CN113311573B - Comprises an aspheric catadioptric panoramic imaging optical system - Google Patents
Comprises an aspheric catadioptric panoramic imaging optical system Download PDFInfo
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- CN113311573B CN113311573B CN202110289157.0A CN202110289157A CN113311573B CN 113311573 B CN113311573 B CN 113311573B CN 202110289157 A CN202110289157 A CN 202110289157A CN 113311573 B CN113311573 B CN 113311573B
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Abstract
The invention discloses a panoramic imaging optical system comprising an aspheric surface refraction and reflection, which is sequentially provided with a front light group, an aperture diaphragm and a rear light group from an object space to an image space along an optical axis, wherein the front light group consists of a secondary rotating conical curved surface reflector, a biconvex lens and a biconcave lens, and the convex surface of the reflector faces backwards; the rear light group mainly comprises a double-cemented lens and a double-convex lens which are composed of a double-concave lens and a double-convex lens; the biconvex lens, the biconcave lens and the biconvex lens form a double cemented lens, and the aperture diaphragm is a thin metal wafer with a hole at the center and limits the size of the clear aperture. The optical system has wide working field angle and can complete the imaging of objects with ultra-large field of view; the optical system has large aperture, wide back working distance, long axial length, strong adjustability and more practical value; within the range of the working visual field, the image surface of the optical system has good uniformity and high imaging quality; the optical system has simple structure, low cost and convenient processing.
Description
Technical Field
The invention relates to a panoramic imaging optical system comprising an aspheric refraction and reflection, which is applied to the technical field of imaging of an optical system with an oversized view field.
Background
The field range of the catadioptric panoramic imaging optical system cannot be reached by a common optical system, the working field angle of imaging reaches 360 degrees in the sagittal direction, namely panoramic imaging in the sagittal direction can reach 130 degrees at most in the meridional direction, and the catadioptric panoramic imaging optical system has the characteristics of rotational symmetry, ultra-large field of view, real-time imaging and the like. Therefore, the method has wide application in many fields, such as automatic positioning navigation of robots, VR, automobile auxiliary driving, machine vision, video conference and the like; however, other two ways to realize panoramic imaging currently are:
1. an image stitching method;
2. fisheye lens optical system.
The image splicing method has the advantages of large acquisition amount of original data, complex splicing algorithm, incapability of realizing the requirement of real-time imaging, complex structure of a fisheye lens optical system, poor flexibility of system design and higher cost.
Disclosure of Invention
The invention aims to provide a panoramic imaging optical system comprising an aspheric surface refraction and reflection, which can finish imaging of an object with an oversized view field, has good adjustability, high imaging quality, low cost and convenient processing and has more practical value.
In order to achieve the aim of the invention, the invention adopts the following scheme:
a panoramic imaging optical system comprising an aspheric refraction and reflection is sequentially provided with a front light group, an aperture diaphragm and a rear light group from an object space to an image space along an optical axis; the front light group consists of a secondary rotating conical curved surface reflector, a biconvex lens and a biconcave lens, and the convex surface of the reflector faces backwards; the rear light group comprises a double-cemented lens and a double-convex lens which are composed of a double-concave lens and a double-convex lens; the double-convex lens, the double-concave lens, the double-cemented lens formed by the double-concave lens and the double-convex lens and the surface types of the two optical surfaces of each lens in the double-convex lens are spherical surfaces; the aperture diaphragm is a thin metal wafer with a hole at the center, and the size of the light-transmitting aperture is limited.
Preferably, the air space between the front light group and the rear light group is 50.849mm +/-0.005 mm, the air space between the front light group and the aperture diaphragm is 47.159mm +/-0.005 mm, and the air space between the aperture diaphragm and the rear light group is 3.690mm +/-0.005 mm.
Preferably, the air space between the conic reflector and the biconvex lens is 182.343mm ± 0.005mm, the air space between the biconvex lens and the biconcave lens is 14.882mm ± 0.005mm, and the air space between the biconvex lens and the biconvex lens is 20.347mm ± 0.005mm.
Preferably, the optical surface of the front light group reflector adopts a conic surface, so that the aspheric surface type coefficient of the optical surface of the reflector should satisfy the following equation:
x′ 2 +y′ 2 ＝a 1 z′+a 2 z′ 2 (1)
in the formula: a is 1 ＝2R 0 ，R 0 Representing the curvature radius at the vertex of the conic section of the second revolution; a is 2 Is the surface form coefficient when 2 ＜-1、a 2 ＝-1、-1＜a 2 ＜0、a 2 =0 and a 2 When the surface type of the optical surface of the reflector is more than 0, the surface type of the optical surface of the reflector is a flat elliptic surface, a spherical surface, a long elliptic surface, a paraboloid and a hyperboloid respectively.
Preferably, the material of the secondary rotating conical curved surface reflector is mirrooe, the material of the biconvex lens is UBK7, the material of the biconcave lens and the biconvex lens are UBK7 and BSC3, and the material of the biconvex lens is UBK7.
Preferably, when the angle of view is near 0 °, the optical system cannot image due to the shielding of the objective lens of the rear optical group of the catadioptric panoramic imaging optical system, so that the minimum working angle of view is 10 °, the working angle of view of the catadioptric panoramic imaging optical system in the meridian direction is 10 ° to 90 °, the total focal length is 9.23mm ± 0.005mm, f/# =4.03, the distance from the last optical surface of the catadioptric panoramic imaging optical system to the image plane is 40.998mm ± 0.005mm, and the axial length of the optical system is 377.290mm ± 0.005mm from the first reflective surface of the catadioptric optical system to the image plane.
Preferably, on the basis of the wave aberration theory of the plane-symmetric optical system, the modulation transfer function MTF of the catadioptric panoramic imaging optical system is obtained by calculating the wave aberration expression of the catadioptric optical system, and then the MTF of the optical system is taken as the optimization basis, and the MTF of the optical system working field angle optical system with 10 °, 20 °, 30 °, 40 °, 50 °, 60 °, 70 °, 80 °, 90 ° of the optical system is selected to be weighted and summed to be used as the optimized evaluation function for optimization, so as to obtain the evaluation functions Q in the meridian direction and the sagittal direction m And Q s According to different contributions in the meridian direction and the sagittal direction, the meridian direction and the sagittal direction are subjected to weighted summation at the same time to obtain a final evaluation function Q in the optimization process, and then the folded reflective panoramic imaging optical system is subjected to optimized design by adopting a self-adaptive normalized real number coding genetic algorithm to obtain the panoramic imaging optical system comprising the aspheric catadioptric surface.
In order to obtain better imaging performance of the optical system, the invention also provides an optimal design method of the catadioptric panoramic imaging optical system. The refraction and reflection panoramic imaging optical system has a huge working field angle and brings a huge aberration problem of the system, but the current Seidel aberration theory is only suitable for solving the aberration of the medium and small field optical systems, the aberration of the super-large field optical system such as the refraction and reflection panoramic imaging is generally solved by fitting sampled light, the fitting precision is not easy to control, an analytical expression of the aberration of the refraction and reflection panoramic imaging optical system cannot be obtained, and further the Modulation Transfer Function (MTF) of the optical system cannot be calculated.
Based on the wave aberration theory of a plane symmetric optical system, the modulation transfer function MTF of the catadioptric panoramic imaging optical system is obtained by calculating the wave aberration expression of the catadioptric optical system, then the MTF of the optical system is taken as the optimization basis, the MTF of the optical system working field angle optical system with nine object sides of 10 degrees, 20 degrees, 30 degrees, 40 degrees, 50 degrees, 60 degrees, 70 degrees, 80 degrees and 90 degrees is selected to be weighted and summed to be used as the optimized evaluation function for optimization, and then the evaluation functions of the meridian direction and the sagittal direction are taken as
In the formula, epsilon i As field angle weighting factor, Q m As a function of meridional evaluation, Q s The method is a sagittal evaluation function, and because the contributions in the meridian direction and the sagittal direction are different, the meridian direction and the sagittal direction are weighted and summed simultaneously to obtain a final evaluation function in the optimization process, namely the final evaluation function
Q＝ηQ m +ξQ s (3)
In the formula, eta and xi are respectively weighted coefficients in the meridian direction and the sagittal direction, Q is a final evaluation function in the optimization process of the optical system, and then the refraction and reflection panoramic imaging optical system is optimally designed by adopting an adaptive normalized real number coding genetic algorithm and utilizing the evaluation function, so that the refraction and reflection panoramic imaging optical system with better MTF curve performance is obtained.
Compared with the prior art, the invention has the following obvious substantive characteristics and remarkable advantages:
1. the front light group reflector of the catadioptric panoramic imaging optical system designed by the invention adopts a secondary rotating conical curved surface which is an oblate ellipsoid surface, so that the catadioptric panoramic imaging optical system has a wider working angle of view than a common catadioptric panoramic imaging optical system, the working angle of view ranges from 10 degrees to 90 degrees, and the imaging of an object with an ultra-large field of view can be completed;
2. the optical system has the advantages of large aperture (F/# = 4.03), wide rear working distance, long axial length, strong adjustability and higher practical value;
3. within the working field range, the optical system has the advantages of good image surface uniformity, high imaging quality, simple structure, low cost and convenient processing.
Drawings
Fig. 1 is a schematic structural diagram of an aspheric catadioptric panoramic imaging optical system according to an embodiment of the present disclosure.
FIG. 2 is a schematic view of an optical surface of an aspheric catadioptric panoramic imaging optical system according to an embodiment of the present disclosure.
Fig. 3 is a schematic diagram illustrating optical parameter labeling of an aspheric catadioptric panoramic imaging optical system according to an embodiment of the present disclosure.
Fig. 4 is a MTF graph of an aspheric catadioptric panoramic imaging optical system according to an embodiment of the present disclosure.
Fig. 5 is a field curvature graph of an aspheric catadioptric panoramic imaging optical system of an embodiment of the present patent.
FIG. 6 is a ray trace plot of an embodiment of the present patent including an aspheric catadioptric panoramic imaging optical system.
FIG. 7 is an optical path diagram of an aspheric catadioptric panoramic imaging optical system according to an embodiment of the present invention.
Detailed Description
The preferred embodiments of the present invention are described in detail below with reference to the attached drawing figures:
the first embodiment is as follows:
referring to fig. 1 to 2, a panoramic imaging optical system including an aspheric refraction and reflection is sequentially provided with a front light group, an aperture stop, and a rear light group from an object side to an image side along an optical axis, where the front light group is composed of a secondary rotating conic curved mirror, a biconvex lens, and a biconcave lens, and a convex surface of the mirror faces backward; the rear light group comprises a double-cemented lens and a double-convex lens which are composed of a double-concave lens and a double-convex lens; the double-convex lens, the double-concave lens, the double-cemented lens formed by the double-concave lens and the double-convex lens and the surface types of the two optical surfaces of each lens in the double-convex lens are spherical surfaces; the aperture diaphragm is a thin metal wafer with a hole at the center, and the size of the clear aperture is limited.
The panoramic imaging optical system comprises an aspheric refraction and reflection panoramic imaging optical system, can complete imaging of objects with ultra-large view fields, and is good in adjustability, high in imaging quality, low in cost and convenient to process.
Example two:
in the present embodiment, the air space between the front light group a and the back light group B of the catadioptric panoramic imaging optical system including an aspheric surface is 50.849mm ± 0.005mm, the air space between the front light group a and the aperture stop STO is 47.159mm ± 0.005mm, and the air space between the aperture stop STO and the back light group is 3.690mm ± 0.005mm.
In this embodiment, the air gap between the conic reflector A-1 and the lenticular lens A-2 is 182.343mm + -0.005 mm, the air gap between the lenticular lens A-2 and the biconcave lens A-3 is 14.882mm + -0.005 mm, and the air gap between the biconjugated lens B-1 and the lenticular lens B-2 is 20.347mm + -0.005 mm.
In this embodiment, the optical surface of the front light group reflector a adopts a conic surface, so the aspheric surface coefficients of the optical surface of the reflector should satisfy the following equation:
x′ 2 +y′ 2 ＝a 1 z′+a 2 z′ 2 (1)
in the formula: a is 1 ＝2R 0 ，R 0 Representing the curvature radius at the vertex of the conic section of the second revolution; a is a 2 Is the surface form coefficient when 2 ＜-1、a 2 ＝-1、-1＜a 2 ＜0、a 2 =0 and a 2 When the surface type of the optical surface of the reflector is more than 0, the surface type of the optical surface of the reflector is a flat elliptic surface, a spherical surface, a long elliptic surface, a paraboloid and a hyperboloid respectively.
In the embodiment, the material of the secondary rotating conical curved surface reflector A-1 is MIRROE, the material of the biconvex lens A-2 is UBK7, the material of the biconcave lens A-3 is UBK7, the material of the biconcave lens B-1 formed by the biconcave lens and the biconvex lens is UBK7 and BSC3, and the material of the biconvex lens B-2 is UBK7.
In this embodiment, when the angle of field of 0 ° is considered, the minimum working angle of field is 10 °, the working angle of field of the catadioptric panoramic imaging optical system in the meridian direction is 10 ° to 90 °, the total focal length is 9.23mm ± 0.005mm, f/# =4.03, the distance from the last optical surface of the catadioptric panoramic imaging optical system to the image plane is 40.998mm ± 0.005mm, and the axial length of the optical system is 377.290mm ± 0.005mm from the first reflective surface of the catadioptric imaging optical system to the image plane.
In this embodiment, on the basis of the wave aberration theory of the plane-symmetric optical system, the modulation transfer function MTF of the catadioptric panoramic imaging optical system is obtained by calculating the wave aberration expression of the catadioptric optical system, and then the MTF of the optical system is used as the optimization basis, and the MTF of the 10 °, 20 °, 30 °, 40 °, 50 °, 60 °, 70 °, 80 °, and 90 ° objective working field angle optical system is selected to perform weighted summation as the optimized evaluation function for optimization, so as to obtain the evaluation functions Q in the meridional direction and the sagittal direction m And Q s According to different contributions in the meridian direction and the sagittal direction, the meridian direction and the sagittal direction are subjected to weighted summation at the same time to obtain a final evaluation function Q in the optimization process, and then the folding and reflecting panoramic imaging optical system is subjected to optimization design by adopting an adaptive normalized real number coding genetic algorithm to obtain the panoramic imaging optical system comprising an aspheric surface refraction and reflection.
The front light group reflector of the catadioptric panoramic imaging optical system of the embodiment adopts a secondary rotating conical surface which is an oblate ellipsoid surface, so that the catadioptric panoramic imaging optical system has a wider working angle of view than that of a common catadioptric panoramic imaging optical system, the working angle of view ranges from 10 degrees to 90 degrees, and the imaging of objects with ultra-large field of view can be completed; the optical system of the embodiment has the advantages of large aperture, wide rear working distance, long axial length and strong adjustability; within the working field range, the optical system has the advantages of good image surface uniformity, high imaging quality, simple structure, low cost, convenient processing and higher practical value.
Example three:
as shown in fig. 1, the refractive-reflective panoramic imaging optical system comprises a reflector and a refractor set, and is formed by combining 1 secondary rotating conical curved surface reflector and 4 lenses, wherein a front light set a, an aperture stop and a rear light set B are sequentially arranged along an optical axis from an object side to an image side, the front light set comprises a secondary rotating conical curved surface reflector a-1, a biconvex lens a-2 and a biconcave lens a-3, a convex surface of the reflector a faces backwards, the rear light set mainly comprises a biconvex lens B-1 and a biconvex lens B-2 which are composed of a biconcave lens and a biconvex lens, and the surface types of two optical surfaces of each lens of the biconvex lens a-2, the biconcave lens a-3, the biconcave lens B-1 and the biconvex lens B-2 are spherical.
In this embodiment, the surface type coefficient a of the front light group reflector A 2 Is-4.82, i.e. the surface type of the reflector is an oblate ellipsoid, the surface type coefficients a of the rest lenses of the front group and the lenses of the rear group optical system 2 Are all-1.
In this embodiment, the minimum operating angle of view is defined to be 10 ° in consideration of the fact that the optical system cannot form an image due to the blocking of the objective lens of the rear light group of the catadioptric panoramic imaging optical system when the angle of view is near 0 °. The meridional working field angle of the catadioptric panoramic imaging optical system is 10 degrees to 90 degrees, the total focal length is 9.23mm +/-0.005mm, F/# =4.03, the rear working distance is 40.998mm +/-0.005 mm, and the axial length of the system is 377.290mm +/-0.005 mm.
In this embodiment, an aperture stop STO is disposed between the front group optical system and the rear group optical system, that is, the aperture stop STO is disposed between the biconcave lens a-3 and the biconcave lens B-1 formed by the biconcave lens and the biconvex lens, and the diameter of the aperture stop STO is 5mm.
In this embodiment, the materials of the conic reflector a-1, the biconvex lens a-2 and the biconcave lens a-3 are MIRROR (n = 1) and UBK7 (n =)1.51680，v 2 ＝64.172)、UBK7(n＝1.51680，v 2 = 64.172), and the material of a double cemented lens B-1 composed of a biconcave lens and a biconvex lens is BSC3 (n =1.49830,v, respectively 2 = 60.564) and UBK7 (n =1.51680 2 = 64.172), the material of the lenticular lens B-2 is UBK7 (n =1.51680 2 = 64.172), wherein n is the refractive index.
Fig. 1 is a schematic structural view of an aspheric catadioptric panoramic imaging optical system included in this embodiment, and from an object plane to an image plane, a principal ray is reflected by a conic surface a-1 of a secondary rotation, and then refracted by a biconvex lens a-2, a biconcave lens a-3, a biconcave lens B-1 and a biconvex lens B-2 formed by the biconvex lens and then finally imaged on an image surface 12.
Fig. 2 is a schematic diagram of an optical surface of an aspheric catadioptric panoramic imaging optical system in this embodiment, where 1 is a reflection surface of a conic mirror a-1, 2 and 3 are incident surfaces and exit surfaces of a biconvex lens a-2, 4 and 5 are incident surfaces and exit surfaces of a biconcave lens a-3, 6 is an aperture stop STO,7 is an incident surface of a biconcave lens in a biconcave lens B-1, 8 is a cemented surface of a biconvex lens B-1, 9 is an exit surface of a biconvex lens in a biconvex lens B-1, 10 and 11 are incident surfaces and exit surfaces of a biconvex lens B-2, and 12 is an image surface of the optical system.
FIG. 3 is a schematic diagram of optical parameter labeling of the panoramic imaging optical system with aspheric surface and refractive and reflective surfaces in this embodiment, wherein the point O is 1 Is the intersection point of the vertex of the conic reflector and the optical axis 1 Is a vertex O 1 Radius of curvature, d 1 Is the air space between the conic reflector A-1 and the biconvex lens A-2 2 、r 3 Radius of curvature of the incident surface 2 and the exit surface 3 of the lenticular lens A-2, d 2 Lens thickness of the biconvex lens A-2, d 3 Is the air space between the biconvex lens A-2 and the biconcave lens A-3, r 4 、r 5 The radius of curvature of the incident surface 4 and the exit surface 5 of the biconcave lens A-3, d 4 Lens thickness of biconcave lens A-3, point O 2 Is the intersection between the center of the aperture stop STO and the optical axis, d 5 Is twoAir distance of concave lens A-3 to aperture stop STO, d 6 Is the air distance, r, from the aperture stop STO to the cemented doublet B-1 7 Is the radius of curvature r of the biconcave lens incidence surface 7 of the biconcave lens B-1 8 Radius of curvature, r, of cemented surface 8 in cemented doublet B-1 9 Is the radius of curvature, d, of the exit surface 9 of the biconvex lens in the biconvex cemented lens B-1 7 Is the thickness of the biconcave lens in the biconcave lens B-1, d 8 Is the thickness of the biconvex lens in the biconvex cemented lens B-1, d 9 An air space, r, of the biconvex lens B-2 and the biconvex lens B-1 10 、r 11 Radius of curvature of the incident surface 10 and the exit surface 11 of the lenticular lens B-2, d 10 Thickness of the lenticular lens B-2, d 11 Is the air space between the lenticular lens B-2 and the image plane 12.
Fig. 4 is an MTF graph of the present embodiment including an aspheric catadioptric panoramic imaging optical system, in which the horizontal axis represents the working field angle in °; the vertical axis represents the MTF value, ranging from 0 to 1; and evaluating the imaging quality of the optical system according to the MTF value of the optical system. Wherein, the higher and gentler the curve value is, the better the imaging quality of the optical system is represented. In fig. 4, the field angle is in the range of 0 ° to 10 °, and the dashed line represents the theoretical MTF curve of the optical system, and the actual optical system cannot image in this field angle range, so that only the theoretical MTF value of the optical system can be calculated. Solid lines with solid figures (circles and triangles) and solid lines with open figures (circles and triangles) are respectively represented as principal rays with spatial frequencies of 30lp/mm and 10 lp/mm; the solid line with circles (including solid and hollow graphs) and the solid line with triangles (including solid and hollow graphs) in the figure are respectively expressed as the meridional direction and the arc loss direction, and the MTF curve of the catadioptric panoramic imaging optics is kept stable in the range of the working angle of view of 10 degrees to 90 degrees, which shows that the imaging quality of the optical system is very good in the working range of the angle of view.
Fig. 6 is a ray tracing point diagram of the aspheric catadioptric panoramic imaging optical system in the present embodiment, which shows ray tracing point diagrams at operating field angles of 10 °, 50 ° and 90 °, respectively. Fig. 6 (a) is a point diagram of the optical system when the light C is the operating light (red light, with a wavelength of 656.27 nm), fig. 6 (b) is a point diagram of the optical system when the light D is the operating light (yellow light, with a wavelength of 587.56 nm), and fig. 6 (C) is a point diagram of the optical system when the light F is the operating light (blue light, with a wavelength of 486.13 nm), and it can be seen from fig. 6 that the spot radius of the optical system is very small under different angles of view and operating light, which indicates that the corresponding geometric aberrations of the optical system are very small in the range of the operating angle of view.
FIG. 5 is a field curvature graph of the present embodiment including an aspheric catadioptric panoramic imaging optical system,
the field curvature is one of the important indexes for measuring the quality of the lens of the optical system. The horizontal axis of the curvature of field curve is represented by the curvature of field in mm, the vertical axis is represented by the field angle in mm, and the curvature of field at the corresponding field angle of operating light is shown in fig. 5. As can be seen from FIG. 5, the designed panoramic imaging optical system including an aspheric surface and catadioptric system has small curvature of field in the working field angle range, and meets the imaging requirements of the optical system. The working field angle of the aspheric surface refraction and reflection panoramic imaging optical system is wide, and imaging of objects with ultra-large field of view can be completed.
The optical parameters of the aspheric catadioptric panoramic imaging optical system included in the present embodiment are shown in table 1.
Table 1 example contains optical parameters of an aspheric catadioptric panoramic imaging optical system
In summary, the present invention discloses a panoramic imaging optical system including an aspheric catadioptric system. The system is sequentially provided with a front light group, an aperture diaphragm and a rear light group from an object space to an image space along an optical axis, wherein the front light group consists of a secondary rotating conical curved surface reflector, a biconvex lens and a biconcave lens, and the convex surface of the reflector faces backwards; the rear light group mainly comprises a double-cemented lens and a double-convex lens which are composed of a double-concave lens and a double-convex lens; the surface shapes of two optical surfaces of each lens of the biconvex lens, the biconcave lens and the biconvex lens are spherical surfaces, and the aperture diaphragm is a thin metal disc with a hole at the center, so as to limit the size of the clear aperture. The aspheric surface catadioptric panoramic imaging optical system has a wide working field angle and can finish imaging of objects with ultra-large field of view; the optical system has large aperture, wide rear working distance, long axial length, strong adjustability and more practical value; in the range of the working field of view, the image surface uniformity of the optical system is good, and the imaging quality is high; meanwhile, the optical system is simple in structure, low in cost and convenient to process.
The embodiments of the present invention have been described with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made according to the principle of the optimal design concept of the present invention, and all changes, modifications, substitutions, combinations or simplifications made according to the spirit and principle of the technical solution of the present invention shall be equivalent substitutions, as long as the purpose of the present invention is met, and as long as the technical principle and the inventive concept of the catadioptric panoramic imaging optical system with aspheric structure of the present invention are not departed from the present invention, the protection scope of the present invention is covered.
Claims (6)
1. A panoramic imaging optical system comprising an aspheric catadioptric lens, which is sequentially provided with a front light group (A), an aperture Stop (STO) and a rear light group (B) from an object side to an image side along an optical axis, characterized in that: the front light group (A) is composed of a secondary rotating conical curved surface reflector (A-1), a biconvex lens (A-2) and a biconcave lens (A-3), and the convex surface of the reflector (A-1) faces backwards; the rear light group (B) comprises a double-cemented lens (B-1) and a double-convex lens (B-2) which are composed of a double-concave lens and a double-convex lens; the surface types of two optical surfaces of each lens in the biconvex lens (A-2) in the front light group (A), the biconcave lens (A-3) in the front light group (A), the biconcave lens (B-1) consisting of the biconcave lens and the biconvex lens in the rear light group (B) are spherical surfaces; the aperture diaphragm (STO) is a thin metal wafer with a hole at the center and limits the size of the clear aperture; the air space between the front light group (A) and the rear light group (B) is 50.849mm +/-0.005 mm, the air space between the front light group (A) and the aperture diaphragm (STO) is 47.159mm +/-0.005 mm, and the air space between the aperture diaphragm (STO) and the rear light group is 3.690mm +/-0.005 mm.
2. The panoramic imaging optical system of claim 1, including an aspheric catadioptric system, wherein: the air space between the double convex lens (A-2) in the secondary rotating conical curved surface reflector (A-1) and the front light group (A) is 182.343mm +/-0.005 mm, the air space between the double convex lens (A-2) in the front light group (A) and the double concave lens (A-3) in the front light group (A) is 14.882mm +/-0.005 mm, and the air space between the double cemented lens (B-1) and the single double convex lens (B-2) in the rear light group (B) is 20.347mm +/-0.005 mm.
3. The panoramic imaging optical system according to claim 2, including an aspheric catadioptric lens, wherein: the optical surface of the secondary rotating conical curved surface reflector (A-1) adopts a secondary rotating conical curved surface, so that the aspheric surface type coefficient of the optical surface of the reflector can satisfy the following equation:
x′ 2 +y′ 2 ＝a 1 z′+a 2 z′ 2 (1)
in the formula: a is 1 ＝2R 0 ，R 0 Representing the curvature radius at the vertex of the conic section of the second revolution; a is a 2 Is the surface form coefficient when 2 ＜-1、a 2 ＝-1、-1＜a 2 ＜0、a 2 =0 and a 2 When the surface type of the optical surface of the reflector is more than 0, the surface type of the optical surface of the reflector is a flat elliptic surface, a spherical surface, a long elliptic surface, a paraboloid and a hyperboloid respectively.
4. The panoramic imaging optical system according to claim 3, comprising an aspheric catadioptric system, wherein: the material of the secondary rotating conical curved surface reflector (A-1) is MIRROR, the material of the biconvex lens (A-2) in the front light group (A) is UBK7, the material of the biconcave lens (A-3) in the front light group (A) is UBK7, the material of the biconcave lens (B-1) formed by the biconcave lens and the biconvex lens is UBK7 and BSC3, and the material of the independent biconvex lens (B-2) in the rear light group (B) is UBK7.
5. The panoramic imaging optical system of claim 4, including an aspheric catadioptric lens system, wherein: considering that the optical system cannot image due to the shielding of the objective lens of the rear light group of the catadioptric panoramic imaging optical system when the field angle is close to 0 degrees, the minimum working field angle is 10 degrees, the working field angle range of the catadioptric panoramic imaging optical system in the meridian direction is 10 degrees to 90 degrees, the total focal length is 9.23mm +/-0.005mm, F/# =4.03, the distance from the last optical surface of the catadioptric panoramic imaging optical system to the image surface is 40.998mm +/-0.005 mm, and the axial length of the optical system is 377.290mm +/-0.005 mm from the first reflecting surface of the catadioptric optical system to the image surface.
6. The panoramic imaging optical system according to claim 5, comprising an aspheric catadioptric system, wherein: based on the wave aberration theory of a plane symmetric optical system, the modulation transfer function MTF of the catadioptric panoramic imaging optical system is obtained by calculating the wave aberration expression of the catadioptric optical system, then the MTF of the optical system is taken as the optimization basis, the MTF of the optical system working field angle optical system with nine object sides of 10 degrees, 20 degrees, 30 degrees, 40 degrees, 50 degrees, 60 degrees, 70 degrees, 80 degrees and 90 degrees is selected to be weighted and summed to be used as the optimized evaluation function to be optimized, and the evaluation function Q of the meridian direction and the sagittal direction is obtained m And Q s According to different contributions in the meridian direction and the sagittal direction, the meridian direction and the sagittal direction are subjected to weighted summation at the same time to obtain a final evaluation function Q in the optimization process, and then the folding and reflecting panoramic imaging optical system is subjected to optimization design by adopting an adaptive normalized real number coding genetic algorithm to obtain the panoramic imaging optical system comprising an aspheric surface refraction and reflection.
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