Infrared wide-angle lens for sweeping robots and infrared wide-angle lens module for sweeping robots

Abstract

The present invention discloses an infrared wide-angle lens for a sweeping robot and an infrared wide-angle lens module for a sweeping robot, belonging to the field of optical imaging technology. The lens comprises, in order from the object side to the image side along the optical axis: a first lens having negative optical power; a second lens having negative optical power; a third lens having positive optical power; and a fourth lens having positive optical power. The lens satisfies the following conditions: 0.849 ≤ (R21 + R22) / (DT21 + DT22) ≤ 1.035; and 1.000 ≤ (SAG21 + SAG22) / CT2 ≤ 5.003. The above combination of the first, second, third, and fourth lenses improves the contribution of the second lens to the spherical aberration of the optical lens, increases the lens's angle of emission, and facilitates achieving wide-angle characteristics. The lens also reduces lens distortion and improves the stability of the lens's imaging quality.

Description

Technical Field

[0001] The present invention relates to the field of optical imaging technology, and in particular to an infrared wide-angle lens for a sweeping robot and an infrared wide-angle lens module for the sweeping robot. Background Art

[0002] In recent years, with the continuous improvement of people's quality of life, the application of smart homes has gradually become a trend. At the same time, the proportion of infrared lenses in smart home applications has continued to increase. For example, in the application of sweeping robots, the imaging requirements of infrared lenses are becoming increasingly higher. However, among the infrared lenses currently used in sweeping robots, most have a large number of lenses, usually six or more. In addition, traditional infrared lenses also have problems such as a narrow field of view, low image quality, and high cost, making them difficult to meet current market demand.

[0003] Based on this, the present invention proposes an infrared wide-angle lens for use on a sweeping robot that takes into account a large field of view, high imaging quality, and a large image surface, so as to improve the user experience. Summary of the Invention

[0004] In order to overcome the defects of the prior art, the technical problem to be solved by the present invention is to propose an infrared wide-angle lens for a sweeping robot and an infrared wide-angle lens module for a sweeping robot, which meet the requirements of large image surface, large field of view and high imaging quality.

[0005] In a first aspect, an infrared wide-angle lens for a sweeping robot includes the following components arranged in order from the object side to the image side along the optical axis:

[0006] A first lens having negative optical power; its object-side surface is concave near the optical axis; and its image-side surface is concave near the optical axis;

[0007] a second lens having negative optical power; the object-side surface of the second lens is convex near the optical axis;

[0008] a third lens element having positive refractive power and a convex object-side surface near the optical axis; and

[0009] a fourth lens element having positive refractive power and a convex object-side surface near the optical axis;

[0010] The first lens, the second lens, the third lens and the fourth lens are all aspherical lenses;

[0011] The infrared wide-angle lens of the sweeping robot meets the following conditions:

[0012] 0.849≤(R21+R22) / (DT21+DT22)≤1.035;

[0013] 1.000≤(SAG21+SAG22) / CT2≤5.003;

[0014] Among them, R21 is the curvature radius of the object side of the second lens; R22 is the curvature radius of the image side of the second lens; DT21 is the maximum effective radius of the object side of the second lens; DT22 is the maximum effective radius of the image side of the second lens; SAG21 is the sag SG value of the object side of the second lens corresponding to the maximum field of view of the infrared wide-angle lens of the sweeping robot; SAG22 is the sag SG value of the image side of the second lens corresponding to the maximum field of view of the infrared wide-angle lens of the sweeping robot; CT2 is the center thickness of the second lens on the optical axis.

[0015] Optionally, the infrared wide-angle lens of the sweeping robot satisfies the following conditional formula:

[0016] 0.214≤T23 / Tan(Semi-Fov)≤0.759;

[0017] Among them, T23 is the air spacing distance between the second lens and the third lens on the optical axis; Semi-Fov is half of the maximum field of view of the infrared wide-angle lens of the sweeping robot.

[0018] Optionally, the sweeping robot's infrared wide-angle lens satisfies the following conditional formula:

[0019] 0.347≤CT3 / ∑ET≤0.550;

[0020] Wherein, CT3 is the center thickness of the third lens; ΣET is the sum of the edge thicknesses of all lenses in the infrared imaging system.

[0021] Optionally, the sweeping robot's infrared wide-angle lens satisfies the following conditional formula:

[0022] 0.351≤ImgH / (f123+f234)≤0.499;

[0023] Among them, ImgH is the maximum image height of the infrared wide-angle lens of the sweeping robot; f123 is the combined focal length of the first lens, the second lens and the third lens; f234 is the combined focal length of the second lens, the third lens and the fourth lens.

[0024] Optionally, the infrared wide-angle lens of the sweeping robot satisfies the following conditional formula:

[0025] 2.899≤(DT41+DT42) / ET4≤4.083;

[0026] Among them, DT41 is the maximum effective radius of the object side of the fourth lens; DT42 is the maximum effective radius of the image side of the fourth lens; ET4 is the edge thickness of the fourth lens.

[0027] Optionally, the infrared wide-angle lens of the sweeping robot satisfies the following conditional formula:

[0028] 10.431≤TTL / CT1≤22.998;

[0029] Among them, TTL is the distance from the object side of the first lens to the imaging surface of the infrared wide-angle lens of the sweeping robot on the optical axis; CT1 is the center thickness of the first lens.

[0030] Optionally, the infrared wide-angle lens of the sweeping robot satisfies the following conditional formula:

[0031] 4.558≤(f1+f2) / f12≤10.000;

[0032] Wherein, f1 is the effective focal length of the first lens; f2 is the effective focal length of the second lens; and f12 is the combined focal length of the first lens and the second lens.

[0033] Optionally, the infrared wide-angle lens of the sweeping robot satisfies the following conditional formula:

[0034] -99.998≤R11 / SAG31≤-50.164;

[0035] Among them, R11 is the curvature radius of the object side of the first lens; SAG31 is the sag height SG value of the object side of the third lens corresponding to the maximum field angle of view of the infrared wide-angle lens of the sweeping robot.

[0036] In a second aspect, a sweeping robot infrared wide-angle lens module is provided, characterized in that it comprises a sweeping robot infrared wide-angle lens that has a large image surface, a large field of view, and high imaging quality.

[0037] The beneficial effects of the invention are:

[0038] By reasonably allocating the sum of the curvature radius of the object side of the second lens and the curvature radius of the image side of the second lens, while limiting the sum of the maximum effective radius of the object side of the second lens and the maximum effective radius of the image side of the second lens, and constraining the ratio of the two on this basis, it is beneficial to improve the contribution rate of the second lens to the spherical aberration of the optical lens, thereby further improving the imaging quality of the optical lens; at the same time, the range of light passing through the second lens is increased, thereby increasing the emission angle of the infrared wide-angle lens of the sweeping robot, which is beneficial to achieving the wide-angle characteristic of the infrared wide-angle lens of the sweeping robot;

[0039] By reasonably allocating the sum of the sag SG value of the object side of the second lens corresponding to the maximum field angle of the infrared wide-angle lens of the sweeping robot and the sag SG value of the image side of the second lens corresponding to the maximum field angle of the infrared wide-angle lens of the sweeping robot, and on this basis constraining the ratio of the sum to the center thickness of the second lens on the optical axis within a reasonable range, it is beneficial to improve the stray light generated by the reflection of light between the second lenses, reduce the distortion of the infrared wide-angle lens of the sweeping robot, and improve the stability of the imaging quality of the infrared wide-angle lens of the sweeping robot.

[0040] Therefore, satisfying the above two conditions is conducive to achieving at least one of a large image surface, a large field of view, and high imaging quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 1 is a schematic structural diagram of the infrared wide-angle lens of the sweeping robot according to the first embodiment of the present application;

[0042] Figures 2 to 5 The following are, in order, the spherical aberration curve diagram, astigmatism curve diagram, distortion diagram, and magnification chromatic aberration diagram of the infrared wide-angle lens of the sweeping robot in Example 1 of the present application;

[0043] Figure 6 This is a schematic structural diagram of the infrared wide-angle lens of the sweeping robot according to the second embodiment of the present application;

[0044] Figures 7 to 10 The following are, in order, the spherical aberration curve diagram, astigmatism curve diagram, distortion diagram, and magnification chromatic aberration diagram of the infrared wide-angle lens of the sweeping robot in Example 2 of the present application;

[0045] Figure 11 1 is a schematic structural diagram of the infrared wide-angle lens of the sweeping robot according to the third embodiment of the present application;

[0046] Figures 12 to 15 The following are, in order, the spherical aberration curve diagram, astigmatism curve diagram, distortion diagram, and magnification chromatic aberration diagram of the infrared wide-angle lens of the sweeping robot in Example 3 of the present application;

[0047] Figure 16 1 is a schematic structural diagram of the infrared wide-angle lens of the sweeping robot according to the fourth embodiment of the present application;

[0048] Figures 17 to 20 The following are, in order, the spherical aberration curve diagram, astigmatism curve diagram, distortion diagram, and magnification chromatic aberration diagram of the infrared wide-angle lens of the sweeping robot in the fourth embodiment of the present application;

[0049] Figure 21 1 is a schematic structural diagram of the infrared wide-angle lens of the sweeping robot according to the fifth embodiment of the present application;

[0050] Figures 22 to 25The following are the spherical aberration curve diagram, astigmatism curve diagram, distortion diagram and magnification chromatic aberration diagram of the infrared wide-angle lens of the sweeping robot in Example 5 of the present application.

[0051] In the figure: 100, infrared wide-angle lens of the sweeping robot; 11, first lens; 12, second lens; 13, third lens; 14, fourth lens; 15, filter; 16, image sensor. DETAILED DESCRIPTION

[0052] The technical solutions in the embodiments of the present application will be described below with reference to the accompanying drawings.

[0053] It should be noted that, for the convenience of understanding and description, the embodiments of the present application define the representation form of the relevant parameters of the infrared wide-angle lens of the sweeping robot. For example, TTL is used to represent the distance from the object side of the first lens to the imaging surface of the infrared wide-angle lens of the sweeping robot on the optical axis; ImgH represents the maximum image height of the infrared wide-angle lens of the sweeping robot. Similar defined letter representations are merely schematic and can of course be represented in other forms. This application does not impose any limitations on this.

[0054] It should also be noted that the units of the parameters involved in the ratio in the following relationship formula remain consistent. For example, the unit of the numerator is millimeter (mm), and the unit of the denominator is also millimeter (mm).

[0055] It should also be noted that the positive or negative value of the radius of curvature indicates whether the optical surface is convex toward the object side or convex toward the image side. When the optical surface (including the object side surface or the image side surface) is convex toward the object side, the radius of curvature of the optical surface is positive; when the optical surface (including the object side surface or the image side surface) is convex toward the image side, it is equivalent to the optical surface being concave toward the object side, and the radius of curvature of the optical surface is negative.

[0056] It should also be noted that the shape of the lens and the degree of concavity and convexity of the object-side and image-side surfaces in the accompanying drawings are merely illustrative and do not limit the embodiments of the present application. In the present application, the material of the lens can be resin, plastic, or glass. The lens includes spherical lenses and aspherical lenses. The lens can be a fixed focal length lens, a zoom lens, a standard lens, a short-focus lens, or a telephoto lens.

[0057] like Figure 1As shown, the infrared wide-angle lens 100 for a sweeping robot according to an embodiment of the present application comprises four lenses. For ease of description, the left side of the sweeping robot infrared wide-angle lens 100 is defined as the object side (hereinafter also referred to as the object side). The surface of the lens facing the object side is referred to as the object side surface, which can also be understood as the surface of the lens closest to the object side. The right side of the sweeping robot infrared wide-angle lens 100 is defined as the image side (hereinafter also referred to as the image side). The surface of the lens facing the image side is referred to as the image side surface, which can also be understood as the surface of the lens closest to the image side. From the object side to the image side, the sweeping robot infrared wide-angle lens 100 according to an embodiment of the present application comprises, in order from the object side to the image side: a first lens 11, a second lens 12, a third lens 13, and a fourth lens 14. An aperture stop may also be provided on the first lens 11. An image sensor 16, such as a CCD or CMOS, may also be provided behind the fourth lens 14. A filter 15, such as a flat infrared cutoff filter, may also be provided between the fourth lens 14 and the image sensor 16. The sweeping robot infrared wide-angle lens 100 is described in detail below.

[0058] refer to Figure 1 , Figure 1 The middle dashed line is used to represent the optical axis of the lens.

[0059] The infrared wide-angle lens 100 of the robot vacuum cleaner according to the embodiment of the present application includes, from the object side to the image side, the following components:

[0060] a first lens 11 , a second lens 12 , a third lens 13 , and a fourth lens 14 .

[0061] It should be understood that the above-mentioned “lenses of the infrared wide-angle lens of the sweeping robot” refer to the lenses that make up the infrared wide-angle lens of the sweeping robot, which in the embodiment of the present application are the first lens, the second lens, the third lens, and the fourth lens.

[0062] Optionally, in the embodiment of the present application,

[0063] The first lens 11 may have negative optical power, and the object-side surface S1 of the first lens 11 is concave near the optical axis; the image-side surface S2 of the first lens 11 is concave near the optical axis;

[0064] The second lens 12 may have negative optical power, the object-side surface S3 of the second lens 12 may be convex near the optical axis, and the image-side surface S4 of the second lens 12 may be concave near the optical axis;

[0065] The third lens 13 may have positive refractive power, the object-side surface S5 of the third lens 13 is convex near the optical axis, and the image-side surface S6 of the third lens 13 is convex near the optical axis;

[0066] The fourth lens element 14 may have positive refractive power. The object-side surface S7 of the fourth lens element 14 is convex near the optical axis, and the image-side surface S8 of the fourth lens element 14 is concave near the optical axis.

[0067] The infrared wide-angle lens 100 of the sweeping robot satisfies the following relationship:

[0068] 0.849≤(R21+R22) / (DT21+DT22)≤1.035;

[0069] 1.000≤(SAG21+SAG22) / CT2≤5.003;

[0070] (R21+R22) / (DT21+DT22) can be 0.849, 0.959, 0.967, 1.029, 1.035; by reasonably allocating the sum of the curvature radius of the object side of the second lens and the curvature radius of the image side of the second lens, and at the same time limiting the sum of the maximum effective radius of the object side of the second lens and the maximum effective radius of the image side of the second lens, and constraining the ratio of the two on this basis, it is beneficial to improve the contribution rate of the second lens to the spherical aberration of the optical lens, thereby further improving the imaging quality of the optical lens; at the same time, increasing the range of light passing through the second lens, thereby improving the exit angle of the infrared wide-angle lens of the sweeping robot, which is beneficial to realizing the wide-angle characteristics of the infrared wide-angle lens of the sweeping robot.

[0071] (SAG21+SAG22) / CT2 can be 1.000, 2.084, 2.520, 3.329, 5.003; by reasonably allocating the sum of the vector height SG value of the object side of the second lens corresponding to the maximum field angle of the infrared wide-angle lens of the sweeping robot and the vector height SG value of the image side of the second lens corresponding to the maximum field angle of the infrared wide-angle lens of the sweeping robot, and on this basis constraining the ratio of the center thickness of the second lens on the optical axis to a reasonable range, it is beneficial to improve the stray light generated by the reflection of light between the second lenses, reduce the distortion of the infrared wide-angle lens of the sweeping robot, and improve the stability of the imaging quality of the infrared wide-angle lens of the sweeping robot.

[0072] Therefore, satisfying the above two conditions is conducive to achieving at least one of a large image surface, a large field of view, and high imaging quality.

[0073] In certain implementations of the first aspect, the infrared wide-angle lens of the sweeping robot satisfies: 0.214≤T23 / Tan(Semi-Fov)≤0.759;

[0074] T23 / Tan (Semi-Fov) can be 0.214, 0.247, 0.285, 0.328, or 0.759. By properly allocating the ratio of the air separation distance between the second and third lenses on the optical axis to the tangent of half the maximum field of view of the sweeping robot's infrared wide-angle lens and controlling it within a reasonable range, it is beneficial to correct the system chromatic aberration of the optical lens, effectively reducing the spherical aberration, coma, and astigmatism generated by the system, thereby improving the imaging quality of the sweeping robot's infrared wide-angle lens. At the same time, properly controlling the distance between the combined lenses before and after the aperture helps achieve the wide-angle characteristics of the sweeping robot's infrared wide-angle lens.

[0075] In certain implementations of the first aspect, the infrared wide-angle lens of the sweeping robot satisfies: 0.347≤CT3 / ∑ET≤0.550; CT3 / ∑ET can be 0.347, 0.412, 0.433, 0.476, or 0.550; by reasonably distributing the ratio of the center thickness of the third lens to the sum of the edge thicknesses of all lenses in the infrared imaging system within a reasonable range, it is beneficial to improve the stray light generated by the reflection of light between the third lenses, thereby improving the imaging quality of the infrared wide-angle lens of the sweeping robot; at the same time, the processing difficulty of the third lens in production is reduced, thereby improving the production yield of the infrared wide-angle lens of the sweeping robot.

[0076] In certain implementations of the first aspect, the infrared wide-angle lens of the sweeping robot satisfies: 0.351≤ImgH / (f123+f234)≤0.499; ImgH / (f123+f234) can be 0.351, 0.366, 0.391, 0.392, 0.499; by reasonably allocating the combined focal length of the first lens, the second lens and the third lens and the sum of the combined focal lengths of the second lens, the third lens and the fourth lens, and on this basis constraining the ratio of the maximum image height of the infrared wide-angle lens of the sweeping robot to the image height within a reasonable range, it is beneficial to control the total effective focal length and infrared back focus of the infrared wide-angle lens of the sweeping robot while matching a more suitable image plane on the basis of satisfying a larger depth of field range, thereby improving the matching degree of the image sensor, and thus improving the imaging quality of the infrared wide-angle lens of the sweeping robot.

[0077] In certain implementations of the first aspect, the infrared wide-angle lens of the sweeping robot satisfies: 2.899≤(DT41+DT42) / ET4≤4.083; (DT41+DT42) / ET4 can be 2.899, 2.957, 3.967, 4.069, 4.083; by reasonably allocating the sum of the maximum effective radius of the object side of the fourth lens and the maximum effective radius of the image side of the fourth lens, and on this basis constraining the ratio of the edge thickness of the fourth lens to the fourth lens within a reasonable range, it is beneficial to constrain the curved surface shape of the fourth lens, correct the system chromatic aberration of the infrared wide-angle lens of the sweeping robot, improve astigmatism and distortion, and improve imaging quality; at the same time, reducing the structural assembly difficulty of the fourth lens, it is beneficial to improve the stability of the lens group structure.

[0078] In certain implementations of the first aspect, the infrared wide-angle lens of the sweeping robot satisfies: 10.431≤TTL / CT1≤22.998; TTL / CT1 can be 10.431, 13.898, 15.960, 20.109, or 22.998; by reasonably allocating the sum of the distance from the object side of the first lens to the imaging surface of the infrared wide-angle lens of the sweeping robot on the optical axis and the center thickness of the first lens within a reasonable range, the structure of the infrared wide-angle lens of the sweeping robot is made more compact, which is beneficial to shortening the total length of the infrared wide-angle lens of the sweeping robot, reducing the overall thickness of the infrared wide-angle lens of the sweeping robot, and reducing the space occupied by the infrared wide-angle lens of the sweeping robot.

[0079] In certain implementations of the first aspect, the infrared wide-angle lens of the sweeping robot satisfies: 4.558≤(f1+f2) / f12≤10.000; (f1+f2) / f12 can be 4.558, 4.586, 4.680, 4.833, 10.000; by reasonably allocating the sum of the effective focal length of the first lens and the effective focal length of the second lens, and on this basis constraining the ratio thereof to the combined focal length of the first lens and the second lens within a reasonable range, it is beneficial to reasonably control the focal length of the first lens and the second lens before the aperture, and can effectively correct the system chromatic aberration of the infrared wide-angle lens of the sweeping robot, improve distortion and astigmatism, improve the resolution of the infrared wide-angle lens of the sweeping robot, and further improve the imaging quality of the infrared wide-angle lens of the sweeping robot.

[0080] In certain implementations of the first aspect, the infrared wide-angle lens of the sweeping robot satisfies: -99.998≤R11 / SAG31≤-50.164; R11 / SAG31 can be -99.998, -68.549, -68.401, -60.666, -50.164; by reasonably allocating the sum of the curvature radius of the object side of the first lens and the sag height SG value of the object side of the third lens corresponding to the maximum field of view angle of the infrared wide-angle lens of the sweeping robot within a reasonable range, the sensitivity of the infrared wide-angle lens system of the sweeping robot can be reduced, which is beneficial to improving the spherical aberration of the infrared wide-angle lens system of the sweeping robot.

[0081] In the second aspect, a sweeping robot infrared wide-angle lens module is provided, which includes the sweeping robot infrared wide-angle lens in any possible implementation method of the first aspect, and may also include an image sensor, an analog-to-digital converter, an image processor and a memory, etc., to realize the camera function of the sweeping robot infrared wide-angle lens.

[0082] The following will be combined Figures 1 to 25 Some specific but non-limiting examples of the embodiments of the present application are described in more detail.

[0083] It should be noted that the embodiment of the present application does not specifically limit the material of each lens of the infrared wide-angle lens 100 of the sweeping robot.

[0084] Example 1

[0085] The infrared wide-angle lens 100 of a cleaning robot according to an embodiment of the present application includes, from the object side to the image side, a first lens 11, a second lens 12, a third lens 13, and a fourth lens 14. Figure 1 shown.

[0086] For convenience of description, in the following embodiments, Stop represents the surface of the aperture, S1 represents the object side surface of the first lens 11, S2 represents the image side surface of the first lens 11, S3 represents the object side surface of the second lens 12, S4 represents the image side surface of the second lens 12, S5 represents the object side surface of the third lens 13, S6 represents the image side surface of the third lens 13, S7 represents the object side surface of the fourth lens 14, S8 represents the image side surface of the fourth lens 14, S9 represents the object side surface of the filter, S10 represents the image side surface of the filter, and S11 represents the imaging surface. The first lens 11 has negative optical power, and the object-side surface S1 of the first lens 11 is concave near the optical axis; the image-side surface S2 of the first lens 11 is concave near the optical axis; the second lens 12 has negative optical power, the object-side surface S3 of the second lens 12 is convex near the optical axis, and the image-side surface S4 of the second lens 12 may be concave near the optical axis; the third lens 13 has positive optical power, the object-side surface S5 of the third lens 13 is convex near the optical axis, and the image-side surface S6 of the third lens 13 is convex near the optical axis; the fourth lens 14 has positive optical power, the object-side surface S7 of the fourth lens 14 is convex near the optical axis, and the image-side surface S8 of the fourth lens 14 is concave near the optical axis.

[0087] TTL represents the total infrared length of the infrared wide-angle lens 100 for the robot vacuum cleaner, ImgH represents the maximum image height of the infrared wide-angle lens 100 for the robot vacuum cleaner, and EFL represents the effective focal length of the infrared wide-angle lens 100 for the robot vacuum cleaner. Ai represents the correction coefficient of the inth order aspheric surface, where i = 4, 6, 8, 10, 12, 14, or 16, and k represents the conic coefficient.

[0088] According to the above relationship, Table 1 shows the effective focal length EFL, maximum field of view Fov, infrared total length TTL, aperture F value F.No, surface type, curvature radius, thickness, material refractive index and cone coefficient of the infrared wide-angle lens 100 of the sweeping robot in Example 1, wherein the units of the curvature radius and thickness are both millimeters (mm), as shown in Table 1:

[0089] Table 1

[0090]

[0091] Table 2 shows the aspheric coefficients of the infrared wide-angle lens 100 of the sweeping robot according to the first embodiment of the present application, as shown in Table 2:

[0092] Table 2

[0093]

[0094] The non-curved surfaces of the various lenses of the infrared wide-angle lens 100 of the camera sweeping robot satisfy the following requirements:

[0095]

[0096] Wherein, x is the distance vector height from the vertex of the aspheric surface when the aspheric surface is at a height of h along the optical axis; c is the paraxial curvature of the aspheric surface, c = 1 / r (i.e., the paraxial curvature c is the reciprocal of the curvature radius r in Table 1 above); k is the conic coefficient (given in Table 1 above); Ai is the correction coefficient of the i-th order of the aspheric surface, and the higher-order coefficients A4, A6, A8, A10, A12, A14 and A16 of each lens surface S1-S8 are shown in Table 2.

[0097] It should be understood that the aspheric surface of each lens in the infrared wide-angle lens 100 of the sweeping robot can use the aspheric surface shown in the above aspheric surface formula, or other aspheric surface formulas can be used, and this application does not limit it.

[0098] The above gives the design data of the infrared wide-angle lens 100 of the sweeping robot in Example 1 of the present application, the effective focal length EFL is 1.118 mm, the maximum field of view Fov is 143.986 degrees, the total infrared length TTL is 4.136 mm, and the aperture F value F.No is 2.457.

[0099] In one embodiment provided herein, (R21+R22) / (DT21+DT22)=0.849.

[0100] In one embodiment provided herein, (SAG21+SAG22) / CT2=2.084.

[0101] In one embodiment provided in the present application, T23 / Tan(Semi-Fov)=0.285.

[0102] In one embodiment provided in the present application, CT3 / ΣET=0.412.

[0103] In one embodiment provided herein, ImgH / (f123+f234)=0.351.

[0104] In one embodiment provided herein, (DT41+DT42) / ET4=4.069.

[0105] In one embodiment provided in this application, TTL / CT1=10.431.

[0106] In one embodiment provided in the present application, (f1+f2) / f12=10.000.

[0107] In one embodiment provided herein, R11 / SAG31=-68.549.

[0108] Figures 2 to 5The optical performance of the infrared wide-angle lens 100 of the sweeping robot designed with the lens combination method of the first embodiment is described.

[0109] In the first embodiment, the infrared wide-angle lens of the sweeping robot meets the requirements of large image surface, large field of view, and high imaging quality.

[0110] Example 2

[0111] The infrared wide-angle lens 100 of a cleaning robot according to an embodiment of the present application includes, from the object side to the image side, a first lens 11, a second lens 12, a third lens 13, and a fourth lens 14. Figure 6 shown.

[0112] For convenience of description, in the following embodiments, Stop represents the surface of the aperture, S1 represents the object side surface of the first lens 11, S2 represents the image side surface of the first lens 11, S3 represents the object side surface of the second lens 12, S4 represents the image side surface of the second lens 12, S5 represents the object side surface of the third lens 13, S6 represents the image side surface of the third lens 13, S7 represents the object side surface of the fourth lens 14, S8 represents the image side surface of the fourth lens 14, S9 represents the object side surface of the filter, S10 represents the image side surface of the filter, and S11 represents the imaging surface. The first lens 11 has negative optical power, and the object-side surface S1 of the first lens 11 is concave near the optical axis; the image-side surface S2 of the first lens 11 is concave near the optical axis; the second lens 12 has negative optical power, the object-side surface S3 of the second lens 12 is convex near the optical axis, and the image-side surface S4 of the second lens 12 may be concave near the optical axis; the third lens 13 has positive optical power, the object-side surface S5 of the third lens 13 is convex near the optical axis, and the image-side surface S6 of the third lens 13 is convex near the optical axis; the fourth lens 14 has positive optical power, the object-side surface S7 of the fourth lens 14 is convex near the optical axis, and the image-side surface S8 of the fourth lens 14 is concave near the optical axis.

[0113] TTL represents the total infrared length of the infrared wide-angle lens 100 for the robot vacuum cleaner, ImgH represents the maximum image height of the infrared wide-angle lens 100 for the robot vacuum cleaner, and EFL represents the effective focal length of the infrared wide-angle lens 100 for the robot vacuum cleaner. Ai represents the correction coefficient of the inth order aspheric surface, where i = 4, 6, 8, 10, 12, 14, or 16, and k represents the conic coefficient.

[0114] According to the above relationship, Table 3 shows the effective focal length EFL, maximum field of view Fov, infrared total length TTL, aperture F value F.No, surface type, curvature radius, thickness, material refractive index and cone coefficient of the infrared wide-angle lens 100 of the sweeping robot in Example 2, where the units of curvature radius and thickness are both millimeters (mm), as shown in Table 3:

[0115] Table 3

[0116]

[0117] Table 4 shows the aspheric coefficients of the infrared wide-angle lens 100 of the sweeping robot according to the second embodiment of the present application, as shown in Table 4:

[0118] Table 4

[0119]

[0120]

[0121] The non-curved surfaces of the various lenses of the infrared wide-angle lens 100 of the camera sweeping robot satisfy the following requirements:

[0122]

[0123] Wherein, x is the distance vector height from the vertex of the aspheric surface when the aspheric surface is at a height of h along the optical axis; c is the paraxial curvature of the aspheric surface, c = 1 / r (i.e., the paraxial curvature c is the reciprocal of the curvature radius r in Table 3 above); k is the conic coefficient (given in Table 3 above); Ai is the correction coefficient of the i-th order of the aspheric surface, and the higher-order coefficients A4, A6, A8, A10, A12, A14 and A16 of each lens surface S1-S8 are shown in Table 4.

[0124] It should be understood that the aspheric surface of each lens in the infrared wide-angle lens 100 of the sweeping robot can use the aspheric surface shown in the above aspheric surface formula, or other aspheric surface formulas can be used, and this application does not limit it.

[0125] The above gives the design data of the infrared wide-angle lens 100 of the sweeping robot in the second embodiment of the present application, the effective focal length EFL is 1.072mm, the maximum field of view Fov is 150.000 degrees, the total infrared length TTL is 3.991mm, and the aperture F value F.No is 2.418.

[0126] In one embodiment provided herein, (R21+R22) / (DT21+DT22)=1.029.

[0127] In one embodiment provided herein, (SAG21+SAG22) / CT2=1.000.

[0128] In one embodiment provided in the present application, T23 / Tan(Semi-Fov)=0.214.

[0129] In one embodiment provided in the present application, CT3 / ΣET=0.347.

[0130] In one embodiment provided herein, ImgH / (f123+f234)=0.366.

[0131] In one embodiment provided herein, (DT41+DT42) / ET4=2.899.

[0132] In one embodiment provided in this application, TTL / CT1=15.960.

[0133] In one embodiment provided in the present application, (f1+f2) / f12=4.833.

[0134] In one embodiment provided herein, R11 / SAG31=-99.998.

[0135] Figures 7 to 10 The optical performance of the infrared wide-angle lens 100 of the sweeping robot designed with the lens combination method of the second embodiment is described.

[0136] In the second embodiment, the infrared wide-angle lens of the sweeping robot meets the requirements of large image surface, large field of view, and high imaging quality.

[0137] Example 3

[0138] The infrared wide-angle lens 100 of a cleaning robot according to an embodiment of the present application includes, from the object side to the image side, a first lens 11, a second lens 12, a third lens 13, and a fourth lens 14. Figure 11 shown.

[0139] For convenience of description, in the following embodiments, Stop represents the surface of the aperture, S1 represents the object side surface of the first lens 11, S2 represents the image side surface of the first lens 11, S3 represents the object side surface of the second lens 12, S4 represents the image side surface of the second lens 12, S5 represents the object side surface of the third lens 13, S6 represents the image side surface of the third lens 13, S7 represents the object side surface of the fourth lens 14, S8 represents the image side surface of the fourth lens 14, S9 represents the object side surface of the filter, S10 represents the image side surface of the filter, and S11 represents the imaging surface. The first lens 11 has negative optical power, and the object-side surface S1 of the first lens 11 is concave near the optical axis; the image-side surface S2 of the first lens 11 is concave near the optical axis; the second lens 12 has negative optical power, the object-side surface S3 of the second lens 12 is convex near the optical axis, and the image-side surface S4 of the second lens 12 may be concave near the optical axis; the third lens 13 has positive optical power, the object-side surface S5 of the third lens 13 is convex near the optical axis, and the image-side surface S6 of the third lens 13 is convex near the optical axis; the fourth lens 14 has positive optical power, the object-side surface S7 of the fourth lens 14 is convex near the optical axis, and the image-side surface S8 of the fourth lens 14 is concave near the optical axis.

[0140] TTL represents the total infrared length of the infrared wide-angle lens 100 for the robot vacuum cleaner, ImgH represents the maximum image height of the infrared wide-angle lens 100 for the robot vacuum cleaner, and EFL represents the effective focal length of the infrared wide-angle lens 100 for the robot vacuum cleaner. Ai represents the correction coefficient of the inth order aspheric surface, where i = 4, 6, 8, 10, 12, 14, or 16, and k represents the conic coefficient.

[0141] According to the above relationship, Table 5 shows the effective focal length EFL, maximum field of view Fov, infrared total length TTL, aperture F value F.No, surface type, curvature radius, thickness, material refractive index and cone coefficient of the infrared wide-angle lens 100 of the sweeping robot in Example 3, where the units of curvature radius and thickness are both millimeters (mm), as shown in Table 5:

[0142] Table 5

[0143]

[0144] Table 6 shows the aspheric coefficients of the infrared wide-angle lens 100 of the sweeping robot according to the third embodiment of the present application, as shown in Table 6:

[0145] Table 6

[0146]

[0147]

[0148] The non-curved surfaces of the various lenses of the infrared wide-angle lens 100 of the camera sweeping robot satisfy the following requirements:

[0149]

[0150] Wherein, x is the distance vector height from the vertex of the aspheric surface when the aspheric surface is at a height of h along the optical axis; c is the paraxial curvature of the aspheric surface, c = 1 / r (i.e., the paraxial curvature c is the reciprocal of the curvature radius r in Table 5 above); k is the conic coefficient (given in Table 5 above); Ai is the correction coefficient of the i-th order of the aspheric surface, and the higher-order coefficients A4, A6, A8, A10, A12, A14 and A16 of each lens surface S1-S8 are shown in Table 6.

[0151] It should be understood that the aspheric surface of each lens in the infrared wide-angle lens 100 of the sweeping robot can use the aspheric surface shown in the above aspheric surface formula, or other aspheric surface formulas can be used, and this application does not limit it.

[0152] The above gives the design data of the infrared wide-angle lens 100 of the sweeping robot in Example 3 of the present application, with an effective focal length EFL of 0.858 mm, a maximum field of view Fov of 120.061 degrees, an infrared total length TTL of 4.451 mm, and an aperture F value F.No of 2.478.

[0153] In one embodiment provided herein, (R21+R22) / (DT21+DT22)=0.959.

[0154] In one embodiment provided herein, (SAG21+SAG22) / CT2=5.003.

[0155] In one embodiment provided in the present application, T23 / Tan(Semi-Fov)=0.759.

[0156] In one embodiment provided in the present application, CT3 / ΣET=0.433.

[0157] In one embodiment provided herein, ImgH / (f123+f234)=0.499.

[0158] In one embodiment provided herein, (DT41+DT42) / ET4=2.957.

[0159] In one embodiment provided in this application, TTL / CT1=13.898.

[0160] In one embodiment provided in the present application, (f1+f2) / f12=4.586.

[0161] In one embodiment provided herein, R11 / SAG31=-60.666.

[0162] Figures 12 to 15 The optical performance of the infrared wide-angle lens 100 of the sweeping robot designed with the lens combination method of the third embodiment is described.

[0163] In the third embodiment, the infrared wide-angle lens of the sweeping robot meets the requirements of large image surface, large field of view, and high imaging quality.

[0164] Example 4

[0165] The infrared wide-angle lens 100 of a cleaning robot according to an embodiment of the present application includes, from the object side to the image side, a first lens 11, a second lens 12, a third lens 13, and a fourth lens 14. Figure 16 shown.

[0166] For convenience of description, in the following embodiments, Stop represents the surface of the aperture, S1 represents the object side surface of the first lens 11, S2 represents the image side surface of the first lens 11, S3 represents the object side surface of the second lens 12, S4 represents the image side surface of the second lens 12, S5 represents the object side surface of the third lens 13, S6 represents the image side surface of the third lens 13, S7 represents the object side surface of the fourth lens 14, S8 represents the image side surface of the fourth lens 14, S9 represents the object side surface of the filter, S10 represents the image side surface of the filter, and S11 represents the imaging surface. The first lens 11 has negative optical power, and the object-side surface S1 of the first lens 11 is concave near the optical axis; the image-side surface S2 of the first lens 11 is concave near the optical axis; the second lens 12 has negative optical power, the object-side surface S3 of the second lens 12 is convex near the optical axis, and the image-side surface S4 of the second lens 12 may be concave near the optical axis; the third lens 13 has positive optical power, the object-side surface S5 of the third lens 13 is convex near the optical axis, and the image-side surface S6 of the third lens 13 is convex near the optical axis; the fourth lens 14 has positive optical power, the object-side surface S7 of the fourth lens 14 is convex near the optical axis, and the image-side surface S8 of the fourth lens 14 is concave near the optical axis.

[0167] TTL represents the total infrared length of the infrared wide-angle lens 100 for the robot vacuum cleaner, ImgH represents the maximum image height of the infrared wide-angle lens 100 for the robot vacuum cleaner, and EFL represents the effective focal length of the infrared wide-angle lens 100 for the robot vacuum cleaner. Ai represents the correction coefficient of the inth order aspheric surface, where i = 4, 6, 8, 10, 12, 14, or 16, and k represents the conic coefficient.

[0168] According to the above relationship, Table 7 shows the effective focal length EFL, maximum field of view Fov, infrared total length TTL, aperture F value F.No, surface type, curvature radius, thickness, material refractive index and cone coefficient of the infrared wide-angle lens 100 of the sweeping robot in Example 4, where the units of the curvature radius and thickness are both millimeters (mm), as shown in Table 7:

[0169] Table 7

[0170]

[0171] Table 8 shows the aspheric coefficients of the infrared wide-angle lens 100 of the sweeping robot according to the fourth embodiment of the present application, as shown in Table 8:

[0172] Table 8

[0173]

[0174]

[0175] The non-curved surfaces of the various lenses of the infrared wide-angle lens 100 of the camera sweeping robot satisfy the following requirements:

[0176]

[0177] Wherein, x is the distance vector height from the vertex of the aspheric surface when the aspheric surface is at a height of h along the optical axis; c is the paraxial curvature of the aspheric surface, c = 1 / r (i.e., the paraxial curvature c is the reciprocal of the curvature radius r in Table 7 above); k is the conic coefficient (given in Table 7 above); Ai is the correction coefficient of the i-th order of the aspheric surface, and the higher-order coefficients A4, A6, A8, A10, A12, A14 and A16 of each lens surface S1-S8 are shown in Table 8.

[0178] It should be understood that the aspheric surface of each lens in the infrared wide-angle lens 100 of the sweeping robot can use the aspheric surface shown in the above aspheric surface formula, or other aspheric surface formulas can be used, and this application does not limit it.

[0179] The above gives the design data of the infrared wide-angle lens 100 of the sweeping robot in the fourth embodiment of the present application, the effective focal length EFL is 0.994mm, the maximum field of view Fov is 149.268 degrees, the total infrared length TTL is 4.022mm, and the aperture F value F.No is 2.460.

[0180] In one embodiment provided herein, (R21+R22) / (DT21+DT22)=1.035.

[0181] In one embodiment provided herein, (SAG21+SAG22) / CT2=2.520.

[0182] In one embodiment provided in the present application, T23 / Tan(Semi-Fov)=0.247.

[0183] In one embodiment provided in the present application, CT3 / ΣET=0.550.

[0184] In one embodiment provided herein, ImgH / (f123+f234)=0.391.

[0185] In one embodiment provided herein, (DT41+DT42) / ET4=4.083.

[0186] In one embodiment provided in this application, TTL / CT1=20.109.

[0187] In one embodiment provided in the present application, (f1+f2) / f12=4.558.

[0188] In one embodiment provided herein, R11 / SAG31=-68.401.

[0189] Figures 17 to 20 The optical performance of the infrared wide-angle lens 100 of the sweeping robot designed with the lens combination method of the fourth embodiment is described.

[0190] In the fourth embodiment, the infrared wide-angle lens of the sweeping robot meets the requirements of large image surface, large field of view, and high imaging quality.

[0191] Example 5

[0192] The infrared wide-angle lens 100 of a cleaning robot according to an embodiment of the present application includes, from the object side to the image side, a first lens 11, a second lens 12, a third lens 13, and a fourth lens 14. Figure 21 shown.

[0193] For convenience of description, in the following embodiments, Stop represents the surface of the aperture, S1 represents the object side surface of the first lens 11, S2 represents the image side surface of the first lens 11, S3 represents the object side surface of the second lens 12, S4 represents the image side surface of the second lens 12, S5 represents the object side surface of the third lens 13, S6 represents the image side surface of the third lens 13, S7 represents the object side surface of the fourth lens 14, S8 represents the image side surface of the fourth lens 14, S9 represents the object side surface of the filter, S10 represents the image side surface of the filter, and S11 represents the imaging surface. The first lens 11 has negative optical power, and the object-side surface S1 of the first lens 11 is concave near the optical axis; the image-side surface S2 of the first lens 11 is concave near the optical axis; the second lens 12 has negative optical power, the object-side surface S3 of the second lens 12 is convex near the optical axis, and the image-side surface S4 of the second lens 12 may be concave near the optical axis; the third lens 13 has positive optical power, the object-side surface S5 of the third lens 13 is convex near the optical axis, and the image-side surface S6 of the third lens 13 is convex near the optical axis; the fourth lens 14 has positive optical power, the object-side surface S7 of the fourth lens 14 is convex near the optical axis, and the image-side surface S8 of the fourth lens 14 is concave near the optical axis.

[0194] TTL represents the total infrared length of the infrared wide-angle lens 100 for the robot vacuum cleaner, ImgH represents the maximum image height of the infrared wide-angle lens 100 for the robot vacuum cleaner, and EFL represents the effective focal length of the infrared wide-angle lens 100 for the robot vacuum cleaner. Ai represents the correction coefficient of the inth order aspheric surface, where i = 4, 6, 8, 10, 12, 14, or 16, and k represents the conic coefficient.

[0195] According to the above relationship, Table 9 shows the effective focal length EFL, maximum field of view Fov, infrared total length TTL, aperture F value F.No, surface type, curvature radius, thickness, material refractive index and cone coefficient of the infrared wide-angle lens 100 of the sweeping robot in Example 5, where the units of the curvature radius and thickness are both millimeters (mm), as shown in Table 9:

[0196] Table 9

[0197]

[0198] Table 10 shows the aspheric coefficients of the infrared wide-angle lens 100 of the sweeping robot according to the fifth embodiment of the present application, as shown in Table 10:

[0199] Table 10

[0200] Face number A4 A6 A8 A10 A12 A14 A16 S1 2.025E-01 -5.337E-02 7.226E-03 -3.981E-04 5.001E-06 -9.440E-06 2.062E-06 S2 1.069E+00 -1.960E+00 2.031E+00 -1.779E-01 -9.618E-01 3.026E-01 8.793E-02 S3 1.683E+00 -2.789E+00 5.910E-01 -9.202E+00 3.122E+01 -3.359E+01 1.243E+01 S4 1.461E+00 3.627E+00 -9.205E+01 3.862E+02 -7.734E+02 7.323E+02 -1.783E+02 S5 -2.587E-01 -5.853E-01 7.157E+00 -1.000E+02 2.945E+02 2.344E+03 -1.243E+04 S6 -1.432E+00 7.350E+00 -3.597E+01 1.286E+02 -3.097E+02 4.502E+02 -2.969E+02 S7 -5.467E-01 1.207E+00 -6.296E+00 8.233E+00 -4.053E+00 1.285E+01 -1.744E+01 S8 -2.391E-01 -7.960E-02 -3.669E-01 -2.239E+00 1.056E+01 -1.282E+01 5.061E+00

[0201] The non-curved surfaces of the various lenses of the infrared wide-angle lens 100 of the camera sweeping robot satisfy the following requirements:

[0202]

[0203] Wherein, x is the distance vector height from the vertex of the aspheric surface when the aspheric surface is at a height of h along the optical axis; c is the paraxial curvature of the aspheric surface, c = 1 / r (i.e., the paraxial curvature c is the reciprocal of the curvature radius r in Table 9 above); k is the cone coefficient (given in Table 9 above); Ai is the correction coefficient of the i-th order of the aspheric surface, and the higher-order coefficients A4, A6, A8, A10, A12, A14 and A16 of each lens surface S1-S8 are shown in Table 10.

[0204] It should be understood that the aspheric surface of each lens in the infrared wide-angle lens 100 of the sweeping robot can use the aspheric surface shown in the above aspheric surface formula, or other aspheric surface formulas can be used, and this application does not limit it.

[0205] The above gives the design data of the infrared wide-angle lens 100 of the sweeping robot in the fifth embodiment of the present application, the effective focal length EFL is 0.936mm, the maximum field of view Fov is 146.468 degrees, the total infrared length TTL is 4.596mm, and the aperture F value F.No is 2.451.

[0206] In one embodiment provided herein, (R21+R22) / (DT21+DT22)=0.967.

[0207] In one embodiment provided herein, (SAG21+SAG22) / CT2=3.329.

[0208] In one embodiment provided in the present application, T23 / Tan(Semi-Fov)=0.328.

[0209] In one embodiment provided in the present application, CT3 / ΣET=0.476.

[0210] In one embodiment provided herein, ImgH / (f123+f234)=0.392.

[0211] In one embodiment provided herein, (DT41+DT42) / ET4=3.967.

[0212] In one embodiment provided in this application, TTL / CT1=22.998.

[0213] In one embodiment provided in the present application, (f1+f2) / f12=4.680.

[0214] In one embodiment provided herein, R11 / SAG31=-50.164.

[0215] Figures 22 to 25 The optical performance of the infrared wide-angle lens 100 of the sweeping robot designed with the lens combination method of the fifth embodiment is described.

[0216] In the fifth embodiment, the infrared wide-angle lens of the sweeping robot meets the requirements of large image surface, large field of view, and high imaging quality.

[0217] In addition, the (R21+R22) / (DT21+DT22) ratio, (SAG21+SAG22) / CT2 ratio, T23 / Tan(Semi-Fov) ratio, CT3 / ∑ET ratio, ImgH / (f123+f234) ratio, (DT41+DT42) / ET4 ratio, TTL / CT1 ratio, (f1+f2) / f12 ratio, and R11 / SAG31 ratio corresponding to Examples 1 to 5 are shown in Table 11:

[0218] Table 11

[0219]

[0220]

[0221] The present invention is described through preferred embodiments. Those skilled in the art will appreciate that various modifications and equivalent substitutions may be made to these features and embodiments without departing from the spirit and scope of the invention. The invention is not limited to the specific embodiments disclosed herein; other embodiments falling within the scope of the claims of this application are intended to be protected by the invention.

Claims

1. A sweeping robot infrared wide-angle lens, characterized in that: Along the optical axis from the object side to the image side, they include: A first lens having negative optical power; its object-side surface is concave near the optical axis; and its image-side surface is concave near the optical axis; a second lens having negative optical power; the object-side surface of the second lens is convex near the optical axis; a third lens element having positive refractive power and a convex object-side surface near the optical axis; and a fourth lens element having positive refractive power and a convex object-side surface near the optical axis; The first lens, the second lens, the third lens, and the fourth lens are all aspherical lenses, and the number of lenses having optical power is four; The infrared wide-angle lens of the sweeping robot meets the following conditions: 0.849≤(R21+R22) / (DT21+DT22)≤1.035; 1.000≤(SAG21+SAG22) / CT2≤5.003; Among them, R21 is the curvature radius of the object side of the second lens; R22 is the curvature radius of the image side of the second lens; DT21 is the maximum effective radius of the object side of the second lens; DT22 is the maximum effective radius of the image side of the second lens; SAG21 is the sag SG value of the object side of the second lens corresponding to the maximum field of view of the infrared wide-angle lens of the sweeping robot; SAG22 is the sag SG value of the image side of the second lens corresponding to the maximum field of view of the infrared wide-angle lens of the sweeping robot; CT2 is the center thickness of the second lens on the optical axis.

2. The infrared wide-angle lens of the sweeping robot according to claim 1, characterized in that: The infrared wide-angle lens of the sweeping robot meets the following conditions: 0.214≤T23 / Tan(Semi-Fov)≤0.759; Among them, T23 is the air spacing distance between the second lens and the third lens on the optical axis; Semi-Fov is half of the maximum field of view of the infrared wide-angle lens of the sweeping robot.

3. The infrared wide-angle lens of the sweeping robot according to claim 1, characterized in that: The infrared wide-angle lens of the sweeping robot meets the following conditions: 0.347≤CT3 / ∑ET≤0.550; Wherein, CT3 is the center thickness of the third lens; ΣET is the sum of the edge thicknesses of all lenses in the infrared wide-angle lens of the sweeping robot.

4. The infrared wide-angle lens of the sweeping robot according to claim 1, characterized in that: The infrared wide-angle lens of the sweeping robot meets the following conditions: 0.351≤ImgH / (f123+f234)≤0.499; Among them, ImgH is the maximum image height of the infrared wide-angle lens of the sweeping robot; f123 is the combined focal length of the first lens, the second lens and the third lens; f234 is the combined focal length of the second lens, the third lens and the fourth lens.

5. The infrared wide-angle lens of the sweeping robot according to claim 1, characterized in that: The infrared wide-angle lens of the sweeping robot meets the following conditions: 2.899≤(DT41+DT42) / ET4≤4.083; Among them, DT41 is the maximum effective radius of the object side of the fourth lens; DT42 is the maximum effective radius of the image side of the fourth lens; ET4 is the edge thickness of the fourth lens.

6. The infrared wide-angle lens of the sweeping robot according to claim 1, characterized in that: The infrared wide-angle lens of the sweeping robot meets the following conditions: 10.431≤TTL / CT1≤22.998; Among them, TTL is the distance from the object side of the first lens to the imaging surface of the infrared wide-angle lens of the sweeping robot on the optical axis; CT1 is the center thickness of the first lens.

7. The infrared wide-angle lens of the sweeping robot according to claim 1, characterized in that: The infrared wide-angle lens of the sweeping robot meets the following conditions: 4.558≤(f1+f2) / f12≤10.000; Wherein, f1 is the effective focal length of the first lens; f2 is the effective focal length of the second lens; and f12 is the combined focal length of the first lens and the second lens.

8. The infrared wide-angle lens of the sweeping robot according to claim 1, characterized in that: The infrared wide-angle lens of the sweeping robot meets the following conditions: -99.998≤R11 / SAG31≤-50.164; Among them, R11 is the curvature radius of the object side of the first lens; SAG31 is the sag height SG value of the object side of the third lens corresponding to the maximum field angle of view of the infrared wide-angle lens of the sweeping robot.

9. A sweeping robot infrared wide-angle lens module, characterized in that: The invention comprises the infrared wide-angle lens of the sweeping robot according to any one of claims 1 to 8.

Images