A multi-view imaging system adaptable to complex environments

Abstract

The application relates to a multi-view imaging system adaptable to complex environments, which comprises a power device, a detection device and a deformable prism device; the detection device comprises a universal assembly, a detector and a diaphragm, the detector is installed on the universal assembly, and the diaphragm is installed in the universal assembly; the deformable prism device comprises a deformable prism and a driving assembly, the deformable prism comprises a telescopic assembly, a connecting plate and a transparent film package, and the telescopic assembly is connected with the driving assembly; the transparent film package is filled with medium and is arranged in a frame formed by the telescopic assembly. Compared with the prior art, the application has the advantages that gear transmission is adopted, the stable operation of the application in complex environments can be ensured, the posture variable detector and the deformable prism device are adopted, multi-view imaging with different numbers and angles can be realized, the posture adjustment of the detector, the driving of the prism and the filling of the prism medium are realized through hydraulic or pneumatic devices, and the application has strong adaptability to complex underwater or humid environments.

Description

Technical Field

[0001] This invention relates to the field of imaging technology, and in particular to a multi-view imaging system that can adapt to complex environments. Background Technology

[0002] Multi-view imaging technology plays a significant role in fields such as stereo imaging, visual measurement, and 3D reconstruction. The flexible and free adjustment of the number and angle of viewpoints has always been a crucial research topic in multi-view imaging technology.

[0003] After searching, it was found that in the existing technology (Cui Xiaoyu, Zhao Yue, Fan Qun'an, Wei Yongtao. Prism position estimation of monocular stereo vision system [J]. Journal of Northeastern University (Natural Science Edition), 2015, 36(06): 765-768; Wang Daolei, Yang Feng. Research on stereo image correction based on geometric method [J]. Journal of Graphics, 2014, 35(06): 883-888.), a combination of bisecting prisms or trisecting prisms with a camera is used to achieve multi-view imaging, but there are limitations on the number of viewpoints and visual angles, and it cannot adapt to complex environments.

[0004] Application publication number CN116466472A discloses a single-detector multi-view compound eye optical imaging system, specifically comprising at least a prism group, a first lens group, and a second lens group arranged sequentially from left to right along the light propagation direction. The prism group includes multiple single prisms, and the first lens group includes multiple plano-convex lenses, each cemented onto a single prism. The prism group and the first lens group form a multi-channel structure similar to an insect compound eye. The target object is located in the field-of-view intersection area of ​​all sub-eye channels, and each sub-eye channel shares the second lens group, imaging the target object from different perspectives at different locations on the same detector. However, this prior art cannot adapt to complex environments.

[0005] In summary, designing an imaging system that can adapt to complex environments is a technical problem that needs to be solved. Summary of the Invention

[0006] The purpose of this invention is to overcome the shortcomings of the existing technology in adapting to complex environments and to provide a multi-view imaging system that can adapt to complex environments.

[0007] The objective of this invention can be achieved through the following technical solutions:

[0008] According to one aspect of the present invention, a multi-view imaging system adaptable to complex environments is provided, comprising a power unit, a support column, and a detection device, a busbar, and a deformable prism device connected to the power unit.

[0009] The detection device includes a universal joint, a detector, and a diaphragm. The detector is mounted on the universal joint, the diaphragm is mounted inside the universal joint, and the universal joint is mounted on a busbar. The busbar and the deformable prism device are connected by a support column.

[0010] The deformable prism device includes a deformable prism and a driving assembly. The deformable prism includes multiple first telescopic components, multiple second telescopic components, a connecting plate, and a transparent film package. One end of each first telescopic component is hinged to the connecting plate, and the other end is connected to one end of a second telescopic component. The other end of each second telescopic component is connected to the driving assembly. The transparent film package is filled with a medium and is disposed within the frame formed by the first and second telescopic components. The driving assembly is mounted on the connecting plate and drives the second telescopic components.

[0011] As a preferred technical solution, the drive assembly includes a motor, a connecting housing, a clutch, a driven bevel gear, and a driving bevel gear. The motor is mounted on a connecting plate, and its stator end is fixedly connected to the connecting housing. One end of the second telescopic assembly is equipped with a driven bevel gear via a clutch, and the driving bevel gear is fixedly connected to the motor spindle. The driving bevel gear and the driven bevel gear mesh.

[0012] As a preferred technical solution, a plurality of the second telescopic components are evenly distributed around the connecting box, including a threaded rod and a nut. One end of the rod is rotatably connected to the support column, and the other end is rotatably connected to the connecting box and is equipped with a driven bevel gear through a clutch.

[0013] As a preferred technical solution, the first telescopic component includes a first connecting rod and a second connecting rod that are slidably connected at one end, the other end of the first connecting rod being hinged to a connecting plate, and the other end of the second connecting rod being hinged to a nut.

[0014] As a preferred technical solution, the power device is a hydraulic device or a pneumatic device, including a pump, valves and pipelines. The medium provided by the pump is regulated by the valves and enters the detection device, manifold and deformable prism device through the pipeline.

[0015] As a preferred technical solution, the valve includes a first relief valve, a second relief valve, and a solenoid valve; the pipeline includes pipe one, pipe two, pipe three, pipe four, and pipe five; the pump is connected to the first relief valve and the solenoid valve through pipe one, and to the second relief valve through pipe five; the connection point between pipe five and the second relief valve is connected to a deformable prism device through pipe four; and the outlet of the solenoid valve is connected to both ends of the manifold through pipe three and pipe two, respectively.

[0016] As a preferred technical solution, the universal assembly includes a first bracket, a second bracket, a mounting plate, and a rotating structure. One end of the first bracket is mounted on the busbar, and the other end is rotatably connected to the plane of the second bracket in a first direction. The mounting plate is rotatably connected to the plane of the second bracket in a second direction, and the first direction is perpendicular to the second direction. A detector is mounted on one side of the mounting plate, and the rotating structure is mounted on the other side.

[0017] As a preferred technical solution, the rotating structure includes a rocker arm, a sleeve, and a throttle valve. One end of the rocker arm is connected to the mounting plate, and the other end extends into the sleeve. The sleeve is mounted on the manifold and has at least three thin films evenly distributed inside to wrap the rocker arm.

[0018] As a preferred technical solution, the medium is a transparent liquid or transparent gas whose refractive index is not equal to that of air.

[0019] As a preferred technical solution, the detector is one of a searchlight, a camera, or a laser.

[0020] Compared with the prior art, the present invention has the following beneficial effects:

[0021] 1) The drive component of the deformable prism device of the present invention adopts a gear transmission that is stable and reliable in motion, which can ensure that the present invention operates stably in a variety of complex environments;

[0022] 2) This invention combines an attitude-variable detector with a deformable prism device, which can realize multi-view synchronous imaging in real time and efficiently; by adjusting the number of outer surfaces and tilt angle of the deformable prism, multi-view imaging with different numbers and angles can be achieved, which is more flexible and adaptable than bi-prisms or tri-prisms.

[0023] 3) This invention achieves the attitude adjustment of the detector, the driving of the prism, and the filling of the prism medium through a hydraulic or pneumatic device, resulting in a compact structure and a simple system.

[0024] 4) This invention uses a hydraulic or pneumatic drive method, which is highly adaptable to complex underwater or humid environments. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the overall structure of a multi-view imaging system adaptable to complex environments according to the present invention;

[0026] Figure 2 This is a front view of the present invention, excluding the power unit;

[0027] Figure 3 For the present invention Figure 2 AA section diagram;

[0028] Figure 4This is an attached view of the present invention, excluding the power unit;

[0029] Figure 5 For the present invention Figure 4 CC section view;

[0030] Figure 6 This is a schematic diagram illustrating the multi-angle imaging principle of the present invention.

[0031] The numbers in the diagram are as follows:

[0032] 1. Pump, 2. First overflow valve, 3. Second overflow valve, 4. Pipe 5, 5. Solenoid valve, 6. Pipe 1, 7. Pipe 2, 8. Pipe 3, 9. Pipe 4, 10. Support column, 11. Detection device, 11-1. First bracket, 11-2. Third bearing, 11-3. First rotating shaft, 11-4. Second bracket, 11-5. Detector, 11-6. Mounting plate, 11-7. Second rotating shaft, 11-8. Fourth bearing, 11-9. Swing rod, 11-10. Sleeve, 11-1 1. Diaphragm; 11-12. Throttle valve; 12. Deformable prism device; 12-1. Connecting plate; 12-2. First connecting rod; 12-3. Second connecting rod; 12-4. First bearing; 12-5. Lead screw; 12-6. Nut; 12-7. Hydraulic motor; 12-8. Second bearing; 12-9. Driven bevel gear; 12-10. Clutch; 12-11. Driven bevel gear; 12-12. Connecting housing; 12-13. Transparent film package; 13. Manifold. Detailed Implementation

[0033] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0034] like Figure 1 and Figure 2 As shown, this embodiment provides a multi-view imaging system that can adapt to complex environments, including a power unit, a support column 10, a detection device, a busbar 13, and a deformable prism device.

[0035] The power unit can be either hydraulic or pneumatic, including a pump 1, a first overflow valve 2, a second overflow valve 3, pipe 5 4, a solenoid valve 5, pipe 1 6, pipe 2 7, pipe 3 8, pipe 4 9, a support 10, a detection assembly 11, a deformable mirror assembly 12, and a manifold 13. The pump 1 is connected to the first overflow valve 2 and the solenoid valve 5 via pipe 1 6, and to the second overflow valve 3 via pipe 5 4. At the connection point between pipe 5 4 and the second overflow valve 3, it is connected to the deformable prism assembly 12 via pipe 4 9. The outlet of the solenoid valve 5 is connected to both ends of the manifold 13 via pipe 3 8 and pipe 2 7. The deformable prism assembly 12 is fixedly connected to the manifold 13 via the support 10. The detection assembly 11 is arranged in front of and behind the deformable prism assembly 12 and connected to the manifold 13.

[0036] The driving medium of pump 1 is either a transparent liquid or a transparent gas whose refractive index is not equal to that of air.

[0037] like Figure 3 and Figure 5 As shown, the detection assembly 11 includes a universal joint, a detector 11-5, and a diaphragm 11-11. The universal joint includes a first bracket 11-1, a third bearing 11-2, a first rotating shaft 11-3, a second bracket 11-4, a mounting plate 11-6, a second rotating shaft 11-7, a fourth bearing 11-8, and a rotating structure. The rotating structure includes a swing arm 11-9, a sleeve 11-10, and a throttle valve 11-12. The first bracket 11-1 is mounted on the manifold 13. One end of the first rotating shaft 11-3 is connected to the first bracket 11-1 through the third bearing 11-2, and the other end is fixedly connected to the second bracket 11-4. One end of the second rotating shaft 11-7 is connected to the second bracket 11-4 through the fourth bearing 11-8, and the other end is fixedly connected to the mounting plate 11-6. The detector 11-5 is fixedly mounted on the front end face of the mounting plate 11-6. One end of the swing rod 11-9 is mounted on the rear end face of the mounting plate 11-6, and the other end extends into the sleeve 11-10. The sleeve 11-10 is mounted on the manifold 13. At least three diaphragms 11-11 are evenly distributed inside the sleeve 11-10. Each diaphragm and the sleeve 11-10 form a cavity. All the diaphragms 11-11 wrap the swing rod 11-9. The sleeve 11-10 controls the flow of the medium in the manifold 13 into the cavity formed by the diaphragm and the sleeve 11-10 through the throttle valve 11-12.

[0038] Detectors 11-5 can be any one of a searchlight, camera, or laser.

[0039] like Figure 4As shown, the deformable prism device 12 includes a deformable prism and a drive assembly. The deformable prism includes a connecting plate 12-1, multiple first connecting rods 12-2, multiple second connecting rods 12-3, a first bearing 12-4, a lead screw 12-5, a nut 12-6, a second bearing 12-8, and a transparent film package 12-13. The drive assembly includes a hydraulic motor 12-7, a driven bevel gear 12-9, a clutch 12-10, a driving bevel gear 12-11, and a connecting housing 12-12. One end of multiple first connecting rods 12-2 is slidably connected to one end of multiple second connecting rods 12-3. The other end of the multiple first connecting rods 12-2 is hinged to a connecting plate 12-1. The other end of the second connecting rods 12-3 is hinged to a nut 12-6. The nut 12-6 is threadedly connected to a lead screw 12-5. Multiple lead screws 12-5 are arranged in a circumferential array around the connecting housing 12-12. One end of each lead screw is connected to the connecting housing 12-12 via a matching second bearing 12-8, and a driven bevel gear 12-9 is fixedly mounted on it via a clutch 12-10. The driven bevel gear 12-9 is connected to the driving bevel gear. 12-11 meshes, the driving bevel gear 12-11 is fixedly connected to the main shaft of the hydraulic motor 12-7, the connecting housing 12-12 is fixedly connected to the stator end of the hydraulic motor 12-7, the hydraulic motor 12-7 is fixedly mounted on the connecting plate 12-1, the other end of any two coaxial lead screws 12-5 is connected to the support column 10 through the matching first bearing 12-4, the transparent film package 12-13 is set in the multi-faceted pyramidal frame formed by multiple first connecting rods 12-2, second connecting rods 12-3 and lead screws 12-5, the transparent film package 12-13 can be filled with medium through the tube 9 to form a deformable prism.

[0040] The driving medium of pump 1 is either a transparent liquid or a transparent gas whose refractive index is not equal to that of air.

[0041] Detectors 11-5 can be any one of a searchlight, camera, or laser.

[0042] Working principle of the invention:

[0043] Pump 1 provides the driving medium for the manifold 13 and the hydraulic motor 12-7, and fills the transparent film package 12-13 with the medium. The hydraulic motor 12-7 drives the lead screw 12-5 to rotate through the meshing of the driving bevel gear 12-11 and the driven bevel gear 12-9, driving the matching nut 12-6 to move. The clutch 12-10 precisely controls the rotation of each lead screw 12-5, thereby driving multiple first connecting rods 12-2 and second connecting rods 12-3 to deform and combine into a multi-faceted pyramidal frame with different surface numbers, filling the transparent film package 12-13 set in the multi-faceted pyramidal frame with the medium, thus forming a deformable prism. In addition, the tilt angle of the outer surface of the deformable prism can be further adjusted by the relative sliding of the first connecting rods 12-2 and the second connecting rods 12-3. The combination of the detection component 11 and the deformable prism enables simultaneous multi-view imaging.

[0044] Working principle of detection component 11: The spatial universal structure formed by the first bracket 11-1, the third bearing 11-2, the first rotating shaft 11-3, the second bracket 11-4, the mounting plate 11-6, the second rotating shaft 11-7, and the fourth bearing 11-8 allows the detector 11-5 to be in a free state in space. The swing arm 11-9 is wrapped by at least three diaphragms 11-11. By adjusting the pressure inside the diaphragms 11-11 through the throttle valve, the expansion degree of each diaphragm 11-11 can be controlled, thereby adjusting the swing angle of the swing arm 11-9, and finally realizing the spatial pose adjustment of the detector 11-5.

[0045] like Figure 6 As shown, during the operation of this invention, the detector 11-5 is combined with the deformable prism to achieve multi-angle imaging, and the number and angle of the imaging system can be adjusted.

[0046] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present invention, and these modifications or substitutions should all be covered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A multi-view imaging system adaptable to complex environments, characterized in that, It includes a power unit, a support column (10), and a detection device (11), a busbar (13), and a deformable prism device (12) connected to the power unit. The detection device (11) includes a universal joint, a detector (11-5), and a diaphragm (11-11). The detector (11-5) is mounted on the universal joint, the diaphragm (11-11) is mounted inside the universal joint, and the universal joint is mounted on a busbar (13). The busbar (13) and the deformable prism device (12) are connected by a support column (10). The deformable prism device (12) includes a deformable prism and a driving assembly. The deformable prism includes multiple first telescopic assemblies, multiple second telescopic assemblies, a connecting plate (12-1), and a transparent film package (12-13). One end of the first telescopic assembly is hinged to the connecting plate (12-1), and the other end is connected to one end of the second telescopic assembly. The other end of the second telescopic assembly is connected to the driving assembly. The transparent film package (12-13) is filled with a medium and is disposed within the frame formed by the first and second telescopic assemblies. The driving assembly is mounted on the connecting plate (12-1) and drives the second telescopic assemblies. The drive assembly includes a motor, a connecting housing (12-12), a clutch (12-10), a driven bevel gear (12-9), and a driving bevel gear (12-11). The motor is mounted on the connecting plate (12-1), and its stator end is fixedly connected to the connecting housing (12-12). One end of the second telescopic assembly is equipped with the driven bevel gear (12-9) through the clutch (12-10). The driving bevel gear (12-11) is fixedly connected to the motor spindle. The driving bevel gear (12-11) and the driven bevel gear (12-9) mesh.

2. The multi-view imaging system adaptable to complex environments according to claim 1, characterized in that, Multiple second telescopic components are circumferentially distributed around the connecting housing (12-12), including a threaded screw (12-5) and a nut (12-6). One end of the screw (12-5) is rotatably connected to the support column (10), and the other end is rotatably connected to the connecting housing (12-12) and is mounted with a driven bevel gear (12-9) via a clutch (12-10).

3. The multi-view imaging system adaptable to complex environments according to claim 2, characterized in that, The first telescopic component includes a first connecting rod (12-2) and a second connecting rod (12-3) that are slidably connected at one end. The other end of the first connecting rod (12-2) is hinged to the connecting plate (12-1), and the other end of the second connecting rod (12-3) is hinged to the nut (12-6).

4. The multi-view imaging system adaptable to complex environments according to claim 1, characterized in that, The power unit is a hydraulic or pneumatic device, including a pump (1), valves and pipelines. The medium provided by the pump (1) is regulated by the valves and enters the detection device (11), the manifold (13) and the deformable prism device (12) through the pipeline.

5. A multi-view imaging system adaptable to complex environments according to claim 4, characterized in that, The valves include a first overflow valve (2), a second overflow valve (3), and a solenoid valve (5). The pipes include pipe one (6), pipe two (7), pipe three (8), pipe four (9), and pipe five (4). The pump (1) is connected to the first overflow valve (2) and the solenoid valve (5) through pipe one (6), and to the second overflow valve (3) through pipe five (4). The connection point between pipe five (4) and the second overflow valve (3) is connected to the deformable prism device (12) through pipe four (9). The outlet of the solenoid valve (5) is connected to both ends of the manifold (13) through pipe three (8) and pipe two (7).

6. A multi-view imaging system adaptable to complex environments according to claim 1, characterized in that, The universal assembly includes a first bracket (11-1), a second bracket (11-4), a mounting plate (11-6), and a rotating structure. One end of the first bracket (11-1) is mounted on the busbar (13), and the other end is rotatably connected to the plane of the second bracket (11-4) in a first direction. The mounting plate (11-6) is rotatably connected to the plane of the second bracket (11-4) in a second direction, and the first direction is perpendicular to the second direction. A detector (11-5) is mounted on one side of the mounting plate (11-6), and the rotating structure is mounted on the other side.

7. A multi-view imaging system adaptable to complex environments according to claim 6, characterized in that, The rotating structure includes a rocker arm (11-9), a sleeve (11-10), and a throttle valve (11-12). One end of the rocker arm (11-9) is connected to the mounting plate (11-6), and the other end extends into the sleeve (11-10). The sleeve (11-10) is mounted on the manifold (13) and has at least three thin films evenly distributed inside to wrap the rocker arm (11-9).

8. A multi-view imaging system adaptable to complex environments according to claim 1, characterized in that, The medium is a transparent liquid or transparent gas whose refractive index is not equal to that of air.

9. A multi-view imaging system adaptable to complex environments according to claim 1, characterized in that, The detector (11-5) is one of a searchlight, a camera, or a laser.

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