CN107290926B - A kind of customized outer field stitching imaging system of visual field - Google Patents
A kind of customized outer field stitching imaging system of visual field Download PDFInfo
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- CN107290926B CN107290926B CN201710520861.6A CN201710520861A CN107290926B CN 107290926 B CN107290926 B CN 107290926B CN 201710520861 A CN201710520861 A CN 201710520861A CN 107290926 B CN107290926 B CN 107290926B
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- 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
- G03B37/04—Panoramic or wide-screen photography; Photographing extended surfaces, e.g. for surveying; Photographing internal surfaces, e.g. of pipe with cameras or projectors providing touching or overlapping fields of view
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Abstract
A kind of customized outer field stitching imaging system of visual field is related to photodetection field, subsystem including more covering composition and construction having the same, subsystem carries out pose transformation by control camera and visual field different zones is imaged, and obtains overall visual field figure to different zones image mosaic by computer.The imaging of subsystem is to carry out circular cone rotation by control camera to realize.The present invention completes pose transformation to the adjusting of the apex angle and exposure position at axis direction angle, the rotation of camera circular cone by subsystem, and visual field customization can be realized according to different task.And have the advantages that small in size, light-weight and at low cost.It can be applied to the capture and tracking to distant object.
Description
Technical field
The invention belongs to photodetection fields, and in particular to it is a kind of realized by outer field stitching big view field imaging at
As system.
Background technique
When the azimuth of target and the angle of site provided using camera according to radar captures target, since radar mentions
The data of confession have certain error, and traditional focal length camera (camera being made of single camera lens and image device) is due to field angle
Spend it is small target possible range can not be completely covered, reduce camera to the success rate of target acquisition.Increase traditional focal length camera
Field of view angle be primarily present of both it is difficult: first is that increase of the camera lens due to visual field, increases the distortion of image, need to set
Complicated correcting lens are counted, the weight of camera lens is increased, designs and manufactures complexity；Second is that the existing general ruler of photoelectric sensor
Very little smaller, some large-sized sensors are expensive.
Mainly solve the problems, such as that focal length viewing field of camera angle is small by field stitching at present.Current field stitching technology
Outer field stitching and two kinds of inner field stitching can be divided into.Outer field stitching type imaging system is centainly arranged multiple cameras
Array is formed to obtain big visual field, is obtained by having a degree of visual field to be overlapped between control adjacent cameras complete big
View field image.Multiple image devices are spliced into equivalent large scale sensor by inner field stitching type imaging system, and cooperation is corresponding
Optical system obtain big view field image.Inner field stitching type imaging system images device splices required precision height, and technology is realized
Difficulty, and need to handle the Temperature Controlling of electronic system.Furthermore inner field stitching type imaging system directly exists image device
There are gaps between image device when camera focal plane progress mechanical splice, and leading to system, there are visual field blind area, influence diagram image qualities
Amount, and as shown in Figure 1, the first spectroscope 1 is added, the 3 three half-reflecting half mirrors light splitting of the second spectroscope 2 and third spectroscope come into
When row inner field stitching, although complete view field image can be obtained, the energy that image device receives can be reduced, due to remote
Distance objective signal is weak, therefore this method is not suitable for distant object imaging system.Comparatively, outer field stitching type at
As systems technology is realized simple, but due to having used multiple cameras, and special design support construction is needed, system bulk and again
Amount is very big, is unfavorable for being installed in tracking equipment.
Summary of the invention
In order to which the volume and weight for solving the problems, such as to obtain the imaging system of big view field image using polyphaser array is big,
Provide a kind of customized outer field stitching imaging system of visual field.
The technical proposal for solving the technical problem of the invention is as follows:
A kind of customized outer field stitching imaging system of visual field, including computer and cover composition and construction having the same more
Subsystem, subsystem by pose transformation realize to visual field different zones be imaged, by computer to different zones image mosaic
Obtain overall visual field figure.
Further, the subsystem include: the first self-aligning ball bearing, camera, the second self-aligning ball bearing, adjusting knob,
Motor, encoder and DSP；First self-aligning ball bearing, camera and the second self-aligning ball bearing are sequentially connected, and adjusting knob is located at second
On self-aligning ball bearing, the second self-aligning ball bearing is connected to motor, and motor installs encoder, and encoder connects DSP, DSP and camera,
The computer of motor and total system is separately connected, and camera connects the computer of total system；The axis and system axle of first self-aligning ball bearing
Line is overlapped, and there are eccentricities with system axis for the axis of the second self-aligning ball bearing；The fixed support camera circle of first self-aligning ball bearing
Coning turns, and the circular cone that adjusting knob changes camera by changing the eccentricity of the second self-aligning ball bearing rotates apex angle；Computer expert
The rotation speed of DSP control motor is crossed, DSP driving motor drives the rotation of the second self-aligning ball bearing, and the rotation of camera circular cone is pose
Transformation, the rotation angle of encoder feedback camera are sent to DSP, the DSP control camera when rotating angle and reaching the angle of setting
Shooting, DSP send the location information of captured visual field to computer simultaneously, image data are transmitted to computer, computer after camera exposure
Image is spliced to obtain overall visual field figure.
Further, the circular cone rotates to be the rotation of inner-rotary type circular cone.
Further, the circular cone rotates to be the rotation of evolute circular cone.
Further, the subsystem can be applied in combination or be used alone.
Further, the customized realization of visual field includes the apex angle to axis direction angle, the rotation of camera circular cone and exposure position
The adjusting set.
It is realized the beneficial effects of the present invention are: using multiple subsystems respectively controlling camera in the present invention and doing pose transformation
The splicing of big visual field, system bulk and weight are obviously reduced, while cost is substantially reduced.Imaging system can be to subsystems
Individually control, same imaging system realize the imaging joint of relatively large visual field, and close portion molecular system is, it can be achieved that relatively
The imaging joint of small field of view.The imaging viewing field of system can be according to mission requirements flexible customization, to the axis side of subsystems
The adjustment of parallactic angle, the apex angle of camera circular cone rotation and camera exposure position, can satisfy the requirement of different task.Total system will be total
Stereoscopic field is divided into multiple small field of view, obtains several subgraphs by being exposed to each small field of view, has between adjacent sub-images
Certain coincidence amount is not present visual field blind area, improves picture quality.
Detailed description of the invention
Fig. 1 uses the device figure of half-reflecting half mirror realization inner field stitching in the prior art.
A kind of camera evolute circular cone of the customized outer field stitching imaging system of visual field of Fig. 2 present invention rotates signal
Figure.
A kind of camera inner-rotary type circular cone of the customized outer field stitching imaging system of visual field of Fig. 3 present invention rotates signal
Figure.
A kind of mechanical device structure figure of the subsystem of the customized outer field stitching imaging system of visual field of Fig. 4 present invention.
A kind of system electronics architecture diagram of the customized outer field stitching imaging system of visual field of Fig. 5 present invention.
A kind of imaging system comprising three sets of subsystems of the customized outer field stitching imaging system of visual field of Fig. 6 present invention
Schematic diagram.
A kind of signal of the field stitching embodiment one of the customized outer field stitching imaging system of visual field of Fig. 7 present invention
Figure.
A kind of signal of the field stitching embodiment two of the customized outer field stitching imaging system of visual field of Fig. 8 present invention
Figure.
A kind of signal of the field stitching embodiment three of the customized outer field stitching imaging system of visual field of Fig. 9 present invention
Figure.
A kind of signal of the field stitching example IV of the customized outer field stitching imaging system of visual field of Figure 10 present invention
Figure.
A kind of signal of the field stitching embodiment five of the customized outer field stitching imaging system of visual field of Figure 11 present invention
Figure.
Specific embodiment
The present invention is described in further details with reference to the accompanying drawings and examples.
The customized outer field stitching imaging system of visual field is formed more by covering subsystem, and every set subsystem is made of identical
And construction, total visual field of system are composed of the visual field of each subsystem, and can be carried out by adjusting subsystem relevant parameter
Visual field customization.Relevant parameter includes axis direction angle, camera circular cone rotation apex angle and camera exposure position etc..Wherein axis direction
Angle refers to the direction angle of subsystem axis.
The imaging of subsystem carries out continuous circular cone rotation by control camera and realizes that rotation apex angle is adjustable.Each subsystem
Track of the optical axis of camera in visual field is circle, and radius size can rotate apex angle by adjusting camera circular cone to adjust.It is logical
It crosses control camera and carries out continuous circular cone rotation, trigger camera when specific rotation position, that is, camera corresponds to specific field of view
Image Acquisition is carried out, the subgraph for having certain coincidence amount between several adjacent images is obtained, the image of all subsystems acquisitions is spliced
The i.e. overall visual field figure of complete big view field image is obtained after connecing.For the rotation of camera circular cone there are two types of mode, one kind is evolute circular cone
Rotation is as shown in Fig. 2, a kind of is that the rotation of inner-rotary type circular cone is as shown in Figure 3.Evolute circular cone rotates to be the rotation of 4 system for winding axis of camera
Turn, the intersection point of the reverse extending line in the direction taken pictures is in system axis.Inner-rotary type circular cone rotates to be 4 system for winding axis of camera
Rotation, the intersection point of the extended line in the direction taken pictures is in system axis.4 circular cone of camera carries out primary when often rotating to trigger point
Shooting.
For certain mission requirements, determine the overall visual field of system, overall visual field is divided into be responsible for by subsystems
Multiple small field of view；After designing visual field, then the visual field of each subsystem is calibrated.System can be made to containing in calibration
For the target imaging of some special patterns such as five-pointed star as reference, the parameter for needing to adjust includes subsystem axis direction angle, each
4 circular cone of camera rotates apex angle and 4 exposure position of camera.Calibration result should make to have between the corresponding visual field of subsystem, adjacent sub-images
Certain coincidence amount and 4 exposure position of camera is accurate, completely regards greatly so that system obtains a frame in each period of motion
Field picture is overall visual field figure.
The mechanical device structure figure of the subsystem is as shown in figure 4, include the first self-aligning ball bearing 5, the tune of camera 4, second
Heart ball bearing 6, adjusting knob 7, motor 8 and encoder 9.First self-aligning ball bearing 5, camera 4 and the second self-aligning ball bearing 6 are successively
Connection, adjusting knob 7 are located on the second self-aligning ball bearing 6, and the second self-aligning ball bearing 6 is connect with motor 8, is installed on rear side of motor 8
Encoder 9.The axis of first self-aligning ball bearing 5 is overlapped with system axis, and the axis and system axis of the second self-aligning ball bearing 6 are wrong
Certain eccentricity is opened, camera 4 can realize circular cone when motor 8 drives the bearing block rotation of the second self-aligning ball bearing 6 in this way
Rotation.First self-aligning ball bearing 5 play fixed supporting role to the left end of the circular cone rotation of camera 4, in the second self-aligning ball bearing 6
Adjusting knob 7 is devised in supporting block, adjusting knob 7 adjusts the circle of camera 4 by changing the eccentricity of the second self-aligning ball bearing 6
The apex angle that coning turns, the i.e. corner angle of the circular cone rotation of the right end of control camera 4.Encoder 9 is used to feed back the rotation of camera 4
Angle triggers camera 4 in the special angle for going to setting and carries out Image Acquisition.
The system electronics framework of the customized outer field stitching imaging system of visual field is as shown in figure 5, subsystems
It forms and constructs and is identical.On rear side of motor 8 install encoder 9, encoder 9 connect DSP10, DSP10 with connect camera 4, motor 8 and
The computer 11 of total system is separately connected, and camera 4 connects the computer 11 of total system.
Working principle: computer 11 by DSP10 issue an instruction to control motor 8 rotation speed, DSP10 control motor
Driver driving motor 8 drives the bearing block rotation of the second self-aligning ball bearing 6, and the rotation of 4 circular cone of camera is the transformation of subsystem pose,
The rotation angle that encoder 9 feeds back camera 4 is sent to DSP10, and when rotating angle and reaching the angle of setting, DSP10 sends shooting
Instruction is to camera 4, and DSP10 sends the location information of captured visual field to computer 11 simultaneously, and camera 4 passes image data after exposing
To computer 11, computer 11 splices all subgraphs to obtain overall visual field figure.
Camera 4 exposes obtained image data and is transmitted to computer 11, and image data can be stored in caching first, and replaces upper
All subgraphs are spliced into complete view by relative position again after a cycle by the image of corresponding position in one period
It is shown to after field picture in corresponding display equipment.Computer 11 is fast by the rotation for issuing an instruction to control motor 8 to DSP10
Degree, so that control system carries out the frame frequency of overall view field imaging.
Embodiment one: being illustrated system by taking the imaging system of 3 sets of subsystems as an example, as shown in fig. 6, imaging system
Constituting includes 3 sets of identical subsystems.As shown in fig. 7, the system axis of 3 sets of subsystems is parallel, 3 sets of subsystem setting circular cones revolve
The apex angle turned, driving camera do synchronous cone rotation, make rail of the axis of subsystem 1, subsystem 2 and subsystem 3 in visual field
Mark is respectively R1, R2And R3Corresponding circle.Visual field is divided into 16 impartial squares and neglects field areas, and camera carries out inward turning simultaneously
The rotation of formula circular cone, triggering is taken pictures when camera rotates in corresponding diagram the rotation position for each neglecting field areas, the camera of subsystem 3
In the field of view for rotating to corresponding 1,2,3,4 small field of view, i.e. the center of camera shooting area is square the pros of small field of view
Shape diagonal line intersection point respectively exposes 1,2,3,4 small field of view, the camera of subsystem 2 rotate to corresponding 5,6,8,9,11,12,
14, the field of view of 15 small field of view, respectively exposes 5,6,8,9,11,12,14,15 small field of view, and the camera of subsystem 1 is rotating
To the field of view of corresponding 7,10,13,16 small field of view, 7,10,13,16 small field of view are exposed respectively, then by each small field of view
Image, that is, the subgraph in region is spliced into the big view field image of whole picture, that is, realizes the splicing of overall visual field figure.The system is in each fortune
The dynamic period obtains a frame completely overall view field image.
Embodiment two: the distance of the visual field of imaging system in the longitudinal direction may be needed to be much larger than in actual task
Distance in short transverse, by specific mode sub-system camera, be adjusted can be real for corresponding visual field in the running for this
It is existing.Such as Fig. 8, the axis direction angle by adjusting 3 subsystems of embodiment one be change in embodiment one 3 sets of subsystems be
System axis is overlapped parallel state, adjustment camera circular cone rotation apex angle and changes camera exposure position, and the camera of subsystem 1 is to figure
In the exposure of 2,5,7,10 small field of view, the camera of subsystem 2 exposes 3,6,8,11 small field of view in figure, and the camera of subsystem 3 is to figure
In the exposure of 1,4,9,12 small field of view, each subgraph for neglecting field areas then is spliced to obtain overall view field image, realizes square
Shape field stitching.
Embodiment three: as shown in figure 9, the imaging system of adjustment embodiment one and embodiment two, the rectangle wide visual field of acquisition.
The camera of subsystem 1 exposes 1,2,7,8 small field of view in figure, and the camera of subsystem 2 exposes 3,4,9,10 small field of view in figure, son
The camera of system 3 exposes 5,6,11,12 small field of view in figure.
Example IV: adjusting above-mentioned imaging system, closes subsystem 3, and subsystem 1 and subsystem 3 is used only, and obtains as schemed
Visual field shown in 10.The camera of subsystem 1 exposes 1,3 small field of view in figure, the camera of subsystem 2 to 2 in figure, 4, small field of view exposes
Light.
Embodiment five: the relevant parameter of the subsystem of adjustment example IV imaging system obtains visual field as shown in figure 11.
The camera of subsystem 1 exposes 1,2,5,6 small field of view in figure, and the camera of subsystem 2 exposes 3,4,7,8 small field of view in figure.
System can individually control subsystems, control a subsystem work, a part of subsystem work or institute
There is subsystem work.It can also realize other different field ranges, when using the subsystem of more numbers to meet difference
The requirement of task.The quantity of specific subsystem can be determined according to project demand.
Claims (5)
1. a kind of customized outer field stitching imaging system of visual field, which is characterized in that there is phase including computer (11) and more sets
The subsystem of same composition and construction, subsystem is realized by pose transformation and visual field different zones is imaged, and passes through computer (11)
Overall visual field figure is obtained to different zones image mosaic；
The subsystem includes: the first self-aligning ball bearing (5), camera (4), the second self-aligning ball bearing (6), adjusting knob (7), electricity
Machine (8), encoder (9) and DSP (10)；First self-aligning ball bearing (5), camera (4) and the second self-aligning ball bearing (6) successively connect
It connects, adjusting knob (7) is located on the second self-aligning ball bearing (6), and the second self-aligning ball bearing (6) is connect with motor (8), motor (8)
It installs encoder (9), encoder (9) connects DSP (10), the computer (11) of DSP (10) and camera (4), motor (8) and total system
It is separately connected, camera (4) connects the computer (11) of total system；The axis of first self-aligning ball bearing (5) is overlapped with system axis, the
There are eccentricities with system axis for the axis of two self-aligning ball bearings (6)；Fixed support camera (4) circle of first self-aligning ball bearing (5)
Coning turns, and adjusting knob (7) changes the circular cone rotation top of camera (4) by changing the eccentricity of the second self-aligning ball bearing (6)
Angle, rotation speed of the computer (11) by DSP (10) control motor (8), DSP (10) driving motor (8) the second spherical ball of drive
Bearing (6) rotation, the rotation of camera (4) circular cone are pose transformation, and the rotation angle of encoder (9) feedback camera (4) is sent to DSP
(10), when rotating angle and reaching the angle of setting, DSP (10) controls camera (4) shooting, and DSP (10) sends captured view simultaneously
Image data is transmitted to computer (11), computer (11) carries out image by the location information of field to computer (11) after camera (4) exposure
Splicing obtains overall visual field figure.
2. a kind of customized outer field stitching imaging system of visual field as described in claim 1, which is characterized in that the circular cone
Rotate to be the rotation of inner-rotary type circular cone.
3. a kind of customized outer field stitching imaging system of visual field as described in claim 1, which is characterized in that the circular cone
Rotate to be the rotation of evolute circular cone.
4. a kind of customized outer field stitching imaging system of visual field as described in claim 1, which is characterized in that the subsystem
System can be applied in combination or be used alone.
5. a kind of customized outer field stitching imaging system of visual field as described in claim 1, which is characterized in that visual field can determine
The realization of system includes the adjusting to the apex angle and exposure position at axis direction angle, the rotation of camera (4) circular cone.
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| CN102062599B (en) * | 2010-11-23 | 2012-09-26 | 中国科学院遥感应用研究所 | Spliced imaging system based on axis-shifting principle |
| CN104459977B (en) * | 2014-12-30 | 2017-04-12 | 中国科学院长春光学精密机械与物理研究所 | Secondary mirror adjusting mechanism used for vehicle-mounted adaptive optical imaging telescope |
| CN104803004B (en) * | 2015-02-13 | 2017-05-17 | 广州市红鹏直升机遥感科技有限公司 | Shooting device for aerial photo holder |
| CN105676569B (en) * | 2016-04-12 | 2018-11-02 | 公安部第一研究所 | A kind of camera system and its method based on off-axis light path technology |
| CN105759558A (en) * | 2016-04-15 | 2016-07-13 | 中国科学院上海技术物理研究所 | Large view field push-broom constant ground element remote sensing camera system |
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