Vehicle surround view system and method for realizing visual angle blind compensation

Abstract

The invention discloses a method and a system for realizing low-cost surround view or vehicle visual angle blind compensation by using a high-frame-rate camera and an image transmission optical fiber, and belongs to the field of vehicle-mounted optical fiber communication. The invention aims to solve the problems of high cost, dead zone of visual angle, wide-angle lens image distortion and the like of the existing vehicle-mounted all-round view system. The system comprises a plurality of image transmission optical fiber lens modules, a shutter mechanism, an optical multiplexer and a high-frame-rate CMOS (Complementary Metal-Oxide-Semiconductor Transistor) image sensor. According to the system, the time division multiplexing technology is adopted, all shutters are opened in sequence, so that a single high-frame-rate CMOS sensor can collect images from multiple paths of lens modules in a time-sharing mode, and the effect of multiple paths of cameras can be achieved through one CMOS sensor. And the image transmission optical fiber is used, so that the requirements of vehicle-mounted communication on wiring, EMC (Electro Magnetic Compatibility) and wire harness weight can be well met, and the hardware cost is remarkably reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of optical fiber communication, and in particular to a system and method for realizing low-cost vehicle surround view or vehicle view angle blind area compensation using image transmission optical fiber, high frame rate image sensor and shutter mechanism. BACKGROUND

[0002] At present, the vehicle surround view function has become a standard configuration of many vehicle models to assist the driver to better observe the vehicle surrounding environment. However, the current mainstream scheme usually adopts 4 cameras, each of which is responsible for one side of the vehicle. This configuration cannot realize 360-degree full coverage without dead angle. Especially in the areas from the A-pillar to the headlamp, from the C-pillar to the rear lamp and the vehicle bottom, there are still large visual blind areas. If the number of cameras is increased to eliminate these blind areas, it will directly lead to a significant increase in hardware cost, which is not conducive to the cost-sensitive economy car market.

[0003] In addition, in order to expand the field of view as much as possible with limited 4 cameras, these cameras generally use wide-angle or ultra-wide-angle lenses. Such lenses will inevitably introduce image distortion problems, which can be corrected by software algorithms, but it is difficult to completely eliminate, affecting the final imaging quality.

[0004] Another technology attempts to divide a single CMOS sensor into physical regions to receive images from multiple image transmission optical fibers, but the light superposition effect is easy to occur at the junction of different regions, resulting in reduced resolution and poor imaging effect.

[0005] Therefore, the market needs a technical solution that can effectively solve the above-mentioned multiple problems, reduce costs while improving the coverage range and image quality of the surround view system. SUMMARY

[0006] The core purpose of the present application is to provide an innovative vehicle surround view system architecture that utilizes the optical path multiplexing capability of image transmission optical fiber, aiming to achieve two major goals at the same time: one is to significantly reduce system cost, and the other is to improve the number and quality of surround view images, effectively realizing vehicle blind area compensation.

[0007] To achieve the above purpose, in a first aspect, the present application provides a vehicle surround view system, characterized in that it comprises:

[0008] At least two optical fiber lens modules for collecting external images and transmitting them through optical fibers;

[0009] A high frame rate CMOS image sensor for collecting image data;

[0010] A shutter mechanism corresponding to each of the at least two fiber lens modules is located on the light path between the fiber lens module and the high-frame-rate CMOS image sensor, and is used to control the opening and closing of the light path.

[0011] A control unit is configured to, according to a preset time division multiplexing strategy, open the corresponding shutter and keep the remaining shutters closed when the high-frame-rate CMOS image sensor is collecting different frames of images.

[0012] An image processing unit is configured to receive the image data output by the high-frame-rate CMOS image sensor, and process the image data according to the time slices to generate a panoramic surround view image.

[0013] In a possible implementation, the foregoing vehicle-mounted surround view system, the fiber is a flexible image transmission fiber.

[0014] In a possible implementation, the foregoing vehicle-mounted surround view system, the time division multiplexing strategy is that, for N image transmission fiber lens modules, the frame rate of the high-frame-rate CMOS image sensor is F, and the shutter corresponding to each image transmission fiber lens module is opened once every N frames, so that the equivalent collection frame rate of each image is F / N, N>1 and N is a natural number.

[0015] In a possible implementation, the foregoing vehicle-mounted surround view system further includes an optical multiplexer located between the shutter mechanism and the high-frame-rate CMOS image sensor, and configured to converge and direct the light image signals from different shutters to the high-frame-rate CMOS image sensor.

[0016] In a possible implementation, the optical multiplexer includes one or more Fresnel lenses configured to uniformly couple the image light signals to the CMOS image sensor.

[0017] In a possible implementation, the foregoing vehicle-mounted surround view system, the optical multiplexer includes:

[0018] A plurality of first concave lenses, the number of which is equal to the number of image transmission fiber lens modules, are configured to perform a first angle deflection on the light images from the corresponding shutters;

[0019] A second concave lens is configured to receive and perform a second refraction on the light images deflected by all the first concave lenses, so that the direction of the outgoing light is parallel to the direction of the incoming light;

[0020] and a convex lens configured to project the image from the second concave lens onto the light-sensitive area of the high-frame-rate CMOS image sensor after magnification.

[0021] In a possible implementation, the foregoing vehicle-mounted surround view system, the optical multiplexer includes:

[0022] a one-piece light turning lens, which is equivalent to an array of multiple concave lenses, for performing a first angle deflection of light images from each shutter;

[0023] a second concave lens for performing a second refraction of the deflected light images;

[0024] and a presenting concave lens, instead of a presenting convex lens, for projecting images onto the high-frame-rate CMOS image sensor to shorten the overall height of the optical path.

[0025] In a possible implementation, the aforementioned vehicle-mounted surround view system, the shutter comprises:

[0026] a shutter base having multiple hollow holes for optical path transmission;

[0027] multiple rotatable shutters that can be independently rotated to selectively shield or open the hollow holes according to signals from the control unit.

[0028] In a possible implementation, the aforementioned vehicle-mounted surround view system, the image fiber lens module comprises a front optical lens group and a rear image fiber bundle, and the two are pluggable.

[0029] In a second aspect, the present application provides a method for realizing multi-channel visual acquisition using a single image sensor, characterized in that it comprises the following steps:

[0030] collecting multiple external images through multiple image fiber lens modules;

[0031] collecting images frame by frame using a high-frame-rate CMOS image sensor;

[0032] when the high-frame-rate CMOS image sensor collects a first frame of image, opening the shutter corresponding to the first channel of image fiber, while closing all the other shutters;

[0033] when the high-frame-rate CMOS image sensor collects a second frame of image, opening the shutter corresponding to the second channel of image fiber, while closing all the other shutters;

[0034] and so on, sequentially and cyclically opening the shutter corresponding to each channel of image fiber, so that it is synchronized with the frame collection of the high-frame-rate CMOS image sensor, thereby realizing the time-sharing collection of multiple images.

[0035] Advantages:

[0036] Significantly reduced costs: This invention replaces multiple independent camera modules in traditional solutions with a single high-frame-rate, high-pixel automotive-grade CMOS sensor. Although the price of a single high-end CMOS sensor may be higher than that of a low-end camera, considering the cost of a complete camera module (including lens, packaging, ISP chip, etc.), as well as the cost of wiring harnesses, connectors, and multiple processing units, the overall cost of this invention has a significant advantage.

[0037] Significant weight reduction in wiring harness: This invention uses lightweight optical fiber wiring harnesses to replace the copper wiring harnesses in traditional solutions. The copper wiring in a mid-size sedan can weigh 25-30 kg, while the optical fiber wiring harness is extremely lightweight. This weight reduction has a direct and significant value in improving vehicle fuel economy or the driving range of electric vehicles. Furthermore, the optical fiber is flexible and can be bent easily, adapting well to the space constraints of in-vehicle communication cabling. Moreover, the optical fiber transmits true optical images, not electronic signals, thus eliminating delays, data compression, and ensuring high fidelity.

[0038] Image quality enhancement and blind spot elimination: This invention can be flexibly expanded to image acquisition with more channels, such as 6 or 8 channels, to cover blind spots in traditional solutions such as the A-pillar, C-pillar, and undercarriage of vehicles, thereby achieving true all-around surround view. Simultaneously, since each lens only needs to cover a smaller field of view, lenses with longer focal lengths and less distortion can be used, solving image distortion problems from an optical perspective, reducing the burden of post-processing software correction, and ultimately providing more realistic and higher-quality images. Furthermore, the use of a high-performance, high-frame-rate CMOS sensor can provide high dynamic range (HDR) and low-noise images, enabling clear imaging even in scenes with drastic changes in brightness, such as tunnel entrances and exits. Attached Figure Description

[0039] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application. It is obvious that the drawings described below are merely some embodiments of this application, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort. In the drawings:

[0040] Figure 1 This is a schematic diagram of the overall optical path structure according to an embodiment of the present invention.

[0041] Figure 2 This is a schematic diagram of the structure of the image transmission fiber optic lens module in an embodiment of the present invention.

[0042] Figure 3 This is a schematic diagram of an optical multiplexer structure using a lens array in an embodiment of the present invention.

[0043] Figure 4This is a schematic diagram of an optical multiplexer using an integrated lens in an embodiment of the present invention.

[0044] Figure 5 This is a schematic diagram of the shutter structure in an embodiment of the present invention. Detailed Implementation

[0045] To provide a clearer understanding of the technical features, objectives, and effects of this invention, specific embodiments are now described with reference to the accompanying drawings, in which the same reference numerals denote the same parts. For the sake of simplicity, the parts related to this invention are shown schematically in each drawing and do not represent their actual structure as a product. Furthermore, for the sake of clarity and ease of understanding, in some drawings, components with the same structure or function are shown only schematically, or only one is labeled.

[0046] Regarding control systems, as is well known to those skilled in the art, functional modules and application programs (APPs) can take any suitable form, whether hardware or software, and can be multiple discrete functional modules or multiple functional units integrated onto a single hardware device. In its simplest form, the control system can be a controller, such as a combinational logic controller or a microprogrammed controller, as long as it can implement the operations described in this application. Of course, the control system can also be integrated as different modules onto a single physical device, without departing from the basic principles and scope of protection of this invention.

[0047] In this invention, "connection" can include direct connection, indirect connection, communication connection, electrical connection, unless otherwise specified.

[0048] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit this disclosure. As used herein, the singular forms “a,” “an,” and “the” are intended to include the plural forms as well, unless the context clearly specifies otherwise. It will also be understood that, when used in the specification, the terms “comprising” and / or “including” mean the presence of the stated features, values, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, values, steps, operations, elements, components, and / or groups thereof. As used herein, the term “and / or” includes any and all combinations of one or more of the listed related items.

[0049] It should be understood that the term "vehicle" or "of a vehicle" or other similar terms as used herein generally includes motor vehicles, such as passenger cars including sport utility vehicles (SUVs), buses, trucks, various commercial vehicles, boats including various vessels, aircraft, etc., and includes hybrid vehicles, electric vehicles, plug-in hybrid electric vehicles, hydrogen-powered vehicles, and other vehicles powered by alternative fuels (e.g., fuels derived from non-petroleum energy sources). As mentioned herein, a hybrid vehicle is a vehicle with two or more power sources, such as both gasoline and electric power.

[0050] Furthermore, the controller disclosed herein can be embodied as a non-transient computer-readable medium on a computer-readable medium containing executable program instructions that are executed by a processor, controller, or the like. Examples of computer-readable media include, but are not limited to, ROM, RAM, optical disc (CD)-ROM, magnetic tape, floppy disk, flash memory drive, smart card, and optical data storage device. Computer-readable recording media can also be distributed across a network-coupled computer system, such that the computer-readable media are stored and executed in a distributed manner, for example, via a telematics server or a controller area network (CAN).

[0051] In Example 1, refer to Figure 1 The system consists of the following core components:

[0052] A fiber optic lens module is used to capture images of the outside world and transmit them through optical fibers. This module can consist of multiple optical lenses, which are responsible for scaling and focusing the external scene.

[0053] High frame rate CMOS image sensor for acquiring image data;

[0054] The shutter mechanism, which corresponds one-to-one with the fiber optic lens module, is located on the optical path between the fiber optic lens module and the high frame rate CMOS image sensor, and is used to control the on / off state of the optical path.

[0055] The control unit is used to synchronously open the corresponding shutter while keeping the other shutters closed when the high frame rate CMOS image sensor acquires different frame images, according to a preset time-division multiplexing strategy.

[0056] The image processing unit is configured to receive image data output by the high frame rate CMOS image sensor and process it according to the time slice to generate a panoramic surround view image.

[0057] In Embodiment 2, the fiber optic bundle in the aforementioned system is one or more image transmission fiber bundles, connecting the front-end lens module to the back-end central processing unit. Unlike communication fiber optics, image transmission fiber consists of a large number of tiny, parallel-arranged glass fibers, enabling direct transmission of optical images from one end to the other. This bundle is very lightweight and flexible, allowing it to bend and pass through complex, narrow channels (engine interiors, pipe gaps), making it suitable for use in vehicle-mounted systems with limited space. Furthermore, it transmits real optical images, not electronic signals, thus eliminating delays and data compression, and meeting the time-sensitive and image-quality requirements of automotive scenarios.

[0058] In Embodiment 3, the control unit in the aforementioned system is used to synchronously open the corresponding shutter while keeping the other shutters closed, according to a preset time-division multiplexing strategy, when the high frame rate CMOS image sensor acquires different frame images. An example is given below:

[0059] Taking 4-channel image acquisition as an example, a 2-megapixel, 120fps high frame rate CMOS sensor is selected.

[0060] During the first frame acquisition period (T1 = 1 / 120 seconds), the control unit opens shutter 1 and closes shutters 2, 3, and 4 simultaneously to acquire images from the image transmission fiber optic lens module 1.

[0061] During the second frame acquisition period (T2 = 2 / 120 seconds), shutter 2 is opened and shutters 1, 3, and 4 are closed to capture images from module 2.

[0062] During the 3rd frame acquisition period (T3 = 3 / 120 seconds), shutter 3 is opened and shutters 1, 2, and 4 are closed to capture images from module 3.

[0063] During the 4th frame acquisition period (T4 = 4 / 120 seconds), shutter 4 is opened and shutters 1, 2, and 3 are closed to capture images from module 4.

[0064] This process is then repeated. A total of 120 frames are captured per second.

[0065] After 120 frames of sampling are completed, the image transmitted by image transmission fiber optic lens module 1 is sampled for 4n+1 frames (n∈[0,29]), the image transmitted by image transmission fiber optic lens module 2 is sampled for 4n+2 frames (n∈[0,29]), the image transmitted by image transmission fiber optic lens module 3 is sampled for 4n+3 frames (n∈[0,29]), and the image transmitted by image transmission fiber optic lens module 4 is sampled for 4n frames (n∈[1,30]). Each image channel is sampled for 30 frames per second, which is equivalent to four 2-megapixel cameras with a frame rate of 30 frames per second working simultaneously. Considering that most surround-view cameras on the market have parameters of 1 to 2 megapixels and a frame rate of around 30 frames per second, such parameters are fully sufficient for the driver to observe the surroundings of the vehicle and assist the driver in driving.

[0066] More channels of image acquisition can be achieved in the same way. This allows a single CMOS sensor to acquire multiple images.

[0067] In embodiment 4, the aforementioned system further includes an optical multiplexer located after the shutter, whose internal structure includes a light-directing concave lens and an imaging convex lens. Its function is to spatially converge and shape optical signals from different optical fibers, and finally transmit them to the coupling lens group.

[0068] In Example 5, the system is as described in Example 4, such as Figure 3 As shown, it includes: component 04, a first concave lens for light steering; component 05, a second concave lens for light steering; and component 06, an imaging convex lens. Component 03 is a shutter and not part of the optical multiplexer; it will be described in detail below. In the first structure, the light image transmitted from the image transmission fiber passes through component 03 and then undergoes a first angular deflection by component 04, resulting in the outgoing light being parallel to the normal direction of the concave lens. The number of components 04 is equal to the number of the image transmission fiber lens modules, i.e., equal to the number of image paths. Spatially, components 04 are arranged in a circle with the central axis of component 05 as the circumference. After the light image refracted by component 04 enters component 05 for a second refraction, the outgoing light is perpendicularly downward and parallel to the incident light from component 03. There is only one component 05. The imaging convex lens of component 06 is responsible for magnifying the image transmitted from component 05, magnifying it to be comparable to the acquisition area of ​​the CMOS image sensor chip in component 07, ensuring the utilization rate of the pixels in component 07. Because the light emitted by component 05 is parallel light, in order to achieve a magnifying effect, the distance between the upper surface of component 07 and component 06 is greater than twice the focal length of component 06.

[0069] In Example 6, the system is as described in Example 4, such as Figure 4As shown, similar to the structure of Embodiment 4, the difference lies in the use of an integrated light-directing lens (08) to replace the discrete first concave lens array (04). This lens (08) achieves the same function as the former through structural design. Furthermore, it uses an imaging concave lens (09) instead of an imaging convex lens (06). Component 08 replaces component 04 in the first structure, and component 09 replaces component 06 in the first structure. Component 08 is a complete unit compared to component 04, rather than an array as in the first structure. The principle of construction is to rotate and combine components 04 in space, achieving the same function as the first structure, namely, to perform the first angular deflection of the light image transmitted from component 03. Compared to component 06, component 09 uses a concave lens instead of the convex lens of component 06, thus shortening the distance between components 07 and 09, effectively reducing the height of the optical system, making the overall structure more compact, and saving installation space.

[0070] In embodiment 7, the shutter in the aforementioned system is as follows: Figure 5 As shown. Component 03-2 is the shutter base, with a hollowed-out circle at its center for light transmission. 03-1 is a rotatable movable piece fixed at one end to the base 03-2. 03-1 can only move along a specific groove trajectory on 03-2. When the shutter needs to remain closed, the external drive mechanism rotates all components 03-1, causing them to converge and block the light path, thus preventing light transmission. When the shutter needs to open, the external drive mechanism moves all components 03-1 in the opposite direction, exposing the hollowed-out circle on component 03-2, allowing the image to pass through the light path.

[0071] In Example 8, the shutter in the aforementioned system uses a MEMS optical shutter array. MEMS optical shutter chips are typically composed of microlenses or movable obstructions. Their operation utilizes a micrometer-scale electrical drive mechanism to rapidly move these microstructures within the chip plane, interrupting or allowing the light path to pass through.

[0072] Compared with the mechanical shutter in the first embodiment, the MEMS shutter has the following significant advantages:

[0073] 1. Faster switching speed: MEMS devices can achieve sub-millisecond or even faster switching times, far exceeding the response speed of traditional mechanical shutters. This allows the system to support higher frame rates or connect more transmission optical fibers, such as 6 or 8, to obtain a more detailed perspective and further eliminate blind spots.

[0074] 2. Smaller size and weight: MEMS shutter chips are small in size and easy to integrate, allowing the entire shutter array to be packaged in a compact module, further reducing system size and weight.

[0075] 3. Higher reliability and longer lifespan: MEMS devices move at the microscopic level, with minimal friction and wear, and their sealed packaging can effectively resist the influence of the external environment, thus exhibiting higher reliability and a longer lifespan.

[0076] This embodiment provides a higher performance and more compact implementation path for the present invention, which is suitable for mid-to-high-end models or models with higher reliability requirements.

[0077] In Example 9, the shutter in the aforementioned system uses an all-solid-state optical switch array, completely eliminating all moving parts. An all-solid-state optical switch is an optical switch without moving parts, with extremely fast switching speed, which can be used in applications with extremely high switching speed requirements, and is suitable for low-latency scenarios required for vehicle communication.

[0078] This embodiment integrates one or more all-solid-state optical switch arrays into an optical multiplexer. These switches utilize physical principles such as the magneto-optical effect or electro-optical effect to control the deflection and switching of the optical path via external electrical signals. Its advantages are:

[0079] 1. Reliability: With no moving parts, this solution offers the highest level of reliability and shock resistance, is virtually unaffected by mechanical wear and environmental factors, and is ideal for long-term stable operation in harsh automotive environments.

[0080] 2. Switching speed: The switching time of the all-solid-state optical switch is less than 750 microseconds, far exceeding that of mechanical and MEMS shutters. This allows the system to switch images at a higher frequency. For example, at a frame rate of 120fps, it can easily support the acquisition of more than 8 or even more images, providing a smoother and more detailed panoramic view.

[0081] 3. Potential Multifunctional Integration: This technology aligns closely with the beam switching principle in advanced sensing technologies such as LiDAR. In the future, this solution may be integrated with the optical system of automotive LiDAR to create a composite sensing system that can provide both surround-view images and perform 3D ranging, further enhancing the vehicle's intelligence level.

[0082] In Embodiment 10, the optical multiplexer in the aforementioned system includes one or more Fresnel lenses for uniformly coupling the image optical signal to the CMOS image sensor.

[0083] This embodiment focuses on optimizing the optical path, with particular improvements made to the coupling lens group between the optical multiplexer and the CMOS sensor.

[0084] After multiple optical fibers converge, the key to achieving efficient and uniform projection of the light image onto the CMOS sensor surface is the final image quality. Traditional convex lens magnification schemes may suffer from insufficient light energy utilization and edge brightness attenuation.

[0085] This embodiment proposes the use of advanced optical coupling technology, such as Fresnel lenses. Fresnel lenses, through their unique sawtooth-shaped rotating surfaces, can reshape and redistribute energy from multiple optical fibers. The principle is to utilize total internal reflection and refraction to efficiently collimate or converge divergent beams, ensuring the formation of a uniformly bright "flat-top beam" on the receiving surface of the CMOS sensor.

[0086] The advantage of this embodiment is that:

[0087] 1. Higher coupling efficiency: Fresnel lenses can couple light from optical fibers to CMOS sensors more efficiently, reducing light energy loss.

[0088] 2. More uniform image brightness: By redistributing light, Fresnel lenses ensure uniform brightness across the entire CMOS sensor acquisition area, avoiding the problem of bright centers and dark edges that may occur with traditional lenses, thereby improving overall image quality.

[0089] 3. More compact structure: Fresnel lenses are thinner than traditional convex lenses, which can shorten the height of the optical system and save installation space.

[0090] Finally, it should be noted that the above are only specific embodiments of this application, but the protection scope of this application is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the protection scope of this application.

Claims

1. A vehicle surround view system, characterized in that, include: At least two fiber optic lens modules are used to capture external images and transmit them through optical fibers; High frame rate CMOS image sensor for acquiring image data; A shutter mechanism corresponding to each of the at least two fiber optic lens modules is located on the optical path between the fiber optic lens module and the high frame rate CMOS image sensor, and is used to control the on / off state of the optical path. The control unit is used to synchronously open the corresponding shutter while keeping the other shutters closed when the high frame rate CMOS image sensor acquires different frame images, according to a preset time-division multiplexing strategy. The image processing unit is configured to receive image data output by the high frame rate CMOS image sensor and process it according to the time slice to generate a panoramic surround view image.

2. The system according to claim 1, characterized in that, The optical fiber is an image transmission optical fiber.

3. The system according to claim 2, characterized in that, The time-division multiplexing strategy is as follows: for N-channel image transmission fiber optic lens modules, the frame rate of the high frame rate CMOS image sensor is F, and the shutter corresponding to each image transmission fiber optic lens module is opened once every N frames, so that the equivalent acquisition frame rate of each image is F / N, where N>1 and N is a natural number.

4. The system according to claim 2, characterized in that, It also includes an optical multiplexer located between the shutter mechanism and the high frame rate CMOS image sensor, for converging optical image signals from different shutter speeds and directing them to the high frame rate CMOS image sensor.

5. The system according to claim 4, wherein the optical multiplexer includes one or more Fresnel lenses for uniformly coupling the image optical signal to the CMOS image sensor.

6. The system according to claim 4, characterized in that, The optical multiplexer includes: Multiple first concave lenses, the number of which is equal to the number of the image transmission fiber lens module, are used to perform the first angular deflection on the light image from the corresponding shutter. A second concave lens is used to receive and refract the light image after it has been deflected by all the first concave lenses a second time, so that the direction of the outgoing light is parallel to the direction of the incident light. And an imaging convex lens for magnifying the image from the second concave lens and projecting it onto the photosensitive area of ​​the high frame rate CMOS image sensor.

7. The system according to claim 4, characterized in that, The optical multiplexer includes: An integrated light-directing lens, which functions as an array of multiple concave lenses, is used to perform the first angular deflection of the light image from each shutter. A second concave lens is used to refract the deflected light image a second time; And an imaging concave lens, instead of an imaging convex lens, is used to project the image onto the high frame rate CMOS image sensor to shorten the overall height of the optical path.

8. The system according to claim 1, characterized in that, The shutter includes: A shutter base with multiple perforations for optical path transmission; Multiple rotatable moving plates can be rotated independently according to signals from the control unit to selectively block or open the cutout holes.

9. The system according to claim 2, characterized in that, The image transmission fiber optic lens module includes an optical lens group at the front end and an image transmission fiber bundle at the rear end, and the two are pluggable.

10. A method for achieving multi-channel visual acquisition using a single image sensor, characterized in that, Includes the following steps: Multiple external images are acquired using multiple fiber optic lens modules; Frame-by-frame image acquisition is performed using a high-frame-rate CMOS image sensor; When the high frame rate CMOS image sensor acquires the first frame image, the shutter corresponding to the first transmission fiber is opened, while all other shutters are closed. When the high frame rate CMOS image sensor acquires the second frame image, the shutter corresponding to the second transmission fiber is opened, while all other shutters are closed. By doing so, the shutters corresponding to each transmission fiber are opened sequentially and cyclically to synchronize with the frame acquisition of the high frame rate CMOS image sensor, thereby achieving time-division acquisition of multiple images.

Images