CN111751964A - Double-view-field panoramic annular belt imaging device based on aspherical mirror - Google Patents
Double-view-field panoramic annular belt imaging device based on aspherical mirror Download PDFInfo
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- CN111751964A CN111751964A CN202010622245.3A CN202010622245A CN111751964A CN 111751964 A CN111751964 A CN 111751964A CN 202010622245 A CN202010622245 A CN 202010622245A CN 111751964 A CN111751964 A CN 111751964A
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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
- 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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- 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
Abstract
The invention discloses a double-view-field panoramic annular imaging device based on an aspherical mirror. The panoramic annular belt imaging device adopts a double-view-field imaging structure, can simultaneously image in a visual field range of (0-139 degrees) multiplied by 360 degrees in a visible light wave band, and eliminates the problem of a blind area of the traditional panoramic annular belt imaging device. In addition, the field angle of the panoramic annular imaging device is enlarged, meanwhile, the structure compactness of the panoramic annular imaging device is guaranteed, and the acquisition of a high-resolution panoramic image is realized.
Description
Technical Field
The invention relates to the field of double-view-field panoramic detection of an aspherical mirror, in particular to a double-view-field panoramic annular belt imaging device based on the aspherical mirror.
Background
The panoramic imaging technology is a technology for directly detecting and imaging a surrounding 360-degree environment. The system can detect and image all scenes in a large view field at one time through a special large view field reflection optical system. The method has the characteristics of compact structure, no need of moving parts and high-resolution imaging. Currently, most panoramic imaging cameras employ a series of catadioptric optical elements. Although the fisheye lens can cover a wide field of view of up to 220 °, it has a great disadvantage in imaging, which is manifested by non-uniform image plane illumination and different resolutions in different markets. Conventional refractive imaging systems encounter significant challenges when faced with large fields of view imaging due to the limited field of view compression capabilities that can be provided by refractive imaging.
Disclosure of Invention
Aiming at the problem that the center of the traditional panoramic annular imaging device in the prior art has a blind area during imaging, the invention provides a double-view-field panoramic annular imaging device based on an aspherical mirror, and the specific technical scheme is as follows:
a double-view-field panoramic annular imaging device based on an aspherical mirror comprises a front imaging lens group, a panoramic annular objective lens, an aperture diaphragm, a subsequent imaging lens group and an image sensor which are sequentially arranged on the same optical axis;
the front imaging lens group comprises a film which is partially transmitted and partially reflected and a plurality of lenses;
the outer side surface of the panoramic annular objective is a panoramic annular refraction surface;
the lower surface of the inner side center of the panoramic annular objective comprises an annular first reflecting surface and a circular second refracting surface which are connected at the edges, and the circular second refracting surface is positioned at the center of the lower surface of the inner side center;
the upper surface of the inner side center of the panoramic annular objective comprises an annular second reflecting surface and a circular first refraction surface which are connected at the edges, and the circular first refraction surface is positioned at the center of the upper surface of the inner side center; the outer edge of the annular second reflecting surface is connected with the refraction surface of the panoramic annular belt;
the center of the aperture diaphragm is positioned at the geometric focus of the preposed imaging lens group;
the front imaging lens group and the panoramic annular objective lens simultaneously acquire images with different field angles, the images are compressed and are respectively imaged on a central circular area and an annular area on the image sensor through a subsequent imaging lens group, the central circular area and the annular area are concentric, the image of the central circular area corresponds to a forward field of view, and the image of the annular area corresponds to a panoramic field of view.
Furthermore, the refraction surface of the panoramic annular zone, the annular first reflection surface, the circular second refraction surface, the annular second reflection surface and the circular first refraction surface are aspheric surfaces.
Furthermore, the subsequent imaging lens group consists of a plurality of lenses with even-order aspheric surfaces, wherein at least one negative lens with even-order aspheric surfaces and one positive lens with even-order aspheric surfaces are included.
The invention has the following beneficial effects:
the panoramic annular imaging device adopts a double-field imaging structure, namely, a central field and an annular field are imaged at the same time, curved images of the two fields are obtained and are compressed and transmitted to the aperture diaphragm, then the curved images at the aperture diaphragm are decompressed and projected onto a detection plane through a subsequent imaging lens group, and a three-dimensional space around the panoramic annular imaging device is converted into a two-dimensional annular or circular image so as to be imaged on an image sensor. The device of the invention can simultaneously image in the visual field range of (0-139 degrees) multiplied by 360 degrees in the visible light wave band, thereby eliminating the blind area problem of the traditional panoramic annular imaging device. In addition, the field angle of the panoramic annular imaging device is enlarged, meanwhile, the structure compactness of the panoramic annular imaging device is guaranteed, and the acquisition of a high-resolution panoramic image is realized. The apparatus of the present invention may also be associated with or used in conjunction with motion picture cameras, medical instruments, surveillance systems, robotic systems, flight command and control systems, motion cameras, unmanned vehicles, and Virtual Reality (VR) that typically includes ultra-wide angle systems.
Drawings
FIG. 1 is a diagram of the structure of an optical system according to an embodiment of the present invention;
FIG. 2 is an imaging schematic of the system of FIG. 1;
FIG. 3 is a dot-plot of 12 different fields of view within the central field of view of the optical system of FIG. 1;
FIG. 4 is a stippled plot of 12 different fields of view within the panoramic annular field of view of the optical system of FIG. 1;
FIG. 5 is a graph of astigmatism for different fields of view of the optical system of FIG. 1;
FIG. 6 is a graph of modulation transfer functions for different fields of view of the optical system of FIG. 1;
FIG. 7 is a plot of the root mean square wavefront error for different fields of view of the optical system of FIG. 1.
In the figure, a front imaging lens 1, a panoramic annular objective lens 2, a panoramic annular refraction surface 3, an annular first reflection surface 4, an annular second reflection surface 5, a circular first refraction surface 6, a circular second refraction surface 7, an aperture diaphragm 8, a subsequent imaging lens group 9, a first subsequent imaging lens 10, a first subsequent imaging lens 11, a first subsequent imaging lens 12, an image sensor 13, an optical axis 14, a forward view field 15, a panoramic annular view field 16, a first optical path 17, a second optical path 18, a central circular area 19 and an annular imaging area 20.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and preferred embodiments, and the objects and effects of the present invention will become more apparent, it being understood that the specific embodiments described herein are merely illustrative of the present invention and are not intended to limit the present invention.
As shown in fig. 1, the double-field panoramic annular imaging device based on the aspherical mirror of the present invention includes a front imaging lens 1, a panoramic annular objective lens 2, an aperture stop 8, a subsequent imaging lens group 9 and an image sensor 13, which are sequentially disposed on the same optical axis.
The front imaging lens group 1 comprises a partially transmitting and partially reflecting film and a plurality of lenses, and the size of a forward field of view and the F number of an optical channel of the forward field of view are determined according to specific task design.
The outer side surface of the panoramic annular objective lens 2 is a panoramic annular refraction surface 3 which is positioned on the optical axis 14, takes the optical axis 14 as a symmetry axis and is an aspheric surface, so that the observation field of view can be improved. The lower surface of the center of the inner side of the panoramic annular objective comprises an annular first reflecting surface 4 and a circular second refracting surface 7 which are connected at the edges, and the circular second refracting surface 7 is positioned at the center of the lower surface of the center of the inner side; the inner central upper surface of the panoramic annular objective comprises an annular second reflecting surface 5 and a circular first refraction surface 6 which are connected at the edges, and the circular first refraction surface 6 is positioned at the central position of the inner central upper surface. The outer edge of the annular second reflecting surface 5 is connected with the panoramic annular refraction surface 3.
The circular first refraction surface 6 is located on the optical axis 14, the optical axis 14 is used as a symmetry axis, the circular first refraction surface 6 is in an aspheric shape, and light rays of the forward field of view 15 are compressed by the pre-imaging lens 1 and then transmitted to the circular second refraction surface 7 through the circular first refraction surface 6.
The circular second refracting surface 7 is located on the optical axis 14 and has an aspherical shape with the optical axis 14 as a symmetry axis, and can pass light of the forward field of view 15 and the panoramic field of view 16.
The annular first reflecting surface 4 is located on the optical axis 14, has an aspheric shape with the optical axis 14 as a symmetry axis, and reflects the light of the panoramic annular view field 16 reflected by the panoramic annular refractive surface 3 onto the annular second reflecting surface 5.
The annular second reflecting surface 5 is located on the optical axis 14, has an aspheric shape with the optical axis 14 as a symmetry axis, and reflects the light of the panoramic annular view field 16 reflected by the annular first reflecting surface 4 to the circular second refracting surface 7. In the present embodiment, the annular first reflective surface 4 and the annular second reflective surface 5 can form a compressed image of a panoramic field of view. The surface type of the annular first reflecting surface 4 is a hyperboloid, and image aberrations caused by the subsequent imaging lens group 9 can be compensated by the positive curvature of the first reflecting surface 4. The annular first reflecting surface 4 and the annular second reflecting surface 5 can provide a folded light path, which is beneficial to reducing the size of the imaging device.
The curvature of the annular first reflecting surface 4, the position and the geometric shape of the annular second reflecting surface 5, the size of the circular first refracting surface 6 and the size of the circular second refracting surface 7 determine the sizes of the forward field of view 15 and the panoramic field of view 16, and the sizes of the forward field of view 15 and the panoramic field of view 16 can be balanced by adjusting relevant parameters.
The aperture diaphragm 8 is arranged near the geometric focus of the front imaging lens group 1 between the panoramic annular objective lens 2 and the subsequent imaging lens group 9, is positioned on the optical axis 14, and is used for filtering light rays reflected by the annular first reflecting surface 4 and the annular second reflecting surface 5 except for a designed field of view, and provides an ideal object space viewpoint for the subsequent mapping of the panoramic image.
The subsequent imaging lens group 9 is located on the optical axis 14 and is mounted between the panoramic annular objective lens 2 and the image sensor 13. The light rays of the forward view field and the light rays of the panoramic view field are imaged on the image sensor through the subsequent imaging lens group. The subsequent imaging lens group 9 is composed of one or more lenses having even-order aspheric surfaces, at least one of which is a negative lens having an even-order aspheric surface and a positive lens having an even-order aspheric surface. Fig. 1 shows an example in which three negative and positive lenses having high-order aspherical surfaces are used. The negative lens has negative focal power and Abbe number of 35, and can expand the light beam. The positive lens has positive focal power and an abbe number of 55, and can correct curvature of field. The combination of which can correct the dispersion of the optical system.
The image acquired by the image sensor 13 is composed of two image areas that are concentric. The central circular area image corresponds to the forward field of view 15 and the annular area image corresponds to the panoramic field of view 16. The two different imaging areas are respectively located in different independent areas on the image sensor 13, and are not overlapped with each other.
FIG. 1 shows the path of light rays with different fields of view through a forward field of view channel and a panoramic field of view channel of a double-field-of-view panoramic annular imaging device based on an aspherical mirror. For convenience of illustration, the first light path 17 is shown only on the right side of fig. 1 and the second light path 18 is shown only on the left side. Referring to fig. 1, the first optical path 17 is first refracted by the panoramic annular refractive surface 3 to reach the annular first reflective surface 4, then reflected to the annular second reflective surface 5, and then passes through the circular second refractive surface 7 along the optical axis 14. The second optical path 18 first passes through the front-facing lens 1 to the circular first refractive surface 6 and then through the circular second refractive surface 7. The two beams of light pass through the circular second refraction surface 7 and then pass through the subsequent imaging lens group 9 to reach the image sensor 13.
The present invention has been experimentally demonstrated with a panoramic optical system of about 58 mm diameter and 55 mm height, optimized for visible light images. The invention can be scaled by diameter to meet different application requirements.
The shape, size, position and material of the annular first reflecting surface 4, the annular second reflecting surface 5, the circular first refractive surface 6, the circular second refractive surface 7 and the subsequent imaging lens group lenses 10, 11 and 12 are shown in table 1. This example can obtain a high quality optical image on the planar image sensor 13 in the visible wavelength band with an F-number of 2.9-10, and the ratio of the diameter of the annular first reflective surface 4 to the image diameter is about 10: 1.8.
TABLE 1 shape, size, position and Material of the following imaging lens group lenses 10, 11 and 12
| Surface number | Type (B) | Radius/mm | Pitch/mm | Refractive index | Abbe number | Diameter/mm |
| OBJ | standard | Infinity | Infinity | 0 | 0 | |
| 1 | standard | -8.3 | 3.5 | 1.568 | 63 | 7 |
| 2 | standard | 3.12 | 0.30 | 3.8 | ||
| 3 | SPHA | 24.3 | 19 | 1.670 | 47 | 58 |
| 4 | SPHA | 11.14 | 0.10 | 1.670 | 47 | 49 |
| 5 | Mirror | 23.14 | 17.5 | 52.4 | ||
| 6 | Mirror | -219.2 | 38.8 | 12.8 | ||
| 7 | Diaphragm | 25.40 | 3.9 | 1.99 | ||
| 8 | Even Asphere | -4.9 | 3.01 | 1.529 | 55 | 6 |
| 9 | Even Asphere | -0.37 | 0.1 | 6 | ||
| 10 | Even Asphere | -0.05 | 3.7 | 1.749 | 35 | 7 |
| 11 | Even Asphere | -169.1 | 0.49 | 7 | ||
| 12 | Even Asphere | 0.15 | 2.01 | 1.529 | 55 | 5.2 |
| 13 | Even Asphere | 8.29 | 0.97 | 5.2 | ||
| 14 | standard | Infinity | 0.15 | 1.516 | 64 | 2 |
| 15 | standard | Infnity | 0.09 | 2 | ||
| IMA | Image plane | Infinity | 2 |
The images of the forward field of view 15 and the panoramic field of view 16 are imaged via an optical system onto the image sensor 13, as shown in fig. 2. The forward field of view 15 corresponds to an imaging area that is a central circular area 19, and the panoramic field of view 16 corresponds to an imaging area that is an annular imaging area 20. The central circular area 19 and the annular imaging area 20 on the imaging plane can be made to be non-overlapped by the design of optical design software such as Zemax or CodeV, which means that the device has no blind area and interval, and the forward view field and the panoramic view field are relatively parallel. In fact, they converge gradually, eventually coming together. The forward field covers an angle of 80 ° ± 40 °. The panoramic field of view covers a 198 deg. field of view range of 40 deg. to 139 deg.. The magnification and the F number of different imaging channels of the aspheric-based panoramic annular imaging device need to be matched with a forward view field and a panoramic view field. In order to reduce the complexity of image stitching of the two fields of view, the effective focal lengths of different channels are the same.
The image sensor 13 in this example employs a visible light imaging detector, such as a CCD or CMOS sensor. The preferred 640x480, 1/3 ", 4.8x3.6mm image sensor, the above example being illustrative and not limiting in any way, e.g. the OV5680 series, which is an image sensor with a pixel size of 1.75 μm, can also be used. The above examples are illustrative and not limiting in any way.
Fig. 3-7 evaluate the imaging quality of the optical system demonstrated from the four aspects of the stippling plot, the wave difference plot, the modulation transfer function, and the RMS wavefront error, respectively.
Fig. 3 and 4 are dot diagrams of 0-139 field of view of the panoramic optical system. It can be seen from the figure that the maximum RMS radius of the spot is 9.526 μm, and the imaging quality is good.
Fig. 5 is a wave difference diagram of the panoramic optical system. The wave difference of the optical system is less than +/-1.5 wavelengths under different fields of view.
FIG. 6 is a modulation transfer function for a 0-139 field of view of the panoramic optical system being demonstrated. The modulation transfer function is between 32% -70% with a cut-off frequency of 294 lp/mm.
Figure 7 shows the RMS wavefront error of the demonstrated panoramic optical system. The RMS wavefront error of the panoramic optical system is maximized to 1.13 wavelengths over a 139 ° field of view.
The imaging device of the invention has a large amount of high-order aberrations which can cause great influence on imaging quality, and the use of one or more aspheric surfaces can effectively reduce the high-order aberrations in the imaging device and improve the imaging quality.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and although the invention has been described in detail with reference to the foregoing examples, it will be apparent to those skilled in the art that various changes in the form and details of the embodiments may be made and equivalents may be substituted for elements thereof. All modifications, equivalents and the like which come within the spirit and principle of the invention are intended to be included within the scope of the invention.
Claims (3)
1. A double-view-field panoramic annular imaging device based on an aspherical mirror is characterized by comprising a front imaging lens group, a panoramic annular objective lens, an aperture diaphragm, a subsequent imaging lens group and an image sensor which are sequentially arranged on the same optical axis;
the front imaging lens group comprises a film which is partially transmitted and partially reflected and a plurality of lenses;
the outer side surface of the panoramic annular objective is a panoramic annular refraction surface;
the lower surface of the inner side center of the panoramic annular objective comprises an annular first reflecting surface and a circular second refracting surface which are connected at the edges, and the circular second refracting surface is positioned at the center of the lower surface of the inner side center;
the upper surface of the inner side center of the panoramic annular objective comprises an annular second reflecting surface and a circular first refraction surface which are connected at the edges, and the circular first refraction surface is positioned at the center of the upper surface of the inner side center; the outer edge of the annular second reflecting surface is connected with the refraction surface of the panoramic annular belt;
the center of the aperture diaphragm is positioned at the geometric focus of the preposed imaging lens group.
The front imaging lens group and the panoramic annular objective lens simultaneously acquire images with different field angles, the images are compressed and are respectively imaged on a central circular area and an annular area on the image sensor through a subsequent imaging lens group, the central circular area and the annular area are concentric, the image of the central circular area corresponds to a forward field of view, and the image of the annular area corresponds to a panoramic field of view.
2. The aspheric based dual field of view panoramic annular imaging apparatus of claim 1, wherein the panoramic annular refractive surface, the annular first reflective surface, the circular second refractive surface, the annular second reflective surface, and the circular first refractive surface are aspheric.
3. The aspheric based dual field panoramic annular zone imaging apparatus as defined in claim 1 wherein the subsequent set of imaging lenses is comprised of a plurality of lenses having even aspheric surfaces, including at least one negative lens having an even aspheric surface and one positive lens having an even aspheric surface.
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| WO2023103500A1 (en) * | 2021-12-08 | 2023-06-15 | 浙江大学 | Blind spot-free multi-view panoramic three-dimensional imaging device |
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Application publication date: 20201009 |