A micro-optical system with large field of view and high resolution for binocular positioning

Abstract

The present invention discloses a micro optical system with a large field of view and high resolution for binocular positioning, comprising an end to be positioned, an imaging end, and a lens group arranged along the optical axis between the two ends, wherein the arrangement order of the lens group from the end to be positioned to the imaging end is a first negative lens, a second negative lens, a third negative lens, a first positive lens, a second positive lens, a fourth negative lens, a third positive lens, a fourth positive lens, a fifth positive lens, and a fifth negative lens, and the optical system further comprises an aperture surface between the third positive lens and the fourth positive lens. The field of view of the present invention is wider than that of other space positioning products, with a field of view of 90°. The resolution of the present invention is higher than that of other binocular positioning products, with a resolution of 1.1 mm at 1 m. The present invention solves the problem of low positioning accuracy of tiny objects in space, and the optical system also has the advantages of strong resolving power, low distortion, compact structure, and small chromatic aberration.

Description

Technical Field

[0001] The invention relates to the field of binocular positioning in space, and in particular to a micro optical system with large field of view and high resolution for binocular positioning. Background Art

[0002] The key to binocular positioning is binocular stereo vision technology. Compared with single-view image processing technology, binocular stereo vision technology can obtain depth information by synchronously shooting images with two cameras, thereby improving the accuracy of target recognition, positioning and tracking. In addition, binocular stereo vision technology can also be combined with other sensors such as lidar and inertial navigation to further improve the accuracy of binocular positioning in space.

[0003] At present, the optical system used for binocular positioning in space cannot be too large due to the limitations of rocket launch cost, thrust and weight. Since the environment in space is relatively complex and uncontrollable, the optical system used for binocular positioning needs to be able to capture multiple target points at the same time to improve the accuracy and stability of binocular positioning. Since the accuracy of binocular positioning is directly related to the size of the object that the optical system can distinguish, the optical system used for binocular positioning is also required to have a larger resolution.

[0004] The current development trend of cameras used for binocular positioning in space is to shoot large-format images, resolve smaller objects, and have a lighter weight. However, the optical systems used for binocular positioning in space at home and abroad generally have a small field of view, and the size of the images taken is limited; the resolution is at the centimeter level, which affects the accuracy of binocular positioning; the size and weight are large, which affects the launch cost. Summary of the invention

[0005] The present invention aims to solve the problems that the existing binocular positioning system in space has a small field of view, a limited size of the image captured, a centimeter-level resolution resulting in low positioning accuracy, and a large size and weight that affect the launch cost. The present invention provides a micro-optical system with a large field of view and high resolution for binocular positioning. By reasonably selecting the structure and materials, the optical system meets the requirements of a large field of view, high resolution, high positioning accuracy and a compact structure.

[0006] A micro optical system with a large field of view and high resolution for binocular positioning comprises an end to be positioned, an imaging end and a lens group arranged along an optical axis between the end to be positioned, the imaging end and the centers of each lens are all located on the same optical axis, and the arrangement order of the lens group from the end to be positioned to the imaging end is a first negative lens, a second negative lens, a third negative lens, a first positive lens, a second positive lens, a fourth negative lens, a third positive lens, a fourth positive lens, a fifth positive lens and a fifth negative lens.

[0007] Preferably, the optical system includes an aperture surface located between the third positive lens and the fourth positive lens.

[0008] Preferably, the first negative lens, the second negative lens, the third negative lens, the first positive lens, the second positive lens, the fourth negative lens, the third positive lens, the fourth positive lens, the fifth positive lens and the fifth negative lens are all glass spherical lenses.

[0009] Preferably, the first negative lens, the second negative lens, the third negative lens, the first positive lens, the second positive lens, the fourth negative lens, the third positive lens, the fourth positive lens, the fifth positive lens and the fifth negative lens are located on the same optical axis.

[0010] Preferably, the end to be positioned and the imaging end are both placed perpendicular to the optical axis of the system.

[0011] Preferably, the focal length of the first negative lens is between -30mm and -32mm; the focal length of the second negative lens is between -20mm and -22mm; the focal length of the third negative lens is between -15mm and -17mm; the focal length of the first positive lens is between 15mm and 17mm; the focal length of the second positive lens is between 13mm and 15mm; the focal length of the fourth negative lens is between -25mm and -27mm; the focal length of the third positive lens is between 6mm and 8mm; the focal length of the fourth positive lens is between 80mm and 82mm; the focal length of the fifth positive lens is between 16mm and 18mm; and the focal length of the fifth negative lens is between -5mm and -7mm.

[0012] Preferably, the thickness of the first negative lens is between 1.9 mm and 2 mm; the thickness of the second negative lens is between 1.9 mm and 2 mm; the thickness of the third negative lens is between 1.5 mm and 1.6 mm; the thickness of the first positive lens is between 3.5 mm and 3.6 mm; the thickness of the second positive lens is between 2.4 mm and 2.5 mm; the thickness of the fourth negative lens is between 1 mm and 1.1 mm; the thickness of the third positive lens is between 1.4 mm and 1.5 mm; the thickness of the fourth positive lens is between 0.9 mm and 1 mm; the thickness of the fifth positive lens is between 1.2 mm and 1.3 mm; the thickness of the fifth negative lens is between 0.8 mm and 0.9 mm.

[0013] Preferably, the air space between the first negative lens and the second negative lens is between 3mm and 3.1mm; the air space between the second negative lens and the third negative lens is between 2.9mm and 3mm; the air space between the third negative lens and the first positive lens is between 2.4mm and 2.5mm; the air space between the first positive lens and the second positive lens is between 3.1mm and 3.2mm; the air space between the second positive lens and the fourth negative lens is between 0.6mm and 0.7mm; the air space between the fourth negative lens and the third positive lens is between 0.5mm and 0.6mm; the air space between the third positive lens and the fourth positive lens is between 2.2mm and 2.3mm; the air space between the fourth positive lens and the fifth positive lens is between 0.8mm and 0.9mm; the air space between the fifth positive lens and the fifth negative lens is between 1.1mm and 1.2mm.

[0014] Preferably, the air gap between the aperture surface and the fourth positive lens is 1 mm.

[0015] Preferably, the first negative lens material is K9; the second negative lens material is H-ZF52; the third negative lens material is H-ZF4A; the first positive lens material is H-ZF52; the second positive lens material is H-QK3L; the fourth negative lens material is H-ZF73; the third positive lens material is H-ZK3; the fourth positive lens material is H-BAK7; the fifth positive lens material is H-ZPK5; the fifth negative lens material is H-ZF73.

[0016] Preferably, the imaging spectrum range of the optical system is between 450nm and 750nm.

[0017] Preferably, the field of view angle of the optical system is 90°.

[0018] Preferably, the resolution of the optical system at 1 m is 1.1 mm.

[0019] Beneficial effects of the present invention:

[0020] 1. The optical system described in the present invention has a spectrum ranging from 450nm to 750nm and can be applied to various environments in space.

[0021] 2. The field of view angle of the optical system described in the present invention is 90°, which can significantly increase the frame width of the optical system and provide more target points for binocular positioning.

[0022] 3. The optical system described in the present invention can distinguish objects of 1.1 mm at 1 m, which can improve positioning accuracy; at the same time, the optical system also has the advantages of strong resolution ability, low distortion, compact structure and small chromatic aberration.

[0023] 4. The optical system described in the present invention has a short overall length, a simple structure, and has undergone cost control and optimization, which can significantly save cost and space.

[0024] 5. The present invention is based on the basic principles of imaging optics and uses optical design software to repeatedly optimize the aberration design of the optical system, which can provide high-quality images for binocular positioning. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 This is a schematic diagram of the overall structure of a micro-optical system with a large field of view and high resolution for binocular positioning according to the present invention;

[0026] Figure 2 Schematic diagram of lens group and imaging end;

[0027] Figure 3 is the modulation transfer function curve;

[0028] Figure 4 is a spot diagram;

[0029] Figure 5 is the vertical axis chromatic aberration diagram;

[0030] Figure 6 The distortion diagram.

[0031] In the figure: L, the end to be positioned, M, the lens group, S, the imaging end, M1, the first negative lens, M2, the second negative lens, M3, the third negative lens, M4, the first positive lens, M5, the second positive lens, M6, the fourth negative lens, M7, the third positive lens, M8, the fourth positive lens, M9, the fifth positive lens, M10, the fifth negative lens, T, the aperture surface. DETAILED DESCRIPTION

[0032] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0033] Combination Figures 1 to 6To describe this embodiment, a micro-optical system with a large field of view and high resolution for binocular positioning includes an end L to be positioned, an imaging end S, and a lens group M arranged along the optical axis between the two, wherein the end L to be positioned, the imaging end S, and the center of each lens are all located on the same optical axis, and the arrangement order of the lens group from the end L to be positioned to the imaging end S is a first negative lens M1, a second negative lens M2, a third negative lens M3, a first positive lens M4, a second positive lens M5, a fourth negative lens M6, a third positive lens M7, a fourth positive lens M8, a fifth positive lens M9, and a fifth negative lens M10.

[0034] The optical system also includes an aperture surface T located between the third positive lens M7 and the fourth positive lens M8.

[0035] The first negative lens M1, the second negative lens M2, the third negative lens M3, the first positive lens M4, the second positive lens M5, the fourth negative lens M6, the third positive lens M7, the fourth positive lens M8, the fifth positive lens M9 and the fifth negative lens M10 are all glass spherical lenses located on the same optical axis.

[0036] The end to be positioned L and the imaging end S are both placed perpendicular to the optical axis of the system.

[0037] In this embodiment, the focal length of the first negative lens M1 is between -30mm and -32mm; the focal length of the second negative lens M2 is between -20mm and -22mm; the focal length of the third negative lens M3 is between -15mm and -17mm; the focal length of the first positive lens M4 is between 15mm and 17mm; the focal length of the second positive lens M5 is between 13mm and 15mm; the focal length of the fourth negative lens M6 is between -25mm and -27mm; the focal length of the third positive lens M7 is between 6mm and 8mm; the focal length of the fourth positive lens M8 is between 80mm and 82mm; the focal length of the fifth positive lens M9 is between 16mm and 18mm; the focal length of the fifth negative lens M10 is between -5mm and -7mm.

[0038] In this embodiment, the thickness of the first negative lens M1 is between 1.9 mm and 2 mm; the thickness of the second negative lens M2 is between 1.9 mm and 2 mm; the thickness of the third negative lens M3 is between 1.5 mm and 1.6 mm; the thickness of the first positive lens M4 is between 3.5 mm and 3.6 mm; the thickness of the second positive lens M5 is between 2.4 mm and 2.5 mm; the thickness of the fourth negative lens M6 is between 1 mm and 1.1 mm; the thickness of the third positive lens M7 is between 1.4 mm and 1.5 mm; the thickness of the fourth positive lens M8 is between 0.9 mm and 1 mm; the thickness of the fifth positive lens M9 is between 1.2 mm and 1.3 mm; the thickness of the fifth negative lens M10 is between 0.8 mm and 0.9 mm.

[0039] In this embodiment, the air gap between the first negative lens M1 and the second negative lens M2 is between 3mm and 3.1mm; the air gap between the second negative lens M2 and the third negative lens M3 is between 2.9mm and 3mm; the air gap between the third negative lens M3 and the first positive lens M4 is between 2.4mm and 2.5mm; the air gap between the first positive lens M4 and the second positive lens M5 is between 3.1mm and 3.2mm; the air gap between the second positive lens M5 and the fourth negative lens M6 is between 0.6mm and 0.7mm; the air gap between the fourth negative lens M6 and the third positive lens M7 is between 0.5mm and 0.6mm; the air gap between the third positive lens M7 and the fourth positive lens M8 is between 2.2mm and 2.3mm; the air gap between the fourth positive lens M8 and the fifth positive lens M9 is between 0.8mm and 0.9mm; the air gap between the fifth positive lens M9 and the fifth negative lens M10 is between 1.1mm and 1.2mm.

[0040] In this embodiment, the air gap between the aperture surface T and the fourth positive lens M8 is 1 mm.

[0041] In this embodiment, the material of the first negative lens M1 is K9; the material of the second negative lens M2 is H-ZF52; the material of the third negative lens M3 is H-ZF4A; the material of the first positive lens M4 is H-ZF52; the material of the second positive lens M5 is H-QK3L; the material of the fourth negative lens M6 is H-ZF73; the material of the third positive lens M7 is H-ZK3; the material of the fourth positive lens M8 is H-BAK7; the material of the fifth positive lens M9 is H-ZPK5; the material of the fifth negative lens M10 is H-ZF73.

[0042] In this embodiment, the imaging spectrum range of the optical system is between 450nm and 750nm. The field of view of the optical system is 90°. The resolution of the optical system at 1m is 1.1mm.

[0043] The optical system described in this embodiment takes the working distance of 1m as an example, and provides the parameters of the optical system embodiment as shown in Table 1.

[0044] Table 1 Optical system parameters

[0045] surface Radius of curvature thickness Material Remark 1 Intify 1000 L 2 23.154 1.94 K9 M1 3 9.352 3.05 4 16.894 1.98 H-ZF52 M2 5 7.655 2.95 6 Intify 1.54 H-ZF4A M3 7 7.631 2.43 8 30.267 3.55 H-ZF52 M4 9 -50.67 3.18 10 28.1 2.49 H-QK3L M5 11 -18.7907 0.67 12 -26.405 1.02 H-ZF73 M6 13 Intify 0.55 14 10.498 1.45 H-ZK3 M7 15 Intify 1.26 16 Intify 1 T 17 -9.1619 0.99 H-BAK7 M8 18 -16.162 0.83 19 unlimited 1.24 H-ZPK5 M9 20 -14.314 1.15 21 -7.1298 0.89 H-ZF73 M10 22 -6.5 0.96 23 Intify — S

[0046] The imaging spectrum of the optical system described in the present invention is 450nm to 750nm, the focal length is 5.1mm, the F number is 5.1, the object to be positioned is placed 1000mm to the left of the first negative lens, and the imaging detector is placed 0.96mm to the right of the fifth negative lens. It can be achieved to capture an image with a 90° field of view at a position of 1m, and the minimum object that can be distinguished at 1m is 1.1mm, ultimately achieving high-precision binocular positioning.

[0047] like Figures 3 to 6 As shown in the figure, it is a modulation transfer function curve. In the figure, 91lp / mm is the cut-off frequency when the pixel size is 5.5μm. At this frequency, the modulation transfer function of each field of view is better than 0.3, and the optical system has a strong resolution capability. Figure 4 The spot diagram shows that the average diffuse spot radius of the spot diagrams at different fields of view and wavelengths is smaller than the Airy disk size, and the imaging quality is excellent. Figure 5 This is a vertical axis chromatic aberration diagram. The separation of different colors of light when imaging on the image plane does not exceed 2.5μm. The vertical axis chromatic aberration control effect is excellent and meets the imaging quality requirements. Figure 6 This is the field curvature distortion diagram. The maximum distortion of the optical system does not exceed 0.8%, and the field curvature does not exceed 37μm. It will not cause obvious image deformation and the imaging effect is excellent.

[0048] The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above-mentioned embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0049] The above-mentioned embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A micro optical system with large field of view and high resolution for binocular positioning, comprising a positioning end, an imaging end and a lens group arranged along the optical axis between the two ends, characterized in that: The centers of the end to be positioned, the imaging end and each lens are all located on the same optical axis, and the arrangement order of the lens group from the end to be positioned to the imaging end is the first negative lens, the second negative lens, the third negative lens, the first positive lens, the second positive lens, the fourth negative lens, the third positive lens, the fourth positive lens, the fifth positive lens and the fifth negative lens.

2. According to claim 1, a micro optical system with large field of view and high resolution for binocular positioning, characterized in that: The optical system includes an aperture surface located between the third positive lens and the fourth positive lens.

3. The micro optical system with large field of view and high resolution for binocular positioning according to claim 1, characterized in that: The first negative lens, the second negative lens, the third negative lens, the first positive lens, the second positive lens, the fourth negative lens, the third positive lens, the fourth positive lens, the fifth positive lens and the fifth negative lens are all glass spherical lenses.

4. The micro optical system with large field of view and high resolution for binocular positioning according to claim 1, characterized in that: The end to be positioned and the imaging end are both placed perpendicular to the optical axis of the system.

5. The micro optical system with large field of view and high resolution for binocular positioning according to claim 1, characterized in that: The focal length of the first negative lens is between -30mm and -32mm; the focal length of the second negative lens is between -20mm and -22mm; the focal length of the third negative lens is between -15mm and -17mm; the focal length of the first positive lens is between 15mm and 17mm; the focal length of the second positive lens is between 13mm and 15mm; the focal length of the fourth negative lens is between -25mm and -27mm; the focal length of the third positive lens is between 6mm and 8mm; the focal length of the fourth positive lens is between 80mm and 82mm; the focal length of the fifth positive lens is between 16mm and 18mm; the focal length of the fifth negative lens is between -5mm and -7mm.

6. The micro optical system with large field of view and high resolution for binocular positioning according to claim 1, characterized in that: The thickness of the first negative lens is between 1.9 mm and 2 mm; the thickness of the second negative lens is between 1.9 mm and 2 mm; the thickness of the third negative lens is between 1.5 mm and 1.6 mm; the thickness of the first positive lens is between 3.5 mm and 3.6 mm; the thickness of the second positive lens is between 2.4 mm and 2.5 mm; the thickness of the fourth negative lens is between 1 mm and 1.1 mm; the thickness of the third positive lens is between 1.4 mm and 1.5 mm; the thickness of the fourth positive lens is between 0.9 mm and 1 mm; the thickness of the fifth positive lens is between 1.2 mm and 1.3 mm; the thickness of the fifth negative lens is between 0.8 mm and 0.9 mm.

7. The micro optical system with large field of view and high resolution for binocular positioning according to claim 1, characterized in that: The air space between the first negative lens and the second negative lens is between 3mm and 3.1mm; the air space between the second negative lens and the third negative lens is between 2.9mm and 3mm; the air space between the third negative lens and the first positive lens is between 2.4mm and 2.5mm; the air space between the first positive lens and the second positive lens is between 3.1mm and 3.2mm; the air space between the second positive lens and the fourth negative lens is between 0.6mm and 0.7mm; the air space between the fourth negative lens and the third positive lens is between 0.5mm and 0.6mm; the air space between the third positive lens and the fourth positive lens is between 2.2mm and 2.3mm; the air space between the fourth positive lens and the fifth positive lens is between 0.8mm and 0.9mm; the air space between the fifth positive lens and the fifth negative lens is between 1.1mm and 1.2mm.

8. The micro optical system with large field of view and high resolution for binocular positioning according to claim 1, characterized in that: The air gap between the aperture surface and the fourth positive lens is 1 mm.

9. The micro optical system with large field of view and high resolution for binocular positioning according to claim 1, characterized in that: The first negative lens material is K9; the second negative lens material is H-ZF52; the third negative lens material is H-ZF4A; the first positive lens material is H-ZF52; the second positive lens material is H-QK3L; the fourth negative lens material is H-ZF73; the third positive lens material is H-ZK3; the fourth positive lens material is H-BAK7; the fifth positive lens material is H-ZPK5; The fifth negative lens material is H-ZF73.

10. The micro optical system with large field of view and high resolution for binocular positioning according to claim 1, characterized in that: The imaging spectrum range of the optical system is between 450nm and 750nm; the field of view of the optical system is 90°; and the resolution of the optical system at 1m is 1.1mm.

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