CN109899711A - Lighting apparatus and robot camera - Google Patents
Lighting apparatus and robot camera Download PDFInfo
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- CN109899711A CN109899711A CN201711311241.8A CN201711311241A CN109899711A CN 109899711 A CN109899711 A CN 109899711A CN 201711311241 A CN201711311241 A CN 201711311241A CN 109899711 A CN109899711 A CN 109899711A
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- Prior art keywords
- lighting apparatus
- value
- luminous component
- illumination
- alar part
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Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/06—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor with illuminating arrangements
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F21—LIGHTING
- F21S—NON-PORTABLE LIGHTING DEVICES; SYSTEMS THEREOF; VEHICLE LIGHTING DEVICES SPECIALLY ADAPTED FOR VEHICLE EXTERIORS
- F21S6/00—Lighting devices intended to be free-standing
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F21—LIGHTING
- F21S—NON-PORTABLE LIGHTING DEVICES; SYSTEMS THEREOF; VEHICLE LIGHTING DEVICES SPECIALLY ADAPTED FOR VEHICLE EXTERIORS
- F21S8/00—Lighting devices intended for fixed installation
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F21—LIGHTING
- F21V—FUNCTIONAL FEATURES OR DETAILS OF LIGHTING DEVICES OR SYSTEMS THEREOF; STRUCTURAL COMBINATIONS OF LIGHTING DEVICES WITH OTHER ARTICLES, NOT OTHERWISE PROVIDED FOR
- F21V19/00—Fastening of light sources or lamp holders
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F21—LIGHTING
- F21V—FUNCTIONAL FEATURES OR DETAILS OF LIGHTING DEVICES OR SYSTEMS THEREOF; STRUCTURAL COMBINATIONS OF LIGHTING DEVICES WITH OTHER ARTICLES, NOT OTHERWISE PROVIDED FOR
- F21V33/00—Structural combinations of lighting devices with other articles, not otherwise provided for
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F21—LIGHTING
- F21V—FUNCTIONAL FEATURES OR DETAILS OF LIGHTING DEVICES OR SYSTEMS THEREOF; STRUCTURAL COMBINATIONS OF LIGHTING DEVICES WITH OTHER ARTICLES, NOT OTHERWISE PROVIDED FOR
- F21V5/00—Refractors for light sources
- F21V5/04—Refractors for light sources of lens shape
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
Abstract
The embodiment of the present application provides a kind of lighting apparatus and robot camera.This method comprises: the alar part part including spatially evenly arranged at least three wing, span opening mechanism, luminous component and lenticular unit on each wing, the lenticular unit cover on the outside of the luminous component；Span opening mechanism is connect with the alar part part, and the span opening mechanism can promote the alar part part to be unfolded；When the lighting apparatus is in running order, the alar part part is in unfolded state.Using scheme provided by the embodiments of the present application, the shade depth information in target illumination region can be increased, to increase the spatial information for being directed to object in target illumination region.
Description
Technical field
This application involves lighting technical fields, more particularly to a kind of lighting apparatus and robot camera.
Background technique
Lighting apparatus can provide illumination for target illumination region.Lighting apparatus can be widely used in every field
In.Lighting apparatus, which can be applied, to be needed from the enclosure space that small gaps enter, for example, can be using abdominal cavity in vivo
In mirror, to illuminate focal area intraperitoneal in Minimally Invasive Surgery.When luminaire applications in this environment when, it is desirable that illumination
The size of equipment cannot be too big.Under the requirement of this size, the luminous component in lighting apparatus is typically only capable to be compactly installed
In main body, to reduce the volume of lighting apparatus.
In general, above-mentioned lighting apparatus can enter enclosure space from small gaps, illumination is provided for enclosure space.But
It is that when using this lighting apparatus, the shade depth information in target illumination region is insufficient, this makes human eye can not be from target
The enough spatial informations for being directed to object are obtained in irradiation area.
Summary of the invention
The embodiment of the present application has been designed to provide a kind of lighting apparatus and robot camera, to increase target photograph
The shade depth information in region is penetrated, to increase the spatial information for being directed to object in target illumination region.
In a first aspect, the embodiment of the present application provides a kind of lighting apparatus, comprising: including spatially evenly arranged
The alar part part of at least three wings, span opening mechanism, luminous component and lenticular unit on each wing, the lenticular unit
Cover on the outside of the luminous component；
The span opening mechanism is connect with the alar part part, and the span opening mechanism can promote the alar part part to be unfolded；
When the lighting apparatus is in running order, the alar part part is in unfolded state.
Optionally, the lighting apparatus further include: banking motion mechanism；The banking motion mechanism can promote described
Lighting apparatus inclination.
Optionally, the lighting apparatus further include: anchoring members；The anchoring members are used for the lighting apparatus anchor
It is scheduled on target location.
Optionally, the light that the lenticular unit issues the luminous component is mapped in target according to specified mapping relations
Irradiation area；
The specified mapping relations are as follows: keep the illumination in target illumination region of the lighting apparatus at pre-determined distance equal
Evenness is not less than default uniformity threshold value and intensity of illumination is not less than the mapping relations of preset strength threshold value；Described specify is reflected
Penetrate relationship be according to the refractive index of the lenticular unit, the designated volume of the lenticular unit, the size of the luminous component,
Relative position between the light distribution of the luminous component, the luminous component and the target illumination region determines.
Optionally, the specified mapping relations are according to surface gradedIt obtains, it is describedFor the solution of following equation:
Wherein, the ∈ is constant coefficient,ζ=(ξ, η) | ξ2+η2≤ 1 }, described
ΩsFor the light source domain of the luminous component, the ξ and η are respectively the abscissa of projection plane where the luminous component and indulge
Coordinate, the I0For the light distribution at the luminous component axis, the BC is boundary condition, the EtFor preset target
The Illumination Distribution function of irradiation area, the EtTo be determined according to the default uniformity threshold value and preset strength threshold value.
Optionally, the designated surface gradientIt determines in the following ways:
Using the first initial value as the Illumination Distribution function E in the target illumination regiont；
By the EtSubstitute into equation
Obtain solving result u∈；
According to the u∈Determine the simulation Illumination Distribution function in the target illumination region
Described in judgementWith the EtBetween gap whether be less than preset value；
If it is, to the u∈Gradient is sought, is obtained
If it is not, then calculating amendment Illumination Distribution functionBy the amendment illumination
Distribution function is as the Illumination Distribution function EtValue, return execute it is described by the EtSubstitute into equation
The step of.
Optionally, equation is obtained in the following ways
Solving result u∈:
Using the second initial value and third initial value as the u∈With the value of ∈；
By the u∈The equation is substituted into the value of ∈
Numerical discretization is carried out to the equation after call by value, the side after numerical discretization is determined using numerical solver
The solution u of journey∈；
Judge whether the value of the ∈ is less than predetermined minimum, if it is, by determining solution u∈As the equation
Solving result；If it is not, then updating u∈With the value of ∈, it is described by the u to return to execution∈The equation is substituted into the value of ∈The step of.
Second aspect, the embodiment of the present application provide a kind of robot camera, comprising: camera module and the application are real
The lighting apparatus of example offer is provided；
The camera module is fixed on the middle position of the alar part part；When the alar part part is in unfolded state,
The camera module can acquire image, and when the alar part part is in folded state, the camera module is in the alar part
Inside part.
Optionally, the range in target illumination region of the lighting apparatus at pre-determined distance is not less than the camera shooting mould
The range of image acquisition region of the group at the pre-determined distance.
Lighting apparatus provided by the embodiments of the present application and robot camera, including it is spatially evenly arranged at least
Alar part part, span opening mechanism, the luminous component and lenticular unit on each wing of three wings, lenticular unit covers on luminous
The outside of component, span opening mechanism are connect with alar part part, and span opening mechanism can promote alar part part to be unfolded；At lighting apparatus
When working condition, alar part part is in unfolded state.It since the alar part part of lighting apparatus can be unfolded, can fold, in folding
The size of the lighting apparatus of overlapping state can be smaller, can enter enclosure space from small gaps.When lighting apparatus is in work
When state, alar part part can be unfolded, and be evenly spaced in each luminous component in larger space, be arranged in larger space
Light source can increase the shade depth information in target illumination region, so as to increase in target illumination region for object
Spatial information.Certainly, implement the application any product or method it is not absolutely required to and meanwhile reach all the above
Advantage.
Detailed description of the invention
In order to illustrate the technical solutions in the embodiments of the present application or in the prior art more clearly, below will to embodiment or
Attached drawing needed to be used in the description of the prior art is briefly described.It should be evident that the accompanying drawings in the following description is only
Some embodiments of the present application, for those of ordinary skill in the art, without creative efforts, also
Other drawings may be obtained according to these drawings without any creative labor.
Fig. 1 a and Fig. 1 b are respectively one that lighting apparatus provided by the embodiments of the present application is in unfolded state and folded state
Kind structural schematic diagram；
Fig. 2 a is another structural schematic diagram of lighting apparatus provided by the embodiments of the present application；
Fig. 2 b and Fig. 2 c are two kinds corresponding with Fig. 2 a with reference to figure；
Fig. 3 is a kind of pictorial diagram of lighting apparatus provided by the embodiments of the present application；
Fig. 4 is a kind of flow diagram of surface graded determination process provided by the embodiments of the present application；
Fig. 5 a~Fig. 5 d be determination provided by the embodiments of the present application specify mapping relations when with reference to figure；
Fig. 6 is a kind of structural schematic diagram of robot camera provided by the embodiments of the present application；
Fig. 7 is another structural schematic diagram of robot camera provided by the embodiments of the present application；
Fig. 8~Figure 15 is the evaluation provided by the embodiments of the present application to optics of lens design and test reference figure.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present application, technical solutions in the embodiments of the present application carries out clear, complete
Whole description.Obviously, described embodiment is only a part of the embodiment of the application, instead of all the embodiments.Base
Embodiment in the application, those of ordinary skill in the art institute obtained without making creative work
There are other embodiments, shall fall in the protection scope of this application.
In order to increase the shade depth information in target illumination region, to increase in target illumination region for object
Spatial information, the embodiment of the present application provide a kind of lighting apparatus and robot camera.It is right below by specific embodiment
The application is described in detail.
Fig. 1 a is a kind of structural schematic diagram that lighting apparatus provided by the embodiments of the present application is in unfolded state, and Fig. 1 b is
Lighting apparatus provided by the embodiments of the present application is in a kind of structural schematic diagram of folded state.In fig 1 a, the lighting apparatus packet
It includes: the alar part part 101 including spatially evenly arranged at least three wing, span opening mechanism 102, on each wing
Luminous component 103 and lenticular unit 104, the lenticular unit 104 cover on the outside of luminous component 103.In Figure 1b, it illuminates
Equipment is in folded state, and three wingfold formulas cover luminous component and lenticular unit in inside.
The span opening mechanism is connect with the alar part part, and the span opening mechanism can promote the alar part part to be unfolded；
When the lighting apparatus is in running order, the alar part part is in unfolded state.Wherein, span opening mechanism 102 can be
Motor or other device of driving force can be provided.
By above content as it can be seen that the alar part part of the lighting apparatus in the present embodiment include it is spatially evenly arranged extremely
Few three wings, span opening mechanism can promote alar part part to be unfolded, and when lighting apparatus is in running order, alar part part is in exhibition
Open state.Since the alar part part of lighting apparatus can be unfolded, can fold, the size of the lighting apparatus in folded state can
With smaller, enclosure space can be entered from small gaps.When lighting apparatus is in running order, alar part part can be unfolded, and make
Each luminous component is evenly spaced in larger space, and the light source being arranged in larger space can increase target illumination region
Shade depth information, so as to increase in target illumination region be directed to object spatial information.
In another embodiment of the application, on the basis of Fig. 1, above-mentioned lighting apparatus can also include: banking motion
Mechanism 105；The banking motion mechanism 105 can promote the lighting apparatus to tilt, as shown in Figure 2 a.Fig. 2 b and Fig. 2 c is
Two kinds corresponding with Fig. 2 a with reference to figure.Wherein, banking motion mechanism 105 can be motor or other can provide driving force
Device.
In the present embodiment, above-mentioned banking motion mechanism 105 and span opening mechanism 102 can be stepping motor, such as
Can choose diameter is 4mm, and length 14.42mm, planetary gear head is the step of 125:1 (model ZWBMD004004-125)
Into motor.Stepping motor can provide the torque of 10 mNm when running continuously.It is opened for banking motion mechanism and the span
The worm screw of mechanism and gear set can be respectively provided with the reduction ratio of 12:1 and 20:1.
In another embodiment of the application, in fig. 2 a, lighting apparatus can also include: anchoring members 106；Anchoring
Component 106, for lighting apparatus to be anchored on target location.Anchoring members can be magnetic device.
In another embodiment of the application, in fig. 2 a, lighting apparatus can also include two worm screws and gear set
107 and 108, first worm screw and gear set 107 are for connecting banking motion mechanism 105 and anchoring members 106, second snail
Bar and gear set 108 are for connecting span opening mechanism 102 and alar part part 101.When alar part part 51 include three wings when, worm screw and
Gear set 562 may include a worm screw and three gears, these three gears are connect with three wings respectively.
Specifically, the worm screw in first worm screw and gear set 107 can be connected with banking motion mechanism 105, first
Gear in a worm screw and gear set 107 is connected with anchoring members 106.Under the driving of banking motion mechanism 105, first
Worm screw band moving gear in a worm screw and gear set 107 rotates, and makes that a clamp is presented between lighting apparatus and anchoring members 106
Angle.
Worm screw in second worm screw and gear set 108 can be connected with span opening mechanism 102, second worm screw and
Gear in gear set 108 is connected with alar part part 101.Under the driving of span opening mechanism 102, second worm screw and gear
Worm screw band moving gear in group 108 rotates, and alar part part 101 is made to be unfolded or fold.
Fig. 3 is a kind of pictorial diagram that lighting apparatus is in folded state and unfolded state.It include anchor portion in the pictorial diagram
Part 106 and lighting apparatus, when lighting apparatus is in folded state, it can be seen that three alar part parts 101 of lighting apparatus.Work as photograph
When bright equipment is in unfolded state, it can be seen that luminous component 103 and lenticular unit 104. is distributed on three alar part parts
In order to improve the light efficiency and optical uniformity in target illumination region, in another embodiment of the application, lens section
The light that part can be such that luminous component 103 issues is mapped in target illumination region according to specified mapping relations.Wherein, mapping can also
To be interpreted as projecting or irradiate, i.e., the light that lenticular unit 104 can be such that luminous component 103 issues is thrown according to specified mapping relations
Penetrate or be radiated at target illumination region.
Specified mapping relations are as follows: keep the uniform illumination degree in target illumination region of the lighting apparatus at pre-determined distance not small
It is not less than the mapping relations of preset strength threshold value in default uniformity threshold value and intensity of illumination；According to specified mapping relations
The refractive index of lenticular unit, the designated volume of lenticular unit, the size of luminous component, the light distribution of luminous component, illumination region
Relative position between part and target illumination region determines.
The light sent from luminous component changes optical path after lens, and light is radiated at according to specified mapping relations
Target illumination region makes target illumination region have certain the care uniformity and intensity of illumination, and providing for Minimally Invasive Surgery can
It leans on and stable illumination.
Above-mentioned specified mapping relations are understood that as the mapping relations determined by lens.Above-mentioned specified mapping relations can
For according to surface gradedIt obtains.Specifically, can be according to surface gradedThe surface shape function for constructing lens, when
When the light that luminous component issues passes through the lens, refer to from existing between the light that the light and luminous component that the lens projects go out issue
Fixed mapping relations.
It is surface gradedIt can be understood as the surface graded of lens.Wherein,For the solution of following equation:
Wherein, ∈ is constant coefficient, calculates above-mentioned non trivial solution for assisting.EsFor
The Illumination Distribution function of luminous component, ζ=(ξ, η) | ξ2+η2≤ 1 }, ζ is the computational domain of luminous component illumination.ΩsIt is luminous
The light source domain of component, ξ and η are respectively the abscissa and ordinate of projection plane ξ-η where luminous component.I0For luminous component
Light distribution at axis, that is, luminous component polar angle are the light distribution at 0 degree.BC is boundary condition.EtIt is preset
The Illumination Distribution function in target illumination region, EtTo be determined according to default uniformity threshold value and preset strength threshold value.
Above-mentioned surface graded the step of can using flow diagram shown in Fig. 4, determines:
Step S401: using the first initial value as the Illumination Distribution function E in target illumination regiont；
Step S402: by the EtSubstitute into equation
Obtain solving result u∈；
Step S403: according to the u∈Determine the simulation Illumination Distribution function in the target illumination region
It, can be according to u in this step∈Determine it is surface graded, according to the surface shape of determining surface graded determining lens
Function determines that light obtains after the surface shape function effect of lens according to the Illumination Distribution function of known luminous component
The Illumination Distribution function arrived, as target illumination region
Step S404: described in judgementWith the EtBetween gap whether be less than preset value, if it is, holding
Row step S405, if not, thening follow the steps S406.
Wherein,With EtBetween gap can beWith EtBetween difference, be also possible toWith EtBetween variance.Preset value is preset value.
Step S405: to the u∈Gradient is sought, is obtained
Step S406: amendment Illumination Distribution function is calculatedBy the amendment illumination
Distribution function is as the Illumination Distribution function EtValue, return to step S402.
In a specific embodiment, step S402 can be executed in the following ways:
Step 1: using the second initial value and third initial value as the u∈With the value of ∈.
Wherein, the second initial value is the non trivial solution of conjecture.∈ can take in the preset constant sequence being gradually reduced
Value, such as can be 1,10-1, 10-2The value in.
Step 2: by the u∈The equation is substituted into the value of ∈
Step 3: to after call by value equation carry out numerical discretization, using numerical solver determine numerical discretizationization it
Non trivial solution u afterwards∈；
Wherein, logarithm discretization and numerical solver are the method for common solution equation, are not described further in detail herein.
Step 4: judging whether the value of the ∈ is less than predetermined minimum, if it is, by determining solution u∈As described
The solving result of equation；If it is not, then updating u∈With the value of ∈, 2 are returned to step.
Updating u∈When, it can be by the solution u of step 3 determination∈As updated u∈.It can be according to the u solved∈With generation
The u entered∈Offset direction, determine value of the ∈ in constant sequence.
The derivation process of above-mentioned formula is specifically described below.
Enable Es(ξ, η) and Et(x, y) respectively indicates luminous component i.e. LED source irradiance distribution and defined target emanation point
Cloth.As shown in Figure 5 a, an object of the application is to find ray mapping functionBy irradiation level EsIt is changed into Et, wherein ζ=
(ξ, η) andIt is source domain ΩsWith aiming field ΩtThe cartesian coordinate of constraint.Above-mentioned equation is considered as L2 Monge-
The special circumstances of Kantorovich problem.Assuming that without transmitting energy loss, φ should meet
According to mappingFormula (1) should be expressed as
Brenier theorem points out L2Monge-Kantorovich problem existence and unique solutionL2 Monge-
Kantorovich problem can be characterized as being the gradient on convex surfaceInstead of in formula (2)It may be seen that u is
Standard Monge-Ampere non trivial solution:
Observe that the weak solution of lower order nonlinear partial differential equation can be close by the sequence of High-order quasi linear partial differential equation
Seemingly.For the approximate standard Monge-Ampere non trivial solution as Second Order Nonlinear Partial Differential Equations, quadravalence partial derivative is had
Biharmonic operator be one well selection.
The approximate solution of formula (3) therefore can be calculated from following formula:
Wherein ∈ > 0, if the limit exists, lim∈→0+u∈It is weak solution.ΩsInternal point should meet formula (4).ΩsSide
BoundaryOn point should be mapped to ΩtBoundaryOn.
According toNeumann boundary condition can be expressed as
Wherein, f isMathematic(al) representation.Convolution (4) and formula (5), the ray for designing free lens map
It can be calculated from following almost linear PDE and Neumann boundary condition
Ray mapping is calculated from formula (6)Effective numerical method is needed, is discussed in detail in this section.Above-mentioned steps 1~
Step 4 gives the calculating step of solution formula (6).The main thought of the numerical method proposed is by each iteration
It updates ∈ and carrys out iterative approximation u∈.Specifically, by the sequence of the ∈ constant value for being set as being gradually reduced, such as 1,10-1, 10-2
Deng.In each iteration, initial u∈First by the output u of last time iteration∈It provides or is provided manually (in first time iteration
In).The number of iterations depends on the number of ∈ in sequence.We can start iteration with ∈=1, obtain u∈Initial approximation, this
It is exactly the solution of formula (3).When ∈ → 0+, formula (4) is equal to formula (3).But this does not imply that ∈ is set to by we in an iterative process
Optimal approximation solution u can be found when 0∈。
ErrorIt is constrained by following formula:
Wherein, u∈Expression (6) has the numerical solution of sizing grid h.The end value of ∈ is related with h in formula (6), is used for
It realizes the convergence rate of optimization and minimizes error.This relationship depends on the norm used.The experiment obtained according to the application
Data it is found that work as ∈=h,When, the smallest global error can be obtained.
For numerical discretization formula (6), almost linear partial differential equation and boundary condition BC are indicated again are as follows:
The discretization of single order and second-order partial differential coefficient in formula (8) is in ΩsInterior zone uses centered finite difference methods, right
Borderline regionUsing the forward direction with second order correction error/backward finite difference method.Biharmonic item in formula (8)
Discretization Δ2u∈It can be stated by 13 point templates
Wherein, by (ξi,ηj) it is abbreviated as (i, j).However, when discrete critical by using 13 point templates in formula (9)
When point, undefined point is introduced.Figure 5b shows that 13 point templates in critical zoneCenter example.?
In this case,WithIn source region ΩsExcept.UndefinedWith's
Approximation can be calculated by the following formula:
Wherein,Critical value in the grid of expression；H is the sizing grid of both direction ξ and η；
It is ΩsOn single order partial differential, can be by formula (8)
In boundary condition determine.The numerical discretization of formula (8) obtains one group of nonlinear equation, can be expressed as following form
F(U∈)=0 (11)
Wherein, U∈Indicate variable u∈Vector.Newton method is selected as numerical solver to calculate output u∈.Then, exist
By ∈ and ∈ in current iterationmin=h compares, if ∈ > h, by initial value u∈With ∈ with calculated U∈With smaller ∈
It updates.If ∈≤h, by the numerical solution U in current iteration∈Gradient as final surface graded.
Ray mapping method presented above needs the irradiance distribution E using light source leds(ξ,η).However, usual quilt
It is considered that the great power LED of Lambertian source is fixed by I=I0cos θ (lmsr-1) by the luminous intensity distribution in hemispherical space
Justice, wherein θ indicates the polar angle of light, I0Indicate luminous intensity when θ=0 °.The present embodiment application aeroprojection method is by light source
Luminous intensity be converted to the irradiance distribution defined in the plane.The main thought of this method is will be along direction of the launch SP=
xu, yu, zuLight energy be mapped at the projection coordinate ζ in ξ-η plane=(ξ, η), as shown in Figure 5 c.In ξ-η plane
Irradiation level EsFinal form be
Wherein, ξ2+η2≤1.For mesh point ξ2+η2>=1, we define Es(ξ, η)=0.
Based on the ray mapping being calculated, in ∑L{xL, yL, zLEvery a pair of of coordinate (ξ in spacei,ηj) can reflect
It is mapped to ∑ on objective planeG{xG, yG, zGPoint T ' in spacei,j=(x 'i, y 'j, z ' (xi, yj)), wherein i and j indicates light source
Discretization index.According to ∑GAnd ∑LBetween spin matrix R and translation vector T, T 'i,jIt can be by ∑LIn Ti,jIt indicates,
As shown in Fig. 5 d (2).ByIndicate the per incident ray vectors from light source, whereinWithIt is (ξi,ηj) function.The present embodiment is first using construction method design light source in surface easy to implement
Beginning optical surface.The main thought of this method is to construct one first to have point p1,1,…,p1,nSequence curve, such as Fig. 5 d
(1) -1. shown.Then the curve generated be used for calculate along Fig. 5 d (1) -2. in direction surface point.
As shown in Fig. 5 d (1), O is definedi,jFormula table is used as the outside ray of unit from optical surface, and by it
It is shown as:
Wherein, pi,jIndicate the point to construct on the surface.Fig. 5 d (1) -1. in, it is contemplated that desired lens volume,
The lens volume that can according to need manually selects initial point p1,1.Therefore, O1,1It is calculated with formula (13).In pi,j's
Normal vector can be calculated by Snell law:
Wherein, n0Indicate the refractive index of the medium around lens, n1Indicate the refractive index of lens.Next point p on curve1,2
Coordinate be calculated as light I1,2With by p1,1And N1,2Intersection point between the plane of definition.First in acquisition Fig. 5 d (a) -1.
After point on curve, the point of the curve of direction 2. can be calculated as initial point by using the point on first curve.
It is using after the above method constructs the free form surface with required lens volume, due to accumulated error, it
It cannot be guaranteed that in pi,jLocate the normal vector N calculatedi,jFor pi,jPoint p adjacent theretoi+1,j, pi,j+1Between vector be it is constant,
As shown in Fig. 5 d (2).In order to solve this problem and illumination performance is improved, the application introduces iterative optimization techniques to correct structure
The initial surface built is to be preferably fitted normal vector.Theoretically, if surface mesh is sufficiently small, surface point pi,jWith this point at
Normal vector Ni,jFollowing constraint should be met:
(pi+1,j-pi,j)·Ni,j=0 (15)
(pi,j+1-pi,j)·Ni,j=0 (16)
Assuming that we indicate plane with N number of point.By the p in formula (15) and formula (16)i,jReplace with ρi,jIi,j, obtain N
A constraint F1,…FN:
Fk(ρ)=| | (ρI+1, jII, 1+j-ρI, jII, j)·NI, j||+||(ρI, j+1II, j+1-ρI, jII, j)·NI, j| |=0,
(17)
Wherein, k=1,2 ..., N, ρi,jIndicate S and surface point pi,jThe distance between.Using nonlinear least square method
Minimize F1(ρ)2+…+FN(ρ)2, wherein ρi,jAs variable.The normal vector N of updatei,jAccording to formula (14) by using current
The ρ and ray mapping calculation of iteration optimization are obtained.It is iterated to calculate new ρ, until the surface point of calculating meets convergence item
Part | | ρt-ρt-1| | < δ, wherein t represents current the number of iterations, and δ is off condition.Finally, optical surface can be by making
With the Free Surface millet cake with nonhomogeneous reasonable basic spline (Non-Uniform Rational Basis Spline, NURBS)
To indicate.
For point light source it is assumed that using propagation size LED, illuminance uniformity can reduce, especially in design small size
In the case where optical lens.This problem can be mitigated by using feedback modifiers method.Using Et(x, y) indicates target area
Required Illumination Distribution,Indicate the analog result using Illumination Distribution after free lens.It is repaired after next iteration
Positive Illumination DistributionIt can be defined as
In each iteration can detection light according to performance whether reach satisfied illuminance uniformity.If so, free optics
Lens design just completes.Otherwise, next iteration will be executed to correct the surface of free lens.
Fig. 6 is a kind of structural schematic diagram of robot camera provided by the embodiments of the present application.The robot camera packet
It includes: camera module 601 and any lighting apparatus 602 provided by the embodiments of the present application；
Camera module is fixed on the middle position of the alar part part；It is described when the alar part part is in unfolded state
Camera module can acquire image, and when the alar part part is in folded state, the camera module is in the alar part part
Portion.Wherein, camera module 601 may include the subassemblies such as imaging sensor, camera lens.
In the related art, the arranged coaxial of imaging sensor and light source, which will lead to, lacks yin in the two dimensional image of output
Shadow Depth cue, it is insufficient that this will lead to depth information, location information in the image of camera module acquisition.Wherein, arranged coaxial
For the axis of imaging sensor and the parallel configuration mode of the axis of light source.
Camera module is fixed on to middle position or the other positions of alar part part, can make to be in as sensor and light source
Non-coaxial configuration mode.Wherein, the not parallel configuration side of the axis of the non-coaxial axis for being configured to imaging sensor and light source
Formula.The mode of this non-coaxial configuration, can make that camera module acquires comprising more shade depth information, and then can be with
The robot camera in the present embodiment is set to collect the image with more preferable depth information.
To sum up, in the present embodiment, lighting apparatus includes alar part part, which includes spatially evenly arranged
At least three wings, luminous component and lenticular unit are respectively positioned on each wing.In this way, regardless of camera module is fixed on lighting apparatus
Where, it can guarantee the not arranged coaxial of imaging sensor and light source, so as to increase the depth of the shade in image
Spend information.
Fig. 7 is a kind of concrete structure schematic diagram of the robot camera of the embodiment of the present application.It include anchor portion in the figure
Part 106, first worm screw being connect with banking motion mechanism 105 and gear set 107, second connect with span opening mechanism
Luminous component 103 and lenticular unit 104 on worm screw and gear set 107, alar part part 101 and alar part part 101.Camera module
601 are located at the middle position of alar part part.
In the present embodiment, the light that luminous component issues finally is radiated at target by bending after lenticular unit
On irradiation area.In a kind of specific embodiment, the range in target illumination region of the lighting apparatus at pre-determined distance is not
Less than the range of image acquisition region of the camera module at pre-determined distance.In such manner, it is possible to the image for acquiring camera module
It is all contained in target illumination region, keeps the image quality of image more preferable.
In this application, applicant has evaluated the performance of lens design method in laparoscope.Fig. 8 (a) and (b) are shown
Experiment and off-axis experiment, the experiment have carried out setting using optics under optical design software research different application scene respectively on axis
The validity of meter method.It for 1.49 polymethyl methacrylate (PMMA) is lens material that the application, which uses refractive index, is used
Nichia NCSWE17A type LED with 118lm luminous flux is as light source.In order to verify method provided by the embodiments of the present application
It is flexibly, survey can be illuminated on axis designed for the free optical lens in the target illumination region of different pattern, applicant
The target illumination region of circular pattern and square pattern is set in examination.Detail specifications is shown in Table 1.
1 freeform optics design method review approach of table
The calculating of light mapping.Firstly, the light distribution (Fig. 8 (c)) of LED is converted to normalization Illumination Distribution (Fig. 8
(d)).The calculating field of the ξ ∈ [- 1,1] of LED, η ∈ [- 1,1] by 81 × 81 grid discretization.It is mapped and is calculated according to light
Method, sizing grid h=0.025 determine that the minimum value of ε is 0.025.The application has selected ε that 1,0.5,0.025 sequence is taken to come closely
The numerical solution mapped like light.In order to verify the validity of light mapping relations generation method in the present embodiment, demonstrates and use ε
Take the intermediate rays mapping result of 1,0.5,0.025 calculating.The light mapping relations calculated using ε=0.025 are for generating
The initial surface of the free optical lens of LED.
Fig. 8 is the simulator for evaluating free optical design method.(a) it is tested on axis: LED axis and target illumination region
Axis be overlapped, target illumination region is round and rectangular in testing；(b) it Turnover intention: is shone in the axis and target of LED
Penetrate shifted by delta d=5mm, 10mm and 15mm between the axis in region.In the test, circular target irradiation area is only used；
(3) LED light is obtained from LED tables of data to be distributed by force；(d) this method conversion LED Illumination Distribution is used.
Fig. 9 is the axis glazed thread mapping relations calculated separately to round and rectangular target illumination region, wherein ε=1,
0.5,0.025, using 81 × 81 grids.Purpose is clearly visualized in order to reach, what is be inserted into detail in this figure is 61 × 61 net
Lattice.
Figure 10 shows the convergence rate of light mapping relations generation method.The feature of convergence rate uses formula (11)
In | | F | |2Residual value and the number of iterations indicate.The remaining value of formula (11) | | F | |2Unit is millimeter.In view of free form surface
Optical lens can be in submicron order (10-4Mm), conservatively convergence threshold can be arranged in nanoscale (10-7mm).?
In all experiments, | | F | |210 can be reached after 10 iteration-7Value.(a)-(c) and (d)-(f) difference in Figure 10
Convergence rate when taking 1,0.5 and 0.025 for ε, in the case of border circular areas and square region.
Optical lens with free curved surface design is tested in axis.Figure 10 (a) shows the axis of optical lens with free curved surface design
It is arranged to the simulation of test.Use the rectangular target that radius R is 160mm for the circular target irradiation area of 80mm and side length 2R
Irradiation area test in axis.Illumination distances from LED to target illumination regional center are set to D=100mm.Figure 11
(a) and (b) illustrates the design lens contour with label size.Figure 13 (c) and (d) are shown on target illumination region
Simulate Illumination Distribution.In the case where considering Fresnel loss, the optical efficiency of free-form surface lens is respectively 88.3% He
90.5%.Uniformity of illuminance (Uniformity) can be calculated by formula (19)
Wherein σ and μ is the standard deviation and average value for the illumination data collected.Table 2 lists the light tested on axis in detail
Learn performance.
The optical property that table 2 is tested in axis
Figure 11 is free-form surface lens design on the axis for two kinds of different lighting patterns.(a) it is respectively illustrated with (b)
The lens contour of border circular areas and square area.(c) and (d) respectively illustrates (a) and (b) execute on objective plane
Illuminance uniformity.
The Turnover intention of optical lens with free curved surface design.Fig. 8 (b) illustrates the simulation setting of Turnover intention.Lighting area
Domain is arranged to the border circular areas that radius R is 80mm.The distance of LED to objective plane is set as D=100mm.Axial offset delta d
=5mm, 10mm and 15mm are introduced into assess the optimum performance when LED5s axis and target illumination region S5s inconsistent.
In order to it is this more typically change in the case where construct freeform optics curved surface, need a transformation matrix by ray diagram from complete
Office's coordinate is transformed into the local coordinate of LED.Figure 12 shows the lens contour designed in each case and simulation Illumination Distribution knot
Fruit.Due to axle offset, optical lens is no longer symmetrical.Therefore, the embodiment of the present application provides a front surface and a side surface figure of camera lens,
Such as Figure 12 (a), (d) and (g) is shown.Figure 12 (b), (e) and (h) shows the simulation Illumination Distribution of circular target irradiation area.
In the case where considering Fresnel loss, the optical efficiency of free-form surface lens is respectively 88.06%, 87.74% He
88.15%.Figure 12 (c) (f) is shown in illumination region with (i) along illuminance uniformity both horizontally and vertically.It is total in table 3
The optical property of the Turnover intention of knot.
The optical property of 3 Turnover intention of table
The final design of the free optical lens of LED.Mirror referring to the configuration of the lighting apparatus provided in Figure 13, on wing
Head installation site L is set to 20.5mm.For mode of extension, the subtended angle of wing is set as β=80 °.In the design, it is arranged
The camera lens volume that maximum radial length pmax is 5.4 millimeters, to ensure that three camera lenses can be packed into robot camera.Just
Beginning, illumination distances D was set to 100mm.The radius of target border circular areas R is set to 80mm.Table 4 summarizes laparoscopic illumination
The specification of the free optical lens design of equipment.
The specification of 4 lighting apparatus of table setting
Figure 13 shows three-dimensional (3D) design of laparoscopic illumination equipment.Figure 13 (a) shows three views of free form surface
Figure.Figure 13 (b) shows the compactedness for meeting the lens of lens volumetric constraint.Figure 13 (c) is shown to be integrated in a wing
Lens and LED.Figure 13 (d) shows the 3D structure of the laparoscopic illumination equipment of assembling.
The illumination performance in target illumination region.According to the performance of the lighting apparatus of the simulation setting assessment exploitation in table 4.
Single led to be motivated first due to being arranged symmetrically for three wings, the lens for passing through its free form emit light.Figure 14 (a)
Show the Illumination Distribution on target illumination region.In view of Fresnel loss, the optical efficiency of the free-form surface lens of design
It is 89.45%, it means that the light of each 105.55lm in 118 lumen luminous fluxes is successfully projected to desired in total
Target illumination region.The average illumination that single LED provides is 5473.8lx.According to formula (19), horizontal and vertical uniform-illumination
Degree is respectively 95.87% and 94.78%, as shown in Figure 14 (b).
Figure 14 (c) shows the Illumination Distribution when all LED are powered on target illumination region.In this feelings
Under condition, the total light flux that lighting apparatus provides is 354 lumens, and the total light flux for falling in target illumination region is 316.58 streams
It is bright, optical efficiency 89.43%.The average illumination in target illumination region is 12,441 lx.Figure 14 (d) display, it is horizontal and vertical
The unit of illuminance in direction is respectively 96.33% and 96.79%.Figure 14 (e) illustrates the target illumination region with 3D profile
Illumination Distribution.The assessment result of illumination performance is summarized in table 6.Can clearly it see, the abdominal cavity of the embodiment of the present application exploitation
Mirror lighting apparatus meets all design requirements in table 6.
The design requirement of 6 laparoscopic illumination equipment of table
Focus on light beam.In MIS, by the insertion of internal laparoscope system it is intraperitoneal after, video camera and targeted surgical region
The distance between D be likely less than 100mm.Although the wing of lighting apparatus still can be provided when angle beta is 80 degree in the region
Good illumination, illuminance uniformity can reduce, and more energy are wasted except FOV.
The internal laparoscopic illumination equipment that the embodiment of the present application proposes has focusing function again, by adjusting wing
Angle can evenly illuminate target illumination region when camera module to target range changes, to control light beam.Figure 15
(a) in, D=60 millimeters of required target illumination region can be set.When the angle beta of wing is set to 80 °, it is illuminated
Region covered by yellow line.This β value is most suitable for D=100mm.In order in D=60mm by the light weight in target illumination region
It is new to focus, span angle is reduced to β-△ β from β, it can be by using between green dotted arrow and dotted yellow line arrow
Angle theta determines the value of △ β.According to the geometry that this is arranged, θ is calculated as 6 °.Similarly, in order to illuminate D=
The angle in the target illumination region of 80mm, wing should reduce θ=3 ° from initial angle β=80 °.
Figure 15 (b)-(e) is shown in D=60mm and D=80mm through the photograph of the light beam of focus objects plane again
Degree distribution.In the case where Figure 15 (b) and (c), it is set as 74 °.Radius R is that the average illumination of the border circular areas of 48mm calculates
For 45823lx.In the case where considering Fresnel reflection losses, optical efficiency is about 92%.Uniform-illumination both horizontally and vertically
Degree is respectively 98.29% and 98.22%.And in the case where Figure 15 (d) and (e), β is set to 77 ° to irradiate D=80mm
Target illumination region.The average illumination for the border circular areas that radius R is 64 millimeters is calculated as 24172lx.In view of Fresnel damages
Consumption, optical efficiency 90.9%.Horizontal and vertical uniformity of illuminance is respectively 95.37% and 95.98%.It is summarized in table 7
Again the illumination performance of the light beam focused.
7 light of table focuses the illumination performance of test again
It should be noted that, in this document, relational terms such as first and second and the like are used merely to a reality
Body or operation are distinguished with another entity or operation, without necessarily requiring or implying between these entities or operation
There are any actual relationship or orders.Moreover, the terms "include", "comprise" or any other variant are intended to contain
Lid non-exclusive inclusion, so that the process, method, article or equipment for including a series of elements not only includes those
Element, but also including other elements that are not explicitly listed, or further include for this process, method, article or setting
Standby intrinsic element.In the absence of more restrictions, the element limited by sentence "including a ...", is not arranged
Except there is also other identical elements in the process, method, article or apparatus that includes the element.
Each embodiment in this specification is all made of relevant mode and describes, same and similar between each embodiment
Part may refer to each other, and each embodiment focuses on the differences from other embodiments.Especially for being
For embodiment of uniting, since it is substantially similar to the method embodiment, so describing fairly simple, related place is referring to method
The part of embodiment illustrates.
The foregoing is merely the preferred embodiments of the application, are not intended to limit the protection scope of the application.It is all
Any modification, equivalent substitution, improvement and etc. done within spirit herein and principle are all contained in the protection model of the application
In enclosing.
Claims (9)
1. a kind of lighting apparatus characterized by comprising the alar part part including spatially evenly arranged at least three wing,
Span opening mechanism, luminous component and lenticular unit on each wing, the lenticular unit cover on the outer of the luminous component
Side；
The span opening mechanism is connect with the alar part part, and the span opening mechanism can promote the alar part part to be unfolded；Work as institute
State lighting apparatus it is in running order when, the alar part part is in unfolded state.
2. lighting apparatus according to claim 1, which is characterized in that the lighting apparatus further include: banking motion mechanism；
The banking motion mechanism can promote the lighting apparatus to tilt.
3. lighting apparatus according to claim 2, which is characterized in that the lighting apparatus further include: anchoring members；It is described
Anchoring members, for the lighting apparatus to be anchored on target location.
4. lighting apparatus according to claim 1, which is characterized in that the lenticular unit issues the luminous component
Light is mapped in target illumination region according to specified mapping relations；
The specified mapping relations are as follows: make the uniform illumination degree in target illumination region of the lighting apparatus at pre-determined distance not
Less than the mapping relations that default uniformity threshold value and intensity of illumination are not less than preset strength threshold value；The specified mapping relations
For according to the size of the designated volume of the refractive index of the lenticular unit, the lenticular unit, the luminous component, it is described shine
Relative position between the light distribution of component, the luminous component and the target illumination region determines.
5. lighting apparatus according to claim 4, which is characterized in that the specified mapping relations are according to surface graded
It obtains, it is describedFor the solution of following equation:
Wherein, the ∈ is constant coefficient,ζ=(ξ, η) | ξ2+η2≤ 1 }, the ΩsFor institute
The light source domain of luminous component is stated, the ξ and η are respectively the abscissa and ordinate of projection plane where the luminous component, institute
State I0For the light distribution at the luminous component axis, the BC is boundary condition, the EtFor preset target illumination region
Illumination Distribution function, the EtTo be determined according to the default uniformity threshold value and preset strength threshold value.
6. lighting apparatus according to claim 5, which is characterized in that the designated surface gradientIn the following ways really
It is fixed:
Using the first initial value as the Illumination Distribution function E in the target illumination regiont；
By the EtSubstitute into equation
Obtain solving result u∈；
According to the u∈Determine the simulation Illumination Distribution function in the target illumination region
Described in judgementWith the EtBetween gap whether be less than preset value；
If it is, to the u∈Gradient is sought, is obtained
If it is not, then calculating amendment Illumination Distribution functionBy the amendment Illumination Distribution letter
Number is used as the Illumination Distribution function EtValue, return execute it is described by the EtSubstitute into equation
The step of.
7. lighting apparatus according to claim 6, which is characterized in that obtain equation in the following ways
Solving result u∈:
Using the second initial value and third initial value as the u∈With the value of ∈；
By the u∈The equation is substituted into the value of ∈
Numerical discretization is carried out to the equation after call by value, the non trivial solution after numerical discretization is determined using numerical solver
u∈；
Judge whether the value of the ∈ is less than predetermined minimum, if it is, by determining solution u∈Solution as the equation
As a result；If it is not, then updating u∈With the value of ∈, it is described by the u to return to execution∈The equation is substituted into the value of ∈The step of.
8. a kind of robot camera characterized by comprising camera module and photograph as described in any one of claims 1 to 7
Bright equipment；
The camera module is fixed on the middle position of the alar part part；It is described when the alar part part is in unfolded state
Camera module can acquire image, and when the alar part part is in folded state, the camera module is in the alar part part
Portion.
9. robot camera according to claim 8, which is characterized in that mesh of the lighting apparatus at pre-determined distance
The range for marking irradiation area is not less than the range of image acquisition region of the camera module at the pre-determined distance.
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| CN201711311241.8A CN109899711B (en) | 2017-12-11 | 2017-12-11 | Lighting apparatus and robot camera |
| PCT/CN2018/119610 WO2019114607A1 (en) | 2017-12-11 | 2018-12-06 | Lighting apparatus and robot camera |
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| CN201711311241.8A CN109899711B (en) | 2017-12-11 | 2017-12-11 | Lighting apparatus and robot camera |
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Citations (6)
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|---|---|---|---|---|
| CN2624817Y (en) * | 2003-07-19 | 2004-07-14 | 黄长征 | Self-examining equipment for human body cavities |
| CN101043842A (en) * | 2004-11-29 | 2007-09-26 | 奥林巴斯株式会社 | Body insertable apparatus |
| CN101052341A (en) * | 2004-09-03 | 2007-10-10 | 斯特赖克Gi有限公司 | Optical head for endoscope |
| CN103989451A (en) * | 2013-02-14 | 2014-08-20 | 索尼公司 | Endoscope and endoscope apparatus |
| CN204379240U (en) * | 2014-12-22 | 2015-06-10 | 谢辉 | A kind of peritoneoscope |
| JP2017209235A (en) * | 2016-05-24 | 2017-11-30 | オリンパス株式会社 | Endoscope |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8516691B2 (en) * | 2009-06-24 | 2013-08-27 | Given Imaging Ltd. | Method of assembly of an in vivo imaging device with a flexible circuit board |
| CN105276394A (en) * | 2014-06-04 | 2016-01-27 | 常州超闪摄影器材有限公司 | Photographic lamp |
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2017
- 2017-12-11 CN CN201711311241.8A patent/CN109899711B/en active Active
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- 2018-12-06 WO PCT/CN2018/119610 patent/WO2019114607A1/en active Application Filing
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2624817Y (en) * | 2003-07-19 | 2004-07-14 | 黄长征 | Self-examining equipment for human body cavities |
| CN101052341A (en) * | 2004-09-03 | 2007-10-10 | 斯特赖克Gi有限公司 | Optical head for endoscope |
| CN101043842A (en) * | 2004-11-29 | 2007-09-26 | 奥林巴斯株式会社 | Body insertable apparatus |
| CN103989451A (en) * | 2013-02-14 | 2014-08-20 | 索尼公司 | Endoscope and endoscope apparatus |
| CN204379240U (en) * | 2014-12-22 | 2015-06-10 | 谢辉 | A kind of peritoneoscope |
| JP2017209235A (en) * | 2016-05-24 | 2017-11-30 | オリンパス株式会社 | Endoscope |
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