CN108121146A - Panoramic scanning device - Google Patents
Panoramic scanning device Download PDFInfo
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- CN108121146A CN108121146A CN201611087539.0A CN201611087539A CN108121146A CN 108121146 A CN108121146 A CN 108121146A CN 201611087539 A CN201611087539 A CN 201611087539A CN 108121146 A CN108121146 A CN 108121146A
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- galvanometer eyeglass
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- 230000001360 synchronised effect Effects 0.000 claims abstract description 29
- 230000002441 reversible effect Effects 0.000 claims abstract description 16
- 238000003384 imaging method Methods 0.000 claims description 58
- 230000000007 visual effect Effects 0.000 claims description 19
- 238000003331 infrared imaging Methods 0.000 claims description 14
- 230000005611 electricity Effects 0.000 claims description 2
- 208000015181 infectious disease Diseases 0.000 claims description 2
- 230000011218 segmentation Effects 0.000 claims description 2
- 238000012544 monitoring process Methods 0.000 description 22
- 238000012634 optical imaging Methods 0.000 description 16
- 238000010586 diagram Methods 0.000 description 13
- 230000033001 locomotion Effects 0.000 description 11
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 11
- 238000012545 processing Methods 0.000 description 9
- 230000003068 static effect Effects 0.000 description 9
- 238000004891 communication Methods 0.000 description 7
- 230000015572 biosynthetic process Effects 0.000 description 5
- 238000009434 installation Methods 0.000 description 4
- 206010019133 Hangover Diseases 0.000 description 3
- 238000005755 formation reaction Methods 0.000 description 3
- 230000010365 information processing Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 108090000565 Capsid Proteins Proteins 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 238000003786 synthesis reaction Methods 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000002045 lasting effect Effects 0.000 description 1
- 230000013011 mating Effects 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 230000004297 night vision Effects 0.000 description 1
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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
- 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
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B26/00—Optical devices or arrangements for the control of light using movable or deformable optical elements
- G02B26/08—Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light
- G02B26/10—Scanning systems
- G02B26/105—Scanning systems with one or more pivoting mirrors or galvano-mirrors
-
- 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
- G03B17/00—Details of cameras or camera bodies; Accessories therefor
- G03B17/02—Bodies
- G03B17/17—Bodies with reflectors arranged in beam forming the photographic image, e.g. for reducing dimensions of camera
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Studio Devices (AREA)
Abstract
The present invention relates to a kind of panoramic scanning device, including：Rotating platform；First image-forming module, first image-forming module are arranged on rotating platform and are set with the rotating platform synchronous rotary；Second image-forming module, second image-forming module are arranged on rotating platform and are set with the rotating platform synchronous rotary；First galvanometer eyeglass, for the light for inciding into the first galvanometer eyeglass to be reflected into the first image-forming module, and the first galvanometer eyeglass can compared with the first image-forming module direction of rotation is positive and reverse rotation, and direction of rotation is switched with predeterminated frequency；Second galvanometer eyeglass, for the light for inciding into the second galvanometer eyeglass to be reflected into the second image-forming module, and the second galvanometer eyeglass can compared with the second image-forming module direction of rotation is positive and reverse rotation, and direction of rotation is switched with predeterminated frequency.Panoramic scanning apparatus structure provided by the invention is simple, and can be used in being formed the image of high discrimination degree.
Description
Technical field
The present invention relates to a kind of imaging device more particularly to a kind of panoramic scanning devices.
Background technology
Generally all can be installed either daytime in public places such as airport, parking lot and roads now or night can
The monitoring system of enough implementing monitorings, the monitoring system generally require 360 degree of panoramic scannings of energy, so could intactly observe week
The situation on side.Photographic device in existing monitoring system is in order to realize round-the-clock shooting and 360 degree of panoramic scannings, generally using micro-
Light night vision or infrared imaging module, and according to the field angle that each camera lens can be shot circumferencial direction set more set camera lenses and into
As module, the shooting being responsible in oneself visual field scope is often covered, 360 degree of panoramic scannings are realized by software process quality afterwards.
But because the photographic device includes covering camera lens and image-forming module more, and can round-the-clock imaging camera lens and into
As Module Price costliness, so the cost of the photographic device is higher.Further, since panoramic scanning monitoring is needed in rotary taking
While ensure the enough stationary exposure time, can not accomplish to refresh 360 degree of panoramic image at a high speed at present.
The content of the invention
In view of this, it is a kind of suitable for refreshing and lower-cost panoramic scanning device at a high speed it is necessory to provide.
A kind of panoramic scanning device, wherein the panoramic scanning device includes：
Rotating platform, the rotating platform have a rotation axis；
First image-forming module, first image-forming module be arranged on rotating platform and with the rotating platform synchronous rotary
It sets；
Second image-forming module, second image-forming module be arranged on rotating platform and with the rotating platform synchronous rotary
It sets；
First galvanometer eyeglass, for the light for inciding into the first galvanometer eyeglass to be reflected into the first image-forming module, and
The first galvanometer eyeglass can compared with the first image-forming module direction of rotation is positive and reverse rotation, and switched with predeterminated frequency
Direction of rotation；
Second galvanometer eyeglass, for the light for inciding into the second galvanometer eyeglass to be reflected into the second image-forming module, and
The second galvanometer eyeglass can compared with the second image-forming module direction of rotation is positive and reverse rotation, and switched with predeterminated frequency
Direction of rotation.
In one of the embodiments, when the first galvanometer eyeglass is reverse compared with the direction of rotation of the first image-forming module
During rotation, the size of the first galvanometer eyeglass angular velocity of rotation for the first image-forming module angular velocity of rotation two/
One.
In one of the embodiments, when the second galvanometer eyeglass is reverse compared with the direction of rotation of the second image-forming module
During rotation, the size of the second galvanometer eyeglass angular velocity of rotation for the second image-forming module angular velocity of rotation two/
One.
In one of the embodiments, the first galvanometer eyeglass is mutually perpendicular to the second galvanometer eyeglass, along Tongfang
To incident light after the first galvanometer eyeglass and the second galvanometer lens reflecting horizontal infection in opposite direction, respectively enter
First image-forming module and the second image-forming module.
In one of the embodiments, first image-forming module, the second image-forming module, the first galvanometer eyeglass and second shake
The position relationship of mirror eyeglass meets：From the equidirectional light for inciding into the first galvanometer eyeglass and the second galvanometer eyeglass, by first
After galvanometer eyeglass and the second galvanometer lens reflecting, first image-forming module and the second image-forming module are incided into respectively.
In one of the embodiments, the first galvanometer eyeglass and the first image-forming module synchronous rotary, in synchronization
On the basis of rotation, direction of rotation forward direction and reverse rotation that the first galvanometer eyeglass can be compared with first image-forming module
Turn；The second galvanometer eyeglass and the second image-forming module synchronous rotary, on the basis of synchronous rotary, second galvanometer
Eyeglass can be compared with the direction of rotation forward direction of second image-forming module and counter-rotating.
In one of the embodiments, the first galvanometer eyeglass has initial position, and the first galvanometer eyeglass can phase
The forward direction in the range of 10 degree is carried out with predeterminated frequency for the initial position or counter-rotating and is resetted；The second galvanometer eyeglass
With initial position, the second galvanometer eyeglass can compared with the initial position with predeterminated frequency carry out 10 degree in the range of forward direction
Or it counter-rotating and resets.
In one of the embodiments, first image-forming module is infrared imaging module, and second image-forming module is
Visual light imaging module.
In one of the embodiments, support plate is further comprised, the support plate is arranged on the rotating platform, and
With the rotating platform synchronous rotary；The support plate includes opposite first surface and second surface, the first imaging mould
Block is arranged at the first surface, and second image-forming module is arranged at the second surface.
In one of the embodiments, the first galvanometer eyeglass and the second galvanometer eyeglass direction are incided into the same direction
Light after the first galvanometer eyeglass and the second galvanometer lens reflecting, incides into the first image-forming module and the second image-forming module respectively；
The light for inciding into the first galvanometer eyeglass enters first image-forming module after reflection along the direction parallel to first surface；
The light for inciding into the second galvanometer eyeglass enters second image-forming module after reflection along the direction parallel to second surface,
And the direction of propagation of the light into the first galvanometer eyeglass is opposite with the direction of propagation of the light into the second galvanometer eyeglass.
A kind of panoramic scanning device, wherein, the panoramic scanning device includes：
Rotating platform, the rotating platform have rotation axis, and the rotating platform can rotate around the axis of rotation；
Imaging mechanism, the imaging mechanism are arranged on rotating platform, and with the rotating platform synchronous rotary, it is residing into
Camera structure includes：
First image-forming module, first image-forming module and the rotating platform synchronous rotary；
Second image-forming module, second image-forming module and first image-forming module are arranged at intervals, and with the rotation
Platform synchronous rotary；
First galvanometer eyeglass, for the light for inciding into the first galvanometer eyeglass to be reflected into first image-forming module
In；
Second galvanometer eyeglass, for the light for inciding into the second galvanometer eyeglass to be reflected into second image-forming module；
First galvanometer motor, for driving the first galvanometer eyeglass positive and inverse compared with the direction of rotation of the first image-forming module
Switch direction of rotation to rotation, and with predeterminated frequency；And
Second galvanometer motor, for driving the second galvanometer eyeglass positive and inverse compared with the direction of rotation of the second image-forming module
Switch direction of rotation to rotation, and with predeterminated frequency.
In one of the embodiments, when the first galvanometer eyeglass is reverse compared with the direction of rotation of the first image-forming module
During rotation, the size of angular speed during the first galvanometer eyeglass counter-rotating is the angular velocity of rotation size of the first image-forming module
Half；When direction of rotation counter-rotating of the second galvanometer eyeglass compared with the second image-forming module, described second
The size of angular speed during galvanometer eyeglass counter-rotating is the half of the angular velocity of rotation size of the second image-forming module.
In one of the embodiments, further comprise support plate, the support plate be arranged on the rotating platform and
With rotating platform synchronous rotary, first image-forming module, the second image-forming module, the first galvanometer eyeglass, the second galvanometer eyeglass,
One galvanometer motor and the second galvanometer motor are arranged in the support plate, with the rotating platform synchronous rotary.
In one of the embodiments, the support plate has opposite first surface and second surface, and described first shakes
Mirror eyeglass, the first galvanometer motor and the first image-forming module are arranged at the first surface, the second galvanometer eyeglass, the second galvanometer
Motor and the second image-forming module are arranged at the second surface, and the first galvanometer eyeglass is perpendicular to the second galvanometer eyeglass
It sets.
In one of the embodiments, the imaged viewing angle of first image-forming module and the second image-forming module is oppositely arranged,
To obtain the image of relative direction, the first galvanometer eyeglass and the light in the second galvanometer eyeglass direction are incided into the same direction, are passed through
After first galvanometer eyeglass and the second galvanometer lens reflecting, the first image-forming module and the second image-forming module are incided into respectively；It incides into
The light of first galvanometer eyeglass enters first image-forming module after reflection along the direction parallel to first surface；It incides into
The light of second galvanometer eyeglass enters second image-forming module after reflection along the direction parallel to second surface, and enters
The direction of propagation of the light of first galvanometer eyeglass is opposite with the direction of propagation of the light into the second galvanometer eyeglass.
In one of the embodiments, the first motor and the second motor are further comprised, first motor is used to drive
Rotating platform rotates, and second motor is used to control the pitch angle of imaging mechanism.
In one of the embodiments, it is described if the imaging frequency of first image-forming module and the second image-forming module is f
The rotating speed of first image-forming module and the second image-forming module is v, then v meets：
V≤f/n revolutions per seconds；
Wherein, n is segmentation number, and n=360 °/θ, θ is the field angle of the first image-forming module and the second image-forming module.
In one of the embodiments, first image-forming module is infrared imaging module, and second image-forming module is
Visual light imaging module.
Compared with traditional technology, panoramic scanning device of the invention can be respectively used to by using two image-forming modules
Obtain different panoramic pictures, it is simple in structure, occupy little space and cost is relatively low.Further, by galvanometer eyeglass to imaging
Compensation in the process can also improve image quality, can obtain the image of high discrimination degree, so as to be conducive to the prison to surrounding enviroment
Control.
Description of the drawings
Fig. 1 is the structure diagram of optical imaging device bearing support provided by the invention.
Fig. 2 is the structure diagram of the first galvanometer unit in optical imaging device bearing support shown in FIG. 1.
Fig. 3 is the structure diagram of the second galvanometer unit in optical imaging device bearing support shown in FIG. 1.
Fig. 4 is the dimensional structure diagram for the panoramic scanning device that first embodiment provides.
Fig. 5 is the dimensional structure diagram for the panoramic scanning device different angle that first embodiment of the invention provides.
Fig. 6 is the dimensional structure diagram of imaging mechanism in the panoramic scanning device that first embodiment of the invention provides.
Fig. 7 is the dimensional structure diagram of shooting unit in the panoramic scanning device that first embodiment of the invention provides.
Fig. 8 is the structural representation of shooting unit different angle in the panoramic scanning device that first embodiment of the invention provides
Figure.
Fig. 9 is the first galvanometer unit and infrared imaging module in the panoramic scanning device that first embodiment of the invention provides
Location diagram.
Figure 10 is the second galvanometer unit and visual light imaging mould in the panoramic scanning device that first embodiment of the invention provides
The location diagram of block.
Figure 11 is that the first galvanometer, the second galvanometer and infrared ray regard in the panoramic scanning device that first embodiment of the invention provides
The position relationship schematic diagram of window, visible light window.
Figure 12 is the structure diagram for the panoramic scanning device that second embodiment of the invention provides.
Figure 13 is the structure diagram for the panoramic scanning device that third embodiment of the invention provides.
Figure 14 is the structure diagram for the panoramic scanning monitoring system that fourth embodiment of the invention provides.
Main element symbol description
Following specific embodiment will be further illustrated the present invention with reference to above-mentioned attached drawing.
Specific embodiment
Below in conjunction with the accompanying drawings and the specific embodiments, optical imaging device bearing support provided by the invention, panorama are swept
Imaging apparatus and panoramic scanning monitoring system are described in further detail.
Referring to Fig. 1, the present invention provides a kind of optical imaging device bearing support 1330, including support plate 1331, first
1333 and second galvanometer unit 1337 of galvanometer unit, the first galvanometer unit 1333 are set respectively with the second galvanometer unit 1337
In two opposite surfaces of the support plate 1331.
Specifically, the support plate 1331 has opposite first surface and second surface, the first galvanometer unit
1333 may be disposed at the first surface of the support plate 1331；The second galvanometer unit 1337 may be disposed at the support plate
1331 second surface.The support plate 1331 is used to support the first galvanometer unit 1333 and the second galvanometer unit 1337,
The material of the support plate 1331 can be metal or high molecular material, as long as the support plate 1331 has certain degree of hardness,
The first galvanometer unit 1333 and the second galvanometer unit 1337 can be supported.The 1331 rotatable setting of support plate,
Further, the support plate 1331 can surround rotation axis rotation.Specifically, the support plate 1331 can be symmetrical structure, have
One symmetry axis, the support plate 1331 can the symmetry axis for rotation axis carry out rotation.The first galvanometer unit 1333 and
Two galvanometer units 1337 are arranged in the support plate 1331, therefore the first galvanometer unit 1333 and the second galvanometer unit
1337 can be with 1331 synchronous rotary of support plate.
Also referring to Fig. 2 and Fig. 3, the first galvanometer unit 1333 includes the first galvanometer eyeglass 1334 and the first galvanometer
Motor 1335, the first galvanometer eyeglass 1334 have the first rotation axis, and the first galvanometer eyeglass 1334 is around the first rotation
Axis rotation, and first rotation axis can be coaxially disposed with the drive shaft of the first galvanometer motor 1335, so as in the first galvanometer
It is rotated under the driving of motor 1335 around the first rotation axis.Similar, the second galvanometer unit 1337 shakes including second
1338 and second galvanometer motor 1339 of mirror eyeglass, the second galvanometer eyeglass 1338 have the second rotation axis, second galvanometer
Eyeglass 1338 surrounds the second rotation axis rotation, and second rotation axis can be coaxial with the drive shaft of first galvanometer motor 1335
It sets, so as to enclose the rotation of the second rotation axis under the driving of second galvanometer motor 1339.Further, the first rotation axis is put down
Row is in the second rotation axis, and further, first rotation axis and the second rotation axis can be parallel to the support plates 1331
Symmetry axis, it is preferable that first rotation axis is symmetrical arranged with the second rotation axis compared with the symmetry axis.
In a specific embodiment, in the initial state, i.e. the first galvanometer eyeglass 1334 and the second galvanometer eyeglass 1338
Vibration compensation is not carried out, and the first galvanometer eyeglass 1334 and the second galvanometer eyeglass 1338 are located at initial position and opposing stationary shape
Under state, the surface of the first galvanometer eyeglass 1334 can form one 45 degree of folder with the first surface of the support plate 1331
Angle；Similar, the surface of the second galvanometer eyeglass 1338 can form one 45 degree of angle with the second surface, so that
Perpendicular to first surface and the light of second surface incidence, reflected by the first galvanometer eyeglass 1334 and the second galvanometer eyeglass 1338
Afterwards, propagated along parallel to the direction of the first surface and second surface.In addition, the first galvanometer eyeglass 1334 can be vertical
In the second galvanometer eyeglass 1338, so that from same direction along perpendicular to the incident light of support plate 1331, by the
After the reflection of one galvanometer eyeglass 1334 and the second galvanometer eyeglass 1338, in a reverse direction along the surface parallel to support plate 1331
It propagates.It is appreciated that the selection of the angle is only specific embodiment, can also be carried out according to the setting of follow-up image-forming module
Selection.
Further, the first galvanometer unit 1333 can be relatively oppositely arranged with the second galvanometer unit 1337.Specifically
, when the first galvanometer unit 1333 is set for forward direction, then the second galvanometer unit 1337 is inversion setting state, from
And so that the first galvanometer eyeglass 1334 and the second galvanometer eyeglass 1338 are oppositely arranged, the first galvanometer unit 1333 and the can be reduced
Two galvanometer units, 1337 the space occupied with fixed in 1331 area of support plate, facilitates setting for follow-up image-forming module
Put, to reduce the volume that optical imaging device bearing support 1330 integrally occupies, be conducive to the integrated of other follow-up components and
The design of light path.
Further, the support plate 1331 is formed with 1303 and second through hole 1304 of first through hole, the first through hole
1303 and second through hole 1304 corresponds respectively to the first galvanometer eyeglass 1334 and the second galvanometer eyeglass 1338 is set, from
The incident light of first through hole 1303 incides into the surface of the first galvanometer eyeglass 1334, and the light incident from the second through hole 1304 enters
It is mapped to the surface of the second galvanometer eyeglass 1338.Specifically, the first galvanometer eyeglass 1334 faces the table of the support plate 1331
Face is exposed from the first through hole 1303, and the second galvanometer eyeglass 1338 is in face of the surface of the support plate 1331 from institute
It states the second through hole 1304 to be exposed, to reflect from the incident light of 1303 or second through hole of first through hole 1304.Therefore, it is possible to
Acquisition of the enhanced convenience to incident ray, and it is more advantageous to the setting of follow-up imaging unit.Meanwhile by setting described
One through hole 1303 and the second through hole 1304 so that the first galvanometer eyeglass 1334 and the second galvanometer eyeglass 1338 can be regarded to same
The light of angle incidence is reflected, and subsequently different types of image acquisition and analysis are carried out to the image in the visual angle to facilitate.
It is appreciated that the setting of 1303 and second through hole 1304 of first through hole is only specific embodiment, work as institute
It states the first galvanometer unit 1333 and when the second galvanometer unit 1334 is located at the different surface of support plate 1331, also can only set one
Through hole, the light enable from same direction incidence incide into the first galvanometer eyeglass 1334 and the second galvanometer eyeglass 1338 i.e. respectively
It can.Further, by setting 1303 and second through hole 1304 of first through hole, follow-up first galvanometer eyeglass 1334 and second can be made
The adjusting of galvanometer eyeglass 1338 is more flexible, to be suitable for obtaining equidirectional or the light of different directions incidence, and can
Reduce the occupancy in space.
Further, the optical imaging device bearing support 1330 includes the first image-forming module carrying platform 1301 and second
Image-forming module carrying platform 1302 is respectively used to set the first image-forming module and the second image-forming module, obtained respectively through first
Incident light after the reflection of 1334 and second galvanometer eyeglass 1338 of galvanometer eyeglass.The first image-forming module carrying platform 1301 can
It is arranged at the first surface.Specifically, may be disposed at from the light path for the light that the first galvanometer eyeglass 1334 reflects, with
The image-forming module being arranged in the first image-forming module carrying platform 1301 is enable to get the first galvanometer eyeglass
The light of 1334 reflections；The light of the first galvanometer eyeglass 1334 is incided into after the reflection of the first galvanometer eyeglass 1334, energy
Enough enter the first image-forming module carrying platform 1301；Similar, the second image-forming module carrying platform 1302 may be disposed at
Two surfaces.Specifically, it may be disposed at from the light path for the light that the second galvanometer eyeglass 1338 reflects, so as to be arranged at second
Image-forming module in image-forming module carrying platform 1302 can get the light that the second galvanometer eyeglass 1338 reflects, that is, enter
The light for being mapped to the second galvanometer eyeglass 1338 incides into the second image-forming module carrying platform 1302 after reflection.
Further, the first image-forming module carrying platform 1301 is set close to the first galvanometer eyeglass 1334, described
Second image-forming module carrying platform 1302 is set close to the second galvanometer eyeglass 1338, to receive high angle scattered light as far as possible
It is incident.The installation position of the first image-forming module carrying platform 1301 and the installation position phase of second galvanometer motor 1339
Symmetrical for support plate 1331, similar, the installation position of the second image-forming module carrying platform 1302 shakes with described first
The installation position of mirror motor 1335 is symmetrical compared with the support plate 1331, so as to reduce the face of required support plate 1331
Product improves the integrated level of package unit.
It is appreciated that the first galvanometer unit 1333 and the second galvanometer unit 1337 may also set up in the support plate
1331 same surface, as long as ensureing that the first galvanometer unit 1333 and the second galvanometer unit 1337 are arranged in parallel；Together
When, it by adjusting the first galvanometer eyeglass 1334 and the initial position of the second galvanometer eyeglass 1338, can pass through equidirectional incident light
The first image-forming module carrying platform can be incided into respectively after first galvanometer unit 1333 and the reflection of the second galvanometer unit 1337
1301 and the second image-forming module carrying platform 1302, and 1337 follow-up energy of the first galvanometer unit 1333 and the second galvanometer unit
It is enough to play compensating action simultaneously.In addition, when the first galvanometer unit 1333 and the second galvanometer unit 1334 are located at support plate
During 1331 same surface, 1303 and second through hole 1304 of first through hole can need not be set.
Further, the support plate 1331 can be in external motor (not shown) using the symmetry axis of the support plate 1331 as rotation
Shaft is rotated, so as to which the optical imaging device bearing support 1330 be driven to be rotated.Meanwhile the first galvanometer electricity
1335 and second galvanometer motor 1339 of machine drives the first galvanometer eyeglass 1334 and the second galvanometer eyeglass 1338, compared with described
The direction of rotation of support plate 1331 is rotated in a reverse direction around the rotation axis of itself.Further, first galvanometer
1334 and second galvanometer eyeglass 1338 of eyeglass surrounds the angular speed of its own rotation axis rotation, can be 1331 anglec of rotation of support plate
The half of speed is arranged at the first image-forming module carrying platform 1301 and the carrying of the second image-forming module so as to fulfill to entering
The image in image-forming module in platform 1302 compensates.
The optical imaging device bearing support 1330 is held in use, image-forming module can be arranged to the first image-forming module
In carrying platform 1301, to receive the light of the first galvanometer eyeglass 1334 reflection, while under the driving of the first galvanometer motor 1335,
The image obtained using the rotation of the first galvanometer eyeglass 1334 to image-forming module is compensated；Similar, it may also set up in second
In image-forming module carrying platform 1302, to receive the light of the second galvanometer eyeglass 1338 reflection, while the second galvanometer eyeglass is utilized
1338 pairs of images compensate.In addition, also two image-forming modules can be arranged at the first image-forming module carrying platform simultaneously
1301 and second in image-forming module carrying platform 1302, and two image-forming modules can be different types of image-forming module, can obtain
The image of different type, different angle is taken, so as to be conducive to the synthesis of follow-up two different images.
Further, the optical imaging device bearing support 1330 can be in the drive backspin of an electric rotating machine (not shown)
Turn, the first galvanometer eyeglass 1334 and the second galvanometer eyeglass 1338 and 1331 synchronous rotary of support plate, while described the
One galvanometer eyeglass 1334 and the second galvanometer eyeglass 1338 are in respective first galvanometer driving motor 1335 and the second galvanometer motor
Under 1339 driving, reversely rotated compared with the direction of rotation of the optical imaging device bearing support 1330.It is specifically, described
First galvanometer eyeglass 1334, the axisymmetry of the second galvanometer eyeglass 1338 are distributed in the optical imaging device bearing support
The both sides of 1330 rotation axis, and the first galvanometer eyeglass 1334 and the second galvanometer eyeglass 1338 surround its own rotation axis rotation
Angular speed can be equal to 1330 angular velocity of rotation of optical imaging device bearing support half, dragged so as to reduce
Tail phenomenon, with accurately realize in rotary course into image compensation, improve image quality.
The optical imaging device bearing support 1330 sets first respectively by two surfaces in the support plate
Galvanometer unit and the second galvanometer unit can easily coordinate different number, different types of image-forming module, different to be applied to
Optical imagery scene obtains different types of image, and the image in each image-forming module can be compensated to improve
Image quality, so as to have wide application space in optical imaging field especially video monitoring and overall view monitoring field.
Referring to Fig. 4, first embodiment of the invention, which provides a kind of panoramic scanning device 10, includes pedestal 11, rotating platform 12
And imaging mechanism 13.The rotating platform 12 is arranged at the pedestal 11, and the imaging mechanism 13 is arranged at the rotary flat
Platform 12, the rotating platform 12 and imaging mechanism 13 can be rotated compared with the pedestal 11.
The rotating platform 12 include rotation upper mounting plate 121, rotation lower platform 122, shaft 123, the first motor 124 and
Second motor 125.The shaft 123 is fixed on the rotation upper mounting plate 122, through the rotation lower platform 122 and is arranged at
The pedestal 11.First motor 124 is arranged at the rotation lower platform 122, which passes through transmission parts band
It moves the shaft 123 to rotate, which drives the rotation upper mounting plate 121, rotation lower platform 122 to do in the horizontal direction
Rotation, that is, drive the rotating platform 12 to rotate in the horizontal direction, is arranged at the imaging mechanism 13 of the rotating platform 12 also one
Play synchronous rotary.Second motor 125 is arranged at the rotation upper mounting plate 121.
Also referring to Fig. 5, Fig. 6 and Fig. 7, the imaging mechanism 13 includes two support columns 131, housing 132 and shooting
Unit 133, the imaging mechanism 13 are arranged on the rotating platform 12, and can be set with the rotating platform synchronous rotary.
The housing 132 is supported by two support columns 131 is vacantly arranged at the rotation upper mounting plate 121, and the shooting unit 133 is set
In in the housing 132.The housing 132 is made of procapsid 1321 and back casing 1322, and the procapsid 1321 is provided with
Infrared ray form 1323 and visible light window 1324.The direction that the infrared ray form 1323 is faced with visible light window 1324 can
It is identical, so that the shooting unit 133 can obtain the image in same visual angle simultaneously.Further, the infrared ray regards
In window 1323 and visible light window 1324 can be generally aligned in the same plane, the size of the infrared ray form 1323 is smaller than visible light window
1324 size.The side of the housing 132 may be provided with protruding shaft 1325, and second motor 125 can be with by transmission parts
The protruding shaft 1325 is driven to rotate.The axial direction of the protruding shaft 1325 can be perpendicular to the axial direction of the shaft 123, therefore can drive
Imaging mechanism 13 is whole to rotate in vertical direction, so as to realize the pitching motion of housing 132 and shooting unit 133,
So as to control 133 pitch angle in the horizontal direction of shooting unit, the scope found a view is controlled.Further, in adjustment pitching
During angle, the mutual position relationship of the 133 each component in inside of shooting unit remains unchanged.Further, it is described red
Outside line form 1323 and visible light window 1324 can be also oppositely arranged, for obtaining image in relative perspective.
Also referring to Fig. 8, the shooting unit 133 includes optical imaging device bearing support 1330, first and is imaged mould
1332 and second image-forming module 1336 of block, specifically, the shooting unit 133 includes support plate 1331, the first image-forming module
1332nd, the first galvanometer unit 1333, the second image-forming module 1336 and the second galvanometer unit 1337.First image-forming module
1332 can be infrared imaging module, and for sensing infrared ray and the imaging that object is sent, second image-forming module 1336 can
For visual light imaging module, sent or the visible ray reflected and imaging for sensing object.First image-forming module, 1332 He
First galvanometer unit 1333 and the second image-forming module 1336 and the second galvanometer unit 1337 can be respectively arranged at the support plate
1331 opposite first surfaces and second surface.Further, first image-forming module 1332 and second image-forming module
1336 can be arranged oppositely, i.e., the direction that the camera lens of described first image-forming module 1332 faces and second image-forming module 1336
The direction that camera lens faces reduces the volume of imaging mechanism 13 on the contrary, to reduce the whole the space occupied of shooting unit 133.In addition,
When support plate 1331 is vertically arranged, in the vertical direction, first image-forming module 1332 and second image-forming module
1336 can be staggered, i.e., in the vertical direction the first image-forming module 1332 and second image-forming module 1336 be located at it is different
Horizontal plane.
The support plate 1331 may be provided with 1303 and second through hole 1304 of first through hole, the first through hole 1303 and institute
State that the second through hole 1304 corresponds respectively to the first galvanometer eyeglass 1334 and the second galvanometer eyeglass 1338 is set, from first through hole
1303 incident light incide into the surface of the first galvanometer eyeglass 1334, and the light incident from the second through hole 1304 incides into second
The surface of galvanometer eyeglass 1338.Specifically, the first galvanometer eyeglass 1334 in face of the surface of the support plate 1331 from described
First through hole 1303 is exposed, and the second galvanometer eyeglass 1338 is logical from described second in face of the surface of the support plate 1331
Hole 1304 is exposed, to reflect from the incident light of 1303 or second through hole of first through hole 1304.Therefore, it is possible to more square
Just to the acquisition of incident ray, and it is more advantageous to the setting of follow-up imaging unit.Meanwhile by setting the first through hole
1303 and second through hole 1304 so that the first galvanometer eyeglass 1334 and the second galvanometer eyeglass 1338 can be incident to same visual angle
Light reflected, different types of image acquisition and analysis subsequently are carried out to the image in the visual angle to facilitate.This implementation
In example, 1303 and second through hole 1304 of first through hole is according to the first galvanometer eyeglass 1334 and the second galvanometer eyeglass 1338
Stagger setting, it is in " S " structure to make the support plate 1331.It is appreciated that the set-up mode and quantity of through hole can also be according to realities
Border needs to make choice, to be suitable for different application environments.
First image-forming module, 1332 and second image-forming module 1336 includes array image sensor respectively, so as to
Under the circumference of the high-speed rotation, it can still ensure the enough stationary exposure time, obtain clearly image, and with very high
Resolving accuracy.
Also referring to Fig. 9, the first galvanometer unit 1333 includes the first galvanometer eyeglass 1334 and the first galvanometer motor
1335.The first galvanometer eyeglass 1334 is arranged on before the camera lens of first image-forming module 1332, will incide into
The light of one galvanometer eyeglass 1334 reflects into the first image-forming module 1332.Further, the first galvanometer eyeglass 1334 is first
It at least can be in positive and negative 10 degree of angular range internal vibration under the driving of galvanometer motor 1335.First galvanometer motor 1335 is used
In driving the first galvanometer eyeglass 1334 reverse rotation and reset are done compared with the rotation direction of the rotating platform 12.It is described
It is located at initial position during the first 1334 non-rotation compensation of galvanometer eyeglass.The first galvanometer eyeglass 1334 can be in the first galvanometer motor
Under 1335 driving, initial position during compared with the first galvanometer 1334 non-rotation of eyeglass is with model of the predeterminated frequency at positive and negative 10 degree
It encloses interior positive and counter-rotating and resets.Specifically, when being shot, the direction of rotation of the first galvanometer eyeglass 1334 with
The direction of rotation of the rotating platform 12 is on the contrary, the direction of rotation of i.e. described first galvanometer eyeglass 1334 and the described first imaging mould
The direction of rotation of block 1332 is opposite；When rotating platform 12 rotates clockwise, then the first galvanometer eyeglass 1334 counterclockwise shake by rotation
It is dynamic；Conversely, then the first galvanometer eyeglass 1334 rotates clockwise vibration.Wherein, the infrared ray form 1323, the first galvanometer eyeglass
1334 and first image-forming module 1332 position relationship need to meet the infrared ray come in from infrared ray form 1323 be incident to it is described
First galvanometer eyeglass 1334 is incident to the camera lens of the first image-forming module 1332 after the reflection of the first galvanometer eyeglass 1334,
And it is imaged on the array image sensor of first image-forming module 1332.Further, 1334 rotation of the first galvanometer eyeglass
Angular speed can be 12 angular velocity of rotation of rotating platform half, specifically, the first galvanometer eyeglass 1334 compared with
The size of angular speed during the first 1332 counter-rotating of image-forming module for 1332 angular velocity of rotation of the first image-forming module two/
One.In the present embodiment, the geometric center of the infrared ray form 1323, the geometric center of the first galvanometer eyeglass 1334, Yi Ji
The geometric center of one image-forming module 1332 is located in the same horizontal plane.
Similar, also referring to Figure 10, the second galvanometer unit 1337 includes the second galvanometer eyeglass 1338 and second
Galvanometer motor 1339.The second galvanometer eyeglass 1338, can be compared with initial bit under the driving of the second galvanometer motor 1339
It puts the angular range internal vibration at positive and negative 10 degree and resets, which is arranged on second image-forming module
Before 1336 camera lens.Likewise, the direction of rotation of the second galvanometer eyeglass 1338 and the direction of rotation of the rotating platform 12
On the contrary.Further, the second galvanometer eyeglass 1338 is rotated around the angular speed of its own rotation axis rotation for the rotating platform
The half of angular speed, i.e., angle speed when described second galvanometer eyeglass 1338 is compared with the second 1336 counter-rotating of image-forming module
The size of degree is the half of the rotating platform angular velocity of rotation, accurately to realize to the second imaging mould in rotary course
In block 1336 into image compensation, improve image quality.The visible light window 1324, the second galvanometer eyeglass 1338 and second
The position relationship of image-forming module 1336 will meet the visible ray come in from visible light window 1324 and be incident to the second galvanometer mirror
Piece 1338, is incident to the camera lens of the second image-forming module 1336 after the reflection of the second galvanometer eyeglass 1338, and this second
It is imaged on the array image sensor of image-forming module 1336.
Further, in the present embodiment, in initial position, the reflecting surface of the first galvanometer eyeglass 1334 can be with the infrared ray
Angle between the imaging surface of form 1323 and first image-forming module 1332 is 45 degree；Similar, the second galvanometer mirror
The reflecting surface of piece 1338 can be between the imaging surface of visible 1324 and second image-forming module 1336 of light window angle
It is 45 degree；Meanwhile it is mutually perpendicular between the first galvanometer eyeglass 1334 and the second galvanometer eyeglass 1338.First imaging
Module 1332, the first galvanometer unit 1333, the second image-forming module 1336 and the second galvanometer unit 1337 cooperate, and can be used for
Obtain the image in equidirectional visual angle, it can also be used to obtain the image in the visual angle of different directions such as relative direction.
The image and the second image-forming module obtained on array image sensor by first image-forming module 1332
The image obtained on 1336 array image sensor can also be finally synthesizing an image by image processing system.
It is appreciated that the structure of the panoramic scanning device 10 of the present invention is without being limited thereto, as long as the shooting unit 133 can
Pan-shot is realized in 360 degree of rotations.That is, the structure of the pedestal 11 and rotating platform 12 is not limited to this implementation
Example, or other structures, such as can also take individual layer rotating platform or by turntable shooting unit 133 be driven to rotate, only
Want the shooting unit 133 being capable of 360 degree of rotation realization pan-shots.
Also referring to Figure 11, the panoramic scanning device 10 of the present embodiment is when carrying out panoramic scanning, in order to meet scanning
The requirement general control panoramic scanning device in shooting unit 133 rotating speed.If the first image-forming module 1332 and the second one-tenth
As the field angle of the camera lens of module 1336 is θ, then it is 360 °/θ to separate number n, then the shooting unit 133, including the first one-tenth
As the rotating speed of 1332 and second image-forming module 1336 of module need to meet v≤f/n revolutions per seconds, wherein, f is imaging frequency namely per second
The frame number of shooting.In the present embodiment, as f=50, that is to say, that θ/360 revolutions per second of v≤5, v round numbers.For example, θ=18 °, n
=20, v≤2 revolutions per second；θ=30 °, n=12, v≤4 revolutions per second；θ=60 °, n=6, v≤8 revolutions per second.The camera lens regard
Rink corner θ is different, and the rotating speed of the shooting unit 133 is also different.Shooting unit 133 is carried out at the same time shooting during rotation.
First, by the way that second motor 125 is controlled to adjust the pitch angle of shooting unit 133 in panoramic scanning device, determine what is found a view
Scope；Then, control shooting unit 133 does 360 degree of rotations, obtains the panoramic picture under commanded pitch attitude angle.
During shooting, if without the first galvanometer eyeglass 1334 and the second galvanometer eyeglass 1338, since shooting is single
The phenomenon that member 133 is shot in rotation, and shooting effect is bound to be influenced by very big, and image has hangover.
And the present invention is respectively provided with the first galvanometer eyeglass before the first image-forming module 1332 and the second image-forming module 1336
1334 and the second galvanometer eyeglass 1338, it is incident to described the from the infrared ray that subject is emitted through infrared ray form 1323
One galvanometer eyeglass 1334 is incident to the camera lens of the first image-forming module 1332, from quilt by the reflection of the first galvanometer eyeglass 1334
The visible light window 1324 of visible light-transmissive of shooting object reflection is incident to the second galvanometer eyeglass 1338, second shakes by this
The camera lens of the second image-forming module 1336 is incident to after the reflection of mirror eyeglass 1338.The first galvanometer eyeglass 1334 and the second galvanometer mirror
Piece 1338 is rotated under the driving of the first motor 124 with certain speed, while by controlling first galvanometer motor 1335
With the second galvanometer motor 1339 the first galvanometer eyeglass 1334 and the second galvanometer eyeglass 1338 is controlled to shake with certain angular speed respectively
It is dynamic.
When shooting a photo, the first galvanometer eyeglass 1334 can control to be reversely rotated with certain angular speed, with
Movement of the picture of the subject on the array image sensor of first image-forming module 1332 is compensated, makes to be taken
Object on the array image sensor of first image-forming module 1332 seems static；And control second galvanometer
Eyeglass 1338 is reversely rotated with certain angular speed, to compensate the picture of the subject in second image-forming module 1336
Array image sensor on movement, make subject on the array image sensor of second image-forming module 1336
Seem static；That is, the reverse rotation motion of described first galvanometer eyeglass 1334 and the second galvanometer eyeglass 1338 compensate for by
Movement of the picture of object on the array image sensor is shot, makes subject on the array image sensor
Seem static.So on the array image sensor of 1332 and second image-forming module 1336 of the first image-forming module
Image quality is more excellent, the phenomenon that not having hangover.After this photograph taking, the first galvanometer eyeglass is controlled respectively
1334 and second galvanometer eyeglass 1338 quickly rotate to respective initial position.
In the present embodiment, the field angle θ of the camera lens of 1332 and second image-forming module 1336 of the first image-forming module is
18 degree, then, it is 20 to separate number n, that is to say, that the shooting unit 133 needs to shoot 20 photos to complete pan-shot.
By controlling first motor 124 that the rotating speed of shooting unit 133 in panoramic scanning device is made to be equivalent to for 1 revolutions per second with 360
The angular speed rotation of degrees second.In shooting process, the first galvanometer eyeglass 1334 and the second galvanometer eyeglass 1338 are controlled respectively
It is reversely rotated with the angular speed of 180 degree/second, i.e., the anglec of rotation speed of described first galvanometer eyeglass 1334 and the second galvanometer eyeglass 1338
It spends for the half of 124 angular velocity of rotation of the first motor, is passed with the picture for compensating subject in the face system of battle formations picture
Movement on sensor makes subject on the array image sensor seem static.After shooting, control respectively
It makes the first galvanometer eyeglass 1334 and the second galvanometer eyeglass 1338 quickly rotates to respective initial position.Pass through control afterwards
Software is by the image on the array image sensor of first image-forming module 1332 and the face system of battle formations of the second image-forming module 1336
As image one image of synthesis on sensor, then this 20 images are realized by one image data of software process quality
360 degree of pan-shot.
It is appreciated that by set the first galvanometer eyeglass 1334, the second galvanometer eyeglass 1338 and the first image-forming module 1332,
Optical position relation between second image-forming module 1336, such as make the first galvanometer eyeglass 1334 parallel to the second galvanometer mirror
Piece 1338, then first image-forming module 1332 by light image-forming module 1336 with can also be used for obtaining in relative perspective respectively
Image, i.e., the capture region of described first image-forming module 1332 and the capture region of second image-forming module 1336 on the contrary, from
And so that the panoramic scanning device 10 often rotates 180 degree, you can obtain the image in 360 degree.That is, the panorama is swept
When imaging apparatus 10 often rotates 180 degree, the image that first image-forming module 1332 obtains is obtained with second image-forming module 1336
The image taken can access panoramic picture after split, be obtained so as to further improve the panoramic scanning device 10
The frequency of panoramic picture reduces the probability that monitoring blind area occurs.
The panoramic scanning device 10 of the present embodiment is when being stared, due to first image-forming module 1332 and the second one-tenth
Picture module 1336 is using array image sensor, so the first galvanometer eyeglass 1334 and the second galvanometer eyeglass 1338 need not
Movement, remains stationary, so as to obtain the image of high identification.
The panoramic scanning device 10, due to infrared ray form, visible light window and infrared imaging module and
Visual light imaging module, the infrared imaging module and visual light imaging module can be with 360 degree of rotations, so the panoramic scanning device
Can realize 24 it is small when round-the-clock 360 degree of pan-shot；Further, the panoramic scanning device is only with an infrared imaging
Module, so cost is relatively low.In addition, by setting first galvanometer and the second galvanometer in the panoramic scanning device, in panorama
In the shooting process of scanning, first galvanometer and the second galvanometer are reversely rotated with certain angular speed, which compensates for
Movement of the picture of subject on the array image sensor makes subject on the array image sensor
Seem static.So, do not have hangover the phenomenon that more excellent by the picture quality that the panoramic scanning device is shot, greatly
Raising monitoring image accuracy of identification.
In addition, during staring, since the infrared imaging module and visual light imaging module are using face
Array image sensor, therefore first galvanometer and the second galvanometer need not move, remains stationary can obtain high-precision figure
Picture.
Also referring to Figure 12, second embodiment of the invention, which provides a kind of panoramic scanning device 20, includes pedestal 11, rotation
Platform 12 and imaging mechanism 13.The rotating platform 12 is arranged at the pedestal 11, and the imaging mechanism 13 is arranged at described
Rotating platform 12, the rotating platform 12 and imaging mechanism 13 can be rotated compared with the pedestal 11.
The panoramic scanning device 10 that the panoramic scanning device 20 that second embodiment of the invention provides is provided with first embodiment
Structure is essentially identical, and difference is, the shooting unit 133 in the imaging mechanism 13 only include support plate 1331, the first one-tenth
As 1332 and first galvanometer unit 1333 of module.The first galvanometer unit 1333 shakes including the first galvanometer eyeglass 1334 and first
Mirror motor 1335, the first galvanometer eyeglass 1334, can be at positive and negative 10 degree of angles under the driving of the first galvanometer motor 1335
Spend scope internal vibration.Further, the direction of rotation of the first galvanometer eyeglass 1334 and the rotation of first image-forming module 1332
Turn direction on the contrary, to compensate the picture of the subject on the array image sensor of first image-forming module 1332
Movement makes subject on the array image sensor of first image-forming module 1332 seem static, Jin Erti
The high accuracy of identification of monitoring image.Compared with the panoramic scanning device 10 that first embodiment provides, second embodiment of the invention
The panoramic scanning device 20 of offer is used to carry out infrared imaging to the heat radiation that object is sent, and forms panoramic picture.
Also referring to Figure 13, third embodiment of the invention, which provides a kind of panoramic scanning device 30, includes pedestal 11, rotation
Platform 12 and imaging mechanism 13.The rotating platform 12 is arranged at the pedestal 11, and the imaging mechanism 13 is arranged at described
Rotating platform 12, the rotating platform 12 and imaging mechanism 13 can be rotated compared with the pedestal 11.
The panoramic scanning device 30 that third embodiment of the invention provides, the panoramic scanning device 10 provided with first embodiment
Structure is essentially identical, and difference is, the shooting unit 133 in the imaging mechanism 13 only include support plate 1331, the second one-tenth
As 1336 and second galvanometer unit 1337 of module.The second galvanometer unit 1337 shakes including the second galvanometer eyeglass 1338 and second
Mirror motor 1339, the second galvanometer eyeglass 1338, can be at positive and negative 10 degree of angles under the driving of the second galvanometer motor 1339
Spend scope internal vibration.In addition, when being shot, the direction of rotation of the second galvanometer eyeglass 1338 and the described second imaging mould
The direction of rotation of block 1336 is on the contrary, to compensate face system of battle formations picture of the picture in second image-forming module 1336 of the subject
Movement on sensor makes subject on the array image sensor of second image-forming module 1336 seem static
, and then improve the accuracy of identification of monitoring image.Compared with the panoramic scanning device 10 that first embodiment provides, the present invention the
The visible ray that the panoramic scanning device 20 that three embodiments provide is used to send object or reflect is imaged, and forms panorama sketch
Picture.
The panoramic scanning device 30 has the advantages that：
(1) there are rotating platform and mating galvanometer unit lazy-tongs, it can be achieved that walking to stop at a high speed；
(2) the panoramic scanning device can only with a set of image-forming module can panoramic scanning, pass through (1) high-speed rotating scanning
So as to fulfill 360 degree of overall view monitorings of high frequency, cost is relatively low；
(3) by setting infrared imaging module and visual light imaging module, the infrared imaging module and visual light imaging mould
Block can be and more single full-time with synchronous rotary, so the panoramic scanning device can realize round-the-clock 360 degree of pan-shot
Resolution of lens and monitoring capacity are stronger.
Also referring to Figure 14, fourth embodiment of the invention further provides for a kind of panoramic scanning monitoring system 100, described
Panoramic scanning monitoring system 100 includes panoramic scanning module 110, drive control module 120, communication module 130, information processing mould
Block 140 and image display 150 are electrically connected.The panoramic scanning module 110 will obtain for monitoring and obtaining panoramic picture
The image obtained is transferred to signal processing module 130 by communication module group 120 and is handled；The drive control module 120 is used for
The instruction that signal processing module 130 is sent is received, and shooting scanning is carried out according to order-driven panoramic scanning module 110；It is described
Signal processing module 130 is used to send control instruction to drive control module 120, and the image data of acquisition is handled,
By treated, image is shown by image display 140.
The panoramic scanning module 110 may include the panoramic scanning device 10, for obtaining monitoring image and scanning figure
Picture.The control instruction that the drive control module 120 is sent according to signal processing module 130 drives the panoramic scanning device
10 carry out image taking and panoramic scanning, to obtain the image of different angle and static map.Specifically, the drive control mould
Block 120 can control the first motor 124 described in panoramic scanning device 10, the second motor 125, the first galvanometer motor 1335 and second
The start and stop of galvanometer motor 1339, so as to control rotating platform 12, imaging mechanism 13, the first galvanometer eyeglass 1334 and the second galvanometer mirror
The rotation of piece 1338, to obtain the image of different angle.Further, when shooting, the drive control module 120 controllable the
One galvanometer eyeglass 1334 and the direction of rotation of the second galvanometer eyeglass 1338 and rotating platform 12 are on the contrary, to compensate the subject
Movement of the picture of body in the first image-forming module 1332 and the second image-forming module 1336 makes subject in the described first imaging
On the array image sensor of 1332 and second image-forming module 1336 of module seems static, so as to improve the panorama of acquisition
The accuracy of identification of image.
It is appreciated that when the panoramic scanning device 10 is used to obtain the scene of fixed viewpoint, the drive control mould
Block 120 can be an alternative construction.The panoramic scanning device 10 can be at fixed angle at this time, with to some specific regions
Carry out lasting monitoring.
The communication module 130 is used to the image information that panoramic scanning device 10 obtains being transferred to message processing module
140 are handled.The communication module 130 may include wire communication module or wireless communication module, to be suitable for different biographies
Defeated medium, such as the wireless mediums such as optical fiber, cable, cable wire medium and carrier wave.
Described information processing module 140 to drive control module 120 for sending driving instruction according to demand, with to difference
Angle be monitored and carry out panoramic scanning, and the image information passed back to communication module 130 is handled, to obtain not
With the image and panorama sketch of angle.Specifically, described information processing module 140 may include driving unit and image procossing list
Member, the driving unit obtain the visible of same angle for driving to the first image-forming module 1332 and the second image-forming module 1336
Light image and infrared image, described image processing unit are used to parse the infrared image and visible images of acquisition, spell
The processing such as connect, merge, to obtain the image under different periods same background.Specifically, due to it is described it is infrared into module 1332 with
The essentially identical therefore acquired infrared image in the visual angle of second image-forming module 1336 and visible images can pass through described image
Processing unit carries out split, thus in the case of insufficient light, such as night, it still can be by the infrared target figure of acquisition
Picture is merged in the visible images that daytime is obtained in equal angular in the case of the visible ray abundance, shown, so as to carry
High adaptability of the panoramic scanning monitoring system 100 to environment.
Described image display module 140 is used to show the image that panoramic scanning device 110 obtains, be shown by image
Show that module 140 can monitor panoramic scanning device 110 in real time to the image acquired in neighboring scan.
It is appreciated that above-mentioned panoramic scanning module can be also other panoramic scanning devices, can carry out according to actual needs
Different selection, combination, to reach different monitoring effects.
In addition, those skilled in the art can also do other variations in spirit of the invention, these are according to present invention spirit
The variation done should be all included in scope of the present invention.
Claims (18)
1. a kind of panoramic scanning device, which is characterized in that the panoramic scanning device includes：
Rotating platform；
First image-forming module, first image-forming module are arranged on rotating platform and are set with the rotating platform synchronous rotary
It puts；
Second image-forming module, second image-forming module are arranged on rotating platform and are set with the rotating platform synchronous rotary
It puts；
First galvanometer eyeglass, for the light for inciding into the first galvanometer eyeglass to be reflected into the first image-forming module, and it is described
First galvanometer eyeglass can compared with the first image-forming module direction of rotation is positive and reverse rotation, and switched with predeterminated frequency and rotated
Direction；
Second galvanometer eyeglass, for the light for inciding into the second galvanometer eyeglass to be reflected into the second image-forming module, and it is described
Second galvanometer eyeglass can compared with the second image-forming module direction of rotation is positive and reverse rotation, and switched with predeterminated frequency and rotated
Direction.
2. panoramic scanning device as described in claim 1, which is characterized in that when the first galvanometer eyeglass is compared with the first one-tenth
As module direction of rotation counter-rotating when, the size of the first galvanometer eyeglass angular velocity of rotation is first image-forming module
The half of angular velocity of rotation.
3. panoramic scanning device as described in claim 1, which is characterized in that when the second galvanometer eyeglass is compared with the second one-tenth
As module direction of rotation counter-rotating when, the size of the second galvanometer eyeglass angular velocity of rotation is second image-forming module
The half of angular velocity of rotation.
4. panoramic scanning device as described in claim 1, which is characterized in that the first galvanometer eyeglass and second galvanometer
Eyeglass is mutually perpendicular to, along the light of equidirectional incidence after the first galvanometer eyeglass and the second galvanometer lens reflecting along opposite side
To horizontal infection, the first image-forming module and the second image-forming module are respectively enterd.
5. panoramic scanning device as described in claim 1, which is characterized in that first image-forming module, the second image-forming module,
The position relationship of first galvanometer eyeglass and the second galvanometer eyeglass meets：The first galvanometer eyeglass and the second galvanometer are incided into from equidirectional
The light of eyeglass, after the first galvanometer eyeglass and the second galvanometer lens reflecting, incide into respectively first image-forming module and
Second image-forming module.
6. panoramic scanning device as described in claim 1, which is characterized in that the first galvanometer eyeglass and the described first imaging
Module synchronization rotates, and on the basis of synchronous rotary, the first galvanometer eyeglass can be compared with the rotation of first image-forming module
Turn direction forward direction and counter-rotating；The second galvanometer eyeglass and the second image-forming module synchronous rotary, in synchronous rotary
On the basis of, the second galvanometer eyeglass can be compared with the direction of rotation forward direction of second image-forming module and counter-rotating.
7. panoramic scanning device as described in claim 1, which is characterized in that the first galvanometer eyeglass has initial position,
The first galvanometer eyeglass can compared with the initial position with predeterminated frequency carry out 10 degree in the range of forward direction or counter-rotating simultaneously
It resets；The second galvanometer eyeglass has initial position, and the second galvanometer eyeglass can be compared with the initial position with default frequency
Rate carries out the forward direction in the range of 10 degree or counter-rotating and resets.
8. panoramic scanning device as described in claim 1, which is characterized in that first image-forming module is infrared imaging mould
Block, second image-forming module are visual light imaging module.
9. panoramic scanning device as described in claim 1, which is characterized in that further comprise support plate, the support plate is set
Be placed on the rotating platform, and with the rotating platform synchronous rotary；The support plate includes opposite first surface and the
Two surfaces, first image-forming module are arranged at the first surface, and second image-forming module is arranged at the second surface.
10. panoramic scanning device as claimed in claim 9, which is characterized in that incide into the first galvanometer eyeglass in the same direction
And second galvanometer eyeglass direction light, after the first galvanometer eyeglass and the second galvanometer lens reflecting, incide into the first one-tenth respectively
As module and the second image-forming module；The light of the first galvanometer eyeglass is incided into after reflection along the direction parallel to first surface
Into first image-forming module；The light of the second galvanometer eyeglass is incided into after reflection along the direction parallel to second surface
Into second image-forming module, and enter the direction of propagation of the light of the first galvanometer eyeglass with entering the second galvanometer eyeglass
Light the direction of propagation it is opposite.
11. a kind of panoramic scanning device, which is characterized in that the panoramic scanning device includes：
Rotating platform；
Imaging mechanism, the imaging mechanism are arranged on rotating platform, and with the rotating platform synchronous rotary, residing imager
Structure includes：
First image-forming module, first image-forming module and the rotating platform synchronous rotary；
Second image-forming module, second image-forming module and first image-forming module are arranged at intervals, and with the rotating platform
Synchronous rotary；
First galvanometer eyeglass, for the light for inciding into the first galvanometer eyeglass to be reflected into first image-forming module；
Second galvanometer eyeglass, for the light for inciding into the second galvanometer eyeglass to be reflected into second image-forming module；
First galvanometer motor, for driving direction of rotation forward direction and reverse rotation of the first galvanometer eyeglass compared with the first image-forming module
Turn, and direction of rotation is switched with predeterminated frequency；And
Second galvanometer motor, for driving direction of rotation forward direction and reverse rotation of the second galvanometer eyeglass compared with the second image-forming module
Turn, and direction of rotation is switched with predeterminated frequency.
12. panoramic scanning device as claimed in claim 11, which is characterized in that when the first galvanometer eyeglass is compared with first
During the direction of rotation counter-rotating of image-forming module, the size of angular speed during the first galvanometer eyeglass counter-rotating is the first one-tenth
As the half of the angular velocity of rotation size of module；When the second galvanometer eyeglass is compared with the rotation side of the second image-forming module
To during counter-rotating, the size of angular speed during the second galvanometer eyeglass counter-rotating for the second image-forming module anglec of rotation speed
Spend the half of size.
13. panoramic scanning device as claimed in claim 11, which is characterized in that further comprise support plate, the support plate
Be arranged on the rotating platform and with rotating platform synchronous rotary, first image-forming module, the second image-forming module, first shake
Mirror eyeglass, the second galvanometer eyeglass, the first galvanometer motor and the second galvanometer motor are arranged in the support plate, with the rotary flat
Platform synchronous rotary.
14. panoramic scanning device as claimed in claim 13, which is characterized in that the support plate has opposite first surface
And second surface, the first galvanometer eyeglass, the first galvanometer motor and the first image-forming module are arranged at the first surface, described
Second galvanometer eyeglass, the second galvanometer motor and the second image-forming module are arranged at the second surface, and the first galvanometer eyeglass
It is set perpendicular to the second galvanometer eyeglass.
15. panoramic scanning device as claimed in claim 14, which is characterized in that first image-forming module and the second imaging mould
The imaged viewing angle of block is oppositely arranged, and to obtain the image of relative direction, incides into the first galvanometer eyeglass and second in the same direction
The light in galvanometer eyeglass direction after the first galvanometer eyeglass and the second galvanometer lens reflecting, incides into the first image-forming module respectively
And second image-forming module；The light for inciding into the first galvanometer eyeglass enters institute after reflection along the direction parallel to first surface
State the first image-forming module；The light for inciding into the second galvanometer eyeglass enters institute after reflection along the direction parallel to second surface
The second image-forming module is stated, and the direction of propagation for entering the light of the first galvanometer eyeglass and the light into the second galvanometer eyeglass
The direction of propagation it is opposite.
16. panoramic scanning device as claimed in claim 11, which is characterized in that further comprise the first motor and the second electricity
Machine, for first motor for rotating platform to be driven to rotate, second motor is used to control the pitch angle of imaging mechanism.
17. panoramic scanning device as claimed in claim 11, which is characterized in that set first image-forming module and the second imaging
The imaging frequency of module is f, and the rotating speed of first image-forming module and the second image-forming module is v, then v meets：
V≤f/n revolutions per seconds；
Wherein, n is segmentation number, and n=360 °/θ, θ is the field angle of the first image-forming module and the second image-forming module.
18. panoramic scanning device as claimed in claim 11, which is characterized in that first image-forming module is infrared imaging mould
Block, second image-forming module are visual light imaging module.
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