CN101349799A - Wide dynamic omnidirection vision sensor - Google Patents

Abstract

A wide dynamic omni-directional vision sensor comprises a transparent shell, a wide dynamic CMOS camera unit, a one-time reflection and refraction mirror surface, a two-time reflection and refraction mirror surface and a wide angle lens, wherein the transparent shell is semispherical, comprising a top surface and an arc bottom surface, the one-time reflection and refraction mirror surface is provided at the center of the top surface of the transparent shell, the two-time reflection and refraction mirror surface is provided at the center of the arc bottom surface, the wide dynamic CMOS camera unit is provided at the view point above the one-time reflection and refraction mirror surface, the center of the one-time reflection and refraction mirror surface is provided with a first hole, the center of the two-time reflection and refraction mirror surface is provided with a second hole, the wide angle lens is provided in the second hole, the central axis of the wide dynamic CMOS camera unit, the wide angle lens, the one-time reflection and refraction mirror surface and the two-time reflection and refraction mirror surface are arranged on one axis line. At the cross part of dark and bright, the wide dynamic omni-directional vision sensor can clearly shoot omni-directional video images in the indoor and outdoor scenes of significant contrast without dead angles.

Description

Wide dynamic omnidirection vision sensor

Technical field

The present invention relates to optical technology, full-view video image acquisition technique and the application of wide dynamic CMOS sensitive chip technology aspect video monitoring equipment, mainly be applicable to various video monitoring equipments aspect.

Background technology

The omnibearing vision sensor ODVS that developed recently gets up (OmniDirectional Vision Sensors) provide a kind of new solution for the omnidirectional images that obtains scene.The characteristics of ODVS are looking away (360 degree), can become piece image to the Information Compression in the hemisphere visual field, and the quantity of information of piece image is bigger; This ODVS picture pick-up device can be at the comprehensive all situations that photographs in the hemisphere visual field.Can become piece image to the Information Compression in the hemisphere visual field, the quantity of information of piece image is bigger.

In the application process of rig camera, especially adopt ODVS when obtaining full-view video image, the scene of light and shade contrast than big or backlight appears through regular meeting.For security consideration, ODVS is installed in the indoor and outdoor scene that needs monitoring, because at same position, ODVS obtains full-view video image to tend to face multiple lighting condition, a lot of local lighting conditions are divided into daylight and artificially lighting mixed light, and it is very big the light and shade contrast to occur under the different periods, situation such as backlight, as in the savings department of a bank, gateway, important place etc., because all may at that time the catching of indoor and outdoor scene cause difficulty from the soft light of the high light injected and the fluorescent lamp from the ceiling outside window, the very big indoor and outdoor scene of contrast clearly is filmed simultaneously.Yet for security personnel's industry, require under the light condition of complexity, to shoot clear picture, do not lose any details.Its main cause is present ODVS owing to limited by the CCD sensitometric characteristic, and background can appear in photographic images, and to cross bright prospect dark excessively, or the clear prospect of background is crossed dark and the suitable bright excessively situation of background of prospect.

Summary of the invention

In order to overcome existing existing omnibearing vision sensor when the bright and dark light infall, the deficiency of video image can not clearly pan in the very big indoor and outdoor scene of contrast simultaneously, the invention provides a kind of when the bright and dark light infall, the wide dynamic omnidirection vision sensor of the video image that can in the very big indoor and outdoor scene of contrast, clearly pan.

The technical solution adopted for the present invention to solve the technical problems is:

A kind of wide dynamic omnidirection vision sensor, comprise transparent housing, wide dynamic CMOS image unit, a catadioptric minute surface, secondary catadioptric minute surface and wide-angle lens, described transparent housing is semisphere, described transparent housing comprises end face and circular-arc bottom face, a described catadioptric minute surface is installed in the end face middle part of transparent housing, described secondary catadioptric minute surface is installed in described circular-arc bottom face central authorities, described wide dynamic CMOS image unit is located at the viewpoint place of the top of a described catadioptric minute surface, and the middle part of a described catadioptric minute surface is provided with first aperture of taking a video information below the catadioptric minute surface for wide dynamic CMOS image unit; The middle part of described secondary catadioptric minute surface is provided with second aperture, and described wide-angle lens is installed in described second aperture; The central shaft arrangement of the camera lens of wide dynamic CMOS image unit, wide-angle lens, catadioptric mirror and secondary catadioptric mirror is on same axial line.

As preferred a kind of scheme: the design of described catadioptric minute surface curve is as follows: the incident light V1 of a light source point P on the space is at principal reflection minute surface P1 (t ₁, F ₁) reflect on the point, reflected light V2 reflexes to secondary reflection minute surface P2 (t ₂, F ₂) reflect again on the point, reflected light V3 enters the camera lens of wide dynamic CMOS image unit, imaging on wide dynamic CMOS image unit with angle θ 1;

According to image-forming principle, the angle of incident ray V1 and catadioptric main shaft Z is Φ, and the angle of primary event light V2 and catadioptric main shaft Z is θ 2, crosses P1 point (t ₁, F ₁) tangent line and the angle of t axle be σ, normal N 1 is ε with the angle of Z axle; The angle of secondary reflection light V3 and catadioptric main shaft Z is θ 1, crosses P2 point (t ₂, F ₂) tangent line and the angle of t axle be σ 1, normal N 2 is ε 1 with the angle of Z axle, obtains formula (1) based on above-mentioned relation:

Wherein:

$\tan \mathrm{\&phi;}=\frac{t_1}{F_1(t_1-s)},\tan {\mathrm{\&theta;}}_2=\frac{t_1-t_2}{F_2-{\mathrm{<figure-callout\; id="1"\; label="F"\; filenames="A20081012045900181.png,A20081012045900182.png"\; state="\{\{state\}\}">F</figure-callout>}}_1},\tan {\mathrm{\&theta;}}_1=\frac{t_2}{{\mathrm{<figure-callout\; id="2"\; label="F"\; filenames="A20081012045900181.png,A20081012045900192.png"\; state="\{\{state\}\}">F</figure-callout>}}_2}$

In the formula, F ₁Be a catadioptric minute surface curve, F ₂Be secondary catadioptric minute surface curve, s is the viewpoint of omnibearing vision sensor;

Utilize triangle relation and simplify arrangement, obtain formula (2), (3):

${\mathrm{<figure-callout\; id="1"\; label="F"\; filenames="A20081012045900181.png,A20081012045900182.png"\; state="\{\{state\}\}">F</figure-callout>}}_1^{\&prime;2}-2\mathrm{\&alpha;}{\mathrm{<figure-callout\; id="1"\; label="F"\; filenames="A20081012045900181.png,A20081012045900182.png"\; state="\{\{state\}\}">F</figure-callout>}}_1^{\&prime;}-1=0---\left(2\right)$

${\mathrm{<figure-callout\; id="2"\; label="F"\; filenames="A20081012045900181.png,A20081012045900192.png"\; state="\{\{state\}\}">F</figure-callout>}}_2^{\&prime;2}-2\mathrm{\&beta;}{\mathrm{<figure-callout\; id="2"\; label="F"\; filenames="A20081012045900181.png,A20081012045900192.png"\; state="\{\{state\}\}">F</figure-callout>}}_2^{\&prime;}-1=0---\left(3\right)$

In the following formula,

$\mathrm{\&sigma;}=\frac{(F_1-s)(F_2-F_1)-t_1(t_1-t_2)}{t_1(F_2-F_1)-(t_1-t_2)(F_1-s)}$

$\mathrm{\&beta;}=\frac{t_2(t_1-t_2)+F_2(F_2-F_1)}{t_2(F_2-F_1)-F_2(t_1-t_2)}$

Solution formula (2), (3) can obtain formula (4), (5);

${\mathrm{<figure-callout\; id="1"\; label="F"\; filenames="A20081012045900181.png,A20081012045900182.png"\; state="\{\{state\}\}">F</figure-callout>}}_1^{\&prime;}=\mathrm{\&alpha;}\&PlusMinus;\sqrt{{\mathrm{\&alpha;}}^2+1}---\left(4\right)$

${\mathrm{<figure-callout\; id="2"\; label="F"\; filenames="A20081012045900181.png,A20081012045900192.png"\; state="\{\{state\}\}">F</figure-callout>}}_2^{\&prime;}=\mathrm{\&beta;}\&PlusMinus;\sqrt{{\mathrm{\&beta;}}^2+1}---\left(5\right)$

In the formula: F ' ₁Be F ₁The differential of curve, F ' ₂Be F ₂The differential of curve;

Have certain linear relationship in order to make between point on the imaging plane and the incident angle, to set up exactly a kind of pixel P to the Z wheelbase from and incident angle φ between linear relationship, represent with formula (6),

φ＝a ₀*P+b ₀ (6)

In the formula: a ₀, b ₀Be arbitrary parameter,

As f, P is the distance of pixel to the Z axle, the reflection spot P2 (t on the secondary reflection minute surface with the focal length of image unit ₂, F ₂).Then according to image-forming principle, P can be represented by formula (7):

$P=f*\frac{t_2}{F_2}---\left(7\right)$

With formula (7) substitution formula (6), can get formula (8),

$\mathrm{\&phi;}=a_0*(f*\frac{t_2}{F_2})+b_0---\left(8\right)$

The minute surface curve design that satisfies formula (8) meets the average angle resolution requirement;

Can use formula (9) expression according to catadioptric principle formula (8),

${\tan }^{-1}\left(\frac{t_1}{F_1-s}\right)=a_0*(f*\frac{t_2}{F_2})+b_0---\left(9\right)$

To formula (2), (3), (9), ask F then by 4 rank Runge-Kutta algorithms ₁And F ₂Digital solution, catadioptric minute surface that calculates and secondary catadioptric minute surface curve.

As preferred another kind of scheme: by the circular hole imaging between wide-angle lens and wide dynamic image unit camera lens on catadioptric mirror, be called first imaging point, with the focal length of wide dynamic image unit camera lens as f, the focal length of wide-angle lens is as f2, the distance of the focus of wide dynamic image unit camera lens and wide dynamic image unit is as S1, leniently dynamically the image unit camera lens to the focal length of first imaging point as S2, distance from wide-angle lens to first imaging point is as S3, the distance of point can obtain following relational expression as S4 according to the imaging formula of camera lens from the wide-angle lens to the material object:

$\frac{1}{f}=\frac{1}{\mathrm{<figure-callout\; id="1"\; label="S"\; filenames="A20081012045900181.png,A20081012045900182.png"\; state="\{\{state\}\}">S</figure-callout>}1}+\frac{1}{S2}---\left(10\right)$

$\frac{1}{\mathrm{<figure-callout\; id="2"\; label="f"\; filenames="A20081012045900181.png,A20081012045900192.png"\; state="\{\{state\}\}">f</figure-callout>}2}=\frac{1}{\mathrm{<figure-callout\; id="3"\; label="S"\; filenames="A20081012045900181.png"\; state="\{\{state\}\}">S</figure-callout>}3}+\frac{1}{S4}---\left(11\right)$

d＝S2+S3 (12)

Make formula (12) establishment condition: the place configuration wide-angle lens that the wide dynamic image unit distance of camera lens behind the distance first catadioptric minute surface is d, wide-angle lens is configured on the position of the second catadioptric minute surface, therefore will be between wide dynamic image unit camera lens and the wide-angle lens apart from d as a constraint condition, satisfy the requirement of formula (12) by the focal length f2 that designs wide-angle lens;

Wide dynamic image unit camera lens and wide-angle lens are considered as a compound lens its focal distance f 3 is represented by following formula:

$\frac{1}{f3}=\frac{(f+f2-d)}{f*f2}---\left(13\right)$

In addition, as D, its enlargement factor is represented by following formula with the diameter of process shot:

$n=\frac{D}{f3}---\left(14\right)$

For the visual field of process shot and the dead angle part of ODVS are matched, when the design process shot, satisfy following formula:

$n=\frac{D}{\mathrm{<figure-callout\; id="3"\; label="f"\; filenames="A20081012045900181.png"\; state="\{\{state\}\}">f</figure-callout>}3}=\frac{F_2\min -s}{2F_2\max }---\left(15\right)$

In the formula, F ₂F when max is the maximum angle of secondary reflection light V3 and catadioptric main shaft Z ₂Value, F ₂F when min is the minimum angle of secondary reflection light V3 and catadioptric main shaft Z ₂Value, s is the viewpoint of omnibearing vision sensor.

Further, the sensor devices of described wide dynamic image unit adopts with wide dynamic CMOS sensitive chip.

Technical conceive of the present invention is: a kind of wide Dynamic OD VS solution is provided, the DPS imaging technique of Pixim is integrated among the ODVS, make the wide Dynamic OD VS after integrated have excellent wide dynamic effect, real colour reduction and high definition, especially change the full-view video image that complex environment is taken at bright and dark light than the ODVS that adopts CCD.

Wide dynamic CMOS image device is different with the CCD image device, this mainly is a DPS platform, by in an optimization system, picture catching and processing are combined, put it briefly, the invention of the core of DPS technology be each pixel when catching image with the light signal conversion digital signal---by analog to digital conversion ADC (analog-to-digital converter), make signal attenuation and chrominance luminace crosstalk drop to minimum like this, make sensor provide best for each pixel, exposure frequency independently, in case data are hunted down with digital form, diversified Digital Signal Processing is used to reproduce best image.Even the high dynamic range scene under the condition of extreme illumination can both be taken the image of the accurate low noise ripple of reduction; In an independent capture video images, each pixel in the wide dynamic CMOS image device does not have devastatingly repeatedly sampling independently; Best sample time of imaging system decision and storage pixel information are before pixel is saturated, and the outer electric charge of retention no longer.Wide dynamic CMOS image device is passed by digital imagery answers device and two parts of Digital Image Processor to form, and the digital imagery biography is answered device and Digital Image Processor eyes and the brain the spitting image of the people, and two-way real-time, interactive is caught the image of possible E.B.B..Just as the people has come into dark house, brain commander people's eye pupil removes to seek light, and Digital Image Processor is written into new coding and enters sensor and not only change the time shutter but also change real image and catch computing method.The result is under special picture characteristics and bright condition, obtains optimized image.

Each pixel and a digital-to-analog conversion match, so the high light pixel reduced exposing quantity, and low light pixel increases exposing quantity on the contrary.These characteristics have crucial meaning for the ODVS that will obtain full-view video image; This is because a ccd sensor can be regulated bright scape and dark scape, but can not regulate two brightness simultaneously.Because what adopt is ccd sensor, when we are installed in original ODVS when indoor, the exposure effect that obtains is good, can more clearly obtain indoor full-view video image in original ODVS; And when we move to the juncture area of indoor and outdoor with ODVS, ODVS just can not well work, and overexposure has appearred in outdoor scene, can not capture anything of outdoor.In outdoor application also similar problem can appear, constantly changing such as irradiation of sunlight, ODVS just can not well work when the sunlight oblique fire is to ODVS, overexposure occurred by a sunlit side, shows as a slice of vast expanse of whiteness during imaging.On the contrary, the bright object of prospect will be submerged in the dark object of background.All things at dash area have become black.This situation appears at safety-security area, if questionable person's thing is hided under shade, you just can not discern it.If the loss in detail in the scene of strong illumination just may lose valuable clue.Will occur a kind of fearful situation when some undesirable knows the video monitoring apparatus installation site, as long as with torch optical registration supervising device, at this moment video monitoring apparatus almost is in disarmed state in night.Above-mentioned situation has illustrated the present weakness of CCD imaging technique aspect environmental suitability.

Human eyes have automatic regulatory function under different illumination conditions, be suitable for continually varying light, can see ideal image.When eyes see that a width of cloth comprises the scene of light and half-light, can reduce susceptibility to the high light zone, increase susceptibility to the details of dark object and dash area.Wide Dynamic OD VS adopts a kind of new cmos sensor technology, although the prospect that guaranteed is under the condition of high light, the dash area object is still high-visible; The object in high light zone can not disappear yet.

Beneficial effect of the present invention mainly shows: when the bright and dark light infall, video image can clearly pan in the very big indoor and outdoor scene of contrast.

Description of drawings

Fig. 1 is the wide dynamic omnidirection vision sensor structural drawing;

Fig. 2 is the light path explanation synoptic diagram with twice catadioptric omnibearing vision sensor;

Fig. 3 is the digital solution of catadioptric minute surface curve;

Fig. 4 is the position relation of wide dynamic image unit camera lens and wide-angle lens;

Fig. 5 is a wide dynamic range scene image-forming principle.

Embodiment

Below in conjunction with accompanying drawing the present invention is further described.

With reference to Fig. 1～Fig. 5, a kind of wide dynamic omnidirection vision sensor, comprise transparent housing 2, wide dynamic CMOS image unit 1, a catadioptric minute surface 5, secondary catadioptric minute surface 4 and wide-angle lens 3, described transparent housing 2 is semisphere, described transparent housing 2 comprises end face and circular-arc bottom face, a described catadioptric minute surface 5 is installed in the end face middle part of transparent housing 2, described secondary catadioptric minute surface 4 is installed in described circular-arc bottom face central authorities, described wide dynamic CMOS image unit 1 is located at the viewpoint place of the top of a described catadioptric minute surface 5, and the middle part of a described catadioptric minute surface 5 is provided with first aperture of taking a video information below the catadioptric minute surface for wide dynamic CMOS image unit; The middle part of described secondary catadioptric minute surface 4 is provided with second aperture, and described wide-angle lens 3 is installed in described second aperture; The central shaft arrangement of the camera lens 1 of wide dynamic CMOS image unit, wide-angle lens 3, catadioptric mirror 5 and secondary catadioptric mirror 4 is on same axial line.

The ODVS of all object points that present embodiment design energy real-time perception hemisphere face is above, wide dynamic CMOS image unit 1 is placed in the back of a catadioptric minute surface 5, the camera lens of wide dynamic CMOS image unit 1 is placed in the viewpoint place of a catadioptric minute surface 5, an aperture is left in the centre of a catadioptric minute surface 5, and wide dynamic CMOS image unit 1 can photograph the video information of catadioptric minute surface 5 fronts by aperture; Former configuration at a catadioptric minute surface 5 has a secondary catadioptric minute surface 4, and an aperture is left at the middle part of secondary catadioptric minute surface 4, embeds a wide-angle lens 3 in this aperture; Comprehensive video information after secondary catadioptric minute surface 4 carries out the secondary catadioptric, is passed through aperture imaging in wide dynamic CMOS image unit 1 of a catadioptric minute surface 5 catadioptric minute surface 5 catadioptrics then; Material object in catadioptric minute surface 5 dead aheads passes through wide-angle lens 3 imaging between wide-angle lens and image unit camera lens in addition, be called first imaging point, the aperture of this imaging point by a catadioptric minute surface in the imaging of focus place, eliminated dead angle part in secondary catadioptric minute surface back by the ODVS after such design at the image unit camera lens;

In the design of catadioptric minute surface curve, as shown in Figure 2, the incident light V1 of a light source point P on the space is at principal reflection minute surface P1 (t ₁, F ₁) reflect on the point, reflected light V2 reflexes to secondary reflection minute surface P2 (t ₂, F ₂) reflect again on the point, reflected light V3 enters the camera lens of wide dynamic CMOS image unit, imaging on wide dynamic CMOS image unit with angle θ 1;

According to image-forming principle, the angle of incident ray V1 and catadioptric main shaft Z is Φ, and the angle of primary event light V2 and catadioptric main shaft Z is θ 2, crosses P1 point (t ₁, F ₁) tangent line and the angle of t axle be σ, normal N 1 is ε with the angle of Z axle; The angle of secondary reflection light V3 and catadioptric main shaft Z is θ 1, crosses P2 point (t ₂, F ₂) tangent line and the angle of t axle be σ 1, normal N 2 is ε 1 with the angle of Z axle, obtains formula (1) based on above-mentioned relation:

Wherein:

$\tan \mathrm{\&phi;}=\frac{t_1}{F_1(t_1-s)},\tan {\mathrm{\&theta;}}_2=\frac{t_1-t_2}{F_2-{\mathrm{<figure-callout\; id="1"\; label="F"\; filenames="A20081012045900181.png,A20081012045900182.png"\; state="\{\{state\}\}">F</figure-callout>}}_1},\tan {\mathrm{\&theta;}}_1=\frac{t_2}{{\mathrm{<figure-callout\; id="2"\; label="F"\; filenames="A20081012045900181.png,A20081012045900192.png"\; state="\{\{state\}\}">F</figure-callout>}}_2}$

In the formula, F ₁Be a catadioptric minute surface curve, F ₂Be secondary catadioptric minute surface curve, s is the viewpoint of omnibearing vision sensor;

Utilize triangle relation and simplify arrangement, obtain formula (2), (3):

${\mathrm{<figure-callout\; id="1"\; label="F"\; filenames="A20081012045900181.png,A20081012045900182.png"\; state="\{\{state\}\}">F</figure-callout>}}_1^{\&prime;2}-2\mathrm{\&alpha;}{\mathrm{<figure-callout\; id="1"\; label="F"\; filenames="A20081012045900181.png,A20081012045900182.png"\; state="\{\{state\}\}">F</figure-callout>}}_1^{\&prime;}-1=0---\left(2\right)$

${\mathrm{<figure-callout\; id="2"\; label="F"\; filenames="A20081012045900181.png,A20081012045900192.png"\; state="\{\{state\}\}">F</figure-callout>}}_2^{\&prime;2}-2\mathrm{\&beta;}{\mathrm{<figure-callout\; id="2"\; label="F"\; filenames="A20081012045900181.png,A20081012045900192.png"\; state="\{\{state\}\}">F</figure-callout>}}_2^{\&prime;}-1=0---\left(3\right)$

In the following formula,

$\mathrm{\&sigma;}=\frac{(F_1-s)(F_2-F_1)-t_1(t_1-t_2)}{t_1(F_2-F_1)-(t_1-t_2)(F_1-s)}$

$\mathrm{\&beta;}=\frac{t_2(t_1-t_2)+F_2(F_2-F_1)}{t_2(F_2-F_1)-F_2(t_1-t_2)}$

Solution formula (2), (3) can obtain formula (4), (5);

${\mathrm{<figure-callout\; id="1"\; label="F"\; filenames="A20081012045900181.png,A20081012045900182.png"\; state="\{\{state\}\}">F</figure-callout>}}_1^{\&prime;}=\mathrm{\&alpha;}\&PlusMinus;\sqrt{{\mathrm{\&alpha;}}^2+1}---\left(4\right)$

${\mathrm{<figure-callout\; id="2"\; label="F"\; filenames="A20081012045900181.png,A20081012045900192.png"\; state="\{\{state\}\}">F</figure-callout>}}_2^{\&prime;}=\mathrm{\&beta;}\&PlusMinus;\sqrt{{\mathrm{\&beta;}}^2+1}---\left(5\right)$

In the formula: F ₁' be F ₁The differential of curve, F ₂' be F ₂The differential of curve;

Have certain linear relationship in order to make between point on the imaging plane and the incident angle, to set up exactly a kind of pixel P to the Z wheelbase from and incident angle φ between linear relationship, represent with formula (6),

φ＝a ₀*P+b ₀ (6)

In the formula: a ₀, b ₀Be arbitrary parameter,

As f, P is the distance of pixel to the Z axle, the reflection spot P2 (t on the secondary reflection minute surface with the focal length of image unit ₂, F ₂).Then according to image-forming principle, P can be represented by formula (7):

$P=f*\frac{t_2}{F_2}---\left(7\right)$

With formula (7) substitution formula (6), can get formula (8),

$\mathrm{\&phi;}=a_0*(f*\frac{t_2}{F_2})+b_0---\left(8\right)$

The minute surface curve design that satisfies formula (8) meets the average angle resolution requirement;

Can use formula (9) expression according to catadioptric principle formula (8),

${\tan }^{-1}\left(\frac{t_1}{F_1-s}\right)=a_0*(f*\frac{t_2}{F_2})+b_0---\left(9\right)$

To formula (2), (3), (9), ask F then by 4 rank Runge-Kutta algorithms ₁And F ₂Digital solution, the catadioptric minute surface and the secondary catadioptric minute surface curve that calculate like this just can be realized average angle resolution; Accompanying drawing 3 is to utilize 4 rank Runge-Kutta algorithms to ask F ₁And F ₂The figure of digital solution;

By the design of above-mentioned ODVS, from the viewpoint of ODVS, owing to the video information of being blocked secondary catadioptric minute surface back by secondary catadioptric minute surface is sightless; In order to obtain the video information of secondary catadioptric minute surface back, offered a circular hole in the centre of secondary catadioptric minute surface herein, be embedded in a wide-angle lens at this circular hole, this wide-angle lens and camera head lens are combined into a compound lens, as shown in Figure 1; Accompanying drawing 4 is location diagrams of camera head lens and wide-angle lens;

In accompanying drawing 4 wide-angle lens is configured on the secondary catadioptric minute surface in a catadioptric mirror the place ahead, the central shaft arrangement of wide dynamic image unit camera lens, wide-angle lens, catadioptric mirror and secondary catadioptric mirror is on same axial line; Circular hole imaging between wide-angle lens and wide dynamic image unit camera lens by on catadioptric mirror is called first imaging point, this imaging point by wide dynamic image unit camera lens in the imaging of viewpoint place.Here with the focal length of wide dynamic image unit camera lens as the focal length of f, wide-angle lens as the distance of the focus of f2, wide dynamic image unit camera lens and wide dynamic image unit as S1, leniently dynamically the image unit camera lens to the focal length of first imaging point as S2, distance from wide-angle lens to first imaging point as S3, the distance of point can obtain following relational expression as S4 according to the imaging formula of camera lens from the wide-angle lens to the material object:

$\frac{1}{f}=\frac{1}{\mathrm{<figure-callout\; id="1"\; label="S"\; filenames="A20081012045900181.png,A20081012045900182.png"\; state="\{\{state\}\}">S</figure-callout>}1}+\frac{1}{S2}---\left(10\right)$

$\frac{1}{\mathrm{<figure-callout\; id="2"\; label="f"\; filenames="A20081012045900181.png,A20081012045900192.png"\; state="\{\{state\}\}">f</figure-callout>}2}=\frac{1}{\mathrm{<figure-callout\; id="3"\; label="S"\; filenames="A20081012045900181.png"\; state="\{\{state\}\}">S</figure-callout>}3}+\frac{1}{S4}---\left(11\right)$

d＝S2+S3 (12)

Formula (12) is set up, and the place configuration wide-angle lens that is d of the wide dynamic image unit distance of camera lens behind the first catadioptric minute surface of the distance in accompanying drawing 3 just just can obtain in the accompanying drawing 4 wide-angle image shown in the middle part of the image; Be that wide-angle lens is configured on the position of the second catadioptric minute surface among the present invention, therefore will be between wide dynamic image unit camera lens and the wide-angle lens apart from d as a constraint condition, have only focal length f2 to satisfy the requirement of formula (12) by designing wide-angle lens.

For in the accompanying drawing 4 wide dynamic image unit camera lens and wide-angle lens being considered that as a compound lens its focal distance f 3 can be represented by following formula:

$\frac{1}{\mathrm{<figure-callout\; id="3"\; label="f"\; filenames="A20081012045900181.png"\; state="\{\{state\}\}">f</figure-callout>}3}=\frac{(f+f2-d)}{f*f2}---\left(13\right)$

In addition, as D, its enlargement factor can be represented by following formula with the diameter of process shot:

$n=\frac{D}{f3}---\left(14\right)$

For the visual field of process shot and the dead angle part of ODVS are matched, when the design process shot, need satisfy following formula:

$n=\frac{\mathrm{<figure-callout\; id="3"\; label="D\; f"\; filenames="A20081012045900181.png"\; state="\{\{state\}\}">D</figure-callout>}}{f}=\frac{{\mathrm{<figure-callout\; id="2"\; label="F"\; filenames="A20081012045900181.png,A20081012045900192.png"\; state="\{\{state\}\}">F</figure-callout>}}_2\min -s}{2{\mathrm{<figure-callout\; id="2"\; label="F"\; filenames="A20081012045900181.png,A20081012045900192.png"\; state="\{\{state\}\}">F</figure-callout>}}_2\max }---\left(15\right)$

In the formula, F ₂F when max is the maximum angle of secondary reflection light V3 and catadioptric main shaft Z ₂Value, F ₂F when min is the minimum angle of secondary reflection light V3 and catadioptric main shaft Z ₂Value, s is the viewpoint of omnibearing vision sensor;

Select for use wide dynamic CMOS device and imaging len to constitute wide dynamic image unit in the design, according to F ₁And F ₂Digital solution, and the design conditions of taking process shot into consideration is finally determined the focal length of optimal imaging lens.

Claims (4)

1, a kind of wide dynamic omnidirection vision sensor, it is characterized in that: described wide dynamic omnidirection vision sensor comprises transparent housing, wide dynamic CMOS image unit, a catadioptric minute surface, secondary catadioptric minute surface and wide-angle lens, described transparent housing is semisphere, described transparent housing comprises end face and circular-arc bottom face, a described catadioptric minute surface is installed in the end face middle part of transparent housing, described secondary catadioptric minute surface is installed in described circular-arc bottom face central authorities, described wide dynamic CMOS image unit is located at the viewpoint place of the top of a described catadioptric minute surface, and the middle part of a described catadioptric minute surface is provided with first aperture of taking a video information below the catadioptric minute surface for wide dynamic CMOS image unit; The middle part of described secondary catadioptric minute surface is provided with second aperture, and described wide-angle lens is installed in described second aperture; The central shaft arrangement of the camera lens of wide dynamic CMOS image unit, wide-angle lens, catadioptric mirror and secondary catadioptric mirror is on same axial line.

2, wide dynamic omnidirection vision sensor as claimed in claim 1 is characterized in that: the design of described catadioptric minute surface curve is as follows: the incident light V1 of a light source point P on the space is at principal reflection minute surface P1 (t ₁, F ₁) reflect on the point, reflected light V2 reflexes to secondary reflection minute surface P2 (t ₂, F ₂) reflect again on the point, reflected light V3 enters the camera lens of wide dynamic CMOS image unit, imaging on wide dynamic CMOS image unit with angle θ 1;

According to image-forming principle, the angle of incident ray V1 and catadioptric main shaft Z is Φ, and the angle of primary event light V2 and catadioptric main shaft Z is θ 2, crosses P1 point (t ₁, F ₁) tangent line and the angle of t axle be σ, normal N 1 is ε with the angle of Z axle; The angle of secondary reflection light V3 and catadioptric main shaft Z is θ 1, crosses P2 point (t ₂, F ₂) tangent line and the angle of t axle be σ 1, normal N 2 is ε 1 with the angle of Z axle, obtains formula (1) based on above-mentioned relation:

Wherein: $\tan \mathrm{\&phi;}=\frac{t_1}{F_1(t_1-s)},$ ${\tan \mathrm{\&theta;}}_2=\frac{t_1-t_2}{F_2-F_1},$ ${\tan \mathrm{\&theta;}}_1=\frac{t_2}{F_2}$

In the formula, F ₁Be a catadioptric minute surface curve, F ₂Be secondary catadioptric minute surface curve, s is the viewpoint of omnibearing vision sensor;

Utilize triangle relation and simplify arrangement, obtain formula (2), (3):

F ₁′ ²-2αF ₁′-1＝0 (2)

F ₂′ ²-2βF ₂′-1＝0

(3)

In the following formula,

$\mathrm{\&sigma;}=\frac{(F_1-s)(F_2-F_1)-t_1(t_1-t_2)}{t_1(F_2-F_1)-(t_1-t_2)(F_1-s)}$

$\mathrm{\&beta;}=\frac{t_2(t_1-t_2)+F_2(F_2-F_1)}{t_2(F_2-F_1)-F_2(t_1-t_2)}$

Solution formula (2), (3) can obtain formula (4), (5);

${F_1}^{\&prime;}=\mathrm{\&alpha;}\&PlusMinus;\sqrt{{\mathrm{\&alpha;}}^2+1}---\left(4\right)$

${F_2}^{\&prime;}=\mathrm{\&beta;}\&PlusMinus;\sqrt{{\mathrm{\&beta;}}^2+1}---\left(5\right)$

In the formula: F ₁' be F ₁The differential of curve, F ₂' be F ₂The differential of curve;

Have certain linear relationship in order to make between point on the imaging plane and the incident angle, to set up exactly a kind of pixel P to the Z wheelbase from and incident angle φ between linear relationship, represent with formula (6),

φ＝a ₀*P+b ₀ (6)

In the formula: a ₀, b ₀Be arbitrary parameter,

As f, P is the distance of pixel to the Z axle, the reflection spot P2 (t on the secondary reflection minute surface with the focal length of image unit ₂, F ₂).Then according to image-forming principle, P can be represented by formula (7):

$P=f*\frac{t_2}{F_2}---\left(7\right)$

With formula (7) substitution formula (6), can get formula (8),

$\mathrm{\&phi;}=a_0*(f*\frac{t_2}{F_2})+b_0---\left(8\right)$

The minute surface curve design that satisfies formula (8) meets the average angle resolution requirement;

Can use formula (9) expression according to catadioptric principle formula (8),

${\tan }^{-1}\left(\frac{t_1}{F_1-s}\right)=a_0*(f*\frac{t_2}{F_2})+b_0---\left(9\right)$

To formula (2), (3), (9), ask F then by 4 rank Runge-Kutta algorithms ₁And F ₂Digital solution, catadioptric minute surface that calculates and secondary catadioptric minute surface curve.

3, wide dynamic omnidirection vision sensor as claimed in claim 1 or 2, it is characterized in that: by the circular hole imaging between wide-angle lens and wide dynamic image unit camera lens on catadioptric mirror, be called first imaging point, with the focal length of wide dynamic image unit camera lens as f, the focal length of wide-angle lens is as f2, the distance of the focus of wide dynamic image unit camera lens and wide dynamic image unit is as S1, leniently dynamically the image unit camera lens to the focal length of first imaging point as S2, distance from wide-angle lens to first imaging point is as S3, the distance of point can obtain following relational expression as S4 according to the imaging formula of camera lens from the wide-angle lens to the material object:

$\frac{1}{f}=\frac{1}{S1}+\frac{1}{S2}---\left(10\right)$

$\frac{1}{f2}=\frac{1}{S3}+\frac{1}{S4}---\left(11\right)$

d＝S2+S3 (12)

Make formula (12) establishment condition: the place configuration wide-angle lens that the wide dynamic image unit distance of camera lens behind the distance first catadioptric minute surface is d, wide-angle lens is configured on the position of the second catadioptric minute surface, therefore will be between wide dynamic image unit camera lens and the wide-angle lens apart from d as a constraint condition, satisfy the requirement of formula (12) by the focal length f2 that designs wide-angle lens;

Wide dynamic image unit camera lens and wide-angle lens are considered as a compound lens its focal distance f 3 is represented by following formula:

$\frac{1}{f3}=\frac{(f+f2-d)}{f*f2}---\left(13\right)$

In addition, as D, its enlargement factor is represented by following formula with the diameter of process shot:

$n=\frac{D}{f3}---\left(14\right)$

For the visual field of process shot and the dead angle part of ODVS are matched, when the design process shot, satisfy following formula:

$n=\frac{D}{f3}=\frac{F_2\min -s}{2F_2\max }---\left(15\right)$

In the formula, F ₂F when max is the maximum angle of secondary reflection light V3 and catadioptric main shaft Z ₂Value, F ₂F when min is the minimum angle of secondary reflection light V3 and catadioptric main shaft Z ₂Value, s is the viewpoint of omnibearing vision sensor.

4, wide dynamic omnidirection vision sensor as claimed in claim 3 is characterized in that: the sensor devices of described wide dynamic image unit adopts with wide dynamic CMOS sensitive chip.

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