CN108121146B

CN108121146B - Panoramic scanning device

Info

Publication number: CN108121146B
Application number: CN201611087539.0A
Authority: CN
Inventors: 涂国煜; 潜力; 王昱权
Original assignee: Beijing Hongyi Dingshi Technology Development Co ltd
Current assignee: Beijing Hongyi Dingshi Technology Development Co ltd
Priority date: 2016-11-30
Filing date: 2016-11-30
Publication date: 2024-02-09
Anticipated expiration: 2036-11-30
Also published as: CN108121146A

Abstract

The invention relates to a panoramic scanning device, comprising: rotating the platform; the first imaging module is arranged on the rotary platform and is synchronously and rotatably arranged with the rotary platform; the second imaging module is arranged on the rotary platform and is synchronously and rotatably arranged with the rotary platform; the first galvanometer lens is used for reflecting light rays entering the first galvanometer lens into the first imaging module, and the first galvanometer lens can rotate forward and backward relative to the rotation direction of the first imaging module and switch the rotation direction at a preset frequency; the second galvanometer lens is used for reflecting light rays entering the second galvanometer lens into the second imaging module, and the second galvanometer lens can rotate forward and backward relative to the rotation direction of the second imaging module and switch the rotation direction at a preset frequency. The panoramic scanning device provided by the invention has a simple structure and can be used for forming images with high resolution.

Description

Panoramic scanning device

Technical Field

The present invention relates to an imaging apparatus, and more particularly, to a panoramic scanning apparatus.

Background

At present, a monitoring system capable of monitoring whether in daytime or in black is generally installed in public places such as airports, parking lots and roads, and the monitoring system generally requires 360-degree panoramic scanning so that the surrounding situation can be completely observed. In order to achieve all-weather shooting and 360-degree panoramic scanning, an imaging device in an existing monitoring system generally adopts a low-light night vision or infrared imaging module, a plurality of sets of lenses and imaging modules are arranged in the circumferential direction according to the field angle of view that each lens can shoot, each set of imaging module is responsible for shooting within the range of the field angle of view, and then 360-degree panoramic scanning is achieved through software synthesis.

However, since the imaging device includes a plurality of sets of lenses and imaging modules, the lenses and imaging modules capable of all-weather imaging are expensive, and therefore the cost of the imaging device is relatively high. In addition, since panoramic scanning monitoring needs to ensure enough static exposure time while rotating shooting, high-speed refreshing of a 360-degree panoramic image cannot be achieved at present.

Disclosure of Invention

In view of the foregoing, it is desirable to provide a panoramic scanning apparatus that is suitable for high-speed refreshing and that is relatively inexpensive.

A panoramic scanning apparatus, wherein the panoramic scanning apparatus comprises:

a rotary platform having a rotation axis;

the first imaging module is arranged on the rotary platform and is synchronously and rotatably arranged with the rotary platform;

the second imaging module is arranged on the rotary platform and is synchronously and rotatably arranged with the rotary platform;

the first galvanometer lens is used for reflecting light rays entering the first galvanometer lens into the first imaging module, and the first galvanometer lens can rotate forward and backward relative to the rotation direction of the first imaging module and switch the rotation direction at a preset frequency;

The second galvanometer lens is used for reflecting light rays entering the second galvanometer lens into the second imaging module, and the second galvanometer lens can rotate forward and backward relative to the rotation direction of the second imaging module and switch the rotation direction at a preset frequency.

In one embodiment, when the first galvanometer lens rotates reversely relative to the rotation direction of the first imaging module, the magnitude of the first galvanometer lens rotational angular velocity is one half of the first imaging module rotational angular velocity.

In one embodiment, when the second galvanometer lens is rotated in a reverse direction relative to the rotation direction of the second imaging module, the second galvanometer lens rotational angular velocity is one half of the second imaging module rotational angular velocity.

In one embodiment, the first galvanometer lens and the second galvanometer lens are perpendicular to each other, and the light incident along the same direction is reflected by the first galvanometer lens and the second galvanometer lens and then propagates in parallel along opposite directions, and enters the first imaging module and the second imaging module respectively.

In one embodiment, the positional relationship among the first imaging module, the second imaging module, the first galvanometer lens and the second galvanometer lens satisfies: the light rays which are incident to the first vibrating mirror lens and the second vibrating mirror lens from the same direction are reflected by the first vibrating mirror lens and the second vibrating mirror lens and then respectively incident to the first imaging module and the second imaging module.

In one embodiment, the first galvanometer lens and the first imaging module rotate synchronously, and on the basis of synchronous rotation, the first galvanometer lens can rotate positively and reversely relative to the rotation direction of the first imaging module; the second galvanometer lens and the second imaging module synchronously rotate, and on the basis of synchronous rotation, the second galvanometer lens can rotate positively and reversely relative to the rotation direction of the second imaging module.

In one embodiment, the first galvanometer lens has an initial position, and the first galvanometer lens can rotate forward or backward within 10 degrees with a preset frequency relative to the initial position and reset; the second galvanometer lens has an initial position, and the second galvanometer lens can rotate forward or backward within 10 degrees with a preset frequency relative to the initial position and reset.

In one embodiment, the first imaging module is an infrared imaging module and the second imaging module is a visible light imaging module.

In one embodiment, the device further comprises a support plate, wherein the support plate is arranged on the rotary platform and rotates synchronously with the rotary platform; the support plate comprises a first surface and a second surface which are opposite to each other, the first imaging module is arranged on the first surface, and the second imaging module is arranged on the second surface.

In one embodiment, the light incident to the first galvanometer lens and the second galvanometer lens along the same direction is reflected by the first galvanometer lens and the second galvanometer lens and then respectively incident to the first imaging module and the second imaging module; light rays entering the first vibrating mirror lens enter the first imaging module along a direction parallel to the first surface after being reflected; the light incident on the second galvanometer lens enters the second imaging module along the direction parallel to the second surface after being reflected, and the propagation direction of the light entering the first galvanometer lens is opposite to that of the light entering the second galvanometer lens.

a rotary platform having a rotation axis about which the rotary platform is rotatable;

imaging mechanism, imaging mechanism sets up on rotary platform, and with rotary platform synchronous rotation, the imaging mechanism of place includes:

the first imaging module rotates synchronously with the rotating platform;

the second imaging module is arranged at intervals with the first imaging module and synchronously rotates with the rotary platform;

The first galvanometer lens is used for reflecting light rays incident on the first galvanometer lens into the first imaging module;

the second galvanometer lens is used for reflecting the light rays entering the second galvanometer lens into the second imaging module;

the first galvanometer motor is used for driving the first galvanometer lens to rotate forwards and backwards relative to the rotation direction of the first imaging module and switching the rotation direction at a preset frequency; and

the second galvanometer motor is used for driving the second galvanometer lens to rotate forward and backward relative to the rotation direction of the second imaging module and switching the rotation direction at a preset frequency.

In one embodiment, when the first galvanometer lens rotates reversely relative to the rotation direction of the first imaging module, the angular velocity of the first galvanometer lens when rotating reversely is one half of the angular velocity of the first imaging module; when the second galvanometer lens reversely rotates relative to the rotation direction of the second imaging module, the angular velocity of the second galvanometer lens when reversely rotating is one half of the rotational angular velocity of the second imaging module.

In one embodiment, the device further comprises a support plate, wherein the support plate is arranged on the rotating platform and rotates synchronously with the rotating platform, and the first imaging module, the second imaging module, the first vibrating mirror lens, the second vibrating mirror lens, the first vibrating mirror motor and the second vibrating mirror motor are arranged on the support plate and rotate synchronously with the rotating platform.

In one embodiment, the support plate has a first surface and a second surface opposite to each other, the first galvanometer lens, the first galvanometer motor and the first imaging module are disposed on the first surface, the second galvanometer lens, the second galvanometer motor and the second imaging module are disposed on the second surface, and the first galvanometer lens is perpendicular to the second galvanometer lens.

In one embodiment, the imaging viewing angles of the first imaging module and the second imaging module are set relatively to obtain images in opposite directions, and light entering the first galvanometer lens and the second galvanometer lens along the same direction is reflected by the first galvanometer lens and the second galvanometer lens and then enters the first imaging module and the second imaging module respectively; light rays entering the first vibrating mirror lens enter the first imaging module along a direction parallel to the first surface after being reflected; the light incident on the second galvanometer lens enters the second imaging module along the direction parallel to the second surface after being reflected, and the propagation direction of the light entering the first galvanometer lens is opposite to that of the light entering the second galvanometer lens.

In one embodiment, the imaging device further comprises a first motor and a second motor, wherein the first motor is used for driving the rotary platform to rotate, and the second motor is used for controlling the pitch angle of the imaging mechanism.

In one embodiment, let the imaging frequency of the first imaging module and the second imaging module be f, and the rotational speeds of the first imaging module and the second imaging module be v, then v satisfies:

v is less than or equal to f/n revolutions per second;

where n is the number of divisions, n=360°/θ, θ is the angle of view of the first imaging module and the second imaging module.

Compared with the prior art, the panoramic scanning device provided by the invention has the advantages that the two imaging modules are adopted to respectively acquire different panoramic images, the structure is simple, the occupied space is small, and the cost is low. Further, by compensating the imaging process by the vibrating mirror lens, the imaging quality can be improved, and the image with high resolution can be obtained, thereby being beneficial to monitoring the surrounding environment.

Drawings

Fig. 1 is a schematic structural view of a bearing bracket of an optical imaging device provided by the invention.

Fig. 2 is a schematic structural view of a first galvanometer unit in the bearing bracket of the optical imaging apparatus shown in fig. 1.

Fig. 3 is a schematic structural view of a second galvanometer unit in the bearing bracket of the optical imaging apparatus shown in fig. 1.

Fig. 4 is a schematic perspective view of a panoramic scanning apparatus according to a first embodiment.

Fig. 5 is a schematic perspective view of a panoramic scanning apparatus according to a first embodiment of the present invention at different angles.

Fig. 6 is a schematic perspective view of an imaging mechanism in a panoramic scanning apparatus according to a first embodiment of the present invention.

Fig. 7 is a schematic perspective view of a photographing unit in a panoramic scanning apparatus according to a first embodiment of the present invention.

Fig. 8 is a schematic view illustrating different angles of a photographing unit in a panoramic scanning apparatus according to a first embodiment of the present invention.

Fig. 9 is a diagram illustrating a positional relationship between a first galvanometer unit and an infrared imaging module in a panoramic scanning apparatus according to a first embodiment of the present invention.

Fig. 10 is a diagram showing a positional relationship between a second galvanometer unit and a visible light imaging module in the panoramic scanning apparatus according to the first embodiment of the present invention.

Fig. 11 is a schematic diagram illustrating the positional relationship between the first galvanometer and the second galvanometer and the infrared window and the visible window in the panoramic scanning apparatus according to the first embodiment of the present invention.

Fig. 12 is a schematic structural diagram of a panoramic scanning apparatus according to a second embodiment of the present invention.

Fig. 13 is a schematic structural diagram of a panoramic scanning apparatus according to a third embodiment of the present invention.

Fig. 14 is a schematic structural diagram of a panoramic scanning monitoring system according to a fourth embodiment of the present invention.

Description of the main reference signs

The invention will be further described in the following detailed description in conjunction with the above-described figures.

Detailed Description

The following describes the optical imaging device carrying bracket, the panoramic scanning device and the panoramic scanning monitoring system in further detail with reference to the accompanying drawings and the specific embodiments.

Referring to fig. 1, the present invention provides an optical imaging device bearing bracket 1330, which includes a support plate 1331, a first galvanometer unit 1333 and a second galvanometer unit 1337, wherein the first galvanometer unit 1333 and the second galvanometer unit 1337 are respectively disposed on two opposite surfaces of the support plate 1331.

Specifically, the support plate 1331 has a first surface and a second surface opposite to each other, and the first galvanometer unit 1333 may be disposed on the first surface of the support plate 1331; the second galvanometer unit 1337 may be disposed at the second surface of the support plate 1331. The support plate 1331 is used for supporting the first galvanometer unit 1333 and the second galvanometer unit 1337, and the material of the support plate 1331 may be metal or polymer material, so long as the support plate 1331 has a certain hardness, and can support the first galvanometer unit 1333 and the second galvanometer unit 1337. The support plate 1331 is rotatably provided, and further, the support plate 1331 is rotatable about a rotation axis. Specifically, the support plate 1331 may have a symmetrical structure, and has a symmetry axis, and the support plate 1331 may rotate about the symmetry axis as a rotation axis. The first and second galvanometer units 1333 and 1337 are disposed on the support plate 1331, so that the first and second galvanometer units 1333 and 1337 can rotate in synchronization with the support plate 1331.

Referring to fig. 2 and 3, the first galvanometer unit 1333 includes a first galvanometer lens 1334 and a first galvanometer motor 1335, the first galvanometer lens 1334 has a first rotation axis, the first galvanometer lens 1334 rotates around the first rotation axis, and the first rotation axis can be coaxially disposed with a driving shaft of the first galvanometer motor 1335, so as to rotate around the first rotation axis under the driving of the first galvanometer motor 1335. Similarly, the second galvanometer unit 1337 includes a second galvanometer lens 1338 and a second galvanometer motor 1339, the second galvanometer lens 1338 has a second rotation axis, the second galvanometer lens 1338 rotates around the second rotation axis, and the second rotation axis can be coaxially arranged with the driving shaft of the first galvanometer motor 1335, so that the second galvanometer lens 1338 can rotate around the second rotation axis under the driving of the second galvanometer motor 1339. Further, the first rotation axis is parallel to the second rotation axis, and further, the first rotation axis and the second rotation axis may be parallel to the symmetry axis of the support plate 1331, and preferably, the first rotation axis and the second rotation axis are symmetrically disposed with respect to the symmetry axis.

In a specific embodiment, in an initial state, i.e. the first vibrating mirror 1334 and the second vibrating mirror 1338 are not subjected to vibration compensation, the first vibrating mirror 1334 and the second vibrating mirror 1338 are located at an initial position and are in a relatively static state, and the surface of the first vibrating mirror 1334 can form an included angle of 45 degrees with the first surface of the supporting plate 1331; similarly, the surface of the second galvanometer lens 1338 may form an angle of 45 degrees with the second surface, so that the light incident perpendicular to the first surface and the second surface propagates in a direction parallel to the first surface and the second surface after being reflected by the first galvanometer lens 1334 and the second galvanometer lens 1338. In addition, the first mirror 1334 may be perpendicular to the second mirror 1338, so that light incident from the same direction along a direction perpendicular to the support plate 1331 propagates in the opposite direction along a surface parallel to the support plate 1331 after being reflected by the first mirror 1334 and the second mirror 1338. It will be appreciated that the selection of the included angle is merely a specific embodiment, and may also be selected according to the setting of the subsequent imaging module.

Further, the first and second galvanometer units 1333 and 1337 may be disposed in opposite directions. Specifically, when the first mirror unit 1333 is set up in the forward direction, then the second mirror unit 1337 is set up in the reverse direction, thereby make the first mirror lens 1334 and the second mirror lens 1338 reverse the setting, can reduce the space that first mirror unit 1333 and second mirror unit 1337 occupy, in order to make things convenient for the setting of follow-up imaging module under the fixed circumstances of backup pad 1331 area, in order to reduce the whole volume that occupies of optical imaging device bearing support 1330, be favorable to the design of the integrated and light path of follow-up other components and parts.

Further, the support plate 1331 is formed with a first through hole 1303 and a second through hole 1304, the first through hole 1303 and the second through hole 1304 are respectively provided corresponding to the first vibrating mirror 1334 and the second vibrating mirror 1338, and the light incident from the first through hole 1303 is incident on the surface of the first vibrating mirror 1334 and the light incident from the second through hole 1304 is incident on the surface of the second vibrating mirror 1338. Specifically, the surface of the first vibrating mirror 1334 facing the support plate 1331 is exposed from the first through hole 1303, and the surface of the second vibrating mirror 1338 facing the support plate 1331 is exposed from the second through hole 1304 to reflect light incident from the first through hole 1303 or the second through hole 1304. Therefore, the incident light can be acquired more conveniently, and the setting of a subsequent imaging unit is more facilitated. Meanwhile, by providing the first through hole 1303 and the second through hole 1304, the first galvanometer lens 1334 and the second galvanometer lens 1338 can reflect the light incident from the same viewing angle, so as to facilitate the subsequent image acquisition and analysis of different types of images in the viewing angle.

It should be understood that the arrangement of the first through hole 1303 and the second through hole 1304 is merely a specific embodiment, and when the first galvanometer unit 1333 and the second galvanometer unit 1334 are located on different surfaces of the support plate 1331, only one through hole may be provided, so that light incident from the same direction can be respectively incident on the first galvanometer lens 1334 and the second galvanometer lens 1338. Further, by providing the first through hole 1303 and the second through hole 1304, the adjustment of the first and second galvanometer lenses 1334 and 1338 can be more flexible, so as to be suitable for obtaining the light rays incident in the same direction or different directions, and the occupation of the space can be reduced.

Further, the optical imaging device support 1330 includes a first imaging module support platform 1301 and a second imaging module support platform 1302, which are respectively configured to set up a first imaging module and a second imaging module, so as to obtain incident light reflected by the first galvanometer lens 1334 and the second galvanometer lens 1338, respectively. The first imaging module carrying platform 1301 may be disposed on the first surface. Specifically, the imaging module may be disposed on the optical path of the light reflected from the first galvanometer lens 1334, so that the imaging module disposed in the first imaging module carrying platform 1301 can obtain the light reflected from the first galvanometer lens 1334; that is, the light incident on the first galvanometer lens 1334 can enter the first imaging module carrying platform 1301 after being reflected by the first galvanometer lens 1334; similarly, the second imaging module support platform 1302 may be disposed on a second surface. Specifically, the imaging module disposed in the second imaging module carrying platform 1302 may be disposed on an optical path of the light reflected by the second galvanometer lens 1338, so that the imaging module disposed in the second imaging module carrying platform 1302 may obtain the light reflected by the second galvanometer lens 1338, that is, the light incident on the second galvanometer lens 1338 is reflected and then incident on the second imaging module carrying platform 1302.

Further, the first imaging module carrying platform 1301 is disposed near the first galvanometer lens 1334, and the second imaging module carrying platform 1302 is disposed near the second galvanometer lens 1338, so as to receive the incident light of a large angle as much as possible. The setting position of the first imaging module carrying platform 1301 is symmetrical to the setting position of the second galvanometer motor 1339 with respect to the support plate 1331, and similarly, the setting position of the second imaging module carrying platform 1302 is symmetrical to the setting position of the first galvanometer motor 1335 with respect to the support plate 1331, so that the required area of the support plate 1331 can be reduced, and the integration level of the whole device can be improved.

It should be understood that the first and second galvanometer units 1333 and 1337 may be disposed on the same surface of the supporting plate 1331, so long as the first and second galvanometer units 1333 and 1337 are disposed in parallel; meanwhile, by adjusting the initial positions of the first vibrating mirror 1334 and the second vibrating mirror 1338, the incident light in the same direction can be reflected by the first vibrating mirror unit 1333 and the second vibrating mirror unit 1337 and then can be respectively incident on the first imaging module bearing platform 1301 and the second imaging module bearing platform 1302, and the first vibrating mirror unit 1333 and the second vibrating mirror unit 1337 can simultaneously play a role in compensation. In addition, when the first and second galvanometer units 1333 and 1334 are positioned on the same surface of the support plate 1331, the first and second through holes 1303 and 1304 may not be provided.

Further, the support plate 1331 may be rotated by an external motor (not shown) about a symmetry axis of the support plate 1331, so as to drive the optical imaging device support bracket 1330 to rotate. Meanwhile, the first and second galvanometer motors 1335 and 1339 drive the first and second galvanometer lenses 1334 and 1338 to rotate around their own rotation axes in opposite directions with respect to the rotation direction of the support plate 1331. Further, the angular velocity of the first and second galvanometer lenses 1334 and 1338 rotating around their own rotation axes may be half of the rotational angular velocity of the support plate 1331, so as to compensate the images entering the imaging modules disposed in the first and second imaging module support platforms 1301 and 1302.

When the optical imaging device bearing support 1330 is used, an imaging module can be arranged in the first imaging module bearing platform 1301 to receive the light reflected by the first galvanometer lens 1334, and meanwhile, the rotation of the first galvanometer lens 1334 is used for compensating the image acquired by the imaging module under the driving of the first galvanometer motor 1335; similarly, the second imaging module carrier 1302 may also be disposed in the second imaging module carrier 1302 to receive the light reflected by the second galvanometer lens 1338, and compensate the image with the second galvanometer lens 1338. In addition, two imaging modules may be disposed in the first imaging module carrying platform 1301 and the second imaging module carrying platform 1302 at the same time, and the two imaging modules may be different types of imaging modules, so as to obtain images of different types and different angles, thereby being beneficial to the synthesis of two subsequent different images.

Further, the optical imaging device support 1330 may rotate under the driving of a rotating motor (not shown), the first and second galvanometer lenses 1334 and 1338 rotate synchronously with the support plate 1331, and the first and second galvanometer lenses 1334 and 1338 rotate reversely relative to the rotation direction of the optical imaging device support 1330 under the driving of the respective first and second galvanometer driving motors 1335 and 1339. Specifically, the rotation axes of the first and second galvanometer lenses 1334 and 1338 are symmetrically distributed on two sides of the rotation axis of the bearing support 1330 of the optical imaging device, and the angular speed of the first and second galvanometer lenses 1334 and 1338 rotating around the rotation axis thereof may be equal to one half of the rotation angular speed of the bearing support 1330 of the optical imaging device, so as to reduce tailing, accurately compensate images formed in the rotation process, and improve imaging quality.

The optical imaging device bearing support 1330 is provided with the first vibrating mirror unit and the second vibrating mirror unit on two surfaces of the supporting plate respectively, so that imaging modules with different numbers and different types can be matched conveniently to be applied to different optical imaging scenes, different types of images can be obtained, and the images in each imaging module can be compensated to improve imaging quality, so that the optical imaging device bearing support 1330 has wide application space in the optical imaging field, especially the video monitoring and panoramic monitoring fields.

Referring to fig. 4, a panoramic scanning apparatus 10 according to a first embodiment of the present invention includes a base 11, a rotating platform 12, and an imaging mechanism 13. The rotating platform 12 is arranged on the base 11, the imaging mechanism 13 is arranged on the rotating platform 12, and the rotating platform 12 and the imaging mechanism 13 can rotate relative to the base 11.

The rotary table 12 includes a rotary upper table 121, a rotary lower table 122, a rotary shaft 123, a first motor 124, and a second motor 125. The rotating shaft 123 is fixed on the rotating upper platform 122, passes through the rotating lower platform 122 and is disposed on the base 11. The first motor 124 is disposed on the lower rotating platform 122, the first motor 124 drives the rotating shaft 123 to rotate through a transmission component, the rotating shaft 123 drives the upper rotating platform 121 and the lower rotating platform 122 to rotate in the horizontal direction, that is, drives the rotating platform 12 to rotate in the horizontal direction, and the imaging mechanism 13 disposed on the rotating platform 12 also synchronously rotates. The second motor 125 is disposed on the rotary upper platform 121.

Referring to fig. 5, 6 and 7, the imaging mechanism 13 includes two support columns 131, a housing 132 and a shooting unit 133, and the imaging mechanism 13 is disposed on the rotating platform 12 and can be rotated synchronously with the rotating platform. The housing 132 is suspended by two support columns 131 and is disposed on the rotary upper platform 121, and the shooting unit 133 is disposed in the housing 132. The housing 132 is composed of a front housing 1321 and a rear housing 1322, and the front housing 1321 is provided with an infrared window 1323 and a visible window 1324. The infrared window 1323 and the visible window 1324 may face in the same direction, thereby enabling the photographing unit 133 to simultaneously obtain images within the same viewing angle. Further, the infrared window 1323 and the visible window 1324 may be located in the same plane, and the size of the infrared window 1323 may be smaller than the size of the visible window 1324. The side of the housing 132 may be provided with a protruding shaft 1325, and the second motor 125 may rotate the protruding shaft 1325 through a transmission member. The axial direction of the protruding shaft 1325 may be perpendicular to the axial direction of the rotating shaft 123, so that the imaging mechanism 13 may be driven to rotate in the vertical direction, so that the pitching action of the housing 132 and the shooting unit 133 may be implemented, and the pitching angle of the shooting unit 133 in the horizontal direction may be controlled, and the viewing range may be controlled. Further, the positional relationship of the respective components within the photographing unit 133 with each other remains unchanged during adjustment of the pitch angle. Further, the infrared window 1323 and the visible window 1324 may also be disposed opposite to each other for capturing images within opposite viewing angles.

Referring to fig. 8, the photographing unit 133 includes an optical imaging device carrying bracket 1330, a first imaging module 1332 and a second imaging module 1336, and specifically, the photographing unit 133 includes a support plate 1331, a first imaging module 1332, a first galvanometer unit 1333, a second imaging module 1336 and a second galvanometer unit 1337. The first imaging module 1332 may be an infrared imaging module for sensing infrared rays emitted from an object and imaging, and the second imaging module 1336 may be a visible light imaging module for sensing visible light emitted or reflected from an object and imaging. The first imaging module 1332 and the first galvanometer unit 1333 and the second imaging module 1336 and the second galvanometer unit 1337 may be disposed on a first surface and a second surface opposite to the support plate 1331, respectively. Further, the first imaging module 1332 and the second imaging module 1336 may be disposed opposite to each other, that is, the direction in which the lenses of the first imaging module 1332 face is opposite to the direction in which the lenses of the second imaging module 1336 face, so as to reduce the space occupied by the whole photographing unit 133 and reduce the volume of the imaging mechanism 13. In addition, when the support plate 1331 is disposed vertically, the first imaging module 1332 and the second imaging module 1336 may be disposed in a staggered manner in the vertical direction, that is, the first imaging module 1332 and the second imaging module 1336 are located at different horizontal planes in the vertical direction.

The support plate 1331 may be provided with a first through hole 1303 and a second through hole 1304, the first through hole 1303 and the second through hole 1304 are respectively provided corresponding to the first vibrating mirror 1334 and the second vibrating mirror 1338, and the light incident from the first through hole 1303 is incident on the surface of the first vibrating mirror 1334 and the light incident from the second through hole 1304 is incident on the surface of the second vibrating mirror 1338. Specifically, the surface of the first vibrating mirror 1334 facing the support plate 1331 is exposed from the first through hole 1303, and the surface of the second vibrating mirror 1338 facing the support plate 1331 is exposed from the second through hole 1304 to reflect light incident from the first through hole 1303 or the second through hole 1304. Therefore, the incident light can be acquired more conveniently, and the setting of a subsequent imaging unit is more facilitated. Meanwhile, by providing the first through hole 1303 and the second through hole 1304, the first galvanometer lens 1334 and the second galvanometer lens 1338 can reflect the light incident from the same viewing angle, so as to facilitate the subsequent image acquisition and analysis of different types of images in the viewing angle. In this embodiment, the first through holes 1303 and the second through holes 1304 are staggered according to the first vibrating mirror 1334 and the second vibrating mirror 1338, so that the support plate 1331 has an "S" structure. It can be understood that the arrangement mode and the number of the through holes can be selected according to actual needs, so as to be suitable for different application environments.

The first imaging module 1332 and the second imaging module 1336 respectively include an area array image sensor, so that under the condition of high-speed rotation, enough static exposure time can be still ensured, clear images can be obtained, and high resolution precision is achieved.

Referring to fig. 9, the first galvanometer unit 1333 includes a first galvanometer lens 1334 and a first galvanometer motor 1335. The first galvanometer lens 1334 is disposed in front of the lens of the first imaging module 1332 to reflect light incident on the first galvanometer lens 1334 into the first imaging module 1332. Further, the first galvanometer mirror 1334 may vibrate within an angular range of at least plus or minus 10 degrees under the driving of the first galvanometer motor 1335. The first galvanometer motor 1335 is configured to drive the first galvanometer lens 1334 to reversely rotate and reset with respect to the rotation direction of the rotating platform 12. The first galvanometer lens 1334 is positioned at the initial position when the rotation compensation is not performed. The first galvanometer lens 1334 may be rotated forward and backward at a preset frequency within a range of plus or minus 10 degrees with respect to an initial position when the first galvanometer lens 1334 is not rotated by the driving of the first galvanometer motor 1335 and reset. Specifically, during shooting, the rotation direction of the first galvanometer lens 1334 is opposite to the rotation direction of the rotating platform 12, that is, the rotation direction of the first galvanometer lens 1334 is opposite to the rotation direction of the first imaging module 1332; when the rotary platform 12 rotates clockwise, the first galvanometer lens 1334 vibrates counterclockwise; otherwise, the first galvanometer lens 1334 is rotated clockwise. The positional relationship among the infrared window 1323, the first galvanometer lens 1334 and the first imaging module 1332 needs to satisfy that the infrared light coming from the infrared window 1323 is incident on the first galvanometer lens 1334, reflected by the first galvanometer lens 1334 and then incident on the lens of the first imaging module 1332, and imaged on the area array image sensor of the first imaging module 1332. Further, the angular velocity of the rotation of the first galvanometer lens 1334 may be one half of the rotational angular velocity of the rotating platform 12, and specifically, the angular velocity of the first galvanometer lens 1334 when rotating reversely relative to the first imaging module 1332 is one half of the rotational angular velocity of the first imaging module 1332. In this embodiment, the geometric center of the infrared window 1323, the geometric center of the first galvanometer lens 1334, and the geometric center of the first imaging module 1332 are located in the same horizontal plane.

Similarly, referring to fig. 10, the second galvanometer unit 1337 includes a second galvanometer lens 1338 and a second galvanometer motor 1339. The second galvanometer lens 1338 is driven by a second galvanometer motor 1339 to vibrate and reset within an angle range of plus or minus 10 degrees relative to the initial position, and the second galvanometer lens 1338 is arranged in front of the lens of the second imaging module 1336. Likewise, the second galvanometer mirror 1338 rotates in a direction opposite to the direction of rotation of the rotating platform 12. Further, the angular velocity of the second galvanometer lens 1338 rotating around the rotation axis thereof is half of the rotation angular velocity of the rotation platform, that is, the angular velocity of the second galvanometer lens 1338 rotating reversely relative to the second imaging module 1336 is half of the rotation angular velocity of the rotation platform, so as to accurately compensate the image formed in the second imaging module 1336 in the rotation process and improve the imaging quality. The positional relationship among the visible light window 1324, the second galvanometer lens 1338 and the second imaging module 1336 is to satisfy that the visible light coming from the visible light window 1324 is incident on the second galvanometer lens 1338, reflected by the second galvanometer lens 1338 and then incident on the lens of the second imaging module 1336, and imaged on the area array image sensor of the second imaging module 1336.

Further, in the present embodiment, in the initial position, the angle between the reflecting surface of the first galvanometer lens 1334 and the imaging surface of the infrared window 1323 and the first imaging module 1332 is 45 degrees; similarly, the reflecting surface of the second galvanometer mirror 1338 may also have an angle of 45 degrees with respect to the imaging surface of the visible light window 1324 and the second imaging module 1336; meanwhile, the first mirror 1334 and the second mirror 1338 are perpendicular to each other. The first imaging module 1332, the first galvanometer unit 1333, the second imaging module 1336 and the second galvanometer unit 1337 are matched with each other, and can be used for acquiring images in the same-direction viewing angle, and can also be used for acquiring images in viewing angles in different directions, such as opposite directions.

An image may be finally synthesized by the image obtained on the area array image sensor of the first imaging module 1332 and the image obtained on the area array image sensor of the second imaging module 1336 through an image processing system.

It is to be understood that the structure of the panorama scanning apparatus 10 of the present invention is not limited thereto, as long as the photographing unit 133 can rotate 360 degrees to realize panorama photographing. That is, the structure of the base 11 and the rotary platform 12 is not limited to the present embodiment, and may be other structures, for example, a single-layer rotary platform may be adopted, or the photographing unit 133 may be driven to rotate by a turntable, so long as the photographing unit 133 can rotate 360 degrees to achieve panoramic photographing.

Referring to fig. 11, in the panoramic scanning apparatus 10 of the present embodiment, the rotation speed of the photographing unit 133 in the panoramic scanning apparatus is generally controlled to meet the scanning requirement when performing panoramic scanning. If the angles of view of the lenses of the first imaging module 1332 and the second imaging module 1336 are θ, the separation number n is 360 °/θ, and the rotation speed of the photographing unit 133, including the first imaging module 1332 and the second imaging module 1336, needs to satisfy v+.f/n rpm, where f is the imaging frequency, that is, the number of frames photographed per second. In this embodiment, when f=50, that is, v.ltoreq.5θ/360 rotations/sec, v is an integer. For example, θ=18°, n=20, v+.2 rpm; θ=30°, n=12, v is less than or equal to 4 rotations/second; θ=60°, n=6, v+.8 rpm. The angle of view θ of the camera lens is different, and the rotation speed of the photographing unit 133 is also different. The photographing unit 133 performs photographing at the same time during rotation. Firstly, adjusting the pitch angle of a shooting unit 133 in the panoramic scanning apparatus by controlling the second motor 125 to determine the view finding range; then, the photographing unit 133 is controlled to make 360-degree rotation, and a panoramic image at a predetermined pitch angle is obtained.

In the photographing process, if the first and second galvanometer lenses 1334 and 1338 are not provided, the photographing effect must be greatly affected because the photographing unit 133 photographs while rotating, and the image may have a tailing phenomenon.

In the present invention, a first galvanometer lens 1334 and a second galvanometer lens 1338 are disposed in front of a first imaging module 1332 and a second imaging module 1336, respectively, and infrared rays emitted from a subject enter the first galvanometer lens 1334 through an infrared window 1323, enter a lens of the first imaging module 1332 through reflection of the first galvanometer lens 1334, enter the second galvanometer lens 1338 through reflection of the second galvanometer lens 1338, and enter a lens of the second imaging module 1336 through reflection of the second galvanometer lens 1338. The first and second galvanometer lenses 1334 and 1338 are rotated at a certain speed by the driving of the first motor 124, and simultaneously the first and second galvanometer lenses 1334 and 1338 are respectively controlled to vibrate at a certain angular speed by controlling the first and second galvanometer motors 1335 and 1339.

When taking a photograph, the first galvanometer lens 1334 can be controlled to reversely rotate at a certain angular velocity so as to compensate the movement of the image of the photographed object on the area array image sensor of the first imaging module 1332, so that the image of the photographed object on the area array image sensor of the first imaging module 1332 is static; and controlling the second galvanometer lens 1338 to reversely rotate at a certain angular velocity so as to compensate the movement of the image of the photographed object on the area array image sensor of the second imaging module 1336, so that the image of the photographed object on the area array image sensor of the second imaging module 1336 is static; that is, the inverse rotation motion of the first and second galvanometer lenses 1334 and 1338 compensates for the motion of the image of the photographed object on the area array image sensor, and makes the image of the photographed object on the area array image sensor stationary. Therefore, the imaging quality on the area array image sensor of the first imaging module 1332 and the second imaging module 1336 is better, and the tailing phenomenon does not occur. After the photograph is taken, the first and second galvanometer lenses 1334 and 1338 are respectively controlled to be rapidly rotated to their initial positions.

In the present embodiment, the angle of view θ of the lenses of the first and second imaging modules 1332 and 1336 is 18 degrees, and then the separation number n is 20, that is, the photographing unit 133 needs to take 20 photos to complete panoramic photographing. The rotation speed of the photographing unit 133 in the panorama scanning apparatus is set to 1 rpm by controlling the first motor 124, which corresponds to rotation at an angular speed of 360 degrees/sec. During the shooting process, the first and second galvanometer lenses 1334 and 1338 are respectively controlled to reversely rotate at an angular velocity of 180 degrees/second, that is, the rotation angular velocity of the first and second galvanometer lenses 1334 and 1338 is half of the rotation angular velocity of the first motor 124, so as to compensate the movement of the image of the shot object on the area array image sensor, and the image of the shot object on the area array image sensor is static. After the photographing is completed, the first and second galvanometer lenses 1334 and 1338 are respectively controlled to be rapidly rotated to their initial positions. Then, the image on the area array image sensor of the first imaging module 1332 and the image on the area array image sensor of the second imaging module 1336 are combined into an image through control software, and then the 20 images are combined into an image data through software, so that 360-degree panoramic shooting is realized.

It will be appreciated that by setting the optical positional relationship between the first and second galvanometer lenses 1334, 1338 and the first and second imaging modules 1332, 1336, for example, by making the first galvanometer lens 1334 parallel to the second galvanometer lens 1338, the first imaging module 1332 and the light imaging module 1336 may be used to acquire images within the relative viewing angles, that is, the imaging area of the first imaging module 1332 is opposite to the imaging area of the second imaging module 1336, so that the panoramic scanning apparatus 10 can acquire images within 360 degrees every 180 degrees of rotation. That is, when the panoramic scanner 10 rotates by 180 degrees, the panoramic image can be obtained after the image obtained by the first imaging module 1332 and the image obtained by the second imaging module 1336 are combined, so that the frequency of obtaining the panoramic image by the panoramic scanner 10 can be further increased, and the occurrence probability of monitoring blind areas is reduced.

In the panoramic scanning apparatus 10 of the present embodiment, since the first imaging module 1332 and the second imaging module 1336 are planar image sensors, the first galvanometer lens 1334 and the second galvanometer lens 1338 do not need to move and can be kept stationary, so that an image with high recognition degree can be obtained.

The panorama scanning device 10 has an infrared window, a visible light window, an infrared imaging module and a visible light imaging module, wherein the infrared imaging module and the visible light imaging module can rotate 360 degrees, so that the panorama scanning device can realize 24-hour all-weather 360-degree panorama shooting; further, the panoramic scanning device only adopts one infrared imaging module, so the cost is low. In addition, by providing the first galvanometer and the second galvanometer in the panoramic scanning device, the first galvanometer and the second galvanometer reversely rotate at a certain angular velocity in the shooting process of panoramic scanning, and the reverse rotation compensates the movement of the image of the shot object on the area array image sensor, so that the image of the shot object on the area array image sensor is static. Therefore, the panoramic scanning device has better image quality, no tailing phenomenon and greatly improved identification accuracy of the monitoring image.

In addition, in the staring process, as the infrared imaging module and the visible light imaging module are both plane array image sensors, the first vibrating mirror and the second vibrating mirror do not need to move and can obtain high-precision images after being kept stationary.

Referring to fig. 12, a panoramic scanning apparatus 20 according to a second embodiment of the present invention includes a base 11, a rotating platform 12, and an imaging mechanism 13. The rotating platform 12 is arranged on the base 11, the imaging mechanism 13 is arranged on the rotating platform 12, and the rotating platform 12 and the imaging mechanism 13 can rotate relative to the base 11.

The panoramic scanning apparatus 20 according to the second embodiment of the present invention has substantially the same structure as the panoramic scanning apparatus 10 according to the first embodiment, except that the photographing unit 133 of the imaging mechanism 13 includes only a support plate 1331, a first imaging module 1332 and a first galvanometer unit 1333. The first galvanometer unit 1333 includes a first galvanometer lens 1334 and a first galvanometer motor 1335, and the first galvanometer lens 1334 may vibrate within an angle range of plus or minus 10 degrees under the driving of the first galvanometer motor 1335. Further, the rotation direction of the first galvanometer lens 1334 is opposite to the rotation direction of the first imaging module 1332, so as to compensate the movement of the image of the photographed object on the area array image sensor of the first imaging module 1332, so that the image of the photographed object on the area array image sensor of the first imaging module 1332 is static, and the recognition accuracy of the monitoring image is improved. With respect to the panoramic scanning apparatus 10 provided in the first embodiment, the panoramic scanning apparatus 20 provided in the second embodiment of the present invention is used for infrared imaging of thermal radiation emitted from an object to form a panoramic image.

Referring to fig. 13, a panoramic scanning apparatus 30 according to a third embodiment of the present invention includes a base 11, a rotating platform 12, and an imaging mechanism 13. The rotating platform 12 is arranged on the base 11, the imaging mechanism 13 is arranged on the rotating platform 12, and the rotating platform 12 and the imaging mechanism 13 can rotate relative to the base 11.

The panoramic scanning apparatus 30 according to the third embodiment of the present invention has substantially the same structure as the panoramic scanning apparatus 10 according to the first embodiment, and is different in that the photographing unit 133 of the imaging mechanism 13 includes only a support plate 1331, a second imaging module 1336 and a second galvanometer unit 1337. The second galvanometer unit 1337 includes a second galvanometer lens 1338 and a second galvanometer motor 1339, and the second galvanometer lens 1338 can vibrate within an angle range of plus or minus 10 degrees under the driving of the second galvanometer motor 1339. In addition, during shooting, the rotation direction of the second galvanometer lens 1338 is opposite to the rotation direction of the second imaging module 1336, so as to compensate the movement of the image of the shot object on the area array image sensor of the second imaging module 1336, so that the image of the shot object on the area array image sensor of the second imaging module 1336 is static, and the recognition accuracy of the monitoring image is improved. With respect to the panoramic scanning apparatus 10 provided in the first embodiment, the panoramic scanning apparatus 20 provided in the third embodiment of the present invention is used for imaging visible light emitted or reflected by an object to form a panoramic image.

The panorama scanning device 30 has the following advantages:

(1) The high-speed stop-and-go system is provided with a rotary platform and a matched vibrating mirror unit synchronous mechanism, so that high-speed stop-and-go can be realized;

(2) The panoramic scanning device can perform panoramic scanning by only adopting one set of imaging module, and high-frequency 360-degree panoramic monitoring is realized through (1) high-speed rotation scanning, so that the cost is low;

(3) Through setting up infrared imaging module and visible light imaging module, this infrared imaging module and visible light imaging module can synchronous rotation, so this panorama scanning device can realize 360 degrees panorama shooting of all-weather, and is stronger than single full-time camera lens resolution ratio and monitoring capability.

Referring to fig. 14 together, the fourth embodiment of the present invention further provides a panoramic scanning monitoring system 100, where the panoramic scanning monitoring system 100 includes a panoramic scanning module 110, a driving control module 120, a communication module 130, an information processing module 140, and an image display module 150. The panorama scanning module 110 is configured to monitor and acquire a panoramic image, and transmit the acquired image to the signal processing module 130 for processing through the communication module 120; the driving control module 120 is configured to receive the instruction sent by the signal processing module 130, and drive the panoramic scanning module 110 to perform shooting scanning according to the instruction; the signal processing module 130 is configured to send a control instruction to the driving control module 120, process the acquired image data, and display the processed image through the image display module 140.

The panoramic scanning module 110 may include the panoramic scanning apparatus 10 for acquiring monitoring images and scanning images. The driving control module 120 drives the panoramic scanning device 10 to perform image capturing and panoramic scanning according to the control command sent by the signal processing module 130, so as to obtain images and static images with different angles. Specifically, the driving control module 120 may control the start and stop of the first motor 124, the second motor 125, the first galvanometer motor 1335 and the second galvanometer motor 1339 in the panoramic scanning apparatus 10, so as to control the rotation of the rotating platform 12, the imaging mechanism 13, the first galvanometer lens 1334 and the second galvanometer lens 1338 to obtain images with different angles. Further, during shooting, the driving control module 120 may control the rotation directions of the first and second galvanometer lenses 1334 and 1338 and the rotation platform 12 to compensate the movement of the image of the shot object in the first and second imaging modules 1332 and 1336, so that the image of the shot object on the area array image sensors of the first and second imaging modules 1332 and 1336 is stationary, thereby improving the recognition accuracy of the obtained panoramic image.

It will be appreciated that the drive control module 120 may be an alternative configuration when the panoramic scanning apparatus 10 is used to acquire a scene at a fixed viewing angle. The panoramic scanning apparatus 10 may be at a fixed angle at this point to provide continuous monitoring of certain specific areas.

The communication module 130 is configured to transmit the image information acquired by the panoramic scanning apparatus 10 to the information processing module 140 for processing. The communication module 130 may include a wired communication module or a wireless communication module, so as to be suitable for different transmission media, such as a wired medium including an optical fiber, a network cable, a cable, and a wireless medium including a carrier wave.

The information processing module 140 is configured to send driving instructions to the driving control module 120 according to requirements, so as to monitor and perform panoramic scanning on different angles, and process the image information returned by the communication module 130, so as to obtain images and panoramic images of different angles. Specifically, the information processing module 140 may include a driving unit and an image processing unit, where the driving unit is configured to drive the first imaging module 1332 and the second imaging module 1336 to acquire the visible light image and the infrared image with the same angle, and the image processing unit is configured to analyze, splice, fuse, and the like the acquired infrared image and the acquired visible light image, so as to obtain images under the same background in different periods. Specifically, since the viewing angles of the infrared imaging module 1332 and the second imaging module 1336 are substantially the same, the acquired infrared images and visible light images can be stitched by the image processing unit, so that the acquired infrared target images can still be fused into the visible light images obtained at the same angle under the condition of insufficient light, such as at night, and the visible light is sufficient in daytime, and the adaptability of the panoramic scanning monitoring system 100 to the environment is improved.

The image display module 140 is configured to display an image acquired by the panoramic scanning apparatus 110, and the image display module 140 can monitor an image acquired by the panoramic scanning apparatus 110 for peripheral scanning in real time.

It can be understood that the panoramic scanning module can be other panoramic scanning devices, and can be selected and combined differently according to actual needs so as to achieve different monitoring effects.

In addition, other variations within the spirit of the invention will occur to those skilled in the art, and such variations as may be included within the scope of the invention as claimed.

Claims

1. A panoramic scanning apparatus, the panoramic scanning apparatus comprising:

rotating the platform;

The second galvanometer lens is used for reflecting light rays entering the second galvanometer lens into the second imaging module, and the second galvanometer lens can rotate forward and backward relative to the rotation direction of the second imaging module and switch the rotation direction at a preset frequency;

the first vibrating mirror lens and the second vibrating mirror lens adopt different rotation shafts to rotate.

2. The panoramic scanning device of claim 1, wherein the first galvanometer lens rotational angular velocity is one-half of the first imaging module rotational angular velocity when the first galvanometer lens is counter-rotated with respect to the rotational direction of the first imaging module.

3. The panoramic scanning device of claim 1, wherein the second galvanometer lens rotational angular velocity is one-half of the second imaging module rotational angular velocity when the second galvanometer lens is rotated in a reverse direction relative to the second imaging module rotational direction.

4. The panoramic scanning device of claim 1, wherein the first galvanometer lens and the second galvanometer lens are perpendicular to each other, and light rays incident in the same direction are reflected by the first galvanometer lens and the second galvanometer lens and then spread in parallel in opposite directions, and enter the first imaging module and the second imaging module respectively.

5. The panoramic scanning device of claim 1, wherein the positional relationship of the first imaging module, the second imaging module, the first galvanometer lens and the second galvanometer lens satisfies: the light rays which are incident to the first vibrating mirror lens and the second vibrating mirror lens from the same direction are reflected by the first vibrating mirror lens and the second vibrating mirror lens and then respectively incident to the first imaging module and the second imaging module.

6. The panoramic scanning apparatus of claim 1, wherein said first galvanometer lens rotates in synchronization with said first imaging module, said first galvanometer lens being rotatable in both forward and reverse directions relative to a direction of rotation of said first imaging module based on said synchronized rotation; the second galvanometer lens and the second imaging module synchronously rotate, and on the basis of synchronous rotation, the second galvanometer lens can rotate positively and reversely relative to the rotation direction of the second imaging module.

7. The panoramic scanning apparatus of claim 1 wherein said first galvanometer lens has an initial position relative to which said first galvanometer lens is rotatable and resettable in either a forward or reverse direction within 10 degrees of a preset frequency; the second galvanometer lens has an initial position, and the second galvanometer lens can rotate forward or backward within 10 degrees with a preset frequency relative to the initial position and reset.

8. The panoramic scanning device of claim 1, wherein the first imaging module is an infrared imaging module and the second imaging module is a visible imaging module.

9. The panoramic scanning apparatus of claim 1, further comprising a support plate disposed on said rotating platform and rotating in synchronization with said rotating platform; the support plate comprises a first surface and a second surface which are opposite to each other, the first imaging module is arranged on the first surface, and the second imaging module is arranged on the second surface.

10. The panoramic scanning apparatus of claim 9, wherein light incident in the same direction to the first galvanometer lens and the second galvanometer lens is reflected by the first galvanometer lens and the second galvanometer lens and then is incident on the first imaging module and the second imaging module, respectively; light rays entering the first vibrating mirror lens enter the first imaging module along a direction parallel to the first surface after being reflected; the light incident on the second galvanometer lens enters the second imaging module along the direction parallel to the second surface after being reflected, and the propagation direction of the light entering the first galvanometer lens is opposite to that of the light entering the second galvanometer lens.

11. A panoramic scanning apparatus, the panoramic scanning apparatus comprising:

rotating the platform;

the first imaging module rotates synchronously with the rotating platform;

12. The panoramic scanning apparatus of claim 11, wherein when said first galvanometer mirror rotates in a reverse direction relative to the rotational direction of the first imaging module, the angular velocity of said first galvanometer mirror when rotated in a reverse direction is one half the rotational angular velocity of the first imaging module; when the second galvanometer lens reversely rotates relative to the rotation direction of the second imaging module, the angular velocity of the second galvanometer lens when reversely rotating is one half of the rotational angular velocity of the second imaging module.

13. The panoramic scanning device of claim 11, further comprising a support plate disposed on the rotating platform and rotating in synchronization with the rotating platform, the first imaging module, the second imaging module, the first galvanometer lens, the second galvanometer lens, the first galvanometer motor, and the second galvanometer motor being disposed on the support plate and rotating in synchronization with the rotating platform.

14. The panoramic scanning device of claim 13, wherein the support plate has a first surface and a second surface opposite to each other, the first galvanometer lens, the first galvanometer motor, and the first imaging module are disposed on the first surface, the second galvanometer lens, the second galvanometer motor, and the second imaging module are disposed on the second surface, and the first galvanometer lens is disposed perpendicular to the second galvanometer lens.

15. The panoramic scanning device of claim 14, wherein the imaging viewing angles of the first imaging module and the second imaging module are set opposite to each other to obtain images in opposite directions, and light incident in the directions of the first galvanometer lens and the second galvanometer lens along the same direction is reflected by the first galvanometer lens and the second galvanometer lens and then respectively incident on the first imaging module and the second imaging module; light rays entering the first vibrating mirror lens enter the first imaging module along a direction parallel to the first surface after being reflected; the light incident on the second galvanometer lens enters the second imaging module along the direction parallel to the second surface after being reflected, and the propagation direction of the light entering the first galvanometer lens is opposite to that of the light entering the second galvanometer lens.

16. The panoramic scanning apparatus of claim 11, further comprising a first motor for driving the rotating platform in rotation and a second motor for controlling a pitch angle of the imaging mechanism.

17. The panoramic scanning device of claim 11, wherein assuming that the imaging frequency of the first imaging module and the second imaging module is f, and the rotational speed of the first imaging module and the second imaging module is v, then v satisfies:

v is less than or equal to f/n revolutions per second;

18. The panoramic scanning device of claim 11, wherein the first imaging module is an infrared imaging module and the second imaging module is a visible imaging module.