CN107688224A - Intelligence is with robot and its method of work - Google Patents

Intelligence is with robot and its method of work Download PDF

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Publication number
CN107688224A
CN107688224A CN201710975921.3A CN201710975921A CN107688224A CN 107688224 A CN107688224 A CN 107688224A CN 201710975921 A CN201710975921 A CN 201710975921A CN 107688224 A CN107688224 A CN 107688224A
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CN
China
Prior art keywords
lens
biconvex
robot
intelligence
processor module
Prior art date
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Pending
Application number
CN201710975921.3A
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Chinese (zh)
Inventor
王小绪
王力
李秋盛
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Nanjing Zhonggao Intellectual Property Co Ltd
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Nanjing Zhonggao Intellectual Property Co Ltd
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Priority to CN201710975921.3A priority Critical patent/CN107688224A/en
Publication of CN107688224A publication Critical patent/CN107688224A/en
Pending legal-status Critical Current

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Classifications

    • GPHYSICS
    • G02OPTICS
    • G02BOPTICAL ELEMENTS, SYSTEMS, OR APPARATUS
    • G02B1/00Optical elements characterised by the material of which they are made
    • GPHYSICS
    • G02OPTICS
    • G02BOPTICAL ELEMENTS, SYSTEMS, OR APPARATUS
    • G02B13/00Optical objectives specially designed for the purposes specified below
    • G02B13/001Miniaturised objectives for electronic devices, e.g. portable telephones, webcams, PDAs, small digital cameras
    • G02B13/0015Miniaturised objectives for electronic devices, e.g. portable telephones, webcams, PDAs, small digital cameras characterised by the lens design
    • G02B13/002Miniaturised objectives for electronic devices, e.g. portable telephones, webcams, PDAs, small digital cameras characterised by the lens design having at least one aspherical surface
    • G02B13/0035Miniaturised objectives for electronic devices, e.g. portable telephones, webcams, PDAs, small digital cameras characterised by the lens design having at least one aspherical surface having three lenses
    • GPHYSICS
    • G02OPTICS
    • G02BOPTICAL ELEMENTS, SYSTEMS, OR APPARATUS
    • G02B7/00Mountings, adjusting means, or light-tight connections, for optical elements
    • G02B7/02Mountings, adjusting means, or light-tight connections, for optical elements for lenses
    • G02B7/025Mountings, adjusting means, or light-tight connections, for optical elements for lenses using glue
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04NPICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N5/00Details of television systems
    • H04N5/222Studio circuitry; Studio devices; Studio equipment ; Cameras comprising an electronic image sensor, e.g. digital cameras, video cameras, TV cameras, video cameras, camcorders, webcams, camera modules for embedding in other devices, e.g. mobile phones, computers or vehicles
    • H04N5/225Television cameras ; Cameras comprising an electronic image sensor, e.g. digital cameras, video cameras, camcorders, webcams, camera modules specially adapted for being embedded in other devices, e.g. mobile phones, computers or vehicles
    • H04N5/2251Constructional details
    • H04N5/2253Mounting of pick-up device, electronic image sensor, deviation or focusing coils
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04NPICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N5/00Details of television systems
    • H04N5/222Studio circuitry; Studio devices; Studio equipment ; Cameras comprising an electronic image sensor, e.g. digital cameras, video cameras, TV cameras, video cameras, camcorders, webcams, camera modules for embedding in other devices, e.g. mobile phones, computers or vehicles
    • H04N5/225Television cameras ; Cameras comprising an electronic image sensor, e.g. digital cameras, video cameras, camcorders, webcams, camera modules specially adapted for being embedded in other devices, e.g. mobile phones, computers or vehicles
    • H04N5/2251Constructional details
    • H04N5/2254Mounting of optical parts, e.g. lenses, shutters, filters or optical parts peculiar to the presence or use of an electronic image sensor
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04NPICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00Television systems
    • H04N7/18Closed circuit television systems, i.e. systems in which the signal is not broadcast

Abstract

Include the present invention relates to a kind of intelligence with robot and its method of work, this intelligence with robot:Processor module, the wireless module being connected with the processor module and GPS module, and the traveling drive mechanism controlled by processor module;The mobile phone that wherein described processor module is suitable to carry with user by wireless module is matched, and the GPS geographical position of user is obtained by the mobile phone;The processor module is suitable to control traveling drive mechanism and travelled to the GPS geographical position, to follow user to advance;The intelligence of the present invention can follow user to advance with robot, may help to user and carry luggage, can also shoot landscape beautiful on the way, the relaxation and happiness for becoming journey.

Description

Intelligence is with robot and its method of work
Technical field
The invention belongs to robot field, and in particular to a kind of intelligence is with robot and its method of work.
Background technology
With the increasingly raising of living standard, travelling turns into the important component of people's life, but travelling is all every time It is sanguine to set foot on stroke, return home tired out, especially some uncomfortable travellers (such as old man, women), Travelling all turns into painful recollection every time, and reason carries large numbers of items and carries out prolonged walking when being travelling, making should be pleased Happy travelling becomes not light, and travelling quality greatly declines.
The content of the invention
It is an object of the invention to provide a kind of intelligence with robot and its method of work.
In order to solve the above-mentioned technical problem, the invention provides a kind of intelligence with robot, including:
Processor module, the wireless module being connected with the processor module and GPS module, and controlled by processor module Traveling drive mechanism;Wherein
The mobile phone that the processor module is suitable to carry with user by wireless module is matched, and passes through the hand Machine obtains the GPS geographical position of user;
The processor module is suitable to control traveling drive mechanism and travelled to the GPS geographical position, to follow user's row Enter.
Further, the intelligence also includes with robot:
Microscope group is imaged, the shooting microscope group sends the view data on the way of collection to processor module, the processor Module is suitable to send view data to the mobile phone of pairing by wireless module.
Further, it is described shooting microscope group be arranged in order from the object side to image side including:First lens group, the second lens group, light Door screen and the 3rd lens group, image planes, wherein, the focal power of the first lens group is negative, and the focal power of the second lens group is the just the 3rd The focal power of lens group is just, diaphragm is between the second lens group and the 3rd lens group;
Wherein, the first lens group includes:Focal power is the negative lens of double concave type first, focal power is negative double concave type second Lens, focal power are the positive lens of biconvex the 3rd;
The focal length f of first lens group1Meet condition with the focal length f of shooting microscope group:-1.8≤f1/f≤-1.4;
The focal length f of the lens of biconvex the 3rdL3With the focal length f of the lens of double concave type secondL2Meet following condition formulae:0.6≤ fL3/fL2≤1;
The optical system overall length TTL of shooting microscope group meets following condition formulae:TTL≤20mm.
Further, the second lens group includes:Focal power is the lens of positive biconvex the 4th, focal power is negative double concave type Five lens, focal power are the positive lens of biconvex the 6th;
3rd lens group includes:Focal power is positive lens of planoconvex the 7th convex surface facing image side, focal power is positive The lens of biconvex the 8th, focal power are the positive lens of biconvex the 9th, focal power is the negative lens of double concave type the tenth, focal power is The positive lens of biconvex the 11st.
Further, the lens of double concave type second form first group of cemented doublet, double concave type with the lens of biconvex the 3rd gluing 5th lens form second group of cemented doublet, the lens of double concave type the tenth and biconvex the 11st with the lens of biconvex the 6th gluing Lens gluing forms the 3rd group of cemented doublet.
Further, the optical glass material of the lens of biconvex the 3rd expires relative to the refractive index Nd and Abbe number Vd of d light Sufficient following condition formulae:Nd >=1.8, Vd >=40.
Further, the optical glass material of the lens of biconvex the 4th expires relative to the refractive index Nd and Abbe number Vd of d light Sufficient following condition formulae:Nd >=2.1, Vd≤28.
Further, the N of the optical glass material of the lens of biconvex the 11std<3.65 Vd>15, the lens of double concave type the tenth The N of optical glass materiald> 1.7, and Vd≤25。
Further, the first lens group includes the right part of the first lens barrel and the left part of the first lens barrel, wherein, first lens barrel The internal diameter of right part is smaller than the internal diameter of the left part of the first lens barrel, and the lens of double concave type first are arranged in the right part of the first lens barrel, and The right part leading inside of first lens barrel is provided with the first trim ring for fixing the lens of double concave type first;The double concave type first is saturating Mirror is arranged in the left part of the first lens barrel, and the left part rear inside of first lens barrel is provided with for fixing the second convex lens Second trim ring;And
Second lens group also includes the second spacer ring for being covered on the second lens barrel left end;And
A diameter of 110-120mm of the right part of first lens barrel;The lens rear central term of biconvex the 4th of second lens group O'clock to the distance of double concave type the first lens front culminating point of the first lens group be 30-65mm.
Another aspect, the method for work present invention also offers a kind of intelligence with robot.
Wherein described intelligence includes with robot:
Processor module, the wireless module being connected with the processor module and GPS module, and controlled by processor module Traveling drive mechanism;
The method of work includes:
The mobile phone that the processor module is suitable to carry with user by wireless module is matched, and passes through the hand Machine obtains the GPS geographical position of user;
The processor module is suitable to control traveling drive mechanism and travelled to the GPS geographical position, to follow user's row Enter.
The invention has the advantages that the intelligence of the present invention can follow user to advance with robot, can help User carries luggage, can also shoot landscape beautiful on the way, the relaxation and happiness for becoming journey.
Brief description of the drawings
The present invention is further described with reference to the accompanying drawings and examples.
Fig. 1 is the intelligence of the present invention with the theory diagram of robot.
Fig. 2 is the structural representation that microscope group is imaged in the present invention.
Fig. 3 is the sectional view of the first lens barrel corresponding to the first lens group.
Fig. 4 is the sectional view of the second lens barrel corresponding to the second lens group.
Fig. 5 is the sectional view of trinocular tube corresponding to the 3rd lens group.
Embodiment
In conjunction with the accompanying drawings, the present invention is further explained in detail.These accompanying drawings are simplified schematic diagram, only with Illustration illustrates the basic structure of the present invention, therefore it only shows the composition relevant with the present invention.
Embodiment 1
As shown in figure 1, the embodiments of the invention provide a kind of intelligence with robot, to realize that intelligent robot follows.
Specifically, the intelligence includes with robot:Processor module, the wireless module being connected with the processor module And GPS module, and the traveling drive mechanism controlled by processor module;Wherein described processor module is suitable to pass through wireless mould The mobile phone that block carries with user is matched, and the GPS geographical position of user is obtained by the mobile phone;The processor Module is suitable to control traveling drive mechanism and travelled to the GPS geographical position, to follow user to advance.
The traveling drive mechanism can include Athey wheel mechanism, and the motor that driving Athey wheel rotates.
The wireless module can be bluetooth module;The processor module can be arm processor module.
The intelligence also includes with robot:Body, the shooting microscope group on body, the shooting microscope group will gather View data on the way send to processor module, the processor module be suitable to by wireless module by view data send to With the mobile phone of pairing.
Luggage compartment is provided with the body, can be used for bearing a heavy burden.
Shooting microscope group can obtain corresponding picture and video on the way, and the processor module can also connect 4G moulds Block, and the picture and video that are obtained after the picture and video compress that collection is obtained are passed by IP-based network in the form of streaming It is defeated to arrive cloud server;The terminals such as mobile phone can check picture and video by browser access, and the cloud server is first Socket connections are established based on Transmission Control Protocol, monitors, receive client request, then carry out the operation such as analysis request, respond request. After cloud server establishes TCP Socket sockets, bind bundling ports, listen is begun listening for, and receives the connection of client After request, preserve corresponding information and analyzed, provide respective handling or send data.
In order to preferably realize shooting effect, the shooting microscope group on body is rotary, for example is moved up and down, Change angle during observation, specific rotating operation can be provided with corresponding functional module on mobile phone.
For intelligence with robot, in order to preferably shoot picture and video on the way, it is desirable to image microscope group and carry Imaging and enough visual fields for high quality, and existing lens combination and camera lens at present, it is seen that level of resolution under optical mode It is only capable of the video camera demand for meeting below 5,000,000 pixels (most of all below 2,000,000 pixels);And night is switched to infrared Under pattern, confocal poor performance, actual imaging definition is more worse than visible light effect.The main reason for causing this phenomenon be: Existing lens combination is relatively simple using the planform of lens, and lens of different shapes can not combine well, optics glass The performance of glass material more falls behind, and parameters can not match well with image-forming condition so that the spherical aberration of lens combination, intelligent Difference, astigmatism, the curvature of field, ratio chromatism, chromatism of position are not corrected well, so as to realize higher optical property.
Therefore, the embodiment of the present invention additionally provides a kind of preferable shooting microscope group, can obtain beam effect and imaging clearly It is well balanced between degree, have the characteristics that light field is big, image planes are big and imaging effect is clear, it is beautiful on the way in shooting to meet The demand of landscape.
As shown in Fig. 2 it is described shooting microscope group from the object side to image side along optical axis O be arranged in order including:First lens group G1, Two lens group G2, diaphragm ST and the 3rd lens group G3, image planes IP, wherein, the first lens group G1 focal power is negative, and second is saturating Microscope group G2 focal power is just, the 3rd lens group G3 focal power is just, diaphragm ST is located at the second lens group G2 and the 3rd lens Between group G3.
First lens group G1 includes:Focal power is negative the first lens of double concave type L1, focal power is negative double concave type second Lens L2, focal power are the positive lens L3 of biconvex the 3rd.
As long as the first lens group G1 meets that focal power can effectively ensure that height to bear and meeting above-mentioned constituent relation here The demand being imaged clearly, and help to expand the image planes of shooting microscope group and visual field and the resolution ratio for improving shooting microscope group.
Second lens group G2 includes:Focal power is the positive lens L4 of biconvex the 4th, focal power is negative double concave type the 5th Lens L5, focal power are the positive lens L6 of biconvex the 6th.
3rd lens group G3 includes:Focal power is the positive lens L7 of planoconvex the 7th convex surface facing image side, focal power is The positive lens L8 of biconvex the 8th, focal power are the positive lens L9 of biconvex the 9th, focal power is the negative lens of double concave type the tenth L10, focal power are the positive lens L11 of biconvex the 11st.
Each lens in first lens group G1, the second lens group G2, the 3rd lens group G3 are spherical lens.Due to sphere Lens have relatively low cost, therefore can reduce the manufacturing cost of the shooting microscope group of the present embodiment.In addition, using spherical lens Manufacturing tolerance susceptibility can be reduced and examine the difficulty of material, be advantageous to largely produce.
In the present embodiment, to reduce aberration, lens surface reflection quantity, double concave type the second lens L2 and biconvex are reduced 3rd lens L3 gluings form first group of cemented doublet, and the lens L5 of double concave type the 5th forms with the lens L6 gluings of biconvex the 6th Second group of cemented doublet, the lens L10 of double concave type the tenth and lens L11 of biconvex the 11st is glued to form the 3rd group of double gluings thoroughly Mirror.
As shown in figure 3, first lens group includes the first lens barrel 11, and the mirror of right part 111 and first of the first lens barrel The left part 112 of cylinder, wherein, the internal diameter of the right part 111 of first lens barrel is smaller than the internal diameter of the left part 112 of the first lens barrel, the concave-concave The first lens of type L1 is arranged in the right part 111 of the first lens barrel, and the leading inside of right part 111 of first lens barrel is provided with and is used for Fixed the first lens of double concave type L1 the first trim ring 13;First lens of double concave type L1 is arranged in the left part 112 of the first lens barrel, And the rear inside of left part 112 of first lens barrel is provided with the second trim ring 14 for fixing the second convex lens 123.Meanwhile institute State a diameter of 110-120mm of the right part 111 of the first lens barrel.Second lens group G2 lens L4 back-end centrals of biconvex the 4th The distance on summit to the first lens group G1 double concave type the first lens L1 front end centers summit is 30-65mm.
As shown in figure 4, the second lens group G2 also includes the second spacer ring 23 for being covered on the left end of the second lens barrel 21.Together When, a diameter of 28-34mm of second lens barrel 21.
As shown in figure 5, the 3rd lens group G3 also includes being arranged on the inwall of trinocular tube 31 and from right to left successively The 3rd spacer ring 33, the 4th spacer ring 34, the 5th spacer ring 35 and the 6th spacer ring 36 of distribution;The front end of trinocular tube 31 is inward-facing convex If forming a chuck 311, the lens L10 of double concave type the tenth and the lens L11 of biconvex the 11st be arranged in chuck 311 and the 3rd every Between circle 33, the biconvex the 9th lens L9 is arranged between the 3rd spacer ring 33 and the 4th spacer ring 34, the lens of biconvex the 8th L8 is arranged between the 4th spacer ring 34 and the 5th spacer ring 35, the planoconvex the 7th lens L7 be arranged in the 5th spacer ring 35 and the 6th every On circle 36.Meanwhile a diameter of 30-34mm of the trinocular tube 31.
The setting of above-mentioned first lens barrel 11, the trinocular tube 31 of the second lens barrel 21 and its corresponding component so that each lens installation Rationally, close structure, non-loosening phenomenon, structural stability is high, and regulation is portable, accurately.
In the present embodiment, as a diameter of 8mm of object, mobile second lens group G2 makes double in the second lens group G2 Distance of the lens L4 back-end centrals summit of convex the 4th to the first lens group G1 double concave type the first lens L1 front end centers summit For 40mm, then to be transferred to imaging object apparent by mobile 3rd lens group G3, and now rising angle is up to 36 °.When object During a diameter of 8mm, mobile second lens group G2 arrives the lens L4 back-end centrals summit of biconvex the 4th in the second lens group G2 The distance on the first lens group G1 double concave type the first lens L1 front end centers summit is 63mm, then mobile 3rd lens group G3 makes into As object is transferred to apparent, now rising angle is up to 4 °.
Optionally, the lens L3 of biconvex the 3rd optical glass material relative to d light refractive index Nd and Abbe number Vd Meet following condition formulae:Nd >=1.8, Vd >=40.
In the embodiment of the present invention, biconvex the 3rd lens L3 optical glass material Nd >=1.8 is limited, Vd >=40 can be with The outside dimension for limiting biconvex the 3rd lens L3 can not be excessive, and material relative price is low, in addition the coma to system, as The scattered, curvature of field plays compensating action, can also effectively reduce system aberration.Optionally, the lens L4 of biconvex the 4th optical glass material Matter meets following condition formulae relative to the refractive index Nd and Abbe number Vd of d light:Nd >=2.1, Vd≤28.
In the embodiment of the present invention, the lens L4 of biconvex the 4th optical glass material Nd >=2.1, Vd≤28 can be efficient The light that is come by above negative lens of convergence, on the other hand correct the system curvature of field and adjust chief ray in system image planes Incidence angle.
Optionally, the lens L3 of biconvex the 3rd focal length fL3With the second lens of double concave type L2 focal length fL2Meet following bar Part formula:0.6≤fL3/fL2≤1。
In the embodiment of the present invention, the focal power ratio of both reasonable distributions, can ensure the angle of visual field it is constant in the case of, The more effectively size of control camera lens, while can also lift properties of product stability.If for example, fL3/fL2< 0.7, then biconvex The focal power that 3rd lens L3 undertakes is excessive, and radius of curvature is smaller, and difficulty of processing increases, the increase of system high aberration;If fL3/ fL2> 1, the lens L3 of biconvex the 3rd undertakes pressure very little, and in the case that light-inletting quantity is constant, the lens L3 volumes of biconvex the 3rd increase Greatly, it is unfavorable for product miniaturization.And the present invention limits 0.7≤fL3/fL2≤ 1, make the lens L3 of biconvex the 3rd and double concave type second Lens L2 focal power ratio reasonable distribution, while properties of product stability is lifted so that the knot of lens combination and camera lens Structure minimizes.
Optionally, the second lens group G2 focal length f2With the 3rd lens group G3 focal length f3Meet following condition formulae:0.65≤ f2/f3≤0.85。
In the embodiment of the present invention, the second lens group G2 focal length f is limited2With the 3rd lens group G3 focal length f3Meet 0.65 ≤f2/f3≤ 0.85, if f2/f3< 0.65, then the second lens group G2 focal powers are excessive, the increase of the system chief ray angle of emergence, influence Relative illumination and color reducibility;If f2/f3> 0.85, then the second lens group G2 focal powers are less than normal, the TTL optics overall lengths of system It is difficult to do small;Meanwhile the 3rd the focal powers that undertake of lens group G3 it is excessive, can also produce senior aberration.
Optionally, the second lens group G2 focal length f2Meet following condition formulae with the focal length f of shooting microscope group:0.7≤f/f2≤ 0.9。
In the embodiment of the present invention, the second lens group G2 focal length f is limited2Meet 0.7≤f/f with the focal length f of shooting microscope group2 ≤ 0.9, it is main to influence shooting microscope group optics overall length, by shooting microscope group optics overall length control within 2cm, while also it is beneficial to product Miniaturization.
Optionally, the optical system overall length for imaging microscope group meets following condition formulae:TTL≤2cm.
In the embodiment of the present invention, the overall length for limiting optical system is not more than 2cm, so as to which the miniaturization of prominent lens construction is special Sign, the structure of miniaturization make it that camera lens is more convenient when in use.
Optionally, image the optic back focal BFL of microscope group and the overall length TTL of optical system meets following condition formulae:0.25≤ BFL/TTL≤0.35。
In the embodiment of the present invention, the restriction to imaging the optic back focal of microscope group and the overall length of optical system, so that camera lens While shorter system overall length is ensured, also possess enough back work distances and the more rational chief ray angle of emergence.
Optionally, the first lens group G1 focal length and the focal length of shooting microscope group meet condition:-1.8≤f1/f≤-1.4。
In the embodiment of the present invention, the first lens group G1 focal length f is limited1Meet -1.8≤f with the focal length f of shooting microscope group1/f ≤ -1.4, if f1/ f < -1.8, then the focal power that the first lens group G1 undertakes is excessive, the increase of optical system senior aberration;If f1/f > -1.4, then the first lens group G1 focal powers are less than normal, and the angle of visual field is difficult to do greatly.
Optionally, the 3rd lens group G3 focal length f3Meet condition with the focal length f of shooting microscope group:3≤f3/f≤3.3。
In the embodiment of the present invention, the 3rd lens group G3 focal length f is limited3Meet 3≤f with the focal length f of shooting microscope group3/f≤ 3.3, if f3/ f < 3, then the focal power that the 3rd lens group G3 undertakes is excessive, the increase of optical system senior aberration;If f3/ f > 3.3, Then the 3rd lens group G3 focal powers are less than normal, and the optics overall length TTL of optical system is difficult to do small.
Optionally, the first lens group G1 focal length f1With the 3rd lens group G3 focal length f3Meet condition:-0.6≤f1/f3 ≤-0.4。
In the embodiment of the present invention, the first lens group G1 focal length f is limited1With the 3rd lens group G3 focal length f3Meet -0.6 ≤f1/f3≤ -0.4, f1/f3The first lens group G1 and the 3rd lens group G3 the focal power relations of distribution are then embodied, the value is excessive Or it is too small, it can all increase the senior aberration of optical system, be unfavorable for the raising of image quality.And present invention restriction -0.6≤ f1/f3≤ -0.4 so that the first lens group G1 and the 3rd lens group G3 focal power ratio reasonable distribution, so as to lift product Energy.
In the embodiment of the present invention, the N of the lens L11 of biconvex the 11st optical glass material is limitedd< 3.65, Vd> 15, The N of the lens L10 of double concave type the tenth optical glass materiald> 1.7, and Vd≤ 25, the two combination can effectively reduce system color Difference.
The embodiment of the present invention uses above-mentioned shooting microscope group, and aberration is corrected well, and optical distortion is small, and imaging is differentiated Rate is high, and image quality is excellent, well balanced between acquisition beam effect and imaging definition, and realizes robot shooting The miniaturization of microscope group.
By taking the shooting microscope group shown in Fig. 2 as an example, the radius of curvature R of the minute surface of each lens, optics glass in the shooting microscope group Glass material relative to d light refractive index Nd(refractive index of the optical glass material obtained by d flash rangings), optical glass material are relative In the Abbe number V of d lightd(Abbe number obtained with the refractive index of the optical glass material obtained by d flash rangings), and center Thickness Tc(i.e. the distance of adjacent mirror facets central point), the bar listed by table 1 is met along each minute surface of optical axis from the object side to image side Part:
Table 1
Wherein, ST represents diaphragm, and IP represents image planes, and Infinity represents infinitely great;Along optical axis from the object side to image side, thoroughly The minute surface of mirror is arranged in order, such as:The first lens of double concave type L1 minute surface is minute surface 1 and minute surface 2, the like, due to concave-concave Type the second lens L2 and the lens L3 of biconvex the 3rd are glued together, therefore double concave type the second lens L2 and the lens of biconvex the 3rd L3 cemented surface is same minute surface (i.e. minute surface 4);R1 represents the radius of curvature of minute surface 1 in table 1, and T1 is represented in minute surface 1 and minute surface 2 The distance of heart point, n1 represent that the optical glass material of minute surface 1 represents the optical glass material of minute surface 1 relative to the refractive index of d light, V1 Matter relative to d light Abbe number, other parameters in table one can the like its implication, will not be repeated here.
In the embodiment of the present invention, the radius of curvature R of the minute surface of ten lens, optical glass material are relative used by restriction In the refractive index N of d lightd, optical glass material relative to d light Abbe number VdAnd center thickness TcSo that image microscope group The parameters such as planform, Abbe number match with image-forming condition, so make the spherical aberration of shooting microscope group, coma, astigmatism, the curvature of field, times Rate aberration, chromatism of position are corrected well, reach higher resolution ratio.
When meeting conditions above, it ensure that the aberration of whole shooting microscope group is corrected well, properties meet Requirement.
Using above-mentioned shooting microscope group, aberration is corrected well, and optical distortion is small, and imaging resolution is high, is imaged product It is of fine quality different, and realize the miniaturization of shooting microscope group.Shooting microscope group on body is rotary, by imaging microscope group Rotation up and down also achieves the observation in all angles direction.
Embodiment 2
On the basis of embodiment 1, the present embodiment 2 provides a kind of method of work of intelligence with robot, including:
Processor module, the wireless module being connected with the processor module and GPS module, and controlled by processor module Traveling drive mechanism;The mobile phone that wherein described processor module is suitable to carry with user by wireless module is matched, And the GPS geographical position of user is obtained by the mobile phone;The processor module is suitable to control traveling drive mechanism traveling To the GPS geographical position, to follow user to advance.
It is detailed in embodiment 1 with structure, operation principle and the course of work of robot on intelligence in the present embodiment Thin description, here is omitted.
It is complete by above-mentioned description, relevant staff using the above-mentioned desirable embodiment according to the present invention as enlightenment Various changes and amendments can be carried out without departing from the scope of the technological thought of the present invention' entirely.The technology of this invention Property scope is not limited to the content on specification, it is necessary to determines its technical scope according to right.

Claims (10)

1. a kind of intelligence is with robot, it is characterised in that including:
Processor module, the wireless module being connected with the processor module and GPS module, and the row controlled by processor module Enter drive mechanism;Wherein
The mobile phone that the processor module is suitable to carry with user by wireless module is matched, and is obtained by the mobile phone Obtain the GPS geographical position of user;
The processor module is suitable to control traveling drive mechanism and travelled to the GPS geographical position, to follow user to advance.
2. intelligence according to claim 1 is with robot, it is characterised in that
The intelligence also includes with robot:
Microscope group is imaged, the shooting microscope group sends the view data on the way of collection to processor module, the processor module Suitable for view data is sent to the mobile phone of pairing by wireless module.
3. intelligence according to claim 2 is with robot, it is characterised in that
It is described shooting microscope group be arranged in order from the object side to image side including:First lens group, the second lens group, diaphragm and the 3rd are saturating Microscope group, image planes, wherein, the focal power of the first lens group is negative, and the focal power of the second lens group is the just light focus of the 3rd lens group Spend for just, diaphragm is between the second lens group and the 3rd lens group;
Wherein, the first lens group includes:Focal power is the negative lens of double concave type first, focal power is that negative double concave type second is saturating Mirror, focal power are the positive lens of biconvex the 3rd;
The focal length f of first lens group1Meet condition with the focal length f of shooting microscope group:-1.8≤f1/f≤-1.4;
The focal length f of the lens of biconvex the 3rdL3With the focal length f of the lens of double concave type secondL2Meet following condition formulae:0.6≤fL3/fL2 ≤1;
The optical system overall length TTL of shooting microscope group meets following condition formulae:TTL≤20mm.
4. intelligence according to claim 3 is with robot, it is characterised in that
Second lens group includes:Focal power is the positive lens of biconvex the 4th, focal power is the negative lens of double concave type the 5th, light focus Spend for the positive lens of biconvex the 6th;
3rd lens group includes:Focal power is positive lens of planoconvex the 7th convex surface facing image side, focal power is positive biconvex The lens of type the 8th, focal power are the positive lens of biconvex the 9th, focal power is the negative lens of double concave type the tenth, focal power is positive The lens of biconvex the 11st.
5. intelligence according to claim 4 is with robot, it is characterised in that
The lens of double concave type second and the lens of biconvex the 3rd are glued form first group of cemented doublet, the lens of double concave type the 5th with pair The lens of convex the 6th gluing forms second group of cemented doublet, and the lens of double concave type the tenth form with the lens gluing of biconvex the 11st 3rd group of cemented doublet.
6. intelligence according to claim 4 is with robot, it is characterised in that
The optical glass material of the lens of biconvex the 3rd meets following condition relative to the refractive index Nd and Abbe number Vd of d light Formula:Nd >=1.8, Vd >=40.
7. intelligence according to claim 6 is with robot, it is characterised in that
The optical glass material of the lens of biconvex the 4th meets following condition relative to the refractive index Nd and Abbe number Vd of d light Formula:Nd >=2.1, Vd≤28.
8. intelligence according to claim 4 is with robot, it is characterised in that
The N of the optical glass material of the lens of biconvex the 11std<3.65 Vd>15, the optical glass material of the lens of double concave type the tenth Nd>1.7, and Vd≤25。
9. intelligence according to claim 6 is with robot, it is characterised in that
First lens group includes the right part of the first lens barrel and the left part of the first lens barrel, wherein, the internal diameter of the right part of first lens barrel Internal diameter than the left part of the first lens barrel is small, and the lens of double concave type first are arranged in the right part of the first lens barrel, and first lens barrel Right part leading inside be provided with the first trim ring for fixing the lens of double concave type first;The lens of double concave type first are arranged at In the left part of one lens barrel, and the left part rear inside of first lens barrel is provided with the second trim ring for fixing the second convex lens; And
Second lens group also includes the second spacer ring for being covered on the second lens barrel left end;And
A diameter of 110-120mm of the right part of first lens barrel;The lens rear culminating point of biconvex the 4th of second lens group arrives The distance of double concave type the first lens front culminating point of first lens group is 30-65mm.
10. a kind of intelligence is with the method for work of robot, it is characterised in that
The intelligence includes with robot:
Processor module, the wireless module being connected with the processor module and GPS module, and the row controlled by processor module Enter drive mechanism;
The method of work includes:
The mobile phone that the processor module is suitable to carry with user by wireless module is matched, and is obtained by the mobile phone Obtain the GPS geographical position of user;
The processor module is suitable to control traveling drive mechanism and travelled to the GPS geographical position, to follow user to advance.
CN201710975921.3A 2017-10-19 2017-10-19 Intelligence is with robot and its method of work Pending CN107688224A (en)

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN205766176U (en) * 2016-06-06 2016-12-07 深圳市优萌达智能科技有限公司 A kind of Intelligent walking robot
CN106324806A (en) * 2015-06-17 2017-01-11 浙江大华技术股份有限公司 Optical fixed-focus lens
CN205968983U (en) * 2016-07-25 2017-02-22 深圳市同盛绿色科技有限公司 Intelligent robot and control system thereof
CN106444752A (en) * 2016-07-04 2017-02-22 深圳市踏路科技有限公司 Robot intelligent follow-up system and intelligent follow-up method based on wireless location
CN206489678U (en) * 2017-01-17 2017-09-12 许昌职业技术学院 A kind of special theft-proof robot

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106324806A (en) * 2015-06-17 2017-01-11 浙江大华技术股份有限公司 Optical fixed-focus lens
CN205766176U (en) * 2016-06-06 2016-12-07 深圳市优萌达智能科技有限公司 A kind of Intelligent walking robot
CN106444752A (en) * 2016-07-04 2017-02-22 深圳市踏路科技有限公司 Robot intelligent follow-up system and intelligent follow-up method based on wireless location
CN205968983U (en) * 2016-07-25 2017-02-22 深圳市同盛绿色科技有限公司 Intelligent robot and control system thereof
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