CN107656417A - A kind of robot imaging optical system - Google Patents
A kind of robot imaging optical system Download PDFInfo
- Publication number
- CN107656417A CN107656417A CN201711152772.7A CN201711152772A CN107656417A CN 107656417 A CN107656417 A CN 107656417A CN 201711152772 A CN201711152772 A CN 201711152772A CN 107656417 A CN107656417 A CN 107656417A
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- CN
- China
- Prior art keywords
- lens
- camera lens
- motion sensor
- imaging
- housing
- 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.)
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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
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B13/00—Optical objectives specially designed for the purposes specified below
- G02B13/06—Panoramic objectives; So-called "sky lenses" including panoramic objectives having reflecting surfaces
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/50—Constructional details
- H04N23/54—Mounting of pick-up tubes, electronic image sensors, deviation or focusing coils
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/50—Constructional details
- H04N23/55—Optical parts specially adapted for electronic image sensors; Mounting thereof
Abstract
The invention discloses a kind of robot imaging optical system, including housing and camera lens, processor and memory are provided with the housing, imaging sensor is provided with the camera lens, described image sensor and memory connect with processor communication, wherein, the camera lens is panoramic imaging lens, it is made up of the Hemispheric panoramic imaging system in same optical axis, follow-up lens group, diaphragm and image planes, have the advantages that high resolution, radial distortion it is small, carry out image restoring after it is undistorted, can be widely applied to the fields such as robot detection, supervisory control of robot.
Description
Technical field
The present invention relates to optical system, more particularly to a kind of robot imaging optical system.
Background technology
In recent years, unmanned air vehicle technique obtains fast-developing, and in the purposes of unmanned plane, it is that it is mainly used to take pictures and record a video
One of way.For being respectively provided with flexible connection head on the unmanned plane taken photo by plane, driving equipment, driving equipment are typically provided with head
Imaging device is driven, so realizes shooting of the imaging device to the scene of different angle.Wherein panoramic imaging techniques are accompanied by
Binary optical technique, Free-Form Surface Machining technology, digital picture alignment technique, large area array staring imaging CCD/COMS detector skills
A kind of new imaging technique that art grows up.Compared with traditional imaging technique, its most significant feature is that its visual field is ring
Shape visual field, it is possible to achieve 360 ° are looked around imaging.At present realize panoramic imaging techniques main method have rotating splicing-type panorama into
As system, the spliced omnidirectional imaging system of more camera lenses, fish eye lens formula omnidirectional imaging system and refraction-reflection omnidirectional imaging system.
Wherein refraction-reflection omnidirectional imaging system is also divided into individual reflection formula omnidirectional imaging system and twice reflective omnidirectional imaging system.
But rotating splicing-type omnidirectional imaging system can not observe the image of whole visual field in synchronization, while scheming
The stitching error as present in gatherer process is difficult to control, and the real-time and reliability for causing the system all decrease.More mirrors
There is stitching error in image acquisition process to be difficult to control for spliced omnidirectional imaging system, as a result of multiple camera lenses
Spliced, cause the shortcomings of volume of the system is big, quality is heavy, power consumption is high.The fish eye lens formula omnidirectional imaging system angle of visual field
200 ° or so are can reach, but the system design difficulty is larger, complicated, matching requirements are high, substantial amounts of barrel distortion, figure be present
As distortion is serious, the illumination of field of view edge is low and the short resolution ratio of focal length is not also high after reduction.
The content of the invention
The deficiency for more than, it is an object of the invention to propose a kind of design of new omnidirectional imaging system,
And solve the problems, such as that existing omnidirectional imaging system is present.
The present invention is achieved through the following technical solutions：
A kind of robot imaging optical system, it is characterised in that：Including housing and camera lens, be provided with the housing processor and
Memories, imaging sensor, described image sensor and memory are provided with the camera lens and is connected with processor communication,
Characterized in that, being further fixed on driver element on the housing, the driver element connects with processor communication, the drive
Moving cell is used to drive the camera lens；Also include the first motion sensor, first motion sensor is fixed on the camera lens
Interior, first motion sensor connects with processor communication；Also include the second motion sensor, second motion passes
Sensor is fixed in the housing, and second motion sensor connects with processor communication；The camera lens is panoramic imagery
Camera lens, it is made up of the Hemispheric panoramic imaging system in same optical axis, follow-up lens group, diaphragm and image planes.
Preferably, Hemispheric panoramic imaging system, material use transparent medium, and the transparent medium is shaped as rotating around central optical axis
Symmetrical convex polyhedron, the convex polyhedron include two planes of refraction and two reflectings surface；Its top is the second reflecting surface, its bottom
For the second plane of refraction, the oblique side in its top is first refractive face, and the oblique side in its underpart is the first reflecting surface；Wherein, first
Plane of refraction and the first reflecting surface are axisymmetry free form surface, and the second plane of refraction and the second reflecting surface be sphere, aspherical, flat
Face or diffraction surfaces.
Preferably, follow-up lens group, it is made up of a series of spherical lens of different transparent mediums, these spherical lenses are all
Around central optical axis rotational symmetry, it is arranged in order up and down；Each spherical lens has oneself independent refractive index, Abbe number, song
Rate radius, thickness and outside dimension；These spherical lenses are positive lens, or are negative lens.
Preferably, diaphragm is between Hemispheric panoramic imaging system and follow-up lens group；The image planes are located at the lowermost end of system,
That is the location of CCD/CMOS detectors.
The beneficial effects of the present invention are solve in rotating splicing-type panoramic imaging techniques due to having used scanning device
The problem of system real time is poor caused by, and reliability is not high；Solve in the spliced panoramic imaging techniques of more camera lenses due to
Carrying out splicing using multiple camera lenses causes that volume is big, quality weight, power consumption is high, the problem of stitching error be present；Fish eye lens formula is complete
The focal length of scape imaging system is short, distortion after big, the complicated, image restoring of distortion, the problem of illumination of field of view edge is low；Solve
The focal length of individual reflection formula omnidirectional imaging system is short, volume is big, veiling glare is difficult to be suppressed, lateral color correction is bad asks
Topic.The robot imaging optical system can be widely used in pipe detection, medical endoscope observation, video monitoring, tank week
Depending on monitoring, the monitoring of the submarine water surface, the tracking of guided missile panorama, robot vision, computer vision, virtual reality technology.
Brief description of the drawings
Fig. 1 is full shot structural diagrams；
Fig. 2 Hemispheric panoramic imaging systems a structure chart；
Fig. 3 Hemispheric panoramic imaging systems b structure chart.
Embodiment
The following example is being explained further and supplementing to the present invention, and the present invention is not limited in any way.
A kind of robot imaging optical system, it is characterised in that：Including housing and camera lens, processing is provided with the housing
Device and memory, imaging sensor, described image sensor and memory are provided with the camera lens and is communicated with the processor
Connection, it is characterised in that driver element is further fixed on the housing, the driver element connects with processor communication,
The driver element is used to drive the camera lens；Also include the first motion sensor, first motion sensor is fixed on institute
State in camera lens, first motion sensor connects with processor communication；Also include the second motion sensor, described second
Motion sensor is fixed in the housing, and second motion sensor connects with processor communication.
The camera lens is panoramic imaging lens, by the Hemispheric panoramic imaging system a in same optical axis, follow-up lens group b, diaphragm
C and image planes d compositions.
As shown in figure 1, full shot its main composition of the present invention include Hemispheric panoramic imaging system a, follow-up lens group b,
Diaphragm c, image planes d（CCD/CMOS detectors present position）.
As shown in Fig. 2 wherein 1 is first refractive face, its face type is outstanding ring rotation Axisymmetric Free curved surface；
2 be the first reflecting surface, and its face type is outstanding ring rotation Axisymmetric Free curved surface；3 be the second reflecting surface, and its face type is
Concave spherical surface, 4 be the second plane of refraction, and its face type is plane.Wherein the center inner annular edge in first refractive face 1 and the second reflecting surface 3
Side edge, in actual design consider processing and assembling needs, one and optical axis phase will be made at its side edge
Vertical facet, the weight of panoramic optical systems can not only be reduced, moreover it is possible to provide a processing base for Hemispheric panoramic imaging system a
It is accurate；The wherein side edge of the center inner annular edge of the first reflecting surface 2 and the second plane of refraction 4.The outer shroud edge in first refractive face 1
A small stair is provided as with the outer shroud edge of the first reflecting surface 2, in favor of Hemispheric panoramic imaging system a processing and assembling.
The present invention separates ADAS system hosts with its camera, and drive recorder is separated with its camera, then will
Two cameras concentrate in together, and carry out unified installation, but do not influence respective dismounting, maintenance.The imaging optical system leads to
Shortening focal length is crossed, the angle of visual field can be increased under conditions of high pixel large aperture is met, expands the shooting visual field model of imaging system
Enclose.
Previous embodiment and advantage are only exemplary, and are understood not to limit the disclosure.The present invention can be easily
Applied to other types of equipment.In addition, the description of the exemplary embodiment of the disclosure is explanatory, being not intended to limit right will
The scope asked, many replacements, modifications and variations will be apparent to practitioners skilled in the art.
As shown in figure 3, follow-up lens group b is made up of the spherical lens of six different transparent mediums, around central optical axis
Symmetrically.Each spherical lens has oneself independent refractive index, Abbe number, radius of curvature, thickness and outside dimension.
As shown in figure 3, follow-up lens group b mainly includes positive lens and negative lens group into and being spherical lens.Wherein by
The focal length for the lens that convex spherical 5 and convex spherical 6 form is just, its transparent medium is crown glass；By concave spherical surface 7 and convex spherical 8
The focal length of the lens of composition is negative, and its transparent medium is flint glass；The focal length for the lens being made up of convex spherical 9 and convex spherical 10
For just, its transparent medium is crown glass；The focal length for the lens being made up of concave spherical surface 11 and concave spherical surface 12 is negative, its transparent medium
For flint glass；The focal length for the lens being made up of convex spherical 13 and convex spherical 14 is just, its transparent medium is crown glass；By convex
The focal length for the lens that sphere 15 and convex spherical 16 form is just, its transparent medium is crown glass.
Previous embodiment and advantage are only exemplary, and are understood not to limit the disclosure.The present invention can be easily
Applied to other types of equipment.In addition, the description of the exemplary embodiment of the disclosure is explanatory, being not intended to limit right will
The scope asked, many replacements, modifications and variations will be apparent to practitioners skilled in the art.
Claims (1)
- A kind of 1. robot imaging optical system, it is characterised in that：Including housing and camera lens, processor is provided with the housing And memory, imaging sensor, described image sensor and memory are provided with the camera lens and is connected with processor communication Connect, it is characterised in that driver element is further fixed on the housing, the driver element connects with processor communication, institute Driver element is stated to be used to drive the camera lens；Also include the first motion sensor, first motion sensor is fixed on described In camera lens, first motion sensor connects with processor communication；Also include the second motion sensor, second fortune Dynamic sensor is fixed in the housing, and second motion sensor connects with processor communication；The camera lens is panorama Imaging lens, by the Hemispheric panoramic imaging system in same optical axis（a）, follow-up lens group（b）, diaphragm（c）And image planes（d）Group Into；The Hemispheric panoramic imaging system（a）Material uses transparent medium, and the transparent medium is shaped as around central optical axis rotational symmetry Convex polyhedron, the convex polyhedron include two planes of refraction and two reflectings surface；Its top is the second reflecting surface（3）, its bottom is Second plane of refraction（4）, the oblique side in its top is first refractive face（1）, the oblique side in its underpart is the first reflecting surface（2）；Its In, first refractive face（1）With the first reflecting surface（2）For axisymmetry free form surface, the second plane of refraction（3）With the second reflecting surface （4）For sphere, aspherical, plane or diffraction surfaces；The follow-up lens group（b）A series of sphere by different transparent mediums is saturating Microscope group is into these spherical lenses all around central optical axis rotational symmetry, are arranged in order up and down；Each spherical lens has oneself only Vertical refractive index, Abbe number, radius of curvature, thickness and outside dimension；These spherical lenses are positive lens, or are negative lens； The diaphragm（c）Positioned at Hemispheric panoramic imaging system（a）With follow-up lens group（b）Between；The image planes（d）Positioned at the most bottom of system End, i.e. the location of CCD/CMOS detectors.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711152772.7A CN107656417A (en) | 2017-11-19 | 2017-11-19 | A kind of robot imaging optical system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711152772.7A CN107656417A (en) | 2017-11-19 | 2017-11-19 | A kind of robot imaging optical system |
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| CN107656417A true CN107656417A (en) | 2018-02-02 |
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| CN201711152772.7A Pending CN107656417A (en) | 2017-11-19 | 2017-11-19 | A kind of robot imaging optical system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108234958A (en) * | 2018-02-06 | 2018-06-29 | 长沙学院 | Water tower fire truck and its imaging system, imaging method |
| CN114280709A (en) * | 2022-01-25 | 2022-04-05 | 宁波大学 | Visual bionic photosensitive imaging device and application method |
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| US20100195216A1 (en) * | 2009-02-02 | 2010-08-05 | Panasonic Corporation | Zoom lens system, interchangeable lens apparatus and camera system |
| CN102495460A (en) * | 2011-12-13 | 2012-06-13 | 复旦大学 | Panoramic imaging lens |
| CN106060357A (en) * | 2016-07-20 | 2016-10-26 | 昆山阳翎机器人科技有限公司 | Imaging device, unmanned aerial vehicle and robot |
| CN106249391A (en) * | 2015-06-05 | 2016-12-21 | 佳能株式会社 | Zoom lens and the image pick-up device including zoom lens |
| CN206235771U (en) * | 2016-11-10 | 2017-06-09 | 信华精机有限公司 | Panoramic looking-around pick-up lens |
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2017
- 2017-11-19 CN CN201711152772.7A patent/CN107656417A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100195216A1 (en) * | 2009-02-02 | 2010-08-05 | Panasonic Corporation | Zoom lens system, interchangeable lens apparatus and camera system |
| CN102495460A (en) * | 2011-12-13 | 2012-06-13 | 复旦大学 | Panoramic imaging lens |
| CN106249391A (en) * | 2015-06-05 | 2016-12-21 | 佳能株式会社 | Zoom lens and the image pick-up device including zoom lens |
| CN106060357A (en) * | 2016-07-20 | 2016-10-26 | 昆山阳翎机器人科技有限公司 | Imaging device, unmanned aerial vehicle and robot |
| CN206235771U (en) * | 2016-11-10 | 2017-06-09 | 信华精机有限公司 | Panoramic looking-around pick-up lens |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108234958A (en) * | 2018-02-06 | 2018-06-29 | 长沙学院 | Water tower fire truck and its imaging system, imaging method |
| CN108234958B (en) * | 2018-02-06 | 2024-04-05 | 长沙学院 | Lifting jet fire truck, imaging system and imaging method thereof |
| CN114280709A (en) * | 2022-01-25 | 2022-04-05 | 宁波大学 | Visual bionic photosensitive imaging device and application method |
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Application publication date: 20180202 |
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