Variable focal curved surface compound eye spectral imaging system

Abstract

This invention belongs to the field of optical imaging technology and discloses a variable-focus curved compound eye beam-splitting imaging system. The curved compound eye lens group receives light from an ultra-large field of view, divides the entire large scene into several small sub-fields of view, and converges the light from each sub-field of view onto the focal curved surface. The optical path shaping lens group collects, collimates, and re-converges the light to form a compact converging beam, which is then coupled into the beam-splitting module. The beam-splitting module divides the shaped compact beam into a transmitted beam and a reflected beam according to a predetermined splitting ratio, which are then projected onto a first image sensor and a second image sensor via a zoom lens group and a fixed-focus lens group, respectively. This invention, through its beam-splitting and dual-channel parallel operation design, fundamentally solves the contradiction of traditional single-channel imaging systems where "seeing a wide range" results in "not seeing clearly," achieving a unity of global perception and detailed local observation.

Description

Technical Field

[0001] This invention belongs to the field of optical imaging technology, and particularly relates to a variable focal plane compound eye beam-splitting imaging system. Background Technology

[0002] Traditional compound eye imaging lens systems: Traditional compound eye imaging systems mimic the compound eyes of insects, consisting of a lens array composed of multiple ommatidia (sub-apertures) arranged on a planar substrate. Each ommatidia image is formed independently, and the images are ultimately synthesized through computation to form a large field-of-view image. However, this type of optical lens has the following inherent drawbacks: Fixed focal length: The focal length of traditional compound eye lenses is fixed after manufacturing, which makes it impossible to achieve optical zoom and limits its application scenarios that require clear observation of targets at different distances.

[0003] Aberrations caused by planar structure: When a planar lens array receives incident light at a large angle, the sub-images of its edge field of view will produce severe astigmatism, field curvature and coma, resulting in uneven imaging quality of the entire system and a significant decrease in edge resolution.

[0004] Existing technological improvements: To improve aberrations, curved compound eye designs have emerged, distributing microocular units on a biomimetic curved surface to effectively smooth field curvature and astigmatism, thereby improving full-field imaging quality. However, these advanced curved compound eye systems still have significant limitations: Unable to balance a large field of view and high resolution: Limited by fixed focal length and static optical design, existing systems struggle to overcome the inherent trade-off between field of view and resolution in imaging systems. In pursuing a large field of view, the resolution of each sub-eye unit is inevitably limited; conversely, improving local resolution requires sacrificing the overall field of view.

[0005] Lack of dynamic zoom capability: Most existing curved compound eye systems are still based on a fixed focal length design, which cannot dynamically focus and continuously zoom according to the target distance, thus limiting their application in complex dynamic scenes.

[0006] Therefore, embedding the beam-splitting element into the variable-focus curved compound eye optical architecture in a highly integrated manner to form a unified and powerful lens system remains a gap and challenge in existing technology.

[0007] Currently, many institutions are conducting research on curved compound eye systems, including: Patent CN202011304375.9 invented a single-lens curved compound eye camera, which includes several sub-eyes and a lens with a convex spherical surface. The sub-eyes are distributed in multiple concentric rings on the convex spherical surface of the lens. A CMOS image sensor is placed at the focal plane of the curved compound eye lens. The image processing system stitches and fuses the image information acquired by the CMOS image sensor and outputs the final image.

[0008] Patent CN202210978198.5 discloses a common-path compound eye optical system based on a hexagonal ring arrangement. This system includes a curved multi-aperture array, an optical relay image-transfer receiving system, and an infrared dual-color detector. The curved multi-aperture array uses a hexagonal ring arrangement, with each sub-aperture unit having identical optical parameters. The optical relay image-transfer receiving system converts the focal plane image information acquired by the curved multi-aperture array into focal plane image information, which is then received by the planar detector. The infrared dual-color detector receives dual-band image information acquired by sub-aperture units at different spatial locations.

[0009] Patent CN202223529089.X invented a large field-of-view, long focal length, small-type bionic compound eye optical system. The system includes a sub-eye lens array and a relay lens. The sub-eye lens array consists of n groups of sub-eye lenses closely distributed on the same spherical surface with a set radius of curvature. The n groups of sub-eye lenses are used to image different fields of view onto the same image plane to complete the preliminary correction of aberrations in the local field of view. Here, n is an integer greater than 1. The relay lens is located in the outgoing optical path of the sub-eye lens array and is used to image the images of the n groups of sub-eye lenses onto the final planar image plane to achieve full field-of-view aberration correction.

[0010] Patent CN201410279718.9 discloses a biomimetic compound eye imaging target positioning system. This system comprises a protective glass, a large-aperture compound eye optical system, a curved detector array, a computer neural network signal processing system, a servo control system, a machine control signal processing system, a support structure, and a housing. The compound eye optical system, serving as the system's optical information acquisition system, focuses incident light onto the curved detector array to form an image. The signal processing system not only preprocesses the optical image information but also employs a neural network processing approach. By repeatedly training on an established target information database, the computer can achieve rapid target recognition and output the information as a digital signal to the servo control system. The servo control system processes and analyzes the input digital signal to obtain the target's current relative position information and outputs it as a feedback signal to the machine control signal processing system. The machine control signal processing system adjusts the system's attitude based on the feedback signal to achieve precise positioning and tracking. Summary of the Invention

[0011] To address the shortcomings of existing technologies and overcome the inherent limitation of current compound eye imaging systems in simultaneously achieving a large field of view and high resolution, this invention provides an innovative architecture that separates imaging channels using a beam splitting method. This architecture allows for the simultaneous realization of large-field-of-view monitoring imaging in one imaging channel and localized high-resolution zoom imaging in another imaging channel within a single system, thereby breaking the limitation of the trade-off between field of view and resolution in traditional imaging systems. This invention provides the following technical solution: A variable-focus curved compound eye beam splitting imaging system includes a curved compound eye lens group, an optical path shaping lens group, a beam splitting module, a zoom lens group, a fixed-focus lens group, a first image sensor, and a second image sensor. The curved compound eye lens group is used to receive light from an ultra-large field of view, divide the entire large scene into several small sub-fields of view, and converge the light from each sub-field of view onto the focal curved surface. The optical path shaping lens group is located on the image side of the curved compound eye lens group. It is used to collect, collimate, and reconverge the several rays formed by the curved compound eye lens group to form a compact converging beam, which is then coupled into the beam splitting module. The beam splitting module is used to split the shaped compact beam into a transmitted beam and a reflected beam according to a predetermined beam splitting ratio; The zoom lens group is located in the transmission channel and is used to change the equivalent focal length of the transmission channel, thereby projecting the transmitted light beam onto the first image sensor. The fixed-focus lens group is located in the reflection channel and is used to project the reflected light beam onto the second image sensor; The first image sensor is located on the image plane of the zoom lens group and is used to receive the transmitted light beam of the transmission channel and output a high-resolution image that can be dynamically magnified or reduced for a local area. The second image sensor is located on the image plane of the fixed-focus lens group and is used to receive the reflected light beam from the reflection channel and output a complete, wide-field-of-view global monitoring image.

[0012] Preferably, the curved compound eye lens group is a dense microlens array with a spherical or free-form substrate, consisting of several small lenses arranged in a tightly concentric ring array on the substrate. The microfocal points of all the small lenses together form a curved focal surface that matches the curvature of the substrate of the curved compound eye lens group. Each small lens independently and initially converges the light rays of its corresponding sub-field of view onto the focal surface.

[0013] Preferably, the optical path shaping lens group is composed of multiple fixed lenses, including at least a first positive lens unit and a second positive lens unit arranged sequentially along the optical path; The first positive lens unit is used to collect and collimate the diverging light rays emitted from the curved compound eye lens group; The first positive lens unit is used to refocus the light rays collimated by the first positive lens unit to form a compact focused beam with a size and angle suitable for the beam splitter to receive.

[0014] Preferably, the beam splitting module is a beam splitting prism or beam splitting plane mirror with a predetermined splitting ratio to form two parallel imaging channels, namely a transmission channel and a reflection channel. Accordingly, the compact converging beam is divided into a transmission beam and a reflection beam according to the predetermined splitting ratio.

[0015] Preferably, the zoom lens group consists of multiple lens elements that can move along the optical axis, including a zoom group and a compensation group.

[0016] Preferably, the fixed-focus lens group is an imaging lens group with a fixed focal length, which includes a combination of positive and negative lenses, and uses at least one aspherical lens to correct spherical aberration, coma and astigmatism. The fixed-focus lens group needs to work in conjunction with the optical path shaping lens group to clearly project the shaped reflected beam, which represents the global scene, onto the second image sensor.

[0017] The beneficial effects of this invention are as follows: This invention provides a variable focal plane compound eye beam-splitting imaging system: 1. Breaking the trade-off between field of view and resolution: Through the design of beam splitting and dual-channel parallel operation, the contradiction of "seeing a wide range" but "not seeing clearly" in traditional single-channel imaging systems is fundamentally solved, realizing the unity of global perception and detailed local observation.

[0018] 2. High imaging efficiency and fast response: Without the need for mechanical scanning or re-mapping, it can instantly initiate high-resolution zoom imaging for sudden targets or key details while maintaining a wide field of view, which greatly improves the system's information acquisition efficiency and dynamic response capability.

[0019] 3. High system integration and powerful functions: The system integrates the two major functions of wide field of view imaging and zoom detailed observation into a compact optical system, avoiding the size, cost and calibration problems caused by connecting multiple independent cameras, and achieving system efficiency of 1+1>2. Attached Figure Description

[0020] To more clearly illustrate the technical solution of the present invention, the drawings used in the embodiments are briefly described below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Figure 1 This is a schematic diagram of the overall structure of the variable-focus curved compound eye beam-splitting imaging system according to an embodiment of the present invention; Figure 2 This is a cross-sectional schematic diagram of the curved compound eye lens group according to an embodiment of the present invention.

[0021] Explanation of reference numerals in the attached figures: 1. Curved compound eye lens group; 2. Optical path shaping lens group; 3. Beam splitting module; 4. Zoom lens group; 5. Fixed focal length lens group; 6a. First image sensor; 6b. Second image sensor. Detailed Implementation

[0022] 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 embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0023] Example 1 This invention provides a variable focal plane compound eye beam-splitting imaging system, the overall structure of which is as follows: Figure 1 As shown, it mainly includes: curved compound eye lens group 1, optical path shaping lens group 2, beam splitting module 3, zoom lens group 4, fixed focus lens group 5, first image sensor 6a and second image sensor 6b.

[0024] Specifically, in this embodiment: The curved compound eye lens group 1 is a dense array of microlenses with a spherical or freeform substrate, composed of several small lenses. Each small lens has an aperture size between 0.1 mm and 10 mm, and its light-gathering aperture is circular or hexagonal. The optical surface of each small lens can be spherical or aspherical, and its focal length ranges from 1 mm to 20 mm. The small lenses are arranged in a tightly concentric ring array on the substrate. The microfocal points of all the small lenses together form a curved focal surface that matches the curvature of the compound eye lens group substrate. The radius of curvature of this focal surface ranges from 10 mm to 100 mm. The curved compound eye lens group 1 receives light from a very large field of view (e.g., ≥120°) and divides the entire large scene into several small sub-fields of view. Each small lens independently converges the light from its corresponding sub-field of view (with a sub-field of view angle ranging from 5° to 30°) onto this focal surface. The overall structure is as follows: Figure 2 As shown.

[0025] The optical path shaping lens group 2 is located on the image side of the curved compound eye lens group 1. It consists of multiple fixed lenses, including at least a first positive lens unit and a second positive lens unit, arranged sequentially along the optical path. The first positive lens unit is mainly responsible for collecting and collimating the divergent sub-beams emitted from the curved compound eye lens group 1. The first positive lens unit is also responsible for refocusing the beam collimated by the first unit into a compact converging beam with a size and angle suitable for reception by the beam splitter module 3. Its surface shape may include spherical, aspherical, or a combination thereof to correct aberrations such as astigmatism and field curvature introduced by the large field of view and the curved compound eye, ensuring beam quality. The focal length f1 of the first positive lens unit matches the focal length and arrangement curvature of the microlenses in the curved compound eye lens group 1 to satisfy the imaging relay relationship, and its range is typically between 10mm and 50mm. The focal length f2 of the second positive lens unit determines the convergence angle of the final output beam, and its range is typically between 15mm and 60mm. The combined focal length of the two determines the magnification of the entire relay system. The material used is glass produced by Chengdu Guangming. The optical path shaping lens group 2 serves as a relay transmission system. It collects, collimates, and reconverges the curved, divergent, multifocal divergent beam formed by the curved compound eye lens group 1 to form a compact converged beam suitable for subsequent beam splitting, and then couples it into the beam splitting module 3.

[0026] The beam splitting module 3, located after the optical path shaping lens group 2, is a beam splitting prism or beam splitting plane mirror with a predetermined splitting ratio (e.g., 50 / 50 or 70 / 30) to form two parallel imaging channels: a transmission channel and a reflection channel. Correspondingly, the compactly converging beam is split into a transmission beam and a reflection beam according to the splitting ratio. For different splitting ratios, a 50 / 50 (i.e., 1:1) splitting ratio means that the light energy (or intensity) of the transmission beam and the reflection beam are approximately equal. 70 / 30 (or other asymmetric splitting ratios, such as 80 / 20): This means that most of the light energy (e.g., 70%) is allocated to one channel, and a small portion (e.g., 30%) is allocated to the other channel. This splitting ratio is suitable for scenarios where the two channels have a primary and secondary role or different performance requirements. For example, the primary channel (high energy) is used for high-resolution, high-dynamic-range color imaging, while the secondary channel (low energy) is used for auxiliary functions, such as laser ranging, low-light monitoring, or detection in specific wavelengths (e.g., infrared). This optimizes the overall energy distribution efficiency of the system without increasing the power of the primary light source. Planar beam splitters are typically constructed by depositing a beam-splitting film layer on a planar optical substrate (such as flat glass). Their advantages include simple structure, low cost, flexible optical path layout, and a certain spatial displacement between the transmitted and reflected beams. They are suitable for designs that are sensitive to system size and cost, and where a certain degree of optical path offset is permissible. A beam splitter prism is typically composed of two right-angled prisms cemented together, with a beam-splitting film coated on its inclined surface (cemented surface). Its core advantage is its ability to precisely split the incident beam into two paths at a predetermined angle (usually 90°) without deviation, ensuring strict alignment of the two pupils and better optical stability. It is suitable for designs with extremely high requirements for optical path alignment accuracy, system stability, and compactness, such as dual-sensor high-speed imaging systems requiring strict synchronization. If a beam splitter prism is used, it is usually cubic or near-cubic in shape, with a side length approximately 5mm to 50mm larger than the input beam diameter to ensure complete beam passage without vignetting. If a beam splitter plane mirror is used, it is typically a circular or rectangular flat plate with a thickness between 1-5mm, and its diameter or diagonal length also needs to be approximately 5mm to 50mm larger than the input beam diameter.

[0027] The zoom lens group 4 is located in the transmission channel of the beam splitter module 3 and consists of multiple lens groups that can move precisely along the optical axis. It is used to change the equivalent focal length of the transmission channel, thereby projecting the transmitted light beam onto the first image sensor 6a. The zoom lens group 4 typically includes two or more lens groups that can move independently along the optical axis; these movable groups are referred to as the "magnification group" and the "compensation group," respectively. Both the "magnification group" and the "compensation group" are formed by combining several lenses, including positive and negative lenses. At least one of these lenses is aspherical to effectively correct higher-order aberrations such as spherical aberration and coma generated during zooming, especially at large apertures or wide-angle ends. Each movable group has a specific optical power (the reciprocal of the focal length). For example, the "magnification group" is typically a negative optical power group, responsible for the main optical magnification change; the "compensation group" is typically a positive optical power group, responsible for moving to compensate for image plane shift caused by zooming and participating in aberration correction. The optical power allocation of each group is optimized to achieve the desired zoom ratio and compact overall length.

[0028] The fixed-focus lens group 5, located in the reflection channel of the beam splitter module 3, is a fixed-focal-length imaging lens group consisting of multiple (e.g., 3 to 7) optical lenses fixedly assembled within a lens barrel. The positions (spacing) of all lenses are permanently fixed after assembly and adjustment, and their optical axes are strictly aligned and locked with the system's principal optical axis to ensure optical stability. It employs an optical design optimized for infinity or specific finite conjugate distances. It includes a combination of positive and negative lenses and uses at least one aspherical lens to correct spherical aberration, coma, and astigmatism. Simultaneously, it uses combinations of glass materials with different Abbe numbers (e.g., fluorite glass and high-refractive-index glass) to correct axial chromatic aberration and magnification chromatic aberration, ensuring high-contrast imaging across the entire operating wavelength range (such as visible light). (The fixed-focus lens group 5 and the zoom lens group 4 have similar overall structures, but the thickness, material, curvature, and diameter of the lenses differ, resulting in different effects.) Its focal length is a fixed value, determined by the target surface size of the second image sensor 6b and the required panoramic field of view. The focal length range is typically between 10mm and 50mm. Its design ensures sufficient back focal length space to accommodate the second image sensor 6b and any necessary components such as filters. The fixed-focus lens group 5 works in conjunction with the optical path shaping lens group 2. The exit pupil of the optical path shaping lens group 2 is designed as the entrance pupil of the fixed-focus lens group 5. The two are precisely matched in pupil position and size to ensure efficient beam transmission without vignetting. The optical path shaping lens group 2 mainly corrects the field curvature, astigmatism, and beam divergence angle introduced by the front-end curved compound eye lens group 1, outputting a relatively flat intermediate image or collimated beam for the back end. The fixed-focus lens group 5, based on this, mainly completes the focusing of the final image and the fine correction of residual aberrations (especially chromatic aberration and higher spherical aberration), and undertakes the main task of setting the magnification (focal length). The second image sensor 6b is located on the image plane of the fixed-focus lens group 5 and is used to receive the reflected beam from the reflection channel (i.e., the large field-of-view fixed-focus channel) and output a complete, large field-of-view global monitoring image.

[0029] The workflow of the variable focal curved surface compound eye beam-splitting imaging system in this embodiment can be summarized as follows: Ambient light is first received and split by the curved compound eye lens group 1, and then reconverged on the focal surface.

[0030] Subsequently, these sub-beams are collected and shaped into high-quality, compact converging beams by the optical path shaping lens group 2, and then enter the beam splitting module 3.

[0031] In beam splitting module 3, the compact beam is divided by a beam splitting prism, wherein the beam transmitted by the beam splitting prism forms a transmitted beam, and the beam reflected by the beam splitting prism forms a reflected beam. The transmitted light beam (high-resolution zoom channel) enters the zoom lens group 4, and after adjusting the focal length, a close-up image with variable resolution targeting a local area of ​​interest is formed on the first image sensor 6a.

[0032] The reflected beam (large field-of-view fixed-focus channel) passes through the fixed-focus lens group 5 and forms a global image on the second image sensor 6b that always maintains the maximum field of view.

[0033] Example 2 This second embodiment provides a specific application example of the present invention: an intelligent traffic panoramic monitoring and violation capture system. This beam-splitting imaging system is deployed above urban intersections to achieve comprehensive panoramic monitoring without blind spots and automatic close-up capture of vehicles violating traffic rules. Its workflow is as follows: Global scene capture and segmentation: Ambient lighting: Complex scene lighting (including vehicles, pedestrians, traffic lights, signs, etc.) from four directions of the intersection, covering an ultra-wide-angle range of ≥120°.

[0034] The curved compound eye lens group 1 resembles the compound eye of an insect, with several small lens units on its spherical base working simultaneously. Each unit independently receives light from a tiny direction (such as a lane corresponding to the northeast corner of an intersection), optically dividing the entire large intersection scene into several small, overlapping sub-fields of view, forming a curved focal plane behind it. Each micro-focal point carries preliminary optical information of a sub-region.

[0035] Beam integration and quality improvement: These divergent and curved sub-beams from several sub-fields of view are captured by the subsequent optical path-shaping lens group 2. This lens group acts like an efficient "optical control center," collecting, collimating, and reconverging all the stray beams into a single, high-quality, compact beam with uniform aperture, flat wavefront, and focused direction. This process eliminates the inherent astigmatism and field curvature caused by the compound eye structure, preparing the beams for subsequent beam splitting and high-quality imaging.

[0036] Intelligent beam splitting in optical path: This beam of light, carrying complete intersection information, enters the beam splitting module 3 (e.g., using a cubic prism with a 70 / 30 splitting ratio).

[0037] Beam splitting: The prism divides the light beam according to its energy. Approximately 70% of the transmitted light energy enters the zoom channel, dedicated to high-resolution capture; approximately 30% of the reflected light energy enters the fixed-focus channel, dedicated to continuous panoramic monitoring.

[0038] Dual-channel parallel processing and output: Channel 1: Wide Field of View Fixed-Focus Monitoring (Global Situation Awareness): The reflected light beam enters the fixed-focus lens group 5. This lens group works in conjunction with the optical path shaping lens group 2, acting like a fixed "wide-angle lens" to clearly image the light beam onto the second image sensor 6b.

[0039] Results: Sensor 6b consistently presents an undistorted, complete panoramic video stream of the intersection (e.g., 120° field of view) with a stable frame rate, which is used for all-weather situational monitoring, traffic statistics, and event detection (such as congestion and accidents).

[0040] Channel Two: High-resolution zoom capture (detailed evidence collection): The transmitted light beam enters zoom lens group 4. When the panoramic channel algorithm detects a suspected traffic violation (e.g., a car crossing the line at a red light), the system immediately moves the lens within the zoom lens group via a motor.

[0041] Zooming and Imaging: The zoom lens group continuously adjusts the equivalent focal length from short focal length (wide-angle) to long focal length (telephoto) within milliseconds, automatically magnifying and clearly focusing the "region of interest"—that is, the license plate area of ​​the vehicle that violated the traffic rules—on the first image sensor 6a.

[0042] Result: The sensor 6a instantly acquires a high-resolution close-up image of the license plate with clear details for identification. At the same time, since the front-end compound eye provides an ultra-large field of view background, the system can seamlessly link the close-up and panoramic views to complete the evidence collection of the violation.

[0043] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made to the technical solutions of the present invention by those skilled in the art without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims

1. A variable focal curved surface fly-eye spectral imaging system, characterized in that, It includes a curved compound eye lens group, an optical path shaping lens group, a beam splitting module, a zoom lens group, a fixed focal length lens group, a first image sensor, and a second image sensor; The curved compound eye lens group is used to receive light from an ultra-large field of view, divide the entire large scene into several small sub-fields of view, and converge the light from each sub-field of view onto the focal curved surface. The optical path shaping lens group is located on the image side of the curved compound eye lens group. It is used to collect, collimate, and reconverge the several rays formed by the curved compound eye lens group to form a compact converging beam, which is then coupled into the beam splitting module. The beam splitting module is used to split the shaped compact beam into a transmitted beam and a reflected beam according to a predetermined beam splitting ratio; The zoom lens group is located in the transmission channel and is used to change the equivalent focal length of the transmission channel, thereby projecting the transmitted light beam onto the first image sensor. The fixed-focus lens group is located in the reflection channel and is used to project the reflected light beam onto the second image sensor; The first image sensor is located on the image plane of the zoom lens group and is used to receive the transmitted light beam of the transmission channel and output a high-resolution image that can be dynamically magnified or reduced for a local area. The second image sensor is located on the image plane of the fixed-focus lens group and is used to receive the reflected light beam from the reflection channel and output a complete, wide-field-of-view global monitoring image.

2. The variable focal length curved surface compound eye beam-splitting imaging system according to claim 1, characterized in that, The curved compound eye lens group is a dense array of microlenses with a spherical or free-form substrate. It consists of several small lenses arranged in a tight concentric ring array on the substrate. The microfocal points of all the small lenses together form a curved focal surface that matches the curvature of the substrate of the curved compound eye lens group. Each small lens independently converges the light rays of its corresponding sub-field of view onto the focal surface.

3. The variable focal length curved surface compound eye beam-splitting imaging system according to claim 1, characterized in that, The optical path shaping lens group consists of multiple fixed lenses, including at least a first positive lens unit and a second positive lens unit arranged sequentially along the optical path; The first positive lens unit is used to collect and collimate the diverging light rays emitted from the curved compound eye lens group; The first positive lens unit is used to refocus the light rays collimated by the first positive lens unit to form a compact focused beam with a size and angle suitable for the beam splitter to receive.

4. The variable focal length curved surface compound eye beam-splitting imaging system according to claim 1, characterized in that, The beam splitting module is a beam splitting prism or beam splitting plane mirror with a predetermined splitting ratio to form two parallel imaging channels, namely a transmission channel and a reflection channel. Accordingly, the compact converging beam is divided into a transmission beam and a reflection beam according to the predetermined splitting ratio.

5. The variable focal length curved surface compound eye beam-splitting imaging system according to claim 1, characterized in that, The zoom lens group consists of multiple lens elements that can move along the optical axis, including a zoom group and a compensation group.

6. The variable focal length curved surface compound eye beam-splitting imaging system according to claim 1, characterized in that, The fixed-focus lens group is an imaging lens group with a fixed focal length, which includes a combination of positive and negative lenses and uses at least one aspherical lens to correct spherical aberration, coma and astigmatism. The fixed-focus lens group needs to work in conjunction with the optical path shaping lens group to clearly project the shaped reflected beam, which represents the global scene, onto the second image sensor.

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