Lens optical device structure
By designing the cross-set lens set, the problem of the inability to identify obstacles in the side area in the existing lidar technology is solved, and a wider and more accurate side light source reception is achieved, the blind spot range is reduced, and the side area recognition capability of the sweeping robot is improved.
Patent Information
- Application Number
- CN202421601718.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-07-08
- Publication Date
- 2025-05-06
- Estimated Expiration
- 2034-07-08
AI Technical Summary
In the existing lidar technology, low-angle lens sets cannot identify obstacles in the side area, and high-angle lens sets occupy a large space, are costly and have low recognition accuracy, which makes it difficult for sweeping robots to identify obstacles in the side area, making collision accidents prone to occur.
A lens optical device structure is designed, including a lens set arranged crosswise. The first lens forms an angle with the second lens, and takes the first lens as a symmetric line. The midpoint O1 of the optical receiver is at the symmetric point O2 of the symmetric line. The second lens is within the range of the light source receiving area, increasing the light source receiving accuracy and the side light source receiving range.
The reception range and accuracy of the side light source of the lens group on the side is improved, the blind spot range is reduced, and the side area recognition capability of the sweeping robot is improved at a low cost without increasing the space occupied by the lens group.
Smart Images
Figure CN222838264U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the field of lenses, in particular to a lens optical device structure. Background Art
[0002] At present, sweeping robots mainly rely on laser radar technology to identify obstacles on the road and avoid them. The widely used LDS (laser radar) technology uses a rotating laser transmitter to continuously emit lasers and receive reflected light. It measures the relative position of the boundary and the machine itself through the principle of triangulation, draws a map of the complete boundary and determines the position of the machine in the map. This technology has the advantages of fast drawing speed and high accuracy, and the requirements for algorithms are relatively low. However, there are still the following problems in today's laser radar technology: low-angle lens groups cannot identify obstacles in the side area, while high-angle lens groups occupy a large space, are more expensive, and have a low accuracy rate in identifying the side area. If the sweeping robot cannot identify obstacles in the side area, collision accidents are likely to occur, causing damage to the sweeping robot.
[0003] How to greatly increase the side area recognition range of the sweeping robot and improve the recognition accuracy through low-cost improvements without increasing the space occupied by the lens group is an issue that technicians in this field urgently need to solve.
[0004] In addition to the field of sweeping robots, the utility model also has a wide application base in other fields including vehicle-mounted radar, laser detection, etc. Utility Model Content
[0005] The purpose of the utility model is to provide a lens optical device structure to solve the problems raised in the above background technology.
[0006] In order to achieve the above purpose, the utility model provides the following technical solutions:
[0007] Provided is a lens optical device structure, comprising a lens group, a base and a lens module, wherein the lens group is fixed at the upper end of the base, the base is provided with a first cavity, the lens module is fixed in the first cavity, and light passing through the lens group is transmitted into the first cavity by direct or reflected light;
[0008] The lens group includes a first lens and a second lens, the first lens is placed at an angle, and the second lens is attached to the bottom side of the first lens at an angle in the opposite direction, the second lens and the first lens form a cross and are respectively fixed on the base, the center point O1 of the light inlet of the lens module takes the second lens as the symmetry axis to form a symmetry point O2, the symmetry point O2 and the right edge of the lens module are connected by an extension line to form a lower edge line of the light source receiving area W1, the symmetry point O2 and the lower right corner of the first lens are connected by an extension line to form an upper edge line of the light source receiving area W1, and the second lens can also observe the area outside the light source receiving area W1.
[0009] Furthermore, the first lens and the second lens are both of cubic structure, the thickness of the first lens and the second lens are consistent and they are made of semi-transparent and semi-reflective material, and the edge of the lens module receiving area is close to the lower left corner of the first lens.
[0010] Furthermore, the lower left corner of the first lens is flush with the lower right corner of the second lens, and the upper left corner of the first lens is flush with the upper right corner of the second lens.
[0011] Furthermore, the lower right corner of the first lens is vertically aligned with the upper right corner of the second lens, and the upper right corner of the first lens is flush with the lower right corner of the second lens.
[0012] Furthermore, a lens frame is provided at the upper end of the base, and the lens frame is composed of a first bracket and a second bracket, and the first bracket and the second bracket are respectively fixed to four ends of the top surface of the first cavity.
[0013] Furthermore, a first mounting hole and a second mounting hole are provided at a distance between the first bracket and the second bracket, which respectively match the first lens and the second lens.
[0014] Furthermore, the second bracket is also provided with a bracket groove, and the bracket groove is communicated with the first mounting hole and the bottoms thereof are flush with each other.
[0015] Furthermore, it comprises a lens cover, which covers the upper end surface of the base, and the lens cover and the base form a closed space and protect the lens group in the closed space.
[0016] Furthermore, the lens cover includes a cover body, and a side cavity and a second cavity are provided on the bottom side of the cover body, the second cavity matches with the upper end of the base, the side cavity matches with the lens group, and the side cavity is communicated with the second cavity.
[0017] Furthermore, the lens module includes an optical receiver and an optical processor. The light from the lens group can be transmitted to the optical receiver and then transmitted from the optical receiver to the optical processor, and then processed by the optical processor to form an object recognition function.
[0018] Compared with the prior art, the beneficial effects of the utility model are:
[0019] The utility model provides a lens optical device structure, and provides a cross-arranged lens group, including a first lens and a second lens, wherein the first lens and the second lens form an angle, the first lens is a symmetry line, the midpoint O1 of the optical receiver is at the symmetry point O2 of the symmetry line, the symmetry point O2 is connected with the upper right corner of the optical processor and an extension line is connected to form a lower edge line of the light source receiving area, the symmetry point O2 is connected with the lower right corner of the first lens and an extension line is connected to form an upper edge line of the light source receiving area, and the second lens is within the light source receiving area. The arrangement of the second lens increases the accuracy of light source reception, and improves the receiving range of the lens group for side light sources. The intersection of the first lens and the second lens is relatively far from the midpoint O1 of the optical receiver, so the blind area caused by the intersection of the first lens and the second lens is reduced. The utility model has the characteristics of a large side light source receiving range and accurate light source reception. BRIEF DESCRIPTION OF THE DRAWINGS
[0020] Figure 1 This is an overall effect diagram of the optical device structure of the lens of the utility model;
[0021] Figure 2 A lens structure diagram of the lens optical device structure of the utility model;
[0022] Figure 3 This is an internal structure diagram of the optical device structure of the lens of the utility model;
[0023] Figure 4 It is a base structure diagram of the lens optical device structure of the utility model;
[0024] Figure 5 This is a lens cover structure diagram of the lens optical device structure of the utility model;
[0025] Figure 6 A lens module structure diagram of the lens optical device structure of the utility model;
[0026] Figure 7 It is the optical area distribution diagram of the optical device structure of the lens of the utility model;
[0027] Figure 8 A lens structure diagram of the optical device structure of the lens of the utility model;
[0028] The markings of the components in the accompanying drawings are as follows: 11, first laser component; 12, second laser component; 13, third laser component; 2, optical component; 21, mirror cover; 211, cover body; 212, plug rod; 213, side cavity; 214, second cavity; 22, base; 221, lens frame; 2211, first bracket; 2212, second bracket; 2213, bracket slot; 222, plug hole; 223, base; 224, support foot; 225, first mounting hole; 226, second mounting hole; 227, light inlet slot; 228, first cavity; 23, lens group; 231, first lens; 232, second lens; 3, lens module; 31, optical receiving Device; 32, optical processor; β1, receiving area angle; β2, angle between the first lens and the second lens; W1, light source receiving area; O1, center point of the light inlet hole of the lens module; O2, symmetric point of the center point of the light inlet hole of the lens module with the first lens as the symmetry axis; M1, lower right corner of the first lens; M2, upper right corner of the first lens; M3, upper left corner of the first lens; M4, lower left corner of the first lens; N1, upper right corner of the second lens; N2, lower right corner of the second lens; X1, parallel line of the lower left corner of the first lens; X2, parallel line of the upper left corner of the first lens; Y1, vertical line of the lower right corner of the first lens; Y2, vertical line of the upper right corner of the first lens; V1, upper right corner of the optical processor. DETAILED DESCRIPTION
[0029] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.
[0030] See also Figures 1 to 6 , a lens optical device structure, comprising a lens group 23 and a base 22, wherein the lens group 23 is fixed to the upper end of the base 22, and the base 22 is provided with a first cavity 228, and light passing through the lens group 23 is transmitted into the first cavity 228 by direct or reflected light;
[0031] The lens group 23 includes a first lens 231 and a second lens 232. The first lens 231 is placed obliquely, and the second lens 232 is attached to the bottom side of the first lens 231 in the opposite direction. The second lens 232 and the first lens 231 form a cross and are respectively fixed on the base 22. Since the lower half of the first lens 231 and the second lens 232 form an inverted V shape, the intersection of the first lens 231 and the second lens 232 will cause unstable light. However, the intersection of the first lens 231 and the second lens 232 is farther from the optical receiver 31 than when placed in a V shape, and the farther the intersection is, the smaller the blind spot formed.
[0032] See also Figure 1 and Figure 3 , including a first laser component 11, a second laser component 12 and a third laser component 13, wherein the first laser component 11, the second laser component 12 and the third laser component 13 are all located above the optical component 2, the optical component 2 includes a base 22 and a lens cover 21, the base 22 includes a base 223, a cavity is provided in the base 223, the lens module 3 is fixed in the cavity, and a support foot 224 is provided at the bottom end of the base 223, and the support foot 224 is respectively fixed to the bottom end of the base 223.
[0033] For details, please refer to Figure 8 , the first lens 231 and the second lens 232 are both cube structures, the thickness of the first lens 231 and the second lens 232 are consistent and are made of semi-transparent and semi-reflective materials, the edge of the receiving area of the lens module 3 is close to the lower left corner of the first lens 231, the four corners of the first lens 231 are M1, M2, M3, and M4, the upper right corner and the lower right corner of the second lens 232 are N1 and N2, the lower left corner M4 of the first lens 231 and the lower right corner N2 of the second lens 232 are connected by X1, the upper left corner M3 of the first lens 231 and the upper right corner N1 of the second lens 232 are connected by X2, X1 and X2 are parallel to each other, and X1 and X2 are both aligned with the lens The upper surface of the module 3 is flush, the connecting line between the upper right corner M2 of the first lens 231 and the lower right corner N2 of the second lens 232 is Y2, the connecting line between the lower right corner M1 of the first lens 231 and the upper right corner N1 of the second lens 232 is Y1, Y1 and Y2 are parallel to each other, and Y1 and Y2 are perpendicular to X1 and X2, that is, the bottom end of the first lens 231 is flush with the lower bottom end of the second lens 232, the right end of the first lens 231 is flush with the right end of the second lens 232, and the angle between the first lens 231 and the second lens 232 is β2, which greatly limits the space occupied by the lens group 23 while satisfying the range of light source reception.
[0034] Specifically, the lower left corner of the first lens 231 is flush with the lower right corner of the second lens 232, and the upper left corner of the first lens 231 is flush with the upper right corner of the second lens 232; the lower right corner of the first lens 231 is vertically flush with the upper right corner of the second lens 232, and the upper right corner of the first lens 231 is flush with the lower right corner of the second lens 232.
[0035] Specifically, a lens frame 221 is provided at the upper end of the base 22, and the lens frame 221 is composed of a first bracket 2211 and a second bracket 2212. The first bracket 2211 and the second bracket 2212 are respectively fixed at the four ends of the top surface of the first cavity 228. The top surfaces of the first bracket 2211 and the second bracket 2212 are flush, and when connected to the mirror cover 21, they are consistent with the inner bottom surface of the second cavity 214 of the mirror cover 21.
[0036] Specifically, a first mounting hole 225 and a second mounting hole 226 are provided at the interval between the first bracket 2211 and the second bracket 2212, which respectively match the first lens 231 and the second lens 232. The second bracket 2212 is also provided with a bracket groove 2213, which is connected with the first mounting hole 225 and the bottoms are flush with each other. When the first lens 231 and the second lens 232 are fixed in the first mounting hole 225 and the second mounting hole 226, they protrude from the outer circumference of the first bracket 2211 and the second bracket 2212 respectively. The first lens 231 and the second lens 232 have the same length and are flush on both sides. The first bracket 2211 and the second bracket 2212 are also provided with a light inlet groove 227 on the side, and the light source is transmitted into the lens group 23 through the light inlet groove 227.
[0037] Specifically, it includes a mirror cover 21, which covers the upper end surface of the base 22. The mirror cover 21 and the base 22 form a closed space and protect the lens group 23 in the closed space. The mirror cover 21 is provided with an insertion rod 212, and the top surface of the base 22 is provided with a corresponding insertion hole 222. The mirror cover 21 is fixed to the base 22 through the insertion rod 212.
[0038] Specifically, the lens cover 21 includes a cover body 211 , and a side cavity 213 and a second cavity 214 are provided on the bottom side of the cover body 211 . The second cavity 214 matches with the upper end of the base 22 , and the side cavity 213 matches with the lens group 23 . The side cavity 213 is communicated with the second cavity 214 .
[0039] For details, please refer to Figure 7 , including a lens module 3, which is fixed in the first cavity 228, and includes an optical receiver 31 and an optical processor 32. The optical light of the lens group 23 can be transmitted into the optical receiver 31, and transmitted to the optical processor 32 by the optical receiver 31. After being processed by the optical processor 32, an object recognition function is formed. The midpoint of the optical receiver 31 is O1, and O1 forms a symmetric point O2 with the first lens 231 as the symmetry axis. The symmetric point O2 and the upper right corner V1 of the optical processor 32 are connected by an extended line to form a lower edge line of the light source receiving area W1. The symmetric point O2 and the lower right corner of the first lens 231 are connected by an extended line to form an upper edge line of the light source receiving area W1. The angle between the upper edge line and the lower edge line of the light source receiving area W1 is β1. The second lens 232 can also observe the opposite side area of the light source receiving area W1.
[0040] The utility model provides a lens optical device structure, and provides a cross-arranged lens group 23, including a first lens 231 and a second lens 232, wherein the first lens 231 and the second lens 232 form an angle, and the first lens 231 is used as a symmetry line, and the midpoint O1 of the optical receiver 31 is at the symmetry point O2 of the symmetry line, and the symmetry point O2 is connected with the upper right corner of the optical processor 32. The extension line forms the lower edge line of the light source receiving area, and the symmetry point O2 is connected with the lower right corner of the first lens 231. The extension line forms the upper edge line of the light source receiving area, and the second lens 232 is within the light source receiving area. The arrangement of the second lens 232 increases the accuracy of light source reception, and improves the receiving range of the lens group 23 for the side light source. The intersection of the first lens 231 and the second lens 232 is relatively far from the midpoint O1 of the optical receiver 31, so the blind area caused by the intersection of the first lens 231 and the second lens 232 is reduced. The utility model has the characteristics of a large side light source receiving range and accurate light source reception. In addition to the field of sweeping robots, the utility model can also be used in other fields including vehicle-mounted radar, automatic driving, etc.
[0041] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes within the technical scope disclosed by the present invention according to the technical scheme and the utility model concept of the present invention, which should be covered by the protection scope of the present invention.
Claims
1. A lens optical device structure, comprising a lens group (23), a base (22) and a lens module (3), characterized in that: The lens group (23) is fixed on the upper end of the base (22); the base (22) is provided with a first cavity (228); the lens module (3) is fixed in the first cavity (228); and light passing through the lens group (23) is transmitted into the first cavity (228) by direct radiation or reflection; The lens group (23) comprises a first lens (231) and a second lens (232); the first lens (231) is placed at an angle, and the second lens (232) is attached to the bottom side of the first lens (231) at an angle in the opposite direction; the second lens (232) and the first lens (231) form a cross and are respectively fixed on the base (22); the center point O1 of the light inlet hole of the lens module forms a symmetric point O2 with the first lens (231) as the symmetry axis; the symmetric point O2 and the right edge of the lens module (3) are connected by an extended line to form a lower edge line of the light source receiving area W1; the symmetric point O2 and the lower right corner of the first lens (231) are connected by an extended line to form an upper edge line of the light source receiving area W1; the second lens (232) can also observe an area outside the light source receiving area W1.
2. The lens optical device structure according to claim 1, characterized in that: The first lens (231) and the second lens (232) are both of cubic structure, the first lens (231) and the second lens (232) have the same thickness and are made of semi-transparent and semi-reflective material, and the edge of the receiving area of the lens module (3) is close to the lower left corner of the first lens (231).
3. The lens optical device structure according to claim 2, characterized in that: The lower left corner of the first lens (231) is flush with the lower right corner of the second lens (232), and the upper left corner of the first lens (231) is flush with the upper right corner of the second lens (232).
4. The lens optical device structure according to claim 2, characterized in that: The lower right corner of the first lens (231) is vertically aligned with the upper right corner of the second lens (232); the upper right corner of the first lens (231) is flush with the lower right corner of the second lens (232).
5. The lens optical device structure according to claim 1, characterized in that: A lens frame (221) is provided at the upper end of the base (22), and the lens frame (221) is composed of a first bracket (2211) and a second bracket (2212), and the first bracket (2211) and the second bracket (2212) are respectively fixed to the four ends of the top surface of the first cavity (228).
6. The lens optical device structure according to claim 5, characterized in that: A first mounting hole (225) and a second mounting hole (226) are provided at the interval between the first bracket (2211) and the second bracket (2212), which respectively match the first lens (231) and the second lens (232).
7. The lens optical device structure according to claim 6, characterized in that: The second bracket (2212) is also provided with a bracket groove (2213), and the bracket groove (2213) is communicated with the first mounting hole (225) and the bottoms thereof are flush with each other.
8. The lens optical device structure according to claim 1, characterized in that: It comprises a mirror cover (21), wherein the mirror cover (21) covers the upper end surface of a base (22), and the mirror cover (21) and the base (22) form a closed space and protect a lens group (23) in the closed space.
9. The lens optical device structure according to claim 8, characterized in that: The lens cover (21) comprises a cover body (211), the bottom side of the cover body (211) is provided with a side cavity (213) and a second cavity (214), the second cavity (214) is matched with the upper end of the base (22), the side cavity (213) is matched with the lens group (23), and the side cavity (213) is communicated with the second cavity (214).
10. The lens optical device structure according to claim 1, characterized in that: The lens module (3) comprises an optical receiver (31) and an optical processor (32). Optical signals from the lens group (23) are transmitted to the optical receiver (31) and transmitted to the optical processor (32). After being processed by the optical processor (32), an object recognition function is formed.