CN210835405U

CN210835405U - Robot lens module sweeps floor

Info

Publication number: CN210835405U
Application number: CN201921605633.XU
Authority: CN
Inventors: 柳晓娜; 李工; 呼新功; 赵冲; 邓丹; 周越; 洪凯
Original assignee: PHENIX OPTICAL CO Ltd; CETHIK Group Ltd
Current assignee: PHENIX OPTICAL CO Ltd; CETHIK Group Ltd
Priority date: 2019-09-25
Filing date: 2019-09-25
Publication date: 2020-06-23
Anticipated expiration: 2029-09-25

Abstract

The utility model discloses a sweeping robot lens module, which comprises a base and a lens barrel arranged on the base, wherein a lens group is arranged in the lens barrel, and a high-speed CMOS linear array image sensor is arranged in the base; the lens group comprises a first lens, a first spacing ring, a second lens, a second spacing ring and a third lens which are sequentially arranged from an object space to an image space along the optical axis direction; the first lens is a convex-concave optical glass lens with positive focal power, the second lens is a biconcave optical glass lens with negative focal power, and the third lens is a biconvex optical glass lens with positive focal power. The utility model discloses a robot lens module of sweeping floor, optics distortion is little, and analytic performance is good, and the light ring is big, optics overall length is little, effectively realizes the vision navigation of robot of sweeping floor.

Description

Robot lens module sweeps floor

Technical Field

The application belongs to the robot lens field, concretely relates to robot lens module of sweeping floor.

Background

The machine vision lens plays an important role in realizing machine automation, and the machine vision lens and the lens module can not be separated from each other when the equipment assembly robot is small and the floor sweeping robot is small.

The lens module is an important optical component of the photographic imaging device, and the optical performance of the lens module has a great influence on the imaging quality. A typical lens module mainly includes a lens barrel, a plurality of lenses (a plurality refers to two or more numbers), and a plurality of spacing members. The lens is arranged in the lens barrel, and the spacing component can be arranged between the lens barrel and the lens or between two adjacent lenses.

The floor sweeping robot is also called a lazy floor sweeping machine, and is an intelligent household appliance capable of automatically absorbing dust on the ground. Because it can detect factors such as room size, furniture placement, ground cleanliness and the like, and make a reasonable cleaning route by means of a built-in program, and has certain intelligence, the robot is called as a robot.

At present, the navigation mode of the sweeping robot is laser navigation, radar navigation or infrared navigation, and the navigation modes have the defects that a transparent object cannot be detected, the accurate positioning cannot be carried out in a wide field angle range, the visual navigation technology can enable the robot to see the real environment, the planning type sweeping is realized, the manual sweeping is closer, and therefore the design of a lens module suitable for the sweeping robot has important significance for the navigation survey of the sweeping robot.

SUMMERY OF THE UTILITY MODEL

An object of this application is to provide a robot lens module of sweeping floor, the optics distortion of lens module is little, and analytic performance is good, and the light ring is big, optics overall length is little, effectively realizes the vision navigation of robot of sweeping floor.

In order to achieve the purpose, the technical scheme adopted by the application is as follows:

a sweeping robot lens module comprises a base and a lens barrel arranged on the base, wherein a lens group is arranged in the lens barrel,

a high-speed CMOS linear array image sensor is arranged in the base;

the lens group comprises a first lens, a first spacing ring, a second lens, a second spacing ring and a third lens which are sequentially arranged from an object space to an image space along the optical axis direction; the first lens is a convex-concave optical glass lens with positive focal power, the second lens is a biconcave optical glass lens with negative focal power, and the third lens is a biconvex optical glass lens with positive focal power.

Preferably, the resolution of the high-speed CMOS linear array image sensor is 2100 x 2, and the pixel size is 14 um.

Preferably, the second lens and the third lens satisfy the relation: -0.75< f2/f3< -0.85, wherein f2 denotes the focal length of the second lens and f3 denotes the focal length of the third lens.

Preferably, the surface of the first lens is plated with an antireflection film.

Preferably, at least two of the first lens, the second lens and the third lens have a refractive index nd of 1.9 or more.

Preferably, the aperture F # of the sweeping robot lens module is less than 1.9, and the optical total length is less than 22 mm.

Preferably, the outer surface of lens cone is equipped with the screw thread, robot lens module of sweeping floor still includes the clamping ring, the clamping ring include with the screw thread fit connection's of lens cone first position and by the first position bend form with the second position that first lens offseted.

According to the sweeping robot lens module, in order to reduce the weight of the module and reduce the driving power consumption, the lens only uses three lenses, and the three lenses form an optical system which is small in optical distortion, good in resolution performance, large in aperture and small in optical total length, so that the sweeping robot lens module is convenient to apply to a sweeping robot; the lens module uses a high-speed CMOS linear array image sensor, has high sensitivity and high speed application functions, can realize visual navigation of the sweeping robot, continuously shoots surrounding environments in the walking and cleaning process of the sweeping robot, identifies swept and uncleaned areas, and realizes an intelligent sweeping function.

Drawings

Fig. 1 is a schematic structural view of a sweeping robot lens module according to the present application;

FIG. 2 is a field curvature distortion diagram of the working object of example 1 at a distance of 500 mm;

FIG. 3 is a graph of MTF at a working object distance of 500mm for example 1.

In the drawings: 1. pressing a ring; 2. a lens barrel; 3. a base; 4. a high-speed CMOS linear array image sensor; 5. a second spacer ring; 6. a first spacer ring; l1, first lens; l2, second lens; l3, third lens.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description of the present application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.

As shown in fig. 1, in one embodiment, a sweeping robot lens module is provided, which has a light overall weight, can reduce power consumption when applied to a sweeping robot, has good optical performance and high sensitivity, and effectively implements real-time navigation of the sweeping robot.

Specifically, the sweeping robot lens module comprises a base 3 and a lens barrel 2 installed on the base 3, and a high-speed CMOS linear array image sensor 4 is installed in the base 3.

The high-speed CMOS linear array image sensor 4 adopted in the embodiment can be DLIS-2K, DLIS-4K, ELIS-1024 and the like. In order to ensure the quality of the acquired image and control the manufacturing cost of the lens module, in one embodiment, a DLIS-2K high-speed CMOS linear array image sensor with a resolution of 2100 × 2 and a pixel size of 14um is adopted, and the equivalent sensitivity can reach 160V/lux-s by applying a corrlated Multi-sampling (cms) method.

A lens group is arranged in the lens barrel 2 of the sweeping robot lens module, and comprises a first lens L1, a first spacing ring 6, a second lens L2, a second spacing ring 5 and a third lens L3 which are sequentially arranged from an object space to an image space along an optical axis direction; the first lens L1 is a convex-concave optical glass lens with positive power, the second lens L2 is a biconcave optical glass lens with negative power, and the third lens L3 is a biconvex optical glass lens with positive power.

The three lenses have different structures and focal powers, and the three lenses are mutually matched to form an optical system which is small in optical distortion, good in resolution performance, large in aperture and small in total optical length, so that the sweeping robot can continuously shoot the surrounding environment in the walking and cleaning process, the swept and uncleaned areas are identified, and the intelligent sweeping function is realized.

In one embodiment, the relationship between the second lens L2 and the third lens L3 of the three lenses satisfies: -0.75< f2/f3< -0.85, wherein f2 denotes a focal length of the second lens L2, and f3 denotes a focal length of the third lens L3.

In order to further improve the imaging clarity of the optical system, in one embodiment, the surface of the first lens L1 is coated with an antireflection film. Not only ensures the imaging definition, but also effectively controls the lens cost.

In order to adapt to the characteristics that the sweeping robot is small in size and limited in electric quantity, the quality of the lens module is reduced as much as possible, and in one embodiment, the refractive index nd of at least two of the first lens L1, the second lens L2 and the third lens L3 is greater than or equal to 1.9.

The utility model provides a sweep floor robot lens module's diaphragm F # <1.9, optics total length is less than 22 mm.

In practical use of the lens module, usually, an additional structure is used to further fix the lenses, in one embodiment, the outer surface of the lens barrel 2 is provided with threads, the sweeping robot lens module further includes a press ring 1, and the press ring 1 includes a first portion connected with the lens barrel 2 in a threaded fit manner, and a second portion formed by bending the first portion and abutting against the first lens L1.

The whole clamping ring is of an annular structure, the cross section of the clamping ring is L-shaped, one side of the L-shaped clamping ring is used as a first part and is in threaded fit with the lens cone, and the other side of the L-shaped clamping ring is used as a second part and abuts against the first lens and is used for limiting the displacement of the lens group.

The utility model provides a robot lens module of sweeping floor when using, can install the LED lamp of 780mm wavelength additional on the robot of sweeping floor and carry out the light filling to reach better visual navigation effect.

The sweeping robot lens module of the application is further detailed through the embodiment as follows:

example 1

The lens module of this embodiment is constructed by 3 lenses, and the optical parameters of each lens are as follows:

table 1 example 1 parameters relating to each lens

In table 1, L1R1 denotes an object-side mirror surface of the first lens L1, and L1R2 denotes an image-side mirror surface of the first lens L1; L2R1 denotes an object-side mirror surface of the second lens L2, and L2R2 denotes an image-side mirror surface of the second lens L2; L3R1 denotes an object-side mirror surface of the third lens L3, and L3R2 denotes an image-side mirror surface of the third lens L3.

R represents a curvature radius, nd represents a refractive index, and vd represents an Abbe number.

The parameters of the lens module composed of the lenses in table 1 are as follows:

TABLE 2 relevant parameters of the sweeping robot lens module

f	f2	f	3	TTL	F#
						16	-7.37	9.11	21.2	1.85

In table 2, F is a focal length of the lens (unit mm), F # is a lens F-number (unit mm), TTL is a total optical length of the lens (unit mm), F2 is a focal length of the second lens (unit mm), and F3 is a focal length of the third lens (unit mm).

Use the robot lens module of sweeping the floor of this embodiment as the object and test:

as shown in fig. 2, the field curvature distortion diagram when the working object distance WD is 500mm, it can be seen that the optical distortion of the lens module of the present embodiment is less than 1%, which satisfies the requirement of low distortion.

As shown in fig. 3, the MTF graph when the working object distance WD is 500mm shows that the lens module of the present embodiment can achieve a better and stable analysis performance with an MTF center of about 0.41 and a MTF periphery of about 0.25 of 120lp/mm spatial frequency at an object distance of 500 mm.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the utility model. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. A sweeping robot lens module comprises a base and a lens barrel arranged on the base, wherein a lens group is arranged in the lens barrel,

a high-speed CMOS linear array image sensor is arranged in the base;

2. The sweeping robot lens module of claim 1, wherein the resolution of the high-speed CMOS linear array image sensor is 2100 x 2 and the pixel size is 14 um.

3. The sweeping robot lens module of claim 1, wherein the second lens and the third lens satisfy the relationship: -0.75< f2/f3< -0.85, wherein f2 denotes the focal length of the second lens and f3 denotes the focal length of the third lens.

4. The lens module of claim 1, wherein the first lens is coated with an anti-reflection film.

5. The lens module of claim 1, wherein at least two of the first lens, the second lens and the third lens have a refractive index nd of not less than 1.9.

6. The sweeping robot lens module of claim 1, wherein the aperture F # of the sweeping robot lens module is less than 1.9, and the total optical length is less than 22 mm.

7. The sweeping robot lens module of claim 1, wherein the outer surface of the lens barrel is provided with threads, and the sweeping robot lens module further comprises a pressing ring, wherein the pressing ring comprises a first portion connected with the threaded fitting of the lens barrel and a second portion formed by bending the first portion and abutting against the first lens.