopterygii Species 0.000 description 1
- 238000004026 adhesive bonding Methods 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000019771 cognition Effects 0.000 description 1
- 239000000571 coke Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000003745 diagnosis Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 244000144985 peep Species 0.000 description 1
- 238000009738 saturating Methods 0.000 description 1
- 208000008918 voyeurism Diseases 0.000 description 1
Classifications
-
- G—PHYSICS
- G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
- G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
- G03B37/00—Panoramic or wide-screen photography; Photographing extended surfaces, e.g. for surveying; Photographing internal surfaces, e.g. of pipe
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Stereoscopic And Panoramic Photography (AREA)
- Studio Devices (AREA)
- Lenses (AREA)
- Closed-Circuit Television Systems (AREA)
Abstract
The invention discloses a kind of novel semispherical face and side omnidirectional imaging systems.Exterior is transparent outer cover, shell is built-in with from the object side to image side front and back preceding imaging lens group, side imaging lens group and the convex lens arranged respectively, the rear end of transparent outer cover is connected to imaging device, the side of imaging device is equipped with the lighting device for illumination, and imaging device is connect through image processing apparatus with display screen；Preceding imaging lens group includes the first spherical lens, the second spherical lens and the third bull's-eye being coaxially sequentially arranged from object side to image side, and side imaging lens group includes annular incidence surface, toroidal reflective surface, circular reflection surface and round light-emitting surface.Present system has filled up the intrinsic blind area that conventional panoramic looks around lens, realizes the seamless continuous imaging of hemisphere face visual field and the cylindric visual field in 360 degree of side in front of device, adaptability is good, is widely used.
Description
Technical field
The present invention relates to a kind of hemisphere face and side omnidirectional imaging system, realize nearly hemisphere face visual field in front of system and side
The seamless continuous imaging of the 360 degree of cylindric visual fields in side.
Background technology
Panoramic vision refers to that once acquisition is more than the big visual angle complete image of hemisphere visual field, it is to intelligent vehicle, medicine
The application industry for inside peeping the dependence visual information such as diagnosis and mobile robot has very important significance.It is taken the photograph in addition to application is multiple
Camera carries out stitching image, and now widely used panoramic vision cognition technology mainly utilizes Hemispheric panoramic imaging system and flake mirror
First two method, but have various applicable situations and disadvantage.
Traditional Hemispheric panoramic imaging system using flat circle cylindrical projection (Flat Cylinder Perspective,
It FCP), will be in the annular region that the circle cylindrical field of view of 360 degree of optical axis projects to imaging surface.Although such extrawide angle lens can be with
Increase visual angle angle, realizes the real time imagery around 360 degree of visual fields of optical axis, but the round blind area at imaging surface center largely effects on
Visual field integrality.Although can be increased by reducing the circular reflection surface of extrawide angle lens front and changing lens group refraction coefficient
Big imaging visual field, but the two improvement are always subjected to the limitation of the refraction coefficient and technique of existing glass, and can greatly improve
The cost of manufacture of lens.Extrawide angle lens common at present can not still overcome this defect of center blind zone.
Another widely used a wide range of imaging lens are fish eye lens.Although it can increase visual angle when shooting,
The big visual angle in front of camera lens close or equal to hemisphere face visual field is obtained to be imaged, but imaging has inevitable spherical aberration,
It is frequently encountered reflective problem when affecting the final performance of system imaging, and shooting.
Invention content
In view of the above problem, the object of the present invention is to provide a kind of hemisphere faces and side omnidirectional imaging system, it is used
A kind of method of space frequency division multiplexing includes transparent outer cover, preceding imaging lens group, side imaging len successively from the object side to image side
Group, lighting device, imaging device, image processing apparatus and display screen, it is comprehensive to realize front hemisphere face visual field and 360 degree of side model
Enclose captured in real-time imaging function.
The technical solution adopted by the present invention to solve the technical problems is as follows：
The present invention includes imaging device, image processing apparatus and display screen, further include transparent outer cover, preceding imaging lens group,
Side imaging lens group and lighting device, transparent outer cover be built-in with from the object side to image side respectively the front and back preceding imaging lens group arranged,
The rear end of side imaging lens group and convex lens, transparent outer cover is connected to imaging device, and the side of imaging device is equipped with for illuminating
Lighting device, imaging device is connect through image processing apparatus with display screen, between preceding imaging lens group and side imaging lens group
It is combined by way of contiguity or gluing.
The preceding imaging lens group includes the first spherical lens, the second spherical surface being coaxially sequentially arranged from object side to image side
The surface of lens and third bull's-eye, the nearly image side of third bull's-eye is coated with the first filter coating；The light of object side is from successively
Pass through the multi-surface of side imaging lens group saturating after the refraction of the first spherical lens, the second spherical lens and third bull's-eye
On mirror, then imaging surface by convex lens dioptric imaging to imaging device.
First filter coating is only totally reflected wavelength 550nm spectrum below, only allows the light of wavelength 550nm or more
Spectrum penetrates.
The multi-surface lens of the side imaging lens group include annular incidence surface, toroidal reflective surface, circular reflection surface and
Round light-emitting surface, the front circumference that annular incidence surface is located at multi-surface lens enclose and are mutually connected on the preceding imaging len group end
Third bull's-eye edge, the front circumference that toroidal reflective surface is located at multi-surface lens enclose, toroidal reflective surface front edge with
The back edge of annular incidence surface connects, and the inner surface of toroidal reflective surface is coated with the second filter coating, and round light-emitting surface is located at multilist
The back-end central of face lens, and connect with the back edge of toroidal reflective surface, the first filter coating of the preceding imaging lens group
As circular reflection surface；The light of object side is reflected into circular reflection surface again through reflection from the incidence of annular incidence surface, through toroidal reflective surface
It is emitted afterwards from round light-emitting surface, on the imaging surface after outgoing by convex lens dioptric imaging to imaging device.
The light of object side is reflected into circular reflection surface again after reflection from circle from the incidence of annular incidence surface through toroidal reflective surface
Light-emitting surface is emitted, on the imaging surface after outgoing by convex lens dioptric imaging to imaging device.
Second filter coating is only to wavelength 550nm spectral transmissions below.
The lens of different materials combination of the present invention combine fixation by way of glued or contiguity.
The lighting device function positioned at imaging surface rear both sides is illuminated to system, subsequent imaging device pair
The spectrum that preceding imaging lens group is collected into side imaging lens group is imaged, and is converted into electrical signal data and is passed to image
Processing unit.
The image processing apparatus forms entire seamless panorama figure by image rectification and splice program, on a display screen
The shooting imaging of scenery in front hemisphere face visual field and 360 degree of the side cylindric visual field of range is realized in display.
The invention has the advantages that：
Compared with the existing technology, present system has filled up the intrinsic blind area that conventional panoramic looks around lens, realizes device
The seamless continuous imaging of the cylindric visual field of 360 degree of front hemisphere face visual field and side, increases the visual field to the maximum extent.
And the adaptability of the present invention is good, can meet well in duct survey and medicine and the different occasion tests such as peep
It surveys, the application of shooting.
Description of the drawings
Fig. 1 is present system overall schematic.
Fig. 2 is the lens arrangement index path and image of the preceding imaging lens group of nearly object side.
Fig. 3 is the lens arrangement index path and image of the side imaging lens group of nearly image side.
Fig. 4 is the corresponding schematic diagram between imaging surface image, object space visual field and imaging expanded view.
In figure：1, the first spherical lens, the 2, second spherical lens, 3, third bull's-eye, 4, annular incidence surface, 5, ring
Shape reflecting surface, 6, circular reflection surface, 7, round light-emitting surface, 8, convex lens, 9, transparent outer cover, 10, lighting device, 11, imaging dress
It sets, 12, image processing apparatus, 13, display screen, the 14, first filter coating, the 15, second filter coating.
Specific implementation mode
The invention will be further described in the following with reference to the drawings and specific embodiments.
As shown in Figure 1, the present invention include imaging device 11, image processing apparatus 12, display screen 13, transparent outer cover 9, it is preceding at
As lens group, side imaging lens group and lighting device 10, transparent outer cover 9 is built-in with before optical path direction is distinguished from the object side to image side
Preceding imaging lens group, side imaging lens group and the convex lens 8 arranged afterwards, the rear end of transparent outer cover 9 are connected to imaging device 11, at
As the side of device 11 is equipped with the lighting device 10 for illumination, imaging device 11 connects through image processing apparatus 12 and display screen 13
It connects.
The nearly object side section of system is made of transparent outer cover 9 and the preceding imaging lens group being set in shell, such as Fig. 2 institutes
Show, preceding imaging lens group includes the first spherical lens 1, the second spherical lens 2 and being coaxially sequentially arranged from object side to image side
Three bull's-eyes 3, the first spherical lens 1, the second spherical lens 2 and third bull's-eye 3 edge close proximity, it is adjacent
It is equipped with gap between the two, the surface of 3 nearly image side of third bull's-eye is coated with the first filter coating 14；The light of object side is from successively
Side imaging lens group is passed through after the refraction of the first spherical lens 1, the second spherical lens 2 and third bull's-eye 3, then by convex
In 8 dioptric imaging of lens to the imaging surface of imaging device 11.
First filter coating 14 is only totally reflected wavelength 550nm spectrum below, and third bull's-eye 3 is only to wavelength
The spectral transmission of 550nm or more.
As shown in figure 3, the multi-surface lens of side imaging lens group are anti-including annular incidence surface 4, toroidal reflective surface 5, circle
Face 6 and round light-emitting surface 7 are penetrated, the front circumference that annular incidence surface 4 is located at multi-surface lens encloses and is mutually connected on the preceding imaging thoroughly
3 edge of third bull's-eye of microscope group end, the front circumference that toroidal reflective surface 5 is located at multi-surface lens enclose, annular reflection
5 front edge of face connects with the back edge of annular incidence surface 4, and the inner surface of toroidal reflective surface 5 is coated with the second filter coating 15, circle
Shape light-emitting surface 7 is located at the back-end central of multi-surface lens, and connects with the back edge of toroidal reflective surface 5, the preceding imaging
First filter coating 14 of lens group is used as circular reflection surface 6；The light of object side is incident from annular incidence surface 4, anti-through toroidal reflective surface 5
It is mapped to circular reflection surface 6 to be emitted from round light-emitting surface 7 after reflection again, be filled to imaging by 8 dioptric imaging of convex lens after outgoing
It sets on 11 imaging surface.
In the present invention, the multi-surface lens in the imaging lens group of side meet following aspherical formula：
Wherein, z is to be worth as starting point, the axial of vertical optical axis direction using each aspherical intersection point with optical axis, and r is lens surface
Height, c be aspheric vertex of surface curvature, k be quadratic surface coefficient, a2, a4, a6, a8, a10, a12And a14It is aspherical system
Number, ds are high order aspheric surface vertex to bias between coordinate origin.
Preceding imaging lens group realizes that the real time imagery to the nearly hemispherical field of view in front of imaging device, side imaging lens group are real
It is thus of the invention to realize front hemisphere face visual field and side now to the Scenery Imaging in the cylindric visual field in 360 degree of imaging system side
360 degree of face range captured in real-time imaging function.
Specific embodiments of the present invention and its implementation process are as follows：
1) it is positioned over as shown in Figure 1, preceding imaging lens group is connect with side imaging lens group in a manner of touching or is glued
In bright shell, horizontal median axis alignment installs lighting device and imaging device in imaging surface, and with image processing apparatus and display
Screen is sequentially connected.The present embodiment proposes the relevant parameter of lens used, to allow a technician to clearly know that this is
The advantages of system.Wherein α=180 °, β=40 °, specific lens parameter such as following table：
Imaging lens group lens arrangement parameter before table 1
Multi-surface lens asphericity coefficient in 2 side imaging lens group of table
2) as shown in Fig. 2, for by it is representated by 2 β, around horizontal median axis be rotated by 360 ° within angle of taper range
Interior light, the first spherical lens, the second spherical lens and third circle for passing through the preceding imaging lens group of nearly object side successively are convex
The refraction of lens is converged, and spectrum of the medium wavelength more than 550nm can pass through filter coating A, by side imaging lens group in imaging surface
Focal imaging forms the circular image (being dark circular portion) at imaging surface center.
3) as shown in figure 3, for the angles α two sides around horizontal median axis be rotated by 360 ° within imaging light, medium wave
The long spectrum less than 550nm can pass through filter coating B, be entered by the annular incidence surface 4 of side imaging lens group, warp and toroidal reflective surface
It after 5 reflections, then is totally reflected by circular reflection surface 6, transmits and go out from round light-emitting surface 7, last convex lens 8 gathers the formed virtual image
Coke forms annulus (being light ring part) in imaging surface.
4) not in process 2) and 3) description angle in spectrum do not enter in this imaging system, be refracted or reflected from
It opens, is not involved in imaging.
5) lighting device for being located at imaging surface rear both sides illuminates system.Imaging device acquires the optics of imaging surface
Image, and be converted into electrical signal data and be passed to image processing apparatus.
6) by image rectification and splice program in image processing apparatus, by the nearly hemispherical field of view in front and side cylinder
The image mosaic of shape visual field forms entire seamless panorama figure, then transfers data to display screen and is shown.Imaging surface institute at
Hemisphere face visual field, the correspondence of lateral cylindrical shape visual field and object space and imaging exhibition in front of the device of image and object space
The correspondence opened between figure is as shown in Figure 4.
By embodiment as it can be seen that its obvious technical effects of the invention protrude, front hemisphere face visual field is realized to the maximum extent
With the seamless continuous imaging of the cylindric visual field in 360 degree of side, the visual field is increased, and has filled up the intrinsic blind of conventional panoramic imaging
Area has good application prospect.
Claims (4)
1. a kind of hemisphere face and side omnidirectional imaging system, including imaging device (11), image processing apparatus (12) and display screen
(13), it is characterised in that：Further include transparent outer cover (9), preceding imaging lens group, side imaging lens group and lighting device (10), thoroughly
Bright shell (9) is built-in with from the object side to image side front and back preceding imaging lens group, side imaging lens group and the convex lens arranged respectively
(8), side imaging lens group is one piece of lens with multi-surface, and the rear end of transparent outer cover (9) is connected to imaging device (11), at
The side of picture device (11) is equipped with the lighting device (10) for illumination, and imaging device (11) is through image processing apparatus (12) and shows
Display screen (13) connects；
The preceding imaging lens group includes the first spherical lens (1), the second spherical surface being coaxially sequentially arranged from object side to image side
The surface of lens (2) and third bull's-eye (3), the nearly image side of third bull's-eye (3) is coated with the first filter coating (14)；Object
The light of side is from successively after the refraction of the first spherical lens (1), the second spherical lens (2) and third bull's-eye (3) across side
On the multi-surface lens of imaging lens group, then imaging surface by convex lens (8) dioptric imaging to imaging device (11).
2. a kind of hemisphere face according to claim 1 and side omnidirectional imaging system, it is characterised in that：First filter
Light film (14) is only totally reflected wavelength 550nm spectrum below, and third bull's-eye (3) is made only to allow wavelength 550nm
Above spectral transmission.
3. a kind of hemisphere face according to claim 1 and side omnidirectional imaging system, it is characterised in that：The side imaging
The multi-surface lens of lens group include annular incidence surface (4), toroidal reflective surface (5), circular reflection surface (6) and round light-emitting surface
(7), the front circumference that annular incidence surface (4) is located at multi-surface lens encloses and is mutually connected on the third of the preceding imaging len group end
Bull's-eye (3) edge, the front circumference that toroidal reflective surface (5) is located at multi-surface lens enclose, toroidal reflective surface (5) front end edge
Edge connects with the back edge of annular incidence surface (4), and the inner surface of toroidal reflective surface (5) is coated with the second filter coating (15), round
Light-emitting surface (7) is located at the back-end central of multi-surface lens, and connects with the back edge of toroidal reflective surface (5), it is described it is preceding at
As the first filter coating (14) of lens group is used as circular reflection surface (6)；The light of object side is from annular incidence surface (4) incidence, through annular
Reflecting surface (5) is reflected into circular reflection surface (6) and is emitted after reflection from round light-emitting surface (7) again, passes through convex lens (8) after outgoing
In dioptric imaging to the imaging surface of imaging device (11).
4. a kind of hemisphere face according to claim 3 and side omnidirectional imaging system, it is characterised in that：Second filter
Light film (15) is only to wavelength 550nm spectral transmissions below.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610246822.7A CN105824184B (en) | 2016-04-18 | 2016-04-18 | A kind of hemisphere face and side omnidirectional imaging system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610246822.7A CN105824184B (en) | 2016-04-18 | 2016-04-18 | A kind of hemisphere face and side omnidirectional imaging system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105824184A CN105824184A (en) | 2016-08-03 |
| CN105824184B true CN105824184B (en) | 2018-10-30 |
Family
ID=56526264
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610246822.7A Expired - Fee Related CN105824184B (en) | 2016-04-18 | 2016-04-18 | A kind of hemisphere face and side omnidirectional imaging system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105824184B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11782256B2 (en) * | 2016-09-21 | 2023-10-10 | Omnivision Technologies, Inc. | Endoscope imager and associated method |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1558262A (en) * | 2004-01-12 | 2004-12-29 | 浙江大学 | Annular panoramic gaze imaging method for large viewing field with 180 degree |
| JP4884085B2 (en) * | 2006-06-09 | 2012-02-22 | オリンパス株式会社 | Optical system |
| CN101414054B (en) * | 2008-11-21 | 2010-12-15 | 浙江大学 | Device and method for implementing stereo imaging by overall view ring belt imaging lens |
| EP2800990A1 (en) * | 2012-01-03 | 2014-11-12 | Pan-Vision S.r.l. | Objective lens with hyper-hemispheric field of view |
| CN103297668A (en) * | 2012-02-29 | 2013-09-11 | 深圳市振华微电子有限公司 | Panoramic video image recording system and method |
| CN103197404A (en) * | 2013-04-02 | 2013-07-10 | 浙江大学 | Infrared panorama imaging system and method thereof |
| CN104181675B (en) * | 2014-07-18 | 2017-01-11 | 浙江大学 | Dead-zone-free panoramic annular-band imaging system using optical thin film to realize refraction and reflection |
| CN105491353B (en) * | 2016-01-15 | 2018-12-18 | 广东小天才科技有限公司 | A kind of long-distance monitoring method and device |
-
2016
- 2016-04-18 CN CN201610246822.7A patent/CN105824184B/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CN105824184A (en) | 2016-08-03 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102798903B (en) | Optical element, optical system, and endoscope using same | |
| US2683394A (en) | Wide aperture optical projection lens system | |
| CN206348502U (en) | Optical system | |
| CN101414054B (en) | Device and method for implementing stereo imaging by overall view ring belt imaging lens | |
| CN105892048A (en) | Large-view-field imaging device based on prism-fiber coupling | |
| US7362516B2 (en) | Optical lens providing omni-directional coverage and illumination | |
| CA2555214A1 (en) | Integrated panoramic and forward optical device, system and method for omnidirectional signal processing | |
| KR20070011254A (en) | Solid catadioptric lens with a single viewpoint | |
| CN110824669B (en) | 8K high-resolution panoramic annular optical lens | |
| JP2000515704A (en) | Wide angle image forming system and method | |
| CA2863308A1 (en) | Panoramic optical systems | |
| CN103969800B (en) | Long-focus type panoramic annular imaging lens | |
| CN209417403U (en) | A kind of big target surface ultra-wide angle device | |
| CN116386520B (en) | Spherical inner display screen correction method and device, electronic equipment and storage medium | |
| CN102928962A (en) | Double-concave double-reflection type omnidirectional annular view filed imaging lens | |
| CN102609152B (en) | Large-field-angle detection image acquisition method for electronic white board and device | |
| CN110376725B (en) | Fisheye lens system | |
| JP2006209041A (en) | Panorama lens | |
| CN105824184B (en) | A kind of hemisphere face and side omnidirectional imaging system | |
| CN111751914B (en) | Common-caliber infrared free-form surface prism optical system with double wave bands and double view fields | |
| CN206235771U (en) | Panoramic looking-around pick-up lens | |
| CN108333728A (en) | A kind of high image quality ultra-wide angle mobile lens | |
| KR101051169B1 (en) | Wide angle lense system | |
| CN111751964A (en) | Double-view-field panoramic annular belt imaging device based on aspherical mirror | |
| CN207336913U (en) | Omnidirectional imaging system and electronic equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20181030 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |