CN107789166A - Blind person is with guiding system and its method of work - Google Patents

Blind person is with guiding system and its method of work Download PDF

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Publication number
CN107789166A
CN107789166A CN201710975987.2A CN201710975987A CN107789166A CN 107789166 A CN107789166 A CN 107789166A CN 201710975987 A CN201710975987 A CN 201710975987A CN 107789166 A CN107789166 A CN 107789166A
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CN
China
Prior art keywords
lens
robot
biconvex
guiding
blind person
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Pending
Application number
CN201710975987.2A
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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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Application filed by Nanjing Zhonggao Intellectual Property Co Ltd filed Critical Nanjing Zhonggao Intellectual Property Co Ltd
Priority to CN201710975987.2A priority Critical patent/CN107789166A/en
Publication of CN107789166A publication Critical patent/CN107789166A/en
Pending legal-status Critical Current

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Classifications

    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00Appliances for aiding patients or disabled persons to walk about
    • A61H3/06Walking aids for blind persons
    • A61H3/061Walking aids for blind persons with electronic detecting or guiding means
    • 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
    • G02B13/0055Miniaturised objectives for electronic devices, e.g. portable telephones, webcams, PDAs, small digital cameras employing a special optical element
    • G02B13/006Miniaturised objectives for electronic devices, e.g. portable telephones, webcams, PDAs, small digital cameras employing a special optical element at least one element being a compound optical element, e.g. cemented elements
    • 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
    • G02B7/021Mountings, adjusting means, or light-tight connections, for optical elements for lenses for more than one lens
    • 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
    • G02B7/026Mountings, adjusting means, or light-tight connections, for optical elements for lenses using retaining rings or springs

Abstract

Include the present invention relates to a kind of blind person with guiding system and its method of work, this blind person with guiding system:Robot is followed, and the handheld terminal of robot pairing connection is followed with this;It is wherein described to follow robot to be suitable to follow user to advance, and when running into barrier, front road conditions are reported as the handheld terminal entrained by user;The blind person of the present invention can follow user to walk with guiding system, robot is followed to be suitable to follow user to advance, and when running into barrier, front road conditions are reported as the handheld terminal entrained by user, and with reference to shooting microscope group make between the beam effect of imaging and imaging definition obtain it is well balanced, have the characteristics that light field is big, image planes are big and imaging effect is clear, and then be advantageous to robot processor module and more accurately identify barrier in road, improve reliability of the blind person with guiding system.

Description

Blind person is with guiding system and its method of work
Technical field
The invention belongs to robot field, and in particular to a kind of blind person is with guiding system and its method of work.
Background technology
There is inconvenience in blind person, especially in the process of walking, generally rely on guide rod or seeing-eye dog on the living conditions.
But the obstacle existing for guide rod can not will be apparent that informing in front of blind person, cause uncertain risk.
Although seeing-eye dog is bigger than walking help of the guide rod to blind person, canine is restricted in many occasions, because This, when in use with significant limitation.
Based on above mentioned problem, more preferable guiding function is played in the process of walking, it is necessary to design one kind in order to solve blind person With robot.
The content of the invention
It is an object of the invention to provide a kind of blind person with guiding system and its method of work, side is provided to be advanced for blind person Help.
In order to solve the above-mentioned technical problem, the invention provides a kind of blind person with guiding system, including:
Robot is followed, and the handheld terminal of robot pairing connection is followed with this;Wherein
It is described to follow robot to be suitable to follow user to advance, and when running into barrier, as the hand entrained by user Hold terminal and report front road conditions.
Further, it is described to follow robot to include:Robot processor module, it is connected with the robot processor module First wireless module, the first GPS module and shooting microscope group, and the traveling drive mechanism controlled by robot processor module; Wherein
The handheld terminal that the robot processor module is suitable to carry with user by the first wireless module is matched somebody with somebody It is right, and pass through the GPS geographical position of handheld terminal acquisition user;
The robot processor module is suitable to control traveling drive mechanism and travelled to the GPS geographical position, is made with following User advances;And
The shooting microscope group sends the view data on the way of collection to robot processor module, the robot processing Device module is suitable to differentiate barrier in road according to view data, and plans course according to Obstacle Position, and passes through first Wireless module is sent to handheld terminal;
The handheld terminal includes:Terminal handler module, the speech recognition system being connected with the terminal handler module, Second GPS module, the second wireless module and the memory module for storing map datum;Wherein
The speech recognition system is suitable to the phonetic order of identification user, to search traveling purpose in map datum Ground, while the destination locations are sent to following robot by the second 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, first lens group includes the first lens barrel, and the left part of the right part of the first lens barrel and the first lens barrel, Wherein, the internal diameter of the right part of first lens barrel 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 at In the right part of one lens barrel, and the right part leading inside of first lens barrel is provided with the first pressure for fixing the lens of double concave type first Circle;The lens of double concave type first are arranged in the left part of the first lens barrel, and the left part rear inside of first lens barrel is provided with use In 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 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 blind person with guiding system.
The blind person includes with guiding system:
Robot is followed, and the handheld terminal of robot pairing connection is followed with this;
The method of work includes:
It is described to follow robot to be suitable to follow user to advance, and when running into barrier, as the hand entrained by user Hold terminal and report front road conditions.
The invention has the advantages that the blind person of the present invention can follow user to walk with guiding system, with random Device people is suitable to follow user to advance, and when running into barrier, front road conditions are reported as the handheld terminal entrained by user, And with reference to shooting microscope group make between the beam effect of imaging and imaging definition obtain it is well balanced, have light field it is big, as The features such as face is greatly and imaging effect is clear, and then be advantageous to robot processor module and more accurately identify barrier in road, carry High blind person with guiding system reliability.
Brief description of the drawings
The present invention is further described with reference to the accompanying drawings and examples.
Fig. 1 is the blind person of the present invention with the theory diagram of guiding system.
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 blind person with guiding system, including:
Robot is followed, and the handheld terminal of robot pairing connection is followed with this;Wherein
It is described to follow robot to be suitable to follow user to advance, and when running into barrier, as the hand entrained by user Hold terminal and report front road conditions.
Specifically, described follow robot to include:Robot processor module, it is connected with the robot processor module First wireless module, the first GPS module and shooting microscope group, and the traveling drive mechanism controlled by robot processor module; The handheld terminal that wherein described robot processor module is suitable to carry with user by the first wireless module is matched, and And the GPS geographical position of user is obtained by the handheld terminal;The robot processor module is suitable to control traveling driving Mechanism is travelled to the GPS geographical position, to follow user to advance;And the microscope group that images is by the view data on the way of collection Sending to robot processor module, the robot processor module is suitable to differentiate barrier in road according to view data, and Course is planned according to Obstacle Position, and sent by the first wireless module to handheld terminal;The handheld terminal includes: Terminal handler module, the speech recognition system being connected with the terminal handler module, the second GPS module, the second wireless module With the memory module for storing map datum;Wherein described speech recognition system is suitable to the phonetic order of identification user, with Traveling destination is searched in map datum, while the destination locations are sent to random device by the second wireless module People.
The traveling drive mechanism can include Athey wheel mechanism, and the motor that driving Athey wheel rotates.
First wireless module, the second wireless module can be bluetooth modules;The robot processor module can be with It is ARM robot processor modules;Handheld terminal can use mobile phone.
It is described to follow robot also to include:Store the robotic end memory module of map datum, the robot processor Module and the robotic end memory module, to obtain the position data of consistent destination.
In order to obtain multi-faceted view data in the image acquisition process on the way, taking the photograph on the body for following robot As microscope group is rotary, for example move up and down, change angle during observation, specific rotating operation can it is hand-held eventually End is provided with corresponding functional module.
For blind person with guiding system, in order to obtain clearly view data in the image acquisition process on the way, it is desirable to The imaging of shooting microscope group offer high quality and enough visual fields, and existing lens combination and camera lens at present, it is seen that under optical mode Level of resolution 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 It is switched under infrared mode, confocal poor performance, actual imaging definition is more worse than visible light effect.Cause the master of this phenomenon Wanting reason is:Existing lens combination is relatively simple using the planform of lens, and lens of different shapes can not be tied well Close, the performance of optical glass material more falls behind, and parameters can not match well with image-forming condition so that lens combination Spherical aberration, coma, astigmatism, the curvature of field, ratio chromatism, chromatism of position are not corrected well, so as to realize higher light Learn performance.
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, and then be advantageous to robot processing Device module more accurately identifies barrier in road.
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, the first lens group G1 includes the first lens barrel 11, and the right part 111 and first of the first lens barrel The left part 112 of lens barrel, 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, this pair The first lens of matrix 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 use In fixed the first lens of double concave type L1 the first trim ring 13;First lens of double concave type L1 is arranged at the left part 112 of the first lens barrel In, 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 A diameter of 110-120mm of the right part 111 of first lens barrel.In second lens group G2 lens L4 rear ends of biconvex the 4th The distance on heart 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, and the TTL optics overall length of system is difficult It is small to do;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 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, it is double The N of the lens L10 of matrix the tenth optical glass materiald>1.7, and Vd≤ 25, the two combination can effectively reduce system aberration.
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 component.
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 additionally provides a kind of method of work of blind person with guiding system.
The blind person includes with guiding system:
Robot is followed, and the handheld terminal of robot pairing connection is followed with this;
The method of work includes:
It is described to follow robot to be suitable to follow user to advance, and when running into barrier, as the hand entrained by user Hold terminal and report front road conditions.
It is described to follow robot, the operation principle of handheld terminal, the course of work to be discussed in detail in embodiment 1, this Place repeats no more.
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 blind person is with guiding system, it is characterised in that including:
Robot is followed, and the handheld terminal of robot pairing connection is followed with this;Wherein
It is described to follow robot to be suitable to follow user to advance, and when running into barrier, as the hand-held end entrained by user Report front road conditions in end.
2. blind person according to claim 1 is with guiding system, it is characterised in that
It is described to follow robot to include:Robot processor module, the first wireless mould being connected with the robot processor module Block, the first GPS module and shooting microscope group, and the traveling drive mechanism controlled by robot processor module;Wherein
The handheld terminal that the robot processor module is suitable to carry with user by the first wireless module is matched, and And the GPS geographical position of user is obtained by the handheld terminal;
The robot processor module is suitable to control traveling drive mechanism and travelled to the GPS geographical position, to follow user Advance;And
The shooting microscope group sends the view data on the way of collection to robot processor module, the robot processor mould Block is suitable to differentiate barrier in road according to view data, and plans course according to Obstacle Position, and wireless by first Module is sent to handheld terminal;
The handheld terminal includes:Terminal handler module, the speech recognition system being connected with the terminal handler module, second GPS module, the second wireless module and the memory module for storing map datum;Wherein
The speech recognition system is suitable to the phonetic order of identification user, to search traveling destination in map datum, together When the destination locations are sent to following robot by the second wireless module.
3. blind person according to claim 2 is with guiding system, 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. blind person according to claim 3 is with guiding system, 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. blind person according to claim 4 is with guiding system, 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. blind person according to claim 4 is with guiding system, 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. blind person according to claim 6 is with guiding system, 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. blind person according to claim 4 is with guiding system, 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. blind person according to claim 6 is with guiding system, it is characterised in that
First lens group includes:First lens barrel, and the left part of the right part of the first lens barrel and the first lens barrel, wherein, first mirror The internal diameter of the right part of cylinder 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 at the right part of the first lens barrel In, 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 lens are arranged in the left part of the first lens barrel, and the left part rear inside of first lens barrel is provided with for fix second convex Second trim ring of 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 blind person is with the method for work of guiding system, it is characterised in that
The blind person includes with guiding system:
Robot is followed, and the handheld terminal of robot pairing connection is followed with this;
The method of work includes:
It is described to follow robot to be suitable to follow user to advance, and when running into barrier, as the hand-held end entrained by user Report front road conditions in end.
CN201710975987.2A 2017-10-19 2017-10-19 Blind person is with guiding system and its method of work Pending CN107789166A (en)

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103126862A (en) * 2013-02-04 2013-06-05 江苏科技大学 Outdoor blind guiding robot based on global position system (GPS), general packet radio service (GPRS) and radio frequency identification devices (RFID) and navigational positioning method
CN105943326A (en) * 2016-07-18 2016-09-21 浙江钧普科技股份有限公司 Intelligent outdoor blind guiding equipment and navigation and positioning method for controlling equipment
CN106324806A (en) * 2015-06-17 2017-01-11 浙江大华技术股份有限公司 Optical fixed-focus lens
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
CN106890067A (en) * 2017-01-06 2017-06-27 南京邮电大学 Indoor blind man navigation robot

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103126862A (en) * 2013-02-04 2013-06-05 江苏科技大学 Outdoor blind guiding robot based on global position system (GPS), general packet radio service (GPRS) and radio frequency identification devices (RFID) and navigational positioning method
CN106324806A (en) * 2015-06-17 2017-01-11 浙江大华技术股份有限公司 Optical fixed-focus lens
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
CN105943326A (en) * 2016-07-18 2016-09-21 浙江钧普科技股份有限公司 Intelligent outdoor blind guiding equipment and navigation and positioning method for controlling equipment
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