CN108366224B - Panoramic imaging device - Google Patents
Panoramic imaging device Download PDFInfo
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- CN108366224B CN108366224B CN201711496104.6A CN201711496104A CN108366224B CN 108366224 B CN108366224 B CN 108366224B CN 201711496104 A CN201711496104 A CN 201711496104A CN 108366224 B CN108366224 B CN 108366224B
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- connecting pipe
- camera
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- industrial camera
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
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- G—PHYSICS
- G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
- G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
- G03B17/00—Details of cameras or camera bodies; Accessories therefor
- G03B17/02—Bodies
- G03B17/17—Bodies with reflectors arranged in beam forming the photographic image, e.g. for reducing dimensions of camera
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- G—PHYSICS
- G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
- G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
- G03B17/00—Details of cameras or camera bodies; Accessories therefor
- G03B17/56—Accessories
- G03B17/561—Support related camera accessories
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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
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/50—Constructional details
- H04N23/55—Optical parts specially adapted for electronic image sensors; Mounting thereof
Abstract
The invention discloses a panoramic imaging device, relates to the technical field of panoramic imaging, and aims to solve the technical problem that the existing catadioptric panoramic imaging device is low in imaging precision. The panoramic imaging device of the invention comprises: an upper cover and a base; the bottom side of the upper cover of the device is connected with an adjusting upper plate capable of moving vertically through an adjusting mechanism, the bottom side of the adjusting upper plate is connected with an adjusting lower plate, and the bottom side of the adjusting lower plate is provided with a curved surface reflector in an inverted buckling manner; and a vertically movable camera mounting frame is fixed on the device base, and a horizontally movable industrial camera is fixed on the camera mounting frame. Because the curved surface speculum can be under the drive of adjustment hypoplastron and adjustment upper plate and do two degrees of freedom rotation fine setting to three degrees of freedom translation fine settings can be done to the industry camera under the drive of camera mounting bracket, consequently can realize the optical axis of industry camera and curved surface speculum aim at and the object distance is adjusted, thereby effectively improves panoramic imaging device's imaging accuracy.
Description
Technical Field
The invention relates to the technical field of panoramic imaging, in particular to a panoramic imaging device.
Background
At present, a catadioptric panoramic imaging device is widely applied to applications such as robot panoramic vision navigation, panoramic security video monitoring, air target detection, pipeline internal weld detection and the like, which need to expand the field angle of a traditional camera.
Currently, existing catadioptric panoramic imaging apparatuses generally include: the device comprises an industrial camera, a lens, a curved reflector, a shell and a glass tube; the optical axes of the industrial camera and the curved surface reflector are arranged reasonably to be coaxial, so that incident light rays which are 360 degrees horizontally and more than 180 degrees vertically enter the industrial camera through the reflection of the curved surface reflector and the refraction of a lens, and the panoramic imaging function is completed.
The imaging model of the catadioptric panoramic imaging device is completely determined by the relative position and posture relationship between the industrial camera and the curved catadioptric mirror, so that the coaxiality of the optical axes and the object distance of the industrial camera and the curved catadioptric mirror greatly influence the imaging precision of the catadioptric panoramic imaging device.
However, the inventor of the present application finds that the conventional common catadioptric panoramic imaging device only ensures that the optical axes of the housing and the glass tube structure are coaxially aligned through the precision of the housing and the glass tube structure, but the industrial camera, the catadioptric mirror, the housing and the transparent glass taper tube inevitably have processing and assembling errors, and therefore the imaging precision is seriously affected.
Disclosure of Invention
The invention aims to provide a panoramic imaging device, which aims to solve the technical problem that the existing catadioptric panoramic imaging device is low in imaging precision.
The present invention provides a panoramic imaging apparatus, including: an upper cover and a base; the bottom side of the upper cover of the device is connected with an adjusting upper plate capable of moving vertically through an adjusting mechanism, the bottom side of the adjusting upper plate is connected with an adjusting lower plate, and the bottom side of the adjusting lower plate is provided with a curved surface reflector in an inverted buckling manner; but be fixed with vertical removal's camera mounting bracket on the device base, but be fixed with horizontal migration ground industrial camera on the camera mounting bracket.
In practical application, the edge of the bottom end of the upper cover of the device is connected with an upper connecting pipe through threads, and the upper connecting pipe is provided with a clamping groove; the edge of the curved surface reflector is provided with a clamping ring, the clamping ring reversely buckles the curved surface reflector on the bottom side of the adjusting lower plate, and the clamping ring is positioned in the clamping groove.
Wherein the adjusting mechanism is an adjusting screw rod; the bottom ball head of the adjusting screw rod is wedged into a groove between the adjusting upper plate and the adjusting lower plate, and a stud at the top end of the adjusting screw rod is in threaded connection with the device upper cover.
Specifically, the number of the adjusting screws is three, and the three adjusting screws are uniformly distributed on the upper cover of the device along the circumferential direction.
Furthermore, the curved surface reflector can realize two-degree-of-freedom rotation fine adjustment so as to complete the relative posture adjustment of the industrial camera and the curved surface reflector.
In practical application, the bottom end of the upper connecting pipe is connected with a lower connecting pipe through a taper pipe, and the industrial camera is positioned in the area of the lower connecting pipe; the camera cover is connected with the top end of the lower connecting pipe through threads, and the side face of the camera mounting frame is connected with the bottom end of the lower connecting pipe through threads.
Wherein the taper pipe is a transparent glass taper pipe; the top end of the transparent glass taper pipe is fixedly bonded with the bottom end of the upper connecting pipe through solid glue, and the bottom end of the transparent glass taper pipe is fixedly bonded with the top end of the lower connecting pipe through the solid glue.
Specifically, the industrial camera can be finely tuned in three degrees of freedom translation, including one degree of freedom up and down fine tuning of a vertical plane and two degrees of freedom translation fine tuning of a horizontal plane.
Further, the panoramic imaging apparatus further includes: an image processing module for receiving image information of the curved mirror collected by the industrial camera.
Compared with the prior art, the panoramic imaging device has the following advantages:
the panoramic imaging apparatus of the present invention includes: an upper cover and a base; the bottom side of the upper cover of the device is connected with an adjusting upper plate capable of moving vertically through an adjusting mechanism, the bottom side of the adjusting upper plate is connected with an adjusting lower plate, and the bottom side of the adjusting lower plate is provided with a curved surface reflector in an inverted buckling manner; and a vertically movable camera mounting frame is fixed on the device base, and a horizontally movable industrial camera is fixed on the camera mounting frame. Therefore, the panoramic imaging device provided by the invention can realize the relative posture adjustment of the curved reflector and the industrial camera because the curved reflector can be driven by the lower adjusting plate and the upper adjusting plate to rotate and finely adjust with two degrees of freedom; and because the industrial camera can be driven by the camera mounting frame to carry out three-degree-of-freedom translation fine adjustment, the object distance adjustment of the industrial camera and the curved reflector can be realized, so that the focusing precision of the industrial camera is effectively improved, and the imaging quality is further improved.
The present invention also provides a panoramic imaging apparatus, comprising: an upper cover and a base; the bottom side of the upper cover of the device is connected with an adjusting upper plate through an adjusting screw rod, and the bottom side of the adjusting upper plate is connected with an adjusting lower plate; the edge of the bottom end of the upper cover of the device is connected with an upper connecting pipe through threads, and the upper connecting pipe is provided with a clamping groove; a clamping ring is arranged at the edge of the curved surface reflector, the clamping ring reversely buckles the curved surface reflector at the bottom side of the adjusting lower plate, and the clamping ring is positioned in the clamping groove; the bottom end of the upper connecting pipe is connected with a lower connecting pipe through a taper pipe, an industrial camera is positioned in the area of the lower connecting pipe and is fixed on a camera mounting frame, and the camera mounting frame is fixed on the device base; the side of the camera mounting frame is connected with the bottom end of the lower connecting pipe through threads, and the camera cover is connected with the top end of the lower connecting pipe through threads.
The panoramic imaging device has the same advantages as the panoramic imaging device compared with the prior art, and the description is omitted here.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic cross-sectional structure diagram of a panoramic imaging apparatus according to an embodiment of the present invention;
fig. 2 is a schematic cross-sectional structure diagram of a two-degree-of-freedom rotation adjustment mechanism of a curved mirror in a panoramic imaging apparatus according to an embodiment of the present invention;
fig. 3 is a schematic diagram illustrating a principle of measuring an adjustable alignment deviation of an optical axis of a panoramic imaging apparatus according to an embodiment of the present invention;
fig. 4 is a schematic control flow diagram of adjustable alignment of an optical axis of a panoramic imaging apparatus according to an embodiment of the present invention.
In the figure: 1-device upper cover; 2-an adjusting mechanism; 3-adjusting the lower plate; 4-a curved mirror; 5-a conical pipe; 6-lower connecting pipe; 7-a camera mount; 8-a device base; 9-adjusting the upper plate; 10-upper connecting pipe; 11-a snap ring; 12-a camera housing; 13-an industrial camera; 14-image processing module.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; the connection can be mechanical connection or electrical connection; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Fig. 1 is a schematic cross-sectional structure diagram of a panoramic imaging apparatus according to an embodiment of the present invention.
As shown in fig. 1, an embodiment of the present invention provides a panoramic imaging apparatus, including: an upper device cover 1 and a base 8; the bottom side of the device upper cover 1 is connected with an adjusting upper plate 9 capable of moving vertically through an adjusting mechanism 2, the bottom side of the adjusting upper plate 9 is connected with an adjusting lower plate 3 through a screw, and the bottom side of the adjusting lower plate 3 is provided with a curved surface reflector 4 in a reversed manner; a vertically movable camera mounting frame 7 is fixed on the device base 8, and a horizontally movable industrial camera 13 is fixed on the camera mounting frame 7 through screws.
Compared with the prior art, the panoramic imaging device provided by the embodiment of the invention has the following advantages:
as shown in fig. 1, the panoramic imaging apparatus provided in the embodiment of the present invention includes: an upper device cover 1 and a base 8; the bottom side of the device upper cover 1 is connected with an adjusting upper plate 9 capable of moving vertically through an adjusting mechanism 2, the bottom side of the adjusting upper plate 9 is connected with an adjusting lower plate 3 through a screw, and the bottom side of the adjusting lower plate 3 is provided with a curved surface reflector 4 in an inverted buckling mode; and, be fixed with vertically movable camera mounting bracket 7 on the device base 8, but be fixed with horizontal migration ground industrial camera 13 through the screw on the camera mounting bracket 7. From the analysis, it can be known that, in the panoramic imaging device provided by the embodiment of the present invention, the curved surface reflector 4 can be driven by the adjustment lower plate 3 and the adjustment upper plate 9 to perform two-degree-of-freedom rotation fine adjustment, so that the relative posture adjustment between the curved surface reflector 4 and the industrial camera 13 can be realized; and because the industrial camera 13 can be driven by the camera mounting bracket 7 to perform three-degree-of-freedom translation fine adjustment, the object distance between the industrial camera 13 and the curved reflector 4 can be adjusted, so that the focusing precision of the industrial camera 13 is effectively improved, and the imaging quality is further improved.
Fig. 2 is a schematic cross-sectional structure diagram of a two-degree-of-freedom rotation adjustment structure of a curved mirror in a panoramic imaging apparatus according to an embodiment of the present invention.
In practical application, as shown in fig. 1 and 2, the bottom end edge of the upper cover 1 of the device may be connected to an upper connection pipe 10 through a screw thread, and the upper connection pipe 10 is provided with a clamping groove; the edge of the curved surface reflector 4 may be provided with a snap ring 11, the snap ring 11 is used for inversely buckling the curved surface reflector 4 on the bottom side of the lower adjusting plate 3 through a screw, and the snap ring 11 is located in the snap groove, so that the upper limit of the two-degree-of-freedom rotation adjustment of the curved surface reflector 4 can be limited through the snap groove of the upper connecting pipe 10.
As shown in fig. 1 and 2, the adjusting mechanism 2 may be an adjusting screw; during specific assembly, the bottom ball head of the adjusting screw rod can be wedged into a groove between the adjusting upper plate 9 and the adjusting lower plate 3, and the top stud of the adjusting screw rod can be in threaded connection with the device upper cover 1.
Specifically, in order to effectively improve the adjustment stability of the curved surface reflector 4, the number of the adjustment screws may be three, and the three adjustment screws are uniformly distributed on the device upper cover 1 along the circumferential direction.
In the panoramic imaging apparatus according to the embodiment of the present invention, as shown in fig. 1 and 2, the upper connection tube 10, the snap ring 11, the upper adjustment plate 9, the lower adjustment plate 3, the adjustment mechanism 2 (adjustment screw), and the apparatus upper cover 1 together form a two-degree-of-freedom rotation adjustment structure of the curved mirror 4. The snap ring 11 is used for reversely buckling the curved surface reflector 4 at the bottom side of the adjusting lower plate 3 through three screws uniformly distributed along the circumference, and limits the upper limit of two-degree-of-freedom rotation adjustment of the curved surface reflector 4 through a clamping groove of the upper connecting pipe 10. By rotating different telescopic amounts of the three adjusting screws, two-degree-of-freedom rotation fine adjustment of the curved surface reflector 4 below the adjusting screws can be realized, so that the relative posture adjustment of the industrial camera 13 and the curved surface reflector 4 is completed.
In practical application, as shown in fig. 1, the bottom end of the upper connecting pipe 10 may be connected to the lower connecting pipe 6 through the taper pipe 5, and the industrial camera 13 is located at the area of the lower connecting pipe 6; during the specific assembly, camera housing 12 can be connected with the top of lower connecting pipe 6 through the screw thread, and the side of camera mounting bracket 7 can be connected with the bottom of lower connecting pipe 6 through the screw thread.
Wherein, the taper pipe 5 can be a transparent glass taper pipe; specifically, the top end of the transparent glass taper pipe can be fixedly bonded with the bottom end of the upper connecting pipe 10 through solid glue, and the bottom end of the transparent glass taper pipe can be fixedly bonded with the top end of the lower connecting pipe 6 through solid glue.
In the panoramic imaging device provided by the embodiment of the present invention, as shown in fig. 1, the device base 8, the camera mounting bracket 7, and the lower connecting pipe 6 together form a three-degree-of-freedom translational fine adjustment mechanism of the industrial camera 13. The three-degree-of-freedom translational fine adjustment of the industrial camera 13 includes one-degree-of-freedom up-down fine adjustment of a vertical plane and two-degree-of-freedom translational fine adjustment of a horizontal plane. The industrial camera 13 is fixed on the camera mounting frame 7 through a screw, the side face of the camera mounting frame 7 is in threaded connection with the lower connecting pipe 6, so that the object distance between the industrial camera 13 and the curved reflector 4 can be finely adjusted in a relative rotating mode, the focusing precision of the industrial camera 13 is improved, and the imaging quality is improved. Meanwhile, the mounting hole of the camera mounting frame 7 can be a long circular hole, so that the mounting position of the industrial camera 13 can be finely adjusted along the axial direction of the long circular hole, the relative rotation fine adjustment is superposed, and the arbitrary two-degree-of-freedom translation fine adjustment of the industrial camera 13 on the horizontal plane can be realized.
Further, as shown in fig. 1, the panoramic imaging apparatus provided in the embodiment of the present invention further includes: an image processing module 14, the image processing module 14 being operable to receive image information of the curved mirror 4 captured by the industrial camera 13.
Fig. 3 is a schematic diagram illustrating a principle of measuring an adjustable alignment deviation of an optical axis of a panoramic imaging apparatus according to an embodiment of the present invention.
In the panoramic imaging device provided by the embodiment of the invention, as shown in fig. 1 and fig. 3, the industrial camera 13, the curved reflector 4 and the image processing module 14 jointly form optical axis alignment error feedback, so that the optical axis high-precision alignment adjustment can be quickly realized. The curved mirror 4 image is captured by the industrial camera 13 and the image information is transmitted to the image processing module 14. If there is a deviation between the optical axes of the industrial camera 13 and the curved mirror 4, the top-view projection image of the curved mirror 4 is not a standard circle but an ellipse, and the centroid of the top-view projection image of the curved mirror 4 does not coincide with the image coordinate center. Therefore, by running the optical axis alignment program on the image processing module 14, the optical axis deviation between the industrial camera 13 and the curved surface reflector 4 can be calculated, and the relative position and posture adjustment of the industrial camera 13 and the curved surface reflector 4 can be fed back, so that the optical axis high-precision alignment is finally realized through continuous iteration.
An embodiment of the present invention further provides a panoramic imaging apparatus, as shown in fig. 1, including: an upper device cover 1 and a base 8; the bottom side of the device upper cover 1 is connected with an adjusting upper plate 9 through an adjusting screw rod, and the bottom side of the adjusting upper plate 9 is connected with an adjusting lower plate 3 through a screw; the edge of the bottom end of the device upper cover 1 is connected with an upper connecting pipe 10 through threads, and the upper connecting pipe 10 is provided with a clamping groove; the edge of the curved surface reflector 4 is provided with a clamping ring 11, the clamping ring 11 reversely buckles the curved surface reflector 4 on the bottom side of the adjusting lower plate 3 through a screw, and the clamping ring 11 is positioned in the clamping groove; the bottom end of the upper connecting pipe 10 is connected with a lower connecting pipe 6 through a taper pipe 5, an industrial camera 13 is positioned in the area of the lower connecting pipe 6 and fixed on a camera mounting frame 7, and the camera mounting frame 7 is fixed on a device base 8; the side of the camera mounting bracket 7 is connected with the bottom end of the lower connecting pipe 6 through a thread, and the camera cover 12 is connected with the top end of the lower connecting pipe 6 through a thread.
The panoramic imaging device provided by the embodiment of the invention has the advantages that the fine adjustment of the industrial camera 13 in the three-degree-of-freedom translation is realized on one hand, and the adjustment of the two-degree-of-freedom rotation of the curved reflector 4 is realized on the other hand, so that the function of adjusting and aligning the optical axes of the industrial camera 13 and the curved reflector 4 is finally realized.
In addition, the panoramic imaging device provided by the embodiment of the invention feeds back the alignment deviation through the image processing module 14, thereby further effectively improving the panoramic imaging precision. The device has compact structure and simple operation, and is suitable for application occasions such as high-precision panoramic vision measurement and the like.
Fig. 4 is a schematic control flow diagram of adjustable alignment of an optical axis of a panoramic imaging apparatus according to an embodiment of the present invention.
It should be added that, as shown in fig. 3 and 4, in order to specifically describe the optical axis adjustable alignment steps of the industrial camera 13 and the curved mirror 4, the imaging plane W and the imaging plane coordinate system xOy of the industrial camera 13 are constructed. The origin of the imaging plane coordinate system xOy is O. Theoretically, if the optical axes of the industrial camera 13 and the curved mirror 4 are strictly aligned, the curved mirror 4 is imaged as a standard circle on the imaging plane W, and the origin coincides with the origin O of the imaging plane coordinate system xOy. If an error exists, the image of the curved mirror 4 may become an arbitrary ellipse, and its centroid P does not coincide with the origin O. At this time, the major axis PB and the minor axis PA of any arbitrary ellipse can be aligned with the coordinate system xOy by relative rotation of the industrial camera 13 and the curved mirror 4. Let the centroid P coordinate of any ellipse be (u, v), then the equation for any ellipse is:
wherein a and b represent the minor axis and major axis of any ellipse respectively. The specific parameters (u, v, a, b) of any ellipse can be measured by the ellipse fitting method of the image processing module 14. The centroid P coordinate (u, v) of any ellipse is the translational deviation of the adjustable alignment of the optical axis. Meanwhile, the two-degree-of-freedom rotation angle of the curved reflector 4 is as follows:
wherein, both alpha and beta are the angle deviation of adjustable alignment of the optical axis, and r is the radius of the standard circle of the imaging of the curved reflector 4. So far, all the deviations of the adjustable alignment of the optical axis are measured, and the result can be adjusted and iterated until the high-precision adjustable alignment of the optical axis is realized.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (4)
1. A panoramic imaging apparatus, comprising: an upper cover and a base;
the bottom side of the upper cover of the device is connected with an adjusting upper plate capable of moving vertically through an adjusting mechanism, the bottom side of the adjusting upper plate is connected with an adjusting lower plate, and the bottom side of the adjusting lower plate is provided with a curved surface reflector in an inverted buckling manner; a vertically movable camera mounting rack is fixed on the device base, and a horizontally movable industrial camera is fixed on the camera mounting rack;
the edge of the bottom end of the upper cover of the device is connected with an upper connecting pipe through threads, and the upper connecting pipe is provided with a clamping groove; a clamping ring is arranged at the edge of the curved surface reflector, the clamping ring reversely buckles the curved surface reflector at the bottom side of the adjusting lower plate, and the clamping ring is positioned in the clamping groove;
the adjusting mechanism is an adjusting screw rod; the ball head at the bottom end of the adjusting screw is wedged into a groove between the adjusting upper plate and the adjusting lower plate, and a stud at the top end of the adjusting screw is in threaded connection with the device upper cover; the two-degree-of-freedom rotation fine adjustment of the curved reflector is realized by rotating different telescopic amounts of different adjusting screws;
the bottom end of the upper connecting pipe is connected with a lower connecting pipe through a taper pipe, and the industrial camera is positioned in the area of the lower connecting pipe; the camera cover is connected with the top end of the lower connecting pipe through threads, the side face of the camera mounting frame is connected with the bottom end of the lower connecting pipe through threads, the industrial camera is fixed on the camera mounting frame through screws, the side face of the camera mounting frame is in threaded connection with the lower connecting pipe, and fine adjustment of the object distance between the industrial camera and the curved reflector is achieved through relative rotation of the camera mounting frame and the lower connecting pipe, namely fine adjustment of the industrial camera in one degree of freedom of a vertical plane; the mounting hole of the camera mounting frame is a long circular hole, so that the mounting position of the industrial camera can be finely adjusted along the axial direction of the long circular hole, and the fine adjustment of the industrial camera in any two-degree-of-freedom translation on the horizontal plane is realized.
2. The panoramic imaging apparatus according to claim 1, wherein the number of the adjusting screws is three, and the three adjusting screws are evenly distributed on the upper cover of the apparatus along the circumferential direction.
3. The panoramic imaging apparatus of claim 1, wherein the cone is a transparent glass cone;
the top end of the transparent glass taper pipe is fixedly bonded with the bottom end of the upper connecting pipe through solid glue, and the bottom end of the transparent glass taper pipe is fixedly bonded with the top end of the lower connecting pipe through the solid glue.
4. The panoramic imaging apparatus of claim 1, further comprising: an image processing module for receiving image information of the curved mirror collected by the industrial camera.
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| CN201711496104.6A CN108366224B (en) | 2017-12-31 | 2017-12-31 | Panoramic imaging device |
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| CN201711496104.6A CN108366224B (en) | 2017-12-31 | 2017-12-31 | Panoramic imaging device |
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| CN108366224A CN108366224A (en) | 2018-08-03 |
| CN108366224B true CN108366224B (en) | 2020-09-11 |
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| CN109274877B (en) | 2018-11-06 | 2021-06-11 | Oppo广东移动通信有限公司 | Imaging module, camera assembly and electronic device |
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| CN101211099A (en) * | 2006-12-29 | 2008-07-02 | 财团法人工业技术研究院 | Panoramic view pick-up device and method |
| WO2011087353A2 (en) * | 2010-01-15 | 2011-07-21 | Mimos Berhad | Apparatus and method for single camera mirrored panoramic imaging |
| CN103203760A (en) * | 2012-01-17 | 2013-07-17 | 上海未来伙伴机器人有限公司 | Camera fixing device and panoramic vision system with same |
| CN106441109A (en) * | 2016-09-19 | 2017-02-22 | 北京机械设备研究所 | Refraction and reflection-type laser-ranging three-dimensional omnidirectional-imaging integrated device |
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2017
- 2017-12-31 CN CN201711496104.6A patent/CN108366224B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101211099A (en) * | 2006-12-29 | 2008-07-02 | 财团法人工业技术研究院 | Panoramic view pick-up device and method |
| WO2011087353A2 (en) * | 2010-01-15 | 2011-07-21 | Mimos Berhad | Apparatus and method for single camera mirrored panoramic imaging |
| CN103203760A (en) * | 2012-01-17 | 2013-07-17 | 上海未来伙伴机器人有限公司 | Camera fixing device and panoramic vision system with same |
| CN106441109A (en) * | 2016-09-19 | 2017-02-22 | 北京机械设备研究所 | Refraction and reflection-type laser-ranging three-dimensional omnidirectional-imaging integrated device |
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| CN108366224A (en) | 2018-08-03 |
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