CN107819993A - A kind of device and method that large area scanning imaging is realized using photodetector array - Google Patents
A kind of device and method that large area scanning imaging is realized using photodetector array Download PDFInfo
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- CN107819993A CN107819993A CN201711267102.XA CN201711267102A CN107819993A CN 107819993 A CN107819993 A CN 107819993A CN 201711267102 A CN201711267102 A CN 201711267102A CN 107819993 A CN107819993 A CN 107819993A
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- 238000003384 imaging method Methods 0.000 title claims abstract description 88
- 238000000034 method Methods 0.000 title claims abstract description 28
- 230000003287 optical effect Effects 0.000 claims abstract description 61
- 230000001360 synchronised effect Effects 0.000 claims abstract description 18
- 230000007246 mechanism Effects 0.000 claims description 12
- 230000005622 photoelectricity Effects 0.000 claims description 9
- 230000010354 integration Effects 0.000 description 4
- 238000012544 monitoring process Methods 0.000 description 4
- 238000001514 detection method Methods 0.000 description 3
- 241000287181 Sturnus vulgaris Species 0.000 description 2
- 230000035945 sensitivity Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
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Classifications
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- 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
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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
- G03B37/02—Panoramic or wide-screen photography; Photographing extended surfaces, e.g. for surveying; Photographing internal surfaces, e.g. of pipe with scanning movement of lens or cameras
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- 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
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
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- Physics & Mathematics (AREA)
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Abstract
The invention discloses a kind of device and method that large area scanning imaging is realized using photodetector array, including the photodetector array, imaging lens and speculum set gradually, described photodetector array and speculum is arranged on the optical axis of imaging lens, speculum is set with the inclined angle of optical axis, and outer scene is imaged on the photosurface of photodetector array after speculum and imaging lens；Photodetector array is fixed in the first rotating shaft set with light shaft coaxle line, and is rotated around first rotating shaft, and speculum is arranged in the second rotating shaft with light shaft coaxle line and rotated around the second rotating shaft, first rotating shaft and the second rotating shaft synchronous axial system.Due to rotation be detector and speculum is lightweight component, and the imaging lens of heavier mass are not involved in moving, therefore can realize that Fast Marching scans, and keep the higher stability of a system, and Project Realization is reliable.
Description
Technical field
The invention belongs to video surveillance applications field, is related to one kind and realizes that a wide range of panorama is swept using face battle array photodetector
The apparatus and method for retouching imaging.
Background technology
Application field is alerted in video monitoring, it is necessary to implement picture control, this kind of application to big region or big spatial domain scope
Have high requirements to technical indicators such as monitoring sensor monitoring range, resolution capability, sensitivity and alert reaction times.
Ensure that sensor resolution and sensitivity (ensure the detection range to regulation target, particularly upper km distance is to precision target
Detection) on the premise of, realize that a wide range of scene image collection is to expand the main path of monitoring range by scan method.
For face battle array imaging detector, such as the detector such as CCD, CMOS, infrared focus plane, it is obtained a width and well scheme
The primary condition of picture is exactly in its exposure (detector light integrates, and the time of integration is typically in tens of microseconds between several ms)
In, keep scene imaging stares (static), otherwise image can be caused to obscure, have a strong impact on detectivity.
At present, realize that the of short duration method stared has reverse scan penalty method and optical multichannel method in scanning process.Instead
The minimum scanning reflection mirror of inertia is set in sensor (video camera) optical system to scan compensation method, the speculum can be
The scanning direction motion of video camera is in reverse in the detector time of integration, with compensated scanning campaign, detector is obtained and stares field
Scape；In detector blanking interval, speculum is resetted, and Contrary compensation preparation is carried out for next width image exposure.The characteristics of this mode
It is that compensation speed is fast, scanning synchronization accuracy requires high, and technical difficulty is big.Optical multichannel method uses multiple optics being differently directed
Passage, imaging of the different directions scene in detector is completed by light path transfer sequence.Feature is that volume is big, is unsuitable for long-focus
Long-range detection system application.
Can be with addition, traditional video camera makes a move under driving stepper motor and stops a step and carry out step-scan, in principle
Large area scanning imaging is completed, but because larger sensor mass causes sweep speed slow, particularly in camera optics
When system focal length increases (increase of optical lens quality) to a certain extent, continuous stepping, which is impacted, can cause system power dissipation to increase sharply,
Reliability rapid drawdown, have influence on engineer applied feasibility.
The content of the invention
The present invention is directed to problems of the prior art, it is proposed that one kind is realized a wide range of using photodetector array
The apparatus and method of scanning imagery, in the case where imaging lens are motionless, using the photodetector array of synchronous axial system and anti-
Penetrate mirror and realize imaging to panoramic view, what it is due to rotation is lightweight part, can be achieved higher step-scan speed and
Keep high stability.
Technical scheme is as follows：
A kind of device that large area scanning imaging is realized using photodetector array, it is characterised in that：Including setting successively
Photodetector array, imaging lens and the speculum put, described photodetector array and speculum are arranged on imaging lens
On the optical axis of head, the inclined angle of described speculum and optical axis is set, outer scene after speculum and imaging lens into
As on the photosurface of photodetector array；
Described photodetector array is fixed in the first rotating shaft set with light shaft coaxle line, and is revolved around first rotating shaft
Turn, described speculum is arranged in the second rotating shaft with light shaft coaxle line and rotated around the second rotating shaft, described first rotating shaft
With the second rotating shaft synchronous axial system.
Further, two sides of described speculum are fixed on the reflector mount of frame shape, and reflector mount is fixed on
In second rotating shaft and around the second axis of rotation.
Further, angle swinging mechanism is provided with reflector mount, mirror tilt is driven, realizes speculum and optical axis
Between slanted angle change.
Further, described angle swinging mechanism includes oscillating motor and bearing, and two sides of speculum are correspondingly set
Two swing rotating shafts are equipped with, one swings rotating shaft and is fixed on by bearing on reflector mount, and another swings rotating shaft with swinging electricity
The rotating shaft of machine is connected firmly, and described oscillating motor is fixed on reflector mount.
Further, described slanted angle is 30 ° to 60 °.
Further, collector ring is provided between photodetector array and first rotating shaft, realize the power supply of detector with
Signal output.
Further, synchronous axial system, institute are realized in described first rotating shaft and the second rotating shaft under driving stepper motor respectively
The oscillating motor stated is stepper motor.
A kind of method that large area scanning imaging is realized using photodetector array, before described photodetector array
Imaging lens and speculum are disposed with, speculum and photodetector array are arranged on the optical axis of imaging lens, and instead
Penetrate mirror to set with the inclined angle of optical axis, outer scene is imaged on photodetector array after speculum and imaging lens
On photosurface；The method of described large area scanning imaging, comprises the following steps：
【8.1】Photodetector array and speculum are according to set angle, around one angular unit of optical axis synchronous rotary；
【8.2】The picture signal of this position of photodetector array acquisition and recording；
【8.3】Repeat step【8.1】Extremely【8.2】, photodetector array and speculum according to setting step rate around
Optical axis rotates, and realizes a wide range of view field imaging.
A kind of method that large area scanning imaging is realized using photodetector array, it is characterised in that described photoelectricity
Imaging lens and speculum are disposed with before detector array, speculum and photodetector array are arranged on imaging lens
On optical axis, and speculum is set with the inclined angle of optical axis, and outer scene is imaged on photoelectricity after speculum and imaging lens
On the photosurface of detector array；The method of described large area scanning imaging, comprises the following steps：
【9.1】Photodetector array and speculum are according to the setting anglec of rotation, around one angle list of optical axis synchronous rotary
Position；
【9.2】Speculum according to setting swing angle, from swing starting point around swing one angular unit of shaft swing；
【9.3】The picture signal of this position of photodetector array acquisition and recording；
【9.4】Repeat step【9.2】Extremely【9.3】, final position is swung until speculum reaches；
【9.5】Repeat step【9.1】Extremely【9.4】, photodetector array and speculum according to setting step rate around
Optical axis rotates, and realizes a wide range of view field imaging.
A kind of method that large area scanning imaging is realized using photodetector array, it is characterised in that described photoelectricity
Imaging lens and speculum are disposed with before detector array, speculum and photodetector array are arranged on imaging lens
On optical axis, and speculum is set with the inclined angle of optical axis, and outer scene is imaged on photoelectricity after speculum and imaging lens
On the photosurface of detector array；The method of described large area scanning imaging, comprises the following steps：
【10.1】Speculum according to setting swing angle, from swing starting point around swing one angular unit of shaft swing；
【10.2】Photodetector array and speculum according to setting step rate, around one angle of optical axis synchronous rotary
Unit；
【10.3】The picture signal of this position of photodetector array acquisition and recording；
【10.4】Repeat step【10.2】Extremely【10.3】, until completing around the optical axis rotation of one week；
【10.5】Repeat step【10.1】Extremely【10.4】, speculum is rocked to swing terminal according to the flutter rate of setting
Position, realize a wide range of view field imaging.
The advantageous effects that the present invention has are as follows：
First, outer scene is reflected into imaging lens by the present invention using speculum, then is coupled into photodetector array,
Rotated, realized in the range of 360 ° of optical axis using speculum and the synchronous optical axis around imaging lens of photodetector array
Imaging, due to rotation be detector and speculum is lightweight component, and the imaging lens of heavier mass are not involved in moving, therefore
Fast Marching scanning can be achieved, and keep the higher stability of a system, Project Realization is reliable.
2nd, speculum of the invention, which is arranged on, swings in rotating shaft, thus it is possible to vary between speculum and the optical axis of imaging lens
Slanted angle, realize the scanning in pitching orientation, it is whole outer with reference to along the circular scanning on 360 ° of directions of vertical rotation axis, realizing
Portion's scene is in the imaging of photodetector, and in force, pitching and around per one angle of step-scan or orientation, photoelectricity is visited
Survey the time of integration of device exposure settings, it is ensured that image clearly.
Brief description of the drawings
Fig. 1 is the theory of constitution schematic diagram of scanned imagery device of the present invention；
Fig. 2 is to add the speculum group of pitching azimuth scan into principle schematic.
Reference is：1-first rotating shaft；2-the second rotating shaft；3-photodetector array；4-imaging lens；5—
Speculum；6-reflector mount；7-oscillating motor；8-outer scene；9-bearing；10-swing rotating shaft；11-optical axis.
Embodiment
As shown in figure 1, the device of the large area scanning imaging of the present invention is included in the photodetector that space is set gradually
Array 3, imaging lens 4 and speculum 5, photodetector array 3 and speculum 5 are arranged on the optical axis of imaging lens 4, its
The 11 inclined angle of optical axis of middle speculum 5 and imaging lens 4 is set, that is to say, that the center vertical line and imaging lens of speculum 5
First 4 optical axis is kept at an angle, its angular range be 30 ° to 60 °, preferably 45 °, outer scene 8 by speculum 5 and into
As being imaged on after camera lens 4 on the photosurface of photodetector array 3.
In order to realize a wide range of imaging around the direction of optical axis 11, photodetector array 3 is fixed on and the coaxial line of optical axis 11
In the first rotating shaft 1 of setting, speculum 5 is arranged in the second rotating shaft 2 set with light shaft coaxle line, first rotating shaft 1 and second
The synchronous axial system of rotating shaft 2, it is ensured that be imaged on the photosensitive first position of suitable detector.The requirement stared for satisfaction is, it is necessary to the same as step by step
After proceeding to the position of setting, the photodetector exposure set time of integration, blur-free imaging is realized.Wherein adoptable structure
It is that two sides of speculum 5 are fixed on the reflector mount 6 of frame shape, reflector mount 6 is fixed in the second rotating shaft 2 and around second
Rotating shaft 2 rotates.
Fig. 1 is a kind of latent specific embodiment for hoping structure, in this embodiment optical axis vertical direction, the light of outer scene 8
It is reflected down through speculum 5, and imaged camera lens 4 is imaged on the photosurface of photodetector array 3, can be achieved around optical axis side
To a wide range of imaging.In practical application, speculum 5 and photodetector array 3 synchronous axial system under the driving of stepper motor,
Inverted after completing the scanning in certain fan region.If necessary to complete panorama or the continuous scanning more than 360 degree, then photoelectricity is visited
Surveying between device array 3 and first rotating shaft 1 needs to be provided with collector ring, realizes power supply and the signal output of detector.Photodetection
Device array 3 can use the detector of face battle array to use the detector of linear array column scan, as long as can meet the imaging in visual field
.Because heavier imaging lens 4 remain stationary as, simply light-weighted speculum 5 and photodetector array 3 are revolved
Turn, therefore in the case of compact-sized, quick stepping can be achieved, and keep the stability of system.
Fig. 2 is given in further improved embodiment, in this embodiment, angled pendulum is set on reflector mount 6
Motivation structure, driving speculum 5 are swung, and realize the change of slanted angle between speculum 5 and optical axis 11.Angle swinging mechanism can adopt
With various structures, a kind of most common mode is only gived in the present embodiment.Angle swinging mechanism includes oscillating motor 7 and bearing
9, two sides of speculum 5 are correspondingly arranged on the swing rotating shaft 10 of two coaxial lines, and one swings rotating shaft 10 and consolidated by bearing
It is scheduled on reflector mount 6, another swings rotating shaft 10 and the rotating shaft of oscillating motor 7 connects firmly, and described oscillating motor 7 is fixed on instead
Penetrate on mirror holder 6.Angle swinging mechanism can also be by the way of motor drives other mechanisms, as long as bowing for speculum 5 can be realized
Angular adjustment is faced upward, light weight and the less swing mechanism of rotary inertia are selected in implementation.
Said apparatus realizes that the step of scanning imagery is as follows, including three kinds of modes.
Mode one, the scan mode for not including pitch regulation：
The method of described large area scanning imaging, comprises the following steps：
【1】Photodetector array (3) and speculum (5) are according to set angle, around one angle of optical axis (11) synchronous rotary
Spend unit；
【2】The picture signal of this position of photodetector array acquisition and recording；
【3】Repeat step【1】Extremely【2】, photodetector array (3) and speculum (5) according to setting step rate around
Optical axis (11) rotates, and realizes a wide range of view field imaging.
Mode two, the scan mode for first rotating pitching again：
The method of described large area scanning imaging, comprises the following steps：
【1】Photodetector array (3) and speculum (5) are according to the setting anglec of rotation, around optical axis (11) synchronous rotary one
Individual angular unit；
【2】Speculum (5) according to setting swing angle, from swing starting point around swing one angular unit of shaft swing；
【3】The picture signal of this position of photodetector array acquisition and recording；
【4】Repeat step【2】Extremely【3】, final position is swung until speculum (5) reaches；
【5】Repeat step【1】Extremely【4】, photodetector array (3) and speculum (5) according to setting step rate around
Optical axis (11) rotates, and realizes a wide range of view field imaging.
It is detector and speculum 5 first after optical axis 11 rotates an angular unit that the step of mode two, which can be seen that,
Such as 1 °, keep the angle constant, then luffing mechanism starts to swing, and changes the slanted angle between speculum 5 and optical axis 11,
Often swing an angular unit, such as 0.1 °, the picture signal of this position of photodetector array acquisition and recording, when completing from pendulum
After the swing of dynamic starting point to the end, detector and speculum 5 rotate next angle further around optical axis 11, repeat above step until
Complete the scanning of 360 ° or fan angle.
The scan mode that mode three, first pitching rotate again：
The method of described large area scanning imaging, comprises the following steps：
【1】Speculum (5) according to setting swing angle, from swing starting point around swing one angular unit of shaft swing；
【2】Photodetector array (3) and speculum (5) according to setting step rate, around optical axis (11) synchronous rotary
One angular unit；
【3】The picture signal of this position of photodetector array acquisition and recording；
【4】Repeat step【2】Extremely【3】, until completing around the optical axis rotation of (11) one weeks；
【5】Repeat step【1】Extremely【4】, speculum (5) is rocked to and swings final position according to the flutter rate of setting, real
Now a wide range of view field imaging.
It is that luffing mechanism starts to swing first that the step of mode three, which can be seen that, is changed between speculum 5 and optical axis 11
Slanted angle, after often swinging an angular unit, such as 0.1 °, keep the angle constant, then detector and speculum 5 are around light
Axle 11 rotates an angular unit, such as 1 °, the picture signal of this position of photodetector array acquisition and recording；When 360 ° of completion
Or after the rotation sweep of fan angle, luffing mechanism is rocked to next angle again, repeats above step, until completing from swing
Start position realizes a wide range of view field imaging to the scanning for swinging final position.
Fig. 1 and Fig. 2 only gives the present invention using the latent working method for hoping structure, that is, optical axis 11 is gravimetric plumb line side
To according to requirements, optical axis 11 can also be that horizontal or arbitrary inclination is set.One of ordinary skill in the art is saying
Under the enlightenment of bright book, in the case where not departing from the scope that the claims in the present invention are protected, the shape of many kinds can also be made
Formula, these belong to protection scope of the present invention.
Claims (10)
- A kind of 1. device that large area scanning imaging is realized using photodetector array, it is characterised in that：Including setting gradually Photodetector array (3), imaging lens (4) and speculum (5), described photodetector array (3) and speculum (5) It is arranged on the optical axis (11) of imaging lens (4), described speculum (5) is set with the inclined angle of optical axis (11), external field Scape (8) is imaged on the photosurface of photodetector array (3) after speculum (5) and imaging lens (4)；Described photodetector array (3) is fixed in the first rotating shaft (1) being coaxially set with optical axis (11), and around first Rotating shaft (1) rotate, described speculum (5) be arranged on second rotating shaft (2) of optical axis (11) coaxial line on and around the second rotating shaft (2) rotate, described first rotating shaft (1) and the second rotating shaft (2) synchronous axial system.
- 2. a kind of device that large area scanning imaging is realized using photodetector array according to claim 1, it is special Sign is：Two sides of described speculum (5) are fixed on the reflector mount (6) of frame shape, and reflector mount (6) is fixed on Rotated in two rotating shafts (2) and around the second rotating shaft (2).
- 3. a kind of device that large area scanning imaging is realized using photodetector array according to claim 2, it is special Sign is：Angle swinging mechanism is provided with reflector mount (6), driving speculum (5) is swung, and realizes speculum (5) and optical axis (11) change of slanted angle between.
- 4. a kind of device that large area scanning imaging is realized using photodetector array according to claim 2, it is special Sign is：Described angle swinging mechanism includes oscillating motor (7) and bearing (9), and two sides of speculum (5) are correspondingly arranged There are two to swing rotating shaft (10), one swings rotating shaft (10) and is fixed on by bearing on reflector mount (6), and another swings rotating shaft (10) rotating shaft with oscillating motor (7) is connected firmly, and described oscillating motor (7) is fixed on reflector mount (6).
- 5. a kind of device that large area scanning imaging is realized using photodetector array according to claim 1 or 2, its It is characterised by：Described slanted angle is 30 ° to 60 °.
- 6. a kind of device that large area scanning imaging is realized using photodetector array according to claim 1 or 2, its It is characterised by：Collector ring is provided between photodetector array (3) and first rotating shaft (1), realizes power supply and the letter of detector Number output.
- 7. a kind of device that large area scanning imaging is realized using photodetector array according to claim 1 or 2, its It is characterised by：Described first rotating shaft (1) and the second rotating shaft (2) realizes synchronous axial system under driving stepper motor respectively, described Oscillating motor (7) be stepper motor.
- A kind of 8. method that large area scanning imaging is realized using photodetector array, it is characterised in that described photoelectricity is visited Imaging lens (4) and speculum (5) are disposed with before surveying device array (3), speculum (5) and photodetector array (3) are set Put on the optical axis (11) of imaging lens (4), and speculum (5) is set with the inclined angle of optical axis (11), outer scene passes through It is imaged on after speculum (5) and imaging lens (4) on the photosurface of photodetector array (3)；The method of described large area scanning imaging, comprises the following steps：【8.1】Photodetector array (3) and speculum (5) are according to set angle, around one angle of optical axis (11) synchronous rotary Unit；【8.2】The picture signal of this position of photodetector array acquisition and recording；【8.3】Repeat step【8.1】Extremely【8.2】, photodetector array (3) and speculum (5) according to setting step rate Rotated around optical axis (11), realize a wide range of view field imaging.
- A kind of 9. method that large area scanning imaging is realized using photodetector array, it is characterised in that described photoelectricity is visited Imaging lens (4) and speculum (5) are disposed with before surveying device array (3), speculum (5) and photodetector array (3) are set Put on the optical axis (11) of imaging lens (4), and speculum (5) is set with the inclined angle of optical axis (11), outer scene passes through It is imaged on after speculum (5) and imaging lens (4) on the photosurface of photodetector array (3)；The method of described large area scanning imaging, comprises the following steps：【9.1】Photodetector array (3) and speculum (5) are according to the setting anglec of rotation, around optical axis (11) synchronous rotary one Angular unit；【9.2】Speculum (5) according to setting swing angle, from swing starting point around swing one angular unit of shaft swing；【9.3】The picture signal of this position of photodetector array acquisition and recording；【9.4】Repeat step【9.2】Extremely【9.3】, final position is swung until speculum (5) reaches；【9.5】Repeat step【9.1】Extremely【9.4】, photodetector array (3) and speculum (5) according to setting step rate Rotated around optical axis (11), realize a wide range of view field imaging.
- A kind of 10. method that large area scanning imaging is realized using photodetector array, it is characterised in that described photoelectricity is visited Imaging lens (4) and speculum (5) are disposed with before surveying device array (3), speculum (5) and photodetector array (3) are set Put on the optical axis (11) of imaging lens (4), and speculum (5) is set with the inclined angle of optical axis (11), outer scene passes through It is imaged on after speculum (5) and imaging lens (4) on the photosurface of photodetector array (3)；The method of described large area scanning imaging, comprises the following steps：【10.1】Speculum (5) according to setting swing angle, from swing starting point around swing one angular unit of shaft swing；【10.2】Photodetector array (3) and speculum (5) according to setting step rate, around optical axis (11) synchronous rotary one Individual angular unit；【10.3】The picture signal of this position of photodetector array acquisition and recording；【10.4】Repeat step【10.2】Extremely【10.3】, until completing around the optical axis rotation of (11) one weeks；【10.5】Repeat step【10.1】Extremely【10.4】, speculum (5) is rocked to according to the flutter rate of setting and swings terminal position Put, realize a wide range of view field imaging.
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| CN201711267102.XA CN107819993B (en) | 2017-12-05 | 2017-12-05 | Device and method for realizing large-range scanning imaging by adopting photoelectric detector array |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110031907A (en) * | 2019-04-18 | 2019-07-19 | 西安天和防务技术股份有限公司 | Optical mechaical scanning imaging system |
| CN111381218A (en) * | 2018-12-27 | 2020-07-07 | 余姚舜宇智能光学技术有限公司 | Hybrid solid-state laser radar and manufacturing method and detection method thereof |
| CN112835066A (en) * | 2021-01-07 | 2021-05-25 | 湖南大学 | Associated imaging scheme for panoramic scanning of far field |
| CN114911052A (en) * | 2022-06-07 | 2022-08-16 | 西安应用光学研究所 | Optical scanning device and control method |
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