CN100570472C - Waterproof, moistureproof and dustproof full closed panoramic vision sensor - Google Patents

Abstract

The invention provides a waterproof, moisture-proof and dust-proof fully enclosed panoramic vision sensor. It consists of a base, a cylinder, a top plate, a reflector, a bracket, a camera and a heating resistance wire. The base is the basic fixed platform, and the bracket and the heating resistance wire are fixed on the base; the base and the top plate are connected into one body through the cylinder. ; The camera is installed on the bracket; the reflector is filmed on the top plate. The invention has the advantages of small size, light weight, compact structure, and can work in harsh environments such as low temperature and high humidity, and is a fully enclosed new panoramic vision sensor.

Description

Waterproof, moistureproof and dustproof full closed panoramic vision sensor

(1) technical field

The present invention relates to sensor field, be specifically related to the Waterproof, moistureproof and dustproof technical field of sensor.

(2) background technology

Less different with traditional visual environment sensory perceptual system visual field, panoramic imagery refers to the sphere imaging greater than hemisphere visual field (360 ° * 180 °), overall view visual system utilizes the single view hyperboloidal mirror Polaroid greater than hemisphere visual field (360 ° * 180 °) by the CCD image-generating unit, once obtain the target information of whole scene, be no longer necessary for the additional cover servomechanism of photoelectric follow-up.

The video camera of panoramic vision sensor all has the temperature range of a job, and the working temperature of general video camera is subzero ten to spend to 70 degrees centigrade.And in the north winter outdoor temperature reach subzero about 30 degrees centigrade, video camera is with regard to cisco unity malfunction, this has just limited the outdoor application of panoramic vision sensor, and camera lens and single view hyperboloidal mirror the phenomenon that hazes can occur in the bigger environment of humidity; Panoramic vision comprises precision optics simultaneously, and as catoptron, camera lens is subjected to contamination by dust easily and influences system imaging.

(3) summary of the invention

The object of the present invention is to provide that a kind of volume is little, in light weight, compact conformation, and can be operated in the whole-closed water-proof moisture-proof dustproof full closed panoramic vision sensor in the rugged environments such as low temperature, high humility.

The object of the present invention is achieved like this: it comprises base, cylindrical shell and takes over a business that it also comprises catoptron, support, video camera and resistive heater, and support and resistive heater are fixed on the base; Base with take over a business by cylindrical shell to link into an integrated entity; Video camera is rack-mount; On catoptron is arranged on; Describedly take over a business to be provided with little ring, take over a business little ring and be provided with the internal recess and the outer grooves that is connected cylindrical shell that catoptron is installed; Described catoptron is a hyperboloidal mirror, and minute surface is coated with reflectance coating; Described support is made of two the same submounts, is provided with groove and bar hole in the middle of each submounts; Be provided with the fixedly pilot hole of resistive heater of 4 support bracket fastened heavy through holes and two in the middle of the described base, the surface is provided with the annular chassis groove of fixed cylinder, the bottom is provided with air intake valve and the valve of giving vent to anger, sidepiece is equipped with the aviation plug-in unit, and the power lead of video camera, video signal cable and resistive heater power supply link to each other with resistive heater with the video camera of full closed panoramic vision sensor inside respectively by the aviation plug-in unit; Described cylindrical shell is the glass cylindrical shell of column type; Total is sealed, and this enclosed panoramic vision sensor is charged into nitrogen, selects impermeability aviation plug-in unit preferably for use; The hyperboloidal mirror size is to adopt following method to determine:

Choosing video camera CCD image-generating unit pixel size is d _Ccd, lens focus is f, and these two indexs are preset parameter, and establishing corresponding image pixel is r _Pix, the hyperboloid focal length is 2e, the catoptron rear end face is h＞2e from camera lens centre of perspectivity distance, makes catoptron rear end face radius r by formula (1) _Top=d _Top/ 2, cut-off footpath d _TopBe integer;

$r_{\mathrm{top}}=\frac{h}{f}{r}_{\mathrm{pix}}{d}_{\mathrm{ccd}}---\left(1\right)$

If Hyperbolic Equation is:

$\frac{y^2}{a^2}-\frac{x^2}{b^2}=1---\left(2\right)$

Abbreviation becomes the form of parametric equation:

x＝btant

t＝(-t ₀，t ₀) (3)

y＝asect

If a=kb, again $e=\sqrt{a^2+{\mathrm{<figure-callout\; id="2"\; label="b"\; filenames="C2007100718350009H2.png"\; state="\{\{state\}\}">b</figure-callout>}}^2}=b\sqrt{1+{\mathrm{<figure-callout\; id="2"\; label="k"\; filenames="C2007100718350009H2.png"\; state="\{\{state\}\}">k</figure-callout>}}^2},$ And to get the maximum field of view angle be α, and the P point coordinate is (r _Top, e+r _TopCot (π-α)) also be $(\frac{e}{\sqrt{1+{\mathrm{<figure-callout\; id="2"\; label="k"\; filenames="C2007100718350009H2.png"\; state="\{\{state\}\}">k</figure-callout>}}^2}}{\tan t}_0,k\frac{e}{\sqrt{1+{\mathrm{<figure-callout\; id="2"\; label="k"\; filenames="C2007100718350009H2.png"\; state="\{\{state\}\}">k</figure-callout>}}^2}}{\sec t}_0),$ Substitution formula (2),

$\frac{{(e+r_{\mathrm{top}}\cot (\mathrm{\&pi;}-\mathrm{\&alpha;}))}^2}{{\left(k\frac{e}{\sqrt{1+k^2}}\right)}^2}-\frac{{r_{\mathrm{top}}}^2}{{\left(\frac{e}{\sqrt{1+k^2}}\right)}^2}=1---\left(4\right)$

Have only a unknown number k in the following formula, find the solution, remove a minus solution trivial, solve k=k with Matlab is auxiliary ₀, $a=k_0\frac{e}{\sqrt{1+{k_0}^2}},$ $b=\frac{e}{\sqrt{1+{k_0}^2}},$ $t_0=\arctan \left(r_{\mathrm{top}}\frac{\sqrt{1+{k_0}^2}}{e}\right);$ Substitution formula (4) obtains Hyperbolic Equation; The height of cylindrical shell is by the bi-curved focal length in hyperboloidal mirror place, and cylindrical shell is recessed to be taken over a business to determine apart from the distance of taking over a business with the length of base and the top live part of hyperboloidal mirror.

The present invention also has some architectural features like this:

1, describedly takes over a business to be provided with little ring, take over a business little ring and be provided with the internal recess and the outer grooves that is connected cylindrical shell that catoptron is installed;

2, described catoptron is a hyperboloidal mirror, and minute surface is coated with reflectance coating;

3, described support is made of two the same submounts, is provided with groove and bar hole in the middle of each submounts;

4, be provided with the fixedly pilot hole of resistive heater of 4 support bracket fastened heavy through holes and two in the middle of the described base, the surface is provided with the annular chassis groove of fixed cylinder, and the bottom is provided with air intake valve and the valve of giving vent to anger, and sidepiece is equipped with the aviation plug-in unit;

5, described cylindrical shell is the glass cylindrical shell of column type.

The present invention has adopted the refractive and reflective panorama view sensor, overcome the shortcoming that traditional vision system obtains panoramic picture, and adopted totally enclosed technical scheme to solve the water funk fearness tide of panoramic vision sensor and be afraid of that the video camera of dirt and panoramic vision sensor partly is subjected to low temperature limitation and the problem of cisco unity malfunction.

Hyperboloidal mirror of the present invention is processed by glass material, and minute surface satisfies the hyperboloid equation, and minute surface plating reflectance coating strengthens reflectivity, the bottom of hyperboloidal mirror by glue with take over a business to be connected; Cylindrical shell is that glass material constitutes, the top of cylindrical shell by glue with take over a business to link to each other, the bottom of cylindrical shell links to each other with glue with base; Take over a business, support and base all adopt aluminum; Base sidepiece dress aviation plug-in unit, there is air intake valve the base bottom and the valve of giving vent to anger, total is sealed, this enclosed panoramic vision sensor is charged into nitrogen, select for use impermeability preferably the aviation plug-in unit can reach the effect of this invention full closed panoramic vision sensor Waterproof, moistureproof and dustproof, and can determine whether that heating improves temperature to guarantee the working temperature of video camera to resistance wire according to full closed panoramic vision sensor temperature inside situation; The axis of the axis of described hyperboloidal mirror, the axis of cylindrical shell and video camera coincides, and the photocentre of camera lens and hyperboloidal mirror place bi-curved far feel terribly worried coincide.

Above-mentioned full closed panoramic vision sensor, wherein, described base side is equipped with the aviation plug-in unit, and the power lead of video camera, video signal cable and resistive heater power supply link to each other with resistive heater with the video camera of full closed panoramic vision sensor inside respectively by the aviation plug-in unit.

Above-mentioned full closed panoramic vision sensor, there is air intake valve wherein said base bottom and the valve of giving vent to anger, the panoramic vision sensor inside of whole sealing charges into nitrogen, and can determine whether that heating improves the working temperature that temperature guarantees video camera to resistance wire according to full closed panoramic vision sensor temperature inside situation.

The present invention adopts totally-enclosed mode, and inner installation resistive heater improves the operating ambient temperature of video camera.Inner inflated with nitrogen can be avoided the phenomenon that hazes of camera lens and single view hyperboloidal mirror.This panoramic vision sensor can adopt image pick-up card to link to each other with computer, realizes that by software programming the collection of image and processing also can be applicable in the DSP embedded developping system.This panoramic vision sensor volume is little, in light weight, and compact conformation can be used for the robot overall view visual system, video conference, and bank, panoramas such as traffic are monitored in real time, and can be operated in the rugged environments such as low temperature, high humility.

(4) description of drawings

Fig. 1 is the optical system synoptic diagram of omnidirectional imaging system.

Fig. 2 is a structural representation of the present invention.

(5) embodiment

The present invention is further illustrated below in conjunction with the drawings and specific embodiments:

Embodiment:

Present embodiment comprises base, cylindrical shell, takes over a business, catoptron, support, video camera and resistive heater, and support and resistive heater are fixed on the base; Base with take over a business by cylindrical shell to link into an integrated entity; Video camera is rack-mount; On catoptron is arranged on.

In conjunction with Fig. 1-2, Fig. 1 is the optical system synoptic diagram of omnidirectional imaging system; Fig. 2 is a front elevation of the present invention.Among Fig. 1: F` is the bi-curved perifocus in hyperboloidal mirror place; F is the bi-curved over focus in hyperboloidal mirror place.Extended line to the light of perifocus takes place to assemble at over focus after the reflection at the hyperboloidal mirror minute surface, and the photocentre of camera lens overlaps with over focus, thereby obtains distinct image.

Take over a business shape as shown in Figure 2, constitute by aluminum.Take over a business little ring 1a internal recess and play the effect that hyperboloidal mirror 2 is installed, take over a business the bottom that little ring 1a internal recess is slightly larger than hyperboloidal mirror 2, hyperboloidal mirror 2 can be bonded on 1 firmly with glue.Take over a business little ring 1a outer grooves and play the effect that connects cylindrical shell 3, glue together with glue.

Hyperboloidal mirror 2 is made of glass material, and minute surface satisfies the hyperboloid equation, and minute surface plating reflectance coating strengthens reflectivity, the bottom of hyperboloidal mirror by glue with take over a business to be connected.The hyperboloidal mirror size is determined as follows:

Choosing video camera CCD image-generating unit pixel size is d _Ccd, lens focus is f, and these two indexs are preset parameter, and establishing corresponding image pixel is r _Pix, the hyperboloid focal length is 2e, knows that easily the catoptron rear end face is h＞2e from camera lens centre of perspectivity distance, can roughly make catoptron rear end face radius r by formula (1) _Top=d _Top/ 2, for easy to process, can cut-off footpath d _TopBe integer.

$r_{\mathrm{top}}=\frac{h}{f}{r}_{\mathrm{pix}}{d}_{\mathrm{ccd}}---\left(1\right)$

Catoptron is a surface of revolution, can analyze in XOY plane, establishes Hyperbolic Equation to be:

$\frac{y^2}{a^2}-\frac{x^2}{b^2}=1---\left(2\right)$

The form that can abbreviation becomes parametric equation:

x＝btant

t＝(-t ₀，t ₀) (3)

y＝asect

If a=kb, again $e=\sqrt{a^2+{\mathrm{<figure-callout\; id="2"\; label="b"\; filenames="C2007100718350009H2.png"\; state="\{\{state\}\}">b</figure-callout>}}^2}=b\sqrt{1+{\mathrm{<figure-callout\; id="2"\; label="k"\; filenames="C2007100718350009H2.png"\; state="\{\{state\}\}">k</figure-callout>}}^2},$ And to get the maximum field of view angle be α, as shown in Figure 1, knows that easily the P point coordinate is (r _Top, e+r _TopCot (π-α)) also be $(\frac{e}{\sqrt{1+{\mathrm{<figure-callout\; id="2"\; label="k"\; filenames="C2007100718350009H2.png"\; state="\{\{state\}\}">k</figure-callout>}}^2}}{\tan t}_0,k\frac{e}{\sqrt{1+{\mathrm{<figure-callout\; id="2"\; label="k"\; filenames="C2007100718350009H2.png"\; state="\{\{state\}\}">k</figure-callout>}}^2}}{\sec t}_0),$ Substitution formula (2) can get,

$\frac{{(e+r_{\mathrm{top}}\cot (\mathrm{\&pi;}-\mathrm{\&alpha;}))}^2}{{\left(k\frac{e}{\sqrt{1+k^2}}\right)}^2}-\frac{{r_{\mathrm{top}}}^2}{{\left(\frac{e}{\sqrt{1+k^2}}\right)}^2}=1---\left(4\right)$

Have only a unknown number k in the following formula, can find the solution with Matlab is auxiliary.Remove a minus solution trivial, can solve k=k ₀, $a=k_0\frac{e}{\sqrt{1+{k_0}^2}},$ $b=\frac{e}{\sqrt{1+{k_0}^2}},$ $t_0=\arctan \left(r_{\mathrm{top}}\frac{\sqrt{1+{k_0}^2}}{e}\right).$ Substitution formula (4) can obtain Hyperbolic Equation.

Cylindrical shell 3 is made of glass material, can protect hyperboloidal mirror 2 and video camera 6.The height of cylindrical shell 3 is by the bi-curved focal length in hyperboloidal mirror 2 places, and cylindrical shell 3 is recessed to be taken over a business to determine apart from the distance of taking over a business with the length of base 5 and the top live part of hyperboloidal mirror 2.

Support 4 is made of two the same submounts.Fluted 4a in the middle of each submounts, the height of groove is slightly larger than the fixed part that video camera 6 is given prominence to, the distance that the degree of depth will make inside grooves between two submounts is greater than 3～4 millimeters of the width of video camera 6, and the screw-in depth of two screws that video camera can be by fixed cameras 6 on the x direction of principal axis is finely tuned.Bar hole 4b, width are larger than the screwhole diameter of video camera 6 fixed parts, and length 10 millimeter can make video camera 6 can regulate at the y direction of principal axis.After video camera 6 position adjustments are good, with being installed in screw on the video camera fixing threaded hole 4c with the stationkeeping jail of video camera 6.Support is to adopt screw to fix by the counterbore of support fixing threaded hole 4d and base 5 with being connected of base 5.

Base 5 is made of aluminum, and 4 heavy through hole fixed supports are stayed in the centre.Base 5 upper surfaces have an annular chassis groove 5b to be used to adopt glue ways of connecting fixed cylinder 3.The power lead of video camera, video signal cable and resistive heater power supply are to link to each other with resistive heater with the video camera of full closed panoramic vision sensor inside respectively by aviation plug-in unit 5a.There is air intake valve 5c base 5 bottoms and the valve 5d that gives vent to anger, and can utilize these two valves to charge into nitrogen by closed panoramic vision sensor.This full closed panoramic vision sensor is the fully closed effect that reaches Waterproof, moistureproof and dustproof.

Resistive heater 7 is used for heating, when the internal temperature of full closed panoramic vision sensor is lower than the working temperature that video camera requires, can reach the working temperature requirement of video camera with the internal temperature that guarantees full closed panoramic vision sensor to the resistive heater power supply.

Claims (1)

1, a kind of Waterproof, moistureproof and dustproof full closed panoramic vision sensor, it comprises base, cylindrical shell and takes over a business, and it is characterized in that it also comprises catoptron, support, video camera and resistive heater, support and resistive heater are fixed on the base; Base with take over a business by cylindrical shell to link into an integrated entity; Video camera is rack-mount; On catoptron is arranged on; Describedly take over a business to be provided with little ring, take over a business little ring and be provided with the internal recess and the outer grooves that is connected cylindrical shell that catoptron is installed; Described catoptron is a hyperboloidal mirror, and minute surface is coated with reflectance coating; Described support is made of two the same submounts, is provided with groove and bar hole in the middle of each submounts; Be provided with the fixedly pilot hole of resistive heater of 4 support bracket fastened heavy through holes and two in the middle of the described base, the surface is provided with the annular chassis groove of fixed cylinder, the bottom is provided with air intake valve and the valve of giving vent to anger, sidepiece is equipped with the aviation plug-in unit, and the power lead of video camera, video signal cable and resistive heater power supply link to each other with resistive heater with the video camera of full closed panoramic vision sensor inside respectively by the aviation plug-in unit; Described cylindrical shell is the glass cylindrical shell of column type; Total is sealed, and this enclosed panoramic vision sensor is charged into nitrogen, selects impermeability aviation plug-in unit preferably for use; The hyperboloidal mirror size is to adopt following method to determine:

Choosing video camera CCD image-generating unit pixel size is d _Ccd, lens focus is f, and these two indexs are preset parameter, and establishing corresponding image pixel is r _Pix, the hyperboloid focal length is 2e, the catoptron rear end face is h＞2e from camera lens centre of perspectivity distance, makes catoptron rear end face radius r by formula (1) _Top=d _Top/ 2, cut-off footpath d _TopBe integer;

$r_{\mathrm{top}}=\frac{h}{f}{r}_{\mathrm{pix}}{d}_{\mathrm{ccd}}---\left(1\right)$

If Hyperbolic Equation is:

$\frac{y^2}{a^2}-\frac{x^2}{b^2}=1---\left(2\right)$

Abbreviation becomes the form of parametric equation:

x＝btant

t＝(-t ₀，t ₀) (3)

y＝asect

If a=kb, again $e=\sqrt{a^2+b^2}=b\sqrt{1+k^2},$ And to get the maximum field of view angle be α, and the P point coordinate is (r _Top, e+r _TopCot (π-α))

Also be $(\frac{e}{\sqrt{1+k^2}}\tan t_0,k\frac{e}{\sqrt{1+k^2}}\sec t_0),$ Substitution formula (2),

$\frac{{(e+r_{\mathrm{top}}\cot (\mathrm{\&pi;}-\mathrm{\&alpha;}))}^2}{{\left(k\frac{e}{\sqrt{1+k^2}}\right)}^2}-\frac{{r_{\mathrm{top}}}^2}{{\left(\frac{e}{\sqrt{1+k^2}}\right)}^2}=1---\left(4\right)$

Have only a unknown number k in the following formula, find the solution, remove a minus solution trivial, solve k=k with Matlab is auxiliary ₀, $a=k_0\frac{e}{\sqrt{1+{k_0}^2}},$ $b=\frac{e}{\sqrt{1+{k_0}^2}},$ $t_0=\arctan \left(r_{\mathrm{top}}\frac{\sqrt{1+{k_0}^2}}{e}\right);$ Substitution formula (4) obtains Hyperbolic Equation; The height of cylindrical shell is by the bi-curved focal length in hyperboloidal mirror place, and cylindrical shell is recessed to be taken over a business to determine apart from the distance of taking over a business with the length of base and the top live part of hyperboloidal mirror.

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