CN210155384U - Large-visual-field multiband stereoscopic vision auxiliary pilot - Google Patents
Large-visual-field multiband stereoscopic vision auxiliary pilot Download PDFInfo
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- CN210155384U CN210155384U CN201920949708.XU CN201920949708U CN210155384U CN 210155384 U CN210155384 U CN 210155384U CN 201920949708 U CN201920949708 U CN 201920949708U CN 210155384 U CN210155384 U CN 210155384U
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Abstract
The utility model discloses a supplementary pilot of big visual field multiband stereoscopic vision, its characterized in that: the micro-lens group, the infrared lens group, the cover plate group, the shell group, the main control plate group, the micro-lens bracket, the infrared bracket, the gigabit net port and the communication socket are included; the low-light lens group, the infrared lens group, the cover plate group and the main control plate group are fixed on the shell group, the horizontal field angles of the low-light lens group and the infrared lens group are more than or equal to 120 degrees, and the 4-path imaging system is arranged on the shell group horizontally in a mode of the low-light lens group, the infrared lens group, the low-light lens group and the infrared lens group. The vehicle assistant driving instrument has stereoscopic vision, can output target distance information, can select video output according to visible light, thermal imaging, two-waveband naturalness color fusion, black and white fusion and the like, and can work in a round-the-clock off-road environment. The infrared detector core and the low-illumination CMOS core are made and matched with a weapon system, and can assist a driver to drive an armored vehicle and discover a living target and an obstacle.
Description
Technical Field
The utility model relates to a vehicle auxiliary driving system corollary equipment technical field, in particular to supplementary pilot of big visual field multiband stereo vision.
Background
The infrared thermal imaging technology is that if the surface temperature of an object exceeds absolute zero, electromagnetic waves can be radiated, and along with the temperature change, the radiation intensity and the distribution characteristic of the electromagnetic waves are changed. The infrared thermal imaging technology is actually a wavelength conversion technology, a photoelectric technology is used for detecting infrared thermal radiation of an object, the signal is converted into visible light visible to human vision, a target image is obtained by utilizing the difference of infrared radiation of a scene and all components, the defect that active infrared night vision is easy to expose by self is overcome, and the defect that passive low-light night vision is completely dependent on environment natural night light and no light and cannot be imaged is overcome. Thus, infrared thermal imaging techniques have the advantages of being "fully passive" and "all-weather". In recent years, the uncooled infrared imaging technology in China is rapidly developed, and various high-performance infrared machine cores are layered in a large number, so that the application field of the uncooled infrared imaging technology is wider.
The CMOS imaging technology-CMOS is an image sensor, is a novel imaging device which develops rapidly in recent years, and each unit pixel point on a core structure consists of a photosensitive electrode, an electric signal conversion unit, a signal transmission transistor and a signal amplifier. The CMOS receives light and generates electric signals after photoelectric conversion, the electric signals are sequentially extracted from one pixel to an external analog-to-digital converter by the CMOS, and the electric signals are recorded and interpreted into images by a processing chip. During specific work, the horizontal transmission part collects signals and the vertical transmission part sends out all signals, so that the CMOS sensor can amplify the signals on the basis of each pixel.
The image fusion technology-image fusion technology refers to that image data which are collected by a multi-source channel and related to the same target are subjected to image processing, computer technology and the like, favorable information in respective channels is extracted to the maximum extent, and finally high-quality images are synthesized, so that the utilization rate of image information is improved, the computer interpretation precision and reliability are improved, and the spatial resolution and the spectral resolution of an original image are improved. The image fusion circuit can realize the fusion display of the multi-source channel image only by a certain algorithm, and at present, the multi-band color fusion algorithm is roughly of several types: a. color space direct mapping method of multiband image; b. a pyramid fusion algorithm of the multiband image; c. a nature-feeling color night vision processing algorithm based on human visual characteristics; d. a nature-feeling color night vision processing algorithm based on color transfer. The image fusion is divided into three levels from low to high: the method comprises the following steps of pixel level fusion, feature level fusion and decision level fusion, so that a plurality of fusion algorithms are derived, different algorithms exist according to different requirements and different application scenes, and the technical difficulty that how to improve the definition of a fused image, reduce noise and maximally utilize useful information of each channel is the technical difficulty that image fusion needs to be continuously researched due to the optimization design of the algorithms.
The image registration technology, namely the registration method of the homologous image at present, is mature, but as the image fusion belongs to pixel level fusion, the micro-light and infrared images also need to be accurately registered, and the algorithm of the heterologous image registration needs to be further improved. In the aspect of a registration algorithm, an improved SIFT feature matching algorithm is generally adopted to splice infrared images so as to complete the acquisition of the large-field infrared image. The SIFT feature algorithm is a classical and robust scale invariant feature algorithm, shows good invariance in the aspects of scale, rotation, noise, brightness change and the like, and is proposed by a plurality of new algorithms, and most of the SIFT feature algorithms are improvements made on SIFT. For example, PCA-SIFT is a method for converting a histogram in SIFT into a principal component analysis method, SURF is a method for increasing the speed of feature extraction through the steps of an integral graph and box filtering, and other improved algorithms include ASIFT taking affine invariance into consideration, CSIFT taking color information into consideration, and the like. These algorithms are well established methods.
The stereoscopic vision camera parameter calibration technology-an excellent stereoscopic imaging system needs to accurately calibrate smaller camera parameters, and the classic camera parameter calibration method of Zhangyiyou can meet the precision requirement of a general stereoscopic vision imaging system, but if a lens adopts an ultra-wide-angle lens, compared with a conventional image, the lens has very large barrel distortion. For example, the parameter calibration is performed by using a square-pattern checkerboard for the conventional camera calibration, and for fisheye images, the parameter calibration can be performed by using a circular-pattern checkerboard due to large radial distortion.
SUMMERY OF THE UTILITY MODEL
The utility model discloses the main problem that solves is: aiming at the use limitations of a black-and-white/monochromatic imaging mode, narrow visual field, lack of body type feeling and the like of the traditional night auxiliary driving instrument, the auxiliary driving instrument which is suitable for modern vehicle-mounted night auxiliary driving and has the functions of large visual field, multiband, stereoscopic vision, distance measurement and the like is designed.
In order to solve the technical problem, the utility model provides a big visual field multiband stereoscopic vision assists navigating instrument, its characterized in that: the micro-lens system comprises a micro-lens group (A), an infrared lens group (B), a cover plate group (C), a shell group (D), a main control plate group (E), a micro-lens support (15), an infrared support (16), a gigabit net port (17) and a communication socket (18); the micro light lens group (A) is connected to a micro light bracket (15) through a screw (21), the micro light bracket (15) is connected to the bottom of the shell group (D) through the screw (21), and the front end of the micro light lens group is pressed tightly through a pressing ring 6 (20); the infrared lens group (B) is connected to the infrared bracket (16) through a screw (21), the infrared bracket (16) is connected to the bottom of the shell group (D) through the screw (21), and the front end of the infrared lens group is fixed through the screw (21); the main control plate set (E) is supported by using an insulating padding column (19) and is fixed on the shell set (D) through a screw (21) and a gasket (22); the cover plate group (C) is connected with the shell group (D) through a screw (21); the horizontal field angles of the low-light lens group (A) and the infrared lens group (B) are both more than or equal to 120 degrees, and the low-light lens group and the infrared lens group (B) are horizontally arranged on the shell group (D) according to the modes of the low-light lens group, the infrared lens group, the low-light lens group and the infrared lens group, and have the functions of image fusion, stereoscopic vision, target ranging and the like.
The gigabit net port (17) is fixed on the cover plate group (C) through a screw (21); the communication socket (18) is fixed on the cover plate group (C) through a screw (21) and a flange (42);
the structure is as follows: the micro-lens group (A) consists of a micro-objective first lens (1), a micro-objective second lens (2), a micro-objective third lens (3), a micro-objective first cemented lens (4), a micro-objective second cemented lens (5), a diaphragm plate (6), a micro-objective third cemented lens (7), a micro-objective tenth lens (8), a micro-objective eleventh lens (9), a clamping ring 1(23), a lens body (24), a spacer ring 1(28), a spacer ring 2(27), a spacer ring 3(26), a spacer ring 4(25), a clamping ring 2(29), a fifth group lens frame (30), a spacer ring 5(31), a spacer ring 6(32), a clamping ring 3(33) and a low-illumination CMOS movement (34). The lenses are respectively arranged on the lens bodies, are separated by a spacing ring and are finally pressed by a pressing ring, and the low-illumination CMOS machine core (34) is matched with the lens bodies (24) through threads. The second cemented lens (5) of the objective lens is sensitive, a plurality of small holes are structurally designed, and the imaging quality is better by poking the small holes.
The infrared lens group (B) consists of an infrared objective lens first lens (10), an infrared objective lens second lens (11), an infrared objective lens third lens (12), an infrared objective lens fourth lens (13), an infrared objective lens fifth lens (14), a front objective lens barrel (35), a pressing ring 4(36), a lens barrel (37), a pressing ring 5(38), a distance adjusting spacer ring (39), a rear objective lens barrel (40) and an infrared detector movement (41). An infrared objective lens first lens (10), an infrared objective lens second lens (11) and a front objective lens barrel (35) form an objective lens front group, an infrared objective lens fifth lens (14) and a rear objective lens barrel (40) form a rear objective lens group, an infrared objective lens third lens (12) and an infrared objective lens fourth lens (13) are respectively soft-mounted on the lens barrel (37), the objective lens is assembled on the lens barrel (37) in front and then compressed by a pressing ring 4(36), the objective lens is assembled on the lens barrel (37) in rear and then compressed by a pressing ring 5(38), an infrared detector movement (41) is mounted on the lens barrel (37) through a screw (21), and optical intervals are ensured by trimming a lens frame of the objective lens front group and the objective lens rear group.
The utility model discloses specific technical performance index is as follows:
1 optical Properties
The main technical indexes of the infrared channel (infrared lens group) are as follows:
1) horizontal field angle: not less than 120 degrees;
2) the horizontal distance measurement range is more than or equal to 120 degrees;
3) the distance measurement error is better than 30cm (distance 15m) and better than 2.0m (distance 30 m);
4) a detector pixel: not less than 1024 × 768;
5) the detector NETD: less than or equal to 50 mk;
the main technical indexes of the micro light channel (micro light lens group) are as follows:
1) horizontal field angle: not less than 120 degrees;
2) the horizontal distance measurement range is more than or equal to 120 degrees;
3) the distance measurement error is better than 20cm (distance 15m) and better than 1.0m (distance 30 m);
4) a detector pixel: the ratio of 1920 x 1080 is more than or equal to;
the main technical indexes of the fusion channel are as follows:
1) horizontal field angle: not less than 120 degrees;
2) fusing data; the resolution of the output fused image is not less than 640 × 480, and the fused image can be customized according to requirements (the maximum is 1920 × 1080);
3) an output interface: gigabit network interface + HDMI interface.
4) And (3) outputting frame frequency: the frame/second is more than or equal to 25 frames/second.
2, starting time: less than or equal to 30S;
3, working mode: infrared, dim light and fusion modes;
4, power supply: the working voltage is 26V +/-4V, and the rated total power is less than or equal to 20W;
5 base length: less than or equal to 100 cm;
6, volume: less than or equal to 0.01 cubic meter;
7, weight: less than or equal to 5 kg;
the utility model discloses have the stereovision, exportable target distance information can be according to selection video output such as visible light, thermal imaging, two wave bands nature sense colored fusion and black and white fusion, can export 5 passageway multispectral image data that contain RGB, degree of depth, infrared, can be at the vehicle assistant pilot who works under the cross-country environment round clock. The infrared detector core assembly is made of a non-refrigeration infrared detector core assembly and a low-illumination CMOS core assembly, is matched with a weapon system, and can assist a driver to drive an armored vehicle and discover a living target, an obstacle and the like. The utility model discloses there are 2 way shimmer images, 2 way infrared image, the structural style is according to shimmer lens group-infrared lens group-shimmer lens group-infrared lens group mode horizontal arrangement on casing group (D), and each way imaging system horizontal field angle all is not less than 120, and horizontal range finding scope is not less than 120.
Drawings
The following describes in further detail embodiments of the present invention with reference to the accompanying drawings.
Fig. 1 is a diagram of an overall optical system according to the present invention;
FIG. 2 is a diagram of a low-light level lens system according to the present invention;
fig. 3 is a diagram of an optical system of the infrared lens of the present invention;
fig. 4 is a schematic exterior view of the steering apparatus of the present invention;
fig. 5 is a view showing a configuration of a pilot apparatus according to the present invention;
FIG. 6 is a view showing the structure of the low-light level lens set of the present invention;
fig. 7 is a structural diagram of an infrared lens group according to the present invention;
fig. 8 is a three-dimensional schematic view of a cover plate of the present invention;
fig. 9 is a three-dimensional schematic view of the housing of the present invention;
wherein: A. a micro lens group; B. an infrared lens group; C. a cover plate group; D. a housing group; E. a main control board group; 1. a first micro objective lens; 2, a second lens of the low-light-level objective lens; 3. a third lens of the low-light objective lens; 4. a first cemented lens of a low-light objective lens; 5. a second cemented lens of the low-light objective lens; 6. aperture diaphragm, 7, third cemented lens of low-light objective lens; 8. a tenth micro objective lens; 9. an eleventh micro-objective lens; 10. an infrared objective lens first lens; 11. an infrared objective lens second lens; 12. an infrared objective lens third lens; 13. an infrared objective lens fourth lens; 14. a fifth lens of the infrared objective lens; 15. a low-light-level bracket; 16. an infrared bracket; 17. kilomega network port; 18. a communication socket; 19. an insulating pad post; 20. a pressing ring 6; 21 a screw; 22. a gasket; 23. pressing ring 1; 24. a lens body; 25. a space ring 4; 26. a space ring 3; 27. a space ring 2; 28. a space ring 1; 29. a pressing ring 2; 30. a fifth group lens frame; 31. a space ring 5; 32. a space ring 6; 33. a pressing ring 3; 34. a low-illumination CMOS engine core; 35. a front objective lens barrel; 36. a pressing ring 4; 37. a lens barrel; 38. a pressing ring 5; 39. adjusting the distance and spacing ring; 40. a rear objective lens barrel; 41. an infrared detector core; 42. and (4) a flange.
Detailed Description
As shown in 1, 4, 5, 8, 9, a large visual field multiband stereoscopic vision auxiliary pilot is characterized in that: the micro-lens group comprises a micro-lens group A, an infrared lens group B, a cover plate group C, a shell group D, a main control plate group E, a micro-lens bracket 15, an infrared bracket 16, a gigabit net port 17 and a communication socket 18; the micro lens group A is connected to a micro light bracket 15 through a screw 21, the micro light bracket 15 is connected to the bottom of the shell group (D) through the screw 21, and the front end of the micro lens group A is pressed tightly through a pressing ring 620; the infrared lens group B is connected to the infrared bracket 16 through a screw 21, the infrared bracket 16 is connected to the bottom of the shell group D through a screw 21, and the front end of the infrared lens group B is fixed through the screw 21; the main control plate group E is supported by an insulating pad column 19 and is fixed on the shell group D through a screw 21 and a gasket 22; the cover plate group C is connected with the shell group D through a screw 21; the horizontal field angles of the low-light lens group A and the infrared lens group B are both larger than or equal to 120 degrees, and the low-light lens group A and the infrared lens group B are horizontally arranged on the shell group (D) in a mode of low-light lens group-infrared lens group-low-light lens group-infrared lens group, so that the low-light lens group A and the infrared lens group B have the functions of image fusion, stereoscopic vision, target ranging and the like.
The gigabit net port 17 is fixed on the cover plate group C through a screw 21; the communication socket 18 is fixed on the cover plate group C through a screw 21 and a flange (42);
as shown in fig. 2 and 6, the micro lens group a is composed of a first objective lens 1, a second objective lens 2, a third objective lens 3, a first objective cemented lens 4, a second objective cemented lens 5, a diaphragm plate 6, a third objective cemented lens 7, a tenth objective lens 8, an eleventh objective lens 9, a pressing ring 123, a lens body 24, a spacer 128, a spacer 227, a spacer 326, a spacer 425, a pressing ring 229, a fifth group lens frame 30, a CMOS spacer 531, a spacer 632, a pressing ring 333, and a low-illumination engine 34. The lenses are respectively arranged on the lens body, the lenses are separated by a space ring and are finally pressed by a pressing ring, and the low-illumination CMOS movement 34 is matched with the lens body 24 through threads. The second cemented lens 5 of the objective lens is sensitive, a plurality of small holes are arranged on the structure, and the imaging quality is better by poking the small holes.
As shown in fig. 3 and 7, the infrared lens group B is composed of a first infrared objective lens 10, a second infrared objective lens 11, a third infrared objective lens 12, a fourth infrared objective lens 13, a fifth infrared objective lens 14, a front objective lens barrel 35, a pressing ring 436, a lens barrel 37, a pressing ring 538, a distance adjusting spacer 39, a rear objective lens barrel 40, and an infrared detector movement 41. The first lens 10 of the infrared objective lens, the second lens 11 of the infrared objective lens and the front objective lens barrel 35 form a front objective lens group, the fifth lens 14 of the infrared objective lens and the rear objective lens barrel 40 form a rear objective lens group, the third lens 12 of the infrared objective lens and the fourth lens 13 of the infrared objective lens are respectively soft-mounted on the lens barrel 37, the front objective lens is tightly pressed by a pressing ring 436 after being assembled on the lens barrel 37, the rear objective lens is tightly pressed by a pressing ring 538 after being assembled on the lens barrel 37, the movement 41 of the infrared detector is mounted on the lens barrel 37 by a screw 21, and optical intervals are ensured by trimming the lens frames of the front objective lens group and the rear objective lens group.
The utility model discloses a theory of operation does: under the all-weather condition of day or night, a low-light-level objective lens images a target irradiated by natural light (sunlight, starlight, moonlight and the like) on a target surface of a CMOS detector, the detector converts an optical signal into an electric signal, and the electric signal is amplified and processed to output a digital video signal; the infrared objective lens receives infrared radiation of an observed target, the detector converts the infrared radiation into an electric signal, and the digital video signal is output after the electric signal is amplified and processed. The main control board receives digital video signals of a front-end four-way CMOS camera and a non-refrigeration infrared camera under the drive of a unified synchronous signal, low-illumination low-light-level stereoscopic vision and distance measurement, infrared stereoscopic vision and distance measurement and two-waveband natural color/black and white night vision image processing are completed through calibrated two-module digital video image data, and a low-illumination low-light-level, infrared thermal imaging and two-waveband natural color/black and white image output mode is selected according to an instruction of an operator to provide subsequent image application.
Claims (5)
1. A large visual field multiband stereoscopic vision auxiliary pilot is characterized in that: the micro-lens system comprises a micro-lens group (A), an infrared lens group (B), a cover plate group (C), a shell group (D), a main control plate group (E), a micro-lens support (15), an infrared support (16), a gigabit net port (17) and a communication socket (18); the micro light lens group (A) is connected to a micro light bracket (15) through a screw (21), the micro light bracket (15) is connected to the bottom of the shell group (D) through the screw (21), and the front end of the micro light lens group is pressed tightly through a pressing ring 6 (20); the infrared lens group (B) is connected to the infrared bracket (16) through a screw (21), the infrared bracket (16) is connected to the bottom of the shell group (D) through the screw (21), and the front end of the infrared lens group is fixed through the screw (21); the main control plate set (E) is supported by using an insulating padding column (19) and is fixed on the shell set (D) through a screw (21) and a gasket (22); the cover plate group (C) is connected with the shell group (D) through a screw (21); the horizontal field angles of the low-light lens group (A) and the infrared lens group (B) are both more than or equal to 120 degrees, and the 4-path imaging system is arranged on the shell group (D) horizontally in a mode of low-light lens group-infrared lens group-low-light lens group-infrared lens group.
2. The large field of view multiband stereoscopic vision assistant driver according to claim 1, characterized in that: the gigabit net port (17) is fixed on the cover plate group (C) through a screw (21); the communication socket (18) is fixed on the cover plate group (C) through a screw (21) and a flange (42).
3. The large field of view multiband stereoscopic vision assistant driver according to claim 1, characterized in that: the micro-lens group (A) consists of a micro-objective first lens (1), a micro-objective second lens (2), a micro-objective third lens (3), a micro-objective first cemented lens (4), a micro-objective second cemented lens (5), a diaphragm plate (6), a micro-objective third cemented lens (7), a micro-objective tenth lens (8), a micro-objective eleventh lens (9), a clamping ring 1(23), a lens body (24), a spacer ring 1(28), a spacer ring 2(27), a spacer ring 3(26), a spacer ring 4(25), a clamping ring 2(29), a fifth group lens frame (30), a spacer ring 5(31), a spacer ring 6(32), a clamping ring 3(33) and a low-illumination CMOS movement (34); the lenses are respectively arranged on the lens bodies, are separated by a spacing ring and are finally pressed by a pressing ring, and the low-illumination CMOS machine core (34) is matched with the lens bodies (24) through threads.
4. The large field of view multiband stereoscopic vision assistant driver according to claim 1, characterized in that: the infrared lens group (B) consists of an infrared objective lens first lens (10), an infrared objective lens second lens (11), an infrared objective lens third lens (12), an infrared objective lens fourth lens (13), an infrared objective lens fifth lens (14), a front objective lens barrel (35), a pressing ring 4(36), a lens barrel (37), a pressing ring 5(38), a distance adjusting spacer ring (39), a rear objective lens barrel (40) and an infrared detector movement (41); an infrared objective lens first lens (10), an infrared objective lens second lens (11) and a front objective lens barrel (35) form an objective lens front group, an infrared objective lens fifth lens (14) and a rear objective lens barrel (40) form a rear objective lens group, an infrared objective lens third lens (12) and an infrared objective lens fourth lens (13) are respectively soft-mounted on the lens barrel (37), the objective lens is assembled on the lens barrel (37) in front and then compressed by a pressing ring 4(36), the objective lens is assembled on the lens barrel (37) in rear and then compressed by a pressing ring 5(38), an infrared detector movement (41) is mounted on the lens barrel (37) through a screw (21), and optical intervals are ensured by trimming a lens frame of the objective lens front group and the objective lens rear group.
5. The large field of view multiband stereoscopic vision assistant driver according to claim 3, characterized in that: the second cemented lens (5) of the objective lens is provided with a plurality of small holes.
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