Wide-angle cameras and electronic equipment

Abstract

An embodiment of the present invention discloses a wide-angle camera, which includes, from the object side to the image side, a first lens, a second lens, a third lens, a fourth lens, a fifth lens, a sixth lens, and a filter. The wide-angle camera has a half-field angle of θ, a focal length of f, the first lens, the second lens, and the third lens form a first lens group, the focal length of the first lens group is f1, the fourth lens, the fifth lens, and the sixth lens form a second lens group, the focal length of the second lens group is f2, and the following relationships are satisfied: 180°≤2θ≤240°; ‑1.8≤f1 / f≤‑1.4; 1.4≤f2 / f≤1.8. This can reduce the difficulty and cost of hardware assembly in visual SLAM and reduce the complexity of image processing algorithms. The present invention also provides an electronic device, including a device body and the wide-angle camera, wherein the wide-angle camera is fixed to the device body.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of optical technology, and in particular to a wide-angle camera and electronic equipment. Background Art

[0002] SLAM (Simultaneous Localization and Mapping) technology allows a sensor-equipped object to build a model of its surroundings while in motion, even without knowing the surroundings, while simultaneously estimating its own motion. This makes it widely used in fields such as radar scanning, mapping, and sensor monitoring. SLAM technology is generally divided into two categories based on the different SLAM sensors: laser SLAM when the sensor is a lidar (LiDAR); and visual SLAM when the sensor is a camera.

[0003] However, in spatial localization and environment mapping (SLAM), due to the small DFOV of the camera and the small positioning space range, multiple cameras need to be assembled to complete sufficient environmental space recognition; then, the images taken by different cameras are stitched together using algorithms to achieve the desired effect, which greatly increases the difficulty and cost of hardware assembly and also increases the complexity of the image processing algorithm. Summary of the Invention

[0004] The purpose of the embodiments of the present invention is to provide a wide-angle camera and electronic equipment that can reduce the difficulty and cost of hardware assembly in visual SLAM and reduce the complexity of image processing algorithms.

[0005] To solve the above technical problems, the first aspect of the present invention provides a wide-angle camera, comprising:

[0006] The wide-angle camera includes, from the object side to the image side, a first lens with negative refractive power, a second lens with negative refractive power, a third lens with positive refractive power, a fourth lens with positive refractive power, a fifth lens with positive refractive power, a sixth lens with negative refractive power, and a filter; the half field angle of the wide-angle camera is θ, the focal length of the wide-angle camera is f, the first lens, the second lens, and the third lens form a first lens group, the focal length of the first lens group is f1, the fourth lens, the fifth lens, and the sixth lens form a second lens group, the focal length of the second lens group is f2, and the following relationship is satisfied:

[0007] 180°≤2θ≤240°;

[0008] -1.8≤f1 / f≤-1.4;

[0009] 1.4≤f2 / f≤1.8.

[0010] Compared with the related art, the DFOV of the wide-angle camera of the embodiment of the present invention is between 180°≤2θ≤240°, and can reach a maximum of 240°, which greatly increases the field of view of the wide-angle camera; and the ratio of the focal length f1 of the first lens group to the focal length f of the wide-angle camera is made to fall between -1.8 and -1.4, which can effectively balance the spherical aberration and field curvature of the wide-angle camera, making the imaging more accurate; the ratio of the focal length f2 of the second lens group to the focal length f of the wide-angle camera is made to fall between 1.4 and 1.8, which can make the second lens group have appropriate positive refractive power, which is beneficial to reducing the aberration of the wide-angle camera within the specified range, and is beneficial to the thin design and wide-angle design of the wide-angle camera. In SLAM applications, the wide-angle camera provided by the present invention can be used to reduce the number of cameras through reasonable configuration, which can reduce the difficulty and cost of hardware assembly in visual SLAM, and at the same time reduce the number of pictures that need to be spliced ​​and calculated, thereby reducing the complexity of the image processing algorithm.

[0011] Optionally, the half image height of the wide-angle camera is IH, the total optical length of the wide-angle camera is TTL, and the following relationship is satisfied:

[0012] 0.02≤IH / (f*θ)≤0.03;

[0013] 7.5≤TTL / f≤9.5;

[0014] 4.5≤TTL / IH≤6.5.

[0015] Optionally, the refractive index of the first lens is Nd1, the dispersion coefficient of the first lens is Vd1, and the following relationship is satisfied:

[0016] 1.75≤Nd1≤1.98;

[0017] 40≤Vd1≤55.

[0018] Optionally, the refractive index of the second lens is Nd2, the dispersion coefficient of the second lens is Vd2, and the following relationship is satisfied:

[0019] 1.5≤Nd2≤1.6;

[0020] 50≤Vd2≤60.

[0021] Optionally, the refractive index of the third lens is Nd3, the dispersion coefficient of the third lens is Vd3, and they satisfy the following relationship:

[0022] 1.6≤Nd3≤1.7;

[0023] 20≤Vd3≤30.

[0024] Optionally, the refractive index of the fourth lens is Nd4, the dispersion coefficient of the fourth lens is Vd4, and the following relationship is satisfied:

[0025] 1.5≤Nd4≤1.6;

[0026] 50≤Vd4≤60.

[0027] Optionally, the refractive index of the fifth lens is Nd5, the dispersion coefficient of the fifth lens is Vd5, and they satisfy the following relationship:

[0028] 1.5≤Nd5≤1.6;

[0029] 50≤Vd5≤60.

[0030] Optionally, the refractive index of the sixth lens is Nd6, the dispersion coefficient of the sixth lens is Vd6, and they satisfy the following relationship:

[0031] 1.6≤Nd6≤1.7;

[0032] 20≤Vd6≤30.

[0033] Optionally, the first lens is made of glass.

[0034] A second aspect of the present invention provides an electronic device, comprising: a device body and the wide-angle camera described above, wherein the wide-angle camera is fixed to the device body. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] One or more embodiments are exemplarily illustrated by pictures in the corresponding drawings. These exemplifications do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings are represented as similar elements. Unless otherwise stated, the figures in the drawings do not constitute proportional limitations.

[0036] Figure 1a Schematic diagram of the horizontal field of view of the photosensitive chip;

[0037] Figure 1b Schematic diagram of the vertical field of view of the photosensitive chip;

[0038] Figure 1c Schematic diagram of the diagonal field of view of the photosensitive chip;

[0039] Figure 2 is a schematic structural diagram of a wide-angle camera according to an embodiment of the present invention;

[0040] Figure 3 is a field curvature distortion curve diagram of a wide-angle camera according to an embodiment of the present invention;

[0041] Figure 4is an MTF curve diagram of a wide-angle camera according to an embodiment of the present invention;

[0042] Figure 5 4 is a defocus curve diagram of a wide-angle camera according to an embodiment of the present invention. DETAILED DESCRIPTION

[0043] To make the purpose, technical solutions, and advantages of the embodiments of the present invention more clear, each embodiment of the present invention will be described in detail below with reference to the accompanying drawings. However, those skilled in the art will appreciate that in each embodiment of the present invention, many technical details are provided to help readers better understand the present application. However, even without these technical details and various changes and modifications based on the following embodiments, the technical solutions claimed in the present application can still be implemented.

[0044] In the embodiments of the present invention, terms such as "upper," "lower," "left," "right," "front," "back," "top," "bottom," "inner," "outer," "center," "vertical," "horizontal," "transverse," and "longitudinal" to indicate directions or positions are based on the directions or positions shown in the accompanying drawings. These terms are primarily intended to better describe the present invention and its embodiments and are not intended to limit the devices, elements, or components indicated to having a specific direction, or to being constructed or operated in a specific direction.

[0045] Furthermore, some of the above terms may be used to express other meanings besides indicating a position or location. For example, the term "on" may also be used to indicate a dependency or connection in certain circumstances. Those skilled in the art will understand the specific meanings of these terms in the present invention based on the specific circumstances.

[0046] Furthermore, the terms "installed," "set," "provided with," "opened," "connected," and "connected" should be interpreted broadly. For example, they can refer to fixed connections, removable connections, or integral structures; mechanical connections or electrical connections; direct connections or indirect connections through an intermediary; or internal communication between two devices, elements, or components. Those skilled in the art will understand the specific meanings of these terms in the present invention based on specific circumstances.

[0047] Furthermore, the terms "first," "second," etc., are primarily used to distinguish between different devices, elements, or components (which may or may not be of the same type and configuration), and are not intended to indicate or imply the relative importance or quantity of the devices, elements, or components indicated. Unless otherwise specified, "plurality" means two or more.

[0048] See Figures 1a to 1cIn a conventional photosensitive chip C, the ratio of its length, width, and diagonal length is H:V:D = 4:3:5. The field of view (FOV) of the photosensitive chip C mainly includes three parameters for evaluating the size of the field of view (FOV), such as the horizontal field of view (HFOV), the vertical field of view (VFOV), and the diagonal field of view (DFOV). Assuming the focal length of the camera is f', the following relationship can be obtained:

[0049] HFOV=2arctan(H / 2f') (1)

[0050] VFOV=2arctan(V / 2f') (2)

[0051] DFOV=2arctan(D / 2f') (3)

[0052] In spatial localization and mapping (SLAM), the DFOV (Distributed Field of View) is often used to directly evaluate the size of a camera's spatial positioning range. In existing technologies, due to the camera's small DFOV and limited positioning range, multiple cameras must be assembled to achieve sufficient environmental spatial recognition. Algorithms are then used to stitch the images captured by these different cameras together to achieve the desired effect. This increases the difficulty and cost of hardware assembly and the complexity of the image processing algorithms.

[0053] To solve the above technical problems, the present invention provides a wide-angle camera, which includes, from the object side to the image side, a first lens with negative refractive power, a second lens with negative refractive power, a third lens with positive refractive power, a fourth lens with positive refractive power, a fifth lens with positive refractive power, a sixth lens with negative refractive power and a filter; the half field of view angle of the wide-angle camera is θ, the focal length of the wide-angle camera is f, the first lens, the second lens and the third lens form a first lens group, the focal length of the first lens group is f1, the fourth lens, the fifth lens and the sixth lens form a second lens group, the focal length of the second lens group is f2, and the following relationships are satisfied: 180°≤2θ≤240°; -1.8≤f1 / f≤-1.4; 1.4≤f2 / f≤1.8. Compared with the related art, the DFOV of the wide-angle camera of the embodiment of the present invention is between 180°≤2θ≤240°, and can reach a maximum of 240°, which greatly increases the field of view of the wide-angle camera; and the ratio of the focal length f1 of the first lens group to the focal length f of the wide-angle camera is made to fall between -1.8 and -1.4, which can effectively balance the spherical aberration and field curvature of the wide-angle camera, making the imaging more accurate; and the ratio of the focal length f2 of the second lens group to the focal length f of the wide-angle camera is made to fall between 1.4 and 1.8, which can make the second lens group have appropriate positive refractive power, which is beneficial to reduce the aberration of the wide-angle camera within the specified range, and is beneficial to the thin design and wide-angle design of the wide-angle camera. In SLAM applications, the wide-angle camera provided by the present invention can be used to reduce the number of cameras through reasonable configuration, reduce the difficulty and cost of hardware assembly in visual SLAM, and reduce the number of pictures that need to be spliced ​​and calculated, thereby reducing the complexity of the image processing algorithm.

[0054] The implementation details of the wide-angle camera of this embodiment are described in detail below. The following content is only provided for ease of understanding and is not necessary for implementing this solution.

[0055] See Figure 2 The wide-angle camera in this embodiment includes, from the object side to the image side, a first lens R1 with negative refractive power, a second lens R2 with negative refractive power, a third lens R3 with positive refractive power, a fourth lens R4 with positive refractive power, a fifth lens R5 with positive refractive power, a sixth lens R6 with negative refractive power, and a filter R7. The wide-angle camera has a half field of view angle of θ and a focal length of f. The first lens, the second lens, and the third lens constitute a first lens group, and the focal length of the first lens group is f1. The fourth lens, the fifth lens, and the sixth lens constitute a second lens group, and the focal length of the second lens group is f2. The following relationship is satisfied:

[0056] 180°≤2θ≤240° (4)

[0057] -1.8≤f1 / f≤-1.4 (5)

[0058] 1.4≤f2 / f≤1.8 (6)

[0059] Among them, conditional formula (4) specifies the value range of the DFOV size of the wide-angle camera. Specifically, the half field of view angle θ refers to half of the diagonal field of view angle DFOV of the wide-angle camera. Within the conditional range, the wide-angle camera can achieve an ultra-wide angle of 180° or above.

[0060] Conditional equation (5) specifies the ratio of the focal length f1 of the first lens group to the focal length f of the wide-angle camera. Within the range of conditional equation (5), the spherical aberration and field curvature of the wide-angle camera can be effectively balanced, making imaging more accurate.

[0061] Conditional equation (6) specifies the ratio of the focal length f2 of the second lens group to the focal length f of the wide-angle camera. Within the range of conditional equation (6), it is beneficial to reduce the aberration of the wide-angle camera and is also beneficial to the thin design and wide-angle design of the wide-angle camera.

[0062] In some feasible solutions, the half image height of the wide-angle camera is IH, the total optical length of the wide-angle camera is TTL, and the following relationship is satisfied:

[0063] 0.02≤IH / (f*θ)≤0.03 (7)

[0064] 7.5≤TTL / f≤9.5 (8)

[0065] 4.5≤TTL / IH≤6.5 (9)

[0066] Conditional equation (7) specifies the range of values ​​of the ratio of the half image height IH of the wide-angle camera to the product of the focal length f of the wide-angle camera and the half field of view angle θ. Within the range of conditional equation (7), the distortion of the imaging field of the wide-angle camera can be reduced.

[0067] Conditional formula (8) specifies the ratio of the total optical length TTL of the wide-angle camera to the focal length f of the wide-angle camera. Within the value range of conditional formula (8), it can ensure that the wide-angle camera has a smaller total optical length TTL, which is conducive to achieving an ultra-thin design of the wide-angle camera.

[0068] Conditional formula (9) specifies the range of the ratio of the total optical length TTL of the wide-angle camera to the half-image height IH of the wide-angle camera.

[0069] In some feasible solutions, the lens group of the wide-angle camera adopts a 1G5P design, that is, the first lens R1 is made of glass, and the second lens R2, the third lens R3, the fourth lens R4, the fifth lens R5 and the sixth lens R6 are made of plastic (such as resin, etc.). Among them, since the first lens R1 is made of glass, it has high hardness, is scratch-resistant and wear-resistant, and the chemical properties of glass are relatively stable. Therefore, the first lens R1 of the wide-angle camera can be directly exposed to the air without adding a protective lens (protective lenses can also be added according to actual needs). The second lens R2, the third lens R3, the fourth lens R4, the fifth lens R5 and the sixth lens R6 are made of plastic, which can reduce the weight of the wide-angle camera and facilitate lightweight design.

[0070] It is understood that since the first lens element R1 is made of glass, to reduce the difficulty of processing, it is preferably designed that the object-side surface R11 and the image-side surface R12 of the first lens element R1 are both spherical. However, the second lens element R2, the third lens element R3, the fourth lens element R4, the fifth lens element R5, and the sixth lens element R6 are made of plastic for easier processing. To better achieve the objectives of the present invention, it is preferably designed that the object-side surface R21 and the image-side surface R22 of the second lens element R2, the object-side surface R31 and the image-side surface R32 of the third lens element R3, the object-side surface R41 and the image-side surface R42 of the fourth lens element R4, the object-side surface R51 and the image-side surface R52 of the fifth lens element R5, and the object-side surface R61 and the image-side surface R62 of the sixth lens element R6 are all aspherical. However, if there is a special need, it is also possible to design both the object-side surface R11 and the image-side surface R12 of the first lens element R1 as aspherical surfaces.

[0071] In some feasible solutions, the aspherical surface of the lens in the wide-angle camera may satisfy the following formula:

[0072]

[0073] Where Z is the sagittal height of any point on the aspheric surface; c is the curvature of the point; and k is the conic coefficient of the aspheric surface. For example, the intersection of the object side surface R21 of the second lens R2 and the optical axis is O, and h is the distance between a point on the object side surface R21 of the second lens R2 and point O. Specifically, with point O as the origin and a rectangular coordinate system perpendicular to the optical axis, the coordinates of the point are (x, y), where x is the distance between the point and point O along the optical axis, and y is the distance between the point and point O along the direction perpendicular to the optical axis. Then R, x, and y satisfy the relationship:

[0074] R 2 = x 2 + y 2(11)

[0075] The above A1, A2, A3, A4 and A5 are high-order aspheric coefficients, which are generally constants.

[0076] In some feasible embodiments, the wide-angle camera further includes an aperture AP, which is located between the third lens R3 and the fourth lens R4 and is used to limit the total amount of light entering the wide-angle camera for imaging.

[0077] In one feasible solution, the aperture of the wide-angle camera is an F number, and the F number is 1.9. In this way, the amount of light entering the wide-angle camera can be increased, thereby improving the recognition ability of the wide-angle camera in low light conditions (i.e., dark environments).

[0078] In some feasible solutions, the refractive index of the first lens R1 is Nd1, the chromatic aberration coefficient of the first lens R1 is Vd1, and the following relationship is satisfied:

[0079] 1.75≤Nd1≤1.98 (12)

[0080] 40≤Vd1≤55 (13)

[0081] Optionally, the refractive index Nd1 of the first lens R1 can be 1.75, 1.80, 1.85, 1.90, 1.95, or 1.98, etc., and the specific refractive index Nd1 can be selected within the range defined by conditional equation (12) according to actual needs. The chromatic aberration coefficient Vd1 of the first lens R1 can be 40, 45, 50, or 55, etc., and the specific chromatic aberration coefficient Vd1 can be selected within the range defined by conditional equation (13) according to actual needs. The embodiments of the present invention do not impose specific limitations on this.

[0082] In some feasible solutions, the focal length of the first lens R1 is f1, and satisfies the following relationship:

[0083] -4.8≤f1≤-3.8 (14)

[0084] Optionally, the specific value of the focal length f1 of the first lens R1 can be -4.8, -4.6, -4.4, -4.2, -4.0, -3.8 or other values, which is not specifically limited in the present invention.

[0085] In some embodiments, the refractive index of the second lens is Nd2, the dispersion coefficient of the second lens is Vd2, and the following relationship is satisfied:

[0086] 1.5≤Nd2≤1.6 (15)

[0087] 50≤Vd2≤60 (16)

[0088] Optionally, the refractive index Nd2 of the second lens R2 can be 1.50, 1.52, 1.54, 1.58, or 1.60, etc., and the specific refractive index Nd2 can be selected within the range defined by conditional equation (15) according to actual needs. The dispersion coefficient Vd2 of the second lens R2 can be 50, 52, 54, 56, 58, or 60, etc., and the specific dispersion coefficient Vd2 can be selected within the range defined by conditional equation (16) according to actual needs. The embodiments of the present invention do not impose specific limitations on this.

[0089] In some embodiments, the focal length of the second lens R2 is f2, and satisfies the following relationship:

[0090] -2.2≤f2≤-1.2 (17)

[0091] Optionally, the specific value of the focal length f2 of the second lens R2 can be -2.2, -2.0, -1.8, -1.6, -1.4, -1.2 or other values, which is not specifically limited in the present invention.

[0092] In some feasible solutions, the refractive index of the third lens R3 is Nd3, the Abbe coefficient of the third lens R3 is Vd3, and the following relationship is satisfied:

[0093] 1.6≤Nd3≤1.7 (18)

[0094] 20≤Vd3≤30 (19)

[0095] Optionally, the refractive index Nd3 of the third lens R3 may be 1.60, 1.62, 1.64, 1.68, or 1.70, etc., and the specific refractive index Nd3 may be selected within the range defined by conditional equation (18) according to actual needs. The dispersion coefficient Vd3 of the third lens R3 may be 20, 22, 24, 26, 28, or 30, etc., and the specific dispersion coefficient Vd3 may be selected within the range defined by conditional equation (19) according to actual needs. The embodiments of the present invention do not impose any specific limitations on this.

[0096] In some feasible solutions, the focal length of the third lens R3 is f3, and satisfies the following relationship:

[0097] 4≤f3≤6 (20)

[0098] Optionally, the specific value of the focal length f3 of the third lens R3 can be 4.0, 4.5, 5.0, 5.5, 6.0 or other values, which is not specifically limited in the present invention.

[0099] In some feasible solutions, the refractive index R4 of the fourth lens is Nd4, the Abbe coefficient of the fourth lens R4 is Vd4, and the following relationship is satisfied:

[0100] 1.5≤Nd4≤1.6 (21)

[0101] 50≤Vd4≤60 (22)

[0102] Optionally, the refractive index Nd4 of the fourth lens R4 may be 1.50, 1.52, 1.54, 1.58, or 1.60, etc., and the specific refractive index Nd4 may be selected within the range defined by conditional equation (18) according to actual needs. The dispersion coefficient Vd4 of the fourth lens R4 may be 50, 52, 54, 56, 58, or 60, etc., and the specific dispersion coefficient Vd4 may be selected within the range defined by conditional equation (19) according to actual needs. The embodiments of the present invention do not impose any specific limitations on this.

[0103] In some feasible solutions, the focal length of the fourth lens R4 is f4, and satisfies the following relationship:

[0104] 1.8≤f4≤2.8 (23)

[0105] Optionally, the specific value of the focal length f4 of the fourth lens R4 can be 1.8, 2.0, 2.2, 2.4, 2.6, 2.8 or other values, which is not specifically limited in the present invention.

[0106] In some feasible solutions, the refractive index of the fifth lens element R5 is Nd5, the Abbe coefficient of the fifth lens element R5 is Vd5, and the following relationship is satisfied:

[0107] 1.5≤Nd5≤1.6 (24)

[0108] 50≤Vd5≤60 (25)

[0109] Optionally, the refractive index Nd5 of the fifth lens element R5 may be 1.50, 1.52, 1.54, 1.58, or 1.60, etc., and the specific refractive index Nd5 may be selected within the range defined by conditional equation (24) according to actual needs. The dispersion coefficient Vd5 of the fifth lens element R5 may be 50, 52, 54, 56, 58, or 60, etc., and the specific dispersion coefficient Vd5 may be selected within the range defined by conditional equation (25) according to actual needs. The embodiments of the present invention do not impose any specific limitations on this.

[0110] In some feasible solutions, the focal length of the fifth lens R5 is f5, and satisfies the following relationship:

[0111] 1.1≤f5≤2.1 (26)

[0112] Optionally, the specific value of the focal length f5 of the fifth lens R5 can be 1.1, 1.3, 1.5, 1.7, 1.9, 2.1 or other values, which is not specifically limited in the present invention.

[0113] In some feasible solutions, the refractive index of the sixth lens R6 is Nd6, the Abbe coefficient of the sixth lens R6 is Vd6, and the following relationship is satisfied:

[0114] 1.6≤Nd6≤1.7 (27)

[0115] 20≤Vd6≤30 (28)

[0116] Optionally, the refractive index Nd6 of the sixth lens R6 may be 1.50, 1.52, 1.54, 1.58, or 1.60, etc., and the specific refractive index Nd6 may be selected within the range defined by conditional equation (27) according to actual needs. The chromatic aberration coefficient Vd6 of the sixth lens R6 may be 20, 22, 24, 26, 28, or 30, etc., and the specific chromatic aberration coefficient Vd6 may be selected within the range defined by conditional equation (28) according to actual needs. The embodiments of the present invention do not impose any specific limitations on this.

[0117] In some feasible solutions, the focal length of the sixth lens R6 is f6, and satisfies the following relationship:

[0118] -2.7≤f6≤-1.7 (29)

[0119] Optionally, the specific value of the focal length f6 of the sixth lens R6 can be -2.7, -2.5, -2.3, -2.1, -1.9, -1.7 or other values, which is not specifically limited in the present invention.

[0120] It should be noted that all the above feasible solutions can be arbitrarily combined according to actual needs without contradiction. Specifically, in the present invention, it mainly refers to that the specific parameters of different components can be combined. For example, when the dispersion coefficient Vd1 of the first lens R1 is 40, the dispersion coefficient Vd2 of the second lens R2 can be 50, 55, 60 or other values, and vice versa. In other words, the same parameters between any two different components may not have a one-to-one correspondence. In addition, different parameters of the same component can also be arbitrarily combined. For example, when the refractive index Nd2 of the second lens R2 is 1.5, the dispersion coefficient Vd2 of the second lens R2 can be 50, 55, 60 or other dispersion coefficients that meet the requirements of conditional formula (16), and vice versa.

[0121] In order to further explain the wide-angle camera of the present invention, an embodiment of the wide-angle camera of the present invention is provided. It should be noted that the following embodiment is only a feasible embodiment of the present invention and does not constitute a limitation of the present invention.

[0122] Example 1

[0123] In this embodiment, the F number of the wide-angle camera is 1.9, the maximum half field of view angle θ is 110°, the focal length f of the wide-angle camera is 1.001 mm, the total optical length TTL of the wide-angle camera is 8.4 mm, and the wavelength weight ratio is set to 470nm:510nm:588nm:610nm:650nm:850nm=91:503:1000:503:107:1000, which can simulate natural light as much as possible.

[0124] In this embodiment, specific parameters of the wide-angle camera are shown in Table 1.

[0125]

Table 1

[0126] surface Face shape Radius of curvature thickness Material Refractive index dispersion Physical Surface spherical surface ∞ ∞ / / / Virtual Face spherical surface 5.5 0.33 / / / R11 spherical surface 6.105 0.785 Glass 1.804 46.576 R12 spherical surface 2.097 1.160 / / / R21 Aspheric -4.483 0.438 plastic 1.533 56.175 R22 Aspheric 1.217 0.321 / / / R31 Aspheric 3.280 1.338 plastic 1.642 22.407 R32 Aspheric -85.118 0.252 / / / AP spherical surface ∞ 0.047 / / / R41 Aspheric -18.986 0.618 plastic 1.512 56.260 R42 Aspheric -1.124 0.182 / / / R51 Aspheric 2.260 0.924 plastic 1.512 56.260 R52 Aspheric -1.157 0.046 / / / R61 Aspheric -1.130 0.820 plastic 1.651 21.516 R62 Aspheric -7.000 0.512 / / / R71 spherical surface ∞ 0.3 Glass 1.517 64.167 R72 spherical surface ∞ 0.674 / / / Imaging plane spherical surface ∞ / / / /

[0127] It can be understood that in Table 1, the unit of the radius of curvature is millimeter (mm), and the unit of the thickness is millimeter (mm). Among them, the thickness of surface R11 represents the on-axis thickness of the first lens R1, the refractive index of surface R11 represents the refractive index of the first lens R1, the thickness of surface R12 represents the on-axis spacing between the first lens R1 and the second lens R2, and the same applies to the remaining surfaces. In addition, the refractive index of surface R12 represents the refractive index of the medium between surface R12 and the surface R21, that is, the refractive index of the medium between the first lens R1 and the second lens R2. Generally speaking, the wide-angle camera is used in an air environment, so the refractive index of the medium between the first lens R1 and the second lens R2 can be regarded as 1. The imaging plane IMA is a virtual plane, or the photosensitive chip C of the wide-angle camera can be set at the imaging plane IMA.

[0128] In addition, since the wide-angle camera has an ultra-wide angle of more than 180°, when performing simulation calculations, a virtual surface VI can be added to the object side of the wide-angle camera, that is, the object side of the first lens R1, to ensure the accuracy of the simulation calculation structure.

[0129] More specifically, all the aspheric surfaces in Table 1 satisfy equation (10), and the specific parameters of all the aspheric surfaces are shown in Table 2.

[0130]

Table 2

[0131] surface Cone coefficient <![CDATA[A1]]> <![CDATA[A2]]> <![CDATA[A3]]> <![CDATA[A4]]> <![CDATA[A5 <!-- 8 -->]]> R21 0.0 -2.33E-02 2.36E-02 -3.36E-03 -6.43E-04 1.55E-04 R22 -0.4 -3.12E-02 4.36E-02 -2.09E-03 -2.71E-02 2.10E-02 R31 8.3 -1.52E-02 1.62E-02 -2.06E-01 1.04E-01 -1.22E-01 R32 -1077.8 2.36E-01 3.28E-01 -4.72E-01 -1.85E+00 3.26E+00 R41 0.0 2.11E-01 1.42E-01 -7.12E-01 7.09E-01 -2.05E-01 R42 -0.3 6.09E-02 -5.57E-02 2.60E-02 3.57E-01 -4.44E-01 R51 -2.1 -8.66E-02 4.96E-02 -1.98E-02 -4.46E-03 -2.94E-03 R52 -0.2 -1.14E-02 6.30E-02 -3.58E-02 1.07E-01 -4.00E-02 R61 0.0 3.08E-01 -.95E-01 1.54E-01 1.52E-01 -5.51E-02 R62 -159.2 2.13E-01 -1.51E-01 -2.24E-02 7.89E-02 -2.10E-02

[0132] For specific performance parameters of the wide-angle camera provided in this embodiment, please refer to Figures 3 and 4 .in, Figure 3 is a field curvature distortion curve diagram of the wide-angle camera; Figure 4 is the MTF curve diagram of the wide-angle camera; Figure 5 is a defocus curve diagram of the wide-angle camera.

[0133] As can be seen from the schematic diagram of the above performance parameters, the wide-angle camera provided by the present invention can support shooting and recognition in the range of visible light to 850 nanometer infrared light, that is, it has broad-spectrum recognition capabilities and can support ultra-wide-angle space recognition and environment construction in both bright and dark environments.

[0134] Compared with the prior art, the wide-angle camera provided by the present invention has at least one of the following beneficial effects:

[0135] 1. The ultra-large field of view of up to 240° can achieve spatial positioning and environmental recognition without blind spots. It can also reduce the number of cameras through reasonable layout, which can reduce the difficulty and cost of hardware assembly in visual SLAM.

[0136] 2. It adopts the 1G5P optical structure, and the first lens R1 is made of glass, which has higher hardness, better scratch resistance and wear resistance, thereby improving the durability of the wide-angle camera. The remaining five lenses are made of resin, which is conducive to achieving a lightweight design of the wide-angle camera and reducing the manufacturing difficulty and cost of the wide-angle camera.

[0137] 3. It can support spatial positioning and environmental recognition in the visible light to 850 nanometer infrared band, and further support ultra-wide-angle spatial recognition and environmental construction in bright and dark environments.

[0138] 4. The field curvature and distortion are small, and the imaging quality is high.

[0139] Another embodiment of the present invention provides an electronic device, including: a device body and the wide-angle camera described above, wherein the wide-angle camera is fixed to the device body.

[0140] It can be understood that the electronic device in this embodiment, in addition to the visual SLAM used for spatial positioning and environment recognition in the previous embodiment, can also be an electronic device such as a panoramic camera, a smart phone, a tablet computer, a laptop computer or a smart watch, and the present invention does not make specific limitations on this.

[0141] The wide-angle camera and electronic device provided by the embodiments of the present invention are introduced in detail above. Specific examples are used herein to illustrate the principles and implementation methods of the present invention. The description of the above implementation methods is only used to help understand the ideas of the present invention. There may be changes in the specific implementation methods and application scope. In summary, the contents of this specification should not be understood as limiting the present invention.

Claims

1. A wide-angle camera, characterized in that: The wide-angle camera includes, from the object side to the image side, a first lens with negative refractive power, a second lens with negative refractive power, a third lens with positive refractive power, a fourth lens with positive refractive power, a fifth lens with positive refractive power, a sixth lens with negative refractive power, and a filter; the wide-angle camera has a half-field angle of θ, a focal length of f, the first lens, the second lens, and the third lens forming a first lens group, a focal length of f1, the fourth lens, the fifth lens, and the sixth lens forming a second lens group, a focal length of f2, a half-image height of IH, and satisfies the following relationship: 180°≤2θ≤240°; -1.8≤f1 / f≤-1.4; 1.4≤f2 / f≤1.8; 0.02≤IH / (f*θ)≤0.

03.

2. The wide-angle camera according to claim 1, wherein: The total optical length of the wide-angle camera is TTL and satisfies the following relationship: 7.5≤TTL / f≤9.5; 4.5≤TTL / IH≤6.

5.

3. The wide-angle camera according to claim 1, wherein: The refractive index of the first lens is Nd1, the dispersion coefficient of the first lens is Vd1, and the following relationship is satisfied: 1.75≤Nd1≤1.98; 40≤Vd1≤55.

4. The wide-angle camera according to claim 1, wherein: The refractive index of the second lens is Nd2, the dispersion coefficient of the second lens is Vd2, and the following relationship is satisfied: 1.5≤Nd2≤1.6; 50≤Vd2≤60.

5. The wide-angle camera according to claim 1, wherein: The refractive index of the third lens is Nd3, the Abbe coefficient of the third lens is Vd3, and they satisfy the following relationship: 1.6≤Nd3≤1.7; 20≤Vd3≤30.

6. The wide-angle camera according to claim 1, wherein: The refractive index of the fourth lens is Nd4, the Abbe coefficient of the fourth lens is Vd4, and they satisfy the following relationship: 1.5≤Nd4≤1.6; 50≤Vd4≤60.

7. The wide-angle camera according to claim 1, wherein: The refractive index of the fifth lens is Nd5, the dispersion coefficient of the fifth lens is Vd5, and they satisfy the following relationship: 1.5≤Nd5≤1.6; 50≤Vd5≤60.

8. The wide-angle camera according to claim 1, wherein: The refractive index of the sixth lens is Nd6, the Abbe number of the sixth lens is Vd6, and they satisfy the following relationship: 1.6≤Nd6≤1.7; 20≤Vd6≤30.

9. The wide-angle camera according to any one of claims 1 to 8, wherein: The first lens is made of glass.

10. An electronic device, characterized in that: It comprises a device body and a wide-angle camera as described in any one of claims 1 to 9, wherein the wide-angle camera is fixed to the device body.

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