阅读说明：本技术 微结构透镜阵列和基于微结构透镜阵列的空间定位方法 (Micro-structural lens array and space positioning method based on micro-structural lens array ) 是由 陈树琪 刘文玮 玛地娜 程化 田建国 于 2020-07-14 设计创作，主要内容包括：本发明提供了一种微结构透镜阵列和基于微结构透镜阵列的空间定位方法,微结构透镜阵列包括至少两个微结构透镜,微结构透镜包括多个棱柱元胞,棱柱元胞包括二氧化硅衬底和放在二氧化硅衬底上面的氧化钛棱柱,包括：多个棱柱元胞之间呈周期性排布。本发明缓解了现有技术中存在的透镜体积大、定位精度较低的技术问题。(The invention provides a micro-structure lens array and a space positioning method based on the micro-structure lens array, wherein the micro-structure lens array comprises at least two micro-structure lenses, each micro-structure lens comprises a plurality of prismatic cells, each prismatic cell comprises a silicon dioxide substrate and a titanium oxide prism, and the titanium oxide prism is placed on the silicon dioxide substrate, and the micro-structure lens array comprises: the prismatic cells are arranged periodically. The invention solves the technical problems of large lens volume and low positioning precision in the prior art.)

1. A microstructured lens array comprising at least two microstructured lenses, the microstructured lenses comprising a plurality of prismatic cells comprising a silica substrate and titanium oxide prisms disposed on the silica substrate, comprising: the plurality of prismatic unit cells are arranged periodically.

2. The microstructured lens array of claim 1, wherein the titanium oxide prisms are titanium oxide octaprisms.

3. The microstructured lens array of claim 1, wherein the silicon dioxide substrate is a regular hexagonal structure.

4. The microstructured lens array of claim 1, wherein the periodic arrangement comprises: and hexagonal close packing arrangement.

5. The micro-structured lens array according to claim 1, wherein the at least two micro-structured lenses are closely arranged.

6. A space positioning method based on a micro-structure lens array is applied to the micro-structure lens array of any one of claims 1 to 5, and is characterized by comprising the following steps:

acquiring a target image formed by the observed target through the micro-structural lens array; the target image comprises a plurality of images of the observed target, and one micro-structured lens corresponds to one image of the observed target;

correcting the target image by using a genetic algorithm to obtain a corrected target image; wherein the variables to be optimized of the genetic algorithm comprise: the zoom amount of the target image in the horizontal direction, the translation amount in the horizontal direction, the zoom amount in the vertical direction, the translation amount in the vertical direction and a distortion correction factor of the target image;

determining the size of the image of the observed target and the target distance between every two images of the observed target based on the corrected target image;

and determining the spatial position of the observed target based on the size of the image of the observed target, the target distance and the periodic distance of the micro-structured lens.

7. The method of claim 6, wherein the target image is corrected using a genetic algorithm to obtain a corrected target image, comprising:

determining the variable to be optimized based on the target image;

optimizing the variable to be optimized by using a genetic algorithm to obtain an optimized variable; wherein the adaptive function of the genetic algorithm is a difference function between images of every two observed targets in the target image;

and correcting the target image based on the optimized variable to obtain a corrected target image.

8. The method of claim 6, wherein determining the size of the image of the observed object and the object distance between each two images of the observed object based on the corrected image of the object comprises:

acquiring the feature points of the image of each observed target in the corrected target image by using a preset feature detection algorithm;

measuring the distance between the characteristic points of the images of every two observed targets to obtain the target distance;

and obtaining the size of the image of the observed target in the corrected target image.

9. The method of claim 6, wherein determining the spatial position of the observed object based on the size of the image of the observed object, the object distance, and the periodic distance of the micro-structured lens comprises:

determining the coordinate of the observed target in the direction perpendicular to the horizontal direction by the following equation: s_⊥＝fD/(D-d)；S_⊥Representing a first coordinate of the observed target in a direction perpendicular to an observation plane, f representing a focal length of the micro-structured lens, D representing the target distance, and D representing a periodic distance of the micro-structured lens;

determining the size of the observed object by the following equation: Δ (D-D)/D; a size indicating a size of the target to be observed, and a size indicating a size of an image of the target to be observed;

determining a second coordinate of the observed object on the observation plane based on the size of the observed object;

determining a spatial location of the observed target based on the first and second coordinates.

10. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the steps of the method of any of the preceding claims 6 to 9 are implemented when the computer program is executed by the processor.

Technical Field

The invention relates to the technical field of optics, in particular to a micro-structural lens array and a space positioning method based on the micro-structural lens array.

Background

Disclosure of Invention

In view of the above, the present invention provides a micro-structured lens array and a spatial positioning method based on the micro-structured lens array, so as to alleviate the technical problems of large lens volume and low positioning accuracy in the prior art.

In a first aspect, an embodiment of the present invention provides a micro-structured lens array, the micro-structured lens array including at least two micro-structured lenses, the micro-structured lenses including a plurality of prismatic cells, the prismatic cells including a silica substrate and a titanium oxide prism disposed on the silica substrate, including: the plurality of prismatic unit cells are arranged periodically.

Further, the titanium oxide prisms are titanium oxide octaprisms.

Further, the silicon dioxide substrate is of a regular hexagonal structure.

Further, the periodic arrangement includes: and hexagonal close packing arrangement.

Furthermore, the at least two micro-structure lenses are closely connected and arranged.

In a second aspect, an embodiment of the present invention further provides a spatial positioning method based on a micro-structured lens array, applied to the micro-structured lens array of the first aspect, including: acquiring a target image formed by the observed target through the micro-structural lens array; the target image comprises a plurality of images of the observed target, and one micro-structured lens corresponds to one image of the observed target; correcting the target image by using a genetic algorithm to obtain a corrected target image; wherein the variables to be optimized of the genetic algorithm comprise: the zoom amount of the target image in the horizontal direction, the translation amount in the horizontal direction, the zoom amount in the vertical direction, the translation amount in the vertical direction and a distortion correction factor of the target image; determining the size of the image of the observed target and the target distance between every two images of the observed target based on the corrected target image; and determining the spatial position of the observed target based on the size of the image of the observed target, the target distance and the periodic distance of the micro-structured lens.

Further, correcting the target image by using a genetic algorithm to obtain a corrected target image, including: determining the variable to be optimized based on the target image; optimizing the variable to be optimized by using a genetic algorithm to obtain an optimized variable; wherein the adaptive function of the genetic algorithm is a difference function between images of every two observed targets in the target image; and correcting the target image based on the optimized variable to obtain a corrected target image.

Further, determining the size of the image of the observed target and the target distance between every two images of the observed target based on the corrected target image, including: acquiring the feature points of the image of each observed target in the corrected target image by using a preset feature detection algorithm; measuring the distance between the characteristic points of the images of every two observed targets to obtain the target distance; and obtaining the size of the image of the observed target in the corrected target image.

Further, determining the spatial position of the observed target based on the target distance and the periodic distance of the micro-structured lens comprises: determining the coordinate of the observed target in the direction perpendicular to the horizontal direction by the following equation: s_⊥＝fD/(D-d)；S_⊥Representing a first coordinate of the observed target in a direction perpendicular to an observation plane, f representing a focal length of the micro-structured lens, D representing the target distance, and D representing a periodic distance of the micro-structured lens; determining the size of the observed object by the following equation: Δ (D-D)/D; a size indicating a size of the target to be observed, and a size indicating a size of an image of the target to be observed; determining a second coordinate of the observed object on the observation plane based on the size of the observed object; determining a spatial location of the observed target based on the first and second coordinates.

In a third aspect, an embodiment of the present invention further provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor implements the steps of the method according to the second aspect when executing the computer program.

The invention provides a micro-structural lens array and a space positioning method based on the micro-structural lens array, wherein the micro-structural lens array comprises at least two micro-structural lenses, each micro-structural lens comprises a plurality of prismatic cells, each prismatic cell comprises a silicon dioxide substrate and a titanium oxide prism placed on the silicon dioxide substrate, and the plurality of prismatic cells are periodically arranged. According to the periodically arranged micro-structure lens array, the lens array is in sub-millimeter two-stage and is of a single-layer structure, so that the positioning precision can be improved on the basis of ensuring the working efficiency, and the technical problems of large lens volume and low positioning precision in the prior art are solved.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.

Fig. 1 is a schematic diagram of a micro-structured lens array according to an embodiment of the present invention;

FIG. 2 is a flowchart of a method for spatial positioning based on a micro-structured lens array according to an embodiment of the present invention;

FIG. 3 is a schematic diagram of an embodiment of the present invention for imaging a bug;

fig. 4 is a schematic diagram of spatial positioning of an observed target according to an embodiment of the present invention;

fig. 5 is a schematic diagram of positioning data for spatially positioning an observed target according to the method provided in the embodiment of the present invention.

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.