Image acquisition module

Abstract

The utility model discloses an image acquisition module, which comprises a mounting seat, a plurality of image acquisition units and a control assembly, and is characterized in that the plurality of image acquisition units are arranged on the mounting seat, and the orientations of every two adjacent image acquisition units are arranged at an included angle; view field areas corresponding to view field angles of two adjacent image acquisition units are mutually bordered or partially overlapped; the control assembly is arranged on the mounting seat, the control assembly is electrically connected with each image acquisition unit, and the control assembly is used for acquiring measurement data of each image acquisition unit and performing field-of-view splicing. In the technical scheme of the invention, the image acquisition module can obtain better image information in a large field angle range, and the structure setting is simple.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of visual photography, and in particular to an image acquisition module. BACKGROUND

[0002] With the continuous development of technology, camera devices are widely used in monitoring, robot vision, automatic driving and other scenarios. However, as the requirements for image quality and coverage range of these scenarios continue to increase, traditional camera devices often fail to meet the requirements of large field of view angles.

[0003] In related technologies, some camera devices use wide-angle lenses, such as fisheye lenses, which can achieve a field of view angle of 150° to 180° to realize ultra-wide-angle image acquisition. However, fisheye lenses will produce distortion, and the closer to the edge of the field of view angle, the more serious the distortion, resulting in poor image quality at the edge of the field of view angle and difficulty in restoring high-precision details. UTILITARIAN CONTENT

[0004] The embodiments of the present application provide an image acquisition module which can obtain better image information in a large field of view angle range and has a simple structure.

[0005] In a first aspect, the embodiments of the present application provide an image acquisition module, comprising: a mounting seat; and a plurality of image acquisition units, each of which is arranged on the mounting seat, and the directions of two adjacent image acquisition units are arranged at an included angle, and the field of view regions corresponding to the field of view angles of the two adjacent image acquisition units are adjacent or partially overlapped; and a control component arranged on the mounting seat and electrically connected to each image acquisition unit, the control component being configured to collect measurement data of each image acquisition unit and perform field of view splicing.

[0006] In some embodiments, the plurality of image acquisition units are arranged in a ring around the mounting seat, and the total field of view angle range obtained by integrating the field of view angles of the plurality of image acquisition units is 360°.

[0007] In some embodiments, the field of view angle of each image acquisition unit is less than or equal to 130°.

[0008] In some embodiments, the field of view angles of the plurality of image acquisition units are all the same; or, the field of view angle of one image acquisition unit is different from the field of view angles of the remaining image acquisition units; or, the field of view angle of any image acquisition unit is different from the field of view angles of the remaining image acquisition units.

[0009] In some embodiments, the image acquisition module has a first working mode or a second working mode; when the image acquisition module is in the first working mode, the control component sends a plurality of synchronization signals to the plurality of image acquisition units respectively, and each image acquisition unit acquires data according to the corresponding synchronization signal; when the image acquisition module is in the second working mode, the plurality of image acquisition units include a master image acquisition unit and a plurality of sub-image acquisition units, the control component sends a synchronization signal to the master image acquisition unit, the master image acquisition unit receives the synchronization signal and transmits the synchronization signal to the plurality of sub-image acquisition units, so that the master image acquisition unit and the plurality of sub-image acquisition units acquire data according to the synchronization signal.

[0010] In some embodiments, each image acquisition unit includes a laser emitter for emitting a laser beam, and a laser receiver located adjacent to the laser emitter, the laser receiver being configured to receive a reflected beam formed by reflection of the laser beam.

[0011] In some embodiments, the laser emitter includes a light emitting element for emitting the laser beam, and a light source shaping mirror located on an emitting side of the light emitting element, the laser beam being shaped by the light source shaping mirror to form any one of a point light source, a line light source and a surface light source.

[0012] In some embodiments, the number of light emitting elements is a plurality, and the plurality of light emitting elements are shaped by the light source shaping mirror to form any one of a point light source, a line light source and a surface light source; or, the number of light emitting elements and the number of light source shaping mirrors are both pluralities, and the light emitting elements and the light source shaping mirrors correspond to each other one by one.

[0013] In some embodiments, the laser receiver includes a lens assembly for converging the reflected beam, and a sensor for receiving the reflected beam converged by the lens assembly and converting the converged reflected beam into an electrical signal.

[0014] In some embodiments, the lens assembly includes a lens corresponding to the sensor, the lens being configured to converge the reflected beam, and a lens seat including a first mounting portion and a second mounting portion, the lens being disposed on the first mounting portion, and the light source shaping mirror being disposed on the second mounting portion.

[0015] The image acquisition module in the application comprises a mounting seat, a plurality of image acquisition units and a control assembly. The plurality of image acquisition units are connected through the mounting seat, the orientations of the image acquisition units are arranged at an included angle, and the field angles of the image acquisition units are ensured to be adjacent or partially overlapped. In this layout, each image acquisition unit can cover a different visual angle range. When the plurality of image acquisition units work cooperatively, the field angles of the image acquisition units are complementary, and a larger area is covered, which helps to eliminate visual blind areas and is suitable for scenes of large-scale monitoring. The control assembly splices the image data collected by the image acquisition units to improve the overall quality of the spliced image, generates a high-precision spliced image, and improves the image precision of the image acquisition module. In addition, the plurality of image acquisition units and the control assembly are integrated on the same mounting seat, which simplifies the installation process of the image acquisition module, and the structure is simple and convenient for subsequent maintenance and repair. BRIEF DESCRIPTION OF DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0017] Figure 1 FIG. 1 is a schematic diagram of the three-dimensional structure of the image acquisition module in an embodiment of the present application;

[0018] Figure 2 FIG. 2 is a schematic diagram of the field angle overlap of the image acquisition units in the image acquisition module in an embodiment of the present application;

[0019] Figure 3 FIG. 3 is a flowchart of the image acquisition module in the first working mode in an embodiment of the present application;

[0020] Figure 4 FIG. 4 is a flowchart of the image acquisition module in the second working mode in an embodiment of the present application;

[0021] Figure 5 FIG. 5 is a schematic diagram of the three-dimensional structure of the image acquisition unit in the present application;

[0022] Figure 6 FIG. 6 is a schematic diagram of the split structure of the image acquisition unit in the present application. Figure 5

[0023] REFERENCE NUMERALS:

[0024] 100, image acquisition module;

[0025] 1, mounting seat; 11, main body; 12, extension mounting part; 13, connecting structure;​

[0026] 2, image acquisition unit; 2a, main image acquisition unit; 2b, sub image acquisition unit; 21, laser emitter; 211, light emitting part; 212, light source shaping mirror; 22, laser receiver; 221, lens assembly; 2211, lens; 2212, lens seat; 2212a, first mounting portion; 2212b, second mounting portion; 222, sensor;

[0027] 3, control assembly. DETAILED DESCRIPTION

[0028] In order to make the purpose, technical scheme and advantages of the present application clearer, the present application will be further described in detail below in combination with the drawings and examples. It should be understood that the specific examples described herein are only used to explain the present application and do not limit the present application.

[0029] With the continuous development of technology, camera devices are widely used in monitoring, robot vision, automatic driving and other scenarios, but as these scenarios continue to improve the requirements for image quality and coverage, traditional camera devices often fail to meet the requirements of large field of view.

[0030] In the related art, some camera devices use wide-angle lenses, such as fisheye lenses, which can achieve a field of view angle of 150° to 180° to realize ultra-wide-angle image acquisition, but fisheye lenses will produce distortion, and the closer to the edge of the field of view angle, the more serious the distortion, resulting in poor image quality at the edge of the field of view angle, making it difficult to restore high-precision details.

[0031] Please refer to Figures 1-2 In order to solve the above technical problems, the embodiments of the present application provide an image acquisition module 100, which comprises a mounting seat 1, a plurality of image acquisition units 2 and a control assembly 3, the plurality of image acquisition units 2 are arranged on the mounting seat 1, the directions of the adjacent two image acquisition units 2 are arranged at an included angle, and the field of view areas corresponding to the field of view angles of the adjacent two image acquisition units 2 are adjacent or partially overlapped; the control assembly 3 is arranged on the mounting seat 1, and the control assembly 3 is electrically connected with each image acquisition unit 2, and the control assembly 3 is used for acquiring measurement data of each image acquisition unit 2 and performing field of view splicing.

[0032] Specifically, in the embodiments of the present application, the mounting base 1 is used to carry a plurality of image acquisition units 2 and a control assembly 3. The plurality of image acquisition units 2 are connected through the mounting base 1, so that the orientations of the image acquisition units 2 are arranged at an included angle, and the field angles of the image acquisition units 2 are ensured to be adjacent or partially overlapped with each other. In this layout, each image acquisition unit 2 can cover a different visual angle range, and when the plurality of image acquisition units 2 work cooperatively, the field angles of the plurality of image acquisition units 2 are complementary to each other, and together cover a larger area, which helps to eliminate visual blind areas and is suitable for scenes of large-scale monitoring.

[0033] The partially overlapped field of view regions corresponding to the field angles of the adjacent two image acquisition units 2 means that there is a certain overlapping region between the field angles of the image acquisition units 2. By processing these overlapping regions through the control assembly 3, the problem of boundary discontinuity can be eliminated, and seamless splicing can be realized. For the case of partial overlap, image processing algorithms (such as image fusion) can be used to optimize the image quality of the overlapping region to ensure a natural transition.

[0034] Compared with the way of expanding the field angle by using a fisheye lens, in the embodiments of the present application, the image data collected by the image acquisition units 2 is spliced by the control assembly 3, which can improve the overall quality of the spliced image, facilitate the generation of high-precision spliced images, and improve the image precision of the image acquisition module 100. In addition, by integrating the plurality of image acquisition units 2 and the control assembly 3 on the same mounting base 1, the installation process of the image acquisition module 100 is simplified, and the structure is simple, which is convenient for subsequent maintenance and repair.

[0035] As shown in FIG. 1, Figure 1 In some embodiments, the mounting base 1 includes a main body 11, an extension mounting portion 12, and a connecting structure 13. The main body 11 has a first end and a second end. The extension mounting portion 12 is arranged at the first end of the main body 11, and the connecting structure 13 is arranged at the second end of the main body 11. The number of the extension mounting portions 12 is plural, and the plurality of extension mounting portions 12 correspond to the plurality of image acquisition units 2 one by one. Each extension mounting portion 12 is annularly arranged at the first end of the main body 11, and each image acquisition unit 2 is mounted on the corresponding extension mounting portion 12. Optionally, the main body 11 is arranged in a cylindrical shape, and each extension mounting portion 12 is arranged at an equal distance along the outer periphery of the cylindrical end portion. A wire hole is further arranged between the first end and the second end of the main body 11. The wire hole is convenient for the wires of each image acquisition unit 2 to pass through the main body 11 and be connected to the control assembly 3, realizes the accommodation of the wires, and facilitates the installation of the control assembly 3 on the connecting structure 13.

[0036] Specifically, the connection manner of the image acquisition unit 2 and the extension mounting portion 12 is not limited, and can be snap connection, threaded connection, adhesive connection, etc.; the connection manner of the control assembly 3 and the connecting structure 13 is also not limited, and can be snap connection, threaded connection, adhesive connection, etc., as long as the connection effect can be achieved.

[0037] In this way, the structure of the mounting base 1 is relatively simple, and the mounting manner of the plurality of image acquisition units 2 and the control assembly 3 is relatively simple, so that the cooperation between the image acquisition units 2 is facilitated, and the connection between the control assembly 3 and each image acquisition unit 2 is facilitated, the field of view splicing is effectively realized, and the image acquisition module 100 has a larger field of view angle.

[0038] In some embodiments, the plurality of image acquisition units 2 are arranged around the mounting base 1, and the total field of view angle range obtained by integrating the field of view angles of the plurality of image acquisition units 2 is 360°. It can be understood that the image acquisition module 100 in the present application can adjust the position of the mounting base 1, reasonably arrange the number of image acquisition units 2 and the field of view angle of each image acquisition unit 2, so as to realize 360° dead angle free monitoring in a certain direction (such as horizontal direction, vertical direction). The full view angle coverage of 360° means that image data can be obtained in any direction, and the monitoring blind area is eliminated, so that the image acquisition module 100 is suitable for scenes requiring omnidirectional monitoring, such as security monitoring, intelligent traffic management, etc., and the reliability and safety of the image acquisition module 100 are improved.

[0039] In some embodiments of the present application, three image acquisition units 2 can be used, each image acquisition unit 2 has a field of view angle of 125°, the three image acquisition units 2 are installed at the mounting base 1 with equal arc distance, the mounting base 1 is installed along the horizontal direction, and the field of view angles of each image acquisition unit 2 partially overlap, and the field of view splicing of the control assembly 3 is realized, so as to realize 360° dead angle free monitoring in the horizontal direction.

[0040] In addition, when the field of view angles of the plurality of image acquisition units 2 are arranged in an overlapping manner, the overlapping range of the field of view angles of any two adjacent image acquisition units 2 is not greater than the area of the field of view region corresponding to the field of view angle of any one image acquisition unit 2, so as to reasonably arrange the number of image acquisition units 2 of the image acquisition module 100, and the number of image acquisition units 2 is reduced as much as possible, so as to reduce the manufacturing cost of the image acquisition module 100.

[0041] In some embodiments, the field of view of each image capture unit 2 is less than or equal to 130°. It can be appreciated that maintaining a small field of view for each image capture unit 2 means that more focus can be put on the details within its coverage area, and the distortion at the edge of the field of view is not too large, thus improving the resolution and clarity of the output image. Therefore, by limiting the field of view of each image capture unit 2, a high image quality can be maintained while ensuring a wide field of view coverage.

[0042] For the field of view configuration of each image capture unit 2, there are various ways in this application, for example, the field of view of each of the plurality of image capture units 2 is the same; or, the field of view of one of the image capture units 2 is different from the field of view of the rest of the image capture units 2; or, the field of view of any of the image capture units 2 is different from the field of view of the rest of the image capture units 2.

[0043] In some embodiments, in order to simplify the design of the system, the field of view of each of the plurality of image capture units 2 is the same, and the plurality of image capture units 2 are evenly distributed on the mounting base 1, so that the field of view coverage in each area is uniform, there is no obvious difference in field of view density between different areas, and the image quality captured by each image capture unit 2 is consistent, thus facilitating the subsequent processing and analysis of the images by the control assembly 3, reducing the stitching errors and analysis deviations caused by the difference in image quality, simplifying the image stitching algorithm, improving the stitching speed, and ensuring the consistency of the final generated image. Moreover, the same type of image capture unit 2 can be used, which simplifies the design of the system, thereby reducing the production and maintenance costs.

[0044] In other embodiments, by setting one image capture unit 2 with a different field of view, a key area can be specifically covered with high precision. For example, if a certain area needs higher resolution or wider field of view, an image capture unit 2 with a larger field of view and higher precision can be used to cover the monitoring of that area, while the other units maintain a smaller field of view to cover other areas, thus enhancing the coverage of the key area and improving the image quality and details of the key area, and optimizing resource utilization.

[0045] In still other embodiments, the field of view of any of the image capture units 2 is different from the field of view of the rest of the image capture units 2, i.e., the field of view of each image capture unit 2 is different. It can be appreciated that by configuring various image capture units 2 with different field of views, more image stitching options can be provided. For example, a unit with a larger field of view can provide wider background information, while a unit with a smaller field of view can provide more detailed local information. This diverse field of view configuration allows the image stitching algorithm to more flexibly handle different types of image data, improving the flexibility of image stitching and adapting to more complex application scenarios.

[0046] The present application does not limit the field of view angle configuration of each image acquisition unit 2, and a suitable field of view angle configuration can be selected according to actual needs.

[0047] In addition, please refer to Figures 3-4 , the image acquisition module 100 has a first working mode or a second working mode; when the image acquisition module 100 is in the first working mode, the control component 3 sends a plurality of synchronization signals to the plurality of image acquisition units 2 respectively, and each image acquisition unit 2 acquires data according to the corresponding synchronization signal; when the image acquisition module 100 is in the second working mode, the plurality of image acquisition units 2 includes a master image acquisition unit 2a and a plurality of sub-image acquisition units 2b, the control component 3 sends a synchronization signal to the master image acquisition unit 2a, the master image acquisition unit 2a receives the synchronization signal and transmits the synchronization signal to the plurality of sub-image acquisition units 2b, so that the master image acquisition unit 2a and the plurality of sub-image acquisition units 2b acquire data according to the synchronization signal.

[0048] Specifically, Figure 3 In the first working mode, the control component 3 directly sends a synchronization signal to each image acquisition unit 2. This point-to-point communication mode ensures that each image acquisition unit 2 starts data acquisition at the same time point, improves the synchronization accuracy, is suitable for high-synchronization-accuracy application scenarios, and the control component 3 directly communicates with each image acquisition unit 2, the communication path is short and direct, reduces the delay and errors that may be introduced by intermediate links, and ensures the efficiency and reliability of communication.

[0049] In addition, the control component 3 can directly manage each image acquisition unit 2, and can individually adjust the parameters and working states of each unit as needed, so that the image acquisition system can adapt to different application scenarios and needs.

[0050] And in the second working mode, please refer to Figure 4 , by the master image acquisition unit 2a relaying the synchronization signal, the communication nodes between the control component 3 and the plurality of sub-image acquisition units 2b can be reduced, the risk of communication failure is reduced, the master image acquisition unit 2a can also act as an intermediate layer to monitor and manage the state of the sub-image acquisition unit 2b, improve the overall reliability of the system, in order to further enhance the flexibility of the image acquisition module 100, through the master image acquisition unit 2a relaying the synchronization signal, the number of sub-image acquisition units 2b can be easily increased or reduced without affecting the overall synchronization performance, so that the image acquisition module 100 has good expansibility, and the number of image acquisition units 2 can be flexibly adjusted as needed. And in the second working mode, the master image acquisition unit 2a undertakes the task of relaying the synchronization signal, reduces the burden of the control component 3, so that the control component 3 can focus on other important tasks such as data processing and system management, and optimizes resource utilization.

[0051] In the embodiments of the present application, different working modes can be selected according to actual needs, and the present application is not limited herein as long as the use requirements can be met.

[0052] Please refer to Figure 5 and Figure 6 Each image acquisition unit 2 includes a laser emitter 21 and a laser receiver 22. The laser emitter 21 is used to emit a laser beam. The laser receiver 22 is arranged adjacent to the laser emitter 21 and is used to receive a reflected light beam formed after the reflection of the laser beam. It can be understood that the image acquisition unit 2 in the present application adopts laser ranging technology, which ensures that each image acquisition unit 2 can not only collect two-dimensional images, but also obtain the depth information of the target object, generate a three-dimensional point cloud image, and provide more abundant image data information, which is suitable for more complex application scenarios.

[0053] In some embodiments, the laser emitter 21 includes a light emitting element 211 and a light source shaping mirror 212. The light emitting element 211 is used to emit a laser beam. The light source shaping mirror 212 is located on the light emitting side of the light emitting element 211. The laser beam is shaped into any one of a point light source, a line light source and a surface light source after passing through the light source shaping mirror 212. In the embodiments of the present application, the light emitting element 211 is used to generate a laser beam. The light emitting element 211 includes any one or more of a VCSEL (Vertical Cavity Surface Emitting Laser) and an EEL (Edge Emitting Laser). The VCSEL has the characteristics of low power consumption, single longitudinal mode output and easy array integration. The EEL has the ability of high output power, high speed modulation and long distance transmission. Different laser emitters 21 can be selected according to actual needs, and the present application is not limited herein.

[0054] The light source shaping mirror 212 is arranged on the light emitting side of the light emitting element 211. The laser emitted by the light emitting element 211 is processed by the light source shaping mirror 212 and then emitted to the monitored area. The light source shaping mirror 212 in the present application includes a single lens, a wave mirror, a diffuser and a lens group composed of multiple lenses. The single lens includes a spherical lens or a cylindrical lens. The spherical lens can be used to focus or diverge the laser beam. The cylindrical lens can focus or diverge the laser beam in one direction, so as to adjust the laser beam emitted by the light emitting element 211 into a line light source. The wave mirror is a kind of mirror with a wavy surface, which can be used to change the path and shape of the laser beam and achieve more complex shaping effect of the laser beam. The diffuser is used to scatter the laser beam to make it more uniform, thereby generating a required surface light source. The lens group is composed of multiple lenses. Each lens has different optical functions and is suitable for application scenarios with high requirements for the quality of the laser beam.

[0055] In addition, in the present application, the material of the single lens and the lens in the lens group composed of multiple lenses is not limited, and can be glass, PC (polycarbonate) and PMMA (polymethyl methacrylate) and the like.

[0056] In some embodiments, the light emitting member 211 is a near-infrared laser light source; and / or, the wavelength of the laser light beam includes 808nm, 850nm, 905nm, 940nm. Specifically, the wavelength range of the near-infrared laser light source is between the wavelength of visible light and the wavelength of mid-infrared light, generally between 780nm and 2526nm, which is a non-visible light source. It can be understood that the use of the near-infrared laser light source, which is invisible to the human eye, can perform image acquisition work without light interference to people, and can also ensure that the image acquisition module 100 can work normally in the daily light environment and in the dark environment.

[0057] In the present application, the wavelength of the laser light beam includes 808nm, 850nm, 905nm, 940nm, and the laser light beam with the above wavelength is a near-infrared laser light source. Specifically, the laser light beam with a wavelength of 808nm is applied to a laser radar, which is a pump source of a laser, has a high electro-optical conversion efficiency and a long service life; the laser light beam with a wavelength of 850nm is suitable for optical sensing and optical measurement fields, and has high stability and accuracy; the laser light beam with a wavelength of 905nm is stable in air propagation, has small attenuation during transmission, and can provide high-precision ranging and environmental perception functions; the laser light beam with a wavelength of 940nm is invisible light, and has better effect in night monitoring. In the embodiments of the present application, the wavelength of the laser light beam is not limited, as long as it is within the range of 780nm to 2526nm, and a suitable laser wavelength can be selected according to the actual situation. It can be understood that the wavelength of the above laser light beam meets the requirements of eye safety and is harmless to the human body.

[0058] In addition, in some embodiments of the present application, the light emitting member 211 is a laser light source chip, and the laser module further includes a circuit board, and the laser light source chip and the circuit board are electrically connected to electrically drive the application of the laser light source chip.

[0059] In some embodiments, the number of light emitting members 211 is multiple, and the multiple light emitting members 211 are shaped into any one of a point light source, a line light source and a surface light source after being shaped by the light source shaping mirror 212; or, the number of light emitting members 211 and the number of light source shaping mirrors 212 are both multiple, and the light emitting member 211 and the light source shaping mirror 212 correspond one by one.

[0060] In one of the embodiments, the light emitting piece 211 is multiple, the multiple light emitting pieces 211 correspond to one light source shaping mirror 212, the light source shaping mirror 212 shapes the laser beams emitted by the multiple light emitting pieces 211 and then emits, which can facilitate the shaping of the linear light source and the area light source, in addition, the multiple light emitting pieces 211 can use multiple laser light sources of different wavelengths at the same time to realize multi-wavelength measurement, and the multiple light emitting pieces 211 can provide redundant backup to improve the reliability and stability of the image acquisition unit 2.

[0061] In another embodiment, the number of light emitting pieces 211 and light source shaping mirrors 212 is multiple, and they are one-to-one correspondingly arranged, so as to ensure that the laser beams of each light emitting piece 211 can be independently shaped. In actual application, the user can select different combinations of light emitting pieces 211 and light source shaping mirrors 212 according to actual needs to realize various beam shapes, thereby improving the flexibility of the image acquisition unit 2. In addition, each light emitting piece 211 and lens 2211 can be independently controlled to realize complex laser beam forms to meet the needs of different application scenarios and improve the versatility of the image acquisition unit 2.

[0062] Specifically, the laser receiver 22 includes a lens assembly 221 for converging the reflected light beams, and a sensor 222 for receiving the reflected light beams converged by the lens assembly 221 and converting the converged reflected light beams into electrical signals. Specifically, the lens assembly 221 is used to converge the reflected light beams reflected from the target object and concentrate them on the sensor 222. In actual application, by selecting a suitable lens assembly 221, the reflected light beams can be shaped to improve the imaging quality. After receiving the reflected light beams, the sensor 222 converts the optical signals of the received reflected light beams into electrical signals, and then generates the required data.

[0063] In some embodiments, the lens assembly 221 includes a lens 2211 corresponding to the sensor 222 and a lens seat 2212, the lens 2211 is used to converge the reflected light beams. The lens seat 2212 includes a first mounting portion 2212a and a second mounting portion 2212b, the lens 2211 is arranged on the first mounting portion 2212a, and the light source shaping mirror 212 is arranged on the second mounting portion 2212b. The specific structure of the lens assembly 221 is shown in Figure 6 The lens 2211 includes a single lens or a lens group formed by a plurality of lenses, the single lens includes a spherical lens, a cylindrical lens or an aspherical lens to realize a simple beam convergence effect; the lens group realizes multi-stage beam shaping and aberration correction by combining different types of lenses to realize the shaping of complex reflected light beams. In actual application, different lenses 2211 can be selected according to actual needs to complete the convergence requirement of the reflected light beams, which is not limited in the present application.

[0064] It can be understood that some lenses 2211 are also provided with a filter, and the filter is also installed on the first mounting portion 2212a, and the filter is used for filtering light of a wavelength of a non-laser beam, and improving the receiving efficiency and accuracy of the laser receiver 22.

[0065] The lens seat 2212 is used for fixing and adjusting the positions of the lens 2211 and the light source shaping mirror 212, so as to ensure that the laser beam can be effectively emitted and the reflected light beam can be converged. The first mounting portion 2212a and the second mounting portion 2212b are arranged at intervals, the first mounting portion 2212a is used for mounting the lens 2211, and the lens 2211 and the sensor 222 correspond to each other, and the second mounting portion 2212b is used for mounting the light source shaping mirror 212, and the light source shaping mirror 212 and the light emitting element 211 correspond to each other. At the same time, the lens seat 2212 can integrate the lens 2211 and the light source shaping mirror 212, so that the structure between the laser emitter 21 and the laser receiver 22 is compact, so as to reduce the volume occupied by the image acquisition unit 2 in the image acquisition module 100, and the convenience of installation can also be improved.

[0066] In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, therefore cannot be understood as a limitation of the present application.

[0067] In addition, the terms "first" and "second" are only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" can explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "a plurality of" is at least two, such as two, three, etc., unless otherwise specifically limited.

[0068] In the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting", "fixing" and the like should be understood in a broad sense, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal communication of two elements or the interaction relationship between two elements, unless otherwise explicitly limited. For ordinary skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0069] In the present application, unless otherwise explicitly specified and limited, the first feature is "on" or "under" the second feature. The first and second features can be in direct contact, or the first and second features can be in indirect contact through an intermediate medium. Moreover, the first feature "above", "above" and "above" the second feature can be directly above or obliquely above the first feature, or only indicate that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "below" and "below" the second feature can be directly below or obliquely below the first feature, or only indicate that the horizontal height of the first feature is less than that of the second feature.

[0070] In the description of the present application, the description of the terms "one embodiment", "some embodiments", "example", "specific example" or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In the present application, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, the skilled in the art can combine and combine the different embodiments or examples described in the present application and the features of the different embodiments or examples without contradiction.

[0071] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limiting the present application, and those skilled in the art can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. An image acquisition module (100), characterized in that, The image acquisition module (100) comprises: a mounting seat (1); and a plurality of image acquisition units (2), each of which is arranged on the mounting seat (1), and adjacent two of the image acquisition units (2) are arranged at an included angle, and the field of view regions corresponding to the field of view angles of the adjacent two image acquisition units (2) are adjacent to or partially overlap with each other; a control assembly (3) arranged on the mounting seat (1), and the control assembly (3) is electrically connected with each of the image acquisition units (2), and the control assembly (3) is used for collecting measurement data of each of the image acquisition units (2) and performing field of view splicing.

2. The image capturing module (100) of claim 1, characterized in that, The plurality of image acquisition units (2) are arranged in a ring on the mounting seat (1), and the total field of view angle range obtained by integrating the field of view angles of the plurality of image acquisition units (2) is 360°.

3. The image capturing module (100) of claim 1, wherein, The field of view angle of each of the image acquisition units (2) is less than or equal to 130°.

4. The image capturing module (100) of claim 1, wherein, The field of view angles of the plurality of image acquisition units (2) are all the same; or, the field of view angle of one of the image acquisition units (2) is different from the field of view angles of the rest of the image acquisition units (2); or, the field of view angle of any one of the image acquisition units (2) is different from the field of view angles of the rest of the image acquisition units (2).

5. The image capturing module (100) of claim 4, characterized in that, The image acquisition module (100) has a first working mode or a second working mode; When the image acquisition module (100) is in the first working mode, the control assembly (3) sends a plurality of synchronization signals to the plurality of image acquisition units (2) respectively, and each of the image acquisition units (2) collects data according to the corresponding synchronization signal; When the image acquisition module (100) is in the second working mode, the plurality of image acquisition units (2) comprise a main image acquisition unit (2a) and a plurality of sub image acquisition units (2b), the control assembly (3) sends a synchronization signal to the main image acquisition unit (2a), the main image acquisition unit (2a) receives the synchronization signal and transmits the synchronization signal to the plurality of sub image acquisition units (2b), so that the main image acquisition unit (2a) and the plurality of sub image acquisition units (2b) collect data according to the synchronization signal.

6. The image capturing module (100) of claim 1, wherein, Each of the image acquisition units (2) comprises: a laser emitter (21) for emitting a laser beam; and a laser receiver (22) arranged on the side adjacent to the laser emitter (21), the laser receiver (22) is used for receiving a reflected light beam formed after the laser beam is reflected.

7. The image capturing module (100) of claim 6, characterized in that, The laser emitter (21) comprises: a light emitting element (211) for emitting the laser beam; and a light source shaping mirror (212) located on the light emitting side of the light emitting element (211), the laser beam is shaped by the light source shaping mirror (212) to form any one of a point light source, a line light source and a surface light source.

8. The image capturing module (100) of claim 7, characterized in that, The number of the light emitting elements (211) is a plurality, and the plurality of light emitting elements (211) are shaped by the light source shaping mirror (212) to form any one of a point light source, a line light source and a surface light source. Or, the number of the light emitting pieces (211) and the light source shaping mirrors (212) is multiple, and the light emitting pieces (211) and the light source shaping mirrors (212) correspond one by one.

9. The image capture module (100) of claim 7, wherein, The laser receiver (22) comprises: A lens assembly (221) for converging the reflected light beams; and A sensor (222) for receiving the reflected light beams converged by the lens assembly (221) and converting the reflected light beams into electrical signals.

10. The image capturing module (100) of claim 9, characterized in that, The lens assembly (221) comprises: A lens (2211) corresponding to the sensor (222), the lens (2211) being used for converging the reflected light beams; and A lens seat (2212) comprising a first mounting portion (2212a) and a second mounting portion (2212b), the lens (2211) being arranged on the first mounting portion (2212a), and the light source shaping mirror (212) being arranged on the second mounting portion (2212b).

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