CN111708157B - Fisheye vehicle-mounted lens, photographing optical device and vehicle-mounted camera - Google Patents
Fisheye vehicle-mounted lens, photographing optical device and vehicle-mounted camera Download PDFInfo
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- CN111708157B CN111708157B CN202010680455.8A CN202010680455A CN111708157B CN 111708157 B CN111708157 B CN 111708157B CN 202010680455 A CN202010680455 A CN 202010680455A CN 111708157 B CN111708157 B CN 111708157B
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B13/00—Optical objectives specially designed for the purposes specified below
- G02B13/06—Panoramic objectives; So-called "sky lenses" including panoramic objectives having reflecting surfaces
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B1/00—Optical elements characterised by the material of which they are made; Optical coatings for optical elements
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B1/00—Optical elements characterised by the material of which they are made; Optical coatings for optical elements
- G02B1/04—Optical elements characterised by the material of which they are made; Optical coatings for optical elements made of organic materials, e.g. plastics
- G02B1/041—Lenses
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B13/00—Optical objectives specially designed for the purposes specified below
- G02B13/18—Optical objectives specially designed for the purposes specified below with lenses having one or more non-spherical faces, e.g. for reducing geometrical aberration
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/10—Internal combustion engine [ICE] based vehicles
- Y02T10/40—Engine management systems
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Abstract
The invention discloses a fisheye vehicle-mounted lens, a camera optical device and a vehicle-mounted camera, wherein the fisheye vehicle-mounted lens comprises a first lens, a second lens, a third lens and a fourth lens, the first lens is a negative focal power convex-concave spherical lens, and the second lens is a negative focal power convex-concave plastic aspherical lens; the third lens is a biconvex plastic aspheric lens with positive focal power; the fourth lens is a biconvex plastic aspheric lens with positive focal power; the first lens is a glass lens; the first lens, the second lens, the third lens and the fourth lens are sequentially arranged along the incident direction of light rays, a diaphragm is arranged between the third lens and the fourth lens, and the curvature angles of the mirror surfaces of the four lenses are all smaller than 60 degrees. The invention has the advantages of higher imaging quality, more stable working performance, easy realization of miniaturization, long service life, low cost, high assembly efficiency and finished product qualification rate, realization of a wide angle of more than 200 degrees, and rapid capture of peripheral information to increase the safety of automobile running.
Description
Technical Field
The invention belongs to the field of optical lenses, and particularly relates to a fisheye vehicle-mounted lens, an imaging optical device and a vehicle-mounted camera.
Background
The panoramic all-round parking auxiliary driving system, the panoramic image parking auxiliary system and the 360-degree aerial view panoramic driving auxiliary system are all not separated from the fisheye vehicle-mounted lens. Four to eight wide-angle cameras or fish-eye lenses which can cover all view field ranges around the vehicle are erected around the vehicle, multiple paths of video images collected at the same time are processed into a vehicle body top view of 360 degrees around the vehicle, and finally the vehicle body top view is displayed on a screen of a central console, so that a driver can clearly check whether obstacles exist around the vehicle and know the relative positions and distances of the obstacles, and the driver can park the vehicle easily. The device is very visual in setting, does not have any blind spot, can assist the driver to control the vehicle to park in a position from the container or pass through a complex road surface, and effectively reduces accidents such as scratching, collision, collapse and the like.
In the prior art, the photographic optical system adopting four plastic aspherical lenses reduces the wear resistance and corrosion resistance of the lens by using the plastic lenses, is unfavorable for improving the imaging quality and prolonging the service life, and has the range of the taken-in field angle still lower than 200 degrees, so that the ultra-large wide angle is difficult to realize.
Disclosure of Invention
Aiming at the problems that the fisheye vehicle-mounted lens is difficult to realize wide angle, low in imaging quality and short in service life in the prior art, the invention provides the fisheye vehicle-mounted lens, the imaging optical device and the vehicle-mounted camera, the light transmittance is prevented from being reduced by using a small number of lenses, imaging is clearer through the balance of aberration of positive and negative lenses, temperature drift is compensated through positive and negative focal power distribution, the imaging quality requirement and stable working performance are achieved, the acquisition of wide angle information above 200 degrees can be realized, miniaturization is easy to realize, the service life is long, the cost is low, the assembly efficiency and the finished product qualification rate are high, and the running safety of an automobile is high.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows:
the invention provides a fish-eye vehicle-mounted lens, which comprises a first lens L1, a second lens L2, a third lens L3 and a fourth lens L4:
the first lens L1 is a convex-concave spherical lens with negative focal power;
the second lens L2 is a negative focal power convex-concave plastic aspherical lens;
the third lens L3 is a biconvex plastic aspheric lens with positive focal power;
the fourth lens L4 is a biconvex plastic aspheric lens with positive focal power;
the first lens L1, the second lens L2, the third lens L3 and the fourth lens L4 are sequentially arranged along the incident direction of light rays;
the first lens L1 is a glass lens, satisfying the condition:
1.79<nd<1.84
42<vd<48
50<Fa<75
the fish-eye vehicle-mounted lens meets the following conditions:
0.29<f2/f1<0.34
0.74<f4/f3<0.86
DFOV≥200°
where nd is refractive index, vd is Abbe number, fa is abrasion degree, f1 is focal length of the first lens L1, f2 is focal length of the second lens L2, f3 is focal length of the third lens L3, f4 is focal length of the fourth lens L4, and DFOV is diagonal oblique view angle of the lens.
Preferably, the fisheye vehicle lens further comprises a diaphragm, and the diaphragm is disposed between the third lens L3 and the fourth lens L4.
Preferably, the mirror curvature angles of the first lens L1, the second lens L2, the third lens L3 and the fourth lens L4 are all smaller than 60 °.
Preferably, the second lens L2, the third lens L3 and the fourth lens L4 satisfy the aspherical equation:
wherein Z is sagittal height, c is the inverse of curvature radius, y is radial coordinate, k is conic coefficient, A 4 、A 6 、A 8 、A 10 、A 12 、A 14 、A 16 、A 18 Is an aspherical higher order coefficient.
An imaging optical device comprising the fisheye-mounted lens according to any of the above aspects, further comprising an imaging element for converting a formed optical image into an electrical signal, the fisheye-mounted lens being configured such that the imaging element forms an optical image of a subject.
A vehicle-mounted camera includes the above-described image pickup optical device, and is attached with a still or moving image photographing function of a subject.
Compared with the prior art, the invention has the beneficial effects that: the light transmittance is prevented from being reduced by matching four lenses, imaging quality is clearer by balancing aberration of positive and negative lenses, temperature drift is compensated by positive and negative focal power distribution, imaging quality requirement and stable working performance are achieved, a wide angle of more than 200 degrees can be achieved, miniaturization is easy to achieve, service life is long, cost is low, assembly efficiency and finished product qualification rate are high, and automobile driving safety is high.
Drawings
FIG. 1 is a diagram of a lens structure of the present invention;
FIG. 2 is a MTF diagram of an embodiment of the present invention;
FIG. 3 is an astigmatism and distortion diagram according to an embodiment of the present invention;
FIG. 4 is a diagram of a second MTF according to an embodiment of the present invention;
FIG. 5 is a diagram of astigmatism and distortion in accordance with an embodiment of the present invention;
FIG. 6 is a diagram of a three MTF diagram of an embodiment of the present invention;
fig. 7 is a diagram of three astigmatism and distortion in accordance with an embodiment of the present invention.
Detailed Description
The technical scheme of the present invention will be further described in detail below with reference to the accompanying drawings and examples, which are not to be construed as limiting the present invention.
The symbols used in the present specification are defined as follows: nd is the refractive index; vd is Abbe number; fa is the abrasiveness; f1 is the focal length value of the first lens L1, the unit mm, f2 is the focal length value of the second lens L2, the unit mm, f3 is the focal length value of the third lens L3, the unit mm, f4 is the focal length value of the fourth lens L4, the unit mm, f is the lens focal length, and the unit mm; f# is the lens F-number; TTL is the total optical length of the lens, and the unit is mm; DFOV is the lens diagonal oblique view angle; the light incidence direction (i.e. from the object plane to the image plane) is the mirror plane number of each lens in turn, L1R1 is the first plane of the first lens L1, L1R2 is the second plane of the first lens L1, L2R1 is the first plane of the second lens L2, L2R2 is the second plane of the second lens L2, L3R1 is the first plane of the third lens L3, L3R2 is the second plane of the third lens L3, L4R1 is the first plane of the fourth lens L4, and L4R2 is the second plane of the fourth lens L4.
Example 1:
as shown in fig. 1-3, a fisheye vehicle lens includes a first lens L1, a second lens L2, a third lens L3, and a fourth lens L4:
the first lens L1 is a convex-concave spherical lens with negative focal power;
the second lens L2 is a negative focal power convex-concave plastic aspherical lens;
the third lens L3 is a biconvex plastic aspheric lens with positive focal power;
the fourth lens L4 is a biconvex plastic aspheric lens with positive focal power;
the first lens L1, the second lens L2, the third lens L3 and the fourth lens L4 are sequentially arranged along the incident direction of light rays;
the first lens L1 is a glass lens, satisfying the condition:
1.79<nd<1.84
42<vd<48
50<Fa<75
the fish-eye vehicle-mounted lens meets the following conditions:
0.29<f2/f1<0.34
0.74<f4/f3<0.86
DFOV≥200°
where nd is refractive index, vd is Abbe number, fa is abrasion degree, f1 is focal length of the first lens L1, f2 is focal length of the second lens L2, f3 is focal length of the third lens L3, f4 is focal length of the fourth lens L4, and DFOV is diagonal oblique view angle of the lens.
The four lenses of the fish-eye vehicle-mounted lens sequentially adjust the light incidence angle during light incidence, imaging quality requirements are met through a few lenses, and the contact surface between the lenses and air is reduced, so that light transmittance is prevented from being reduced. The first lens L1 is designed into a convex-concave lens with negative focal power, light rays with large angles can be contained as much as possible, the angle of view is enlarged, the second lens L2 is designed into a convex-concave lens with negative focal power, the convex-concave lens is used for distributing the focal power of the first lens L1 and converging the angle of light rays, the first lens L1 and the second lens L2 are negative focal lenses, the third lens L3 and the fourth lens L4 are designed into two positive focal lenses, the aberration of the positive lens and the negative lens is optimally balanced, so that the imaging quality is clearer, the focal drift of the positive lens and the negative lens at different temperatures is different, and the temperature drift compensation is realized by calculating the focal power through positive and negative focal power distribution and optical design, so that the working performance of the lens is more stable. The radian of the aspherical lens is calculated and designed according to the optimal focusing point, and the curvature continuously changes from the center to the periphery of the lens, so that the weight and the length of the lens can be reduced, and the imaging quality of the lens can be improved.
The first lens L1 is a spherical glass lens, and satisfies the conditions 1.79< nd <1.84, 42< vd <48, 50< Fa <75, under the condition that the angles of view are the same, the high refractive index of the spherical glass lens can reduce the size of the lens, the refractive index performance of the spherical glass lens is superior to that of plastic materials, the wear resistance is good, such as the spherical glass lens with the wear resistance of about 65, the spherical glass lens can bear the scraping of a brush of a car washer frequently for a long time without affecting the definition of a picture and the temperature difference is not suitable for blurring the picture, the service life of the product is prolonged, and the spherical glass lens is designed to be beneficial to accommodating a wide-angle scene and simultaneously reduce the die sinking cost.
The first lens L1 and the second lens L2 can better distribute the focal power of the first lens L1 and converge the light angle under the condition that the condition is 0.29< f2/f1<0.34, so that the diameter size of the rear lens is reduced, and the lens size is small, thereby being beneficial to reducing the price cost and the lens weight and being easier to realize miniaturization.
The aberrations of the positive lens and the negative lens are optimized and balanced because the first lens L1 and the second lens L2 are negative focal lenses, the third lens L3 and the fourth lens L4 are two positive focal lenses, and under the condition that the condition 0.74< f4/f3<0.86 is met, the aberrations of the first lens L1 and the second lens L2 can be effectively balanced, the light rays run smoothly, no large inflection point exists, the tolerance of processing and assembling tolerance is increased, and the assembly efficiency and the finished product qualification rate are improved.
Wherein, the high refractive index lens for large angle of view of 200 DEG or more can reduce the lens size, and further reduce the overall size of the lens, price cost and weight of the lens. By increasing the angle of view, the surrounding environment information can be captured more quickly and in a large quantity, the driver is assisted in timely response and safe driving, and the accident occurrence probability is reduced.
In this embodiment, the fisheye vehicle lens further includes a diaphragm, and the diaphragm is disposed between the third lens L3 and the fourth lens L4.
Wherein, the diaphragm is arranged between the third lens L3 and the fourth lens L4 for limiting the light beam or limiting the imaging range size. The diaphragm may also be arranged between any other adjacent lenses.
In this embodiment, the mirror curvature angles of the first lens L1, the second lens L2, the third lens L3 and the fourth lens L4 are all smaller than 60 °.
The first lens L1, the second lens L2, the third lens L3 and the fourth lens L4 have mirror surface curvature angles smaller than 60 degrees, which is beneficial to lens processing. When the processing difficulty and the processing cost are not considered, the curvature angle of each lens can be set to be any angle.
In this embodiment, the second lens L2, the third lens L3 and the fourth lens L4 satisfy the aspherical equation:
wherein Z is sagittal height, c is the inverse of curvature radius, y is radial coordinate, k is conic coefficient, A 4 、A 6 、A 8 、A 10 、A 12 、A 14 、A 16 、A 18 Is an aspherical higher order coefficient.
Further, the data table of each mirror in this embodiment is as follows:
wherein R is the radius of curvature, and the unit is mm; d is the surface interval, unit mm; nd is the refractive index; vd is the Abbe number.
Conic coefficient k and aspheric higher-order coefficient A for each mirror in this embodiment 4 、A 6 、A 8 、A 10 、A 12 、A 14 、A 16 、A 18 The following table shows:
the lens related parameters in this embodiment are as follows:
| f | F# | TTL | DFOV | f1 | f2 | f3 | f4 | f2/f1 | f4/f3 |
| 0.76 | 2.0 | 13.3 | 200° | -5.3855 | -1.6824 | 2.22 | 1.91 | 0.31 | 0.86 |
the data show that the total length of the four lenses can reach 200 degrees of fisheye field, the total lens length can be controlled within 13.3mm, the aperture is 2.0, and the resolution MTF can reach more than 0.4 when 80lp/mm line pairs. The angle of view is bigger, the imaging quality is high and miniaturization is easier to realize, surrounding environment information can be collected more rapidly, and the safety of the automobile during running is improved.
Example 2:
as shown in fig. 4-5, this embodiment is based on the design of the fish-eye vehicle lens in embodiment 1, and differs in that:
the data table for each mirror in this embodiment is as follows:
wherein R is the radius of curvature, and the unit is mm; d is the surface interval, unit mm; nd is the refractive index; vd is the Abbe number.
Conic coefficient k and aspheric higher-order coefficient A for each mirror in this embodiment 4 、A 6 、A 8 、A 10 、A 12 、A 14 、A 16 、A 18 The following table shows:
| L2R1 | L2R2 | L3R1 | L3R2 | L4R1 | L4R2 | |
| k | -17.263 | -0.97 | -0.56 | -317 | -31.7 | -2.34 |
| A 4 | -5.33E-03 | -5.36E-03 | 1.89E-02 | -3.56E-02 | 2.83E-02 | -4.41E-02 |
| A 6 | 4.14E-04 | -4.07E-02 | -1.83E-02 | 2.67E-02 | 2.19E-04 | 1.71E-02 |
| A 8 | -1.77E-05 | 1.56E-02 | 3.04E-03 | 8.09E-04 | -7.54E-03 | 8.99E-06 |
| A 10 | -6.4134E-07 | -2.36E-03 | 1.19E-04 | -9.10E-03 | -5.20E-02 | -2.22E-03 |
| A 12 | 9.09568E-08 | 1.44E-06 | -5.19E-05 | 4.55E-03 | 9.49E-02 | 8.53E-04 |
| A 14 | -1.1689E-08 | 1.49E-05 | -1.63E-05 | -8.68E-04 | -5.78E-02 | -2.87E-04 |
| A 16 | 2.1947E-09 | 3.93E-06 | 2.78E-06 | 4.61E-05 | 1.22E-02 | 6.34E-05 |
| A 18 | 2.41587E-11 | 2.87E-07 |
the lens related parameters in this embodiment are as follows:
| f | F# | TTL | DFOV | f1 | f2 | f3 | f4 | f2/f1 | f4/f3 |
| 0.72 | 2.0 | 13.3 | 200° | -5.76 | -1.72 | 2.3 | 1.8 | 0.298 | 0.782 |
the data show that the total length of the four lenses can reach 200 degrees of fisheye field, the total lens length can be controlled within 13.3mm, the aperture is 2.0, and the resolution MTF can reach more than 0.4 when 80lp/mm line pairs. The angle of view is bigger, the imaging quality is high and miniaturization is easier to realize, surrounding environment information can be collected more rapidly, and the safety of the automobile during running is improved.
Example 3:
as shown in fig. 6-7, this embodiment is based on the design of the fish-eye vehicle lens in embodiment 1, and differs in that:
the data table for each mirror in this embodiment is as follows:
wherein R is the radius of curvature, and the unit is mm; d is the surface interval, unit mm; nd is the refractive index; vd is the Abbe number.
Conic coefficient k and aspheric higher-order coefficient A for each mirror in this embodiment 4 、A 6 、A 8 、A 10 、A 12 、A 14 、A 16 、A 18 The following table shows:
| L2R1 | L2R2 | L3R1 | L3R2 | L4R1 | L4R2 | |
| k | -17.263 | -0.97 | -0.56 | -317 | -31.7 | -2.34 |
| A 4 | -5.33E-03 | -5.36E-03 | 1.89E-02 | -3.56E-02 | -9.10E-03 | -7.30E-02 |
| A 6 | 4.14E-04 | -4.07E-02 | -1.83E-02 | 2.67E-02 | 1.78E-02 | 2.68E-02 |
| A 8 | -1.77E-05 | 1.56E-02 | 3.04E-03 | 8.09E-04 | -4.19E-03 | -4.34E-03 |
| A 10 | -6.4134E-07 | -2.36E-03 | 1.19E-04 | -9.10E-03 | -5.55E-02 | -7.78E-04 |
| A 12 | 9.09568E-08 | 1.44E-06 | -5.19E-05 | 4.55E-03 | 9.39E-02 | 7.06E-04 |
| A 14 | -1.1689E-08 | 1.49E-05 | -1.63E-05 | -8.68E-04 | -5.75E-02 | 7.06E-04 |
| A 16 | 2.1947E-09 | 3.93E-06 | 2.78E-06 | 4.61E-05 | 1.25E-02 | 8.35E-05 |
| A 18 | 2.41587E-11 | 2.87E-07 |
the lens related parameters in this embodiment are as follows:
| f | F# | TTL | DFOV | f1 | f2 | f3 | f4 | f2/f1 | f4/f3 |
| 0.72 | 2.0 | 13.3 | 200° | -5.67255 | -1.9152 | 2.32 | 1.722 | 0.337 | 0.742 |
the data show that the total length of the four lenses can reach 200 degrees of fisheye field, the total lens length can be controlled within 13.3mm, the aperture is 2.0, and the resolution MTF can reach more than 0.4 when 80lp/mm line pairs. The angle of view is bigger, the imaging quality is high and miniaturization is easier to realize, surrounding environment information can be collected more rapidly, and the safety of the automobile during running is improved.
Example 4:
the present embodiment provides an imaging optical device including the fisheye-mounted lens according to the above embodiments, and further including an imaging element for converting a formed optical image into an electrical signal, the fisheye-mounted lens being disposed with the imaging element forming an optical image of a subject.
Example 5:
the present embodiment provides an in-vehicle camera which is realized based on the image pickup optical device of embodiment 4 and is added with a still or moving image photographing function of a subject. The device can perform shooting or image reproduction, and image display is performed by using the electric signals converted by the image pickup element so as to collect information of a shot object.
The above embodiments are only for illustrating the technical solution of the present invention and not for limiting it, and those skilled in the art will be able to make various corresponding changes and modifications according to the present invention without departing from the spirit and the essence of the present invention, but these corresponding changes and modifications should fall within the protection scope of the appended claims.
Claims (4)
1. The utility model provides a fisheye on-vehicle camera lens, includes first lens L1, second lens L2, third lens L3 and fourth lens L4, its characterized in that:
the first lens L1 is a convex-concave spherical lens with negative focal power;
the second lens L2 is a concave-convex plastic aspheric lens with negative focal power;
the third lens L3 is a biconvex plastic aspheric lens with positive focal power;
the fourth lens L4 is a biconvex plastic aspheric lens with positive focal power;
the first lens L1, the second lens L2, the third lens L3, and the fourth lens L4 are sequentially disposed along a light incident direction;
the first lens L1 is a glass lens, and meets the following conditions:
1.79<nd<1.84
42<vd<48
50<Fa<75
the fisheye vehicle-mounted lens meets the following conditions:
0.29<f2/f1<0.34
0.74<f4/f3<0.86
DFOV≥200°
wherein nd is refractive index, vd is Abbe number, fa is abrasion degree, f1 is focal length value of the first lens L1, f2 is focal length value of the second lens L2, f3 is focal length value of the third lens L3, f4 is focal length value of the fourth lens L4, and DFOV is lens diagonal oblique view angle;
the fisheye vehicle-mounted lens further comprises a diaphragm, and the diaphragm is arranged between the third lens L3 and the fourth lens L4;
the first lens L1, the second lens L2, the third lens L3 and the fourth lens L4 each have a mirror curvature angle of less than 60 °.
2. The fish-eye vehicle lens of claim 1, wherein: the second lens L2, the third lens L3, and the fourth lens L4 satisfy an aspherical equation:
wherein Z is sagittal height, c is the inverse of curvature radius, y is radial coordinate, k is conic coefficient, A 4 、A 6 、A 8 、A 10 、A 12 、A 14 、A 16 、A 18 Is an aspherical higher order coefficient.
3. An image pickup optical apparatus, characterized in that: comprising the fisheye vehicle-mounted lens according to any one of claims 1 to 2, further comprising an image pickup element for converting a formed optical image into an electrical signal, the fisheye vehicle-mounted lens being provided with the optical image of a subject formed by the image pickup element.
4. A vehicle-mounted camera, characterized by: a still or moving image photographing function including the image pickup optical device according to claim 3, and attached to the subject.
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| CN202010680455.8A CN111708157B (en) | 2020-07-15 | 2020-07-15 | Fisheye vehicle-mounted lens, photographing optical device and vehicle-mounted camera |
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| CN202010680455.8A CN111708157B (en) | 2020-07-15 | 2020-07-15 | Fisheye vehicle-mounted lens, photographing optical device and vehicle-mounted camera |
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| CN111708157B true CN111708157B (en) | 2023-07-28 |
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| CN202837654U (en) * | 2012-06-26 | 2013-03-27 | 惠州比亚迪实业有限公司 | Optical imaging lens |
| CN104614844A (en) * | 2015-03-09 | 2015-05-13 | 襄阳锦翔光电科技股份有限公司 | Wide-angle photographic lens |
| CN104793321A (en) * | 2015-04-09 | 2015-07-22 | 上海大学 | Super-large field-of-view fish eye lens |
| CN107861226A (en) * | 2017-12-26 | 2018-03-30 | 中国计量大学 | A kind of low distortion pick-up lens of big visual field |
| CN212391660U (en) * | 2020-07-15 | 2021-01-22 | 凤凰光学股份有限公司 | Fisheye vehicle-mounted lens, shooting optical device and vehicle-mounted camera |
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