Research Of Panoramic Annular Optical System Application-Oriented Panoramic Vision Sweeping Robot

With the development of information technology,the demand for miniaturized mobile robots is now higher and higher,especially for household robots.The most demanded household robots are sweeping robots.The current methods for sweeping robots to obtain surrounding information are mainly divided into: ultrasonic,infrared,lidar,monocular vision,stereo vision,panoramic vision.In order to allow the sweeping robot to obtain a large field of view,large depth of field,and real-time fast images in a short time,an optical system based on a panoramic ring is used here.And in order to adapt to the small size of the sweeping robot,a compact,small,and shorter total optical length of the panoramic ring staring optical imaging system suitable for the sweeping robot has been redesigned to achieve a miniaturized system design.The system working band is 486nm-656 nm.In this way,the sweeping robot can obtain a 360-degree view with a large field of view and a large depth of field in an instant.This article first introduces the development status of sweeping robots and common ways to obtain surrounding information,and then introduces the advantages and development status of the panoramic ring imaging optical system.Then,it introduces the advantages and development status of the panoramic ring imaging optical system,and compares the various panoramic imaging methods.Advantages and disadvantages,and the application of the panoramic ring-belt optical system to the sweeping robot provides a new vision solution for the sweeping robot to obtain surrounding information,because the previous domestic sweeping robot's more mainstream way to obtain surrounding information is Lidar.Visual scheme.Aiming at the optical system of sweeping robots requiring small size,compact structure,and large field of view,and in order to reduce costs and facilitate mass production,adding an appropriate amount of plastic aspheric lenses to the optical system can improve image quality and reduce costs.This paper designs a panoramic annulus imaging optical system with a field of view of(35°? 120° ×)360°,and a minimum F number of 2.4.The operating wavelength of this system is 486nm-656 nm.Moreover,the MTF curve of the panoramic ring zone optical system is at the cut-off frequency of 100lp/mm,the MTF values of all wavelengths in the 35-degree field of view and 120-degree edge of the maximum field of view are above 0.7,The RMS radius in the point sequence diagram is smaller than the Airy disk radius and smaller than the pixel size,the field curvature is smaller than 0.05 mm.Finally,the tolerance analysis of the panoramic annulus optical system is carried out,and the statistical distribution of the average diffraction MTF obtained after 1000 Monte Carlo simulations shows that there is more than 90% possibility that the average diffraction MTF value under 100lp/mm is greater than 0.451 Panoramic ring belt optical system.After processing and assembling a prototype,it passes the actual shooting effect test,and uses the collimator to test the effective field of view,the resolution etc.,The effective field of view range is up to 85°,and the resolution under each field of view is up to 100 lp/mm.And according to the habit of people's observation,the acquired image is expanded to facilitate the subsequent processing of the image.