CN116320706A - Rotating shaft vision system based on monocular multi-lens - Google Patents
Rotating shaft vision system based on monocular multi-lens Download PDFInfo
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- CN116320706A CN116320706A CN202310078944.XA CN202310078944A CN116320706A CN 116320706 A CN116320706 A CN 116320706A CN 202310078944 A CN202310078944 A CN 202310078944A CN 116320706 A CN116320706 A CN 116320706A
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Abstract
The application relates to a rotating shaft vision system based on monocular multi-lens, and in particular relates to the technical field of vehicle-mounted vision. The system comprises the following modules connected in sequence: the lens switching device comprises a first lens, a lens switching device comprising a second lens and a third lens and a sensor, wherein the lens switching device realizes the switching of the lenses through a rotating shaft; the first lens is used for transmitting light into the lens switching device; the lens switching device is used for refracting the light to the sensor through a first light path corresponding to the second lens; the lens switching device is used for refracting the light to the sensor through a second light path corresponding to the third lens. Based on the technical scheme, the multiplexing of functions can be realized through the light paths corresponding to different lenses under the setting of the monocular lens.
Description
Technical Field
The invention relates to the technical field of vehicle-mounted vision, in particular to a rotating shaft vision system based on monocular multi-lens.
Background
The vehicle-mounted camera is known as an eye for intelligently driving the automobile, and is an application foundation for realizing a plurality of early warning and identification advanced driving auxiliary systems (Advanced Driver Assistance System, ADAS); the vehicle-mounted camera is input to the visual image processing system, so that the vehicle-mounted camera is essential for intelligent driving.
For a monocular type vehicle-mounted camera, the camera lens is single, the functions are relatively simple, and the monocular type vehicle-mounted camera can be generally applied to simple scene applications, such as lane shifting, looking around detection, blind area detection and the like.
Disclosure of Invention
The application provides a rotating shaft vision system based on monocular multi-lens, and the technical scheme is as follows.
In one aspect, a monocular multi-lens based spindle vision system is provided, the system comprising the following modules connected in sequence: the lens switching device comprises a first lens, a lens switching device comprising a second lens and a third lens and a sensor, wherein the lens switching device realizes the switching of the lenses through a rotating shaft;
the first lens is used for transmitting light into the lens switching device;
the lens switching device is used for refracting the light to the sensor through a first light path corresponding to the second lens;
the lens switching device is used for refracting the light to the sensor through a second light path corresponding to the third lens.
In one possible implementation, the lens switching device further includes: the first rotating shaft mirror surface and the second rotating shaft mirror surface are symmetrically arranged, and the first rotating shaft mirror surface and the second rotating shaft mirror surface support the adjustment of the rotating direction at the same time;
the first rotating shaft mirror surface is used for reflecting the light rays to the second lens based on a first rotating direction; the second lens is used for refracting the light rays to the second rotating shaft mirror surface; the second rotating shaft mirror surface is used for reflecting the light rays passing through the first light path corresponding to the second lens to the sensor based on the direction perpendicular to the first rotating direction;
the first rotating shaft mirror surface is used for reflecting the light rays to the third lens based on a second rotating direction; the third lens is used for refracting the light rays to the second rotating shaft mirror surface; the second rotating shaft mirror surface is used for reflecting the light rays passing through the second light path corresponding to the third lens to the sensor based on the direction perpendicular to the second rotating direction.
In one possible implementation, the first rotating shaft mirror and the second rotating shaft mirror correspond to the same rotation period, each rotation period including a first half period and a second half period;
in the first half period, the first rotating shaft mirror surface corresponds to the first rotating direction, and the second rotating shaft mirror surface corresponds to a direction perpendicular to the first rotating direction;
in the second half period, the first rotating shaft mirror surface corresponds to the second rotating direction, and the second rotating shaft mirror surface corresponds to a direction perpendicular to the second rotating direction.
In one possible implementation, the rotation period is equal to 2 times the photosensitive refresh period of the sensor;
the sensor is used for performing induction imaging on the light rays passing through the first light path corresponding to the second lens in the odd frame process to obtain an odd frame image;
and the sensor is used for performing induction imaging on the light rays passing through the second light path corresponding to the third lens in the even frame process to obtain an even frame image.
In one possible implementation, the system further includes: the system-level chip is connected with the sensor;
the system-in-chip is used for performing first processing on the odd frame image, which is adaptive to the lens type of the second lens, and transmitting the obtained first image to the display module to display the first image;
and the system-in-chip is used for carrying out second processing on the even frame image, which is adaptive to the lens type of the third lens, and transmitting the obtained second image to the display module so as to display the second image.
In one possible implementation manner, the lens types corresponding to the second lens and the third lens are the same; or, the lens types corresponding to the second lens and the third lens are different.
In one possible implementation, the lens type includes:
near focal lens, far focal lens, wide angle lens, narrow angle lens.
The technical scheme that this application provided can include following beneficial effect:
the rotating shaft vision system based on the monocular multi-lens comprises: the lens switching device can switch light paths corresponding to different lenses, so that multiplexing of functions is realized through the light paths corresponding to different lenses under the arrangement of the monocular lens.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic diagram showing a structure of a monocular multi-lens based spindle vision system according to an exemplary embodiment.
Fig. 2 is a schematic diagram showing the structure of a monocular multi-lens based spindle vision system, according to an exemplary embodiment.
Fig. 3 is a schematic diagram of a first optical path in the system shown according to an example embodiment.
Fig. 4 is a schematic diagram of a second optical path in the system shown according to an example embodiment.
Fig. 5 is a schematic diagram illustrating imaging with a lens according to an exemplary embodiment.
Fig. 6 is a schematic diagram showing a structure of a monocular multi-lens based spindle vision system, according to an exemplary embodiment.
Fig. 7 is a schematic diagram illustrating a flow of processing a parity image frame according to an exemplary embodiment.
Detailed Description
The following description of the embodiments of the present application will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the invention are shown. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.
From the aspect of the type of the vehicle-mounted camera, the vehicle-mounted camera mainly comprises monocular, binocular, far focus, near focus and the like; the system has various defects, such as various types, single functions, high cost and incapability of multiplexing compatibility.
The following are limitations of many of the current onboard camera applications described above:
(1) The monocular vision system has single lens and relatively simple functions, and can be applied to simple scene applications, such as lane shifting, looking around detection, blind area detection and the like.
(2) Binocular vision systems, although rich in functionality, are costly, which intangibly results in increased cost due to the additional number of sensor circuits;
(3) The far-focus and near-focus vehicle-mounted cameras have single functions, can only be used for specific scenes, and cannot be multiplexed and compatible.
Based on the above problems, in the embodiments of the present application, a monocular multi-lens-based spindle vision system is provided, and the system will be described below.
Fig. 1 is a schematic diagram illustrating a monocular multi-lens based spindle vision system in accordance with an exemplary embodiment.
As shown in fig. 1, the system comprises the following modules connected in sequence: the lens switching device 20 comprises a first lens 10, a lens switching device 20 comprising a second lens 210 and a third lens 220, and a sensor 30, wherein the lens switching device 20 realizes the switching of the lenses through a rotating shaft.
A first lens 10 for transmitting light into a lens switching device 20; a lens switching device 20 for refracting the light to the sensor 30 through a first optical path corresponding to the second lens 210; and a lens switching device for refracting the light to the sensor 30 through a second optical path corresponding to the third lens 220.
The first lens 10 is an optical lens of the system, and external light enters the system through the first lens 10.
The lens switching device 20 includes two lenses: the second lens 210 and the third lens 220 are one device, each lens corresponds to one light path, the second lens 210 corresponds to the first light path, the third lens 220 corresponds to the second light path, and the lens switching device 20 can realize switching of the lenses and switching of the light paths through the rotating shaft.
The sensor 30 is a module for photoimaging received light. In this system, there is only one sensor, sensor 30, and therefore, the present system is a monocular lens system.
Illustratively, the first optical path is one of the paths of light rays from the first lens 10, through the second lens 210, and then to the sensor 30; the second optical path is an optical path from the first lens 10, through the third lens 220, and to the sensor 30.
In one possible implementation, the lens types corresponding to the second lens 210 and the third lens 220 are the same; or, the second lens 210 and the third lens 220 may have different corresponding lens types.
In one possible implementation, the lens types include, but are not limited to: near focal lens, far focal lens, wide angle lens, narrow angle lens.
For example, the second lens 210 is a near-focus lens, and the third lens 220 is a far-focus lens, so that the first optical path and the second optical path are two optical paths with different imaging effects, and multiplexing of the near-focus function and the far-focus function is realized.
Illustratively, the second lens 210 and the third lens 220 are near-focus lenses, and the first optical path and the second optical path are optical paths with the same imaging effect.
It can be understood that, in the embodiment of the present application, only two lenses are included in the lens switching device 20, so that two optical paths are correspondingly and exemplarily described, and based on the technical solution provided in the embodiment of the present application, it is conceivable to increase the number of lenses, so as to correspondingly increase the optical paths, and perform a technical solution of multiplexing more functions.
In summary, the rotating shaft vision system based on the monocular multi-lens provided in this embodiment includes: the lens switching device can switch light paths corresponding to different lenses, so that multiplexing of functions is realized through the light paths corresponding to different lenses under the arrangement of the monocular lens.
In the exemplary embodiment, switching of lenses, optical paths, is accomplished by a rotating shaft in the lens switching device 20.
As shown in fig. 2, the lens switching device 20 further includes: the first and second spindle mirrors 230 and 240 are symmetrically disposed, and the first and second spindle mirrors 230 and 240 support adjustment of the rotation directions at the same time.
A first rotation axis mirror 230 for reflecting light to the second lens 210 based on the first rotation direction; a second lens 210 for refracting the light to a second rotating shaft mirror 240; the second rotating shaft mirror 240 is configured to reflect the light passing through the first optical path corresponding to the second lens 210 to the sensor 30 based on a direction perpendicular to the first rotating direction.
Illustratively, referring to FIG. 3 in combination, the routing of the first optical path is shown as being transmitted through the first lens 10, through the first pivot mirror 230, to the second lens 210, and then through the second pivot mirror 240 to the sensor 30.
A first rotation axis mirror 230 for reflecting light to the third lens 220 based on the second rotation direction; a third lens for refracting the light to the second rotating shaft mirror 240; the second rotating shaft mirror 240 is configured to reflect the light passing through the second optical path corresponding to the third lens 220 to the sensor 30 based on a direction perpendicular to the second rotating direction.
Illustratively, referring to FIG. 4 in combination, the trace of the second optical path is shown as being transmitted through the first lens 10, through the first pivot mirror 230, to the third lens 220, and then through the second pivot mirror 240 to the sensor 30.
The first rotating shaft mirror 230 and the second rotating shaft mirror 240 are in mirror position symmetry, rotate at the same frequency, and have perpendicular and orthogonal rotation directions.
In one possible implementation, the first and second spindle mirrors 230, 240 correspond to the same rotation period, each rotation period comprising a first half period and a second half period.
In the first half cycle, the first rotating shaft mirror 230 corresponds to a first rotating direction, and the second rotating shaft mirror 240 corresponds to a direction perpendicular to the first rotating direction; in the second half cycle, the first rotating shaft mirror 230 corresponds to the second rotating direction, and the second rotating shaft mirror 240 corresponds to a direction perpendicular to the second rotating direction.
It can be appreciated that in the above implementation, the rotation direction adjustment of the rotation shaft according to the rotation period is described in an illustrative manner, and the first rotation shaft mirror 230 and the second rotation shaft mirror 240 can be fixed in one direction under the condition of high load rate of the processor, so that the unidirectional optical path is changed, and the effect of reducing the energy consumption is achieved. That is, a single function can be realized through the control of the rotating shaft, and the system power consumption is saved.
In one possible implementation, the rotation period of the spindle mirror is equal to 2 times the photosensitive refresh period of the sensor 30, so that the sensor 30 can receive images of different light paths in a frame-by-frame manner.
The sensor 30 is configured to perform inductive imaging on the light passing through the first optical path corresponding to the second lens 210 during the odd frame, so as to obtain an odd frame image; the sensor 30 is configured to inductively image light passing through the second optical path corresponding to the third lens 220 during even frames, so as to obtain an even frame image.
That is, the present system is utilized to realize image framing in combination with reference to the following processes:
(1) There are countless rays entering the first lens 10 for one second, wherein the first lens 10 needs to secure an amount of light entering as much as possible.
(2) After the light beam goes through the first lens 10, the light beam enters the lens switching device 20, and the lens switching device 20 sets the rotation frequency of the linkage rotating shaft according to the photosensitive refresh rate of the sensor 30.
Such as: the rotation frequency of the rotating shaft of the sensor 30 with the frame rate of 120pfs needs to be set to 60pfs to ensure that the reflection is 2 times in one rotation period, and 2 x 60 pfs=120 pfs is required to meet the refresh rate of the sensor 30. At this time, in the case where the photosensitivity of the sensor 30 is 120pfs, the application effect of the two cameras of 60pfs at the same level can be equivalent.
In one possible implementation, the rotational frequency of the shaft is driven by a driver.
Illustratively, referring in conjunction to FIG. 2, a system on a chip 40 is also included in the system. The steering and rotational speed of the first and second spindle mirrors 230 and 240 are driven by a driver that controls the driving state in real time by the system on chip 40 according to the photosensitive refresh rate of the sensor 30 through I2C communication.
(3) The light enters the lens switching device 20, and in one rotation period, the first half-period light passes through the second lens 210, and the second half-period light passes through the third lens 220.
After the light enters different lenses, the light is refracted, so that the same light entering through the first lens 10 can show different imaging effects due to the refraction of different lenses.
As shown in fig. 5, for the same target, if the incoming lens is the second lens 210, it is refracted by the lens to the point a of the sensor; if the incoming lens is the third lens 220, it will be refracted to the B point of the sensor due to the difference in refractive index. Among them, A, B points can exhibit far-focus and near-focus effects or wide-angle and narrow-angle effects according to the type of lens, and the lens type application is not limited thereto.
(4) The light path passing through the second lens 210 is entirely imaged by the photosensitive surface of the sensor 30 at the time of the odd frame.
(5) The light path through the third lens 220 is entirely imaged by the photosurface of the sensor 30 at even frames.
Thus, different types of images can be acquired by odd and even frames.
In the illustrative embodiment, the odd and even frame images generated by the sensor 30 are time-division multiplexed.
Referring to fig. 2 in combination, the system further includes: the system-in-chip 40 and the display module 50 are sequentially connected, and the system-in-chip 40 is connected with the sensor 30.
A system-in-chip 40 for performing a first process adapted to the lens type of the second lens 210 on the odd frame image, and transmitting the resulting first image to the display module 50 to display the first image; the system-in-chip 40 is configured to perform a second process on the even frame image, where the second process is adapted to the lens type of the third lens 220, and transmit the obtained second image to the display module 50 to display the second image.
That is, after the odd-even image frame enters the chip, the optical signal is converted into an electrical signal, the lens type corresponding to the image frame determines the application characteristics of the data, and the system-in-chip 40 performs processing suitable for the lens type and outputs the processed data to the display module 50 for display.
Exemplary, referring in combination to fig. 6, the system architecture after sensor 30 is shown as including: a System On Chip (SOC), a serial Chip (SERDES), a Display module 50 (Display), and a storage module (SD CARD).
Illustratively, if the second lens 210 is a near-focus lens and the third lens 220 is a far-focus lens, referring to fig. 7, the parity image frames are processed as follows:
(1) The odd frame image (near-focus lens) is used only for normal display, and after simple Mosaic (mosaics) processing is performed by the system-in-chip 40, the normal image can be output to the display module 50.
(2) The even frame image (afocal lens) is used for stereoscopic remote object detection application, is processed stereoscopically by a random differential equation (Stochastic Differential Equation, SDE) module in the system-in-chip 40, and then is output to the display module 50 via a C66x kernel in the system-in-chip 40.
It will be appreciated that the above examples are described in terms of a system implementing far-near-focal-end time division multiplexing, the system may also implement in-focus Duan Fenshi multiplexing, and other types of scene applications.
In summary, in the rotating shaft vision system based on the monocular multi-lens provided in this embodiment, based on the characteristic that the lens switching device can switch the lens light paths, the visual information under different lens light paths is obtained in an image framing manner, so that the time-sharing multiplexing of the whole vision system can be achieved, and the computational power resource is saved.
Other embodiments of the present application will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the application following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the application pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the application being indicated by the following claims.
It is to be understood that the present application is not limited to the precise arrangements and instrumentalities shown in the drawings, which have been described above, and that various modifications and changes may be effected without departing from the scope thereof. The scope of the application is limited only by the appended claims.
Claims (7)
1. A monocular multi-lens based spindle vision system, comprising the following modules connected in sequence: the lens switching device comprises a first lens, a lens switching device comprising a second lens and a third lens and a sensor, wherein the lens switching device realizes the switching of the lenses through a rotating shaft;
the first lens is used for transmitting light into the lens switching device;
the lens switching device is used for refracting the light to the sensor through a first light path corresponding to the second lens;
the lens switching device is used for refracting the light to the sensor through a second light path corresponding to the third lens.
2. The system of claim 1, wherein the lens switching device further comprises: the first rotating shaft mirror surface and the second rotating shaft mirror surface are symmetrically arranged, and the first rotating shaft mirror surface and the second rotating shaft mirror surface support the adjustment of the rotating direction at the same time;
the first rotating shaft mirror surface is used for reflecting the light rays to the second lens based on a first rotating direction; the second lens is used for refracting the light rays to the second rotating shaft mirror surface; the second rotating shaft mirror surface is used for reflecting the light rays passing through the first light path corresponding to the second lens to the sensor based on the direction perpendicular to the first rotating direction;
the first rotating shaft mirror surface is used for reflecting the light rays to the third lens based on a second rotating direction; the third lens is used for refracting the light rays to the second rotating shaft mirror surface; the second rotating shaft mirror surface is used for reflecting the light rays passing through the second light path corresponding to the third lens to the sensor based on the direction perpendicular to the second rotating direction.
3. The system of claim 2, wherein the first and second spindle mirrors have identical rotation periods, each rotation period comprising a first half period and a second half period;
in the first half period, the first rotating shaft mirror surface corresponds to the first rotating direction, and the second rotating shaft mirror surface corresponds to a direction perpendicular to the first rotating direction;
in the second half period, the first rotating shaft mirror surface corresponds to the second rotating direction, and the second rotating shaft mirror surface corresponds to a direction perpendicular to the second rotating direction.
4. A system according to claim 3, wherein the rotation period is equal to 2 times the sensor's light sensing refresh period;
the sensor is used for performing induction imaging on the light rays passing through the first light path corresponding to the second lens in the odd frame process to obtain an odd frame image;
and the sensor is used for performing induction imaging on the light rays passing through the second light path corresponding to the third lens in the even frame process to obtain an even frame image.
5. The system of claim 4, wherein the system further comprises: the system-level chip is connected with the sensor;
the system-in-chip is used for performing first processing on the odd frame image, which is adaptive to the lens type of the second lens, and transmitting the obtained first image to the display module to display the first image;
and the system-in-chip is used for carrying out second processing on the even frame image, which is adaptive to the lens type of the third lens, and transmitting the obtained second image to the display module so as to display the second image.
6. The system of claim 1, wherein the system further comprises a controller configured to control the controller,
the lens types corresponding to the second lens and the third lens are the same;
or alternatively, the first and second heat exchangers may be,
and the lens types corresponding to the second lens and the third lens are different.
7. The system of claim 6, wherein the lens type comprises:
near focal lens, far focal lens, wide angle lens, narrow angle lens.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310078944.XA CN116320706A (en) | 2023-02-03 | 2023-02-03 | Rotating shaft vision system based on monocular multi-lens |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202310078944.XA CN116320706A (en) | 2023-02-03 | 2023-02-03 | Rotating shaft vision system based on monocular multi-lens |
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| CN113497874A (en) * | 2020-03-19 | 2021-10-12 | 三星电机株式会社 | Camera module |
| CN215297915U (en) * | 2020-07-24 | 2021-12-24 | 三星电机株式会社 | Camera module and portable terminal including the same |
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| CN208795913U (en) * | 2018-06-29 | 2019-04-26 | 杭州瑾丽光电科技有限公司 | A kind of more multiplying power camera lenses of changeable reflecting mirror |
| CN211509141U (en) * | 2020-01-14 | 2020-09-15 | 南昌欧菲光电技术有限公司 | Camera module and electronic device |
| CN113497874A (en) * | 2020-03-19 | 2021-10-12 | 三星电机株式会社 | Camera module |
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