Lens optical device and receiving method

Abstract

The present invention discloses a lens optical device and a receiving method, comprising a main frame seat, a lens group, a lens module and a support frame, characterized in that: the main frame seat has a cavity inside, the lens module is installed in the cavity of the main frame seat, the support frame is arranged on the outer surface of the main frame seat to fix the lens group, the lens group is fixed above the support frame, an optical channel for light to pass through is reserved between the lens group and the lens module, light information returned by multiple laser emissions is introduced in sequence, and finally environmental data from multiple locations are sorted out to obtain complete large-angle surrounding environment information. The present invention provides a lens optical device, which has a larger angle range than the original laser collection directly relying on a single lens module, and has the advantages of low cost and easier algorithm implementation compared to the collection of multiple lens modules, and has the characteristics of low cost and wide laser receiving range.

Description

Technical Field

[0001] The present invention relates to the field of lenses, and in particular to a lens optical device and a receiving method. Background Art

[0002] With the continuous development of image processing and machine vision technology, the performance of sweeping robot lens modules is also constantly improving. Now, some high-end sweeping robots are equipped with laser radar, which includes laser transmitter and laser receiver (lens module), which can capture more comprehensive surrounding environment information, providing more accurate support for robot navigation and obstacle avoidance.

[0003] The existing laser radar lens module can only receive a limited angle. The angle of light that the lens can receive determines the safety of the robot vacuum cleaner's route. The mainstream robot vacuum cleaners on the market are mainly divided into single-lens modules (such as Figure 6 As shown) and multi-lens modules (as shown Figure 7 shown).

[0004] The single-lens module sweeping robot mainly relies on a single lens to collect light sources, such as Figure 6 As shown, the lens angle of the single lens 1' is θ'1, and the light source collection angle is limited. The single lens angle θ'1 is generally between 45°-90°, and there are large-angle lens blind spots on both sides, which poses a great safety hazard to the work and travel of the sweeping robot;

[0005] The multi-lens module sweeping robot superimposes multiple lens angles, such as Figure 7 As shown, the lens module consists of lens one 2', lens two 3', and lens three 4', and the lens angles are respectively the first lens angle θ'2, the second lens angle θ'3, and the third lens angle θ'4; the three lens angles together constitute the total lens angle θ'5, and then the algorithm center analyzes the light source acquisition of multiple lenses to finally obtain the surrounding environment information in a larger angle range. The total lens angle θ'5 is generally between 120° and 180°, but because the multi-lens module requires multiple lenses, the cost is relatively high, and the required algorithm is relatively complex.

[0006] As competition in the sweeping robot market becomes increasingly fierce, how to achieve the effects of multiple lens modules with one lens module and obtain surrounding environment information in a large angle range has become a technology that urgently needs to be broken through and a technical problem that technical personnel in this field need to solve.

[0007] In addition to the field of sweeping robots, the present invention also has a broad application base in other fields including vehicle-mounted radar, laser detection, etc. Summary of the invention

[0008] The object of the present invention is to provide a lens optical device and a receiving method to solve the problems raised in the above background technology.

[0009] To achieve the above object, the present invention provides the following technical solutions:

[0010] A lens optical device is provided, comprising a main frame seat, a lens group, a side seat, a lens module, a support bar, a lens cover and a support frame, the main frame seat having a cavity therein, the lens module being installed in the cavity of the main frame seat, the support frame being arranged on the outer surface of the main frame seat for fixing the lens group, the lens group being fixed above the support frame, an optical channel for light to pass through being reserved between the lens group and the lens module, the side seat comprising corners and mounting posts, the corners being fixed on the main frame seat, and the mounting posts being fixed at the lower ends of the corners; the support bar being fixed on the top surface of the main frame seat, the support bar being coincident with the connecting seam of the lens group; the lens cover being connected to the top surface of the main frame seat, the lens cover can completely cover and protect the lens group, the lens cover comprising a protective shell and an insertion rod, the protective shell being annular, the protective shell having holes for light to pass through, the insertion rod being fixed on the outer wall of the protective shell ring, and a socket corresponding to the insertion rod being provided on the top surface of the main frame seat.

[0011] Furthermore, the lens set includes at least one lens.

[0012] Furthermore, the lens is tilted at a certain angle based on the central axis of the lens module.

[0013] The following solutions are provided:

[0014] 1. The lens set is composed of two lenses, which are spread out in a V shape. The two lenses are symmetrical on both sides with the central axis as the center or are tilted at a certain angle to the central axis in a side V state.

[0015] 2. The lens group is a semi-transparent and semi-reflective conical mirror, the conical mirror is symmetrical with the lens module along the central axis, and the tip of the conical mirror is closer to the lens module than the bottom plane.

[0016] Furthermore, another possible lens module placement angle is provided, wherein the lens module forms a certain angle with the central axis of the main frame seat.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] The present invention provides a lens optical device and a receiving method. A lens group is arranged on the light input path of the lens module. The lens group sends the laser into the lens module through the effect of optical refraction or transmission. Compared with the original laser collection directly relying on a single lens module, the angle range is larger. The effect of multiple lens modules can be achieved through one lens module. Compared with the collection of multiple lens modules, the cost is low and the algorithm is easier to realize. It has the characteristics of low cost, wide laser receiving range, etc. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is an overall effect diagram of the optical device structure of the lens of the present invention;

[0020] Figure 1 The markings in the figure are: 111 lens one; 112 lens two; 12 support bar; 13 support frame; 14 socket; 15 main frame seat; 16 side seat; 21 first laser; 22 second laser; 23 third laser.

[0021] Figure 2 is a cross-sectional view of the lens optical device of the present invention;

[0022] Figure 2 The markings in the figure are: 111 lens one; 112 lens two; 12 support bar; 15 main frame seat; 161 corner; 162 mounting column; 17 lens cover; 3 lens module.

[0023] Figure 3 This is a structural diagram of the appearance of the lens optical device of the present invention;

[0024] Figure 3 The markings in the figure are: 15 main frame seat; 161 corner; 162 mounting column; 17 protective shell.

[0025] Figure 4 This is a structural diagram of a lens cover component of the lens optical device of the present invention;

[0026] Figure 4 The markings in the figure are: 171 protective housing; 172 plug rod.

[0027] Figure 5 It is a three-dimensional structural diagram of the lens optical device of the present invention;

[0028] Figure 5 The markings in the figure are: 11 lens group; 12 support bar; 13 support frame; 14 socket; 15 main frame seat; 161 corner; 162 mounting column; 31 optical channel.

[0029] Figure 6 This is an illustration of a single-lens module in the prior art;

[0030] Figure 6 The notations in are: 1' single lens; θ'1 single lens angle.

[0031] Figure 7 This is an illustration of a prior art multi-lens module;

[0032] Figure 7 The marks in are: 2' lens one; 3' lens two; 4' lens three; θ'2 first lens angle; θ'3 second lens angle; θ'4 third lens angle; θ'5 total lens angle.

[0033] Figure 8 This is an illustration of a single-lens lens module of the present invention;

[0034] Figure 8 The marks in the figure are: 3 lens module; 24 laser four; 25 laser five; 113 lens three; H1 reflection area one; H2 direct area one; W lens three and the area close to reflection area one.

[0035] Fig. 9 It is an illustration of a single-lens lens tilt module of the present invention;

[0036] Fig. 9 The marks in it are: 3 lens module; 24 laser four; 25 laser five; 113 lens three; H1 reflection area one; H2 direct area one.

[0037] Fig.10 This is an illustration of the dual-lens module with multiple lens tilt angles according to the present invention;

[0038] Fig.10 The marks in it are: 3 lens module; 21 laser one; 22 laser two; 23 laser three; 111 lens one; 112 lens two; H3 reflection area three; H4 direct area three; H5 reflection area four.

[0039] Fig.11 This is an illustration of a three-lens module with multiple lens tilt angles according to the present invention;

[0040] Fig.11 The marks in it are: 3 lens module; 21 laser one; 22 laser two; 23 laser three; 111 lens one; 112 lens two; H3 reflection area three; H4 direct area three; H5 reflection area four.

[0041] Fig.12 This is an illustration of the cone lens module of the present invention;

[0042] Fig.12 The marks in the figure are: 3 lens module; 21 laser one; 22 laser two; 23 laser three; 114 conical mirror; H3 reflection area three; H4 direct area three; H5 reflection area four; P local area of ​​conical mirror.

[0043] Fig.13 for Figure 8 Enlarged view at W in the middle;

[0044] Fig.13 The markings in the figure are: 113 lens three; 1131 front side of lens three; 1132 back side of lens three; H1-1 reflection area - H1 boundary.

[0045] Fig.14 This is a schematic diagram of laser positioning reception and reflection;

[0046] Fig.14The marks in the figure are: 2 laser emitter; 11 lens group; 3 lens module; A lens module sensor center; B laser reflection sensor receiving point; C is the light entrance point of the lens module; D the intersection of the sensor center and the extended line of the light entrance point to the lens; E lens reflection point; F lens extension line to the horizontal end point of the object; G the intersection of the reflection point and the horizontal line of the object; I laser emission point; J object reflection point; K the intersection of the laser emission point and the horizontal line of the object.

[0047] Fig.15 for Fig.12 Enlarged view at P in the middle;

[0048] Fig.15 The marks in the figure are: 1141 inner wall of the conical mirror; 1142 outer wall of the conical mirror; H4-1 left boundary of the second direct-irradiation zone; H4-2 right boundary of the second direct-irradiation zone. DETAILED DESCRIPTION

[0049] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0050] See also Figures 1 to 5 The present invention provides a lens optical device, comprising a main frame seat 15, a lens group 11, a side seat 16, a lens module 3, a support bar 12, a lens cover 17 and a support frame 13, wherein the support frame 13 is arranged on the outer surface of the main frame seat 15 for fixing the lens group 11, and the lens group 11 is fixed on the support frame 13 and is located in front of the lens module 3;

[0051] The lens group can be composed of one lens such as lens three 113, lens four 114 or multiple lenses (lens one 111, lens two 112); the lens group uses a lens that is both reflective and transmissive (also called a semi-reflective and semi-transmissive lens), and there is no restriction on the reflectivity and transmittance, as long as the lens module can recognize the laser light source information after transmission or reflection.

[0052] In this solution, there is a cavity in the main frame seat 15, and the lens module 3 is installed in the cavity of the main frame seat 15, but the lens module 3 can also be installed in other suitable positions as long as the lens group 11 is set in front of the lens module 3.

[0053] The side of the support frame 13 is provided with an optical channel 31 for light to pass through the lens group 11 to the lens module 3. The light mentioned in the technical solution refers to the laser (such as the first laser, the second laser, the third laser) emitted by the laser transmitter, which irradiates the obstacle and is reflected into the lens module;

[0054] See also Figure 3 and Figure 5 The side seat 16 includes a corner 161 and a mounting post 162, wherein the corner 161 is fixed on the main frame seat 15, and the mounting post 162 is fixed to the lower end of the corner 161; the support bar 12 is fixed on the top surface of the main frame seat 15, and the support bar 12 coincides with the connecting seam of the lens group 11; the lens cover 17 is connected to the top surface of the main frame seat 15,

[0055] See also Figure 4 and Figure 5 The mirror cover 17 can completely cover and protect the lens group 11. The mirror cover 17 includes a protective shell 171 and an insertion rod 172. The protective shell 171 is annular. A hole is left on the top of the protective shell 171 for light to pass through. The insertion rod 172 is fixed on the outer wall of the protective shell 171. A socket 14 corresponding to the insertion rod 172 is provided on the top surface of the main frame seat 15. The insertion rod 172 can be inserted into the socket 14. A hole is left on the top surface of the mirror cover for the light source to enter.

[0056] The specific implementation methods are mainly divided into single lens and multiple lenses. The single lens implementation methods include the following two types:

[0057] Example 1: Please refer to Figure 8 The lens module 3 is tangent to the outer ring of the sweeping robot or is arranged in front of the sweeping robot. The lens three 113 is inclined in front of the lens module 3, forming a direct area H2 and a reflection area H1 in front of the sweeping robot. When in use, the sweeping robot is provided with multiple laser components (laser emitters), such as being arranged above, below or beside the lens optical device. In this embodiment, there are two laser components, namely, laser four 24 and laser five 25;

[0058] The laser 4 24 emits laser light to the front direct area 1 H2, and the laser light can be directly transmitted into the lens module 3 through the lens 3 113 after hitting an obstacle and returning;

[0059] The laser five 25 emits laser to the reflection area one H1 on the right side. After hitting an obstacle and returning, the laser can be reflected into the lens module 3 through the lens three 113. The direct area one H2 and the reflection area one H1 together constitute the laser receiving area of ​​the lens module 3.

[0060] Preferably, it should be noted that, in general, the emission area range of laser four 24 is less than or equal to the direct area H2, and the emission area range of laser five 25 is less than or equal to the reflection area H1 (the reason is to facilitate the calculation of the position of the obstacle and prevent the calculation of the direct area and the reflection area from conflicting). The laser emitted by laser four 24 and laser five 25 is a horizontal line segment. In order to facilitate the calculation of the position of the obstacle, the laser line segments emitted by laser four 24 and laser five 25 can be parallel and kept in the same height, and the edges of the two line segments are close to being connected.

[0061] See also Fig.13 In order to make the direct area H2 and the reflective area H1 as close to or connected as possible, when the boundary line between the direct area H2 and the reflective area H1 is H1-1, the edge 1132 of the lens 3 113 is close to and parallel to H1-1.

[0062] In order to prevent the overlap of the laser light source information of the direct area H2 (reflected by obstacles) and the laser light source information of the reflective area H1 received by the lens module, resulting in information confusion, the laser four 24 of the direct area H2 and the laser five 25 of the reflective area H1 are used to work in time-sharing shifts. When the laser four 24 emits laser to the direct area H2, the laser five 25 stops working, and the laser emitted by the laser four 24 hits an obstacle and then returns. The returned laser is transmitted into the lens module 3 through the lens group 113. The lens module imports the light source information returned by the laser four 24 into the corresponding direct area H2 environment information library. After that, the laser five 25 starts to emit laser, the laser four 24 stops working, and the laser five 25 emits laser. The laser hits an obstacle and then returns. The returned laser is reflected by the lens group 113 and enters the lens module 3. The lens module imports the light source information returned by the laser four 25 into the reflection area H1 environmental information library. The laser four 24 and the laser five 25 take turns to emit lasers in turn, and finally obtain the environmental information in a large angle range. It should be noted that the calculation methods used for obtaining the obstacle position by the laser light source information of the direct area H2 and the reflection area H1 are different. The transmission calculation method used in the direct area H2 is the existing technology, such as patent CN113261884A or TOF algorithm, which will not be repeated here. The reflection calculation method used in the reflection area H1 is described in detail below.

[0063] Since the range of the surrounding obstacle information obtained by the lens module in the manner described in Example 1 is insufficient (due to the limitation of the angle of the light source received by the lens module, only the obstacle information on the right side can be obtained, resulting in the sweeping robot having to move on one side to protect the safety of the route), there is still a large blind spot on the left side. In order to enable the lens module to obtain obstacle information at angles on both sides, the following Example 2 is provided;

[0064] Example 2: Please refer to Fig. 9, the lens module 3 is tilted, and the lens module 3 forms a certain angle with the central axis of the sweeping robot. Preferably, the angle between the central axis of the lens module 3 and the lens three 113 is 45°. Since the lens module is tilted to the left, the lens three 113 changes its tilt angle synchronously, and the direct area H2 moves to the left accordingly. The left angle range information that can be obtained by the lens module becomes larger, and the effect of obtaining the laser light source information on both sides of the lens module can be achieved. It should be noted that Example 2 only demonstrates the method of tilting the lens module to the left. Similarly, when the lens module is tilted to the right, the lens 113 changes its tilt angle synchronously to achieve the same effect. The laser emission and reception method, and the setting of the direct area H2 and the reflection area H1 are the same as those in Example 1 and will not be repeated here.

[0065] Both Embodiment 1 and Embodiment 2 are single-lens implementation methods with relatively low implementation costs, and achieve the effect of two lens modules by cooperating with one lens module and a single lens 113 .

[0066] The angle of laser light source information obtained by the lens module is larger than that of the traditional lens module, but there are still blind spots of the lens module light source on the left and right sides, so the following multi-lens implementation method is provided;

[0067] There are three types of multi-lens implementations:

[0068] Example 3: Please refer to Fig.10 , two lenses are unfolded in a V shape, namely lens one 111 and lens two 112, lens one 111 and lens two 112 are symmetrical on both sides with the central axis of the sweeping robot as the center, forming a direct area two H4 and reflection areas two H3, H5 in front of the sweeping robot, when in use, a plurality of laser components (laser emitters) are arranged on the sweeping robot, such as being arranged above, below or beside the lens optical device, in this embodiment, there are 3 locations, namely laser one 21, laser two 22 and laser three 23;

[0069] The laser 22 emits laser light to the front direct area 2 H4. After the laser light hits an obstacle and returns, it can be directly transmitted into the lens module 3 through the lens 1 111 or the lens 2 112.

[0070] Laser 1 21 emits laser to the left reflection area 2 H3. After hitting an obstacle and returning, the laser can be reflected into the lens module 3 through lens 1 111. Similarly, laser 3 23 emits laser to the right reflection area 3 H5. After hitting an obstacle and returning, the laser can be reflected into the lens module 3 through lens 2 112. The direct area 2 H4 and the reflection areas 2 H3 and H5 together constitute the laser receivable area of ​​the lens module 3.

[0071] Preferably, it should be noted that, in general, the emission area range of laser 22 is less than or equal to direct zone 2 H4, the emission area range of laser 1 21 is less than or equal to reflection zone 2 H3, and similarly, the emission area range of laser 3 23 is less than or equal to reflection zone 3 H5 (the reason is to facilitate the calculation of the position of obstacles and prevent conflicts in the calculation of the direct zone and the reflection zone). The lasers emitted by laser 1 21, laser 22 and laser 3 23 are a horizontal line segment, and the laser line segments emitted by laser 1 21, laser 22 and laser 3 23 are parallel and their heights are consistent. The edges of the two line segments are nearly connected, the boundary line of the right side area of ​​H4 is parallel or parallel to the edge of lens 2 112, and the boundary line of the left side area of ​​H4 is parallel or parallel to the edge of lens 1 111.

[0072] In order to prevent the lens module from receiving overlapping information of the laser light source in the direct zone 2 H4 (reflected by obstacles) and the laser light source information in the reflective zone 2 H3 and H5, which may lead to information confusion, the laser 22 in the direct zone 2 H4, the laser 1 21 in the reflective zone 2 H3 and the laser 3 23 in the reflective zone 3 H5 are used to work in turn. When the laser 1 21 starts to emit laser, the laser 22 and the laser 3 23 stop working. The laser emitted by the laser 1 21 hits an obstacle and then returns. The returned laser is reflected by the lens 1 111 and enters the lens module 3. The lens module imports the light source information returned by the laser 1 21 into the environmental information library of the reflective zone 2 H3. Then the laser 22 emits laser to the direct zone 2 H4. The laser 1 21 and the laser 3 23 stop working. The laser emitted by the laser 22 hits an obstacle and then returns. Return, the returned laser is transmitted through lens 1 111 or lens 2 112 into lens module 3, and the lens module imports the light source information returned by laser 2 22 into the corresponding direct area 2 H4 environmental information library, and then laser 3 23 starts to emit laser, laser 1 21 and laser 2 22 stop working, and the laser emitted by laser 3 23 returns after hitting an obstacle, and the returned laser is reflected through lens 2 112 and emitted into lens module 3, and the lens module imports the light source information returned by laser 3 23 into the reflection area 3 H5 environmental information library, and laser 1 21, laser 22 and laser 3 23 emit lasers in turn in time-sharing, and finally obtain environmental information in a large angle range. The transmission calculation method and the reflection calculation method have been described in detail in Example 1 and will not be repeated here.

[0073] In addition to being symmetrically arranged on both sides of the central axis of the sweeping robot, the lens 1 111 and the lens 2 112 can also be placed in different positions and angles, as described in Example 4, which will not be listed here one by one;

[0074] Example 4: Please refer to Fig.11, lens one 111 and lens two 112 are arranged at the front end of the lens module one after the other, and the two lenses are unfolded at opposite crossing angles. The inclination angle of lens one 111 and lens two 112 is the same as that of Example 3. The laser emitting and receiving method, the setting of the direct area two H4 and the reflection areas two H3 and H5 are the same as those of Example 3, and are not repeated here.

[0075] The lens group 11 may be a conical lens in addition to a combination of two lenses, as shown in Example 5;

[0076] Example 5: Please refer to Fig.12 , the lens group 11 is a conical mirror 114, the conical mirror 114 overlaps with the central axis of the lens module 3, the tip of the conical mirror 114 is closer to the lens module 3, the laser returned by the reflection area H3 and H5 is reflected into the lens module through the outer wall 1142 of the conical mirror, and the laser returned by the direct area H4 is transmitted into the lens module through the inner wall 1141 of the conical mirror, the outer walls 1142 at the left and right ends of the conical mirror are close to and parallel to H4-1 and H4-2 respectively, the laser emission and reception method, the setting of the direct area H4 and the reflection area H3 and H5 are the same as those in Example 3, and are not repeated here; the conical mirror 114 is not a prism, but an integrally conical lens formed by the inner wall 1141 and the outer wall 1142, wherein the thickness of the inner wall 1141 and the outer wall 1142 are consistent at any point,

[0077] The present invention can directly obtain the specific position of an object through the method of laser emission and reception. The laser is emitted by a laser transmitter, and the laser returns after hitting the object, and then enters the lens module 3 through the transmission or refraction of the lens group 11. Due to the different light angles, the sensor receiving points are also different. The object reflection position can be directly obtained through the sensor receiving point, and then the specific shape and size of the object can be obtained through the overall data model calculation of multiple light source sensing points. The following is only a calculation description for one point, and the same is true for multiple points. The specific reflection calculation method is as follows:

[0078] See also Fig.14 , each point in the figure is A lens module sensor center, B laser reflection sensor receiving point, C lens module light entrance point, D sensor center and light entrance point extension line to lens intersection, E lens reflection point, F lens extension line to object horizontal end point, G reflection point vertical object horizontal line intersection, I laser emission point, J object reflection point, K laser emission point vertical object horizontal line intersection, for the convenience of calculation, only letters are used in the calculation process;

[0079] Since the size of the lens module is known, the position of point B is known when the sensor receiving point receives the laser transmission information, so the positions of points A, B, and C are known. Assuming ∠ACB is M1 and CE is the extension of BC, the diagonal relationship shows that ∠DCE is M1. Since the lens tilt angle is fixed and known, CD is the extension of AC, so ∠CDE is known, assuming it is M3. ∠CDE and ∠DCE are both known, so ∠DEC can be obtained as 180°-M1-M3. After the laser hits point J of the object, it refracts through point E and passes through point C. According to the law of refraction, ∠JEF is 1 80°-M1-M3, F is the extension of DE, KF is parallel to AD, ∠CDE is M3, so ∠EFG is 180°-M3, EG is perpendicular to KF, ∠EFG(180°-M3)+∠FEJ(180°-M1-M3)+∠EGF(90°)=180°-∠JEG, it can be concluded that ∠JEG is 270°-M1-2M3, and then from ∠JEG(270°-M1-2M3)+∠EJG+∠EGJ(90°)=180°, it can be concluded that ∠EJG is 2M3+M1-180°;

[0080] Because the laser emission angle is fixed, assuming that ∠KIJ is M2, IK is perpendicular to KF, so ∠IJK is 90°-M2;

[0081] ∠EJG is 2M3+M1-180°, ∠IJK is 90°-M2, so ∠IJE is 2M3+M1-M2-90°;

[0082] At this point, all the required angles have been obtained. If all the angles are known and any one edge is known, all the edges can be obtained. Since the size of the lens module is fixed, the lens tilt angle and the distance from the lens module are fixed, the lengths of AB, AC, and CD are all known, and the position of point J can be calculated.

[0083] It should be noted that the laser transmitter in the above embodiment transmits a single-line laser, but may also transmit a multi-line laser. The calculation principle of transmitting and receiving a multi-line laser is the same as that of a single-line laser, and will not be described in detail here.

[0084] The present invention provides a lens optical device and a receiving method. A lens group 11 is provided on the light input path of the lens module 3. The lens group 11 sends laser into the lens module 3 through optical refraction or transmission. Compared with the original laser collection directly relying on a single lens module 3, the angle range is larger. When the angle collection effect of multiple lens modules 3 is achieved, the cost is low and the algorithm is easier to implement. The present invention has the characteristics of low cost and wide laser receiving range. In addition to the field of sweeping robots, the present invention can also be used in other fields including vehicle-mounted radar, automatic driving, etc.

[0085] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A lens optical device, comprising a lens group (11) and a lens module (3), wherein the lens module (3) is used in conjunction with two or more laser emitters, and is characterized in that: The lens group (11) is arranged at the light inlet of the lens module (3). The lens group (11) uses a lens that is both reflective and transmissive. The laser light source receiving area of ​​the lens module (3) is divided into a direct emission area and a reflective area. The direct emission area and the reflective area are adjacent to each other and are distributed in a fan shape. Some laser emitters emit lasers to the direct emission area. After the lasers hit an obstacle and return, they are transmitted through the lens group into the lens module. Other laser emitters emit lasers to the reflective area. After the lasers hit an obstacle and return, they are reflected through the lens group into the lens module. The lens module (3) is overlapped and symmetrical with the central axis (01) of the sweeping robot, and the lens group is tilted at a certain angle based on the central axis (01) of the sweeping robot. or The lens module (3) is tilted at a certain angle on the central axis (01) of the sweeping robot, and the lens group is tilted at a certain angle based on the central axis of the lens module (3); The laser emission path does not pass through the lens group. It pre-sets the lens module sensor center A, the laser reflection sensor receiving point B, the lens module light entrance point C, the extension line of the sensor center and the light entrance point to the lens intersection point D, and based on the lens reflection point E, the lens extension line to the horizontal end point F of the object, the intersection point G of the reflection point and the horizontal line of the object vertically, the laser emission point I, the object reflection point J, and the intersection point K of the laser emission point and the horizontal line of the object vertically, and then uses the laser reflection angle calculation method to obtain the accurate positioning of the obstacle.

2. The lens optical device according to claim 1, characterized in that: The lens group is a single lens, one side of the lens receives the returned laser in the direct radiation area and transmits it into the lens module, and the other side of the lens receives the returned laser in the reflection area and reflects it into the lens module.

3. The lens optical device according to claim 1, characterized in that: The lens group (11) comprises a plurality of lenses, and the returned laser light in the direct area enters the lens module by transmission through one or more lenses, and the returned laser light in the reflection area enters the lens module by reflection through one or more lenses.

4. The lens optical device according to claim 3, characterized in that: The lens group (11) consists of two lenses, which are spread out in a V-shape, with the symmetry line of the V-shape overlapping the central axis (01) of the sweeping robot, the two sides of the V-shape being reflection areas, and the middle of the V-shape being a direct illumination area.

5. The lens optical device according to claim 3, characterized in that: The lens group (11) comprises two lenses, and the two lenses are arranged one in front of the other and at opposite crossing angles.

6. The lens optical device according to claim 3, characterized in that: The lens group (11) is a semi-transparent and semi-reflective conical mirror, the conical mirror and the lens module (3) are symmetrical about the central axis, and the overall circular wall thickness of the conical mirror remains consistent.

7. The lens optical device according to claim 3, characterized in that: The invention comprises a main frame seat, the main frame seat is used to fix the lens module and the lens group; comprises a side seat (16), the side seat comprises a corner (161) and a mounting column (162), the corner (161) is fixed on the main frame seat (15), and the mounting column (162) is fixed on the lower end of the corner (161); comprises a support bar (12), the support bar (12) is fixed on the top surface of the main frame seat (15), and the support bar (12) is matched with the connection seam of the lens group (11); comprises a lens cover (17), the lens A cover member (17) is connected to the top surface of the main frame seat (15). The lens cover member (17) can completely cover and protect the lens group (11). The lens cover member (17) comprises a protective shell (171) and an insertion rod (172). The protective shell (171) is annular. A hole for light to pass through is left at the top of the protective shell (171). The insertion rod (172) is fixed to the outer wall of the protective shell (171). The top surface of the main frame seat (15) is provided with an insertion hole (14) corresponding to the insertion rod (172).

8. A lens optical receiving method, characterized in that: A lens optical device comprising the lens optical device as claimed in any one of claims 1 to 7, wherein a laser emitter above the optical device emits lasers in multiple directions in a time-sharing manner, and a laser light source receiving area of ​​a lens module (3) is divided into a direct emission area and a reflection area. The reflection area and the direct emission area work in a time-sharing manner. The number of areas is equal to the number of laser emitters. The lens is parallel to the edge of one or more of the areas. When one of the laser emitters emits lasers, the other laser emitters stop working. The laser reflected back from the object is reflected or transmitted into the lens module through the lens. At this time, the lens module also synchronizes the received optical information with the corresponding environmental data. Multiple lasers work in a time-sharing manner, and the laser light source information returned by the multiple lasers is sequentially imported. Finally, all the laser light source information collected by the lens module (3) is calculated and sorted to obtain complete large-angle surrounding environment information.

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