CN116931262A - Design method of high-precision double telecentric lens - Google Patents
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Abstract
The application discloses a design method of a high-precision double telecentric lens, which is realized by optical design software, does not need to design from scratch by means of the existing structure, facilitates the free control of each component of the lens by a designer, realizes the flow design of the double telecentric lens meeting engineering requirements, and specifically comprises the following steps: the method comprises the steps of firstly taking a chief ray emergent angle as a constraint condition, optimizing by constructing a default evaluation function, generating an imaging square lens group, then taking an aperture diaphragm as a symmetrical object square lens group, and finally optimizing by constructing an aberration evaluation function by taking distortion, a chief ray incident angle, a chief ray emergent angle, a magnification and the like as constraint conditions, so that a lens with a small caliber, high precision and a double telecentric structure is designed. The double telecentric lens designed by the design method has the advantages of small volume and high precision, and has the advantages of small use limitation in a machine vision measurement scheme with a complex mechanical structure.
Description
Technical Field
The application relates to the technical field of vision measurement optical design, in particular to a design method of a high-precision double telecentric lens.
Background
With the improvement of the economic level, the application of the machine vision technology in the fields of electronics, automobiles, mechanical precision measurement and the like is more and more widespread. The machine vision is mainly divided into an imaging system and an image processing system, wherein in the imaging system, an imaging lens plays a very important role, and the quality of the imaging lens directly influences the overall working performance of the machine vision. The double telecentric lens combines the characteristics of the object space telecentric lens and the image space telecentric lens, so that the obtained image magnification can not change along with the change of the object distance in a certain object distance range, and the problem of poor measurement precision caused by parallax and distortion when the traditional industrial lens is applied to a machine vision system is solved to a certain extent. However, since the structure of the double telecentric lens is that the main light is parallel to the incident light and the emergent light of the optical axis, the double telecentric lens on the market at present is usually large in size and weight, and has a large limitation in industrial application. In addition, the existing double telecentric lens design method is mainly to optimize object telecentricity and image telecentricity separately and then to combine and optimize, the process is complicated, the feasibility of lens optimization is limited, and each component of the lens cannot be controlled freely by a designer; when solving the actual engineering problem under the complex mechanical environment, the process design meeting the engineering requirement can not be realized, and the feasibility of the design of the whole technical scheme is limited.
Disclosure of Invention
The application provides a design method of a high-precision double telecentric lens, which is used for overcoming the problems in the prior art. The design method of the high-precision double telecentric lens is realized through optical design software, the design is not started from zero by means of the existing structure, the free control of each component of the lens by a designer is facilitated, and the flow design of the double telecentric lens meeting engineering requirements is realized; the double telecentric lens designed by the design method has the advantages of small caliber and high precision, and has advantages in a machine vision measurement scheme of a complex mechanical structure, and small use limitation.
The technical scheme of the application is as follows:
the design method of the high-precision double telecentric lens comprises an object lens group, an aperture diaphragm and an image lens group which are sequentially arranged from an object side surface to an imaging surface along the light path direction; the object side lens group and the image side lens group are composed of a plurality of lenses; the design method is realized by optical design software and specifically comprises the following steps:
s1, selecting a photosensitive chip according to the measurement resolution of a lens and the aperture requirement of the lens;
s2, setting an image square view field meeting the angle line size of a target surface of a photosensitive chip, wherein an expression formula in a paraxial optical system is as follows: x < F i ＝D L -2u·NA 1 Wherein X is the target surface diagonal dimension, F i Is the field of view of the image space, D L Is the aperture of the last lens, u is the back intercept, NA 1 Is the image side numerical aperture;
s3, setting an initial structure of an aperture diaphragm and an image side lens group with positive focal power, and setting the diameter of an image side view field to form an infinity conjugate optical system; the thickness, the interval, the curvature and the materials of each lens in the aperture diaphragm and the image side lens group are set as variables; setting up a default evaluation function, selecting a reference object, setting constraint conditions including the main ray emergent angle of the last lens, and repeatedly running optical design software to optimize until an image space telecentric system meeting the requirements is obtained, and generating an imaging side lens group;
s4, the image side lens group is symmetrically generated into an object side lens group with positive focal power by an aperture diaphragm, the minimum diameter of an object side view field is set according to requirements, and the magnification of a lens is calculated; while according to the diffraction limit formula in paraxial optical systems:calculating the numerical aperture NA of the object 2 Forming a double telecentric finite far conjugate optical system combined by a positive-positive focal power lens group; wherein lambda is the working wavelength, and r is the precision requirement of the lens;
s5, establishing an aberration evaluation function, and setting constraint conditions according to requirements, wherein the constraint conditions comprise distortion, a principal ray incidence angle of a first lens, a principal ray emergence angle of a last lens and magnification; and repeatedly running optical design software to optimize until the double telecentric optical system meeting the requirements is obtained, and completing the design.
Compared with the prior art, the design method of the high-precision double telecentric lens has the advantages that the existing structure is not used for designing from scratch, the free control of each component of the lens by a designer is facilitated, and the flow design of the double telecentric lens meeting engineering requirements is realized; the design method is realized by optical design software, and specifically comprises the following steps: the method is characterized in that the principal ray emergent angle is used as a constraint condition, the default evaluation function is built for optimization, the imaging square lens group is generated, the aperture diaphragm is used for symmetrically generating the object square lens group, and finally the distortion, the principal ray incident angle, the principal ray emergent angle, the magnification and the like are used as constraint conditions, and the aberration evaluation function is built for optimization, so that a lens with small caliber, high precision and double telecentric structures is designed, and the implementation requirements of a machine vision measurement scheme with a complex mechanical structure can be met.
As an optimization, in the foregoing design method of a high-precision double telecentric lens, in step S5, in the optimization process, an effective lens is added or a lens having little influence on the optical system is deleted according to the intermediate optimization result.
In the method for designing the high-precision double telecentric lens, in the step S3, the principal ray emergent angle of the last lens is constrained to be 0 °; in step S5, the constraint distortion is within 0.1%, the chief ray incidence angle of the first lens and the chief ray emergence angle of the last lens are 0 °, and the magnification is the magnification calculated in step S4. Distortion is one of the important factors limiting the accuracy of optical measurement, and the distortion of common industrial lenses is generally 1% -2%; in the application, the distortion is controlled within 0.1% during design, the distortion coefficient is 1/20 of that of a common industrial lens, and the detection precision and stability are greatly improved. Telecentricity describes the angle of the chief ray deviating from the optical axis, the smaller the angle, the better the telecentricity, the more accurate the imaging, an ideal telecentric lens without keystone distortion, telecentricity being 0 °; therefore, when designing the lens, the principal ray incidence angle and the exit angle are set to be optimal when 0 °.
In the method for designing the high-precision double telecentric lens, in the step S3, the diameter of the field of view of the image space is set to be 0.06 mm-0.12 mm larger than the diagonal dimension of the target surface. NA of the optical system is an important parameter affecting the resolution of the lens, and the larger NA is, the higher the resolution is; as can be seen from the formula in step S2, in the case that the image space field is larger than the diagonal dimension of the target surface and the aperture of the lens is limited, the smaller the image space field is, the larger the NA lifting space is; to ensure high resolution of the lens and feasibility of lens design (to ensure assembly accuracy of the lens), the diameter of the field of view of the image space generally needs to be 0.06mm to 0.12mm larger than the diagonal dimension of the target surface. Further, in step S3, the imaging quality (optimization target) of the default evaluation function may be a wavefront, and the reference object may be a centroid.
As an optimization, in the foregoing design method of the high-precision double telecentric lens, in step S4, according to the formula: magnification = image space field/object space field, and obtaining an optimal solution of the magnification by a fuzzy optimization method.
As an optimization, in the design method of the high-precision double telecentric lens, the caliber of the lens is smaller than the maximum outer diameter of the lens. Therefore, the lens has higher resolution under the condition of ensuring the assembly precision of the lens; as can be seen from the formula in step S2, in the case that the image space field is larger than the diagonal dimension of the target surface, the aperture of the last lens is as large as possible, and the larger the lifting space of NA, the higher the lens resolution.
As an optimization, in the design method of the high-precision double telecentric lens, the double telecentric lens is a probe type, can be assembled in the multi-thread automatic strip material shearing equipment according to the installation mode of the industrial endoscope, and is convenient to assemble and easy to implement.
Drawings
FIG. 1 is a schematic diagram of generating an image side lens set in step S2 of the design method of the present application;
FIG. 2 is a schematic diagram of the object lens assembly generated in step S3 in the design method of the present application;
FIG. 3 is a schematic diagram of a dual telecentric lens designed using the design method of the present application;
FIG. 4 is a graph of the MTF of the double telecentric lens of FIG. 3;
FIG. 5 is a field curvature/distortion map of the double telecentric lens of FIG. 3;
fig. 6 is a point column diagram of the double telecentric lens of fig. 3.
The marks in the drawings are: l1-a first glass lens; l2-a second glass lens; l3-a third glass lens; l4-fourth glass lens; s5, an aperture diaphragm; l5-a fifth glass lens; l6-sixth glass lens; l7-seventh glass lens.
Detailed Description
The application is further illustrated by the following figures and examples, which are not intended to be limiting.
The application relates to a design method of a high-precision double telecentric lens, which comprises an object side lens group, an aperture diaphragm and an image side lens group which are sequentially arranged from an object side surface to an imaging surface along an optical path direction; the object side lens group and the image side lens group are composed of a plurality of lenses; the design method is realized by optical design software and specifically comprises the following steps: s1, selecting a photosensitive chip according to the measurement resolution of a lens and the aperture requirement of the lens; s2, setting an image square view field meeting the angle line size of a target surface of a photosensitive chip, wherein an expression formula in a paraxial optical system is as follows: x < F i ＝D L -2u·NA 1 Wherein X is the target surface diagonal dimension, F i Is the field of view of the image space, D L Is the aperture of the last lens, u is the back intercept (distance between the last lens and the imaging plane), NA 1 Is the image side numerical aperture; s3, setting an aperture diaphragm and an initial structure of an image side lens group with positive focal power (the focal length refers to the distance from the optical center of the lens to the focal point of light collection when parallel light is incident) and setting the diameter of an image side view field to form an infinity conjugate optical system; the thickness, the interval, the curvature and the materials of each lens in the aperture diaphragm and the image side lens group are set as variables; setting up a default evaluation function, selecting a reference object, setting constraint conditions according to design requirements, including the principal ray emergent angle of the last lens, and repeatedly running optical design software to optimize until the requirements are metAn image side telecentric system for generating an image side lens group; s4, the image side lens group is symmetric to generate an object side lens group with positive focal power by using an aperture diaphragm, the minimum diameter of an object side view field is set according to the installation requirement of a machine vision measurement scheme, and then the following formula is adopted: magnification = image space field/object space field, and obtaining an optimal solution of the magnification by a fuzzy optimization method; while according to the diffraction limit formula in paraxial optical systems:calculating the numerical aperture NA of the object 2 Forming a double telecentric finite far conjugate optical system combined by a positive-positive focal power lens group; wherein lambda is the working wavelength, and r is the precision requirement of the lens; s5, establishing an aberration evaluation function, and setting constraint conditions according to design requirements, wherein the constraint conditions comprise distortion, a principal ray incidence angle of a first lens, a principal ray emergence angle of a last lens and magnification; and repeatedly running optical design software to optimize, adding an effective lens or deleting a lens with little influence on the optical system according to the intermediate optimization result until the double telecentric optical system meeting the requirement is obtained, and completing the design. In order to avoid software errors when the optical design software is running, the center and edge distances of the lens and air need to be limited.
The aberration evaluation function is formulated as follows:
wherein V is i -the ith operator corresponds to the actual Value (Value) of the aberration;
T i -the ith operator corresponds to the Target value (Target) of the aberration;
W i -a weight of the ith operator;
(V j -T j ) 2 known as the lagrange multiplier (Lagrangian Multiplier), generally corresponds to the boundary conditions of the lens.
Implementation case:
in the multithreaded automatic strip material shearing equipment, in order to detect the shearing condition of strip materials (such as the inclination of a notch and the size of materials), cameras are required to be installed in the device in a monochromatic light backlight illumination mode for on-line visual detection, and the double telecentric lens on the market is large in size and difficult to assemble due to the structural characteristics of the double telecentric lens.
The embodiment is to design a small-caliber and high-precision probe type double telecentric lens (similar to a probe of an industrial endoscope) by adopting the design method of the high-precision double telecentric lens, and the probe type double telecentric lens can be assembled in a multi-thread automatic strip material shearing device for visual detection according to the installation mode of the industrial endoscope;
the design method is realized by optical design software and specifically comprises the following steps:
s1, selecting a photosensitive chip according to the measurement resolution of a lens and the aperture requirements of the lens (the maximum outer diameter of the lens is 8mm, and the aperture of each lens is limited to be within 8 mm), wherein the pixel size of the photosensitive chip is 2um, and the target facing angle line size is 6.52mm;
s2, setting an image square view field meeting the angle line size of a target surface of a photosensitive chip, wherein an expression formula in a paraxial optical system is as follows: 6.52<F i ＝8-2u·NA 1 Wherein F is i Is the field of view of the image space, u is the back intercept, NA 1 Is the image side numerical aperture; the back intercept is an optimized variable and can be matched with NA 1 The relative adjustment thereby satisfies the feasibility of the above formula;
s3, setting an initial structure of an aperture diaphragm and an image side lens group with positive focal power, and setting the diameter of an image side view field to be 6.6mm (high resolution and design feasibility of a lens can be ensured) to form an infinity conjugate optical system; the thickness, the interval, the curvature and the materials of each lens in the aperture diaphragm and the image side lens group are set as variables; setting up a default evaluation function to optimize the root mean square radius of the centroid, restricting the emergent angle of the principal ray of the last lens to be 0 DEG, and repeatedly running optical design software until an image space telecentric system meeting the requirements is obtained and an imaging side lens group is generated (see figure 1);
s4, symmetrically generating an object space with positive focal power by the image space lens group through an aperture diaphragmThe mirror group (see fig. 2) sets a minimum diameter of 3.3mm of the object field of view according to the formula: the magnification = image space view field/object space view field, the initial magnification is obtained to be-2, and then the optimal solution of the magnification is obtained step by a fuzzy optimization method to be-1.4; while according to the diffraction limit formula in paraxial optical systems:lambda is the working wavelength, in particular 500nm, r is the precision requirement of the lens, in particular 3um, and the numerical aperture NA of the object space is calculated 2 For 0.1, forming a double telecentric finite far conjugate optical system combined by a positive-positive focal power lens group;
s5, establishing an aberration evaluation function, and setting constraint conditions: controlling distortion to be within 0.1%, wherein the incidence angle of the principal ray of the first lens and the emergent angle of the principal ray of the last lens are 0 degrees, and the magnification is-1.4; and repeatedly running optical design software to optimize, deleting the lens with little influence on the optical system according to the intermediate optimization result until the double telecentric optical system meeting the requirements is obtained, and completing the design.
Referring to fig. 3, the double telecentric lens designed by the design method of the present application includes an object lens group, an aperture stop S5, and an image lens group sequentially arranged from the object side to the imaging plane along the optical path direction; the object side lens group consists of four glass lenses, and a first glass lens L1, a second glass lens L2, a third glass lens L3 and a fourth glass lens L4 are sequentially arranged along the light path direction; the image side lens group consists of three glass lenses, and a fifth glass lens L5, a sixth glass lens L6 and a seventh glass lens L7 are sequentially arranged along the light path direction. The parameters are as follows:
in the upper table, the thickness is between the front surface and the rear surface of the same glass lens; the air distance is between the different glass lens surfaces.
The test experiments were performed on the double telecentric lens in the table above, with the following results,
(1) from the MTF graph (as in fig. 4), it can be seen that: wherein, the abscissa is the spatial resolution, the unit is line pair/millimeter, the ordinate is contrast, the value range is 0-1, each curve in the figure represents the meridian and sagittal components of MTF under different fields; the whole MTF curve in the graph is relatively compact, which shows that the lens has better performance in contrast and resolution and high measurement accuracy.
(2) From the field curvature/distortion map (as in fig. 5), it can be seen that: wherein, the ordinate is the field of view; in the figure, the distortion values of the lens in the whole field of view are all smaller than 0.01%, which indicates that the lens has extremely low distortion values.
(3) From the dot column diagram (as in fig. 6), it can be seen that: wherein, RMS radius represents root mean square radius of the diffuse speckles, GEO radius represents Airy speckles radius, the units are micrometers, and the images in the figure represent the sizes of the diffuse speckles displayed on the image space view field at different positions of the object space view field; the root mean square radius of each view field in the figure is smaller than the Yu Aili spot radius, which indicates that the imaging quality of the lens is better overall.
To sum up: the double telecentric lens designed by the design method of the application has better contrast and resolution, higher measurement precision, extremely low distortion rate and good imaging quality, and meets the high-precision measurement requirement in complex machine vision.
It should be noted that the design method of the present application was developed for designing a probe-type double telecentric lens that can be applied to a multi-thread automated bar material shearing device by means of industrial endoscope installation, but can also be used for designing other forms of double telecentric lenses.
The above general description of the application and the description of specific embodiments thereof in relation to the present application should not be construed as limiting the scope of the application. Those skilled in the art can add, subtract or combine the features disclosed in the foregoing general description and/or the detailed description (including examples) to form other technical solutions within the scope of the application without departing from the disclosure of the application.
Claims (9)
1. The design method of the high-precision double telecentric lens comprises an object lens group, an aperture diaphragm and an image lens group which are sequentially arranged from an object side surface to an imaging surface along the light path direction; the object side lens group and the image side lens group are composed of a plurality of lenses; the design method is characterized by being realized by optical design software and specifically comprises the following steps:
s1, selecting a photosensitive chip according to the measurement resolution of a lens and the aperture requirement of the lens;
s2, setting an image square view field meeting the angle line size of a target surface of a photosensitive chip, wherein an expression formula in a paraxial optical system is as follows: x < F i ＝D L -2u·NA 1 Wherein X is the target surface diagonal dimension, F i Is the field of view of the image space, D L Is the aperture of the last lens, u is the back intercept, NA 1 Is the image side numerical aperture;
s3, setting an initial structure of an aperture diaphragm and an image side lens group with positive focal power, and setting the diameter of an image side view field to form an infinity conjugate optical system; the thickness, the interval, the curvature and the materials of each lens in the aperture diaphragm and the image side lens group are set as variables; setting up a default evaluation function, selecting a reference object, setting constraint conditions including the main ray emergent angle of the last lens, and repeatedly running optical design software to optimize until an image space telecentric system meeting the requirements is obtained, and generating an imaging side lens group;
s4, the image side lens group is symmetrically generated into an object side lens group with positive focal power by an aperture diaphragm, the minimum diameter of an object side view field is set according to requirements, and the magnification of a lens is calculated; while according to the diffraction limit formula in paraxial optical systems:calculating the numerical aperture NA of the object 2 Forming a double telecentric finite far conjugate optical system combined by a positive-positive focal power lens group; wherein lambda is the working wavelength, and r is the precision requirement of the lens;
s5, establishing an aberration evaluation function, and setting constraint conditions including distortion, a principal ray incidence angle of a first lens, a principal ray emergence angle of a last lens and magnification; and repeatedly running optical design software to optimize until the double telecentric optical system meeting the requirements is obtained, and completing the design.
2. The method for designing a high-precision double telecentric lens according to claim 1, wherein: in step S5, in the optimization process, an effective lens is added or a lens having little influence on the optical system is deleted according to the intermediate optimization result.
3. The method for designing a high-precision double telecentric lens according to claim 1, wherein: in step S3, the principal ray exit angle of the last lens is constrained to be 0 °.
4. The method for designing a high-precision double telecentric lens according to claim 3, wherein: in step S5, the constraint distortion is within 0.1%, the chief ray incidence angle of the first lens and the chief ray emergence angle of the last lens are 0 °, and the magnification is the magnification calculated in step S4.
5. The method for designing a high-precision double telecentric lens according to claim 3, wherein: in the step S3, the set image space field diameter is 0.06 mm-0.12 mm larger than the diagonal dimension of the target surface.
6. The method for designing a high-precision double telecentric lens according to claim 4, wherein: in step S3, the imaging quality of the default evaluation function is wavefront, and the reference object is centroid.
7. The method for designing a high-precision double telecentric lens according to claim 1, wherein: in step S4, according to the formula: magnification = image space field/object space field, and obtaining an optimal solution of the magnification by a fuzzy optimization method.
8. The method for designing a high-precision double telecentric lens according to claim 1, wherein: the caliber of the lens is smaller than the maximum outer diameter of the lens.
9. The method for designing a high-precision double telecentric lens according to claim 1, wherein: the double telecentric lens is a probe type, and can be assembled in the multi-thread automatic strip material shearing equipment according to the installation mode of the industrial endoscope.
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