CN114189614A - Multi-image-distance super-depth-of-field imaging system with adjustable focus and multiple image sensors - Google Patents
Multi-image-distance super-depth-of-field imaging system with adjustable focus and multiple image sensors Download PDFInfo
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
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- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/45—Cameras or camera modules comprising electronic image sensors; Control thereof for generating image signals from two or more image sensors being of different type or operating in different modes, e.g. with a CMOS sensor for moving images in combination with a charge-coupled device [CCD] for still images
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- 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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- G—PHYSICS
- G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
- G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
- G03B37/00—Panoramic or wide-screen photography; Photographing extended surfaces, e.g. for surveying; Photographing internal surfaces, e.g. of pipe
- G03B37/04—Panoramic or wide-screen photography; Photographing extended surfaces, e.g. for surveying; Photographing internal surfaces, e.g. of pipe with cameras or projectors providing touching or overlapping fields of view
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- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/50—Constructional details
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- H—ELECTRICITY
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- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/50—Constructional details
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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
- H04N23/54—Mounting of pick-up tubes, electronic image sensors, deviation or focusing coils
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- H—ELECTRICITY
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- 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
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- H—ELECTRICITY
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- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/67—Focus control based on electronic image sensor signals
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- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/95—Computational photography systems, e.g. light-field imaging systems
- H04N23/958—Computational photography systems, e.g. light-field imaging systems for extended depth of field imaging
- H04N23/959—Computational photography systems, e.g. light-field imaging systems for extended depth of field imaging by adjusting depth of field during image capture, e.g. maximising or setting range based on scene characteristics
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Abstract
The invention discloses a multi-image-distance super-depth-of-field imaging system with a plurality of adjustable-focus image sensors. Comprises an optical unit, an imaging and electromechanical control unit and a system shell; the optical unit adopts a single lens and a multi-path spectroscope, evenly divides light rays entering from the lens into multiple paths, and irradiates the multiple image sensors respectively. The imaging and electromechanical control unit comprises an image sensor module and an embedded vision controller. The automatic image distance adjusting and focusing module can control the image sensor module to move back and forth, and the effect of changing the focusing position of the image is achieved by changing the image distance. The multi-image-distance image fusion module can fuse a plurality of images with different image distances to form a super-depth-of-field image. The combination of the units finally achieves the purpose of simultaneously imaging a plurality of image distances by exposure at one time and then obtaining the super-depth-of-field image through image fusion. The method has the advantages of rapid imaging, high precision, wide visual field range, large imaging depth of field and the like, and is suitable for being applied to imaging and detection scenes with the requirement of exceeding the depth of field.
Description
Technical Field
The invention relates to an imaging system in the field of optical-electro-mechanical imaging, in particular to a multi-image-distance super-depth-of-field imaging system with a focus-adjustable multi-image sensor.
Background
The existing imaging systems such as digital cameras and industrial cameras are limited by the optical structure and imaging principle of the lens, and the collected photos are limited by the depth of field. By depth of field, it is meant that when the imaging system is focused on a plane at a certain distance, only objects within a certain depth in front of and behind the plane can be imaged sharp, while the remaining objects closer or further away are blurred. In the field of daily photography and machine vision application, the increase of the imaging depth of field of the imaging system is significant.
Existing methods of expanding depth of field include the use of double telecentric lenses, wavefront coding techniques, coded aperture techniques, and multi-focus image fusion techniques. The double telecentric lens has a small field range and a fixed focusing distance, and is only applied to small-range machine vision detection. The wavefront coding technology and the coding aperture technology directly modulate light in a lens, and then recover through an algorithm to expand the depth of field.
The multi-focus image fusion technology fuses a plurality of different focus images into a super-depth-of-field image, and requires that different focus parameters are continuously adjusted to perform multiple exposures on a shot object at the same position. Therefore, the characteristics of inconsistent clear positions in different images can be utilized to fuse all the clear positions to form a new super-depth-of-field image. However, the existing imaging system needs to focus for multiple times and expose for multiple times, the use scene is still limited, and especially in the machine vision detection scene requiring real-time detection, the imaging speed still cannot meet the requirement.
Disclosure of Invention
In order to solve the problems in the background art, the invention provides a multi-image-distance super-depth-of-field imaging system with a focus-adjustable multi-image sensor, which can directly output a super-depth-of-field image through one-time exposure and can be directly used in an application scene requiring real-time acquisition of a large-field super-depth-of-field image.
The technical scheme adopted by the invention is as follows:
the invention comprises an imaging system shell, an optical unit and an imaging and electromechanical control unit, wherein the optical unit is arranged on the imaging system shell, and the imaging and electromechanical control unit is arranged on the optical unit;
the optical unit comprises a lens, a support column, a spectroscope bracket and a spectroscope module; the imaging system shell is provided with a through hole, the lens is arranged at the through hole on the outer side of the imaging system shell, the spectroscope bracket is arranged at the through hole on the inner side of the imaging system shell through a support column, and the spectroscope module is fixedly arranged on the spectroscope bracket; the center of the through hole, the optical axis of the lens and the optical axis of the spectroscope module are superposed;
the beam splitter module is provided with three emergent light ports, light rays incident into the beam splitter module are reflected by the beam splitter module and then emitted out of the three emergent light ports, and each emergent light port is provided with an imaging and electromechanical control unit;
the imaging and electromechanical control unit comprises an automatic image distance adjusting image sensor module and an embedded vision controller; the three automatic image distance adjusting image sensor modules are respectively arranged at three emergent ray ports of the spectroscope module and are connected with the embedded vision controller through respective data cables; the shell of the imaging system is provided with a data interface, the signal output end of the embedded visual controller is connected with one end of the data interface, and the other end of the data interface is connected with external equipment.
The lens passes through a universal lens bayonet orAThe connection mode of the screw port is arranged in a through hole of the imaging system shell.
The automatic image distance adjusting image sensor module comprises an image sensor bracket, an image sensor module, a motor bracket and a linear displacement driving mechanism; one end of the image sensor support is connected to the end face of the spectroscope module, the other end of the image sensor support is fixedly connected with one end of the motor support through a plurality of parallel guide rods, the image sensor module is arranged between the image sensor support and the motor support, the guide rods movably penetrate through holes formed in the image sensor module, a linear displacement driving mechanism is installed at the other end of the motor support, and the linear displacement driving mechanism is connected with the image sensor module and drives the image sensor module to move along the guide rods.
The linear displacement driving mechanism comprises a screw rod bracket, a nut, a large gear, a small gear, a bearing, a motor and a motor bracket; the motor is arranged on the outer side face of the motor support, a pinion is coaxially connected with an output shaft of the motor, the pinion is meshed with a gearwheel, the pinion is hinged to the outer side face of the motor support, the left end of the gearwheel is fixed on a bearing, the bearing is embedded in the motor support, the gearwheel is provided with a central through hole, and a nut is coaxially fixedly sleeved in the central through hole of the gearwheel; one end of the screw rod movably penetrates through the motor support and then is connected with the nut through thread sleeving, the other end of the screw rod is fixed on the screw rod support, and the screw rod support is fixed on the image sensor module.
The three automatic image distance adjusting image sensor modules are respectively an image sensor I, an image sensor II and an image sensor III.
The spectroscope module comprises a multi-path spectroscope which is mainly formed by sequentially and tightly laminating three prisms, and the laminating surfaces between the prisms are plated with spectroscopic films for partial reflection.
In the multi-path spectroscope, light enters from a first prism and enters a first splitting surface between the first prism and a second prism, a part of light is reflected on the first splitting surface and then is emitted after being totally reflected by the inner surface of the first prism to form a third light L3 and then enters an image sensor III, the rest part of light is transmitted on the first splitting surface and then enters a second splitting surface between the second prism and a third prism, a part of light is reflected on the second splitting surface and then is emitted from the second prism to form a second light L2 and then enters an image sensor II, the rest part of light is transmitted on the second splitting surface and then is emitted from the third prism to form a first light L1 and then enters the image sensor I.
The splitting ratio of the first splitting surface is 2: 1, and the splitting ratio of the second splitting surface is 1: 1.
The embedded visual controller comprises an image distance automatic adjustment focusing module and a multi-image distance image fusion module; the image distance automatic adjustment focusing module is respectively and electrically connected with motors in the three automatic image distance adjustment image sensor modules, and the multi-image distance image fusion module is respectively and electrically connected with the image sensor modules in the three automatic image distance adjustment image sensor modules.
The image distance automatic adjustment focusing module is used for controlling a motor in each automatic image distance adjustment image sensor module to work so as to drive the image sensor module to move axially along an optical axis, and the image focusing position is changed by adjusting the image distance, so that the optical distances from the image sensor module in each automatic image distance adjustment image sensor module to the lens are different; the multi-image-distance image fusion module is used for receiving images with different image distances acquired by the image sensor modules of the automatic image-distance adjusting image sensor modules and fusing a plurality of images with different image distances to generate a super-depth-of-field image.
The invention has the beneficial effects that:
1) the invention adopts a multi-path spectroscope to be matched with a plurality of image sensors for simultaneous imaging, provides a multi-image-distance image automatic focusing structure, and achieves the purpose of adjusting the image distance by controlling the distance between the image sensor and the spectroscope through a motor, thereby realizing simultaneous imaging of a plurality of image distances by one-time exposure, and finally obtaining a super-depth-of-field image in real time by using multi-focus image fusion algorithm processing.
2) The invention provides a focus-adjustable real-time large-field-of-view super-depth-of-field imaging system. Compared with the existing large-depth-of-field imaging scheme, the system has the advantages of high imaging speed, high precision, large visual field range and the like, and is suitable for being applied to a large-size object super-depth-of-field visual detection scene.
Drawings
FIG. 1 is a schematic structural diagram of a multi-image-distance super depth-of-field imaging system with a plurality of focusable image sensors according to the present invention;
FIG. 2 is a schematic diagram of an optical unit of the multi-image-distance super depth-of-field imaging system of the present invention;
fig. 3 and 4 are schematic structural views of an automatic image distance adjusting image sensor module according to the present invention.
The system comprises an imaging system shell, a 2-lens, a 3-support column, a 4-spectroscope support, a 5-spectroscope module, a 6-automatic image distance adjusting image sensor module, a 7-embedded vision controller, an 8-data interface, a 60-image sensor module, a 61-image sensor fixing support, a 62-screw rod support, a 63-motor support, a 64-motor pinion, a 65-motor, a 66-nut, a 67-nut bull gear, a 68-bearing, a 501-multi-path spectroscope, 601-image sensors I, 602-image sensors II and 603-image sensors III.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples.
As shown in fig. 1, the present imaging system includes an imaging system housing 1, an optical unit mounted on the imaging system housing 1, and an imaging and electromechanical control unit mounted on the optical unit;
the optical unit comprises a lens 2, a support column 3, a spectroscope bracket 4 and a spectroscope module 5; the imaging system shell 1 is provided with a through hole, the lens 2 is arranged at the through hole on the outer side of the imaging system shell 1, and the lens 2 is arranged in the through hole of the imaging system shell 1 in a connection mode of a universal lens bayonet or a threaded port.
The spectroscope bracket 4 is arranged at a through hole at the inner side of the imaging system shell 1 through the support column 3, and the support column 3 plays a role in fixing and simultaneously ensures that the space between the lens 2 and the spectroscope module 5 is sufficient; the spectroscope module 5 is fixedly arranged on the spectroscope bracket 4; the center of the through hole, the optical axis of the lens 2 and the optical axis of the spectroscope module 5 are overlapped, so that external light enters from the lens 2, passes through the through hole and then enters the spectroscope module 5;
the beam splitter module 5 is provided with three emergent light ports, light rays entering the beam splitter module 5 are reflected by the beam splitter module 5 and then emitted from the three emergent light ports, and each emergent light port is provided with an imaging and electromechanical control unit; therefore, in the implementation, the external light enters through the lens 2, and the light is divided into multiple paths in the beam splitter module 5 and finally emitted from different end surfaces of the beam splitter module 5.
As shown in fig. 1, the imaging and electromechanical control unit includes an automatic image distance adjusting image sensor module 6 and an embedded vision controller 7. The three automatic image distance adjusting image sensor modules 6 are respectively arranged at three emergent ray ports of the spectroscope module 5, and the three automatic image distance adjusting image sensor modules 6 are connected with the embedded vision controller 7 through respective data cables; the imaging system shell 1 is provided with a data interface 8, the signal output end of the embedded visual controller 7 is connected with one end of the data interface 8, and the other end of the data interface 8 is connected with external equipment. In specific implementation, the embedded vision controller 7 may acquire an image acquired by an image sensor in the image sensor module 6 through a data cable, and may control the image sensor in the image sensor module 6 to move back and forth through the data cable, so as to adjust an image distance; the embedded vision controller 7 can fuse the images of the automatic image distance adjusting image sensor module 6 to obtain a super depth-of-field image, and transmits the super depth-of-field image to external equipment through the data interface 8.
As shown in fig. 3, the automatic image distance adjusting image sensor module 6 includes an image sensor bracket 61, an image sensor module 60, a motor bracket 63 and a linear displacement driving mechanism; one end of the image sensor support 61 is connected to the end face of the spectroscope module 5, the other end of the image sensor support 61 is fixedly connected with one end of the motor support 63 through a plurality of parallel guide rods, the guide rods are distributed at the peripheral edge positions, the image sensor module 60 is arranged between the image sensor support 61 and the motor support 63, the guide rods movably penetrate through holes formed in the image sensor module 60, the other end of the motor support 63 is provided with a linear displacement driving mechanism, the linear displacement driving mechanism is connected with the image sensor module 60, and the image sensor module 60 is driven to move along the guide rods.
Specifically, the linear displacement driving mechanism comprises a screw rod bracket 62, a nut 66, a large gear 67, a small gear 64, a bearing 68, a motor 65 and a motor bracket 63; the outer side surface of the motor support 63 is provided with a motor 65, an output shaft of the motor 65 is coaxially connected with a pinion 64, the pinion 64 is meshed with a gearwheel 67, the pinion 64 is hinged to the outer side surface of the motor support 63, the left end of the gearwheel 67 is fixed on a bearing 68, the bearing 68 is embedded in the motor support 63, the gearwheel 67 is provided with a central through hole, a nut 66 is coaxially fixedly sleeved in the central through hole of the gearwheel 67, one end of a screw rod movably penetrates through the motor support 63 and then is connected with the nut 66 through thread sleeving, the other end of the screw rod is fixed on a screw rod support 62, and the screw rod support 62 is fixed on the image sensor module 60. Therefore, the small gear 64 and the large gear 67 can rotate freely along the outer surface of the motor bracket 63, so that the small gear 64 can drive the large gear 67 to rotate, and then the large gear 67 drives the nut 66 to rotate. The left end of the motor bracket 63 is fixed to 3 parallel guide rails of the image sensor bracket 61, thereby ensuring that the linear drive is parallel to the guide rails. In this embodiment, the linear displacement driving mechanism adopts a screw transmission manner. In the process of linear displacement driving, the motor 65 is controlled to rotate, and after the speed is reduced through the pinion 64 and the bull gear 67, the nut 66 rotates to drive the screw rod support 62 and the image sensor module 60 connected with the screw rod support to move back and forth, and finally the purpose of automatically adjusting the image distance is achieved.
As shown in fig. 2, the three automatic image distance adjusting image sensor modules 6 are 601-image sensor I, 602-image sensor II, 603-image sensor III; the beam splitter module 5 comprises a multi-path beam splitter 501; specifically, the multi-path spectroscope 501 mainly comprises three prisms which are sequentially and closely attached, and the attachment surfaces between the prisms are plated with light splitting films for partial reflection; the light splitting film can divide visible light of all colors into one part for transmission and the other part for reflection according to a light splitting ratio; the splitting ratio can be arbitrarily selected.
In the multi-path spectroscope 501, light enters from the first prism and enters the first light splitting surface between the first prism and the second prism, and a part of light is reflected on the first light splitting surface, then is totally reflected by the inner surface of the first prism and then is emitted out to form third light L3, and then is emitted into the image sensor III 603; the rest part of light is transmitted on the first light splitting surface and then enters the second light splitting surface between the second prism and the third prism, and part of light is reflected on the second light splitting surface and then exits from the second prism to form second light L2 to enter the image sensor II 602; the other part of the rest light is transmitted on the second light splitting surface and then is emitted from the third prism to form a first light L1, and then the first light L1 is incident on the image sensor I601;
the splitting ratio of the first splitting surface is 2: 1, and the splitting ratio of the second splitting surface is 1: 1. The light intensities of the three light beams are equal, and the optical paths traveled in the multi-path beam splitter 501 are also equal, i.e. the paths traveled by the light beams are equal.
As shown in fig. 2, the embedded visual controller 7 includes an image distance automatic focusing adjustment module and a multi-image distance image fusion module; the image distance automatic adjustment focusing module is respectively and electrically connected with the motors 65 in the three automatic image distance adjustment image sensor modules 6, and the multi-image distance image fusion module is respectively and electrically connected with the image sensor modules 60 in the three automatic image distance adjustment image sensor modules 6; the image distance automatic adjustment focusing module of the embedded vision controller 7 adjusts the image distances of the image sensors to be different from each other, so that a plurality of images with different focusing distances can be obtained at the same time, and then the multi-focus image fusion algorithm is utilized to perform image fusion to obtain the super-depth-of-field image. The super-depth-of-field image is synthesized by clear areas of a plurality of common images with different focal distances, and the depth of field of the super-depth-of-field image is several times that of the common images. When the image distance automatic adjustment focusing module of the embedded visual controller 7 synchronously increases or decreases the image distances of all the image sensors, the focusing position of the super-depth-of-field image can be adjusted, and automatic focusing is realized.
In the present embodiment, as shown in fig. 2, light enters from the left side of the figure, and passes through the lens 2 and the multi-path beam splitter 501 in sequence, in the multi-path beam splitter 501, the a1 surface and the a2 surface adjacent to the prism are plated with beam splitting films; the light splitting film can allow one part of light to transmit and the other part of light to reflect, so that 1 path of light is split into 2 paths of light. In the multi-path spectroscope 501, light enters from the left end face, when passing through the a1 surface, a large part of light is transmitted and advances along the original direction, the remaining small part of light is reflected to form L3, when the transmitted light passes through the a2 surface, half of the light is reflected to form L2, and the other half of the light is continuously transmitted to form L1; light rays L1 and L2 directly exit from the end face of the multi-path beam splitter 501 and respectively reach the image sensor I601 and the image sensor II 602; the light L3 is reflected and reaches the left end surface of the demultiplexer 501, where the light L3 is totally reflected and then exits from the lower end surface to the image sensor III 603.
The splitting films plated on the a1 surface and the a2 surface of the splitter 501 can split visible light of all colors; the light splitting ratio of the light splitting film on the A1 surface is 2: 1, and the light splitting ratio of the light splitting film on the A2 surface is 1: 1; therefore, the light intensities of the light rays L1, L2 and L3 are 1/3 of the light intensity entering the lens. In this embodiment, the light beams L1, L2, and L3 have the same advancing distance in the beam splitter 501, so that the image distance can be automatically adjusted more intuitively and conveniently controlled.
The image sensor I601, the image sensor II602 and the image sensor III603 can move back and forth relative to the end surface of the spectroscope, and the distances between the image sensor I601, the image sensor II602 and the image sensor III relative to the end surface of the spectroscope are x1, x2 and x3 respectively; all image sensors are connected to the embedded vision controller 7 by a data cable.
The image distance automatic adjustment focusing module of the embedded vision controller 7 adjusts x1, x2 and x3 to be different from each other, so that a plurality of images with different image distances can be obtained at the same time; the focal distances of a plurality of images with different image distances are inconsistent, namely clear parts in the images are inconsistent; and then the multi-image-distance image fusion module extracts the clearest part of the images with different image distances to reserve, the unclear part is replaced by the clear part of other images, and finally the clear part of the images is expanded after fusion, namely the depth of field of the image is improved.
The image distance automatic focusing module of the embedded visual controller 7 keeps the distance difference of x1, x2 and x3, and synchronously increases or decreases x1, x2 and x3, so that the focusing position of the super-depth-of-field image can be adjusted, and the super-depth-of-field image automatic focusing is realized.
Claims (10)
1. A multi-image-distance super depth-of-field imaging system with adjustable focus and multiple image sensors is characterized in that:
the imaging system comprises an imaging system shell (1), an optical unit and an imaging and electromechanical control unit, wherein the optical unit is arranged on the imaging system shell (1), and the imaging and electromechanical control unit is arranged on the optical unit;
the optical unit comprises a lens (2), a support column (3), a spectroscope bracket (4) and a spectroscope module (5); the imaging system comprises an imaging system shell (1), a lens (2), a spectroscope bracket (4), a spectroscope module (5), a supporting column (3), a lens holder (2) and a spectroscope module, wherein the imaging system shell (1) is provided with a through hole, the lens holder (2) is arranged at the through hole on the outer side of the imaging system shell (1), and the spectroscope module (5) is fixedly arranged on the spectroscope bracket (4); the center of the through hole, the optical axis of the lens (2) and the optical axis of the spectroscope module (5) are superposed;
the beam splitter module (5) is provided with three emergent light ports, light rays entering the beam splitter module (5) are reflected by the beam splitter module (5) and then emitted from the three emergent light ports, and each emergent light port is provided with an imaging and electromechanical control unit;
the imaging and electromechanical control unit comprises an automatic image distance adjusting image sensor module (6) and an embedded vision controller (7); the three automatic image distance adjusting image sensor modules (6) are respectively arranged at three emergent ray ports of the spectroscope module (5), and the three automatic image distance adjusting image sensor modules (6) are connected with the embedded vision controller (7) through respective data cables; the imaging system shell (1) is provided with a data interface (8), the signal output end of the embedded visual controller (7) is connected with one end of the data interface (8), and the other end of the data interface (8) is connected with external equipment.
2. The multi-image-distance ultra-depth-of-field imaging system with the adjustable focus multi-image sensor according to claim 1, wherein: the lens (2) passes through a universal lens bayonet orAThe connection mode of the screw port is arranged in a through hole of the imaging system shell (1).
3. The multi-image-distance ultra-depth-of-field imaging system with the adjustable focus multi-image sensor according to claim 1, wherein: the automatic image distance adjusting image sensor module (6) comprises an image sensor support (61), an image sensor module (60), a motor support (63) and a linear displacement driving mechanism; one end of the image sensor support (61) is connected to the end face of the spectroscope module (5), the other end of the image sensor support (61) is fixedly connected with one end of the motor support (63) through a plurality of parallel guide rods, the image sensor module (60) is arranged between the image sensor support (61) and the motor support (63), the guide rods movably penetrate through holes formed in the image sensor module (60), the other end of the motor support (63) is provided with a linear displacement driving mechanism, the linear displacement driving mechanism is connected with the image sensor module (60), and the image sensor module (60) is driven to move along the guide rods.
4. The multi-image-distance ultra-depth-of-field imaging system with the adjustable focus multi-image sensor according to claim 3, wherein: the linear displacement driving mechanism comprises a screw rod bracket (62), a nut (66), a large gear (67), a small gear (64), a bearing (68), a motor (65) and a motor bracket (63); a motor (65) is arranged on the outer side surface of the motor support (63), an output shaft of the motor (65) is coaxially connected with a pinion (64), the pinion (64) is meshed with a gearwheel (67), the pinion (64) is hinged to the outer side surface of the motor support (63), the left end of the gearwheel (67) is fixed on a bearing (68), the bearing (68) is embedded in the motor support (63), a central through hole is formed in the gearwheel (67), and a nut (66) is coaxially fixedly sleeved in the central through hole of the gearwheel (67); one end of the screw rod movably penetrates through the motor support (63) and then is connected with the nut (66) in a sleeved mode through threads, the other end of the screw rod is fixed on the screw rod support (62), and the screw rod support (62) is fixed on the image sensor module (60).
5. The multi-image-distance ultra-depth-of-field imaging system with the adjustable focus multi-image sensor according to claim 1, wherein: the three automatic image distance adjusting image sensor modules (6) are 601-image sensor I, 602-image sensor II, 603-image sensor III respectively.
6. The multi-image-distance ultra-depth-of-field imaging system with the adjustable focus multi-image sensor according to claim 5, wherein: the spectroscope module (5) comprises a multi-path spectroscope (501), the multi-path spectroscope (501) is mainly formed by sequentially and tightly laminating three prisms, and the laminating surfaces between the prisms are plated with light splitting films for partial reflection.
7. The multi-image-distance ultra-depth-of-field imaging system with the adjustable focus multi-image sensor according to claim 6, wherein: in the multi-path spectroscope (501), light enters from a first prism and enters a first splitting surface between the first prism and a second prism, a part of light is reflected on the first splitting surface and then is totally reflected on the inner surface of the first prism to be emitted to form a third light L3 and then enters an image sensor III (603), the other part of light is transmitted on the first splitting surface and then enters a second splitting surface between the second prism and a third prism, a part of light is reflected on the second splitting surface and then is emitted from the second prism to form a second light L2 and then enters an image sensor II (602), and the other part of light is transmitted on the second splitting surface and then is emitted from the third prism to form a first light L1 and then enters an image sensor I (601).
8. The multi-image-distance ultra-depth-of-field imaging system with adjustable focus of claim 7, wherein: the splitting ratio of the first splitting surface is 2: 1, and the splitting ratio of the second splitting surface is 1: 1.
9. The multi-image-distance ultra-depth-of-field imaging system with the adjustable focus multi-image sensor according to claim 4, wherein: the embedded visual controller (7) comprises an image distance automatic adjustment focusing module and a multi-image distance image fusion module; the image distance automatic adjustment focusing module is respectively and electrically connected with the motors (65) in the three automatic image distance adjustment image sensor modules (6), and the multi-image distance image fusion module is respectively and electrically connected with the image sensor modules (60) in the three automatic image distance adjustment image sensor modules (6).
10. The multi-image-distance ultra-depth-of-field imaging system with the adjustable focus multi-image sensor according to claim 4, wherein: the image distance automatic adjustment focusing module is used for controlling a motor (65) in each automatic image distance adjustment image sensor module (6) to work so as to drive the image sensor module (60) to move along the axial direction of an optical axis, and the image focusing position is changed by adjusting the image distance, so that the optical paths from the image sensor module (60) in each automatic image distance adjustment image sensor module (6) to the lens (2) are different; the multi-image-distance image fusion module is used for receiving images with different image distances acquired by the image sensor modules (60) of the automatic image-distance adjusting image sensor modules (6) and fusing a plurality of images with different image distances to generate an ultra-depth-of-field image.
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