Zoom optical system and robot with bionic human eyes

Abstract

According to the zoom optical system and the robot with the bionic human eyes, the system comprises the liquid zoom lens assembly, the optical filter and the imaging surface, in an imaging light path of the zoom optical system, the optical filter is arranged behind the liquid zoom lens assembly, the imaging surface is arranged behind the optical filter, and the imaging surface is arranged behind the optical filter. The liquid zoom lens assembly can realize quick zoom and automatic focusing only by curvature adjustment, and is simple in structure, few in fault and high in imaging stability. The optical filter is used for transmitting the light with the target wavelength in the imaging light beam modulated by the liquid zoom lens assembly, and the imaging surface is used for converging the light with the target wavelength to form a target image. According to the technical scheme, stray light can be filtered while quick zooming and automatic focusing are performed, so that a clear and pure target image is formed on an imaging surface, and the focusing speed and the imaging performance of the zoom optical system are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of optical technology, and in particular to a zoom optical system and a robot with a bionic human eye. BACKGROUND

[0002] In the field of optical imaging, detection and precision observation, as a core optical element, the zoom performance of a lens directly determines the applicable scenarios and imaging quality of a zoom optical system.

[0003] In related technologies, fixed-focus optical systems are generally used in the field of smart wearable devices and robots, and mainly rely on lens groups with fixed focal lengths to achieve imaging, which has the problems of slow focusing speed and blurred imaging in complex environments.

[0004] Therefore, how to improve the focusing speed and imaging performance of a zoom optical system has become a technical problem to be solved. SUMMARY

[0005] Embodiments of the present application provide a zoom optical system and a robot with a bionic human eye to solve the problems of low focusing speed and poor imaging performance of the zoom optical system in related technologies.

[0006] In a first aspect, the embodiments of the present application provide a zoom optical system, comprising: a liquid zoom lens assembly, a filter and an imaging surface; in the imaging light path of the zoom optical system, the filter is arranged after the liquid zoom lens assembly, and the imaging surface is arranged after the filter;

[0007] The liquid zoom lens assembly is configured to perform optical modulation on an imaging light beam in response to a control signal, change the focal length by adjusting the curvature to achieve zooming and auto-focusing, and correct optical aberration.

[0008] The filter is configured to transmit light of a target wavelength in the imaging light beam modulated by the liquid zoom lens assembly.

[0009] The imaging surface is configured to converge the light of the target wavelength to form a target image.

[0010] In a possible implementation, the liquid zoom lens assembly comprises a liquid zoom lens and a lens group; in the imaging light path, the lens group is arranged behind the liquid zoom lens.

[0011] The liquid zoom lens is configured to change the shape of a diaphragm to adjust the curvature of the liquid zoom lens in response to a control signal, so that the imaging light beam transmitted by the liquid zoom lens changes accordingly.

[0012] The lens group comprises at least one lens configured to correct optical aberration of the imaging light beam.

[0013] In a possible implementation, the lens group comprises five lenses arranged in sequence, each lens having different refractive index and dispersion coefficient.

[0014] In a possible implementation, the liquid zoom lens assembly comprises a liquid zoom lens and a lens group; the lens group comprises a plurality of lenses having different refractive index and dispersion coefficient.

[0015] In the imaging light path, the liquid zoom lens is arranged behind any lens in the lens group.

[0016] The liquid zoom lens is provided with a diaphragm, and the liquid zoom lens is configured to change the shape of the diaphragm to adjust the curvature of the liquid zoom lens in response to a control signal, so that the imaging light beam transmitted through the liquid zoom lens is refracted correspondingly.

[0017] Any lens in the lens group is configured to correct optical aberration of the imaging light beam based on the refractive index and the dispersion coefficient.

[0018] In a possible implementation, the surface of any lens in the lens group is provided with a diaphragm element; the diaphragm element is configured to regulate the light amount and the beam range of the imaging light beam refracted by the lens.

[0019] In a possible implementation, the refractive index ranges from 1.5 to 1.7, and the dispersion coefficient ranges from 20 to 60.

[0020] In a possible implementation, the effective surface of each lens in the lens group is an even aspheric surface.

[0021] In a possible implementation, the performance indicators among the liquid zoom lens, the lens group, the filter, and the imaging surface satisfy a preset constraint condition.

[0022] In a second aspect, the embodiments of the present application provide a robot with a bionic human eye, the robot being provided with the zoom optical system according to any one of the first aspect.

[0023] The zoom optical system and the robot with bionic human eyes provided by the embodiment of the application, the system comprises a liquid zoom lens assembly, a filter and an imaging surface, the filter is arranged after the liquid zoom lens assembly in the imaging light path of the zoom optical system, and the imaging surface is arranged after the filter, wherein the liquid zoom lens assembly is used for performing optical modulation on an imaging light beam in response to a control signal, changing a focal length by adjusting a curvature to realize zooming and automatic focusing, and correcting optical aberration, the liquid zoom lens assembly can realize fast zooming and automatic focusing only by curvature adjustment, has a simple structure, few faults, strong imaging stability, the filter is used for transmitting light rays of a target wavelength in the imaging light beam modulated by the liquid zoom lens assembly, and the imaging surface is used for converging the light rays of the target wavelength to form a target image. The technical scheme can realize fast zooming and automatic focusing while filtering stray light, make the imaging surface form a clear and pure target image, and improve the focusing speed and imaging performance of the zoom optical system. BRIEF DESCRIPTION OF DRAWINGS

[0024] The drawings incorporated into the specification and forming part of the specification, show embodiments consistent with the application, and together with the specification serve to explain the principles of the application.

[0025] Figure 1 The structural schematic diagram of the zoom optical system provided by the embodiment of the application is shown in the figure.

[0026] Figure 2 The structural schematic diagram of the liquid zoom lens provided by the embodiment of the application is shown in the figure.

[0027] Figure 3 The basic parameter configuration schematic diagram of the zoom optical system provided by the embodiment of the application is shown in the figure.

[0028] Figure 4 The basic parameter configuration schematic diagram of the lens group of the zoom optical system provided by the embodiment of the application is shown in the figure.

[0029] Figure 5 The surface parameter schematic diagram of the liquid zoom lens provided by the embodiment of the application is shown in the figure.

[0030] Figure 6 The imaging light beam propagation path diagram of the zoom optical system provided by the embodiment of the application is shown in the figure.

[0031] Figure 7 The imaging performance diagram of the zoom optical system provided by the embodiment of the application at different temperatures under 0.7-meter object distance is shown in the figure.

[0032] Figure 8 The imaging performance diagram of the zoom optical system provided by the embodiment of the application under 5-meter and 0.2-meter object distances is shown in the figure.

[0033] Figure 9An imaging optical transfer function diagram of a zoom optical system provided by an embodiment of the present application at 0.6 meter object distance;

[0034] Figure 10 A propagation diagram of an imaging light beam of a zoom optical system provided by an embodiment of the present application;

[0035] Figure 11 A structural diagram of a robot provided by an embodiment of the present application with a bionic human eye.

[0036] The specific embodiments of the present application have been shown by the above-described drawings, and will be described in more detail hereinafter. These drawings and textual descriptions are not intended to limit the scope of the concept of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0037] In order to make the purposes, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions of the embodiments of the present application will be described clearly and completely below in combination with the drawings of the embodiments of the present application. Obviously, the described embodiments are some of the embodiments of the present application, but not all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without any creative work fall within the scope of protection of the present application.

[0038] Before introducing the embodiments of the present application, the application background of the embodiments of the present application is first explained:

[0039] In the field of optical imaging, detection and precision observation, as a core optical element, the zoom performance of a lens directly determines the applicable scene and imaging quality of a zoom optical system. The traditional optical system mainly relies on mechanical structure to drive multiple lenses to move to realize zoom function, and mainly has the following problems:

[0040] Firstly, the mechanical zoom structure is large in size and heavy in weight, and is difficult to adapt to the requirements of miniaturization and integration of equipment, and the mechanical parts are prone to wear and jam after long-term use, resulting in a decrease in zooming precision and a shortening of service life. Secondly, the response speed of mechanical adjustment is slow, and cannot meet the real-time zooming requirements in dynamic scenes, and the movement of multiple lenses is prone to introduce aberration offset, which requires additional design of a complex aberration correction structure, increasing the cost and design difficulty of the zoom optical system.

[0041] With the rapid development of consumer electronics, autonomous driving, medical diagnosis and other fields, higher requirements are put forward for the zoom performance of optical systems, not only to realize long-term stable zoom without mechanical wear and tear, but also to consider miniaturization, fast response and low power consumption, and at the same time, to have a large range of diopter adjustment capability to adapt to different object distance scenes. In addition, the imaging stability of traditional fixed focal length lenses or mechanical zoom systems is easily affected when dealing with complex environments, and it is difficult to meet the precise imaging needs in harsh working conditions such as aerospace and vehicle-mounted.

[0042] In summary, how to improve the focusing speed and imaging performance of the zoom optical system has become a technical problem to be solved.

[0043] In view of the technical problems existing in the related art, the inventor's idea of the present application is as follows: for the slow focusing speed and low imaging performance of the zoom optical system, a liquid zoom lens is taken as the core, the deformation amplitude of the deformed film is adjusted by precise pressure control, the internal liquid is quickly extruded to change the curvature, the instantaneous switching of the diopter is realized, the liquid zoom lens and the lens group are cooperated to correct the aberration, when the liquid zoom lens is dynamically focused, the even aspheric surface and the high and low dispersion coefficient of the material of the lens group are matched, the spherical aberration and the chromatic aberration are compensated in real time, and the imaging contrast is improved, and then the imaging light beams of the liquid zoom lens and the lens group after adjustment and correction are converted into target images by the optical filter and the imaging surface.

[0044] Among them, the places not described in detail are disclosed by the following embodiments.

[0045] In the following, the technical solutions of the present application will be described in detail through specific embodiments. It should be noted that the following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments.

[0046] Figure 1 The structural schematic diagram of the zoom optical system provided by the embodiments of the present application is shown in Figure 1 The system includes a liquid zoom lens assembly, an optical filter and an imaging surface. In the imaging light path of the zoom optical system, the optical filter is arranged after the liquid zoom lens assembly, and the imaging surface is arranged after the optical filter.

[0047] As shown in Figure 1 The zoom optical system includes a total of 19 surfaces. The surfaces 1 to 16 are 16 surfaces of the liquid zoom lens assembly, the surfaces 17 to 18 are the optical filter, and the surface 19 is the imaging surface.

[0048] Among them, the liquid zoom lens assembly is used to respond to the control signal to perform optical modulation on the imaging light beam, to change the focal length by adjusting the curvature, to realize zoom and auto-focusing, and to cooperate with the correction of optical aberration.

[0049] Specifically, the liquid zoom lens assembly includes a liquid zoom lens and a lens group, and the lens group is arranged behind the liquid zoom lens in an imaging light path.

[0050] The liquid zoom lens is configured to change a shape of a membrane in the liquid zoom lens to adjust a curvature of the liquid zoom lens in response to a control signal, so as to cause a corresponding refraction change of an imaging light beam transmitted through the liquid zoom lens.

[0051] Exemplarily, Figure 2 A structural schematic diagram of the liquid zoom lens provided by the embodiment of the present application is shown in Figure 2 As shown, the liquid zoom lens includes a surface 1, a surface 2, a surface 3, a surface 4, and a surface 5.

[0052] The surface 1 and the surface 2 are optical glass, a membrane between the surface 2 and the surface 3 is used for encapsulating liquid, a liquid is filled between the surface 3 and the surface 4, and a membrane between the surface 4 and the surface 5 is used for encapsulating liquid.

[0053] In one example, the membrane between the surface 2 and the surface 3 used for encapsulating liquid is an upward (English: TOP) membrane, and the membrane between the surface 4 and the surface 5 used for encapsulating liquid is a bottom (English: Bottom) deformation membrane.

[0054] The lens group includes at least one lens for correcting optical aberration of the imaging light beam.

[0055] Specifically, the lens group includes five lenses arranged in sequence, and each lens has different refractive index and dispersion coefficient.

[0056] The refractive index ranges from 1.5 to 1.7.

[0057] The dispersion coefficient ranges from 20 to 60.

[0058] Exemplarily, Figure 3 A basic parameter configuration schematic diagram of the zoom optical system provided by the embodiment of the present application is shown in Figure 3 As shown, the second lens (i.e., the surface 6 and the surface 7 in Figure 1 ) is selected from optical resin with refractive index of 1.512 and dispersion coefficient of 56.817, which is low in expansion and resistant to high temperature; the third lens (i.e., the surface 9 and the surface 10 in Figure 1 ) is selected from resin material with refractive index of 1.535 and dispersion coefficient of 55.780, which is low in expansion and resistant to high temperature; the fourth lens (i.e., the surface 11 and the surface 12 in Figure 1 ) is selected from resin material with refractive index of 1.639 and dispersion coefficient of 23.290; and the fifth lens (i.e., the surface 13 and the surface 14 in Figure 1The surface 13 and the surface 14 in the sixth lens (i.e. Figure 1 The surface 15 and the surface 16 in the sixth lens (i.e.

[0059] In the lens group, the surface type of each effective surface of the lens is even aspheric surface.

[0060] The surface type of the ten optical effective surfaces of the second lens to the sixth lens is even aspheric surface, and the even aspheric surface type satisfies the following formula:

[0061]

[0062] In the formula, Z is the sag of the aspheric surface at a height of h along the optical axis. c = 1 / r, r represents the curvature radius of the lens surface, k is the conic coefficient, A is the fourth aspheric coefficient, B is the sixth aspheric coefficient, C is the eighth aspheric coefficient, D is the tenth aspheric coefficient, E is the twelfth aspheric coefficient, F is the fourteenth aspheric coefficient, and G is the sixteenth aspheric coefficient.

[0063] An exemplary embodiment of the lens group of the zoom optical system provided by the present application is shown in FIG. 1. Figure 4 As shown in FIG. 1, the basic parameter configuration of the lens group of the zoom optical system provided by the present application is shown, including the values of k, A, B, C, D, E, F, and G of the surface 6, the surface 7, and the surfaces 9 to 16. Figure 4

[0064] Specifically, the liquid zoom lens assembly includes a liquid zoom lens and a lens group, and the lens group includes a plurality of lenses with different refractive indexes and dispersion coefficients.

[0065] In the imaging light path, the liquid zoom lens is arranged behind any lens in the lens group.

[0066] The liquid zoom lens is provided with a diaphragm, and the liquid zoom lens is used to change the shape of the diaphragm to adjust the curvature of the liquid zoom lens in response to a control signal, so that the imaging light beam transmitted by the liquid zoom lens is refracted correspondingly.

[0067] Any lens in the lens group is used to correct the optical aberration of the imaging light beam based on the refractive index and the dispersion coefficient.

[0068] ​In this process, when the object distance to the object to be imaged changes, the zoom optical system needs to adjust the focal length. The zoom optical system inputs a control signal to the liquid zoom lens, and the liquid zoom lens responds to the control signal, driving the internal thin film to stretch or contract, thereby changing the curvature of the light-transmitting area of ​​the liquid zoom lens. The imaging beam transmitted through the lens in the lens group (that is, the lens before the liquid zoom lens) is incident on the liquid zoom lens after the shape adjustment, and is refracted accordingly due to the change in curvature of the liquid zoom lens, thereby adjusting the propagation path of the imaging beam and ultimately achieving the focal length adjustment effect.

[0069] In the above process, the lens before the liquid zoom lens in the lens group performs optical aberration correction on the imaging beam passing through it based on its inherent refractive index and dispersion coefficient, ensuring that the imaging beam entering the liquid zoom lens meets the basic image quality requirements and avoiding the superposition of aberrations from affecting the final imaging effect.

[0070] In addition, an aperture element is provided on the surface of any lens in the lens group.

[0071] The aperture element is used to control the amount of light entering the imaging beam and the beam range after it is refracted by the lens.

[0072] It is worth noting that the aperture element is set on the surface of any lens in the lens group behind the liquid zoom lens (e.g., Figure 1 As shown, the aperture element is set on the surface 9 of the third lens (the surface of the aperture element is surface 8), or it can be set on the surface of any lens in the lens group in front of the liquid zoom lens.

[0073] For example, such as Figure 1 As shown, the imaging beam, after being modulated by the liquid zoom lens and the second lens, passes through the aperture element on the surface 9 of the third lens. The aperture element controls the imaging beam that is about to be incident on the rear lens by adjusting the size of the aperture of its central through hole, thus limiting the imaging range of the beam.

[0074] The aperture size of the aperture element can be a preset fixed aperture or an adjustable aperture structure. There is no limitation here, and it can be configured according to the actual application.

[0075] A filter is used to transmit light of the target wavelength in an imaging beam modulated by a liquid zoom lens assembly.

[0076] The imaging plane is used to converge light of the target wavelength to form a target image.

[0077] The filter performs spectral filtering on the imaging beam modulated by the liquid zoom lens assembly, transmitting only the target wavelength light and blocking stray light of non-target wavelengths. The target wavelength light filtered by the filter is transmitted to the imaging surface, where it converges to form the target image, thus completing the entire imaging process.

[0078] Specifically, the performance indicators of the liquid zoom lens, lens group, filter, and imaging surface meet the preset constraints.

[0079] The first lens (i.e., the liquid zoom lens) has a diopter adjustment range of -1 dpt to 15 dpt, and the preset constraint conditions are shown in the following formula:

[0080]

[0081] In the formula, TTL is the total length of the lens group (e.g., Figure 1 The lengths of surfaces 1 to 19 are: IH is the full field-of-view image height on the diagonal; FOV is the field of view angle of the zoom optical system; f2 is the focal length of the second lens; f3 is the focal length of the third lens; f4 is the focal length of the fourth lens; f5 is the focal length of the fifth lens; and f6 is the focal length of the sixth lens.

[0082] For example, Figure 5 A schematic diagram of the surface parameters of the liquid zoom lens provided for the implementation of this application is shown below. Figure 5 As shown, the object plane refers to the plane on which the object to be imaged is located. In Example 1, the zoom optical system images at an object distance of 0.7 meters, at which the liquid zoom lens does not participate in zooming. In Example 2, the zoom optical system images at an object distance of 5 meters, where the liquid zoom lens becomes a concave lens with a refractive power D2 of -0.56D. In Example 3, the zoom optical system images at an object distance of 0.2 meters, where the liquid zoom lens becomes a convex lens with a refractive power D3 of 1.6D. In Example 4, the zoom optical system images at an object distance of 0.6 meters, where the liquid zoom lens becomes a convex lens with a refractive power D4 of 14.6D. Figure 6 The imaging beam propagation path diagram of the zoom optical system provided in the embodiments of this application is as follows: Figure 6 It demonstrates the paths of light of different wavelengths propagating and refracting within a complex lens array.

[0083] For example, Figure 7 The imaging performance diagrams of the zoom optical system provided in this application embodiment at different temperatures at an object distance of 0.7 meters are shown. Figure 7 The vertical axis represents modulation contrast. Figure a shows the imaging performance at 10℃, Figure b shows the imaging performance at 25℃, Figure c shows the imaging performance at 35℃, and Figure d shows the imaging performance at 60℃.

[0084] like Figure 7As shown in FIG. 6, the peak values of the plurality of modulation transfer function curves in the performance graph at different temperatures under the condition of 0.7 meter object distance and 90 lp / mm response frequency are concentrated near the focal shift of 0 millimeter, which indicates that the imaging effect of the zoom optical system is better at the position of the focal shift of 0 millimeter, and the light is more concentrated. The peak values of the plurality of modulation transfer function curves are in the range of 0.5-1.0, which indicates that the better the contrast and other image quality indexes of the imaging under the corresponding focal shift, the more concentrated the distribution of the modulation transfer function curve, and the higher the imaging stability of the zoom optical system at different temperatures under the condition of 0.7 meter object distance.

[0085] Exemplarily, Figure 8 the imaging performance graph of the zoom optical system provided by the embodiment of the present application under the conditions of 5 meter and 0.2 meter object distance, Figure 8 the ordinate is the modulation contrast, a graph is the imaging performance graph under the condition of 5 meter object distance and 90 lp / mm response frequency, and b graph is the imaging performance graph under the condition of 0.2 meter object distance and 90 lp / mm response frequency, as shown in FIG. 5, Figure 8 the peak values of the plurality of modulation transfer function curves in the performance graph at different temperatures under the conditions of 5 meter and 0.2 meter object distance are concentrated near the focal shift of 0 millimeter, which is similar to the performance graph in Figure 7 , and thus indicates that the imaging stability of the zoom optical system under different object distances is high.

[0086] Exemplarily, Figure 9 the imaging optical transfer performance graph of the zoom optical system provided by the embodiment of the present application under the condition of 0.6 meter object distance, as shown in FIG. 8, Figure 9 in the region of small field of view (that is, close to the center of the imaging position, and the Y field of view value is small), the optical transfer values of the optical transfer function (OTF) curves are all high and close to each other, which indicates that the imaging quality of the center region of the picture is good, and the detail restoration capability is strong. With the increase of the Y field of view (close to the edge of the picture), the optical transfer function values gradually decrease, and some curves decrease more obviously, which reflects that the imaging quality of the edge region of the picture is relatively reduced compared with the center region, but the overall imaging level can still be maintained, which indicates that the zoom optical system has good imaging performance consistency in the field of view from the center to the edge.

[0087] Exemplarily, Figure 10 the propagation schematic diagram of the imaging light beam of the zoom optical system provided by the embodiment of the present application, as shown in FIG. 9, Figure 10 after the imaging light beam of the object to be photographed is optically modulated by the liquid zoom lens assembly, the modulated imaging light beam is transmitted by the optical filter, and finally the transmitted imaging light beam is converged on the imaging surface to form a target image.

[0088] In summary, the above-mentioned zoom optical system is spatially compact, has no complex mechanical structure, has a longer service life of several billion times of focusing, has no mechanical wear and friction during the focusing process and cannot generate movable dirt, has a focusing response time of milliseconds, can achieve clear focusing at an object distance of 6 cm to 5 m, has an equivalent focal length of 19 mm, has a field of view FOV of more than 100 deg, has a wider angle of view, is suitable for shooting scenes such as buildings and landscapes, can accommodate more picture elements, and has a strong visual impact. The imaging clarity is not affected by temperature in the range of 10 DEG C to 60 DEG C, and the imaging clarity is not affected by the heating temperature.

[0089] The zoom optical system provided by the embodiments of the present application comprises a liquid zoom lens assembly, a filter, and an imaging surface. The filter is arranged after the liquid zoom lens assembly in the imaging light path of the zoom optical system, and the imaging surface is arranged after the filter. The liquid zoom lens assembly is used to perform optical modulation on an imaging light beam in response to a control signal, to change the focal length by adjusting the curvature, to achieve zooming and automatic focusing, and to correct optical aberration. The liquid zoom lens assembly can achieve fast zooming and automatic focusing only by curvature adjustment, has a simple structure, has few faults, and has strong imaging stability. The filter is used to transmit light of a target wavelength in the imaging light beam modulated by the liquid zoom lens assembly. The imaging surface is used to converge the light of the target wavelength to form a target image. The technical solution can achieve fast zooming and automatic focusing while filtering stray light, so that the imaging surface forms a clear and pure target image, and the focusing speed and imaging performance of the zoom optical system are improved.

[0090] Figure 11 The structure schematic diagram of the robot provided by the embodiments of the present application with a bionic human eye is shown in FIG. 1, which comprises a robot body 1, a bionic human eye 2, and a zoom optical system 3. Figure 11 The zoom optical system 3 is arranged on the bionic human eye 2. Figure 1 The zoom optical system 3 is arranged on the bionic human eye 2.

[0091] The functions and effects of the zoom optical system in the robot with a bionic human eye are as shown in the above embodiments, which will not be described here.

[0092] It should be understood that the present application is not limited to the precise construction which has been described above and illustrated in the accompanying drawings, and that various modifications and changes can be made without departing from the scope thereof. The scope of the application is limited only by the appended claims.

Claims

1. A zoom optical system, characterized in that, The application relates to a zoom optical system, which comprises a liquid zoom lens assembly, a filter and an imaging surface; the filter is arranged behind the liquid zoom lens assembly in an imaging light path of the zoom optical system, and the imaging surface is arranged behind the filter; the liquid zoom lens assembly is used for optically modulating an imaging light beam in response to a control signal, changing a focal length by adjusting a curvature to realize zooming and automatic focusing, and correcting optical aberration; the filter is used for transmitting light of a target wavelength in the imaging light beam modulated by the liquid zoom lens assembly; and the imaging surface is used for converging the light of the target wavelength to form a target image. The liquid zoom lens assembly comprises a liquid zoom lens and a lens group; the lens group is arranged behind the liquid zoom lens in the imaging light path; the liquid zoom lens is provided with a diaphragm, and is used for changing a shape of the diaphragm to adjust a curvature of the liquid zoom lens in response to the control signal, so that the imaging light beam transmitted through the liquid zoom lens is refracted correspondingly; and the lens group comprises at least one lens, which is used for correcting optical aberration of the imaging light beam. The lens group comprises five lenses arranged in sequence, and each lens has different refractive index and dispersion coefficient. The liquid zoom lens assembly comprises a liquid zoom lens and a lens group; the lens group comprises a plurality of lenses with different refractive index and dispersion coefficient; the liquid zoom lens is arranged behind any lens of the lens group in the imaging light path; the liquid zoom lens is provided with a diaphragm, and is used for changing a shape of the diaphragm to adjust a curvature of the liquid zoom lens in response to the control signal, so that the imaging light beam transmitted through the liquid zoom lens is refracted correspondingly; and any lens of the lens group is used for correcting optical aberration of the imaging light beam based on the refractive index and the dispersion coefficient. The surface of any lens of the lens group is provided with a diaphragm element; and the diaphragm element is used for regulating the light quantity and the light beam range of the imaging light beam refracted by the lens.

2. The system of claim 1, wherein, The refractive index ranges from 1.5 to 1.

7. The dispersion coefficient ranges from 20 to 60. The effective surface of each lens of the lens group is an even aspheric surface.

3. The system of claim 2, wherein, The performance indexes among the liquid zoom lens, the lens group, the filter and the imaging surface satisfy a preset constraint condition.

4. The system of claim 1, wherein, The robot is provided with the zoom optical system as claimed in any one of claims 1 to 9. ​ ​ ​ 5. The system of claim 3 or 4, wherein, ​ 6. The system of claim 3 or 4, wherein, ​ 7. The system of claim 3 or 4, wherein, ​ 8. The system of claim 3 or 4, wherein, ​ 9. The system of claim 2 or 4, wherein, ​ 10. A robot having a bionic human eye, characterized by comprising: ​

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