KR20190070389A - Day and Night Imaging System with Panoramic Imaging Equipment - Google Patents

Abstract

The present invention relates to an omnidirectional daytime and nighttime image photographing and panorama realizing apparatus, which comprises: a housing forming a hexagonal case; thermal image cameras fixed and arranged in the housing to allow a lens unit of each thermal image camera to face each side surface of the housing and photographing a thermal image; and CMOS cameras fixed and arranged in the housing to be disposed on the thermal image cameras, allowing a lens unit of each thermal image camera to face each side surface of the housing, and photographing a daytime image. The viewing angles of both the thermal image and CMOS cameras are 60 degrees, each thermal image camera photographs an omnidirectional nighttime image surrounding the housing, and each CMOS camera photographs an omnidirectional daytime image surrounding the housing. Accordingly, daytime and nighttime images photographed by six cameras radially arranged at equal intervals are realized in an omnidirectional panoramic image such that an omnidirectional external situation can be recognized in an armored vehicle, an autonomous driving vehicle, and the like, and thus a dangerous sudden situation and the like can be quickly managed.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a day and night imaging system and a panoramic imaging apparatus,

The present invention relates to a 360-degree day / night image capturing and panoramic imager, and more particularly, to a 360-degree day / And a panorama implementing device.

The wavelength band mainly used in infrared imaging equipment is mainly used in the 3 to 5 μm band and the 8 to 12 μm band having good atmospheric permeability characteristics. When considering the energy emission characteristic, the object near room temperature (300 K) It radiates much radiation energy by wavelength in the infrared wavelength band.

In recent years, there has been a growing demand for real-time recognition of the external situation during day and night inside an autonomous vehicle, and Korean Prior Art No. 10-1609776 entitled " Day / Night Combination Camera Device " In the prior art, a CCD for a daytime photographing and a CCD for a nighttime photographing are alternately arranged on one lens, so that a weekly photographing and a night photographing are possible.

However, since the prior art is capable of recognizing only the external situation of the horizontal viewing angle (HFOV) range of the lens, there is a limitation in that it can not recognize an external situation exceeding the horizontal viewing angle.

Korean Patent Registration No. 10-1609776 entitled "Day / Night Combination Camera Device"

The object of the present invention is to provide a 360-degree day / night image capturing and panoramic imager capable of recognizing an external situation in real-time 360 ° by realizing each day / night image captured by 360 ° as a panoramic image.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory and are not intended to limit the invention to the precise form disclosed. It will be possible.

According to an aspect of the present invention, A thermal camera fixedly arranged inside the housing, the lens unit facing each side of the housing and capturing a night image; And CMOS cameras fixedly disposed within the housing and disposed on the thermal cameras, the lens portions facing respective sides of the housing, the CMOS cameras capturing daytime images, the thermal cameras and the CMOS cameras having horizontal viewing angles 62 °, wherein the thermal cameras capture a 360 ° night vision surrounding the housing, and the CMOS cameras capture 360 ° daytime images surrounding the housing, respectively.

In detail, the panoramic image implementing circuit unit supplies power to the thermal cameras and the CMOS cameras, converts the image data photographed by the thermal cameras into one image data , And can stitch the converted image data.

The lens unit of the thermal imaging camera may be formed by arranging two or more lenses having a horizontal viewing angle of 60 degrees or more.

The lenses may have an aspherical surface.

A diffraction pattern may be formed on at least one of the lenses.

According to the present invention, it is possible to provide a 360 ° panoramic image by capturing a captured day and night image by means of an armored vehicle or an autonomous vehicle It is possible to recognize a real-time 360 ° external situation in the interior of a vehicle, and therefore, it is possible to quickly cope with dangerous unexpected situations.

1 is a view showing a housing incorporating a thermal camera and a CMOS camera in the present invention.
Fig. 2 is a view showing the cover of the housing separated in Fig. 1. Fig.
Fig. 3 is a longitudinal sectional view of Fig. 1; Fig.
Figure 4 is a cross-sectional view of Figure 1;
Figure 5 is another cross-sectional view of Figure 1;
6 is a block diagram illustrating the present invention.
7 is a view showing a panoramic image implemented by the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the drawings, the same components are denoted by the same reference symbols whenever possible. In the following description, well-known functions or constructions are not described in detail since they would obscure the invention in unnecessary detail.

As shown in the drawings, the 360-degree day / night imaging and panoramic implements of the present invention include a housing 10. The housing 10 forms a hexagonal tubular body. The housing 10 may have an open top surface only, and a cover 11 may be provided on the opened top surface thereof to open and close the inside of the housing 10.

The housing 10 can be firmly fixed to an armored vehicle, an autonomous vehicle, or the like by protruding the fixing protrusions 13 having holes through which fixing members such as bolts are coupled to the respective corner portions.

Inside the housing 10, there are installed six IR cameras 20 for capturing a night image and six CMOS cameras 30 for photographing a daytime image, which are radially arranged.

The thermal cameras 20 are fixedly arranged inside the housing 10 such that the lens portion faces each side of the housing 10 and the CMOS cameras 30 are disposed on the thermal cameras 20, 10 so as to face each side of the housing 10.

The housing 10 is provided with a separation wall 15 for partitioning the inside of the housing 10 on the thermal cameras 20 so that the CMOS cameras 30 can be fixed on the separation wall 15, Two lasers corresponding to the lens portions of the thermal cameras 20 and the CMOS cameras 30 are formed on the upper and lower sides of each of the thermal cameras 20 and the CMOS cameras 30 through the holes, So that an external image can be photographed.

The thermal cameras 20 and the CMOS cameras 30 each have a horizontal viewing angle (HFOV) of 62 degrees and each of the thermal cameras 20 photographs a 360 ° night image surrounding the housing 10, 30 capture the 360 ° weekly images surrounding the housing 10, respectively.

The lens part of the thermal cameras 20 may be formed by arranging two or more lenses, the lenses may have an aspherical surface, and a diffraction pattern may be formed on one or more lenses.

The aspherical surface formed on the lenses minimizes the image distortion imaged by the thermal imaging cameras 20 and the diffraction pattern minimizes the change in focal length within the temperature range of -35 ° C to 55 ° C. The diffraction pattern may be formed in a concentric shape or the like, and may be formed on an aspherical surface.

The thermal cameras 20 have a number of pixels (H x V) of 640 x 480, an operating temperature of -32 ° C to 65 ° C, and an image data storage temperature of -50 ° C to 55 ° C.

For example, as shown in Table 1, the lens part of the thermal imaging cameras 20 may be formed by arranging four lenses. In Table 1, the front face is the face of the lens facing the object, and the rear face is the face of the lens facing the infrared ray detector. The lens 1 is an outermost lens opposed to an object, and the lens 2, the lens 3, and the lens 4 are arranged sequentially along the optical axis to the rear side of the lens 1. The infrared rays are sequentially transmitted through the lens 1, the lens 2, the lens 3, and the lens 4, and are received by the infrared detector.

material if
(Surface) Clear Aperture
(mm) Surface type
(Surface Type) Lens 1
germanium
Front 25.4 Aspherical surface back side 19.8 Spherical Lens 2
Zinc selenide
Front 16.6 Aspherical surface back side 14.0 Spherical Lens 3
Zinc selenide
Front 14.0 Spherical back side 16.8 Aspherical surface + diffraction pattern Lens 4
Zinc selenide
Front 25.0 Spherical back side 26.6 Aspherical surface + diffraction pattern

The lens portion of Table 1 may have the same performance as Table 2. Spectral range
(Spectral Range) 7.5 to 13.0 탆 Effective focal length
(Effective Focal Length) <9 mm Focus range
(Focus Range) 5 m to infinity
(5 m ~ Infinity) F-number
(F-number) 1.20 Viewing angle @ infinity
(Field of View @ Infinity) 61.5 DEG (H) x 48.5 DEG (V) Instantaneous viewing angle @ infinity
(Instantaneous Field of View @ Infinity)
&Lt; 3.0 mrad (H) Pixel format
(Pixel format) 640 × 480 pixels

The CMOS cameras 30 have an operating temperature of -40 ° C to 70 ° C, and image data storage temperatures of -40 ° C to 70 ° C.

In the meantime, the present invention can include a panoramic image implementation circuit unit 50. The panoramic image implementing circuit unit 50 stably supplies power to the thermal cameras 20 and the CMOS cameras 30 and converts the image data photographed by the thermal cameras 20 into one image data, And a 360 ° panoramic image is implemented by stitching the converted image data.

The panoramic image implementing circuit unit 50 may be installed inside the housing 10 and may be provided outside the housing 10 separately from the housing 10.

The panoramic image implementing circuit unit 50 includes an interface circuit unit for supplying power to the thermal cameras 20 and the CMOS cameras 30 and converting the image data photographed by the thermal cameras 20 into one image data, And a stitching circuit part for receiving the converted image data from the interface circuit part and stitching the received image data to implement a 360 ° panoramic image. The interface circuit part can be located inside the housing 10, and the stitching circuit part is housed in the housing 10 May be provided on the outside.

The panoramic image implementation circuitry 50 supplies power to each element of the printed circuit board using a regulator and the regulator has a performance of at least 1.2 times the maximum power of the thermal cameras 20 and CMOS cameras 30, The stability of performance can be ensured.

The panoramic image implementing circuit unit 50 converts each RS-422 signal of the thermal cameras 20 into one RS-232 signal to convert each image data into one image data, and the thermal cameras 20, A 360 ° panoramic image having a wide viewing angle can be realized by attaching an image so that the viewing angles of the lens portions of the CMOS cameras 30 do not overlap.

Thus, the 360 ° panoramic image implemented by the panoramic image implementation circuitry can be transmitted to a video output device such as a monitor or a helmet-type wearable device, and thus can be output in real time 360 ° outside the inside of an armored vehicle or autonomous vehicle It is possible to quickly cope with dangerous unexpected situations.

In addition, the panoramic image implementing circuit unit 50 can output an alarm signal by recognizing and recognizing a dynamic target (such as a person or a vehicle) in a stitched 360 ° panoramic image, and can output an alarm signal within 80m or within 300m And can output an alarm signal.

As described above, according to the present invention, by realizing a 360 ° panoramic image of day and night images photographed by six cameras arranged in an equally spaced radial pattern (a thermal camera and a CMOS camera), real-time 360 It can recognize the external situation and therefore can cope with dangerous emergencies promptly.

It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit or scope of the invention as defined by the appended claims. It will be possible. The scope of the present invention is defined by the appended claims, and all differences within the scope of equivalents thereof should be construed as being included in the present invention.

10: Housing
20: Thermal camera
30: CMOS camera
50: Panoramic image implementation circuit

Claims (5)

A housing constituting a hexagonal cylinder body;
A thermal camera fixedly arranged inside the housing, the lens unit facing each side of the housing and capturing a night image; And
And CMOS cameras fixedly arranged inside the housing and disposed on the thermal cameras, the lens unit facing each side of the housing, and photographing a daytime image,
The thermal cameras and the CMOS cameras have horizontal viewing angles of 62 degrees,
Wherein the thermal cameras photograph a 360 ° night vision surrounding the housing,
And 360 ° daytime images of the CMOS cameras surrounding the housing, respectively.
The method according to claim 1,
Further comprising a panoramic image implementation circuitry,
The panoramic image implementation circuitry
Supplying power to the thermal cameras and the CMOS cameras,
The thermal imaging cameras convert the image data taken by the thermal imaging cameras into one image data,
And stitching the converted one of the image data.
The method according to claim 1,
Wherein the lens unit of the thermal imaging camera is formed by arranging at least two lenses having a horizontal viewing angle of 60 degrees or more.
The method of claim 3,
Wherein the lenses have an aspherical surface.
5. The method of claim 4,
And a diffraction pattern is formed on at least one of the lenses.

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