仿生复眼系统的视场重叠率

为了实现复眼系统小型化、轻量化，提出一种基于相机外凸式的安装结构。基于该种结构，首先分析了子眼系统视场角之和与光轴夹角之间的关系，通过两子眼系统视场边缘点之间的坐标关系，建立了与子眼间光轴夹角、子眼系统视场角、观测距离相关的视场重叠率计算模型。通过对此模型分析，复眼系统中子眼间光轴夹角应当小于子眼视场角之和，且大于子眼视场角之差；在上千米的观测距离下，子眼间的视场重叠率随观测距离的变化趋向于定值。依据此模型设计了一款19孔径的复眼系统。针对3 km外目标搭建了实验，采集了子眼图像数据，实验结果表明，复眼系统实现了79.23°全视场的无盲区监测，1级阵列间子眼的实际重叠率在X、Y方向分别为71.16%、45.99%；1级与2级阵列间子眼在X、Y方向同时存在重叠时的实际重叠率分别为43.00%、18.36%，只在X方向存在重叠时的实际重叠率为14.62%；2级阵列间子眼的实际重叠率在X、Y方向分别为66.58%、24.6%。理论重叠量分别为75%、40%；40%、20%；15%；70%、30%。通过子眼实际重叠量与理论重叠量的对比分析，验证了该视场重叠计算模型的可行性。

Field of view overlap rate of bionic compound eye system

In order to realize accurate calculation of field of view(FOV) overlap between sub eyes of compound eye system, reduce the number of sub eye systems, and make the system miniaturized and lightweight, a FOV overlap calculation model was proposed. Firstly, the relationship between the sum of FOV and the included angle of optical axis was analyzed. Based on the coordinate relationship between the edge points of FOV, a calculation model of FOV overlap rate was established, which was related to the included angle of optical axis, the angle of FOV and the observation distance. Through the analysis of this model, the angle of the optical axis between the sub eyes in the compound eye system should be less than the sum of the field angles of the sub eyes, and greater than the difference of the field angles of the sub eyes; at the observation distance of more than 3 km, the overlap rate of the field of view between the sub eyes tends to be fixed with the observation distance. According to this model, a 19 aperture compound eye system was designed. The experimental results show that the compound eye system can achieve 79.23° full field of view without blind area monitoring. The actual overlap rate of sub eyes between the first level array is 71.16% and 45.99% in the X and Y directions respectively; the actual overlap rates of the sub eyes between the first and second level arrays are 43.00% and 18.36% respectively in the X and Y directions, respectively. The actual overlap rate was 14.62% when there was overlap in direction X, and 66.58% and 24.6% in X direction and Y direction respectively. The theoretical overlaps were 75%, 40%, 40%, 20%, 15%, 70%, 30%, respectively. Through the comparative analysis of the actual overlap and theoretical overlap, the feasibility of the field overlap calculation model is verified.