An optical lens and optical communication module for humanoid robot domain control

Abstract

This invention discloses an optical lens and optical communication module for domain control of humanoid robots, relating to the field of optical communication technology. The optical lens is used to collimate the emitted light from an edge-emitting laser. The optical lens includes a first lens portion and a second lens portion, which are integrally formed. The first lens portion has an incident plane at one end facing away from the second lens portion, and the second lens portion has an exit arc surface at one end facing away from the first lens portion. The first lens portion has a first stepped surface opposite to the incident plane, and the second lens portion has a second stepped surface, which is perpendicular to and connected to the first stepped surface and the exit arc surface. The diameter of the projection circle of the first lens portion along the light emission direction is larger than the diameter of the projection circle of the second lens portion along the light emission direction, and the extension direction of the first stepped surface is perpendicular to the light emission direction. This invention solves the problem of low coupling efficiency in existing optical lenses applied to humanoid robots.

Description

Technical Field

[0001] This invention relates to the field of optical communication technology, and in particular to an optical lens and optical communication module for domain control of humanoid robots. Background Technology

[0002] With the rapid development of artificial intelligence, precision sensing, and actuation technologies, humanoid robots are moving from laboratories into diverse and complex scenarios such as specialized operations, social services, and family companionship. Compared to traditional industrial robots, humanoid robots need to perform high-fidelity perception, real-time decision-making, and precise and dexterous operations in unstructured dynamic environments.

[0003] In existing technologies, optical lenses are directly applied to high-end optical communication in humanoid robots. As the first optical element in the optical transmitter head of the optical communication module, they directly collimate the emitted light from edge-emitting lasers (such as VCSELs), laying the foundation for potentially more complex beam shaping (such as homogenization and beam expansion). However, when traditional optical lenses are used for coupling or collimation of high numerical aperture (NA) beams, the non-coincidence of the focal points of the edge and center rays leads to a larger converging spot and an increased divergence angle of the collimated beam, resulting in lower coupling efficiency.

[0004] It is evident that existing optical lenses suffer from low coupling efficiency when applied to humanoid robots. Summary of the Invention

[0005] The purpose of this invention is to provide an optical lens and optical communication module for domain control of humanoid robots, which solves the problem of low coupling efficiency when optical lenses are applied to humanoid robots in the prior art.

[0006] To achieve this objective, the present invention adopts the following technical solution: According to a first aspect, the present invention provides an optical lens for domain control of a humanoid robot. The optical lens is used to collimate the emitted light of an edge-emitting laser. The optical lens includes a first lens portion and a second lens portion, which are integrally formed. The first lens portion has an incident plane at one end opposite to the second lens portion, and the second lens portion has an exit arc surface at one end opposite to the first lens portion. The first lens portion has a first stepped surface opposite to the incident plane, and the second lens portion has a second stepped surface. The second stepped surface is perpendicular to the first stepped surface and is connected to the exiting arc surface. The projection circle diameter of the first lens portion along the light exiting direction is larger than the projection circle diameter of the second lens portion along the light exiting direction, and the extension direction of the first stepped surface is perpendicular to the light exiting direction.

[0007] Optionally, the first lens portion is provided with a third stepped surface, the thickness of the first lens portion along the light emission direction is 1mm, the distance between the incident plane and the emission arc surface is greater than 1mm and less than or equal to 3mm, and the difference between the diameter of the third stepped surface and the diameter of the second stepped surface is 0.7mm.

[0008] Optionally, the first lens portion is provided with a third step surface, a fourth step surface, and a fifth step surface that are perpendicularly connected in sequence. The third step surface is perpendicularly connected to the first step surface, and the fifth step surface is perpendicularly connected to the incident plane. A reflective layer is sprayed on the third step surface, the fourth step surface, and the fifth step surface.

[0009] Optionally, the distance from the second step surface to the third step surface is greater than the distance from the second step surface to the fifth step surface.

[0010] Optionally, the exit arc surface is an aspherical surface, and its surface shape satisfies the following equation: ; in, z Let the sag be the height along the direction of the emitted light. c For curvature, r Radial coordinates, k The conic coefficient, α 1 to α 5 is the coefficient of the higher-order term.

[0011] Optionally, both the exit arc surface and the incident plane are coated with a composite antireflection film. The composite antireflection film includes silicon dioxide layers and tantalum pentoxide layers deposited alternately from the substrate layer outwards, and the total number of layers of the composite antireflection film is 5 to 9.

[0012] Optionally, the composite antireflective membrane is prepared by the following method, including: The exit arc surface and the incident plane are subjected to plasma cleaning, and after cleaning, they are subjected to ion beam bombardment pretreatment in a vacuum environment with a bombardment angle of 30°~60° and a bombardment time of 5~15 minutes. Silica and tantalum pentoxide layers were alternately deposited on the substrate, with the oxygen partial pressure controlled at 1.0 × 10⁻⁶ during each deposition process. -2 Pa ~ 5.0 × 10 -2 Pa, deposition temperature is 80℃~120℃, deposition rate is 0.3 nm / s~0.8 nm / s; After each two layers are deposited, an intermittent annealing treatment is performed at a temperature of 150℃~200℃ for 10~20 minutes, while maintaining an inert gas atmosphere during the annealing process. Repeat the first two steps until a composite antireflection membrane with a total of 5 to 9 layers is prepared. After the final layer of deposition is completed, a final annealing treatment is performed at a temperature of 180℃~220℃ for 30~60 minutes, followed by natural cooling to room temperature.

[0013] Optionally, both the first and second stepped surfaces are used to engage with the external lens barrel or bracket to achieve the positioning and installation of the optical lens.

[0014] Optionally, the optical lens is made of PMMA material and has a refractive index of 1.491.

[0015] According to a second aspect, the present invention provides an optical communication module, including an optical communication transmitter head, wherein a light source and an optical lens for humanoid robot domain control as described in the first aspect are installed inside the optical communication transmitter head, and the optical lens is located on the transmission path of the light beam emitted by the light source.

[0016] Compared with the prior art, the present invention has the following beneficial effects: This invention provides an optical lens and optical communication module for humanoid robot domain control. By designing the first and second lens sections as a single unit and precisely configuring the incident plane, exit arc surface, first step surface, and second step surface, it can more effectively correct the aberrations of the emitted beam from a high numerical aperture edge-emitting laser. This structure optimizes the optical path from the lens center to the edge, allowing edge rays to converge or collimate better with the center rays after passing through the lens, thereby significantly reducing the size of the converged spot and lowering the divergence angle of the collimated beam. Since the first and second step surfaces are perpendicularly connected, a clear structural reference and positioning surface are formed, which not only facilitates the precise installation and fixation of the optical lens itself in the optical communication module but also enhances the mechanical stability and environmental reliability of the entire optical module. Because the projection circle diameter of the first lens section along the light emission direction is larger than that of the second lens section along the light emission direction, the incident end of the optical lens has a larger effective light-passing aperture, which can collect light from a wider angular range emitted by the edge-emitting laser, thereby improving the utilization efficiency of the light source. Meanwhile, the design of extending the first step surface perpendicular to the light emission direction helps to constrain unintended light paths, effectively suppressing internal reflections and stray light generation, and improving the system's signal-to-noise ratio. Therefore, this invention solves the problem of low coupling efficiency when optical lenses are applied to humanoid robots in the prior art. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] The structures, proportions, sizes, etc., shown in the accompanying drawings of this specification are only for the purpose of assisting those skilled in the art in understanding and reading the content disclosed in the specification, and are not intended to limit the conditions under which the present invention can be implemented. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in the proportions, or adjustments to the size, without affecting the effects and objectives that the present invention can produce, should still fall within the scope of the technical content disclosed in the present invention.

[0019] Figure 1 A three-dimensional structural schematic diagram of an optical lens for domain control of a humanoid robot provided in an embodiment of the present invention; Figure 2 A cross-sectional structural diagram of an optical lens for domain control of a humanoid robot provided in an embodiment of the present invention; Figure 3 A three-dimensional structural schematic diagram of another optical lens for humanoid robot domain control provided in an embodiment of the present invention; Figure 4 This is a cross-sectional structural diagram of another optical lens for humanoid robot domain control provided in an embodiment of the present invention.

[0020] Illustration: 10. First lens section; 11. Incident plane; 12. First step surface; 13. Third step surface; 14. Fourth step surface; 15. Fifth step surface; 20. Second lens section; 21. Exit arc surface; 22. Second step surface. Detailed Implementation

[0021] To make the objectives, features, and advantages of this invention more apparent and understandable, the technical solutions of the embodiments of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described below are only some embodiments of this invention, and not all embodiments. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0022] In the description of this invention, it should be understood that the terms "upper," "lower," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. It should be noted that when a component is considered to be "connected" to another component, it can be directly connected to the other component or there may be a component positioned centrally in the connection.

[0023] The technical solution of the present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0024] The first aspect of this invention provides an optical lens for domain control of humanoid robots, such as... Figures 1 to 4 As shown, the optical lens is used to collimate the emitted light of the edge-emitting laser. The optical lens includes a first lens part 10 and a second lens part 20, which are integrally formed. The first lens part 10 has an incident plane 11 at one end facing away from the second lens part 20, and the second lens part 20 has an exit arc surface 21 at one end facing away from the first lens part 10. The first lens section 10 is provided with a first step surface 12 opposite to the incident plane 11, and the second lens section 20 is provided with a second step surface 22. The second step surface 22 is perpendicularly connected to the first step surface 12 and connected to the exit arc surface 21. The diameter of the projection circle of the first lens section 10 along the light exit direction is larger than the diameter of the projection circle of the second lens section 20 along the light exit direction. The extension direction of the first step surface 12 is perpendicular to the light exit direction.

[0025] It should be noted that the optical lens provided by this invention for humanoid robot domain control, by designing the first lens section 10 and the second lens section 20 as an integral part and precisely configuring the incident plane 11, the exit arc surface 21, the first step surface 12, and the second step surface 22, can more effectively correct the aberrations of the emitted beam from a high numerical aperture edge-emitting laser. This structure optimizes the optical path from the center to the edge of the lens, enabling the edge rays and the center rays to converge or collimate better after passing through the lens, thereby significantly reducing the size of the converged spot and lowering the divergence angle of the collimated beam. Since the first step surface 12 and the second step surface 22 are perpendicularly connected, a clear structural reference and positioning surface are formed, which not only facilitates the precise installation and fixation of the optical lens itself in the optical communication module, but also enhances the mechanical stability and environmental reliability of the entire optical module. Because the diameter of the projection circle of the first lens section 10 along the light-emitting direction is larger than that of the second lens section 20 along the light-emitting direction, the incident end of the optical lens has a larger effective light-passing aperture, enabling it to collect light from a wider angular range emitted by the side-emitting laser, thereby improving the utilization efficiency of the light source. Simultaneously, the design of the first stepped surface 12 extending perpendicularly to the light-emitting direction helps to constrain unintended light paths, effectively suppressing internal reflections and stray light generation, and improving the system's signal-to-noise ratio. Therefore, this invention solves the problem of low coupling efficiency in existing optical lenses applied to humanoid robots.

[0026] like Figure 1 and Figure 2 As shown, the first lens section 10 is provided with a third step surface 13. The thickness of the first lens section 10 along the light emission direction is 1 mm. The distance between the incident plane 11 and the emission arc surface 21 is greater than 1 mm and less than or equal to 3 mm. The difference between the diameter of the third step surface 13 and the diameter of the second step surface 22 is 0.7 mm.

[0027] In specific implementation, the third step surface 13 added to the first lens part 10, together with the existing first step surface 12 and second step surface 22, constitutes a multi-level stepped structure. This design, while maintaining the advantage of lightweight lens, significantly enhances the structural rigidity of the lens body through reasonable material distribution, enabling it to better withstand installation stress and minor mechanical impacts in the working environment.

[0028] Furthermore, the 1mm thickness of the first lens portion 10 facilitates precise near-field positioning of its planar incident surface towards the laser emitting surface, which is beneficial for collecting large-angle light. The compact design with a total thickness of ≤3mm allows the lens to be easily integrated into the space-constrained domain controllers (domain controllers) or distributed communication nodes of humanoid robots, such as the fingers, wrists, or heads. This aligns with the urgent need for highly integrated and miniaturized internal actuators and sensor modules in humanoid robots. The diameter difference between the third step surface 13 and the second step surface 22 (diameter of the third step surface 13 - diameter of the second step surface 22 = 0.7mm) creates a precisely dimensional axial positioning shoulder. The 0.7mm radial span difference forms a well-defined mechanical stop surface. When mounting the lens to the lens barrel or module base, this shoulder ensures that the lens's mounting position along the optical axis is consistent and does not overshoot, thus stably maintaining the optimal working distance between the incident plane 11 and the laser emitting surface.

[0029] The stepped structure, consisting of the third step surface 13, the second step surface 22 and the first step surface 12, naturally forms a series of discontinuous inner wall surfaces when it is combined with the inner wall of the lens barrel. These inner wall surfaces can effectively capture and absorb stray light or laser back cavity leakage light incident on the side of the lens at a large angle, preventing it from being reflected multiple times inside the lens barrel and finally reaching the detector, thereby significantly reducing the background noise of the optical system.

[0030] like Figure 3 and Figure 4 As shown, the first lens section 10 has a third step surface 13, a fourth step surface 14, and a fifth step surface 15 that are perpendicularly connected in sequence. The third step surface 13 is perpendicularly connected to the first step surface 12, and the fifth step surface 15 is perpendicularly connected to the incident plane 11. A reflective layer is sprayed on the third step surface 13, the fourth step surface 14, and the fifth step surface 15. The distance from the second step surface 22 to the third step surface 13 is greater than the distance from the second step surface 22 to the fifth step surface 15.

[0031] In practice, reflective layers are sprayed onto the third step surface 13, the fourth step surface 14, and the fifth step surface 15. This changes the traditional passive suppression method that relies on structural absorption or diffuse scattering, and instead forms an active guidance and control mechanism. The reflective layer (usually a highly reflective metal or dielectric film) makes these step surfaces highly efficient reflectors. Stray light incident on these sides (such as back-leaking light from the laser or ambient interference light) is not randomly scattered, but is directionally reflected out of the optical path by this stepped reflective surface system or guided to a preset non-sensitive area (such as a specially designed light-absorbing cavity). This avoids stray light from entering the communication channel after multiple diffuse reflections within the optical cavity, systematically improving the signal-to-noise ratio and extinction ratio of the optical signal. Even if external ambient light (such as indoor lighting or sunlight) attempts to penetrate the lens from the side, it must pass through multiple vertically turning reflective surfaces. Each vertical reflection significantly attenuates its intensity and changes its propagation direction, making it difficult for it to reach the core optical path. This design provides humanoid robots with strong robustness for stable operation in complex and variable lighting environments.

[0032] Because the distance from the second step surface 22 to the third step surface 13 is greater than the distance from the second step surface 22 to the fifth step surface 15, this geometric relationship means that the stepped structure exhibits a specific contour change from the second step surface 22 towards the incident plane 11. First, this non-uniform stepped distribution optimizes the lens's material distribution and stress state, maintaining excellent structural stiffness and torsional resistance while achieving lightweight design. Second, the unique stepped contour provides high-contrast recognition features for automated vision assembly systems. Assembly robots can easily locate the edges of each step through image recognition, achieving precise angular positioning of the lens in the circumferential direction within the lens barrel, ensuring its optical axisymmetry and the pointing accuracy of the laser spot.

[0033] like Figures 1 to 4 As shown, the exit arc surface 21 is an aspherical surface, and its surface shape satisfies the following equation: ; in, z Let the sag be the height along the direction of the emitted light. c For curvature, r Radial coordinates, k The conic coefficient, α 1 to α 5 is the coefficient of the higher-order term.

[0034] In practical implementation, by optimizing the conic coefficient k and the higher-order coefficients α1 to α5, precise compensation can be achieved for specific wavefront errors of the emitted beam from edge-emitting lasers (such as VCSELs). Compared to traditional spherical lenses, this aspherical design eliminates spherical aberration and effectively suppresses off-axis aberrations such as coma and astigmatism. This results in a flatter wavefront after collimation, significantly reducing the divergence angle and approaching the theoretical diffraction limit, thereby improving the optical coupling efficiency of the optical lens to a higher level and laying the core optical foundation for high-speed, low-loss optical communication in humanoid robots. For edge-emitting lasers of different models and with different output characteristics (such as numerical aperture and near-field spot distribution), k and α can be adjusted... i The numerical combination of the values ​​shapes the exit arc surface 21 of the lens; this means that the same lens structure can be optimized through optical design to flexibly adapt to a variety of light sources without changing the mechanical structure, which greatly enhances the universality and portability of the lens in the diverse optical communication modules of humanoid robots.

[0035] like Figures 1 to 4 As shown, both the exit arc surface 21 and the incident plane 11 are coated with a composite antireflection film. The composite antireflection film includes silicon dioxide layers and tantalum pentoxide layers deposited alternately from the substrate layer outwards, with a total number of 5 to 9 layers. In this embodiment, the composite antireflection film can be precisely deposited using mature processes such as ion-assisted deposition (IAD) or magnetron sputtering.

[0036] In practical implementation, the core function of composite antireflection films is to reduce interface reflection. A film structure employing alternating deposition of silicon dioxide (a low-refractive-index material) and tantalum pentoxide (a high-refractive-index material) can achieve superior antireflection effects across a wide spectral range (adapting to laser operating wavelengths such as 850nm and 940nm) through optical interference effects. A total of 5 to 9 layers represents the optimal balance between performance and process complexity. Fewer than 5 layers may not achieve sufficient antireflection within the target wavelength and angle range (single-sided reflectivity below 0.5%); more than 9 layers result in diminishing returns and increase the challenges of stress control and yield. This film system reduces the residual reflectivity at each coating interface to extremely low levels, thereby increasing the overall transmittance of the lens to over 99.5%. For optical communication systems, this directly translates to higher output optical power and receiver signal strength, effectively extending the effective communication distance of humanoid robots or reducing the driving power consumption of their lasers.

[0037] In the specific implementation process, the composite antireflective membrane is prepared using the following methods, including: The exit arc surface 21 and the incident plane 11 are subjected to plasma cleaning, followed by ion beam bombardment pretreatment in a vacuum environment. The bombardment angle is 30°~60°, and the bombardment time is 5~15 minutes. In this embodiment, a capacitively coupled (CCP) parallel plate plasma cleaner or a microwave-excited (MW) remote plasma cleaner is used for plasma cleaning. The equipment includes: a vacuum chamber made of corrosion-resistant material (such as aluminum alloy or stainless steel) with a built-in sample stage for placing lenses; a radio frequency (RF) power supply or microwave power supply for exciting and maintaining the plasma; a mass flow controller (MFC) for precisely controlling the input flow rate of process gas; a high vacuum system, typically composed of mechanical pumps and molecular pumps, for evacuating the chamber to a basic vacuum before cleaning; and a barometer and automatic pressure controller (APC) for real-time monitoring and stabilizing the chamber pressure. Set the radio frequency (13.56MHz) power to 100~300W, or the microwave (2.45GHz) power to 500~1000W, using high-purity (99.999%) argon gas, or a mixture of argon and oxygen (volume ratio argon:oxygen = 4:1), with a gas flow rate of 50~100 sccm, and continue cleaning for 3~8 minutes. Too short a time will result in incomplete cleaning, while too long a time may cause unnecessary minor surface etching or overheating.

[0038] Silicon dioxide and tantalum pentoxide layers were alternately deposited on a substrate using ion-assisted deposition (IAD) or reactive magnetron sputtering techniques known in the art, with the oxygen partial pressure controlled at 1.0 × 10⁻⁶ during each deposition process. -2 Pa ~ 5.0 × 10 -2 Pa, deposition temperature is 80℃~120℃, deposition rate is 0.3 nm / s~0.8 nm / s; After each two layers are deposited, an intermittent annealing treatment is performed at a temperature of 150℃~200℃ for 10~20 minutes, while maintaining an inert gas atmosphere during the annealing process. Repeat the first two steps until a composite antireflection membrane with a total of 5 to 9 layers is prepared. After the final layer of deposition is completed, a final annealing treatment is performed at a temperature of 180℃~220℃ for 30~60 minutes, followed by natural cooling to room temperature.

[0039] In practice, ion beam bombardment pretreatment (30°~60°) not only achieves deep cleaning but also forms nanoscale anchoring structures on the lens surface, significantly increasing the effective contact area and mechanical interlocking between the film and the substrate, thus improving adhesion several times over and avoiding the risk of film peeling under harsh environments. By employing low-speed deposition (0.3nm / s~0.8nm / s) and appropriate temperature control (80℃~120℃), adsorbed atoms are allowed sufficient migration time to reach their lowest energy positions, forming a dense, defect-free columnar crystal structure. Periodic intermittent annealing (150℃~200℃, once every two layers) releases accumulated internal stress in stages during film growth, promoting atomic rearrangement and lattice relaxation, and preventing stress accumulation to destructive levels. Simultaneously, this process eliminates growth defects, improves the chemical stability of the film, and provides a better foundation for the next layer deposition. By employing a final high-temperature annealing process (180℃~220℃), a deep stabilization treatment is carried out after the overall structure is completed, which further integrates the interfaces of each layer, eliminates interlayer stress, and ultimately obtains a multilayer membrane system with near-neutral internal stress and structural stability.

[0040] like Figures 1 to 4 As shown, both the first stepped surface 12 and the second stepped surface 22 are used to engage with the external lens barrel or bracket to achieve the positioning and installation of the optical lens. The optical lens is made of PMMA material with a refractive index of 1.491.

[0041] In practical implementation, the right-angle bend structure formed by the first step surface 12 and the second step surface 22 precisely engages with the corresponding slots or steps on the inner wall of the outer lens barrel or support. The first step surface 12 primarily provides axial (along the light output direction) positioning and limiting, ensuring the lens is precisely fixed in the light output direction and preventing displacement. The second step surface 22 engages with the inner wall of the lens barrel, providing radial support and auxiliary positioning. The optical lens is made of polymethyl methacrylate (PMMA) and manufactured integrally using a precision injection molding process, with a refractive index of 1.491 (at a wavelength of 587.6 nm). This choice is based on the following implementation considerations: PMMA exhibits high transmittance (>92%), low birefringence, and a stable refractive index (1.491) in the visible to near-infrared band (such as the 850nm and 940nm bands commonly used in humanoid robot optical communication). This refractive index value provides accurate material parameter input for the aforementioned aspherical equation design, ensuring a high degree of consistency between theoretical design and actual product optical performance. PMMA possesses excellent injection molding flowability, making it ideal for manufacturing integrated microlenses with complex aspherical surfaces and multi-level microstep structures. Its short molding cycle, high precision, and high yield make it an ideal material for large-scale, low-cost production of the lenses of this invention. PMMA has a low density (approximately 1.19 g / cm³), meeting the lightweight requirements of humanoid robots for actuators and sensor components. Simultaneously, it possesses good weather resistance and mechanical strength, sufficient to withstand the normal vibrations and impacts caused by robot movement.

[0042] A second aspect of the present invention provides an optical communication module, including an optical communication transmitter head, wherein a light source and an optical lens as described in the first aspect for domain control of a humanoid robot are installed inside the optical communication transmitter head, and the optical lens is located on the transmission path of the light beam emitted by the light source.

[0043] It should be noted that the core advantage of this optical communication module stems directly from its integrated dedicated optical lens. The lens's exit arc surface 21 works in conjunction with the composite antireflective coating to efficiently collimate and shape a large divergence angle beam emitted from a light source (such as a side-emitting laser VCSEL) into a high-quality parallel beam with a low divergence angle and high energy density. This ensures that the signal light emitted from the optical communication transmitter has excellent directionality and concentration, thereby achieving higher coupling efficiency, lower transmission loss, and a longer effective communication distance at the system level. This provides a crucial physical layer guarantee for high-speed, reliable data interaction between humanoid robot domain controllers or with external systems. Thanks to the extremely compact design of the optical lens itself (total thickness ≤3mm) and its direct snap-fit ​​mounting method via stepped surfaces, the axial dimension of the entire optical communication transmitter is significantly reduced. This allows the module to be easily embedded within the space-constrained domain control units or distributed sensor nodes of humanoid robots, such as fingers, joints, and heads. The miniaturization of the module directly supports the highly integrated and lightweight design of the robot's body structure.

[0044] Working Principle: This invention provides an optical lens and optical communication module for humanoid robot domain control. By designing the first lens section 10 and the second lens section 20 as a single unit and precisely configuring the incident plane 11, the exit arc surface 21, the first step surface 12, and the second step surface 22, it can more effectively correct the aberrations of the emitted beam from a high numerical aperture edge-emitting laser. This structure optimizes the optical path from the center to the edge of the lens, allowing the edge rays and the center rays to converge or collimate better after passing through the lens, thereby significantly reducing the size of the converged spot and lowering the divergence angle of the collimated beam. Since the first step surface 12 and the second step surface 22 are perpendicularly connected, a clear structural reference and positioning surface are formed, which not only facilitates the precise installation and fixation of the optical lens itself in the optical communication module, but also enhances the mechanical stability and environmental reliability of the entire optical module. Because the diameter of the projection circle of the first lens section 10 along the light-emitting direction is larger than that of the second lens section 20 along the light-emitting direction, the incident end of the optical lens has a larger effective light-passing aperture, enabling it to collect light from a wider angular range emitted by the side-emitting laser, thereby improving the utilization efficiency of the light source. Simultaneously, the design of the first stepped surface 12 extending perpendicularly to the light-emitting direction helps to constrain unintended light paths, effectively suppressing internal reflections and stray light generation, and improving the system's signal-to-noise ratio. Therefore, this invention solves the problem of low coupling efficiency in existing optical lenses applied to humanoid robots.

[0045] The above-described embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An optical lens for domain control of humanoid robots, characterized in that, The optical lens is used to collimate the emitted light of the edge-emitting laser. The optical lens includes a first lens part and a second lens part that are integrally formed. The first lens part has an incident plane at one end opposite to the second lens part, and the second lens part has an exit arc surface at one end opposite to the first lens part. The first lens portion has a first stepped surface opposite to the incident plane, and the second lens portion has a second stepped surface. The second stepped surface is perpendicular to the first stepped surface and is connected to the exiting arc surface. The projection circle diameter of the first lens portion along the light exiting direction is larger than the projection circle diameter of the second lens portion along the light exiting direction, and the extension direction of the first stepped surface is perpendicular to the light exiting direction.

2. The optical lens for humanoid robot domain control according to claim 1, characterized in that, The first lens portion has a third stepped surface, the thickness of the first lens portion along the light emission direction is 1mm, the distance between the incident plane and the emission arc surface is greater than 1mm and less than or equal to 3mm, and the difference between the diameter of the third stepped surface and the diameter of the second stepped surface is 0.7mm.

3. The optical lens for humanoid robot domain control according to claim 1, characterized in that, The first lens portion is provided with a third step surface, a fourth step surface and a fifth step surface that are perpendicularly connected in sequence. The third step surface is perpendicularly connected to the first step surface, and the fifth step surface is perpendicularly connected to the incident plane. A reflective layer is sprayed on the third step surface, the fourth step surface and the fifth step surface.

4. The optical lens for humanoid robot domain control according to claim 3, characterized in that, The distance from the second step surface to the third step surface is greater than the distance from the second step surface to the fifth step surface.

5. The optical lens for humanoid robot domain control according to claim 1, characterized in that, The exit arc surface is an aspherical surface, and its surface shape satisfies the following equation: ； in, z Let the sag be the height along the direction of the emitted light. c For curvature, r Radial coordinates, k The conic coefficient, α 1 to α 5 is the coefficient of the higher-order term.

6. The optical lens for humanoid robot domain control according to claim 1, characterized in that, Both the exit arc surface and the incident plane are coated with a composite antireflection film. The composite antireflection film includes silicon dioxide layers and tantalum pentoxide layers deposited alternately from the substrate layer outwards. The total number of layers in the composite antireflection film is 5 to 9.

7. The optical lens for humanoid robot domain control according to claim 6, characterized in that, The composite antireflective membrane is prepared by the following method, including: The exit arc surface and the incident plane are subjected to plasma cleaning, and after cleaning, they are subjected to ion beam bombardment pretreatment in a vacuum environment with a bombardment angle of 30°~60° and a bombardment time of 5~15 minutes. Silica and tantalum pentoxide layers were alternately deposited on the substrate, with the oxygen partial pressure controlled at 1.0 × 10⁻⁶ during each deposition process. -2 Pa ~ 5.0 × 10 -2 Pa, deposition temperature is 80℃~120℃, deposition rate is 0.3 nm / s~0.8 nm / s; After each two layers are deposited, an intermittent annealing treatment is performed at a temperature of 150℃~200℃ for 10~20 minutes, while maintaining an inert gas atmosphere during the annealing process. Repeat the first two steps until a composite antireflection membrane with a total of 5 to 9 layers is prepared. After the final layer of deposition is completed, a final annealing treatment is performed at a temperature of 180℃~220℃ for 30~60 minutes, followed by natural cooling to room temperature.

8. The optical lens for humanoid robot domain control according to claim 1, characterized in that, Both the first and second stepped surfaces are used to engage with the external lens barrel or bracket to achieve the positioning and installation of the optical lens.

9. The optical lens for humanoid robot domain control according to claim 1, characterized in that, The optical lens is made of PMMA material and has a refractive index of 1.

491.

10. An optical communication module, characterized in that, The device includes an optical communication transmitter, which is equipped with a light source and an optical lens for humanoid robot domain control as described in any one of claims 1 to 9, wherein the optical lens is located on the transmission path of the light beam emitted by the light source.

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