CN206523698U - Panoramic scanning device - Google Patents
Panoramic scanning device Download PDFInfo
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- CN206523698U CN206523698U CN201621306611.XU CN201621306611U CN206523698U CN 206523698 U CN206523698 U CN 206523698U CN 201621306611 U CN201621306611 U CN 201621306611U CN 206523698 U CN206523698 U CN 206523698U
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Abstract
The utility model is related to a kind of panoramic scanning device, including：Rotation platform；First image-forming module, first image-forming module is arranged on rotation platform and set with the rotation platform synchronous rotary；Second image-forming module, second image-forming module is arranged on rotation platform and set with the rotation platform synchronous rotary；First galvanometer eyeglass, for the light for inciding the first galvanometer eyeglass to be reflected into the first image-forming module, and the first galvanometer eyeglass can switch direction of rotation relative to the direction of rotation forward direction of the first image-forming module and inversely rotation, and with predeterminated frequency；Second galvanometer eyeglass, for the light for inciding the second galvanometer eyeglass to be reflected into the second image-forming module, and the second galvanometer eyeglass can switch direction of rotation relative to the direction of rotation forward direction of the second image-forming module and inversely rotation, and with predeterminated frequency.The panoramic scanning apparatus structure that the utility model is provided is simple, and can be used in being formed the image of high discrimination degree.
Description
Technical field
The utility model is related to a kind of imaging device, more particularly to a kind of panoramic scanning device.
Background technology
Typically all can be installed either daytime in public places such as airport, parking lot and roads now or night can
The monitoring system of enough implementing monitorings, the monitoring system typically requires 360 degree of panoramic scannings of energy, so could intactly observe week
The situation on side.Camera device in existing monitoring system is in order to realize round-the-clock shooting and 360 degree of panoramic scannings, typically using micro-
Light night vision or infrared imaging module, and the angle of visual field that can be shot according to each camera lens circumferencial direction set many set camera lenses and into
As module, the shooting being responsible in oneself visual field scope is often covered, 360 degree of panoramic scannings are realized by software process quality afterwards.
But, because the camera device includes covering camera lens and image-forming module more, and can round-the-clock imaging camera lens and into
As Module Price is expensive, so the cost of the camera device is higher.Further, since panoramic scanning monitoring is needed in rotary taking
While ensure the enough stationary exposure time, can not accomplish to refresh 360 degree of panoramic image at a high speed at present.
Utility model content
In view of this, refresh and lower-cost panoramic scanning device it is necessory to provide a kind of high speed that is applied to.
A kind of panoramic scanning device, wherein, the panoramic scanning device includes：
Rotation platform；
Image-forming module, the image-forming module is arranged on rotation platform and set with the rotation platform synchronous rotary；
Galvanometer eyeglass, for the light for inciding galvanometer eyeglass to be reflected and enters image-forming module in the horizontal direction, and
The galvanometer eyeglass can switch rotation side relative to the direction of rotation forward direction of image-forming module and inversely rotation, and with predeterminated frequency
To.
In one of the embodiments, when direction of rotation counter-rotating of the galvanometer eyeglass relative to image-forming module,
The size of the galvanometer eyeglass angular velocity of rotation is 1/2nd of the image-forming module angular velocity of rotation.
In one of the embodiments, the image-forming module is infrared imaging module or can be by one in photoimaging module
Kind.
In one of the embodiments, the galvanometer eyeglass and the image-forming module synchronous rotary, in the base of synchronous rotary
On plinth, the galvanometer eyeglass being capable of and counter-rotating positive relative to the direction of rotation of the image-forming module.
In one of the embodiments, the galvanometer eyeglass has initial position, and the galvanometer eyeglass can be relative to this
Initial position carries out the forward direction in the range of 10 degree with predeterminated frequency or counter-rotating and resetted.
In one of the embodiments, supporting plate is further comprised, the supporting plate is arranged on the rotation platform, and
With the rotation platform synchronous rotary, image-forming module and the galvanometer eyeglass is arranged at the same surface of the supporting plate.
A kind of panoramic scanning device, wherein, the panoramic scanning device includes：
Rotation platform；
Imaging mechanism, the imaging mechanism is arranged on rotation platform, and with the rotation platform synchronous rotary, it is residing into
Camera structure includes：
Image-forming module, the image-forming module and the rotation platform synchronous rotary；
Galvanometer eyeglass, for the light for inciding the galvanometer eyeglass to be reflected into the image-forming module, and described shakes
Mirror eyeglass is located at same level with the image-forming module；
Galvanometer motor, for driving galvanometer eyeglass relative to the direction of rotation forward direction of image-forming module and counter-rotating, and with
Predeterminated frequency switches direction of rotation.
In one of the embodiments, when direction of rotation counter-rotating of the galvanometer eyeglass relative to image-forming module,
The size of angular speed during the galvanometer eyeglass counter-rotating is 1/2nd of the angular velocity of rotation size of image-forming module.
In one of the embodiments, further comprise supporting plate, the supporting plate be arranged on the rotation platform and
With rotation platform synchronous rotary, the image-forming module, galvanometer eyeglass are arranged on the same surface of the supporting plate, and with it is described
Rotation platform synchronous rotary；If the imaging frequency of the image-forming module is f, the rotating speed of the image-forming module is v, then v is met：
V≤f/n revolutions per seconds；
Wherein, n is segmentation number, and n=360 °/θ, θ is the angle of visual field of image-forming module.
In one of the embodiments, the first motor and the second motor are further comprised, first motor is used to drive
Rotation platform rotates, and second motor is used for the angle of pitch for controlling imaging mechanism.
Compared with conventional art, panoramic scanning device of the present utility model can be obtained by using single image-forming module
Take panoramic picture, it is simple in construction, occupy little space and cost is relatively low.Further, by galvanometer eyeglass in imaging process
Compensation, can improve image quality while lower cost is ensured, the image of high discrimination degree be resulted in, so as to be conducive to week
The monitoring of surrounding environment.
Brief description of the drawings
The structural representation for the optical imaging device bearing support that Fig. 1 provides for the utility model embodiment.
Fig. 2 be Fig. 1 shown in optical imaging device bearing support in the first galvanometer unit structural representation.
Fig. 3 be Fig. 1 shown in optical imaging device bearing support in the second galvanometer unit structural representation.
The dimensional structure diagram for the panoramic scanning device that Fig. 4 provides for first embodiment.
Fig. 5 is the dimensional structure diagram for the different angles of panoramic scanning device that the utility model first embodiment is provided.
Fig. 6 is the stereochemical structure signal of imaging mechanism in the panoramic scanning device that the utility model first embodiment is provided
Figure.
Fig. 7 is the stereochemical structure signal of shooting unit in the panoramic scanning device that the utility model first embodiment is provided
Figure.
Fig. 8 is that the structure of the different angles of shooting unit in the panoramic scanning device that the utility model first embodiment is provided is shown
It is intended to.
Fig. 9 is the first galvanometer unit and infrared imaging mould in the panoramic scanning device that the utility model first embodiment is provided
The location diagram of block.
Figure 10 be in the panoramic scanning device that the utility model first embodiment is provided the second galvanometer unit and visible ray into
As the location diagram of module.
In the panoramic scanning device that Figure 11 provides for the utility model first embodiment the first galvanometer, the second galvanometer with it is infrared
The position relationship schematic diagram of line form, visible ray form.
The structural representation for the panoramic scanning device that Figure 12 provides for the utility model second embodiment.
The structural representation for the panoramic scanning device that Figure 13 provides for the utility model 3rd embodiment.
The structural representation for the panoramic scanning monitoring system that Figure 14 provides for the utility model fourth embodiment.
Main element symbol description
Following embodiment will further illustrate the utility model with reference to above-mentioned accompanying drawing.
Embodiment
Below in conjunction with the accompanying drawings and the specific embodiments, it is the optical imaging device bearing support that provides the utility model, complete
Scape scanning means and panoramic scanning monitoring system are described in further detail.
Referring to Fig. 1, a kind of optical imaging device bearing support 1330 of the utility model offer, including supporting plate 1331,
First galvanometer unit 1333 and the second galvanometer unit 1337, the first galvanometer unit 1333 are distinguished with the second galvanometer unit 1337
It is arranged at two relative surfaces of the supporting plate 1331.
Specifically, the supporting plate 1331 has relative first surface and second surface, the first galvanometer unit
1333 may be disposed at the first surface of the supporting plate 1331；The second galvanometer unit 1337 may be disposed at the supporting plate
1331 second surface.The supporting plate 1331 is used to support the first galvanometer unit 1333 and the second galvanometer unit 1337,
The material of the supporting plate 1331 can be metal, or high polymer material, as long as the supporting plate 1331 has certain degree of hardness,
The first galvanometer unit 1333 and the second galvanometer unit 1337 can be supported.The rotatable setting of the supporting plate 1331,
Further, the supporting plate 1331 can surround rotary shaft rotation.Specifically, the supporting plate 1331 can be symmetrical structure, have
One symmetry axis, the supporting plate 1331 can the symmetry axis be rotary shaft carry out rotation.The first galvanometer unit 1333 and
Two galvanometer units 1337 are arranged in the supporting plate 1331, therefore the first galvanometer unit 1333 and the second galvanometer unit
1337 can be with the synchronous rotary of supporting plate 1331.
Also referring to Fig. 2 and Fig. 3, the first galvanometer unit 1333 includes the first galvanometer eyeglass 1334 and the first galvanometer
Motor 1335, the first galvanometer eyeglass 1334 has the first rotary shaft, and the first galvanometer eyeglass 1334 is around the first rotation
Axle rotation, and first rotary shaft can be coaxially disposed with the drive shaft of the first galvanometer motor 1335, so as in the first galvanometer
Rotated under the driving of motor 1335 around the first rotary shaft.Similar, the second galvanometer unit 1337 shakes including second
The galvanometer motor 1339 of mirror eyeglass 1338 and second, the second galvanometer eyeglass 1338 has the second rotary shaft, second galvanometer
Eyeglass 1338 surrounds the second rotary shaft rotation, and second rotary shaft can be coaxial with the drive shaft of first galvanometer motor 1335
Set, so as to enclose the rotation of the second rotary shaft under the driving of second galvanometer motor 1339.Further, the first rotary shaft is put down
Row is in the second rotary shaft, and further, first rotary shaft and the second rotary shaft can be parallel to the supporting plates 1331
Symmetry axis, it is preferable that first rotary shaft is symmetrical arranged with the second rotary shaft relative to the symmetry axis.
In a specific embodiment, in an initial condition, i.e. the first galvanometer eyeglass 1334 and the second galvanometer eyeglass 1338
Vibration compensation is not carried out, and the first galvanometer eyeglass 1334 and the second galvanometer eyeglass 1338 are located at initial position and geo-stationary shape
Under state, the surface of the first galvanometer eyeglass 1334 can form one 45 degree of folder with the first surface of described supporting plate 1331
Angle；Similar, the surface of the second galvanometer eyeglass 1338 can form one 45 degree of angle with the second surface, so that
Perpendicular to first surface and the incident light of second surface, reflected by the first galvanometer eyeglass 1334 and the second galvanometer eyeglass 1338
Afterwards, propagated along the direction parallel to the first surface and second surface.In addition, the first galvanometer eyeglass 1334 can be vertical
In the second galvanometer eyeglass 1338, so that from same direction along perpendicular to the incident light of supporting plate 1331, by the
After the reflection of one galvanometer eyeglass 1334 and the second galvanometer eyeglass 1338, in a reverse direction along the surface parallel to supporting plate 1331
Propagate.It is appreciated that the selection of the angle is only specific embodiment, it can also be carried out according to the setting of follow-up image-forming module
Selection.
Further, the first galvanometer unit 1333 can be relatively oppositely arranged with the second galvanometer unit 1337.Tool
Body, when the first galvanometer unit 1333 is positive sets, then the second galvanometer unit 1337 is inversion setting state,
So that the first galvanometer eyeglass 1334 and the second galvanometer eyeglass 1338 are oppositely arranged, can reduce the first galvanometer unit 1333 and
The space that second galvanometer unit 1337 takes, in the case of being fixed in the area of supporting plate 1331, facilitates follow-up image-forming module
Set, to reduce the overall volume taken of optical imaging device bearing support 1330, be conducive to the integrated of other follow-up components
And the design of light path.
Further, the supporting plate 1331 is formed with the through hole 1304 of first through hole 1303 and second, the first through hole
1303 and second through hole 1304 corresponds respectively to the first galvanometer eyeglass 1334 and the second galvanometer eyeglass 1338 is set, from
The incident light of first through hole 1303 incides the surface of the first galvanometer eyeglass 1334, enters from the incident light of the second through hole 1304
It is mapped to the surface of the second galvanometer eyeglass 1338.Specifically, the first galvanometer eyeglass 1334 faces the table of the supporting plate 1331
Face is exposed from the first through hole 1303, and the second galvanometer eyeglass 1338 is in face of the surface of the supporting plate 1331 from institute
State the second through hole 1304 to be exposed, to reflect from the incident light of 1303 or second through hole of first through hole 1304.Therefore, it is possible to
Acquisition of the enhanced convenience to incident ray, and it is more beneficial for the setting of follow-up imaging unit.Meanwhile, by setting described
One through hole 1303 and the second through hole 1304 so that the first galvanometer eyeglass 1334 and the second galvanometer eyeglass 1338 can be regarded to same
The incident light in angle is reflected, to facilitate the follow-up image in the visual angle to carry out different types of image acquisition and analysis.
It is appreciated that the setting of the through hole 1304 of first through hole 1303 and second is only specific embodiment, work as institute
When stating the first galvanometer unit 1333 and the second galvanometer unit 1334 positioned at the different surface of supporting plate 1331, one also can be only set
Through hole, enables to incide the first galvanometer eyeglass 1334 and the second galvanometer eyeglass 1338 respectively i.e. from the incident light of same direction
Can.Further, by setting the through hole 1304 of first through hole 1303 and second, follow-up first galvanometer eyeglass 1334 and second can be made
The regulation of galvanometer eyeglass 1338 is more flexible, with the light suitable for obtaining equidirectional or different directions incidence, and can
Reduce the occupancy in space.
Further, the optical imaging device bearing support 1330 includes the first image-forming module carrying platform 1301 and second
Image-forming module carrying platform 1302, is respectively used to set the first image-forming module and the second image-forming module, to obtain respectively through first
Incident light after the reflection of the galvanometer eyeglass 1338 of galvanometer eyeglass 1334 and second.The first image-forming module carrying platform 1301 can
It is arranged at the first surface.Specifically, may be disposed in the light path of the light reflected from the first galvanometer eyeglass 1334, with
The image-forming module being arranged in the first image-forming module carrying platform 1301 is set to get the first galvanometer eyeglass
The light of 1334 reflections；The light of the first galvanometer eyeglass 1334 is incided after the reflection of the first galvanometer eyeglass 1334, energy
Enough enter the first image-forming module carrying platform 1301；Similar, the second image-forming module carrying platform 1302 may be disposed at
Two surfaces.Specifically, may be disposed in the light path of the light reflected from the second galvanometer eyeglass 1338, so as to be arranged at second
Image-forming module in image-forming module carrying platform 1302 can get the light that the second galvanometer eyeglass 1338 reflects, that is, enter
The light for being mapped to the second galvanometer eyeglass 1338 incides the second image-forming module carrying platform 1302 after reflection.
Further, the first image-forming module carrying platform 1301 is set close to the first galvanometer eyeglass 1334, described
Second image-forming module carrying platform 1302 is set close to the second galvanometer eyeglass 1338, to receive high angle scattered light as far as possible
It is incident.The set location and the set location phase of second galvanometer motor 1339 of the first image-forming module carrying platform 1301
Symmetrical for supporting plate 1331, similar, the set location of the second image-forming module carrying platform 1302 is shaken with described first
The set location of mirror motor 1335 is symmetrical relative to the supporting plate 1331, so as to the face of the supporting plate 1331 needed for reducing
Product, improves the integrated level of package unit.
It is appreciated that the first galvanometer unit 1333 and the second galvanometer unit 1337 may also set up in the supporting plate
1331 same surface, as long as ensureing that the first galvanometer unit 1333 and the second galvanometer unit 1337 be arranged in parallel；Together
When, it by adjusting the initial position of the first galvanometer eyeglass 1334 and the second galvanometer eyeglass 1338, can pass through equidirectional incident light
The first image-forming module carrying platform can be incided respectively after first galvanometer unit 1333 and the reflection of the second galvanometer unit 1337
1301 and the second image-forming module carrying platform 1302, and the first galvanometer unit 1333 and the follow-up energy of the second galvanometer unit 1337
It is enough to play compensating action simultaneously.In addition, when the first galvanometer unit 1333 and the second galvanometer unit 1334 are located at supporting plate
During 1331 same surface, the through hole 1304 of first through hole 1303 and second need not can be set.
Further, the supporting plate 1331 can be in external motor (not shown) using the symmetry axis of the supporting plate 1331 as rotation
Rotating shaft is rotated, so as to drive the optical imaging device bearing support 1330 to be rotated.Meanwhile, the first galvanometer electricity
The galvanometer motor 1339 of machine 1335 and second drives the first galvanometer eyeglass 1334 and the second galvanometer eyeglass 1338, relative to described
The direction of rotation of supporting plate 1331 is rotated around the rotary shaft of itself in a reverse direction.Further, first galvanometer
The galvanometer eyeglass 1338 of eyeglass 1334 and second surrounds the angular speed that its own rotation axis rotates, and can be the anglec of rotation of supporting plate 1331
/ 2nd of speed, the first image-forming module carrying platform 1301 and the carrying of the second image-forming module are arranged at so as to realize to entering
The image in image-forming module in platform 1302 is compensated.
The optical imaging device bearing support 1330 is held in use, image-forming module can be arranged to the first image-forming module
In carrying platform 1301, to receive the light of the first galvanometer eyeglass 1334 reflection, while under the driving of the first galvanometer motor 1335,
The image obtained using the rotation of the first galvanometer eyeglass 1334 to image-forming module is compensated；Similar, it may also set up in second
In image-forming module carrying platform 1302, to receive the light of the second galvanometer eyeglass 1338 reflection, while utilizing the second galvanometer eyeglass
1338 pairs of images are compensated.In addition, also two image-forming modules can be arranged at into the first image-forming module carrying platform simultaneously
1301 and second in image-forming module carrying platform 1302, and two image-forming modules can be different types of image-forming module, can obtain
Different type, the image of different angles are taken, so as to be conducive to the synthesis of follow-up two different images.
Further, the optical imaging device bearing support 1330 can an electric rotating machine (not shown) drive backspin
Turn, the first galvanometer eyeglass 1334 and the second galvanometer eyeglass 1338 and the synchronous rotary of supporting plate 1331, while described the
One galvanometer eyeglass 1334 and the second galvanometer eyeglass 1338 are in respective first galvanometer motor 1335 and the second galvanometer motor
Under 1339 driving, the direction of rotation relative to the optical imaging device bearing support 1330 is reversely rotated.Specifically, described
First galvanometer eyeglass 1334, the axisymmetry of the second galvanometer eyeglass 1338 are distributed in the optical imaging device bearing support
The both sides of 1330 rotary shafts, and the first galvanometer eyeglass 1334 and the second galvanometer eyeglass 1338 surround its own rotation axis rotation
Angular speed can be equal to the angular velocity of rotation of optical imaging device bearing support 1330 1/2nd, dragged so as to reduce
Tail phenomenon, is realized to institute in rotary course into the compensation of image, raising image quality with accurate.
Described optical imaging device bearing support 1330, first is set by two surfaces in the supporting plate respectively
Galvanometer unit and the second galvanometer unit, can easily coordinate varying number, different types of image-forming module, with applied to different
Optical imagery scene, obtains different types of image, and the image in each image-forming module can be compensated to improve
Image quality, so as to have wide application space in optical imaging field especially video monitoring and overall view monitoring field.
Referring to Fig. 4, the utility model first embodiment, which provides a kind of panoramic scanning device 10, includes base 11, rotary flat
Platform 12 and imaging mechanism 13.The rotation platform 12 is arranged at the base 11, and the imaging mechanism 13 is arranged at the rotation
Turn platform 12, the rotation platform 12 and imaging mechanism 13 can rotate relative to the base 11.
The rotation platform 12 include rotation upper mounting plate 121, rotation lower platform 122, rotating shaft 123, the first motor 124 and
Second motor 125.The rotation upper mounting plate 122 is fixed in the rotating shaft 123, lower platform 122 and is arranged at through the rotation
The base 11.First motor 124 is arranged at the rotation lower platform 122, and first motor 124 passes through drive disk assembly band
Move the rotating shaft 123 to rotate, the rotating shaft 123 drives the rotation upper mounting plate 121, rotation lower platform 122 to do in the horizontal direction
Rotation, that is, drive the rotation platform 12 to rotate in the horizontal direction, is arranged at the imaging mechanism 13 of the rotation platform 12 also one
Play synchronous rotary.Second motor 125 is arranged at the rotation upper mounting plate 121.
Also referring to Fig. 5, Fig. 6 and Fig. 7, the imaging mechanism 13 includes two support columns 131, housing 132 and shooting
Unit 133, the imaging mechanism 13 is arranged on the rotation platform 12, and can be set with the rotation platform synchronous rotary.
The housing 132 is supported by two support columns 131 is vacantly arranged at the rotation upper mounting plate 121, and the shooting unit 133 is set
In in the housing 132.The housing 132 is made up of procapsid 1321 and back casing 1322, and the procapsid 1321 is provided with
Infrared ray form 1323 and visible ray form 1324.The direction that the infrared ray form 1323 is faced with visible ray form 1324 can
It is identical, so that the shooting unit 133 can obtain the image in same visual angle simultaneously.Further, the infrared ray is regarded
In window 1323 and visible ray form 1324 can be generally aligned in the same plane, the size of the infrared ray form 1323 is smaller than visible ray form
1324 size.The side of the housing 132 is settable a protruding shaft 1325, and second motor 125 can be with by drive disk assembly
The protruding shaft 1325 is driven to rotate.The axial direction of the protruding shaft 1325 can be perpendicular to the axial direction of the rotating shaft 123, therefore can drive
Imaging mechanism 13 is overall to rotate in vertical direction, so as to realize the pitching motion of housing 132 and shooting unit 133,
So as to control the luffing angle of shooting unit 133 in the horizontal direction, the scope found a view is controlled.Further, in adjustment pitching
During angle, the position relationship of each part in the inside of shooting unit 133 each other keeps constant.Further, it is described red
Outside line form 1323 and visible ray form 1324 can be also oppositely arranged, for obtaining image in relative perspective.
Also referring to Fig. 8, the shooting unit 133 includes optical imaging device bearing support 1330, first and is imaged mould
The image-forming module 1336 of block 1332 and second, specifically, the shooting unit 133 includes supporting plate 1331, the first image-forming module
1332nd, the first galvanometer unit 1333, the second image-forming module 1336 and the second galvanometer unit 1337.First image-forming module
1332 can be infrared imaging module, and for sensing infrared ray and the imaging that object is sent, second image-forming module 1336 can
For visual light imaging module, sent or the visible ray reflected and imaging for sensing object.The He of first image-forming module 1332
First galvanometer unit 1333 and the second image-forming module 1336 and the second galvanometer unit 1337 can be respectively arranged at the supporting plate
1331 relative first surfaces and second surface.Further, first image-forming module 1332 and second image-forming module
1336 can be arranged oppositely, i.e., the direction that the camera lens of described first image-forming module 1332 is faced and second image-forming module 1336
It is in opposite direction that camera lens is faced, and to reduce the overall space taken of shooting unit 133, reduces the volume of imaging mechanism 13.In addition,
When supporting plate 1331 is vertically arranged, in the vertical direction, first image-forming module 1332 and second image-forming module
1336 can be staggered, i.e., the first image-forming module of in the vertical direction 1332 is located at different from second image-forming module 1336
Horizontal plane.
The supporting plate 1331 is settable the through hole 1304 of first through hole 1303 and second, the first through hole 1303 and institute
State that the second through hole 1304 corresponds respectively to the first galvanometer eyeglass 1334 and the second galvanometer eyeglass 1338 is set, from first through hole
1303 incident light incide the surface of the first galvanometer eyeglass 1334, and second is incided from the incident light of the second through hole 1304
The surface of galvanometer eyeglass 1338.Specifically, the first galvanometer eyeglass 1334 in face of the surface of the supporting plate 1331 from described
First through hole 1303 is exposed, and the second galvanometer eyeglass 1338 is logical from described second in face of the surface of the supporting plate 1331
Hole 1304 is exposed, to reflect from the incident light of 1303 or second through hole of first through hole 1304.Therefore, it is possible to more square
Just to the acquisition of incident ray, and it is more beneficial for the setting of follow-up imaging unit.Meanwhile, by setting the first through hole
1303 and second through hole 1304 so that the first galvanometer eyeglass 1334 and the second galvanometer eyeglass 1338 can be incident to same visual angle
Light reflected, to facilitate the follow-up image in the visual angle to carry out different types of image acquisition and analysis.This implementation
In example, the through hole 1304 of first through hole 1303 and second is according to the first galvanometer eyeglass 1334 and the second galvanometer eyeglass 1338
Stagger setting, it is in " S " structure to make the supporting plate 1331.It is appreciated that the set-up mode and quantity of through hole can also be according to realities
Border needs to be selected, with suitable for different application environments.
The image-forming module 1336 of first image-forming module 1332 and second includes array image sensor respectively, so as to
Under the circumference of the high-speed rotation, the enough stationary exposure time is still ensure that, clearly image is obtained, and with very high
Resolving accuracy.
Also referring to Fig. 9, the first galvanometer unit 1333 includes the first galvanometer eyeglass 1334 and the first galvanometer motor
1335.The first galvanometer eyeglass 1334 is arranged on before the camera lens of first image-forming module 1332, will incide
The light of one galvanometer eyeglass 1334 reflects into the first image-forming module 1332.Further, the first galvanometer eyeglass 1334 is first
At least can be in positive and negative 10 degree of angular range internal vibration under the driving of galvanometer motor 1335.First galvanometer motor 1335 is used
In driving the first galvanometer eyeglass 1334 reverse rotation and reset are done relative to the rotation direction of the rotation platform 12.It is described
It is located at initial position during the first 1334 non-rotation compensation of galvanometer eyeglass.The first galvanometer eyeglass 1334 can be in the first galvanometer motor
Under 1335 driving, model of the initial position with predeterminated frequency at positive and negative 10 degree during relative to the first galvanometer 1334 non-rotation of eyeglass
Enclose interior positive and counter-rotating and reset.Specifically, when being shot, the direction of rotation of the first galvanometer eyeglass 1334 with
The direction of rotation of the rotation platform 12 is on the contrary, the direction of rotation of i.e. described first galvanometer eyeglass 1334 and the described first imaging mould
The direction of rotation of block 1332 is opposite；When rotation platform 12 turns clockwise, then the rotate counterclockwise of the first galvanometer eyeglass 1334 is shaken
It is dynamic；Conversely, then the first galvanometer eyeglass 1334 turns clockwise vibration.Wherein, the infrared ray form 1323, the first galvanometer eyeglass
1334 and first image-forming module 1332 position relationship need to meet the infrared ray come in from infrared ray form 1323 be incident to it is described
First galvanometer eyeglass 1334, is incident to the camera lens of the first image-forming module 1332 after the reflection of the first galvanometer eyeglass 1334,
And be imaged on the array image sensor of first image-forming module 1332.Further, the rotation of the first galvanometer eyeglass 1334
Angular speed can be the angular velocity of rotation of rotation platform 12 1/2nd, specifically, the first galvanometer eyeglass 1334 relative to
The size of angular speed during the first 1332 counter-rotating of image-forming module for the angular velocity of rotation of the first image-forming module 1332 two/
One.In the present embodiment, the geometric center of the infrared ray form 1323, the geometric center of the first galvanometer eyeglass 1334, Yi Ji
The geometric center of one image-forming module 1332 is located in the same horizontal plane.
Similar, also referring to Figure 10, the second galvanometer unit 1337 includes the second galvanometer eyeglass 1338 and second
Galvanometer motor 1339.The second galvanometer eyeglass 1338, can be relative to initial bit under the driving of the second galvanometer motor 1339
Put the angular range internal vibration at positive and negative 10 degree and reset, the second galvanometer eyeglass 1338 is arranged on second image-forming module
Before 1336 camera lens.Likewise, the direction of rotation of the second galvanometer eyeglass 1338 and the direction of rotation of the rotation platform 12
Conversely.Further, the second galvanometer eyeglass 1338 rotates around the angular speed that its own rotation axis rotates for the rotation platform
/ 2nd of angular speed, i.e., angle speed when described second galvanometer eyeglass 1338 is relative to the second 1336 counter-rotating of image-forming module
The size of degree is 1/2nd of the rotation platform angular velocity of rotation, is realized with accurate to the second imaging mould in rotary course
In block 1336 into image compensation, improve image quality.The visible ray form 1324, the second galvanometer eyeglass 1338 and second
The position relationship of image-forming module 1336 will meet the visible ray come in from visible ray form 1324 and be incident to the second galvanometer mirror
Piece 1338, is incident to the camera lens of the second image-forming module 1336 after the reflection of the second galvanometer eyeglass 1338, and this second
It is imaged on the array image sensor of image-forming module 1336.
Further, in the present embodiment, in initial position, the reflecting surface of the first galvanometer eyeglass 1334 can be with the infrared ray
Angle between the imaging surface of form 1323 and first image-forming module 1332 is 45 degree；Similar, the second galvanometer mirror
The reflecting surface of piece 1338 can be between the imaging surface of the image-forming module 1336 of visible ray form 1324 and second angle
It is 45 degree；Meanwhile, it is mutually perpendicular between the first galvanometer eyeglass 1334 and the second galvanometer eyeglass 1338.First imaging
Module 1332, the first galvanometer unit 1333, the second image-forming module 1336 and the second galvanometer unit 1337 cooperate, and can be used for
Obtain the image in equidirectional visual angle, it can also be used to obtain the image in the visual angle of different directions such as relative direction.
The image obtained on array image sensor by first image-forming module 1332, and the second image-forming module
The image obtained on 1336 array image sensor, can also be finally synthesizing an image by image processing system.
It is appreciated that the structure not limited to this of panoramic scanning device 10 of the present utility model, as long as the shooting unit 133
Can 360 degree of rotations realize pan-shot.That is, the structure of the base 11 and rotation platform 12 is not limited to this reality
Apply example, or other structures, for example, can also take individual layer rotation platform, or drive shooting unit 133 to rotate by rotating disk,
As long as the shooting unit 133 can 360 degree of rotations realize pan-shot.
Also referring to Figure 11, the panoramic scanning device 10 of the present embodiment is when carrying out panoramic scanning, in order to meet scanning
The requirement general control panoramic scanning device in shooting unit 133 rotating speed.If the first image-forming module 1332 and the second one-tenth
As the angle of visual field of the camera lens of module 1336 is θ, then it is 360 °/θ, the then shooting unit 133, including the first one-tenth to separate number n
As the rotating speed of the image-forming module 1336 of module 1332 and second need to meet v≤f/n revolutions per seconds, wherein, f is imaging frequency, namely per second
The frame number of shooting.In the present embodiment, as f=50, that is to say, that θ/360 revolutions per second of v≤5, v round numbers.For example, θ=18 °, n
=20, v≤2 revolutions per seconds；θ=30 °, n=12, v≤4 revolutions per second；θ=60 °, n=6, v≤8 revolutions per second.The camera lens are regarded
Rink corner θ is different, and the rotating speed of the shooting unit 133 is also different.Shooting unit 133 is shot simultaneously during rotation.
First, the angle of pitch of shooting unit 133 in panoramic scanning device is adjusted by controlling second motor 125, it is determined that find a view
Scope；Then, control shooting unit 133 does 360 degree of rotations, obtains the panoramic picture under commanded pitch attitude angle.
During shooting, if without the first galvanometer eyeglass 1334 and the second galvanometer eyeglass 1338, it is single due to shooting
Member 133 is shot in rotation, and shooting effect is bound to be influenceed by very big, and image has the phenomenon of hangover.
And the utility model is respectively provided with the first galvanometer before the first image-forming module 1332 and the second image-forming module 1336
The galvanometer eyeglass 1338 of eyeglass 1334 and second, institute is incident to from the infrared ray of subject outgoing through infrared ray form 1323
The first galvanometer eyeglass 1334 is stated, the camera lens of the first image-forming module 1332 is incident to by the reflection of the first galvanometer eyeglass 1334,
The visible light-transmissive visible ray form 1324 reflected from subject is incident to the second galvanometer eyeglass 1338, by this
The camera lens of the second image-forming module 1336 is incident to after the reflection of two galvanometer eyeglasses 1338.The first galvanometer eyeglass 1334 and second shakes
Mirror eyeglass 1338 is rotated under the driving of the first motor 124 with certain speed, while by controlling first galvanometer motor
1335 and second galvanometer motor 1339 control the first galvanometer eyeglass 1334 and the second galvanometer eyeglass 1338 respectively with certain angle speed
Degree vibration.
When shooting a photo, it can control the first galvanometer eyeglass 1334 and reversely rotated with certain angular speed, with
Motion of the picture of the subject on the array image sensor of first image-forming module 1332 is compensated, makes to be taken
Object on the array image sensor of first image-forming module 1332 seems static；And control second galvanometer
Eyeglass 1338 is reversely rotated with certain angular speed, to compensate the picture of the subject in second image-forming module 1336
Array image sensor on motion, make subject on the array image sensor of second image-forming module 1336
Seem static；That is, the counter rotational movement of described first galvanometer eyeglass 1334 and the second galvanometer eyeglass 1338 compensate for by
Motion of the picture of object on the array image sensor is shot, makes subject on the array image sensor
Seem static.So, on the array image sensor of the image-forming module 1336 of the first image-forming module 1332 and second
Image quality is more excellent, and the phenomenon of hangover is not had.After this photograph taking terminates, the first galvanometer eyeglass is controlled respectively
1334 and second galvanometer eyeglass 1338 quickly rotate to respective initial position.
In the present embodiment, the angle of visual field θ of the camera lens of the image-forming module 1336 of the first image-forming module 1332 and second is
18 degree, then, it is 20 to separate number n, that is to say, that the shooting unit 133 needs to shoot 20 photos to complete pan-shot.
By controlling first motor 124 to make the rotating speed of shooting unit 133 in panoramic scanning device be 1 revolutions per second, equivalent to 360
The angular speed rotation of degrees second.In shooting process, the first galvanometer eyeglass 1334 and the second galvanometer eyeglass 1338 are controlled respectively
Reversely rotated with the angular speed of 180 degree/second, i.e., the anglec of rotation speed of described first galvanometer eyeglass 1334 and the second galvanometer eyeglass 1338
Spend for 1/2nd of the angular velocity of rotation of the first motor 124, passed with the picture for compensating subject in the face system of battle formations picture
Motion on sensor, makes subject on the array image sensor seem static.After shooting terminates, control respectively
Make the first galvanometer eyeglass 1334 and the second galvanometer eyeglass 1338 quickly rotates to respective initial position.Pass through control afterwards
Software is by the image on the array image sensor of first image-forming module 1332 and the face system of battle formations of the second image-forming module 1336
As the image on sensor synthesizes an image, then this 20 images are realized by one image data of software process quality
360 degree of pan-shot.
It is appreciated that by set the first galvanometer eyeglass 1334, the second galvanometer eyeglass 1338 and the first image-forming module 1332,
Optical position relation between second image-forming module 1336, for example, make the first galvanometer eyeglass 1334 parallel to the second galvanometer mirror
Piece 1338, then first image-forming module 1332 is with that can also be used for photoimaging module 1336 to obtain in relative perspective respectively
Image, i.e., the capture region of described first image-forming module 1332 and the capture region of second image-forming module 1336 on the contrary, from
And make it that the panoramic scanning device 10 often rotates 180 degree, you can obtain the image in 360 degree.That is, the panorama is swept
When imaging apparatus 10 often rotates 180 degree, the image that first image-forming module 1332 is obtained is obtained with second image-forming module 1336
The image taken can access panoramic picture after split, be obtained so as to further improve the panoramic scanning device 10
The frequency of panoramic picture, reduces the probability that monitoring blind area occurs.
The panoramic scanning device 10 of the present embodiment is when being stared, due to first image-forming module 1332 and the second one-tenth
As module 1336 uses array image sensor, so the first galvanometer eyeglass 1334 and the second galvanometer eyeglass 1338 need not
Motion, remains stationary, so as to obtain the image of high identification.
Described panoramic scanning device 10, due to infrared ray form, visible ray form and infrared imaging module and
Visual light imaging module, the infrared imaging module and visual light imaging module can be with 360 degree of rotations, so the panoramic scanning device
Round-the-clock 360 degree of pan-shot in 24 hours can be realized；Further, the panoramic scanning device is only with an infrared imaging
Module, so cost is relatively low.In addition, by setting first galvanometer and the second galvanometer in the panoramic scanning device, in panorama
In the shooting process of scanning, first galvanometer and the second galvanometer are reversely rotated with certain angular speed, and the reverse rotation compensate for
Motion of the picture of subject on the array image sensor, makes subject on the array image sensor
Seem static.So, the picture quality shot by the panoramic scanning device is more excellent, the phenomenon of hangover is not had, greatly
Raising monitoring image accuracy of identification.
In addition, during staring, because the infrared imaging module and visual light imaging module use face
Array image sensor, therefore first galvanometer and the second galvanometer need not move, remains stationary can obtain high-precision figure
Picture.
Also referring to Figure 12, the utility model second embodiment provide a kind of panoramic scanning device 20 include base 11,
Rotation platform 12 and imaging mechanism 13.The rotation platform 12 is arranged at the base 11, and the imaging mechanism 13 is arranged at
The rotation platform 12, the rotation platform 12 and imaging mechanism 13 can rotate relative to the base 11.
The panoramic scanning device 20 that the utility model second embodiment is provided is filled with the panoramic scanning that first embodiment is provided
Put 10 structures essentially identical, its difference is, the shooting unit 133 in the imaging mechanism 13 only includes supporting plate 1331, the
One image-forming module 1332 and the first galvanometer unit 1333.The first galvanometer unit 1333 includes the first galvanometer eyeglass 1334 and the
One galvanometer motor 1335, the first galvanometer eyeglass 1334, can be at positive and negative 10 degree under the driving of the first galvanometer motor 1335
Angular range internal vibration.Further, the direction of rotation of the first galvanometer eyeglass 1334 and first image-forming module 1332
Direction of rotation on the contrary, array image sensor of the picture in first image-forming module 1332 to compensate the subject
On motion, make subject on the array image sensor of first image-forming module 1332 seem it is static, enter
And improve the accuracy of identification of monitoring image.The panoramic scanning device 10 provided relative to first embodiment, the utility model the
The heat radiation that the panoramic scanning device 20 that two embodiments are provided is used to send object carries out infrared imaging, forms panoramic picture.
Also referring to Figure 13, the utility model 3rd embodiment provide a kind of panoramic scanning device 30 include base 11,
Rotation platform 12 and imaging mechanism 13.The rotation platform 12 is arranged at the base 11, and the imaging mechanism 13 is arranged at
The rotation platform 12, the rotation platform 12 and imaging mechanism 13 can rotate relative to the base 11.
The panoramic scanning device 30 that the utility model 3rd embodiment is provided, is filled with the panoramic scanning that first embodiment is provided
Put 10 structures essentially identical, its difference is, the shooting unit 133 in the imaging mechanism 13 only includes supporting plate 1331, the
Two image-forming modules 1336 and the second galvanometer unit 1337.The second galvanometer unit 1337 includes the second galvanometer eyeglass 1338 and the
Two galvanometer motors 1339, the second galvanometer eyeglass 1338, can be at positive and negative 10 degree under the driving of the second galvanometer motor 1339
Angular range internal vibration.In addition, when being shot, the direction of rotation of the second galvanometer eyeglass 1338 with it is described the second one-tenth
As the direction of rotation of module 1336 is on the contrary, to compensate the picture of the subject in the face of second image-forming module 1336 gust
Motion on imaging sensor, makes the subject seem on the array image sensor of second image-forming module 1336
Static, and then improve the accuracy of identification of monitoring image.The panoramic scanning device 10 provided relative to first embodiment, this reality
The visible ray that the panoramic scanning device 20 provided with new 3rd embodiment is used to send object or reflect is imaged, and is formed
Panoramic picture.
Described panoramic scanning device 30 has the advantages that：
(1) there are rotation platform and supporting galvanometer unit lazy-tongs, achievable high speed is walked to stop；
(2) the panoramic scanning device can only with a set of image-forming module can panoramic scanning, pass through (1) high-speed rotating scanning
So as to realize 360 degree of overall view monitorings of high frequency, cost is relatively low；
(3) by setting infrared imaging module and visual light imaging module, the infrared imaging module and visual light imaging mould
Block can be and more single full-time with synchronous rotary, so the panoramic scanning device can realize round-the-clock 360 degree of pan-shot
Resolution of lens and monitoring capacity are stronger.
Also referring to Figure 14, the utility model fourth embodiment further provides for a kind of panoramic scanning monitoring system 100,
The panoramic scanning monitoring system 100 include panoramic scanning module 110, drive control module 120, communication module 130, at information
Reason module 140 and image display 150 are electrically connected.The panoramic scanning module 110 is used to monitoring and obtaining panoramic picture, and
The image of acquisition is transferred into signal processing module 130 by communication module group 120 to be handled；The drive control module 120
Shooting scanning is carried out for receiving the instruction that signal processing module 130 is sent, and according to order-driven panoramic scanning module 110；
The signal processing module 130 be used for drive control module 120 send control instruction, and to the view data of acquisition at
Reason, the image after processing is shown by image display 140.
The panoramic scanning module 110 may include the panoramic scanning device 10, for obtaining monitoring image and scanning figure
Picture.The control instruction that the drive control module 120 is sent according to signal processing module 130, drives the panoramic scanning device
10 carry out image taking and panoramic scanning, to obtain the image and static map of different angles.Specifically, the drive control mould
Block 120 can control the first motor 124 described in panoramic scanning device 10, the second motor 125, the first galvanometer motor 1335 and second
The start and stop of galvanometer motor 1339, so as to control rotation platform 12, imaging mechanism 13, the first galvanometer eyeglass 1334 and the second galvanometer mirror
The rotation of piece 1338, to obtain the image of different angles.Further, when shooting, the drive control module 120 controllable the
The direction of rotation of one galvanometer eyeglass 1334 and the second galvanometer eyeglass 1338 and rotation platform 12 is on the contrary, to compensate the subject
Motion of the picture of body in the first image-forming module 1332 and the second image-forming module 1336, makes subject in the described first imaging
On the array image sensor of the image-forming module 1336 of module 1332 and second seems static, so as to improve the panorama of acquisition
The accuracy of identification of image.
It is appreciated that when the panoramic scanning device 10 is used to obtain the scene of fixed viewpoint, the drive control mould
Block 120 can be an alternative construction.Now the panoramic scanning device 10 can be at fixed angle, with to some specific regions
Carry out lasting monitoring.
The image information that the communication module 130 is used to obtain in panoramic scanning device 10 is transferred to message processing module
140 are handled.The communication module 130 may include wire communication module or wireless communication module, with suitable for different biographies
The wireless mediums such as defeated medium, such as optical fiber, netting twine, cable wire medium, and carrier wave.
Described information processing module 140 is used to send driving instruction to drive control module 120 according to demand, with to difference
Angle be monitored and carry out panoramic scanning, and the image information passed back to communication module 130 is handled, to obtain not
With the image and panorama sketch of angle.Specifically, described information processing module 140 may include driver element and image procossing list
Member, the driver element is used to drive obtains the visible of same angle to the first image-forming module 1332 and the second image-forming module 1336
Light image and infrared image, described image processing unit are used to parse the infrared image and visible images of acquisition, spelled
The processing such as connect, merge, to obtain the image under different periods same background.Specifically, due to it is described it is infrared into module 1332 with
The essentially identical therefore acquired infrared image in the visual angle of second image-forming module 1336 and visible images can pass through described image
Processing unit carries out split, so that in the case of insufficient light, such as night, still can be by the infrared target figure of acquisition
Picture, merges and in the visible images that equal angular is obtained, is being shown, so as to carry in the case that visible ray is sufficient daytime
High adaptability of the panoramic scanning monitoring system 100 to environment.
Described image display module 140 is used to show the image that panoramic scanning device 110 is obtained, aobvious by image
Show that module 140 can monitor panoramic scanning device 110 in real time to the image acquired in neighboring scan.
It is appreciated that above-mentioned panoramic scanning module can be also other panoramic scanning devices, it can carry out according to actual needs
Different selection, combination, to reach different monitoring effects.
In addition, those skilled in the art can also do other changes in the utility model spirit, these are according to this practicality
The change that new spirit is done, should all be included in the claimed scope of the utility model.
Claims (10)
1. a kind of panoramic scanning device, it is characterised in that the panoramic scanning device includes：
Rotation platform；
Image-forming module, the image-forming module is arranged on rotation platform and set with the rotation platform synchronous rotary；
Galvanometer eyeglass, for being reflected the light for inciding galvanometer eyeglass and entering image-forming module, the galvanometer in the horizontal direction
Eyeglass and the image-forming module synchronous rotary, and the galvanometer eyeglass can it is positive relative to the direction of rotation of image-forming module and
Reverse rotation, and direction of rotation is switched with predeterminated frequency.
2. panoramic scanning device as claimed in claim 1, it is characterised in that when the galvanometer eyeglass is relative to image-forming module
During the counter-rotating of direction of rotation, the size of the galvanometer eyeglass angular velocity of rotation is two points of the image-forming module angular velocity of rotation
One of.
3. panoramic scanning device as claimed in claim 1, it is characterised in that the image-forming module is infrared imaging module or can
By one kind in photoimaging module.
4. panoramic scanning device as claimed in claim 1, it is characterised in that same in the galvanometer eyeglass and the image-forming module
On the basis of step rotation, the galvanometer eyeglass being capable of and counter-rotating positive relative to the direction of rotation of the image-forming module.
5. panoramic scanning device as claimed in claim 1, it is characterised in that the galvanometer eyeglass has initial position, described
Galvanometer eyeglass can carry out the forward direction in the range of 10 degree with predeterminated frequency relative to the initial position or counter-rotating and reset.
6. panoramic scanning device as claimed in claim 1, it is characterised in that further comprise supporting plate, the supporting plate is stood
In on the rotation platform, and with the rotation platform synchronous rotary, image-forming module and the galvanometer eyeglass is arranged at the branch
The same surface of fagging.
7. a kind of panoramic scanning device, it is characterised in that the panoramic scanning device includes：
Rotation platform；
Imaging mechanism, the imaging mechanism is arranged on rotation platform, and with the rotation platform synchronous rotary, residing imager
Structure includes：
Image-forming module, the image-forming module and the rotation platform synchronous rotary；
Galvanometer eyeglass, for the light for inciding the galvanometer eyeglass to be reflected into the image-forming module, and the galvanometer mirror
Piece is located at same level with the image-forming module；
Galvanometer motor, for driving galvanometer eyeglass relative to the direction of rotation forward direction of image-forming module and counter-rotating, and with default
Frequency error factor direction of rotation.
8. panoramic scanning device as claimed in claim 7, it is characterised in that when the galvanometer eyeglass is relative to image-forming module
During the counter-rotating of direction of rotation, the size of the angular speed during galvanometer eyeglass counter-rotating is the angular velocity of rotation of image-forming module
/ 2nd of size.
9. panoramic scanning device as claimed in claim 7, it is characterised in that further comprise supporting plate, the supporting plate is set
Be placed on the rotation platform and with rotation platform synchronous rotary, the image-forming module, galvanometer eyeglass are arranged at the supporting plate
Same surface on, and with the rotation platform synchronous rotary；If the imaging frequency of the image-forming module is f, the imaging mould
The rotating speed of block is v, then v is met：
V≤f/n revolutions per seconds；
Wherein, n is segmentation number, and n=360 °/θ, θ is the angle of visual field of image-forming module.
10. panoramic scanning device as claimed in claim 7, it is characterised in that further comprise the first motor and the second motor,
First motor is used to drive rotation platform to rotate, and second motor is used for the angle of pitch for controlling imaging mechanism.
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| CN201621306611.XU CN206523698U (en) | 2016-11-30 | 2016-11-30 | Panoramic scanning device |
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| CN201621306611.XU CN206523698U (en) | 2016-11-30 | 2016-11-30 | Panoramic scanning device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109561275A (en) * | 2017-09-27 | 2019-04-02 | 湖南航天远望科技有限公司 | A kind of area monitoring method and regional monitoring system based on circular scanning |
| CN110371043A (en) * | 2019-07-15 | 2019-10-25 | 北京地平线机器人技术研发有限公司 | Camera system, camera direction regulating method and the device of adjustable shooting direction |
-
2016
- 2016-11-30 CN CN201621306611.XU patent/CN206523698U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109561275A (en) * | 2017-09-27 | 2019-04-02 | 湖南航天远望科技有限公司 | A kind of area monitoring method and regional monitoring system based on circular scanning |
| CN110371043A (en) * | 2019-07-15 | 2019-10-25 | 北京地平线机器人技术研发有限公司 | Camera system, camera direction regulating method and the device of adjustable shooting direction |
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