Panoramic imaging system

Abstract

The utility model discloses a panoramic imaging system, which comprises a mounting seat, a scanning main body, a scanning galvanometer and a rear imaging lens group, the scanning main body is rotationally mounted on the mounting seat, the scanning main body comprises a front telescopic system, the incident end of the front telescopic system is used for light to enter, and the emergent end of the front telescopic system is used for light to exit; the scanning galvanometer is arranged corresponding to the emergent end of the front telescopic system, is rotatably arranged and is used for receiving light rays emitted by the emergent end of the scanning main body and reflecting the light rays; the rear imaging lens group is fixedly mounted on the mounting seat, and the incident end of the rear imaging lens group is used for receiving the light reflected by the scanning galvanometer; and the focal plane detector is fixedly arranged relative to the mounting seat and is used for receiving light emitted by the emitting end of the rear imaging lens group. According to the scheme, the rear imaging lens group and the focal plane detector are fixedly arranged, so that the focal plane of the panoramic imaging system is fixed, the focal plane detector can receive clear images all the time, and rapid scanning can be further realized.

Description

Technical Field

[0001] The utility model relates to the field of panoramic imaging, in particular to a panoramic imaging system. Background Art

[0002] In the field of security monitoring, in order to expand the monitoring area and achieve monitoring without blind spots, panoramic image monitoring has received more and more attention and has gradually been widely used.

[0003] In order to achieve panoramic imaging, existing cameras need to use multi-camera (or single camera) rotation scanning method to obtain a larger field of view. In the existing camera technology, the focal plane changes position all the time as the camera rotates. In order to enable the focal plane detector to capture a clear image, the camera rotates very slowly or intermittently. Therefore, the cycle for obtaining a panoramic image is long, which is not suitable for monitoring scenarios with high real-time requirements. Utility Model Content

[0004] The main purpose of the utility model is to provide a panoramic imaging system, aiming to solve the problem that the existing panoramic imaging system has a long scanning cycle and is not suitable for monitoring scenes with high real-time requirements.

[0005] To achieve the above-mentioned purpose, the utility model proposes a panoramic imaging system, wherein the panoramic imaging system comprises: a mounting seat, a scanning body, a scanning galvanometer, a rear imaging lens group, and a focal plane detector; the scanning body is rotatably mounted on the mounting seat, the scanning body comprises a front telescope system, the front telescope system has an incident end and an exit end, the incident end of the front telescope system is for light to enter, and the exit end of the front telescope system is for the light to exit; the scanning galvanometer is arranged corresponding to the exit end of the front telescope system, and is rotatably arranged to receive the light emitted from the exit end of the scanning body and reflect the light; the rear imaging lens group is fixedly mounted on the mounting seat, the rear imaging lens group has an incident end and an exit end, the incident end of the rear imaging lens group is used to receive the light reflected by the scanning galvanometer; and the focal plane detector is fixedly arranged relative to the mounting seat, and is used to receive the light emitted from the exit end of the rear imaging lens group.

[0006] Optionally, the scanning body rotates around a rotation axis of the scanning galvanometer so that the light is emitted toward the scanning galvanometer.

[0007] Optionally, the panoramic imaging system further includes:

[0008] A first motor is connected to the scanning body and is used to drive the scanning body to rotate;

[0009] A second motor is connected to the scanning galvanometer and is used to drive the scanning galvanometer to rotate;

[0010] The controller is electrically connected to the first motor and the second motor respectively, and is used to control the operation of the first motor and the second motor.

[0011] Optionally, the focal length of the panoramic imaging system is f, 500mm≤f≤600mm, and the F number of the panoramic imaging system is F:3≤F≤4.

[0012] Optionally, the front telescopic system is arranged in sequence from the image side to the object side:

[0013] A front telescope for receiving and focusing light;

[0014] A secondary mirror, used for receiving and guiding the light gathered by the front telescope;

[0015] a first reflector, used to receive the light guided by the secondary mirror and change the direction of the light path;

[0016] The collimating lens group is used to receive the light reflected by the first reflector and convert the light into parallel light.

[0017] Optionally, the collimating lens group includes: a first positive lens group, a negative lens group, and a second positive lens group, which are arranged in sequence along the optical path.

[0018] Optionally, the first positive lens group includes: a first collimating lens, a second collimating lens, a third collimating lens group, a fourth collimating lens, a fifth collimating lens, and a sixth collimating lens; the focal length of the first collimating lens is f11, f11≥150mm; the focal length of the second collimating lens is f12, f12≤-650mm; the focal length of the third collimating lens group is f13, f13≤-90mm; the focal length of the fourth collimating lens is f14, f14≤-20mm; the focal length of the fifth collimating lens is f15, f15≤-150mm; the focal length of the sixth collimating lens is f16, f16≥20mm;

[0019] The negative lens group includes a seventh collimating lens group, the focal length of the seventh collimating lens group is f17, f17≤-290mm;

[0020] The second positive lens group includes: an eighth collimating lens; the focal length of the eighth collimating lens is f18, and f18≥100 mm.

[0021] Optionally, the third collimating lens group includes a ninth collimating lens and a tenth collimating lens, and the ninth collimating lens and the tenth collimating lens are glued to each other; the seventh collimating lens group includes an eleventh collimating lens and a twelfth collimating lens, and the eleventh collimating lens and the twelfth collimating lens are glued to each other.

[0022] Optionally, the rear imaging lens group includes: a first imaging lens, a second imaging lens, a third imaging lens, a fourth imaging lens, and a fifth imaging lens arranged in sequence along the optical path direction;

[0023] The focal length of the first imaging lens is f21, and f21 ≥ 300 mm;

[0024] The focal length of the second imaging lens is f22, and f22 ≥ 400 mm;

[0025] The focal length of the third imaging lens is f23, and f23 ≥ 90 mm;

[0026] The focal length of the fourth imaging lens is f24, and f24 ≥ 150 mm;

[0027] The focal length of the fifth imaging lens is f25, and f25≤-40mm.

[0028] Optionally, the panoramic imaging system further includes a filter assembly arranged between the rear imaging lens group and the focal plane detector, the filter assembly including a visible light filter and an infrared filter, the visible light filter and the infrared filter being movably arranged so that one of the visible light filter and the infrared filter is arranged on the optical path from the image side to the object side.

[0029] In the technical solution provided by the utility model, the focal plane of the panoramic imaging system is fixed by fixing the rear imaging lens group and the focal plane detector, so that the focal plane detector can receive a clear image at all times. Therefore, the scanning subject can increase the rotation speed, thereby further realizing rapid scanning to meet the real-time requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0031] Figure 1 A schematic plan view of an embodiment of a panoramic imaging system provided by the utility model;

[0032] Figure 2 for Figure 1 Schematic diagram of the visible light MTF curve corresponding to the panoramic imaging system at +20℃;

[0033] Figure 3 for Figure 1Schematic diagram of the visible light MTF curve corresponding to the panoramic imaging system at -55℃;

[0034] Figure 4 for Figure 1 Schematic diagram of the visible light MTF curve of the panoramic imaging system at +70°C;

[0035] Figure 5 for Figure 1 Schematic diagram of the MTF curve through fog corresponding to the panoramic imaging system at +20℃;

[0036] Figure 6 for Figure 1 Schematic diagram of the MTF curve of the panoramic imaging system at -55℃;

[0037] Figure 7 for Figure 1 Schematic diagram of the MTF curve through fog of the panoramic imaging system at +70℃.

[0038] Description of Figure Numbers:

[0039] Label name Label name 100 Panoramic imaging system 142 Negative lens group 1 Front telephoto system 1421 Seventh collimating lens group 11 Front telescope 143 The second positive lens group 12 secondary mirror 1431 Eighth collimating lens 13 First reflector 2 Scanning galvanometer 14 Collimator lens set 3 Rear imaging lens 141 The first positive lens group 31 First imaging lens 1411 First collimating lens 32 Second imaging lens 1412 Second collimating lens 33 The third imaging lens 1413 The third collimating lens group 34 Fourth imaging lens 1414 Fourth collimating lens 35 Fifth imaging lens 1415 Fifth collimating lens 4 Optical Filters 1416 Sixth collimating lens 5 Focal plane detector

[0040] The realization of the purpose, functional features and advantages of the utility model will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0041] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0042] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back...), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0043] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the utility model, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the meaning of "and / or" appearing in the full text includes three parallel schemes. Taking "A and / or B" as an example, it includes scheme A, or scheme B, or a scheme that satisfies both A and B. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of ordinary technicians in this field to implement. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the utility model.

[0044] At present, the commonly used panoramic imaging system has the problem of long scanning cycle and is not suitable for monitoring fields with high real-time requirements.

[0045] In order to solve the above problems, the utility model provides a panoramic imaging system. Figures 1 to 7 This is a specific embodiment of the panoramic imaging system 100 provided by the present utility model.

[0046] See also Figures 1 to 7 The panoramic imaging system 100 includes: a mounting seat, a scanning body, a scanning galvanometer 2, a rear imaging lens group 3, and a focal plane detector 5; the scanning body is rotatably mounted on the mounting seat, the scanning body includes a front telescope system 1, the front telescope system 1 has an incident end and an exit end, the incident end of the front telescope system 1 is for light to enter, and the exit end of the front telescope system 1 is for the light to exit; the scanning galvanometer 2 is arranged corresponding to the exit end of the front telescope system 1, and is rotatably arranged to receive the light emitted from the exit end of the scanning body and reflect the light; the rear imaging lens group 3 is fixedly mounted on the mounting seat, the rear imaging lens group 3 has an incident end and an exit end, the incident end of the rear imaging lens group 3 is used to receive the light reflected by the scanning galvanometer 2; and the focal plane detector 5 is fixedly arranged relative to the mounting seat, and is used to receive the light emitted from the exit end of the rear imaging lens group 3.

[0047] In the technical solution provided by the utility model, the mounting seat is fixedly arranged, and the scanning body is rotatably arranged relative to the mounting seat. The scanning body includes a front telescope system 1 and a shell assembly, etc. The front telescope system 1 is arranged in the shell, and the front telescope system 1 has an incident end for light to enter. Because the scanning body is relatively rotated relative to the mounting seat, the front telescope system 1 obtains a larger field of view during the rotation process, thereby realizing panoramic imaging. In the prior art, because the focal plane of the camera in the prior art changes its position at all times with the rotation of the camera, in order to enable the focal plane detector 5 to capture a clear image, the rotation speed of the camera is very slow, or it rotates intermittently, so the cycle of obtaining a panoramic image is long, which is not suitable for monitoring scenes with high real-time requirements. In order to prevent the rotation of the scanning body from affecting the focal plane detector 5 from capturing a clear image, the rear imaging lens group 3 and the focal plane detector 5 are fixedly arranged. Since the position of the rear imaging lens group 3 is fixed, the position of the focal plane is also fixed. The focal plane detector 5 is set corresponding to the position of the focal plane to obtain a clear and complete image at all times. Therefore, the panoramic imaging system 100 proposed by the utility model has the advantages of fast scanning speed, meeting the requirements of real-time performance, and having the advantages of image clarity, and can be well applied to security, robot vision, intelligent navigation, and military, etc. The front telescope system 1 also has an output end. Since the scanning subject is rotating, the direction of the light emitted from the output end through the front telescope system 1 changes all the time during the rotation process. In order to correspond the light emitted from the output end of the front telescope system 1 to the incident end of the rear imaging lens group 3, a scanning galvanometer 2 is also arranged between the front telescope system 1 and the rear imaging lens group 3. The scanning galvanometer 2 rotates correspondingly to the scanning subject to reflect the light emitted from the output end of the front telescope system 1 to the incident end of the rear imaging lens group 3.

[0048] The scanning galvanometer 2 can reflect light, and the premise for reflecting the light to the incident end of the rear imaging lens group 3 is that the scanning galvanometer 2 can receive the light emitted from the exit end of the front telescope system 1. In order to achieve this premise, the scanning body rotates around the rotation axis of the scanning galvanometer 2 so that the light emitted from the exit end of the front telescope system 1 is emitted toward the scanning galvanometer 2. It can be understood that: the scanning galvanometer 2 rotates around its rotation axis, the incident end of the rear imaging lens group 3 is set toward the rotation axis of the scanning galvanometer 2, and revolves around the rotation axis of the scanning galvanometer 2, so that the light can always be reflected on the surface of the scanning galvanometer 2.

[0049] Since the scanning body is constantly rotating, the scanning galvanometer 2 is also constantly rotating. When the scanning body rotates a certain angle, the scanning galvanometer 2 needs to rotate a corresponding angle accordingly. The rotation angles of the two need to correspond in real time so that the light can always be reflected to the incident end of the rear imaging mirror group 3. In order to meet the real-time correspondence of the rotation angle, the panoramic imaging system 100 also includes a first motor, a second motor and a controller. The first motor is connected to the scanning body for driving the scanning body to rotate; the second motor is connected to the scanning galvanometer 2 for driving the scanning galvanometer 2 to rotate; the controller is electrically connected to the first motor and the second motor for controlling the operation of the first motor and the second motor. The controller is used to associate the rotation speed and rotation angle of the first motor and the second motor, so that the scanning body rotates a certain angle and the scanning galvanometer 2 rotates a corresponding angle. Thereby, the light can always converge on a fixed focal plane to avoid the problem of not receiving light.

[0050] Since the focal length of the existing panoramic imaging system 100 is short, the corresponding observation distance is short. In order to achieve a longer observation distance, the panoramic imaging system 100 provided by the utility model has a focal length of f, 500mm≤f≤600mm. In addition, the long focal length also has the characteristics of long working distance and small image distortion. The F number of an optical system, also known as the F number or aperture number, is an important parameter in an optical system, which represents the light-gathering ability and resolution of the optical system. Specifically, the F number is defined as the ratio of the equivalent focal length of the system to the optical aperture, and the reciprocal of the F number is the relative aperture. In practical applications, the smaller the F number, the faster the "speed" of the lens, that is, under the same lighting conditions, a shorter exposure time can be used to obtain an image of the same brightness. In addition, the F number is also closely related to the theoretical resolution and image plane illumination of the optical system. The smaller the F number, the higher the theoretical resolution of the optical system and the stronger the image plane illumination, but the relative aperture as the reciprocal of the F number will increase, thereby increasing the design difficulty. In general, the F number is an important parameter for measuring the performance of an optical system. In order to meet the performance requirements, the F number of the panoramic imaging system 100 is F: 3≤F≤4. The focal length and F number in the panoramic imaging system 100 are not determined by a single lens, but by all lenses. In addition, the operating bands of the panoramic imaging system 100 are 486~656nm; 850~950nm, of which the 486~656nm band is a conventional visible light continuous zoom band, and the 850~950nm is a fog-penetrating band. Adding a fog-penetrating band can ensure that the panoramic optical system can also clearly image in environments with low visibility in bad weather (such as smoke, fog, haze, etc.). The following analyzes the setting method of each module in the panoramic imaging system 100.

[0051] The front telescope system 1 is arranged in sequence from the image side to the object side: a front telescope 11, a secondary mirror 12, a first reflector 13, and a collimator lens group 14. The front telescope 11 is used to receive and converge light; the secondary mirror 12 is used to receive and guide the light converged by the front telescope; the first reflector 13 is used to receive the light guided by the secondary mirror 12 and change the direction of the light path; the collimator lens group 14 is used to receive the light reflected by the first reflector 13 and convert the light into parallel light. Among them, the setting of the first reflector 13 can change the propagation direction of the light to prevent the front telescope system 1 from being too long in a single direction, so that the layout of the front telescope system 1 is more compact. In addition, the collimator lens group 14 includes: a first positive lens group 141, a negative lens group 142, and a second positive lens group 143 arranged in sequence along the light path. An intermediate image plane is formed between the first positive lens group 141 and the negative lens group 142. The first positive lens group 141, the negative lens group 142 and the second positive lens group 143 form a Kepler optical structure. The front telephoto system 1 adopts a Kepler optical structure containing an intermediate image plane, which effectively compresses the aperture of the lens group, reduces the volume of the optical system, improves the stray light suppression capability of the optical system, helps to compress the overall size, and reduces the burden of mechanical transmission.

[0052] In order to meet the focal length and F number requirements of the panoramic imaging system 100, specifically, the first positive lens group 141 includes: a first collimating lens 1411, a second collimating lens 1412, a third collimating lens group 1413, a fourth collimating lens 1414, a fifth collimating lens 1415, and a sixth collimating lens 1416; the focal length of the first collimating lens 1411 is f11, f11 ≥ 150 mm; the focal length of the second collimating lens 1412 is f12, f12 ≤ -650 mm; the focal length of the third collimating lens group 1413 is f13, f13 ≤ -90 mm; the focal length of the fourth collimating lens 1414 is f14, f14≤-20mm; the focal length of the fifth collimating lens 1415 is f15, f15≤-150mm; the focal length of the sixth collimating lens 1416 is f16, f16≥20mm; the negative lens group 142 includes a seventh collimating lens group 1421, and the focal length of the seventh collimating lens group 1421 is f17, f17≤-290mm; the second positive lens group 143 includes: an eighth collimating lens 1431; the focal length of the eighth collimating lens 1431 is f18, f18≥100mm.

[0053] In order to change the propagation direction of light and prevent the collimator group 14 from being too long in a single direction and to make the layout of the collimator group 14 more compact, the collimator group 14 also includes a second reflector and a third reflector. The second reflector is arranged between the first collimator lens 1411 and the second collimator lens 1412, and the third reflector is arranged between the sixth collimator lens 1416 and the seventh collimator lens group 1421. The light path is reflected twice by 90°, so that the layout direction of the lenses in the collimator group 14 turns twice.

[0054] In order to better correct aberrations and improve the imaging quality of the front telescope system 1, and the output light is parallel light, the collimator lens group 14 uses an alternating positive and negative lens and a glued part to achieve mutual cancellation of aberrations, eliminate dispersion and secondary spectrum. Among them, the third collimator lens group 1413 includes a ninth collimator lens and a tenth collimator lens, and the ninth collimator lens and the tenth collimator lens are glued to each other; the seventh collimator lens group 1421 includes an eleventh collimator lens and a twelfth collimator lens, and the eleventh collimator lens and the twelfth collimator lens are glued to each other. In addition, lens gluing is adopted to glue different types of materials to eliminate or reduce chromatic aberration and spherical aberration between lenses, thereby improving imaging quality; multiple lenses are glued together to reduce the reflection loss of the air and glass interface, thereby reducing light energy loss and increasing imaging brightness; the gluing method compensates for the slight difference in the radius of curvature of the gluing surface, thereby appropriately reducing the precision requirements of the gluing surface, and simplifying the processing process of the optical lens; the gluing method compensates for the slight difference in the radius of curvature of the gluing surface, thereby appropriately reducing the precision requirements of the gluing surface, and simplifying the processing process of the optical lens.

[0055] In order to meet the focal length and F-number requirements of the panoramic imaging system 100, specifically, the rear imaging lens group 3 includes: a first imaging lens 31, a second imaging lens 32, a third imaging lens 33, a fourth reflector, a fourth imaging lens 34, and a fifth imaging lens 35, which are arranged in sequence along the optical path direction; the focal length of the first imaging lens 31 is f21, f21≥300mm; the focal length of the second imaging lens 32 is f22, f22≥400mm; the focal length of the third imaging lens 33 is f23, f23≥90mm; the focal length of the fourth imaging lens 34 is f24, f24≥150mm; the focal length of the fifth imaging lens 35 is f25, f25≤-40mm.

[0056] The following table is a specific implementation method that meets the above requirements: (Unit: mm)

[0057]

[0058]

[0059] The operating band of the panoramic imaging system 100 is 486-656nm; 850-950nm, wherein the 486-656nm band is a conventional visible light continuous zoom band, and the 850-950nm band is a fog-penetrating band. The addition of the fog-penetrating band can ensure that the optical system can also clearly image in an environment with low visibility in bad weather (such as smoke, fog, haze, etc.). The specific effect can be seen in the attached figure.

[0060] In order to improve the response rate of the focal plane detector 5 and reduce optical noise, thereby reducing the difficulty of the subsequent photoelectric module processing part, two filters 4 with different bands are used in the position of the filter 4. When the weather is clear and the visibility is high, the visible light filter 4 is used to filter out the near-infrared band; in bad weather and low visibility, the infrared filter 4 is switched to filter out the visible light band to perform fog-penetrating mode imaging.

[0061] The panoramic imaging system 100 further includes a filter 4 assembly disposed between the rear imaging lens group 3 and the focal plane detector 5, the filter 4 assembly including a visible light filter 4 and an infrared filter 4, the visible light filter 4 and the infrared filter 4 being movably disposed so that one of the visible light filter 4 and the infrared filter 4 is disposed on the optical path from the image side to the object side. Specifically, the filter 4 assembly may include a turntable, on which the visible light filter 4 and the infrared filter 4 are disposed, and the turntable is rotated to rotate one of the visible light filter 4 and the infrared filter 4 to the optical path to play a filtering role, so as to meet different application scenarios.

[0062] The design steps of the panoramic imaging system 100 include the following:

[0063] Step 1. Design of the front telescope system 1: Determine the minimum field of view increase of the front telescope system 1 that satisfies the retrace compensation without vignetting or light blocking according to the scanning subject rotation speed △ ωFOV=ωt, ω is the angular velocity of the horizontal rotation of the scanning subject, and t is the exposure time; the total field of view of the front telescopic system 1 is obtained as ωFOV=ωmax+□ωFOV, ωmax is the maximum value required for the field of view of the panoramic imaging system 100;

[0064] Step 2: According to the incident end diameter of the front telescope system 1 and the structural size limitation, determine the telescope system magnification M with the smallest size of the scanning galvanometer 2 in the front telescope system;

[0065] Step 3: According to the front telephoto system magnification M=f2 / f1, combined with the F number of the system, determine the focal lengths of the objective lens group f21-f25, the focal length of the front telephoto system f1, and the focal length of the rear imaging lens group f2;

[0066] Step 4: The front telescope system 1 adopts a Keplerian optical structure with an intermediate image plane, which effectively compresses the aperture of the lens group, reduces the volume of the optical system, improves the stray light suppression capability of the optical system, and helps to compress the overall size and reduce the burden on the scanning subject;

[0067] Step 5: Strictly match the position of the output end of the front telescope system 1 with the position of the incident end of the rear imaging lens group 3, and place the scanning galvanometer 2 at the corresponding position of the output end of the front telescope system 1;

[0068] Step 6: In order to better correct aberrations, improve the imaging quality of the system, and output parallel light, the collimator lens group 14 uses alternating positive and negative lenses and glued parts to achieve mutual cancellation of aberrations and eliminate dispersion and secondary spectrum.

[0069] Step 7: Considering the thermal expansion coefficients of the optical lenses and lens barrel structural parts and the displacement of the visible light detector at high and low temperatures, the rotating scanning visible light panoramic imaging system 100 is athermalized to meet the temperature range of -55°C to +70°C.

[0070] The above description is only a preferred embodiment of the utility model, and does not limit the patent scope of the utility model. All equivalent structural changes made by using the contents of the utility model specification and drawings under the concept of the utility model, or directly / indirectly used in other related technical fields are included in the patent protection scope of the utility model.

Claims

1. A panoramic imaging system, characterized in that: include: Mounting seat; A scanning body is rotatably mounted on the mounting seat, wherein the scanning body comprises a front telescopic system, wherein the front telescopic system has an incident end and an exit end, wherein the incident end of the front telescopic system is used for light to enter, and the exit end of the front telescopic system is used for the light to exit; A scanning galvanometer, which is arranged corresponding to the output end of the front telescope system and is rotatably arranged to receive the light emitted from the output end of the scanning body and reflect the light; A rear imaging mirror group is fixedly mounted on the mounting seat, wherein the rear imaging mirror group has an incident end and an output end, and the incident end of the rear imaging mirror group is used to receive the light reflected by the scanning galvanometer; as well as, The focal plane detector is fixedly arranged relative to the mounting seat and is used to receive the light emitted from the output end of the rear imaging lens group.

2. The panoramic imaging system according to claim 1, characterized in that: The scanning body rotates around the rotation axis of the scanning galvanometer so that the light is emitted toward the scanning galvanometer.

3. The panoramic imaging system according to claim 1, characterized in that: The panoramic imaging system further comprises: A first motor is connected to the scanning body and is used to drive the scanning body to rotate; A second motor is connected to the scanning galvanometer and is used to drive the scanning galvanometer to rotate; The controller is electrically connected to the first motor and the second motor respectively, and is used to control the operation of the first motor and the second motor.

4. The panoramic imaging system according to claim 1, characterized in that: The focal length of the panoramic imaging system is f, 500mm≤f≤600mm, and the F number of the panoramic imaging system is F:3≤F≤4.

5. The panoramic imaging system according to claim 4, characterized in that: The front telescopic system has an image side and an object side, and the front telescopic system is arranged in sequence from the image side to the object side: A front telescope for receiving and converging light; A secondary mirror, used for receiving and guiding the light gathered by the front telescope; a first reflector, used to receive the light guided by the secondary mirror and change the direction of the light path; The collimating lens group is used to receive the light reflected by the first reflector and convert the light into parallel light.

6. The panoramic imaging system according to claim 5, characterized in that: The collimating lens group comprises: a first positive lens group, a negative lens group, and a second positive lens group which are sequentially arranged along the optical path.

7. The panoramic imaging system according to claim 6, characterized in that: The first positive lens group includes: a first collimating lens, a second collimating lens, a third collimating lens group, a fourth collimating lens, a fifth collimating lens, and a sixth collimating lens; the focal length of the first collimating lens is f11, f11 ≥ 150 mm; the focal length of the second collimating lens is f12, f12 ≤ -650 mm; the focal length of the third collimating lens group is f13, f13 ≤ -90 mm; the focal length of the fourth collimating lens is f14, f14 ≤ -20 mm; the focal length of the fifth collimating lens is f15, f15 ≤ -150 mm; the focal length of the sixth collimating lens is f16, f16 ≥ 20 mm; The negative lens group comprises: a seventh collimating lens group, the focal length of the seventh collimating lens group is f17, f17≤-290mm; The second positive lens group includes: an eighth collimating lens, the focal length of the eighth collimating lens is f18, and f18≥100 mm.

8. The panoramic imaging system according to claim 7, characterized in that: The third collimating lens group includes a ninth collimating lens and a tenth collimating lens, and the ninth collimating lens and the tenth collimating lens are glued to each other; the seventh collimating lens group includes an eleventh collimating lens and a twelfth collimating lens, and the eleventh collimating lens and the twelfth collimating lens are glued to each other.

9. The panoramic imaging system according to claim 1, wherein: The rear imaging lens group includes: a first imaging lens, a second imaging lens, a third imaging lens, a fourth imaging lens, and a fifth imaging lens, which are arranged in sequence along the optical path direction; The focal length of the first imaging lens is f21, and f21 ≥ 300 mm; The focal length of the second imaging lens is f22, and f22 ≥ 400 mm; The focal length of the third imaging lens is f23, and f23 ≥ 90 mm; The focal length of the fourth imaging lens is f24, and f24 ≥ 150 mm; The focal length of the fifth imaging lens is f25, and f25≤-40mm.

10. The panoramic imaging system according to claim 1, wherein: The panoramic imaging system has an image side and an object side, and further comprises a filter assembly arranged between the rear imaging lens group and the focal plane detector, wherein the filter assembly comprises a visible light filter and an infrared filter, and the visible light filter and the infrared filter are movably arranged so that one of the visible light filter and the infrared filter is arranged on an optical path from the image side of the panoramic imaging system to the object side of the panoramic imaging system.

Images