阅读说明：本技术 全景镜头及其光学成像方法和图像处理方法 (Panoramic lens, optical imaging method and image processing method thereof ) 是由 王一峰 谢前森 于 2019-11-20 设计创作，主要内容包括：本发明提供一全景镜头及其光学成像方法和图像处理方法,所述全景镜头包括一反射单元和一成像模块,所述成像模块被设置于所述反射单元的出射侧,其中所述反射单元反射所述全景镜头周边360°的光线进入所述成像模块,以使所述成像模块成像,以监控所述全景镜头周边360°的场景。(The invention provides a panoramic lens, an optical imaging method and an image processing method thereof, wherein the panoramic lens comprises a reflecting unit and an imaging module, the imaging module is arranged at the emergent side of the reflecting unit, and the reflecting unit reflects 360-degree light rays around the panoramic lens to enter the imaging module so as to enable the imaging module to image and monitor 360-degree scenes around the panoramic lens.)

1. A panoramic lens, comprising:

a reflection unit; and

the imaging module is arranged on the emergent side of the reflecting unit, wherein the reflecting unit reflects 360-degree light rays around the panoramic lens to enter the imaging module so as to enable the imaging module to image and monitor 360-degree scenes around the panoramic lens.

2. The panoramic lens of claim 1, wherein the reflective unit and the imaging module share the same optical axis.

3. The panoramic lens of claim 2, wherein the imaging module includes a lens group and a light sensing chip, the lens group and the light sensing chip being sequentially disposed on the exit side of the reflection unit.

4. The panoramic lens of claim 3, wherein the light emitted from the reflecting unit passes through the lens group to form an image plane on the photosensitive chip, and the image plane is elliptical.

5. The panoramic lens of claim 4, wherein the lens group is rotationally symmetric.

6. The panoramic lens of claim 4, wherein the lens group is non-rotationally symmetric.

7. The panoramic lens of claim 1, wherein the reflective unit is a free-form mirror.

8. The panoramic lens of claim 1, wherein the reflective unit is a convex mirror.

9. The panoramic lens of claim 8, wherein a distance d0 from the center of the reflection unit to the center of the lens group on the side facing the object of the first lens of the reflection unit and a total optical length TTL of the panoramic lens satisfy d0/TTL ≦ 0.25.

10. The panoramic lens of claim 8, wherein a distance d0 from the center of the reflecting unit to the center of the lens group facing the object side of the first lens of the reflecting unit, an image height H1 corresponding to the minimum field angle of the panoramic lens, and a minimum field angle FOV1 of the panoramic lens satisfy d0/H1/(90-FOV1) ≦ 0.08.

11. The panoramic lens of any one of claims 1 and 8, wherein the maximum clear diameter D of the reflection unit corresponding to the maximum field angle of the panoramic lens, the image height H2 corresponding to the maximum field angle of the panoramic lens and the maximum field angle FOV2 of the panoramic lens satisfy | D/H2/FOV2| ≦ 0.40.

12. The panoramic lens of any of claims 1 to 8, wherein the panoramic lens minimum field angle FOV1 and the panoramic lens maximum field angle FOV2 satisfy FOV2-FOV1 ≧ 20 °.

13. The panoramic lens of any of claims 1 to 8, wherein the panoramic lens minimum field angle FOV1, the panoramic lens maximum field angle FOV2, the image height H1 corresponding to the panoramic lens minimum field angle, the image height H2 corresponding to the panoramic lens maximum field angle, and the focal length F of the panoramic lens satisfy | (FOV2-FOV1) | F/| H2-H1| ≦ 200.

14. The panoramic lens of any one of claims 1 to 8, wherein the maximum field angle FOV2 of the panoramic lens, the image height corresponding to the maximum field angle of the panoramic lens, and the focal length F of the panoramic lens satisfy | FOV2| F/| H2| ≧ 30.

15. An optical imaging method, comprising the steps of:

(A) the method comprises the following steps Converging 360-degree light rays around a panoramic lens;

(B) the method comprises the following steps Reflecting the light to an imaging module; and

(C) the method comprises the following steps And imaging at the imaging module to record the scene of 360 degrees around the panoramic lens.

16. The optical imaging method as claimed in claim 15, wherein the step (a) further comprises the steps of:

a reflecting unit is arranged, and a convex surface faces the imaging module.

17. The optical imaging method as claimed in claim 16, wherein the step (a) further comprises the steps of:

and receiving 360-degree light rays around the panoramic lens through the convex surface.

18. The optical imaging method as claimed in claim 15, wherein the step (B) further comprises the steps of:

the reflected light passes through a lens group; and

the method comprises the steps of sensing light rays through a sensing element so as to form an imaging surface on the sensing element, wherein the imaging surface is oval.

19. The optical imaging method of claim 15, wherein the step (B) further comprises the steps of:

and imaging the 360-degree scene around the panoramic lens at the same moment at one time.

20. An image processing method for processing a scene surrounding a monitored subject, comprising the steps of:

(D) the method comprises the following steps Light rays of 360 degrees around the monitoring main body are collected at one time at the same moment through a reflecting unit;

(E) the method comprises the following steps Imaging once to record a 360 ° view around the monitoring subject; and

(F) the method comprises the following steps And outputting the scene around the monitoring subject.

21. The image processing method of claim 20, wherein the step (D) further comprises the steps of:

the light rays of 360 degrees around the monitoring body are reflected to an imaging module at one time at the same moment.

22. The image processing method according to claim 21, wherein said step (H) further comprises the steps of:

acquiring an image of a scene of 360 degrees around the monitoring subject; and

characteristic information around the monitoring subject is identified.

23. The image processing method according to claim 22, wherein said step (H) further comprises the steps of:

and outputting the characteristic information according to the characteristics of the monitoring main body.

24. The image processing method according to claim 23, wherein said step (H) comprises the steps of:

and sending at least one information prompt to the user.

Technical Field

The invention relates to the field of optical imaging, in particular to a panoramic lens, an optical imaging method and an image processing method thereof.

Background

In the automatic Driving and ADAS (Advanced Driving assistance System) technology, an image sensor is an indispensable component for monitoring the environment around the vehicle. The environmental information of 360 degrees around the vehicle is recorded, so that an automatic driving system and an ADAS can plan a route and a driving mode conveniently according to the information around the vehicle, or a driver is prompted about the vehicle environmental information, early warning is carried out in time, and driving safety is guaranteed. The information of the vehicle periphery needs to be comprehensively collected, so that an automatic driving system and an ADAS system can accurately analyze the vehicle periphery environment and make correct planning and early warning.

In order to monitor the environment around the vehicle, it is generally considered to mount a large-angle fisheye lens on the roof of the vehicle, or mount a plurality of wide-angle lenses on the vehicle body, with the lenses facing the driving environment, to implement 360 ° panoramic imaging. However, when large-field imaging is realized, the distortion of the fisheye lens or the wide-angle lens is large, the relative illumination is low, and the imaging quality is poor.

In other cases, four wide-angle lenses or more small-angle lenses can be mounted at different positions of the vehicle body to monitor different directions around the vehicle respectively, and images generated by the lenses are spliced and fused. However, the number of lenses is increased, the design and installation become complicated, the problems of synchronization, mismatching of image quality, information loss in the splicing process and the like also exist when the images are spliced and fused, a software algorithm for splicing and fusing the images needs to be designed according to the lenses, and the installation and debugging of hardware and software are very complicated. In addition, the plurality of lenses respectively record information of different directions around the vehicle, and when the images of the lenses are fused, the imaging time generated by each lens needs to be matched to ensure that the time line of the fused images is accurate, but the requirement on software is high, and the occurrence, duration and ending processes of events in the 360-degree all-dimensional live-action space cannot be well recorded. When one lens is lost or a certain image cannot be transmitted, the omnibearing image cannot be complete, and the safety of driving is greatly threatened.

Except the on-vehicle field, there is certain control blind area in the region of other installation cameras, like surveillance camera head, the specific area of general surveillance camera head orientation unidirectional. If need carry out all-round control to an area, avoid the control blind area, often need install a plurality of cameras, but when image output, a plurality of images of output need observe more image when looking over to there is certain repetition in the information. If a plurality of images are output after being spliced, the requirement on the algorithm is high, overlapping, losing, distortion and the like caused by splicing are difficult to avoid, and a user cannot obtain a complete, clear and correct image.

Disclosure of Invention

Another advantage of the present invention is to provide a panoramic lens, an optical imaging method and an image processing method thereof, wherein the panoramic lens uses a back reflection principle to image so as to capture an environment image around the panoramic lens.

Another advantage of the present invention is to provide a panoramic lens, an optical imaging method thereof and an image processing method thereof, wherein the panoramic lens includes a reflecting unit, and the reflecting unit is a convex reflector to converge light rays at all angles.

Another advantage of the present invention is to provide a panoramic lens, an optical imaging method thereof, and an image processing method thereof, in which the panoramic lens converges a large-angle light by the reflection unit to improve relative illuminance.

Another advantage of the present invention is to provide a panoramic lens, an optical imaging method and an image processing method thereof, wherein the panoramic lens further includes an imaging module, and the imaging module is disposed at an exit side of the reflection unit to image an environment around the panoramic lens, so as to implement 360 ° panoramic imaging in a horizontal direction.

Another advantage of the present invention is to provide a panoramic lens, an optical imaging method and an image processing method thereof, which are used in the field of vehicles to perform imaging by using the back-reflection principle to collect environmental images around a vehicle, and to synchronously collect information available for driving judgment without loss.

Another advantage of the present invention is to provide a panoramic lens, an optical imaging method and an image processing method thereof, wherein the imaging module has an elliptical imaging surface suitable for imaging in cooperation with a rectangular vehicle body.

Another advantage of the present invention is to provide a panoramic lens, an optical imaging method thereof and an image processing method thereof, wherein the reflective unit is a free-form surface mirror, and an elliptical imaging surface is formed on the imaging module, thereby improving the pixel utilization rate of the imaging module.

Another advantage of the present invention is to provide a panoramic lens, an optical imaging method and an image processing method thereof, wherein the imaging module includes a lens group, and the panoramic lens using the lens group is more easily miniaturized when panoramic imaging is performed.

Another advantage of the present invention is to provide a panoramic lens, an optical imaging method and an image processing method thereof, in which the front end aperture of the panoramic lens using the lens group is small.

Another advantage of the present invention is to provide a panoramic lens, an optical imaging method and an image processing method thereof, wherein the panoramic lens has a large vertical field of view, high resolution, large relative illumination and small distortion.

Another advantage of the present invention is to provide a panoramic lens, an optical imaging method and an image processing method thereof, in which the number of lenses used in the lens group is small, and miniaturization can be achieved.

Another advantage of the present invention is to provide a panoramic lens, an optical imaging method and an image processing method thereof, to which the lens groups of the rotational symmetric structure and the non-rotational symmetric structure are applied.

Another advantage of the present invention is to provide a panoramic lens, an optical imaging method and an image processing method thereof, wherein the panoramic lens using the lens assembly can give consideration to both left and right views in a horizontal plane.

Another advantage of the present invention is to provide a panoramic lens, an optical imaging method thereof, and an image processing method thereof, which achieve a large vertical field angle by reasonably distributing the powers of the lens groups while ensuring light collection.

Another advantage of the present invention is to provide a panoramic lens, an optical imaging method and an image processing method thereof, which do not require precise parts and complicated structures, are simple in manufacturing process, and are low in cost.

Additional advantages and features of the invention will be set forth in the detailed description which follows and in part will be apparent from the description, or may be learned by practice of the invention as set forth hereinafter.

In accordance with one aspect of the present invention, the foregoing and other objects and advantages are achieved in the present invention, which comprises:

a reflection unit; and

the imaging module is arranged on the emergent side of the reflecting unit, wherein the reflecting unit reflects 360-degree light rays around the panoramic lens to enter the imaging module so as to enable the imaging module to image and monitor 360-degree scenes around the panoramic lens.

According to one embodiment of the invention, the reflection unit and the imaging module share the same optical axis.

According to one embodiment of the invention, the imaging module comprises a lens group and a photosensitive chip, and the lens group and the photosensitive chip are sequentially arranged on the emergent side of the reflecting unit

According to one embodiment of the invention, the light emitted from the reflection unit passes through the lens group and forms an imaging surface on the photosensitive chip, and the imaging surface is elliptical.

According to an embodiment of the invention, the lens group is rotationally symmetric.

According to one embodiment of the invention, the lens group is non-rotationally symmetric.

According to one embodiment of the invention, the reflecting unit is a free-form surface mirror.

According to one embodiment of the invention, the reflecting unit is a convex mirror.

According to an embodiment of the present invention, a distance d0 from a center of the reflection unit to a center of a side of the lens group facing an object of the first lens of the reflection unit and an optical total length TTL of the panoramic lens satisfy d0/TTL ≦ 0.25.

According to one embodiment of the present invention, a distance d0 from the center of the reflecting unit 10 to the center of the lens group facing the object side of the first lens of the reflecting unit, an image height H1 corresponding to the minimum field angle of the panoramic lens, and the minimum field angle FOV1 of the panoramic lens satisfy d0/H1/(90-FOV1) ≦ 0.08.

According to one embodiment of the invention, the maximum light passing diameter D of the reflection unit corresponding to the maximum angle of view of the panoramic lens, the image height H2 corresponding to the maximum angle of view of the panoramic lens and the maximum angle of view FOV2 satisfy D/H2/FOV2 ≦ 0.40.

According to an embodiment of the present invention, the panorama lens minimum field angle FOV1 and the panorama lens maximum field angle FOV2 satisfy FOV2-FOV1 ≧ 20.

According to an embodiment of the invention, the minimum field angle FOV1 of the panoramic lens, the maximum field angle FOV2 of the panoramic lens, the image height H1 corresponding to the minimum field angle of the panoramic lens, the image height H2 corresponding to the maximum field angle of the panoramic lens, and the focal length F of the panoramic lens satisfy | (FOV2-FOV1) | F/| H2-H1| ≦ 200.

According to an embodiment of the invention, the maximum field angle FOV2 of the panoramic lens, the image height corresponding to the maximum field angle of the panoramic lens, and the focal length F of the panoramic lens satisfy | FOV2 |. F/| H2| ≧ 30.

According to another aspect of the present invention, the present invention further provides an optical imaging method comprising the steps of:

(A) the method comprises the following steps Converging 360-degree light rays around a panoramic lens;

(B) the method comprises the following steps Reflecting the light to an imaging module; and

(C) the method comprises the following steps And imaging at the imaging module to record the scene of 360 degrees around the panoramic lens.

According to one embodiment of the present invention, the step (a) further comprises the steps of:

a reflecting unit is arranged, and a convex surface faces the imaging module.

According to one embodiment of the present invention, the step (a) further comprises the steps of:

and receiving 360-degree light rays around the panoramic lens through the convex surface.

According to an embodiment of the present invention, the step (B) further comprises the steps of:

the reflected light passes through a lens group; and

the method comprises the steps of sensing light rays through a sensing element so as to form an imaging surface on the sensing element, wherein the imaging surface is oval.

According to an embodiment of the present invention, the step (B) further comprises the steps of:

and imaging the 360-degree scene around the panoramic lens at the same moment at one time.

According to another aspect of the present invention, there is further provided an image processing method for processing a scene surrounding a monitoring subject, comprising the steps of:

(D) the method comprises the following steps Light rays of 360 degrees around the monitoring main body are collected at one time at the same moment through a reflecting unit;

(E) the method comprises the following steps Imaging once to record a 360 ° view around the monitoring subject; and

(F) the method comprises the following steps And outputting the scene around the monitoring subject.

According to one embodiment of the present invention, the step (D) further comprises the steps of:

the light rays of 360 degrees around the monitoring body are reflected to an imaging module at one time at the same moment.

According to an embodiment of the present invention, the step (H) further comprises the steps of:

acquiring an image of a scene of 360 degrees around the monitoring subject; and

characteristic information around the monitoring subject is identified.

According to an embodiment of the present invention, the step (H) further comprises the steps of:

and outputting the characteristic information according to the characteristics of the monitoring main body.

According to an embodiment of the present invention, the step (H) includes the steps of:

and sending at least one information prompt to the user.

Further objects and advantages of the invention will be fully apparent from the ensuing description and drawings.

These and other objects, features and advantages of the present invention will become more fully apparent from the following detailed description, the accompanying drawings and the claims.

Drawings

Fig. 1 is a schematic view of a panoramic lens mounted on a vehicle according to a preferred embodiment of the present invention.

FIG. 2 is a schematic diagram of a panoramic lens according to a preferred embodiment of the present invention.

FIG. 3A is a schematic diagram of a panoramic lens according to a preferred embodiment of the present invention.

FIG. 3B is a diagram illustrating the reflection of light rays by a panoramic lens according to a preferred embodiment of the present invention.

FIG. 4 is a schematic diagram of a panoramic lens according to a preferred embodiment of the present invention.

FIG. 5 is a schematic diagram of a panoramic lens according to a preferred embodiment of the present invention.

Detailed Description

The following description is presented to disclose the invention so as to enable any person skilled in the art to practice the invention. The preferred embodiments in the following description are given by way of example only, and other obvious variations will occur to those skilled in the art. The basic principles of the invention, as defined in the following description, may be applied to other embodiments, variations, modifications, equivalents, and other technical solutions without departing from the spirit and scope of the invention.

It will be understood by those skilled in the art that in the present disclosure, the terms "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in an orientation or positional relationship indicated in the drawings for ease of description and simplicity of description, and do not indicate or imply that the referenced devices or components must be in a particular orientation, constructed and operated in a particular orientation, and thus the above terms are not to be construed as limiting the present invention.

It is understood that the terms "a" and "an" should be interpreted as meaning that a number of one element or element is one in one embodiment, while a number of other elements is one in another embodiment, and the terms "a" and "an" should not be interpreted as limiting the number.

The invention provides a panoramic lens, an optical imaging method and an image processing method thereof, which are used for recording scenes around the panoramic lens. The panoramic lens may be installed in a monitoring body to record a scene around the monitoring body, for example, images around the monitoring body in front, rear, left, and right. Wherein, the monitoring main body is a main body which has monitoring requirements on the surrounding environment. The panoramic lens is arranged on the monitoring main body, so that the monitoring requirement of the monitoring main body on the surrounding environment can be met.

Referring to fig. 1 to 5, the panoramic lens includes a reflection unit 10 and an imaging module 20, and the imaging module 20 is disposed on an exit side of the reflection unit 10. The imaging module 20 and the reflection unit 10 share the same optical axis.

The reflection unit 10 is mounted to the monitoring body, and the imaging module 20 is disposed on the exit side of the reflection unit 10. The reflecting unit 10 is a free-form surface mirror. Further, the reflection unit 10 is a convex reflector to collect the light with a large angle. The reflection unit 10 has a convex surface 11 and a concave surface 12. Said convex surface 11 is directed towards the monitoring body and its surroundings. The periphery of the reflection unit 10 is tilted relative to the monitoring body to collect the light rays on and above the horizontal plane of the reflection unit 10. The convex surface of the reflection unit 10 faces the area of 360 ° around the monitoring subject and the area above the horizontal plane, so that light rays of 360 ° around the monitoring subject and above the horizontal plane can be converged to the convex surface 11 and reflected by the convex surface 11 to the imaging module 20, so that the imaging module 20 images according to the scene of 360 ° around the monitoring subject to record the scene around the monitoring subject.

The convex surface 11 of the reflection unit 10 can collect light rays in all directions of the front side, the rear side, the left side and the right side of the monitoring body, and the convex surface 11 faces the direction of 360 degrees around the monitoring body at the top of the monitoring body so as to collect light rays in the direction of 360 degrees around the monitoring body and reduce dead zones.

Since the number of the reflection units 10 corresponding to a single imaging module 20 is 1, the imaging of the imaging module 20 can acquire a 360 ° scene around the monitoring subject without splicing. In the driving process of the monitoring subject, the reflection unit 10 continuously converges light around the monitoring subject and reflects the light to the imaging module 20, so that the imaging module 20 images. The imaging module 20 images light around the monitoring subject to record the view around the monitoring subject while the monitoring subject is driving. The reflection unit 10 continuously reflects light around the monitoring subject to the imaging module 20 over time in the process of moving the monitoring subject, so that the imaging module 20 can record scenes around the monitoring subject according to a time sequence without splicing or reversing the occurrence sequence of the scenes. The imaging module 20 can record the scene around the monitoring subject and the change thereof completely, and the distortion is small, thereby being beneficial to the user to obtain the peripheral information accurately and avoiding misjudgment.

The imaging module 20 includes a lens group 21 and a photosensitive element 22, and the lens group 21 and the photosensitive element 22 are sequentially disposed on the exit side of the reflection unit 10. The light reflected by the reflection unit 10 passes through the lens group 21 and reaches the photosensitive element 22, and the photosensitive element 22 senses the light to form an image plane 221. The lens group 21 employs a rotationally symmetric system and a non-rotationally symmetric system. The lens group 21 and the reflection unit 10 are fitted, and the image forming surface 221 formed on the photosensitive element 22 is elliptical. The shape of the photosensitive element 22 is a rectangle close to a square, so that the elliptical imaging surface 221 occupies as many pixels of the photosensitive element 22 as possible, and the pixel utilization rate of the photosensitive element 22 is improved.

Referring to fig. 2, which is a schematic diagram of a preferred embodiment of the panoramic lens system of the present invention, the lens group 21 adopts a rotational symmetry system, and the lens group 21 includes 7 lenses, which is less in number, and is beneficial to miniaturization of the lens group 21. Wherein the lenses of said lens group 21 are all made of glass material.

The lens assembly 21 includes a first lens L1, a second lens L2, a third lens L3, a fourth lens L4, a fifth lens L5, a sixth lens L6 and a seventh lens L7, and the first lens L1, the second lens L2, the third lens L3, the fourth lens L4, the fifth lens L5, the sixth lens L6 and the seventh lens L7 are sequentially disposed on the emergent side of the reflection unit 10 from the object side to the image side.

The first lens element L1 has a concave surface S1 and a concave surface S2, the concave surface S1 faces the object side, and the concave surface S2 faces the image side. The second lens element L2 has a concave surface S3 and a concave surface S4, the concave surface S3 faces the object side, and the concave surface S4 faces the image side. The third lens L3 has two convex surfaces S5 and S6, the convex surface S5 faces the object side, and the convex surface S6 faces the image side. The second lens L2 and the third lens L3 are cemented together. The fourth lens element L4 has a convex surface S7 facing the object, the convex surface S7 faces the image, and the fourth lens element L4 has a plane S8 facing the image. The fifth lens L5 has a convex surface S9 facing the object. The fifth lens element L5 further has a convex surface S10 facing the image. The sixth lens element L6 has a concave surface S11 and a concave surface S12, the concave surface S11 faces the object side, and the concave surface S12 faces the image side. The sixth lens L6 and the fifth lens L5 are cemented together. The seventh lens L7 has a convex surface S13 facing the object side and a convex surface S14 facing the image side.

The first lens L1, the second lens L2, the third lens L3, the fourth lens L4, the fifth lens L5, the sixth lens L6, and the seventh lens L7 are made of a glass material.

A distance d0 from the center of the reflecting unit 10 to the center of the imaging module 20 on the side facing the object, which is close to the first lens L1 of the reflecting unit 10, an image height H1 corresponding to the minimum field angle of the panoramic lens, and the minimum field angle FOV1 of the panoramic lens satisfy | d0/H1/(90-FOV1) | 0.033.

The maximum light transmission diameter D of the reflection unit 10 corresponding to the maximum field angle of the panoramic lens, the image height H2 corresponding to the maximum field angle of the panoramic lens, and the maximum field angle FOV2 satisfy | D/H2/FOV2|, which is 0.195.

The panoramic lens maximum field angle FOV2 and the panoramic lens minimum field angle FOV1 satisfy FOV2-FOV 1-56.000.

The minimum field angle FOV1 of the panoramic lens, the maximum field angle FOV2 of the panoramic lens, the image height H1 corresponding to the minimum field angle of the panoramic lens, the image height H2 corresponding to the maximum field angle of the panoramic lens, and the focal length F of the panoramic lens satisfy | (FOV2-FOV1) | F/(H2-H1) | 90.425.

The maximum field angle FOV2 of the panoramic lens, the image height corresponding to the maximum field angle of the panoramic lens, and the focal length F of the panoramic lens satisfy | FOV2| × F/| H2| ═ 74.475.

A distance d0 from the center of the reflection unit 10 to the center of the object side of the first lens L1 of the imaging module 20 and a total optical length TTL of the panoramic lens satisfy d0/TTL of 0.092.

Referring to fig. 3A and 3B, which are schematic diagrams of another preferred embodiment of the panoramic lens of the present invention, the lens group 21 adopts a rotational symmetry system, and the lens group 21 includes 6 lenses, so that the number of lenses is small, which is beneficial to the miniaturization of the lens group 21.

The lens assembly 21 includes a first lens L1, a second lens L2, a third lens L3, a fourth lens L4, a fifth lens L5 and a sixth lens L6, and the first lens L1, the second lens L2, the third lens L3, the fourth lens L4, the fifth lens L5 and the sixth lens L6 are sequentially disposed on the emergent side of the reflection unit 10 from the object side to the image side. Wherein the fourth lens L4 and the fifth lens L5 are cemented together.

The first lens element L1 has a convex surface S1 and a concave surface S2, the convex surface S1 faces the object side, and the concave surface S2 faces the image side. The second lens element L2 has a concave surface S3 and a convex surface S4, the concave surface S3 faces the object side, and the convex surface S4 faces the image side. The third lens L3 has two convex surfaces S5 and S6, the convex surface S5 faces the object side, and the convex surface S6 faces the image side. The fourth lens L4 has a convex surface S7, the convex surface S7 faces the object, and the fourth lens L4 further has a concave surface S8 facing the image. The fourth lens L4 and the fifth lens L5 are cemented together such that the concave surface S8 of the fourth lens L4 facing the image side and a convex surface S9 of the fifth lens L5 facing the object side are cemented together. The fifth lens element L5 further has a convex surface S10 facing the image. The sixth lens element L6 has a convex surface S11 and a concave surface S12, the convex surface S11 faces the object side, and the concave surface S12 faces the image side.

Wherein the first lens L1, the second lens L2, the fourth lens L4, and the sixth lens L6 are meniscus-shaped, and the third lens L3 and the fifth lens L5 are double convex lenses. The second lens L2 and the sixth lens L6 are made of a plastic material, and the first lens L1, the third lens L3, the fourth lens L4 and the fifth lens L5 are made of a glass material.

A distance d0 from the center of the reflection unit 10 to the center of the imaging module 20 on the side facing the object from the first lens close to the reflection unit 10, an image height H1 corresponding to the minimum field angle of the panoramic lens, and the minimum field angle FOV1 of the panoramic lens satisfy | d0/H1/(90-FOV1) | 0.035.

The maximum light transmission diameter D of the reflection unit 10 corresponding to the maximum field angle of the panoramic lens, the image height H2 corresponding to the maximum field angle of the panoramic lens, and the maximum field angle FOV2 satisfy | D/H2/FOV2|, which is 0.137.

The panorama lens maximum field angle FOV2 and the panorama lens minimum field angle FOV1 satisfy FOV2-FOV1 of 60.000.

The minimum field angle FOV1 of the panoramic lens, the maximum field angle FOV2 of the panoramic lens, the image height H1 corresponding to the minimum field angle of the panoramic lens, the image height H2 corresponding to the maximum field angle of the panoramic lens, and the focal length F of the panoramic lens satisfy | (FOV2-FOV1) | F/(H2-H1) | 83.621.

The maximum field angle FOV2 of the panoramic lens, the image height corresponding to the maximum field angle of the panoramic lens, and the focal length F of the panoramic lens satisfy | FOV2| × F/| H2| ═ 72.521.

The distance d0 from the center of the reflection unit 10 to the center of the object side of the first lens L1 of the imaging module 20 and the total optical length TTL of the panoramic lens satisfy d0/TTL of 0.088.

Referring to fig. 4, which is a schematic diagram of another preferred embodiment of the panoramic lens system of the present invention, the lens group 21 adopts a rotational symmetry system, and the lens group 21 includes 5 lenses, so that the lens group 21 is small in number, which is beneficial to miniaturization of the lens group 21. Wherein the lenses of the lens group 21 are made of a plastic material.

The lens assembly 21 includes a first lens L1, a second lens L2, a third lens L3, a fourth lens L4, and a fifth lens L5, and the first lens L1, the second lens L2, the third lens L3, the fourth lens L4, and the fifth lens L5 are sequentially disposed on the emitting side of the reflection unit 10 from the object side to the image side.

The first lens element L1 has a concave surface S1 and a concave surface S2, the concave surface S1 faces the object side, and the concave surface S2 faces the image side. The second lens element L2 has a convex surface S3 and a concave surface S4, the convex surface S3 faces the object side, and the concave surface S4 faces the image side. The third lens L3 has two convex surfaces S5 and S6, the convex surface S5 faces the object side, and the convex surface S6 faces the image side. The second lens L2 and the third lens L3 are cemented together. The fourth lens L4 has a convex surface S7, the convex surface S7 faces the object, and the fourth lens L4 further has a concave surface S8 facing the image. The fifth lens L5 has a convex surface S9 facing the object. The fifth lens element L5 further has a convex surface S10 facing the image. The fourth lens L4 and the fifth lens L5 are cemented.

The lens group further includes a stop disposed between the third lens L3 and the fourth lens L4.

The first lens L1, the second lens L2, the third lens L3, the fourth lens L4, and the fifth lens L5 are made of a plastic material.

A distance d0 from the center of the reflection unit 10 to the center of the imaging module 20 on the side facing the object from the first lens close to the reflection unit 10, an image height H1 corresponding to the minimum field angle of the panoramic lens, and the minimum field angle FOV1 of the panoramic lens satisfy | d0/H1/(90-FOV1) | 0.053.

The maximum light transmission diameter D of the reflection unit 10 corresponding to the maximum field angle of the panoramic lens, the image height H2 corresponding to the maximum field angle of the panoramic lens, and the maximum field angle FOV2 satisfy | D/H2/FOV2|, which is 0.119.

The panorama lens maximum field angle FOV2 and the panorama lens minimum field angle FOV1 satisfy FOV2-FOV1 of 30.000.

The minimum field angle FOV1 of the panoramic lens, the maximum field angle FOV2 of the panoramic lens, the image height H1 corresponding to the minimum field angle of the panoramic lens, the image height H2 corresponding to the maximum field angle of the panoramic lens, and the focal length F of the panoramic lens satisfy | (FOV2-FOV1) | F/(H2-H1) | 28.869.

The maximum field angle FOV2 of the panoramic lens, the image height corresponding to the maximum field angle of the panoramic lens, and the focal length F of the panoramic lens satisfy | FOV2| × F/| H2| ═ 39.927.

A distance d0 from the center of the reflection unit 10 to the center of the object side of the first lens L1 of the imaging module 20 and a total optical length TTL of the panoramic lens satisfy d0/TTL of 0.081.

It is noted that in other examples of the present invention, the material of the lens group 21 may be selected from any one or two of glass and plastic.

Referring to fig. 5, which is a schematic diagram of another preferred embodiment of the panoramic lens system of the present invention, the lens group 21 adopts a non-rotational symmetric system, and the surface of each lens of the lens group 21 is a non-rotational symmetric free-form surface. The shape of the convex surface 11 of the reflecting unit 10 may also be implemented as a non-rotationally symmetrical free-form surface. The number of the lens groups 21 may be 5 pieces as shown in fig. 5, and may be implemented in other numbers. The number of lenses of the lens group 21 is small, which is advantageous for miniaturization of the lens group 21.

The lens assembly 21 includes a first lens L1, a second lens L2, a third lens L3, a fourth lens L4, a fifth lens L5 and a sixth lens L6, and the first lens L1, the second lens L2, the third lens L3, the fourth lens L4, the fifth lens L5 and the sixth lens L6 are sequentially disposed on the emergent side of the reflection unit 10 from the object side to the image side. Wherein the fourth lens L4 and the fifth lens L5 are cemented together.

The first lens element L1 has a convex surface S1 and a concave surface S2, the convex surface S1 faces the object side, and the concave surface S2 faces the image side. The second lens element L2 has a concave surface S3 and a convex surface S4, the concave surface S3 faces the object side, and the convex surface S4 faces the image side. The third lens L3 has two convex surfaces S5 and S6, the convex surface S5 faces the object side, and the convex surface S6 faces the image side. The fourth lens element L4 has a concave surface S7, the concave surface S7 faces the object, and the fourth lens element L4 further has a concave surface S8 facing the image. The fourth lens L4 and the fifth lens L5 are cemented together such that the concave surface S8 of the fourth lens L4 facing the image side and a convex surface S9 of the fifth lens L5 facing the object side are cemented together. The fifth lens element L5 further has a convex surface S10 facing the image. The sixth lens element L6 has a convex surface S11 and a concave surface S12, the convex surface S11 faces the object side, and the concave surface S12 faces the image side.

A distance d0 from the center of the reflection unit 10 to the center of the imaging module 20 on the side facing the object from the first lens close to the reflection unit 10, an image height H1 corresponding to the minimum field angle of the panoramic lens, and the minimum field angle FOV1 of the panoramic lens satisfy | d0/H1/(90-FOV1) | 0.029.

The maximum light transmission diameter D of the reflection unit 10 corresponding to the maximum field angle of the panoramic lens, the image height H2 corresponding to the maximum field angle of the panoramic lens, and the maximum field angle FOV2 satisfy | D/H2/FOV2|, which is 0.164.

The panoramic lens maximum field angle FOV2 and the panoramic lens minimum field angle FOV1 satisfy FOV2-FOV 1-53.000.

The minimum field angle FOV1 of the panoramic lens, the maximum field angle FOV2 of the panoramic lens, the image height H1 corresponding to the minimum field angle of the panoramic lens, the image height H2 corresponding to the maximum field angle of the panoramic lens, and the focal length F of the panoramic lens satisfy | (FOV2-FOV1) | F/(H2-H1) | 84.797.

The maximum field angle FOV2 of the panoramic lens, the image height corresponding to the maximum field angle of the panoramic lens, and the focal length F of the panoramic lens satisfy | FOV2| × F/| H2| ═ 74.104.

The distance d0 from the center of the reflection unit 10 to the center of the object side of the first lens L1 of the imaging module 20 and the total optical length TTL of the panoramic lens satisfy d0/TTL of 0.076.

The number of the lens group 21 can also be 8, according to the embodiments of the present invention shown in fig. 2 to 5, the number of the lens group 21 is selected from 5 to 8, and the number of the lenses of the lens group 21 is small, which is beneficial to the miniaturization of the panoramic lens. The lens group 21 may adopt a rotational symmetry system or a non-rotational symmetry system, and has high applicability, and the lens group 21 and the reflection unit 10 cooperate with each other to form an elliptical image plane 221 on the photosensitive element 22 and cooperate with the rectangular photosensitive element 22 to occupy as many pixels as possible on the photosensitive element 22, so as to improve the pixel utilization rate of the photosensitive element 22. It is to be noted that the specific shape of each lens of the lens group 21 is not limited, and may be a biconvex lens, a biconcave lens, a meniscus lens, a plano-convex lens, a concave-flat lens, a convex-flat lens, or the like. The surface of the lens may be a free-form surface.

The imaging module 20, the reflection unit 10, and the relative relationship therebetween are set by the following conditional expressions.

The distance d0 from the center of the reflection unit 10 to the center of the lens group 21 facing the object side of the first lens of the reflection unit 10 and the total optical length TTL of the panoramic lens satisfy d0/TTL ≤ 0.25.

The maximum field angle FOV2 of the panoramic lens meets the condition that the FOV2 is more than or equal to 90 degrees, so that the panoramic lens can monitor the left visual field of the monitored main body, the minimum field angle FOV1 of the panoramic lens meets the condition that the FOV1 is less than or equal to 70 degrees, the FOV 2-the FOV1 are more than or equal to 20 degrees, the sum of the left visual field and the right visual field of the panoramic lens is in a reasonable range, and the panoramic lens can give consideration to the visual fields of the left side. The field of view of the panoramic lens is wide, so that more scenes close to the monitoring subject and relatively far from the monitoring subject can be recorded as much as possible. The maximum light transmission diameter D of the reflection unit 10 corresponding to the maximum field angle of the panoramic lens, the image height H2 corresponding to the maximum field angle of the panoramic lens, and the maximum field angle FOV2 of the panoramic lens satisfy | D/H2/FOV2| ≦ 0.40, so that the front port diameter of the panoramic lens facing the upper side of the monitoring subject is small, which is beneficial to the miniaturization of the panoramic lens, the cost is reduced, and the left side field of view of the monitoring subject is increased to ensure the monitoring of the left side field of view of the monitoring subject. The minimum field angle FOV1 of the panoramic lens, the maximum field angle FOV2 of the panoramic lens, the image height H1 corresponding to the minimum field angle of the panoramic lens, the image height H2 corresponding to the maximum field angle of the panoramic lens and the focal length F of the panoramic lens meet | (FOV2-FOV1) | F/| H2-H1| is less than or equal to 200, so that the definition of the panoramic lens in the radial direction of an imaging circular ring is ensured. The panoramic lens is high in resolution and good in imaging quality. The maximum field angle FOV2 of the panoramic lens, the image height corresponding to the maximum field angle of the panoramic lens and the focal length F of the panoramic lens meet the condition that | FOV2 |. F/| H2| is equal to or more than 30, so that the panoramic lens has long focus and a large field angle.

The distance d0 from the center of the reflection unit 10 to the center of the imaging module 20 on the side of the first lens close to the reflection unit 10 facing the object, the image height H1 corresponding to the minimum field angle of the panoramic lens and the minimum field angle FOV1 of the panoramic lens meet d0/H1/(90-FOV1) ≦ 0.08, so that the front port diameter of the panoramic lens is smaller, miniaturization is achieved, the field of view of the panoramic lens on the right side of the monitored subject is increased, the reflection unit 10 can receive more light on the right side of the monitored subject and is not blocked by the imaging module 20, the field range of the panoramic lens is large, and more scenes on the periphery of the monitored subject are monitored.

Through the setting of above-mentioned conditional expression, can make panoramic lens's front end mouth footpath is less, and whole volume is miniaturized, reduce cost to the vertical direction angle of vision is big, compromises the left side and the right side visual field of this control main part, and the field of vision scope is big, and the contrast is high, and the distortion is little, and it is high to solve the image, can monitor 360 scenes around this control main part, and imaging quality is better, satisfies the demand of looking around the control to this control main part.

Referring to fig. 1, a schematic diagram of a scene of the present invention is shown, the panoramic lens being mounted on the roof of a vehicle to monitor the scene surrounding the vehicle. That is, the monitoring subject may be implemented as a vehicle. The panoramic lens gives consideration to the views of the left side and the right side of the vehicle. The vehicle runs around the panoramic lens, and the panoramic lens monitors the running condition of the vehicle on one side of the vehicle. The vehicle on one side of the vehicle reflects the light to the reflection unit 10, and the reflection unit 10 reflects the light to the imaging module 20. The light rays pass through the lens group 21 to form the elliptical imaging surface 221 on the photosensitive element 22 so as to record the scene around the vehicle, namely, the condition of the vehicle running on one side of the vehicle can be monitored. It should be noted that the shape of the vehicle is substantially rectangular, and the elliptical imaging surface 221 formed by the panoramic lens is substantially matched with the shape of the vehicle, which is beneficial to capturing the scene around the vehicle.

The convex surface 11 of the reflection unit 10 can collect both left and right views of the vehicle with respect to the traveling front, and particularly, the reflection unit 10 can give consideration to both views of the left side of the vehicle. When the cab of the vehicle is on the left side, the left side of the vehicle is easy to become a blind area, the view field on the left side of the vehicle is taken into consideration, convenience can be provided for users, and driving safety is guaranteed.

The shape of the reflection unit 10, the position of the reflection unit 10 on the vehicle, the distance between the reflection unit 10 and the imaging module 20, the parameters of the imaging module 20, and the positional relationship between the vehicle running on one side of the vehicle and the vehicle affect the imaging at the imaging module 20. According to the scene of the vehicle running on one side of the vehicle recorded by imaging, the distance between the vehicle running on one side of the vehicle and the vehicle can be reminded by combining the position of the reflection unit 10 arranged on the vehicle and the parameters of the reflection unit 10 and the imaging module 20, and particularly, the distance between the vehicle running on one side of the vehicle and the vehicle can be reminded to pay attention to the vehicle on the side when the distance is small, so that the driving safety is guaranteed.

Similarly, in other scenes, such as various scenes of backing up, meeting, lane changing, turning, going straight, overtaking and the like, the panoramic lens records 360-degree scenes around the vehicle so as to transmit the scenes around the vehicle in real time according to the time lapse for the user to obtain, thereby ensuring the driving safety.

In a reversing scene, an object behind the vehicle reflects or projects light to the reflection unit 10, the reflection unit 10 reflects the light to the imaging module 20, and the imaging module 20 images the scene behind the vehicle. Further, the imaging module 20 calculates the distance between an obstacle, a parking space line, and the like behind the vehicle and the vehicle according to imaging and by combining the parameters of the reflection unit 10 and the imaging module 20, so as to prompt a user and guarantee the safety of reversing.

In a turning scene, due to the arrangement of the reflection unit 10, both the left and right visual fields of the vehicle can be considered, and the visual fields of the left and right visual fields of the vehicle are large, light rays of the left and right sides of the vehicle are projected or reflected to the reflection unit 10, the reflection unit 10 reflects the light rays to the imaging module 20, and the light rays penetrate through the lens group 21 to form the elliptical imaging surface 221 on the photosensitive element 22, so that a user can acquire the left and right scenes of the vehicle, and a blind sight zone is avoided. It should be noted that the reflection unit 10 reflects the light behind the vehicle to the imaging module 20, so as to image a scene behind the vehicle at the imaging module 20, prompt the user whether there is an obstacle or a vehicle behind the vehicle, avoid collision when turning, and pay attention to avoiding other vehicles.

The panoramic lens identifies and analyzes the objects recorded in the images according to the recorded images, such as other vehicles and specific positions thereof, traffic signs, road surface marks, obstacles and the like.

In the driving process of the vehicle, the panoramic lens dynamically records the scene around the vehicle, identifies the specific scene in the scene around the vehicle in real time, and pushes the identified information to a user.

The panoramic lens is arranged on the roof of the vehicle, and shoots are carried out from the roof of the vehicle in the direction of 360 degrees around the vehicle, to record the scene around the vehicle, the panoramic lens can record the scene around the vehicle from the top view and side view angles, collects light rays around the vehicle for 360 degrees at a time, and by setting the relative positions and optical parameters of the reflection unit 10 and the imaging module 20, the visual fields of the left side and the right side of the vehicle are considered, meanwhile, the radial directions of the corresponding directions of the front and the back of the vehicle and the four corners can be recorded, the panoramic lens can identify the recorded scenes, to determine specific objects such as identifying the presence of railings, traffic signs, shoulders, greenbelts, parking lines, pedestrians, non-motorized vehicles, obstacles, etc. in the recorded scene around the vehicle that affect travel.

The panoramic lens dynamically records the scene around the vehicle in the driving process of the vehicle, and performs object identification in real time according to the recorded scene to determine the objects existing around the vehicle. And the panoramic lens outputs corresponding images and safety prompts according to the identified objects. For example, the panoramic lens captures and recognizes that a pedestrian appears on the right side of the vehicle, and the panoramic lens outputs an image of the pedestrian appearing on the right side of the vehicle and outputs a safety prompt for paying attention to the pedestrian on the right side so as to ensure the driving safety of the user.

The images output by the panoramic lens can be selected according to the imaging of the panoramic lens, the panoramic lens can output all images for a user to obtain, partial images can be output according to the current specific imaging around the vehicle, for example, when the vehicle is backed, the panoramic lens outputs a backing image, namely a scene behind the vehicle, when the vehicle is met, the panoramic lens outputs the images in front of the vehicle, when lanes are changed, the side and rear images of the vehicle are output, and when one direction of the vehicle has a safety risk, the panoramic lens can also output the images in the direction, and a risk prompt is sent to the user. The specific image output condition can be adjusted according to the actual scene of the vehicle.

The panoramic lens can image 360-degree scenes around the vehicle so as to record the scenes around the vehicle and guarantee driving safety.

In other embodiments of the present invention, the panoramic lens may be applied to an automatic driving system and an ADAS system, so that the automatic driving system and the ADAS can plan a route and a driving mode according to information around a vehicle, or prompt a driver about vehicle environment information, perform early warning in time, and guarantee driving safety. The panoramic lens can collect image information of all directions around the vehicle, so that an automatic driving system and an ADAS (adaptive navigation System) can accurately analyze the surrounding environment of the vehicle and make correct planning and early warning.

The reflection unit 10 of the panoramic lens is arranged on the roof of the vehicle, the reflection unit 10 converges light towards the vehicle body of the vehicle, the light is reflected to the imaging module 20 arranged on the vehicle body of the vehicle to record 360-degree light around the vehicle, the reflection unit 10 is arranged to converge large-angle light, the reflection unit 10 is arranged on the roof of the vehicle, the 360-degree light around the vehicle can be converged through the single arrangement of the reflection unit 10, so that the imaging module 20 can image 360-degree scenes around the vehicle at one time, images output by the panoramic lens are not spliced through an algorithm, and the problems of blurring, errors, information loss, distortion and the like caused by splicing of the images are avoided. The panoramic lens is arranged on the roof of the vehicle, the monitoring of 360-degree scenes around the vehicle is realized from the overlooking and side-viewing angles, the left and right visual fields of the vehicle are considered, the monitoring blind area is avoided, and more accurate information prompts are provided for a user.

In other examples of the present invention, the monitoring subject may be implemented as a road street lamp, a traffic signal lamp pillar, a pillar with traffic monitoring equipment installed on both sides of a road, or other facilities that require a camera device to be installed for monitoring. And the panoramic lens is arranged at positions beside a street lamp, a traffic signal lamp and the like, so as to monitor the road environment. The panoramic lens can acquire 360-degree light around the monitoring main body to realize imaging of 360-degree scenes around the monitoring main body through one-time imaging. Will panoramic lens installs in the body of rod of street lamp, can realize the simultaneous monitoring all around the road, both can monitor the road surface condition in motor lane, also can monitor non-motor lane and pedestrian's pavement condition, through one panoramic lens both can realize 360 imaging around the street lamp body of rod, and the user passes through single image of panoramic lens output both can acquire 360 scenes around simultaneously, need not to monitor a plurality of camera device's image simultaneously, just panoramic lens's image output does not need the concatenation.

The panoramic lens can be used for road monitoring, and monitoring of all directions of the road in all directions is achieved.

The monitoring main body can be implemented as a motor vehicle and a non-motor vehicle, and images 360-degree scenes around the motor vehicle and the non-motor vehicle, so that a user can obtain surrounding scenes, sight blind areas are avoided, and driving safety is guaranteed. For example, the panoramic lens is installed on a bicycle, an electric bicycle and other non-motor vehicles, when a user drives the non-motor vehicles, the driving situation at the rear cannot be obtained in time, and the panoramic lens can image scenes around, so that the user can obtain the situation in each direction, and the safety risk caused by the sight blind area is avoided.

The monitoring body may also be implemented as a mobile electronic device such as a mobile phone. The panoramic lens is arranged on the mobile electronic equipment, so that the scenes in the front, back, left and right directions of the mobile electronic equipment can be acquired, and the omnibearing scene shooting is realized.

The monitoring subject may also be implemented as an indoor environment. Will panoramic lens installs in indoorly, for example indoor top wall position, acquires 360 light on every side, carries out the omnidirectional control to the indoor environment, avoids monitoring the blind area.

The present invention further provides an optical imaging method comprising the steps of:

(A) the method comprises the following steps Converging 360-degree light rays around a panoramic lens;

(B) the method comprises the following steps Reflecting the light to an imaging module; and

(C) the method comprises the following steps And imaging at the imaging module to record the scene of 360 degrees around the panoramic lens vehicle.

Wherein the step (A) further comprises the steps of:

a convex surface of a reflection unit is disposed to face the imaging module.

The reflecting unit converges the light rays of 360 degrees around the monitoring main body to converge the light rays at one time, and the imaging of 360 degrees around the panoramic lens is realized at one time.

The disposable light converging means that the light in the 360-degree direction can be converged by the reflecting unit when the light is converged, and the light is reflected, but the light is not converged by the reflecting unit only once.

Wherein the step (A) further comprises the steps of:

and receiving 360-degree light rays around the panoramic lens through the convex surface.

By setting the relative position relationship and optical parameters of the reflecting unit 10 and the imaging module 20, the visual fields of the left side and the right side of the main body are monitored, and the sight blind area is avoided.

Wherein the step (B) further comprises the steps of:

the reflected light passes through a lens group; and

the method comprises the steps of sensing light rays through a sensing element so as to form an imaging surface on the sensing element, wherein the imaging surface is oval.

The lens group can adopt a non-rotational symmetry system and a rotational symmetry system, and is matched with the reflecting unit to form the elliptic imaging surface on the sensing element.

The sensing element is in a rectangular shape close to a square, and the pixel utilization rate of the sensing element can be improved as much as possible by the oval-shaped imaging surface.

Wherein the step (B) further comprises the steps of:

and imaging the 360-degree scene around the panoramic lens at the same moment at one time.

The imaging module can record 360-degree scenes around the panoramic lens in one-time imaging without splicing.

The present invention further provides an image processing method for processing a scene surrounding a monitoring subject, the image processing method comprising the steps of:

(D) the method comprises the following steps Collecting 360-degree light rays around the monitoring main body at one time through a reflecting unit;

(E) the method comprises the following steps Imaging once to record a 360 ° view around the monitoring subject; and

(F) the method comprises the following steps And outputting the scene around the monitoring subject.

Wherein the step (D) further comprises the steps of:

the 360-degree direction around the monitoring body is reflected to an imaging module once.

Wherein the step (H) further comprises the steps of:

acquiring an image of a scene of 360 degrees around the monitoring subject; and

characteristic information around the monitoring subject is identified.

The characteristic information may be information meeting the user requirement. When the monitoring main body is a vehicle, the characteristic information can be information influencing driving safety, and when the monitoring main body is a road traffic facility such as a traffic signal lamp upright post, the characteristic information can be traffic violation information such as image information of red light running, illegal lane changing and the like. The identified characteristic information is determined according to the characteristics and requirements of the monitoring subject.

Wherein the step (H) further comprises the steps of:

and outputting the characteristic information according to the characteristics of the monitoring main body.

Wherein the step (H) comprises the steps of:

and sending at least one information prompt to the user.

And outputting the characteristic information according to the characteristics of the monitoring main body, and sending the information prompt to a user according to the characteristic information to prompt the user to check.

When the monitoring subject is a vehicle, information affecting the driving safety of the vehicle is output as the characteristic information, and the attention of a user is prompted to ensure the driving safety.

Through the image processing method, the panoramic lens outputs the scene around the vehicle to the user, and outputs the corresponding information prompt according to the specific driving condition and the scene around the vehicle so as to prompt the user about the information around the vehicle, so that the user can adjust the driving mode and the route. And the automatic driving system, the ADAS and other systems can also analyze whether the vehicle needs to be adjusted or not according to the scene around the vehicle output by the panoramic lens and the current driving condition of the vehicle so as to generate a driving expectation. The driving plan comprises a driving mode, a driving route, such as a driving lane, a driving direction, a driving speed and the like. The vehicle is adjusted in driving style and driving route according to the driving expectation.

That is, the scene around the vehicle output by the panoramic lens can be acquired by the user so that the user can adjust the driving mode and the driving route to ensure the driving safety, and can also be used for an automatic driving system and an ADAS system to adjust the driving expectation of the vehicle so as to better plan the driving mode and the driving route of the vehicle and ensure the driving safety.

In other examples of the present invention, the panoramic lens may be applied to a monitoring device, and monitors a scene of 360 ° around the panoramic lens, so that imaging is not required to be performed by splicing, changes of the surrounding scene according to time may be recorded, and distortion is reduced.

When the monitoring main body is traffic monitoring equipment, illegal violation information is output as the characteristic information to prompt a user to send illegal violation phenomena, so that the user can conveniently handle the illegal violation phenomena.

The image processed and output by the panoramic lens is determined according to the characteristics and requirements of the monitoring main body, and a user can set the image by himself so that the image output meets the requirements of the user. The monitoring body may be implemented as a body requiring mounting of an optical lens, an image pickup device, or the like, and is not limited to the examples in the specification. The panoramic lens is used for replacing a camera device which faces a specific direction and shoots a characteristic region, so that the scenes in all directions around can be simultaneously acquired and monitored, the field range is large, and the number of required lenses is reduced.

It will be appreciated by persons skilled in the art that the embodiments of the invention described above and shown in the drawings are given by way of example only and are not limiting of the invention. The objects of the invention have been fully and effectively accomplished. The functional and structural principles of the present invention have been shown and described in the examples, and any variations or modifications of the embodiments of the present invention may be made without departing from the principles.