CN112068284B - A large field of view optical system for binocular stereo vision - Google Patents
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- 239000005357 flat glass Substances 0.000 claims abstract description 15
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- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 claims description 8
- 239000000377 silicon dioxide Substances 0.000 claims description 4
- 238000003384 imaging method Methods 0.000 description 4
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Abstract
本发明公开了一种用于双目立体视觉的大视场光学系统，包括沿光传播方向，依次设置在同一光轴上的窗口玻璃、第一负透镜、第二负透镜、第一正透镜、第二正透镜、孔径光阑、第三负透镜、第三正透镜以及第四负透镜；光学系统中将各透镜的光焦度设计为‘负‑负‑正‑正‑负‑正‑负’的组合形式，同时优化了各个透镜的折射率、曲率半径以及各透镜之间的距离，使得双目立体视觉的大视场光学系统的景深较大，即在300mm‑1500mm的全距离范围内均可清晰成像，并且无需使用移动调节机构，避免光学系统中存在运动部件，提高了系统的可靠性高。
The invention discloses a large field of view optical system for binocular stereo vision, comprising a window glass, a first negative lens, a second negative lens and a first positive lens, which are sequentially arranged on the same optical axis along the light propagation direction. , the second positive lens, the aperture stop, the third negative lens, the third positive lens and the fourth negative lens; in the optical system, the power of each lens is designed as 'negative-negative-positive-positive-negative-positive- The combination of negative ', while optimizing the refractive index of each lens, the radius of curvature and the distance between each lens, make the depth of field of the large-field optical system of binocular stereo vision larger, that is, in the full distance range of 300mm-1500mm The image can be clearly imaged inside, and there is no need to use a moving adjustment mechanism, avoiding the existence of moving parts in the optical system, and improving the reliability of the system.
Description
Technical Field
The invention belongs to the technical field of optical systems, and particularly relates to a large-view-field optical system for binocular stereoscopic vision.
Background
Binocular stereo vision is an important form of machine vision, and is a method for acquiring three-dimensional geometric information of an object by acquiring two images of the measured object from different positions by using an imaging device based on a viewing principle and calculating position deviation of corresponding points of the images. The binocular stereo vision measuring method has the advantages of high efficiency, proper precision, simple system structure, low cost and the like, and is very suitable for on-line and non-contact leveling detection and quality control of a manufacturing site. Especially for the measurement of moving objects, the binocular stereo vision measurement is a more effective measurement method because the image acquisition is completed instantly.
When the existing binocular stereoscopic vision system images within the distance range of 300mm-1500mm, clear imaging needs to be realized by adopting mobile focusing, and the mode can bring the following defects:
1. during focusing, only targets in a specific distance range can be clearly imaged at a time, and all targets in a distance range of 300mm-1500mm cannot be clearly imaged at the same time, for example, when the targets at 350mm are clear, the definition of the targets is reduced along with the increase of the imaging distance, and the definition at the 1500mm distance is the worst.
2. By moving the focus in this way, moving parts are inevitably present in the system, which may lead to a reduced reliability of the system.
Disclosure of Invention
The invention provides a large-view-field optical system for binocular stereoscopic vision, which aims to solve the problems that clear imaging of a target in a full-distance range of 300-1500 mm cannot be realized by an existing binocular stereoscopic vision system in a moving focusing mode, and the moving focusing brings poor system reliability.
The specific technical scheme of the invention is as follows:
the invention provides a large-view-field optical system for binocular stereoscopic vision, which comprises window glass, a first negative lens, a second negative lens, a first positive lens, a second positive lens, an aperture diaphragm, a third negative lens, a third positive lens and a fourth negative lens, wherein the window glass, the first negative lens, the second negative lens, the first positive lens, the second positive lens, the aperture diaphragm, the third negative lens, the third positive lens and the fourth negative lens are sequentially arranged on the same optical axis along the light propagation direction;
the window glass is made of SILICA, the curvature radius of the front and back surfaces is infinite, the thickness is 3.8 mm-4.2 mm, and the surface of the window glass can be plated with a band-pass filter film of a spectrum segment required by an optical system;
the refractive index of the material of the first negative lens is 1.7469, the Abbe number is 49-51, the curvature radius of the front surface of the first negative lens is 34.7-35 mm, the curvature of the rear surface of the first negative lens is 10.2-10.31 mm respectively, and the thickness of the first negative lens is 3 mm; the distance between the front surface of the first negative lens and the rear surface of the window glass is 2 mm;
the refractive index of the material of the second negative lens is 1.7552, the Abbe number is 26.1-27.3, the curvature radius of the front surface of the second negative lens is 15.7-15.98 mm, the curvature radius of the rear surface of the second negative lens is 6.8-7.1 mm, and the thickness of the second negative lens is 3 mm; the distance between the second negative lens front surface and the first negative lens rear surface is 2.8 mm;
the refractive index of the material of the first positive lens is 1.67-1.682, the Abbe number is 32.17, the curvature radius of the front surface of the first positive lens is 57.2-59 mm, and the curvature radius of the rear surface is as follows: -37.1mm to-39 mm, and 3mm in thickness; the distance between the front surface of the first positive lens and the rear surface of the second negative lens is 3 mm;
the refractive index of the material of the second positive lens is 1.51-1.52, the Abbe number is 64.2, the curvature radius of the front surface of the second positive lens is 10.1 mm-12 mm, the curvature radius of the rear surface of the second positive lens is-12.55 mm-14.33 mm, and the thickness of the second positive lens is 2.97 mm; the distance between the front surface of the second positive lens and the rear surface of the first positive lens is 1mm, and the distance between the rear surface of the second positive lens and the aperture diaphragm is 3.27 mm;
the refractive index of the material of the third negative lens is 1.7-1.765, the Abbe number is 27.53, the curvature radius of the front surface of the third negative lens is 31.40 mm-35 mm, the curvature radius of the rear surface of the third negative lens is 9.17 mm-10.29 mm, and the thickness of the third negative lens is 2.5 mm; the distance between the front surface of the third negative lens and the aperture diaphragm is 2 mm;
the refractive index of the material of the third positive lens is 1.51-1.52, the Abbe number is 64.2, the curvature radius of the front surface of the third positive lens is 11.85 mm-12.99 mm, the curvature radius of the rear surface of the third positive lens is-7.14 mm-9.12 mm, and the thickness of the third positive lens is 3.5 mm; the distance between the front surface of the third positive lens and the rear surface of the third negative lens is 1 mm;
the refractive index of the material of the fourth negative lens is 1.64-1.765, the Abbe number is 27.53, the curvature radius of the front surface of the fourth negative lens is-5.9 mm-6.98 mm, the curvature radius of the rear surface of the fourth negative lens is-16 mm-18 mm, and the thickness of the fourth negative lens is 3.04 mm; the distance between the front surface of the fourth negative lens and the rear surface of the third positive lens is 2.22mm, and the distance from the rear surface of the fourth negative lens to the image plane is 7.58 mm.
The invention has the beneficial effects that:
1. the optical system of the invention designs the focal power of each lens into a combined form of 'negative-positive-negative', optimizes the refractive index, the curvature radius and the distance between each lens, and ensures that the depth of field of the large-field optical system with binocular stereoscopic vision is larger, namely the large-field optical system can clearly image within the full distance range of 300mm-1500mm, and a moving adjusting mechanism is not needed, so that the moving part in the optical system is avoided, and the reliability of the system is improved.
2. The invention adopts the first negative lens and the second negative lens to effectively increase the system view field and improve the test efficiency.
3. The window glass adopts SILICA material, and meanwhile, the system has no adhesive optical element and can be directly applied to space environment;
4. according to the invention, the aperture diaphragm is positioned in the optical structure, the front and rear optical elements of the aperture diaphragm are quasi-symmetrical about the aperture diaphragm, and the distortion of an optical system is small;
drawings
FIG. 1 is a schematic diagram of an optical system of the present invention;
FIG. 2 is a graph of optical MTF of the binocular stereo vision large field optical system at 300mm working distance;
FIG. 3 is a plot of the optical MTF at 494mm, working distance for the large field of view optical system for binocular stereo vision provided by the present invention;
FIG. 4 is a graph of the optical MTF of the large field-of-view optical system for binocular stereoscopic vision at a working distance of 1500 mm;
fig. 5 is a graph of curvature of field and distortion at a working distance of 300mm for the large-field optical system for binocular stereo vision provided by the invention.
Fig. 6 is a graph of field curvature and distortion at a working distance of 494mm for the large-field optical system for binocular stereopsis provided by the invention.
Fig. 7 is a graph of curvature of field and distortion at a working distance of 1500mm for the large-field optical system for binocular stereo vision provided by the invention.
The reference numbers are as follows:
1-window glass, 2-first negative lens, 3-second negative lens, 4-first positive lens, 5-second positive lens, 6-aperture diaphragm, 7-third negative lens, 8-third positive lens and 9-fourth negative lens.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
A large-field optical system for binocular stereo vision is disclosed, as shown in figure 1, the field angle of the optical system is a circular field of 80 degrees, the optical system adopts a large F number of 14, the working distance is 300mm-1500mm, and when the optical system is used for the binocular stereo vision system, the optical system is provided with two sets.
The optical system comprises window glass 1, a first negative lens 2, a second negative lens 3, a first positive lens, a second positive lens 5, an aperture diaphragm 6, a third negative lens 7, a third positive lens 8 and a fourth negative lens 9 which are sequentially arranged on the same optical axis along the light propagation direction;
the main parameters of each optical device are as follows:
the window glass 1 is made of SILICA, the curvature radiuses of the front and rear surfaces are infinite, the thickness is 3.8 mm-4.2 mm, and the surface of the window glass can be plated with a band-pass filter film of a spectrum band required by an optical system;
the refractive index of the material of the first negative lens 2 is 1.7469, the Abbe number is 49-51, the curvature radius of the front surface of the first negative lens 2 is 34.7-35 mm, the curvature of the rear surface is 10.2-10.31 mm respectively, and the thickness is 3 mm; the distance between the front surface of the first negative lens 2 and the rear surface of the window glass 1 is 2 mm;
the refractive index of the material of the second negative lens 3 is 1.7552, the Abbe number is 26.1-27.3, the curvature radius of the front surface of the second negative lens 3 is 15.7-15.98 mm, the curvature radius of the rear surface is 6.8-7.1 mm, and the thickness is 3 mm; the distance between the front surface of the second negative lens 3 and the rear surface of the first negative lens 2 is 2.8 mm;
the refractive index of the material of the first positive lens 4 is 1.67-1.682, the abbe number is 32.17, the curvature radius of the front surface of the first positive lens 4 is 57.2-59 mm, and the curvature radius of the rear surface is: -37.1mm to-39 mm, and 3mm in thickness; the distance between the front surface of the first positive lens 4 and the rear surface of the second negative lens 3 is 3 mm;
the refractive index of the material of the second positive lens 5 is 1.51-1.52, the Abbe number is 64.2, the curvature radius of the front surface of the second positive lens 5 is 10.1 mm-12 mm, the curvature radius of the rear surface is-12.55 mm-14.33 mm, and the thickness is 2.97 mm; the distance between the front surface of the second positive lens 5 and the rear surface of the first positive lens 4 is 1mm, and the distance between the rear surface of the second positive lens 5 and the aperture diaphragm 6 is 3.27 mm;
the refractive index of the material of the third negative lens 7 is 1.7-1.765, the Abbe number is 27.53, the curvature radius of the front surface of the third negative lens 7 is 31.40 mm-35 mm, the curvature radius of the rear surface is 9.17 mm-10.29 mm, and the thickness is 2.5 mm; the distance between the front surface of the third negative lens 7 and the aperture diaphragm 6 is 2 mm;
the refractive index of the material of the third positive lens 8 is 1.51-1.52, the Abbe number is 64.2, the curvature radius of the front surface of the third positive lens 8 is 11.85 mm-12.99 mm, the curvature radius of the rear surface is-7.14 mm-9.12 mm, and the thickness is 3.5 mm; the distance between the front surface of the third positive lens 8 and the rear surface of the third negative lens 7 is 1 mm;
the refractive index of the material of the fourth negative lens 9 is 1.64-1.765, the Abbe number is 27.53, the curvature radius of the front surface of the fourth negative lens 9 is-5.9 mm-6.98 mm, the curvature radius of the rear surface is-16 mm-18 mm, and the thickness is 3.04 mm; the distance between the front surface of the fourth negative lens 9 and the rear surface of the third positive lens 8 is 2.22mm, and the distance from the rear surface of the fourth negative lens 9 to the image plane is 7.58 mm.
Fig. 2 to 4 are optical MTF curves of the large-field optical system for binocular stereovision at working distances of 300mm, 494mm and 1500mm, and it can be seen that the MTF of the system is superior to 0.38 in average value in each object distance and full field.
Fig. 5 to 7 show the field curvature and distortion curve of the large-field optical system for binocular stereoscopic vision at working distances of 300mm, 494mm and 1500mm, and it can be seen from the figure that the distortion value of the optical system in the full field of view is less than 1%.
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