CN108181782A - Zigzag type panorama imager without blind spot - Google Patents
Zigzag type panorama imager without blind spot Download PDFInfo
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- CN108181782A CN108181782A CN201810032017.3A CN201810032017A CN108181782A CN 108181782 A CN108181782 A CN 108181782A CN 201810032017 A CN201810032017 A CN 201810032017A CN 108181782 A CN108181782 A CN 108181782A
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- G—PHYSICS
- G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
- G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
- G03B37/00—Panoramic or wide-screen photography; Photographing extended surfaces, e.g. for surveying; Photographing internal surfaces, e.g. of pipe
- G03B37/02—Panoramic or wide-screen photography; Photographing extended surfaces, e.g. for surveying; Photographing internal surfaces, e.g. of pipe with scanning movement of lens or cameras
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/02—Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
- G01C11/025—Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures by scanning the object
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- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
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- Stereoscopic And Panoramic Photography (AREA)
Abstract
The invention discloses a kind of Zigzag type panorama imager of no blind spot, optical system includes forward field of view and donut-like visual field, turns back mirror, subsequent lens group and image planes detector including supplementary lens group, annular.Supplementary lens group, for receiving the light beam of forward field of view；Annular is turned back mirror, and annular turns back mirror after supplementary lens group, for receiving the light beam of donut-like visual field and transmitting the light beam for the forward field of view that supplementary lens group receives；Subsequent lens group, subsequent lens group are turned back set on annular after mirror, for carrying out aberration correction and relaying image rotation to the light beam of forward field of view and donut-like visual field；Image planes detector, image planes detector are set on after subsequent lens group, for being imaged to the light beam after the focusing of subsequent lens group.The forward field of view of the panorama imager supplements the observation blind area of the common big view field imaging system of Zigzag type well, improves the area utilization on ccd detector, realizes the panoramic detector of non-blind area.
Description
Technical field
The present invention relates to panoramic detector field, more particularly to a kind of Zigzag type panorama imager of no blind spot.
Background technology
Panoramic imaging techniques are the technologies that a kind of whole scenery to surrounding space carry out detection imaging.Panoramic imagery is divided into
For sweep type panorama and direct viewing type panorama.Sweep type panorama refers to, by using mechanical moving element, detecting lenses being driven to turn
It is dynamic, complete the scanning to surrounding space.Image mosaic technology is recycled, the image co-registration of the different spaces obtained will be scanned one
It rises.Direct viewing type panorama is referred to through some special big visual field camera lenses, whole scenery in big visual field is carried out disposable
Detection imaging.
Compared to sweep type panoramic technique, direct viewing type panoramic technique has volume compact, is not required to moving component, is not required to the later stage
The advantage of the aspects such as image co-registration, imaging efficiency height.Direct viewing type full shot have transmission-type fish eye lens and Zigzag type it is big
Visual field camera lens.Compared to the fish eye lens of common transmission-type, Zigzag type full shot easier can obtain big visual field, and
And its structure is also compacter.But the full shot of Zigzag type has a significant deficiency, and this camera lens can only be in larger field range
Interior detection imaging neglects field areas immediately ahead of camera lens for observation blind area.Therefore, the image distribution on image planes detector is one
A annular image for surrounding central blackspot, annular image correspond to the scenery of big visual field, central blackspot correspond to before to neglecting
The observation blind area of field.This defect limits using and developing for Zigzag type full shot.
Invention content
Present invention aims to overcome that the defects of prior art, provide a kind of Zigzag type panorama imager of no blind spot.
To achieve the above object, the present invention uses following technical scheme：A kind of Zigzag type panoramic imagery of no blind spot is provided
Instrument, the optical system of the panorama imager includes supplementary lens group, annular is turned back mirror, subsequent lens group and image planes detector：
The supplementary lens group, for receiving the light beam of forward field of view；
The annular is turned back mirror, and the annular turns back mirror after the supplementary lens group, for receiving donut-like visual field
Light beam and transmit the light beam of the forward field of view that the supplementary lens group receives；
The subsequent lens group, the subsequent lens group are turned back set on the annular after mirror, for being regarded to the forward direction
The light beam of field and donut-like visual field carries out aberration correction and relaying image rotation；
The image planes detector, the image planes detector is set on after the subsequent lens group, for through described subsequent
Light beam after lens group focuses on is imaged.
The forward field of view is used to make up the observation blind area of the donut-like visual field.
The forward field of view and donut-like visual field share the annular and turn back mirror, subsequent lens group and image planes detector.
The light beam of the forward field of view and donut-like visual field respectively from the supplementary lens group and annular turn back mirror enter.
Annular mirror front surface of turning back includes：First transmission plane, the first reflecting surface, the second transmission plane, and described first
Transmission plane, the first reflecting surface, the curvature of the second transmission plane are identical, and first transmission plane is located at the annular and turns back the outermost of mirror
Side, second transmission plane are located at the annular and turn back mirror front surface central area, and first reflecting surface is to be located at described the
Toroid surface between one transmission plane and the second transmission plane.
Annular mirror rear surface of turning back includes：Third transmission plane and the second reflecting surface, the third transmission plane are located at institute
It states the dead astern of the second transmission plane, and turns back mirror rear surface central area positioned at the annular, second reflecting surface is to surround
Annular surface except second transmission plane.
The annular turn back mirror front and rear surfaces curvature it is different, and first reflecting surface and the second reflecting surface plate instead
Penetrate film, the reflectance coating be used for being reflected into the annular turn back mirror the donut-like visual field light beam, the donut-like visual field
Light beam is turned back mirror from first transmission plane into the annular.
The light beam of the forward field of view is turned back mirror from second transmission plane into the annular, and is transmitted from the third
It leaves the annular and turns back mirror in face.
The supplementary lens group is made of four lens of retrofocus type structure.
The focal length of the forward field of view is slightly less than the focal length of the donut-like visual field.
The beneficial effects of the present invention are：The present invention is the forward field of view and annular using dual receiving area detection structure
Visual field collectively constitutes double-view field, and the light beam in the forward field of view is received using the supplementary lens group；The annular is turned back mirror
Receive the light beam in the donut-like visual field；Using the annular turn back mirror different zones plate different film layers mode control it is described
Annular is turned back the characteristic of turning back of mirror；The forward field of view and donut-like visual field carry out aberration correction using the subsequent lens group；Most
Realize that the scene of double-view field is imaged in simultaneously on a detector eventually.
Description of the drawings
Fig. 1 is the structure diagram of one embodiment of the Zigzag type panorama imager of the invention without blind spot；
Fig. 2 is that annular in panorama imager as shown in Figure 1 is turned back the structure diagram of mirror；
Fig. 3 is the image planes distribution schematic diagram of Zigzag type panorama imager of the invention without blind spot；
Fig. 4 is the MTF schematic diagrames of the forward field of view of the Zigzag type panorama imager of the invention without blind spot；
Fig. 5 is the MTF schematic diagrames of the donut-like visual field of the Zigzag type panorama imager of the invention without blind spot；
Fig. 6 is the curvature of field of the panorama imager forward field of view of one embodiment of the invention and distortion schematic diagram；
Fig. 7 is the curvature of field of the panorama imager donut-like visual field of one embodiment of the invention and distortion schematic diagram.
Specific embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, below in conjunction with attached drawing and specific implementation
Example, the present invention will be described in further detail.It should be appreciated that specific embodiment described herein is only explaining this hair
It is bright, without being construed as limiting the invention.
Fig. 1 shows the optical system of the Zigzag type panorama imager without blind spot of the embodiment of the present invention.The optical system
By supplementary lens group 1, annular is turned back mirror 2, and subsequent lens group 3 and image planes detector 4 form.
The panorama imager is gathered around there are two visual field, is forward field of view and donut-like visual field.In order to make the panorama
Imager is without observation blind area, the forward field of view maximum angle of half field-of view of the panorama imager and the minimum angle of half field-of view of donut-like visual field
It is equal.In one embodiment, panorama imager of the present invention can simultaneously detect forward field of view and donut-like visual field
Imaging, the field angle of the forward field of view for 360 ° × (0 ° -55 °), the field angle of the donut-like visual field for 360 ° × (55 ° -
95°).Refraction-reflection type panorama imager compared with the prior art, the imager eliminate observation blind area, expand detectable area
Coverage area.The maximum angle of half field-of view of i.e. described forward field of view is 55 °, and the minimum angle of half field-of view of the donut-like visual field is 55 °.
It should be noted that ensure that the image of the forward field of view and the donut-like visual field will not intersect weight in image planes
Folded, the focal length of the forward field of view should be slightly less than the focal length of the donut-like visual field.In one embodiment, the forward field of view
Focal length is 4mm, and the focal length of the donut-like visual field is 5mm.
It turns back Fig. 2 shows the annular in the panorama imager of the embodiment of the present invention structure of mirror.In order to facilitate processing, institute
It states annular mirror of turning back only to be made of the surface c1 and c2 of two kinds of different curvatures, c1 and c2 are that the annular is turned back the preceding table of mirror respectively
Face and rear surface.Different zones on c1 and c2 surfaces plate different film layers so that the annular to be controlled to turn back the characteristic of turning back of mirror.Institute
The turn back surface c1 of mirror of the annular stated is made of transmission plane t1, reflecting surface r1 and transmission plane t2, these three surface curvatures are identical.Its
Middle transmission plane t2 is that annular is turned back the central area of mirror, and reflecting surface r1 be the toroid surface of encirclement transmission plane t2, transmission plane t1
Surround reflecting surface r1.The turn back surface c2 of mirror of the annular is made of reflecting surface r2 and transmission plane t3, the song on both surfaces
Rate is identical.Transmission plane t3 is located at the central area on c2 surfaces, and reflecting surface r2 surrounds transmission plane t2.The light beam of the forward field of view from
The annular turn back mirror transmission plane t2 enter, directly left later from transmission plane t3.Therefore, for the forward field of view, institute
It states annular mirror of turning back and is equivalent to a thick lens.The light beam of the donut-like visual field is turned back mirror from transmission plane t1 into the annular,
Then reflecting surface r2 reflect the light onto reflecting surface r1, r1 to light beam carry out the second secondary reflection after, light beam by transmission plane t3 from
The annular is opened to turn back mirror.
The supplementary lens group is used for receiving the light beam of forward field of view, in order to ensure that the beam size of the forward field of view is small
It turns back in the annular size in mirror central transparent area domain, turns back the transmission plane t2 and t3 in face, adopt so that it passes through annular
Beam size is compressed with the supplementary lens group of anti-long distance formula, the supplementary lens group is made of four lens.
The light beam of the forward field of view and the donut-like visual field is turned back by the annular after mirror, into the subsequent lens
Group.The subsequent lens group is used to carry out aberration correction, and imaged in the light beam of the forward field of view and donut-like visual field
On the detector.The subsequent lens group is made of seven lens, wherein second and third piece lens group glued knot in pairs
Structure.
It is not reflected in mirror it should be noted that the light beam of the forward field of view is turned back in the annular, it is described at this time
Annular mirror of turning back is equivalent to a thick lens；The light beam of the donut-like visual field turns back mirror internal reflection twice with compression in the annular
Beam size is finally refracted off the annular and turns back mirror.
It should be noted that the supplementary lens group, for compressing the beam size of the forward field of view, before guarantee is described
It can enter the annular to the light beam of visual field turn back the central transparent area domain of mirror.
It should be noted that the subsequent lens group, for correcting the aberration of the forward field of view and donut-like visual field, simultaneously
The light beam of the forward field of view and donut-like visual field is imaged in image planes.
In addition, it is the detection of 13 μm of CCD as system that pixel dimension, which may be used, in panorama imager of the present invention
Device.At 40lp/mm, the MTF of forward field of view is more than 0.52, and the MTF of donut-like visual field is more than 0.58.Forward field of view and donut-like visual field
F- θ distortion be respectively less than 2%, meet the requirement of panoramic imagery.
Fig. 3 shows the image planes distribution schematic diagram of the panorama imager of the embodiment of the present invention.The image planes include described
The image of forward field of view and the donut-like visual field, the image of the forward field of view is in the central area of image planes, the donut-like visual field
Image surround the forward field of view.Since the focal length of the forward field of view is less than the donut-like visual field, so the annular regards
There is the spare area that fraction is not imaged between the image of field and the forward field of view, this ensure that the forward field of view and ring
The image of shape visual field is not in intersection aliasing.
Fig. 4 and Fig. 5 respectively illustrates the forward field of view of the panorama imager of the embodiment of the present invention and the MTF songs of donut-like visual field
Line chart.As can be seen that MTF of the forward field of view at 40lp/mm is more than 0.58, MTF of the donut-like visual field at 40lp/mm is more than
0.52.Double-view field possesses good image quality.
Fig. 6 and Fig. 7 respectively illustrates the forward field of view of the panorama imager of the embodiment of the present invention and the curvature of field of donut-like visual field
With distortion curve figure.As can be seen that the f- θ distortion of double-view field is respectively less than 2%, meet the requirement of imager.
The present invention is solved has the defects of central blind area using the Zigzag type panorama imager of the prior art.It is this novel
Panorama imager can be applied to the numerous areas such as space 3D reproductions, unmanned operation, military surveillance and virtual environment navigation,
So as to the civilian and national defence service for China.
The concrete structure parameter of the embodiment of the present invention is as shown in table 1.Surface serial number and optical element characteristic in table 1 according to
The transmission sequence of forward field of view light beam arranges from the top down.
Table 1：
The specific embodiment of present invention described above, is not intended to limit the scope of the present invention..Any basis
Various other corresponding changes and deformation made by the technical concept of the present invention, should be included in the guarantor of the claims in the present invention
Protect range.
Claims (10)
1. a kind of Zigzag type panorama imager of no blind spot, the optical system of the panorama imager includes supplementary lens group, ring
Shape is turned back mirror, subsequent lens group and image planes detector, it is characterised in that：
The supplementary lens group, for receiving the light beam of forward field of view；
The annular is turned back mirror, and the annular turns back mirror after the supplementary lens group, for receiving the light of donut-like visual field
Beam and the light beam for transmitting the forward field of view that the supplementary lens group receives；
The subsequent lens group, the subsequent lens group are turned back set on the annular after mirror, for the forward field of view and
The light beam of donut-like visual field carries out aberration correction and relaying image rotation；
The image planes detector, the image planes detector is set on after the subsequent lens group, for through the subsequent lens
Light beam after group focuses on is imaged.
2. the Zigzag type panorama imager of no blind spot according to claim 1, which is characterized in that the forward field of view is used for
Make up the observation blind area of the donut-like visual field.
3. the Zigzag type panorama imager of no blind spot according to claim 1, which is characterized in that the forward field of view and ring
Shape visual field shares the annular and turns back mirror, subsequent lens group and image planes detector.
4. the Zigzag type panorama imager without blind spot according to claim 1 or right 2, which is characterized in that the forward direction
The light beam of visual field and donut-like visual field respectively from the supplementary lens group and annular turn back mirror enter.
5. the Zigzag type panorama imager without blind spot according to claim 1 or 3, which is characterized in that the annular is turned back
Mirror front surface includes：First transmission plane, the first reflecting surface, the second transmission plane, and first transmission plane, the first reflecting surface,
The curvature of two transmission planes is identical, and first transmission plane is located at the annular and turns back the outermost of mirror, the second transmission plane position
It turns back mirror front surface central area in the annular, first reflecting surface is to be located at first transmission plane and the second transmission plane
Between toroid surface.
6. the Zigzag type panorama imager of no blind spot according to claim 5, which is characterized in that the annular is turned back after mirror
Surface includes：Third transmission plane and the second reflecting surface, the third transmission plane are located at the dead astern of second transmission plane, and position
It turns back mirror rear surface central area in the annular, second reflecting surface is the annular being enclosed in except second transmission plane
Surface.
7. the Zigzag type panorama imager of no blind spot according to claim 6, which is characterized in that the annular is turned back mirror
Front and rear surfaces curvature is different, and first reflecting surface and the second reflecting surface plate reflectance coating, and the reflectance coating is used for reflecting
It turns back into the annular light beam of the donut-like visual field of mirror, the light beam of the donut-like visual field enters from first transmission plane
The annular is turned back mirror.
8. the Zigzag type panorama imager of no blind spot according to claim 7, which is characterized in that the light of the forward field of view
Beam is turned back mirror from second transmission plane into the annular, and is left the annular from the third transmission plane and turned back mirror.
9. the Zigzag type panorama imager of no blind spot according to claim 1, which is characterized in that the supplementary lens group by
Four lens composition of retrofocus type structure.
10. according to the Zigzag type panorama imager without blind spot of claims 1 or 2, which is characterized in that the coke of the forward field of view
Away from the focal length for being slightly less than the donut-like visual field.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810032017.3A CN108181782A (en) | 2018-01-12 | 2018-01-12 | Zigzag type panorama imager without blind spot |
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| CN201810032017.3A CN108181782A (en) | 2018-01-12 | 2018-01-12 | Zigzag type panorama imager without blind spot |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110884672A (en) * | 2019-11-27 | 2020-03-17 | 西安应用光学研究所 | Auxiliary landing device of panoramic imaging helicopter |
| CN111722256A (en) * | 2020-07-01 | 2020-09-29 | 南京理工大学 | Ultra-high precision positioning sensor combining GPS positioning with panoramic imaging map matching |
| CN111751964A (en) * | 2020-06-30 | 2020-10-09 | 浙江大学 | Double-view-field panoramic annular belt imaging device based on aspherical mirror |
| CN113009679A (en) * | 2019-12-20 | 2021-06-22 | 长春理工大学 | Panoramic imaging optical system |
| CN114185243A (en) * | 2021-12-08 | 2022-03-15 | 浙江大学 | Non-blind-area multi-view panoramic stereo imaging device |
| CN114647059A (en) * | 2020-12-17 | 2022-06-21 | 长春理工大学 | Large-field miniaturized optical imaging system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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Application publication date: 20180619 |