CN210690927U - Vehicle-mounted sensor system and vehicle - Google Patents
Vehicle-mounted sensor system and vehicle Download PDFInfo
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- CN210690927U CN210690927U CN201922032571.4U CN201922032571U CN210690927U CN 210690927 U CN210690927 U CN 210690927U CN 201922032571 U CN201922032571 U CN 201922032571U CN 210690927 U CN210690927 U CN 210690927U
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Abstract
The embodiment of the utility model provides a vehicle-mounted sensor system and vehicle, vehicle-mounted sensor system include around the revolving stage of center pin horizontal rotation and install the sensor on the revolving stage, wherein, the imaging system of sensor includes telescope subsystem, first speculum and relay optical system that arrange in proper order along the light transmission path of object space to image space; the first reflector also horizontally rotates around the central shaft, and the stability of the image surface in the rotating process of the rotary table is ensured through the reverse rotation of the first reflector.
Description
Technical Field
The utility model relates to a vehicle technical field, more specifically say, relate to on-vehicle sensor system and vehicle.
Background
At present, the information acquisition outside the vehicle can be generally acquired by high-precision navigation systems such as a vehicle-mounted sensor, a GPS or a Beidou system and the like. The existing vehicle-mounted sensor rotates around a central shaft to acquire 360-degree view field information, but the sensor still rotates within the integration time, so that imaging is blurred, and the vehicle-mounted sensor cannot be normally used in severe cases.
SUMMERY OF THE UTILITY MODEL
In view of this, the utility model provides an on-vehicle sensor and vehicle aims at solving above-mentioned technical problem.
In order to achieve the above object, the following solutions are proposed:
in a first aspect, the present invention provides an on-vehicle sensor system, including: a turntable for horizontal rotation about a central axis and a sensor mounted on the turntable;
the sensor comprises an imaging system, wherein the imaging system comprises a telescope subsystem, a first reflector and a relay optical system which are sequentially arranged along a light transmission path from an object side to an image side;
the first mirror may be horizontally rotatable about the central axis in the same rotational direction as the turntable, and the first mirror may be horizontally rotatable about the central axis in an opposite rotational direction from the turntable.
Optionally, the telescope subsystem includes:
the first lens, the second lens and the third lens are sequentially arranged along the light transmission path;
the first lens comprises a first cambered surface and a second cambered surface which are sequentially arranged along the light transmission path;
the second lens comprises a third cambered surface and a fourth cambered surface which are sequentially arranged along the light transmission path;
the third lens comprises a fifth cambered surface and a sixth cambered surface which are sequentially arranged along the light transmission path;
the first arc surface, the second arc surface, the third arc surface, the fourth arc surface, the fifth arc surface and the sixth arc surface are all concave surfaces relative to the incident side of light.
Optionally, the first arc surface, the second arc surface, the fourth arc surface, and the fifth arc surface are: spherical surface;
the third cambered surface and the sixth cambered surface are both: even aspheric surfaces.
Optionally, the first lens is made of: high borosilicate glass;
the second lens and the third lens are made of the following materials: germanium glass.
Optionally, the relay optical system includes:
the fourth lens, the fifth lens, the second reflector, the sixth lens, the seventh lens and the eighth lens are sequentially arranged along the light transmission path;
the fourth lens comprises a seventh cambered surface and an eighth cambered surface which are sequentially arranged along the light transmission path, and the seventh cambered surface and the eighth cambered surface are both concave surfaces relative to the light incidence side;
the fifth lens comprises a ninth cambered surface and a tenth cambered surface which are sequentially arranged along the light transmission path, wherein the ninth cambered surface is a concave surface relative to the light incidence side, and the tenth cambered surface is a convex surface relative to the light incidence side;
the sixth lens comprises an eleventh cambered surface and a twelfth cambered surface which are sequentially arranged along the light transmission path, wherein the eleventh cambered surface is a concave surface relative to the light incidence side, and the twelfth cambered surface is a convex surface relative to the light incidence side;
the seventh lens comprises a thirteenth cambered surface and a fourteenth cambered surface which are sequentially arranged along the light transmission path, and the thirteenth cambered surface and the fourteenth cambered surface are convex surfaces relative to the light incidence side;
the eighth lens comprises a fifteenth cambered surface and a sixteenth cambered surface which are sequentially arranged along the light transmission path, and the fifteenth cambered surface and the sixteenth cambered surface are convex surfaces relative to the light incidence side.
Optionally, the eighth arc surface and the fourteenth arc surface are both: an even aspheric surface;
the seventh arc surface, the ninth arc surface, the tenth arc surface, the eleventh arc surface, the twelfth arc surface, the thirteenth arc surface, the fifteenth arc surface, and the sixteenth arc surface are: and (4) a spherical surface.
Optionally, the fourth lens and the seventh lens are made of: germanium glass.
The fifth lens, the sixth lens and the eighth lens are all made of: high borosilicate glass.
Optionally, the first mirror is located at an exit pupil of the telescope subsystem.
Optionally, the sensor is:
and the infrared sensor is used for detecting the medium wave of 3-5 mu m in the infrared band.
In a second aspect, the present invention provides a vehicle comprising an on-board sensor system as defined in any of the first aspects.
Compared with the prior art, the technical scheme of the utility model have following advantage:
the technical scheme provides a vehicle-mounted sensor system which comprises a rotary table and a sensor, wherein the rotary table horizontally rotates around a central shaft, the sensor is installed on the rotary table, and an imaging system of the sensor comprises a telescope subsystem, a first reflector and a relay optical system which are sequentially arranged along a light transmission path from an object side to an image side; the first reflector also horizontally rotates around the central shaft, and the stability of the image surface in the rotating process of the rotary table is ensured through the reverse rotation of the first reflector.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a schematic structural diagram of an imaging system according to an embodiment of the present invention;
fig. 2 is a schematic view illustrating light propagation in an imaging system according to an embodiment of the present invention;
fig. 3 is a wave aberration curve diagram of an imaging system according to an embodiment of the present invention;
fig. 4 is a graph of field curvature and distortion of an imaging system provided by an embodiment of the present invention;
fig. 5 is a MTF graph of an imaging system provided by an embodiment of the present invention;
fig. 6 is a schematic structural diagram of another imaging system according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
The utility model provides a pair of vehicle-mounted sensor system, include around center pin horizontal rotation's revolving stage and install the sensor on the revolving stage. The sensor includes an imaging system. The imaging system comprises a telescope subsystem, a first reflector and a relay optical system which are sequentially arranged along a light transmission path from an object side to an image side. The light transmission path from the object space to the image space specifically refers to a path through which light is transmitted from the object space to the image space.
The incident beam is emitted to the first reflector after being converged by the telescope subsystem, is emitted to the relay optical system after being reflected by the first reflector, and is imaged on the target surface of the detector after being acted by the relay optical system. The rotary table horizontally rotates around the central shaft to drive the whole vehicle-mounted sensor system to horizontally rotate, so that the purpose of monitoring in a horizontal direction in a surrounding mode is achieved; the first reflector horizontally rotates around the central shaft, and the first reflector rotates in the direction opposite to the rotating direction of the turntable in each imaging process, so that the stability of an image surface in the rotating process of the turntable is ensured.
It should be noted that, after the first mirror rotates a certain angle in the direction opposite to the rotation direction of the turntable during each imaging process, the first mirror also rotates a certain angle back to ensure that the initial position of the first mirror is the same before the first mirror is rotated during each imaging process, that is, the relative position of the first mirror to the telescope subsystem and the relay optical system is fixed before the first mirror is rotated during each imaging process. The one-time imaging process is a process of generating one frame image.
It should be noted that achieving stable imaging through reverse rotation is a prior art means in the field, and therefore, the present invention does not relate to improvement of a specific imaging stabilization method.
In some embodiments, the first mirror is positioned at the exit pupil of the telescope subsystem such that the first mirror is both in the parallel optical path while the first mirror is reduced in size.
In some specific embodiments, the sensor mounted on the turntable is an infrared sensor for detecting a medium wave of 3-5 μm in an infrared band, so as to collect information around the vehicle when driving at night.
Referring to fig. 1, a schematic structural diagram of an imaging system according to an embodiment of the present invention is shown. The telescope subsystem comprises a first lens 1, a second lens 2 and a third lens 3 which are arranged in sequence along the light transmission path. The relay optical system includes a fourth lens 5, a fifth lens 6, a second reflecting mirror 7, a sixth lens 8, a seventh lens 9, and an eighth lens 10, which are arranged in this order along the light transmission path. The first reflection lens 4 rotates in the direction opposite to the rotation direction of the turntable, that is, when the turntable drives the whole imaging system to rotate clockwise around the central shaft in fig. 1, the first reflection lens 4 rotates counterclockwise around the central shaft in fig. 1; when the turntable rotates the entire imaging system around the central axis counterclockwise in fig. 1, the first reflection lens 4 rotates around the central axis clockwise in fig. 1.
The first lens 1 comprises a first cambered surface and a second cambered surface which are sequentially arranged along a light transmission path; the second lens 2 comprises a third cambered surface and a fourth cambered surface which are sequentially arranged along the light transmission path; the third lens 3 comprises a fifth cambered surface and a sixth cambered surface which are sequentially arranged along the light transmission path; the fourth lens 5 comprises a seventh cambered surface and an eighth cambered surface which are sequentially arranged along the light transmission path; the fifth lens 6 comprises a ninth cambered surface and a tenth cambered surface which are sequentially arranged along the light transmission path; the sixth lens 8 includes an eleventh curved surface and a twelfth curved surface which are sequentially arranged along the light transmission path; the seventh lens 9 comprises a thirteenth cambered surface and a fourteenth cambered surface which are sequentially arranged along the light transmission path; the eighth lens 10 includes a fifteenth curved surface and a sixteenth curved surface which are sequentially arranged along the light transmission path.
The first cambered surface, the second cambered surface, the third cambered surface, the fourth cambered surface, the fifth cambered surface, the sixth cambered surface, the seventh cambered surface, the eighth cambered surface, the ninth cambered surface and the eleventh cambered surface are all concave surfaces relative to the light incidence side; the tenth cambered surface, the twelfth cambered surface, the thirteenth cambered surface, the fourteenth cambered surface, the fifteenth cambered surface and the sixteenth cambered surface are convex surfaces relative to the light incidence side. The convex surface with respect to the light incidence side means a convex surface in a direction away from the light incidence side, and the concave surface with respect to the light incidence side means a concave surface in a direction close to the light incidence side. As shown in fig. 1, the left sides of the cambered surfaces of the first lens 1, the second lens 2, the third lens 3, the sixth lens 8, the seventh lens 9 and the eighth lens 10 are light incident sides; the lower sides of the respective cambered surfaces of the fourth lens 5 and the fifth lens 6 are both light incident sides.
In some embodiments, the first arc surface, the second arc surface, the fourth arc surface, the fifth arc surface, the seventh arc surface, the ninth arc surface, the tenth arc surface, the eleventh arc surface, the twelfth arc surface, the thirteenth arc surface, the fifteenth arc surface, and the sixteenth arc surface are all spherical surfaces; the third cambered surface, the sixth cambered surface, the eighth cambered surface and the fourteenth object surface are even aspheric surfaces. The materials of the first lens 1, the fifth lens 6, the sixth lens 8 and the eighth lens 10 are high borosilicate glass; the materials of the second lens 2, the third lens 3, the fourth lens 5 and the seventh lens 9 are germanium glass.
Fig. 2 is a schematic view of light propagation in the imaging system of fig. 1.
The following explains the effect of the vehicle-mounted sensor system provided by the utility model. The angular speed of the rotary table is 360 DEG/s, the integration time of the sensor is 2ms, the integration time of the sensor is the time required by one imaging process, the field angle of the imaging system is 6.4 DEG, the F number of the imaging system is 2, the sensor is an infrared sensor, the wave band detected by the infrared sensor is 3-5 μm, the focal length of the imaging system is 110mm, and the pixel size of the sensor is 30 μm, so that the target imaged in the image plane is translated by 1.38mm within 2ms of the integration time of the sensor. The first mirror 4 thus needs to be rotated so that the object imaged is moved by 1.38mm over the image plane. The focal length of the relay system is 18.934mm, and according to a calculation formula of the image height corresponding to an infinite object, the rotation angle of the first reflector in 2ms can be calculated as follows:
the parameters of the respective lenses and mirrors are shown in the following table.
In the above table, the signs of the curvature radii are positive and negative with the light exit side as the origin, and with respect to the light exit side, the convex side represents positive, and the concave side represents negative. Infinity denotes a plane. STANDARD represents a sphere. EVENASPH denotes an even-order aspherical surface. STO denotes the diaphragm face, i.e. the face on which the aperture diaphragm is located. IMA denotes the image plane, i.e. the surface of the target surface of the detector. air means air, i.e. the air medium between the lenses, MIRROR means MIRROR, GERMANIUM means GERMANIUM glass, and SILICON means high boron silica glass.
The expression for the even aspheric surface is:
wherein the content of the first and second substances,
as a radial coordinate, α1～α8The coefficient is a high-order aspheric coefficient, k is a quadric coefficient, c is 1/R and is curvature, and R is curvature radius; the high-order aspheric surface coefficient is less than or equal to 10-8Magnitude.
Other aspheric coefficients for even aspheric surfaces are shown in the following table:
FIG. 3 is a wave aberration diagram of the imaging system when the first mirror rotates in the opposite direction of the whole imaging system. The ordinate is root mean square wave aberration (RMS wave front Error in Waves) measured in units of wavelength, and the abscissa is Field of view (Y Field in Degree). The poly curve is a root mean square wave front error curve of the complex color wave, and the complex color wave is the comprehensive meaning of the waves with the wavelengths of 3 mu m, 4 mu m and 5 mu m; the digital 3 curve is a root mean square wavefront error curve with the wavelength of 3 mu m; the digital 4 curve is a root mean square wavefront error curve with the wavelength of 4 mu m; the figure 5 curve is the root mean square wavefront error curve at a wavelength of 5 μm.
FIG. 4 shows the field curvature (FieldThurvature) and Distortion (F-Tan (theta) Distortion) of the imaging system when the first mirror is rotated in the opposite direction to the entire imaging system. The left graph is a field curvature graph, wherein the ordinate is the field of view (Y); the abscissa is the field curvature in millimeters (Millmeters). The right graph is a distortion map with field of view on the ordinate and distortion value on the abscissa, here relative distortion value (Percent).
Fig. 5 is a Modulation Transfer Function (MTF) graph of the imaging system when the first mirror and the whole imaging system rotate in opposite directions, wherein the ordinate is normalized MTF (modulation of the otf) and the abscissa is Frequency value (Spatial Frequency in cycles per mm). The MTF curves for different fields of view overlap.
According to the long-term practice and actual use requirement judgment standard of the photoelectric instrument industry, the imaging quality is considered to be excellent when the root mean square wave aberration is less than 1/4 wavelengths, namely less than 0.25 wavelength, and the use requirement is met, and as can be seen from the root mean square wave aberration diagram shown in FIG. 3, the root mean square wave aberration is less than 0.25 wavelength, the imaging quality is very good, and the use requirement is met; according to the long-term practice and practical use requirement judgment standard of the photoelectric instrument industry, the relative distortion of the camera lens with the visual angle close to 6.4 degrees is usually required to be less than 3%, and as can be seen from the distortion diagram shown in fig. 4, the maximum distortion of the embodiment does not exceed 3%, and the distortion is very small, so that the use requirement is met. According to the long-term practice and practical use requirement judgment standard of the photoelectric instrument industry, under the Nyquist sampling frequency, the MTF values of the MTF values in the center and most fields are larger than 0.3, the MTF value of the full field is larger than 0.15, the use requirement can be well met, and as can be seen from the MTF graph in FIG. 5, under the Nyquist sampling frequency, for example, when the frequency is 17 in FIG. 5, the MTF curve values of the full field are larger than 0.25, therefore, the imaging system provided by the embodiment meets the use requirement.
Referring to fig. 6, a schematic structural diagram of another imaging system according to an embodiment of the present invention is provided. With respect to the imaging system disclosed in fig. 1, the second mirror 7 is removed and the sixth lens 8, the seventh lens 9, the eighth lens 10, the detector window and the detector target are all arranged parallel to the fourth lens 5 and the fifth lens 6.
The utility model provides a vehicle, include the embodiment of the utility model provides an on-vehicle sensor system. The utility model discloses do not do the restriction to other parts of vehicle, consequently no longer describe the other parts of vehicle.
In this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a device that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such device. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of additional like elements in a device that comprises the element.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The above description of the disclosed embodiments of the invention enables one skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. An in-vehicle sensor system, comprising: a turntable for horizontal rotation about a central axis and a sensor mounted on the turntable;
the sensor comprises an imaging system, wherein the imaging system comprises a telescope subsystem, a first reflector and a relay optical system which are sequentially arranged along a light transmission path from an object side to an image side;
the first mirror may be horizontally rotatable about the central axis in the same rotational direction as the turntable, and the first mirror may be horizontally rotatable about the central axis in an opposite rotational direction from the turntable.
2. The vehicle sensor system of claim 1, wherein the telescope subsystem comprises:
the first lens, the second lens and the third lens are sequentially arranged along the light transmission path;
the first lens comprises a first cambered surface and a second cambered surface which are sequentially arranged along the light transmission path;
the second lens comprises a third cambered surface and a fourth cambered surface which are sequentially arranged along the light transmission path;
the third lens comprises a fifth cambered surface and a sixth cambered surface which are sequentially arranged along the light transmission path;
the first arc surface, the second arc surface, the third arc surface, the fourth arc surface, the fifth arc surface and the sixth arc surface are all concave surfaces relative to the incident side of light.
3. The vehicle sensor system of claim 2, wherein the first, second, fourth, and fifth arc surfaces are each: spherical surface;
the third cambered surface and the sixth cambered surface are both: even aspheric surfaces.
4. The vehicle-mounted sensor system according to claim 2, wherein the first lens is made of: high borosilicate glass;
the second lens and the third lens are made of the following materials: germanium glass.
5. The vehicle-mounted sensor system according to claim 1, wherein the relay optical system includes:
the fourth lens, the fifth lens, the second reflector, the sixth lens, the seventh lens and the eighth lens are sequentially arranged along the light transmission path;
the fourth lens comprises a seventh cambered surface and an eighth cambered surface which are sequentially arranged along the light transmission path, and the seventh cambered surface and the eighth cambered surface are concave surfaces relative to the light incidence side;
the fifth lens comprises a ninth cambered surface and a tenth cambered surface which are sequentially arranged along the light transmission path, wherein the ninth cambered surface is a concave surface relative to the light incidence side, and the tenth cambered surface is a convex surface relative to the light incidence side;
the sixth lens comprises an eleventh cambered surface and a twelfth cambered surface which are sequentially arranged along the light transmission path, wherein the eleventh cambered surface is a concave surface relative to the light incidence side, and the twelfth cambered surface is a convex surface relative to the light incidence side;
the seventh lens comprises a thirteenth cambered surface and a fourteenth cambered surface which are sequentially arranged along the light transmission path, and the thirteenth cambered surface and the fourteenth cambered surface are convex surfaces relative to the light incidence side;
the eighth lens comprises a fifteenth cambered surface and a sixteenth cambered surface which are sequentially arranged along the light transmission path, and the fifteenth cambered surface and the sixteenth cambered surface are convex surfaces relative to the light incidence side.
6. The vehicle sensor system according to claim 5, wherein the eighth arc surface and the fourteenth arc surface are each: an even aspheric surface;
the seventh arc surface, the ninth arc surface, the tenth arc surface, the eleventh arc surface, the twelfth arc surface, the thirteenth arc surface, the fifteenth arc surface, and the sixteenth arc surface are: and (4) a spherical surface.
7. The vehicle-mounted sensor system according to claim 5, wherein the fourth lens and the seventh lens are each made of: germanium glass;
the fifth lens, the sixth lens and the eighth lens are all made of: high borosilicate glass.
8. The on-board sensor system of claim 1, wherein the first mirror is located at an exit pupil location of the telescope subsystem.
9. The vehicle-mounted sensor system according to any one of claims 1 to 8, wherein the sensor is:
and the infrared sensor is used for detecting the medium wave of 3-5 mu m in the infrared band.
10. A vehicle comprising an in-vehicle sensor system according to any one of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922032571.4U CN210690927U (en) | 2019-11-21 | 2019-11-21 | Vehicle-mounted sensor system and vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922032571.4U CN210690927U (en) | 2019-11-21 | 2019-11-21 | Vehicle-mounted sensor system and vehicle |
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| Publication Number | Publication Date |
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| CN210690927U true CN210690927U (en) | 2020-06-05 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201922032571.4U Active CN210690927U (en) | 2019-11-21 | 2019-11-21 | Vehicle-mounted sensor system and vehicle |
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| CN (1) | CN210690927U (en) |
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Address after: 4 / F, building 1, No.14 Jiuxianqiao Road, Chaoyang District, Beijing 100020 Patentee after: Beijing Jingwei Hengrun Technology Co., Ltd Address before: 8 / F, block B, No. 11, Anxiang Beili, Chaoyang District, Beijing 100101 Patentee before: Beijing Jingwei HiRain Technologies Co.,Ltd. |