CN205581386U - Infrared continuous zoom optical system that links of two groups - Google Patents
Infrared continuous zoom optical system that links of two groups Download PDFInfo
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- CN205581386U CN205581386U CN201620201341.XU CN201620201341U CN205581386U CN 205581386 U CN205581386 U CN 205581386U CN 201620201341 U CN201620201341 U CN 201620201341U CN 205581386 U CN205581386 U CN 205581386U
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Abstract
The utility model relates to an infrared continuous zoom optical system that links of two groups, include from the object space to the image space that the preceding fixed group, the first change that set gradually along the optical axis are doubly organized, compensation group, second become doubly group and after -fixing group, first change doubly organize with the second become doubly organize equidirectional, be axial linear movement with speed on the optical axis, the non - linear movement of axial is with relative direction in compensation group on the optical axis to realize image planes displacement compensation, this system is doubly organized by two changes and lies in two compensation that become between doubly organizing and forms, because the focal power has been carried on a shoulder pole to two change times components, it is little consequently to become times image planes displacement of in -process production to alleviate the burden of compensation group, makeed compensation group motion curve mild. This optical system simple structure, easy realization is miniaturized. When need not increasing the system control degree of difficulty, system's lens quantity can be reduced, the miniaturization is realized, can improve optical system's change multiple proportions simultaneously.
Description
Technical field
This utility model relates to double group infrared continuous zooming optical system of linkage.
Background technology
Infrared imaging system has all weather operations, without advantages such as floor lights, in alarm, scout and make
Lead etc. in military field and be widely applied.For military equipment, usual ground main target is ground
Face blindage, factory, dam, tank, armo(u)red carrier, automobile and soldier etc..These target surface temperature
General the highest, emittance is little, and thermal-radiating peak value concentrates on long wave infrared region.Additionally, pass at air
During defeated, infrared ray is easily absorbed by material, but for mist, LONG WAVE INFRARED more easily by, this
Sample, infrared relative to medium wave (3 μm～5 μm), LONG WAVE INFRARED imaging system is the most excellent in terms of detection identification
Gesture.
Infrared continuous vari-focus system is to realize, by image planes compensation side by changing the interval between battery of lens
The difference of formula, is generally divided into optical compensation and mechanical compensation two kinds.Optical compensation formula zoom system, pancreatic system, because of movement
Group undertakes the function of zoom and compensation simultaneously, is difficult to realize the zoom system, pancreatic system of big zoom ratio；Mechanical compensation formula becomes
Burnt system, between system components, the interval of change is less, and system overall length is longer, is difficult to realize miniaturization.
Utility model content
The purpose of this utility model is to provide a kind of double group infrared continuous zooming optical system of linkage, in order to solve
The problem that existing optical system is difficult to realize big zoom ratio.
For achieving the above object, scheme of the present utility model includes a kind of double group infrared continuous zooming optical of linkage
System, including fix before setting gradually along optical axis from the object side to the image side group, the first zoom group, compensation group,
Second zoom group and latter fixing group, described first zoom group and the second zoom group is equidirectional, with speed at optical axis
On do axial linear motion, described compensation group does axial nonlinear motion with relative direction, with reality on optical axis
Existing continuous vari-focus.
Before described, fixing group fixes lens before being one, and these front fixing lens are the falcate convex surface facing thing side
Plus lens；First zoom group is the first Zoom lens, and this first Zoom lens is a double-concave negative lens；Mend
Repaying group is an offset lens, and this offset lens is a falcate plus lens convex surface facing thing side；Second
Zoom group is the second Zoom lens, and this second Zoom lens is that a falcate convex surface facing thing side is negative thoroughly
Mirror；After described, fixing group is constituted by fixing group after group fixing after first set gradually and second, and described first
Rear fixing group is constituted by fixing lens after fixing lens and second after first set gradually, solid after described second
Determine group and constitute by fixing lens after fixing lens and the 4th after the 3rd set gradually, after described first fixing thoroughly
Mirror is the concave surface falcate plus lens towards thing side, fix after described second lens be a concave surface towards
The bent moon plus lens of thing side, fixing lens after the described 3rd is the concave surface falcate plus lens towards thing side, institute
Fixing lens after stating the 4th is the concave surface negative meniscus towards thing side.
The design parameter index of this optical system is: wave band: 7.7 μm～9.5 μm；Focal length: f '=33mm～
500mm；Visual field: 20.62 °～1.38.
Described optical system also includes a detector, and described detector is pixel number: 320 × 256, pixel
A size of 30 μm, F# is the long wave refrigeration mode detector of 3.
Before described behind the surface and the 3rd of the close image space of the fixing surface of close thing side of lens, offset lens
The surface of the close thing side of fixing lens is aspheric surface.
Fixing lens before described, the first Zoom lens, the second Zoom lens, fix after first lens, the 3rd
The material fixing lens after rear fixing lens and the 4th is monocrystalline germanium, fixing saturating after described offset lens and second
The material of mirror is zinc selenide.
Before described, the radius of curvature on the surface of the close thing side of fixing lens is 148.72mm, near image space
The radius of curvature on surface is 206.69mm；The radius of curvature on the surface of the close thing side of the first Zoom lens is
-552.84mm, the radius of curvature near the surface of image space is 122.92mm；The close thing side of offset lens
The radius of curvature on surface is 63.70mm, and the radius of curvature near the surface of image space is 75.84mm；Second becomes
The radius of curvature on the surface of the close thing side of times lens is 40.48mm, near the radius of curvature on the surface of image space
For 31.42mm；The radius of curvature on the surface fixing the close thing side of lens after first is-47.25mm, close
The radius of curvature on the surface of image space is-50.22mm；The curvature on the surface of the close thing side of lens is fixed after second
Radius is-193.95mm, and the radius of curvature near the surface of image space is-84.76mm；Lens are fixed after 3rd
The radius of curvature on surface of close thing side be 24.15mm, the radius of curvature near the surface of image space is
44.41mm；The radius of curvature on the surface fixing the close thing side of lens after the 4th is 65.58mm, near picture
The radius of curvature on the surface of side is 26.54mm.
Before described, the thickness of fixing lens is 14mm, and the thickness of the first Zoom lens is 3.85mm, compensates
The thickness of lens is 10mm, and the thickness of the second Zoom lens is 8.86mm, fixes the thickness of lens after first
Degree is 4mm, and the thickness fixing lens after second is 3.5mm, and the thickness fixing lens after the 3rd is
5.12mm, the thickness fixing lens after the 4th is 5mm；Front fixing between lens and the first Zoom lens
Be spaced apart 20mm～93.24mm, between the first Zoom lens and offset lens be spaced apart 0.76mm～
135mm, is spaced apart 2mm～136.23mm between offset lens and the second Zoom lens, the second zoom
Fix after lens and first and be spaced apart 7.04mm～80.29mm between lens, fix after first lens with
Fix after second and be spaced apart 0.5mm between lens, fix between lens after fixing lens and the 4th after the 3rd
Be spaced apart 3mm.
Two reflecting mirrors it are provided with in the light path fixing between lens after fixing lens and the 3rd after described second,
Fix after the light of lens injection is injected into the 3rd successively after the reflection of the two reflecting mirror fixing after second
In lens；Fix after second and be spaced apart 20mm between lens and the first reflecting mirror, the first reflecting mirror and
It is spaced apart 100mm between two-mirror, after the second reflecting mirror and the 3rd, fixes being spaced apart between lens
20mm。
In the optical system that this utility model provides, between two zoom groups, it is provided with a compensation group, is becoming
Times time, the two zoom group is equidirectional, do axial linear movement with speed along optical axis, and compensation group along
The direction contrary with zoom group, do axial nonlinear moving along optical axis, realized continuously by this motion mode
Zoom, it is achieved the random conversion of short Jiao, middle Jiao and focal length, so, this optical system is capable of big zoom
Ratio；Further, the lens number in this optical system is less, and system structure is simple, uncomplicated, easily realizes little
Type.While need not increase mobile constituent element and system control difficulty, it is possible to reduce system number of lenses,
Realize miniaturization and can improve the zoom ratio of optical system simultaneously.
Accompanying drawing explanation
Fig. 1 is double group infrared continuous zooming optical system structural representations of linkage；
Fig. 2 is the moving process schematic diagram between optical system zoom group and compensation group；
Fig. 3 is optical system lens position relation schematic diagram under short coke-like state；
Fig. 4 is optical system lens position relation schematic diagram under middle coke-like state；
Fig. 5 is optical system lens position relation schematic diagram under focal length state；
Fig. 6 is optical system transmission functional arrangement under short coke-like state；
Fig. 7 is optical system transmission functional arrangement under middle coke-like state；
Fig. 8 is optical system transmission functional arrangement under focal length state；
Fig. 9 is optical system curvature of field distortion figure under short coke-like state；
Figure 10 is optical system curvature of field distortion figure under middle coke-like state；
Figure 11 is optical system curvature of field distortion figure under focal length state；
Figure 12 is optical system point range figure under short coke-like state；
Figure 13 is optical system point range figure under middle coke-like state；
Figure 14 is optical system point range figure under focal length state；
Figure 15 is optical system zoom curve chart；
Figure 16 is optical system cam movement profiles.
Detailed description of the invention
The utility model is described in more detail below in conjunction with the accompanying drawings.
As it is shown in figure 1, the double groups of infrared continuous zooming optical systems that link include depending on along optical axis from the object side to the image side
Front fixing group of secondary setting, the first zoom group, compensation group, the second zoom group and after fix group, wherein, front
Fixing group is front fixing lens A, and the first zoom group is Zoom lens B-1, and compensation group is offset lens C,
Second zoom group is Zoom lens B-2.As in figure 2 it is shown, when zoom, Zoom lens B-1 and zoom are saturating
Mirror B-2 does axial linear motion equidirectional, with speed on optical axis, to realize the change of system focal；
Offset lens C does axial nonlinear motion along relative direction on optical axis, to compensate image planes position in zooming procedure
Move, thus keep system image planes stable, i.e. the direction of motion moment phase of offset lens C and two Zoom lens
Instead, such as: when Zoom lens B-1 and Zoom lens B-2 is to left movement, offset lens C moves right.
It addition, do motion equidirectional, with speed for the ease of realizing Zoom lens B-1 and Zoom lens B-2,
The two Zoom lens can be connected firmly together.
This zoom system, pancreatic system is in the change procedure of focal length, and zoom group is one_to_one corresponding with the relative position of compensation group
, the linear movement of certainly zoom group is depended in the nonlinear motion of compensation group.The slope of zoom group linear movement
Different then the nonlinear curve of compensation group is the most different.Therefore, protect with the relative displacement of both compensation groups in zoom group
Hold constant in the case of, and on the premise of being capable of continuous vari-focus, zoom group and compensation group can have not
Same curve movement.It addition, this requires consideration for how when system structure design to reduce rubbing in motor process
Wiping power, thus optimization optimal movement curve.
The technical specification that this optical system realizes is: wave band: 7.7 μm～9.5 μm；Focal length: f '=33mm～
500mm；Visual field: 20.62 °～1.38；Further, its adaptive pixel number: 320 × 256, pixel dimension is 30 μm,
F# is the long wave refrigeration mode detector of 3.
In the present embodiment, rear fixing group includes rear fixing group of D setting gradually and rear fixing group of F, wherein,
Rear fixing group D includes two lens set gradually, rear fixing lens D-1 and rear fixing lens D-2；After
Fixing group F includes two lens set gradually, rear fixing lens F-1 and rear fixing lens F-2.It addition,
In order to adapt to airborne opto-electronic device to infrared optical system structure can not too long of requirement, this optical system is drawn
Enter two folding mirrors: reflecting mirror E-1 and reflecting mirror E-2, the two reflecting mirror is fixing saturating after being arranged on
Between mirror D-2 and rear fixing lens F-1, the light of rear fixing lens D-2 injection reflects through the two successively
Fix after being injected into after the reflection of mirror in lens F-1.The two reflecting mirror carries out twice turnover, shape to light path
Become " U " type structure, shorten system length.
In the present embodiment, lens A is a falcate plus lens convex surface facing thing side, and lens B-1 is one
Individual double-concave negative lens, lens C is a falcate plus lens convex surface facing thing side, and lens B-2 is one
Convex surface facing the negative meniscus of thing side, lens D-1 is the concave surface falcate plus lens towards thing side,
Lens D-2 is the concave surface bent moon plus lens towards thing side.Folding mirror E-1 is at 45 ° with optical axis to be put
Putting, folding mirror E-2 and optical axis placement at 45 °, by the reflection of the two reflecting mirror, it is possible to make light
The direction on road changes 180 °.Lens F-1 is the concave surface falcate plus lens towards thing side, lens F-2
It it is the concave surface negative meniscus towards thing side.
Light is from plus lens A, minus lens B-1, plus lens C, minus lens B-2, plus lens D-1, the most saturating
Mirror D-2 arrives folding mirror E-1, arrives reflecting mirror E-2 after reflecting mirror E-1 reflects, through anti-
The light penetrating mirror E-2 reflection is imaged on detector G by after plus lens F-1, minus lens F-2 convergence.
Definition: the front surface of lens is the surface near thing side, rear surface is the surface near image space.So,
In the present embodiment, the front surface (i.e. near the surface of thing side) of lens A, lens C rear surface (i.e.
Surface near image space) and the front surface employing aspheric surface of lens F-1, aspheric surface uses CODE V software
In Asphere face type, equation is:
Wherein: c is curvature, r is the axial radial coordinate of vertical light, and k is conic constant, and A is
Quadravalence asphericity coefficient, B six rank asphericity coefficient, C be eight rank asphericity coefficients, D be ten rank aspheric surfaces
Coefficient.
The front surface asphericity coefficient of the lens A of front fixing group is:
K=0；
A=1.4724E-9
B=5.7347E-14
C=4.5816E-18
The rear surface asphericity coefficient of mobile lens C is:
K=-0.96；
A=6.8950E7
B=6.3832E-11
C=9.1545E-16
The front surface asphericity coefficient of the lens F-1 of rear fixing group is:
K=-0.15；
A=4.8778E-7
B=5.9341E-10
C=3.2438E-12
As shown in table 1, giving the optical parametric of one group of this optical system, unit is mm.
Table 1
Such as Fig. 3, shown in 4 and 5, this optical system is during continuous vari-focus, when the focal length reducing system
Time, such as from focal length or middle Jiao become short burnt time, lens B-1 and lens B-2 uniform velocity are to place, thing side
Direction move, the C of compensation group simultaneously moves to the direction at image space place；When increasing the focal length of system, than
As from short Jiao or middle Jiao become focal length time, lens B-1 and lens B-2 uniform velocity are to the direction at image space place
Mobile, the C of compensation group simultaneously moves to the direction at place, thing side.If illustrated with the orientation in accompanying drawing
Words, when reducing the focal length of system, lens B-1 and lens B-2 uniform velocity are moved to the left, compensation group simultaneously
C moves right；When increasing the focal length of system, lens B-1 and lens B-2 uniform velocity move right, with
Time compensation group C be moved to the left.The data be given based on table 1, the stroke of Zoom lens B-1 and B-2 is
73.24mm, the stroke of offset lens C is 61mm.
Fig. 6-8 is this utility model embodiment modulation transfer function (MTF) curve when short Jiao, middle Jiao, focal length,
The space respectively rate corresponding with the LONG WAVE INFRARED refrigeration detector that adaptive resolution is 320 × 256 is
During 16lp/mm, ssystem transfer function minimum, close to 0.4, shows that optical system imaging is excellent, meets and wants
Ask.
Fig. 9-11 is this utility model embodiment curvature of field distortion figure when short Jiao, middle Jiao, focal length, can by figure
Seeing, the optical system distortion when different focal is respectively less than 2.5%, shows that system imaging is excellent, meets and sets
Meter requirement.
Figure 12-14 is this utility model embodiment point range figure when short Jiao, middle Jiao, focal length, as seen from the figure,
The optical system disc of confusion diameter when different focal is respectively less than infrared detector pixel size, shows that system becomes
As excellent, meet design requirement.
Figure 15 is optical system zoom curve chart, and abscissa represents focal length value the most in the same time, vertical coordinate table
When being shown as different focal zoom group and compensation group in the direction of the optical axis with front fixing group of corresponding distance.It is visible,
In zooming procedure, zoom group and compensation group are run smooth without flex point, do not have catching phenomenon.
Zoom group and compensation group all can be moved axially by cam, and Figure 16 is the motion of optical system cam
Curve chart, abscissa represents cam circumferential angle, and vertical coordinate represents that zoom group and compensation group are at axial distance.
Visible, in zooming procedure, zoom group does linear movement, and compensation group does nonlinear motion as depicted.
It addition, this optical system uses the mode of secondary imaging, the exit pupil position of optical system and refrigeration detection
The cold stop of device self overlaps, it is achieved that cold stop efficiency 100%.Avoid light cut thus reduce
Logical light quantity so that the sensitivity decrease of system；, thermal-radiating veiling glare is suppressed meanwhile, improve and be
The signal to noise ratio of system.
It is presented above specific embodiment, but this utility model is not limited to described embodiment.
Basic ideas of the present utility model are above-mentioned basic scheme, for those of ordinary skill in the art, according to
Teaching of the present utility model, designs the model of various deformation, formula, parameter are not required to spend creativeness
Work.The change that in the case of without departing from principle of the present utility model and spirit, embodiment carried out, repair
Change, replace and modification still falls within protection domain of the present utility model.
Claims (9)
1. double group infrared continuous zooming optical system of linkage, it is characterised in that include from thing side to picture
Side set gradually along optical axis before fix group, the first zoom group, compensation group, the second zoom group and after fix group,
Described first zoom group and the second zoom group is equidirectional, do axial linear motion on optical axis with speed, described
Compensation group does axial nonlinear motion with relative direction on optical axis, to realize continuous vari-focus.
Double group infrared continuous zooming optical system of linkage the most according to claim 1, it is characterised in that
Before described, fixing group fixes lens before being one, and these front fixing lens are the most saturating convex surface facing the falcate of thing side
Mirror；First zoom group is the first Zoom lens, and this first Zoom lens is a double-concave negative lens；Compensation group
Being an offset lens, this offset lens is a falcate plus lens convex surface facing thing side；Second zoom
Group is the second Zoom lens, and this second Zoom lens is a negative meniscus convex surface facing thing side；Institute
Fix group after stating and constitute by fixing group after group fixing after first set gradually and second, fixing after described first
Group is constituted by fixing lens after fixing lens and second after first set gradually, fix after described second group by
Fixing lens after fixing lens and the 4th after the 3rd set gradually to constitute, fixing lens after described first is one
Individual concave surface is towards the falcate plus lens of thing side, and fixing lens after described second is that a concave surface is towards thing side
Bent moon plus lens, fixing lens after the described 3rd is the concave surface falcate plus lens towards thing side, the described 4th
Rear fixing lens are the concave surface negative meniscus towards thing side.
Double group infrared continuous zooming optical system of linkage the most according to claim 1, it is characterised in that
The design parameter index of this optical system is: wave band: 7.7 μm～9.5 μm；Focal length: f '=33mm～500mm；
Visual field: 20.62 °～1.38.
Double group infrared continuous zooming optical system of linkage the most according to claim 1, it is characterised in that
Described optical system also includes a detector, and described detector is pixel number: 320 × 256, pixel dimension
Being 30 μm, F# is the long wave refrigeration mode detector of 3.
Double group infrared continuous zooming optical system of linkage the most according to claim 2, it is characterised in that
Fix behind the surface and the 3rd of the close image space of the fixing surface of close thing side of lens, offset lens before described
The surface of the close thing side of lens is aspheric surface.
Double group infrared continuous zooming optical system of linkage the most according to claim 2, it is characterised in that
Fixing lens before described, the first Zoom lens, the second Zoom lens, fix lens, solid after the 3rd after first
The material fixing lens after fix-focus lens and the 4th is monocrystalline germanium, fixes lens after described offset lens and second
Material is zinc selenide.
Double group infrared continuous zooming optical system of linkage the most according to claim 2, it is characterised in that
Before described, the radius of curvature on the surface of the close thing side of fixing lens is 148.72mm, near the surface of image space
Radius of curvature be 206.69mm；The radius of curvature on the surface of the close thing side of the first Zoom lens is
-552.84mm, the radius of curvature near the surface of image space is 122.92mm；The close thing side of offset lens
The radius of curvature on surface is 63.70mm, and the radius of curvature near the surface of image space is 75.84mm；Second becomes
The radius of curvature on the surface of the close thing side of times lens is 40.48mm, near the radius of curvature on the surface of image space
For 31.42mm；The radius of curvature on the surface fixing the close thing side of lens after first is-47.25mm, close
The radius of curvature on the surface of image space is-50.22mm；The curvature on the surface of the close thing side of lens is fixed after second
Radius is-193.95mm, and the radius of curvature near the surface of image space is-84.76mm；Lens are fixed after 3rd
The radius of curvature on surface of close thing side be 24.15mm, the radius of curvature near the surface of image space is
44.41mm；The radius of curvature on the surface fixing the close thing side of lens after the 4th is 65.58mm, near picture
The radius of curvature on the surface of side is 26.54mm.
Double group infrared continuous zooming optical system of linkage the most according to claim 2, it is characterised in that
Before described, the thickness of fixing lens is 14mm, and the thickness of the first Zoom lens is 3.85mm, offset lens
Thickness be 10mm, the thickness of the second Zoom lens is 8.86mm, and the thickness fixing lens after first is
4mm, the thickness fixing lens after second is 3.5mm, and the thickness fixing lens after the 3rd is 5.12mm,
The thickness fixing lens after 4th is 5mm；Front fixing being spaced apart between lens and the first Zoom lens
20mm～93.24mm, is spaced apart 0.76mm～135mm between the first Zoom lens and offset lens,
It is spaced apart 2mm～136.23mm, the second Zoom lens and between offset lens and the second Zoom lens
Fix after one and be spaced apart 7.04mm～80.29mm between lens, solid after fixing lens and second after first
It is spaced apart 0.5mm between fix-focus lens, after fixing lens and the 4th after the 3rd, fixes being spaced apart between lens
3mm。
Double group infrared continuous zooming optical system of linkage the most according to claim 8, it is characterised in that
Two reflecting mirrors it are provided with in the light path fixing between lens after fixing lens and the 3rd after described second, second
The light of rear fixing lens injection fixes lens after being injected into the 3rd after the reflection of the two reflecting mirror successively
In；Fix after second and be spaced apart 20mm between lens and the first reflecting mirror, the first reflecting mirror and second anti-
Penetrate and be spaced apart 100mm between mirror, after the second reflecting mirror and the 3rd, fix being spaced apart between lens
20mm。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620201341.XU CN205581386U (en) | 2016-03-16 | 2016-03-16 | Infrared continuous zoom optical system that links of two groups |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620201341.XU CN205581386U (en) | 2016-03-16 | 2016-03-16 | Infrared continuous zoom optical system that links of two groups |
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| CN205581386U true CN205581386U (en) | 2016-09-14 |
Family
ID=56869127
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| CN201620201341.XU Withdrawn - After Issue CN205581386U (en) | 2016-03-16 | 2016-03-16 | Infrared continuous zoom optical system that links of two groups |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105676433A (en) * | 2016-03-16 | 2016-06-15 | 凯迈（洛阳）测控有限公司 | Double-group linkage infrared continuous zooming optical system |
| CN109901302A (en) * | 2019-02-22 | 2019-06-18 | 华中光电技术研究所（中国船舶重工集团有限公司第七一七研究所） | A kind of infrared refrigeration mode imaging optical system |
| CN110515061A (en) * | 2019-09-12 | 2019-11-29 | 北京富吉瑞光电科技有限公司 | A kind of dual sensor object space compensation method and system |
-
2016
- 2016-03-16 CN CN201620201341.XU patent/CN205581386U/en not_active Withdrawn - After Issue
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105676433A (en) * | 2016-03-16 | 2016-06-15 | 凯迈（洛阳）测控有限公司 | Double-group linkage infrared continuous zooming optical system |
| CN105676433B (en) * | 2016-03-16 | 2018-01-26 | 凯迈（洛阳）测控有限公司 | A kind of infrared continuous zooming optical system of double group linkages |
| CN109901302A (en) * | 2019-02-22 | 2019-06-18 | 华中光电技术研究所（中国船舶重工集团有限公司第七一七研究所） | A kind of infrared refrigeration mode imaging optical system |
| CN110515061A (en) * | 2019-09-12 | 2019-11-29 | 北京富吉瑞光电科技有限公司 | A kind of dual sensor object space compensation method and system |
| CN110515061B (en) * | 2019-09-12 | 2020-08-25 | 北京富吉瑞光电科技有限公司 | Dual-sensor object space compensation method and system |
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