机器人手眼镜的光学设计

Design of a CCD camera used as robot eyes

手眼视觉系统是一类重要的机器人视觉系统,具体介绍了一个用于机器人手眼视觉系统中的手眼镜的光学设计。该镜头设计采用了反远距的结构型式,满足了大视场、短焦距、长工作距的设计要求。在选用光学材料时又避免使用在一般大视场、短焦距、长工作距系统中常用的镧系玻璃,选用了常用的两种普通光学玻璃。

<Abstrcat>The eye-in-hand vision system is an important type of robotic vision system. In this paper an inverted-telephoto lens system which serves as eyes of robot is discussed . The lens is characterized by working under wide angle, having a short focal length and a long Working distance. Another property of the lens given is only two kinds of common glass materials with good properties are utilized.