Image acquisition device and lens switching method

Abstract

The application provides an image acquisition device and a lens switching method. The image acquisition device comprises a lens conversion device provided with at least two lenses; and a driving device for driving the lens conversion device to move to a target position to realize switching between the at least two lenses, wherein the driving device comprises a driving part capable of rotating around an axis, a driven part connected with the lens conversion device and provided with a gap with the driving part, and a control device for controlling the rotation around the axis of the driving part, so that the driving part can continue to rotate around the axis along a first direction after the gap is eliminated when the rotation around the axis along the first direction is performed, thereby pushing the driven part to rotate, and the driven part drives the lens conversion device to move to the target position in the process of rotating, so as to accurately switch the lenses.

Description

Technical Field

[0001] This invention relates to the field of microscopy, and more specifically to an image acquisition device and a lens switching method. Background Technology

[0002] When observing and photographing cells under a microscope, it is necessary to take a picture of the distribution of cell positions under a low-power objective lens, and then take a clear picture of a cell under a high-power objective lens. Because the field of view of the high-power objective lens is smaller, if the repeatability of the positioning is poor when switching from the low-power objective lens to the high-power objective lens, the cells may be deviated from the field of view of the high-power objective lens, and thus the desired picture cannot be captured.

[0003] Therefore, the present invention provides an image acquisition device and a lens switching method to solve the problems in the prior art. Summary of the Invention

[0004] The summary section introduces a series of simplified concepts, which will be further explained in detail in the detailed description section. The summary section of this invention is not intended to limit the key features and essential technical features of the claimed technical solution, nor is it intended to determine the scope of protection of the claimed technical solution.

[0005] To address the problems in the prior art, according to one aspect of the present invention, an image acquisition apparatus is provided, comprising:

[0006] Lens conversion device, wherein the lens conversion device is provided with at least two lenses; and

[0007] A driving device, the driving device being used to drive the lens switching device to a target position to achieve switching between the at least two lenses, wherein the driving device includes:

[0008] An active part, which is capable of rotating about an axis;

[0009] A driven part, which is connected to the lens conversion device and has a gap between itself and the driving part; and

[0010] A control device controls the rotation of the active part around the axis so that after eliminating the gap during the rotation of the active part around the axis in the first direction, it can continue to rotate around the axis in the first direction, thereby driving the driven part to rotate, so that the driven part drives the lens switching device to the target position during the rotation.

[0011] According to another aspect of the present invention, a lens switching method is provided, applied to an image acquisition device, the image acquisition device including a lens switching device having at least two lenses; and

[0012] A driving device, the driving device being used to drive the lens switching device to a target position to achieve switching between the at least two lenses, wherein the driving device includes:

[0013] An active part, which is capable of rotating about an axis;

[0014] The driven part is connected to the lens conversion device and has a gap between it and the driving part;

[0015] The method includes:

[0016] After the active part is controlled to rotate around the axis in the first direction to eliminate the gap, it continues to rotate around the axis in the first direction, so that the active part pushes the driven part to rotate, thereby causing the driven part to drive the lens conversion device to move.

[0017] According to another aspect of the present invention, an image acquisition apparatus is provided, comprising: a lens switching device, wherein at least two lenses are disposed on the lens switching device; and

[0018] A driving device, the driving device being used to drive the lens switching device to a target position to achieve switching between the at least two lenses, wherein the driving device includes:

[0019] An active part, which is capable of rotating about an axis;

[0020] A driven part, which is connected to the lens conversion device and has a gap between itself and the driving part; and

[0021] A control module, wherein the control module includes a processor storing executable program instructions, the executable program instructions, when executed by the processor, cause the processor to perform:

[0022] After the active part is controlled to rotate around the axis in the first direction to eliminate the gap, it continues to rotate around the axis in the first direction, so that the active part pushes the driven part to rotate, thereby causing the driven part to drive the lens conversion device to move.

[0023] According to the present invention, by setting a gap between the active part and the driven part of the driving device, and after the active part rotates around the axis along the first direction to eliminate the gap between the active part and the driven part, the driven part is then driven to move. This process eliminates the backlash of the driving device itself. In the subsequent process of the active part driving the driven part to move, the driven part is controlled by the control device to drive the lens switching device to the target position, thereby realizing the precise positioning of the lens switching device and ultimately realizing the precise switching between lenses on the lens switching device.

[0024] In the aforementioned driving process, before each drive, the active part is rotated around the axis to eliminate the gap between the active part and the driven part before the driven part is driven to move. This eliminates the backlash error of the driving device itself in each driving process, and the lens switching device can be repeatedly and accurately positioned, improving the accuracy and precision of the acquired microscopic images. Attached Figure Description

[0025] The following drawings, which are incorporated herein by reference as part of this invention, are provided for understanding the invention. The drawings illustrate embodiments of the invention and their descriptions, serving to explain the principles of the invention.

[0026] In the attached image:

[0027] Figure 1 This is a schematic diagram of the structure of an image acquisition device according to an embodiment of the present invention;

[0028] Figure 2 This is a schematic diagram of the structure of a lens switching device on an image acquisition apparatus according to an embodiment of the present invention;

[0029] Figure 3 This is a schematic diagram of the structure of a driving device on an image acquisition apparatus according to an embodiment of the present invention;

[0030] Figure 4 This is a schematic diagram showing the planar positional relationship between the active part and the driven part in the driving device of an image acquisition apparatus according to an embodiment of the present invention;

[0031] Figure 5 This is a schematic diagram of the connection structure between the driving device and the lens switching device of an image acquisition apparatus according to an embodiment of the present invention;

[0032] Figure 6 This is a schematic diagram of the structure of the damping device of an image acquisition apparatus according to an embodiment of the present invention;

[0033] Figure 7 This is a schematic diagram of the structure of a first positioning device and a braking device installed together in an image acquisition apparatus according to an embodiment of the present invention;

[0034] Figure 8This is a schematic diagram of the structure of the first positioning element and the second positioning element cooperating in the lens positioning mechanism when the lens conversion device is in the target position, according to an embodiment of the present invention;

[0035] Figures 9A-9D This is a schematic diagram illustrating how the lens positioning mechanism positions the lens conversion device during the driving process according to an embodiment of the present invention.

[0036] Figure 10 This is a schematic flowchart of a lens switching method according to an embodiment of the present invention;

[0037] Figure 11 This is a schematic flowchart of a lens switching method according to an embodiment of the present invention;

[0038] Figures 12A-12B This is a schematic diagram illustrating the lens positioning mechanism positioning the lens in a lens switching method according to an embodiment of the present invention;

[0039] Figures 13A-13C This is a schematic diagram of the lens positioning mechanism positioning the lens in a lens switching method according to an embodiment of the present invention. Detailed Implementation

[0040] In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the invention. However, it will be apparent to those skilled in the art that the invention can be practiced without one or more of these details. In other instances, certain technical features well-known in the art have not been described in order to avoid obscuring the invention.

[0041] To fully understand the present invention, a detailed description will be provided below to illustrate the image acquisition apparatus and lens switching method of the present invention. Obviously, the implementation of the present invention is not limited to the specific details familiar to those skilled in the art of microscopy. Preferred embodiments of the present invention are described in detail below; however, in addition to these detailed descriptions, the present invention may have other embodiments.

[0042] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms “comprising” and / or “including” are used in this specification, they indicate the presence of the stated features, integrals, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components, and / or combinations thereof.

[0043] Exemplary embodiments according to the present invention will now be described in more detail with reference to the accompanying drawings. However, these exemplary embodiments may be implemented in many different forms and should not be construed as being limited to the embodiments set forth herein. It should be understood that these embodiments are provided so that the disclosure of the invention is thorough and complete, and that the concept of these exemplary embodiments is fully conveyed to those skilled in the art. In the drawings, for clarity, the thickness of layers and regions is exaggerated, and the same reference numerals are used to denote the same elements, and therefore their description will be omitted.

[0044] As mentioned above, when observing cell images under a microscope and taking cell images, if the repeatability of the positioning is poor when switching from a low-power objective to a high-power objective, the cells may deviate from the field of view of the high-power objective, thus making it impossible to take the desired image.

[0045] Example 1

[0046] To address the problems in the prior art, the present invention provides an image acquisition device, comprising:

[0047] Lens conversion device, wherein the lens conversion device is provided with at least two lenses; and

[0048] A driving device, the driving device being used to drive the lens switching device to a target position to achieve switching between the at least two lenses, wherein the driving device includes:

[0049] An active part, which is capable of rotating about an axis;

[0050] A driven part, which is connected to the lens conversion device and has a gap between itself and the driving part; and

[0051] A control device controls the rotation of the active part around the axis so that after eliminating the gap during the rotation of the active part around the axis in the first direction, it can continue to rotate around the axis in the first direction, thereby driving the driven part to rotate, so that the driven part drives the lens switching device to the target position during the rotation.

[0052] See Figure 1 The diagram shows a schematic representation of the structure of an image acquisition device 1 according to an embodiment of the present invention.

[0053] Reference Figure 1 The image acquisition device 1 according to the present invention includes a lens switching device 11, which is provided with at least two lenses, and the switching between at least two lenses can be realized by the movement of the lens switching device.

[0054] For example, such as Figure 1 As shown, the lens conversion device 11 is equipped with two lenses, lens 111 and lens 112, wherein lens 111 is a low-power objective lens and lens 112 is a high-power objective lens.

[0055] It should be understood that the two lenses on the lens conversion device in this embodiment are merely exemplary, and those skilled in the art should understand that more lenses can be set on the lens conversion device, all of which are applicable to this invention.

[0056] like Figure 2 The diagram shown illustrates the structure of a lens switching device 11 according to an embodiment of the present invention. For example, as shown... Figure 2 As shown, the lens switching device 11 is configured as a circular converter 113, and the lenses 111 and 112 are arranged on the circumference of the circular converter 113. The rotation of the circular converter 113 realizes the switching between the lenses 111 and 112.

[0057] It should be understood that the use of a circular converter as the lens switching device in this embodiment is merely exemplary, and those skilled in the art should understand that the lens switching device can also be configured in other forms. Furthermore, it should be understood that the switching between two lenses on the lens switching device via rotating the circular converter in this embodiment is also merely exemplary, and those skilled in the art should understand that the lens switching device can be configured to perform any form of movement, as long as lens switching can be achieved through the movement of the lens switching device, all of which are applicable to this invention.

[0058] Continue reading Figure 1 For example, the lens conversion device 11 is mounted on the lens barrel 14, which is fixedly connected to the lens arm 15. An eyepiece viewing hole 16 and a camera device 161 are disposed above the lens barrel 14. The image acquisition device 1 also includes a stage 13, which is fixedly mounted on the base 17. During use, the user focuses the lens 111 of the low-power objective lens onto the observation point on the stage 13 through the eyepiece viewing hole 16. The lens conversion device 11 switches the lens 112 of the objective lens to the observation point positioned by the lens 111 of the low-power objective lens and completes focusing to obtain the field of view. The camera device 161 then captures the image of the field of view.

[0059] It should be understood that the lens arm 15, lens barrel 14, eyepiece observation hole 16, camera device 161, and stage 13 shown in this embodiment are merely exemplary. The lens conversion device 11 may also include any other components known to those skilled in the art, and the present invention does not limit them.

[0060] Since the field of view becomes smaller when switching from a low-power objective lens to a high-power objective lens, if the positioning accuracy of the lens switching device 11 is poor, the observation point may deviate from the field of view of the high-power objective lens, thus preventing the camera device 161 from capturing the image of the desired observation point.

[0061] The image acquisition device 1 according to the present invention further includes a driving device ( Figure 1 (Not shown in the image), the driving device moves to the target position by driving the lens switching device to achieve the switching between the at least two lenses.

[0062] See Figure 3 A schematic diagram of the structure of a drive device 12 according to an embodiment of the present invention is shown.

[0063] like Figure 3 As shown, the drive unit 12 includes a driving part 121, a driven part 122, and a control unit 123.

[0064] The active part 121 is capable of rotating about an axis.

[0065] The driven part 122 is connected to the lens conversion device 11 and a gap is provided between it and the driving part 121.

[0066] The control device 123 controls the active part 121 to rotate around the axis, so that when the active part 121 rotates around the axis in the first direction, the gap between the active part 121 and the driven part 122 is eliminated, and the active part 121 can rotate around the axis in the first direction, thereby driving the driven part 122 to rotate. During the rotation of the driven part 122, it drives the lens switching device 11 connected to it to move, thereby realizing the switching between at least two lenses provided on the lens switching device 11.

[0067] See Figure 4 This diagram illustrates the planar positional relationship between the driving unit, driven unit, and control unit in the drive device.

[0068] like Figure 4 As shown, a gap D is provided between the driving part 121 and the driven part 122. After the control device 123 controls the driving part 121 to rotate around the axis in the direction indicated by arrow A to eliminate the gap D, it continues to control the driving part 121 to rotate around the axis in the direction of arrow A, so that the driving part 121 can drive the driven part 122 to rotate. Since the driven part 122 is connected to the lens conversion device 11 ( Figure 4 (not shown in the image), therefore, during the process of the active part 121 driving the driven part 122 to rotate, the lens switching device 11 can be driven to move.

[0069] For example, the control device includes a drive motor, such as Figure 3As shown, the control device 123 is configured as a drive motor, and the active part 121 is fixed to the motor shaft 1231 of the drive motor. When the motor shaft 1231 of the drive motor rotates, it drives the active part 121 to rotate.

[0070] For example, such as Figure 3 As shown, a synchronous pulley 124 is fixedly connected to the driven part 122. The synchronous pulley 124 is connected to the lens conversion device 11, and the driven part 122 drives the lens conversion device 11 to rotate through the synchronous pulley 124.

[0071] See Figure 5 The diagram shows a connection structure between the drive device 12 and the lens conversion device 11 according to an embodiment of the present invention.

[0072] like Figure 5 As shown, for example, the drive device 12 and the lens switching device 11 are connected by a synchronous belt 125. When the synchronous pulley 124 on the drive device 12 rotates under the drive of the driven part 122, the synchronous pulley 124 is driven by the synchronous belt 125 to further drive the lens switching device 11 to rotate, thereby realizing the switching between at least two lenses set on the lens switching device 11.

[0073] It should be understood that the form in which the drive device and the lens conversion device are connected by a synchronous belt for transmission in this embodiment is merely exemplary. Those skilled in the art should understand that other connection and transmission methods, such as chain or gear transmission, can also be used.

[0074] Because a gap exists between the active and driven parts, the active part rotates around its axis along a first direction to eliminate this gap before driving the driven part. This process eliminates the backlash of the drive device itself. In subsequent movements of the driven part, the control device moves the driven part to the target position, achieving precise positioning of the lens switching device and ultimately enabling precise switching between lenses. In this driving process, before each drive, the active part rotates around its axis to eliminate the gap before driving the driven part. This eliminates the backlash of the drive device itself in each drive process, allowing the lens switching device to repeatedly and precisely position itself, thus improving the accuracy and precision of the acquired microscopic images.

[0075] For example, the image acquisition device according to the present invention further includes a damping device that provides resistance to the driven part, and drives the driven part to rotate when the thrust provided by the driving part to the driven part is greater than the resistance.

[0076] By providing resistance to the driven part, a damping device is installed, ensuring that the gap between the driving part and the driven part is eliminated before the driving part rotates around the axis and pushes the driven part to move. In the embodiment of the present invention that connects the drive device and the lens conversion device via a timing belt, since the timing belt often vibrates at the beginning of its movement due to excessive thrust from the driving part, the damping device provides resistance to the driven part, reducing the thrust of the driving part at the initial position of pushing the driven part to move, effectively preventing timing belt vibration.

[0077] For example, the braking device includes a fixedly mounted elastic member, which is configured to provide pressure to the driven part or the lens conversion device through its own elastic deformation, thereby providing resistance to the driven part. Since the lens conversion device is driven by the movement of the driven part, the pressure provided by the elastic member to the lens conversion device can also serve as resistance to the driven part. Using an elastic member as the braking device simplifies the structural design. For example, the elastic member is fixedly mounted on the lens arm 15.

[0078] See Figure 6 The diagram shows a schematic representation of an image acquisition apparatus with a damping device according to an embodiment of the present invention.

[0079] like Figure 6 As shown, the braking device includes a fixedly mounted spring plate 181 and a protruding structure 182 fixedly connected to the lens conversion device 11. One end of the spring plate 181 is fixedly mounted on the lens arm 15, and the other end contacts the protruding structure 182. By applying elastic force to the protruding structure 182, resistance is generated on the lens conversion device 11, thereby providing resistance to the driven part.

[0080] In this invention, after ensuring the gap between the active and driven parts has been eliminated, the movement of the driven part driving the lens switching device is precisely controlled. This allows for precise control of the movement distance of the active part, which in turn drives the driven part to move the lens switching device, ensuring the lens switching device ultimately stops at the target position, thus achieving precise lens switching. Precise control of the active part's movement distance requires determining the starting position of the active part driving the driven part and the ending position where the active part stops driving the driven part.

[0081] In one example of the present invention, the starting position for the active part to drive the driven part to move can be determined by a positioning device that is communicatively connected to a control device.

[0082] For example, the control device includes a first positioning device for positioning the starting position at which the driving part pushes the driven part to rotate. Specifically, the first positioning device is configured to: position the starting position at which the driving part pushes the driven part to rotate, so that the control device controls the distance by which the driving part continues to rotate around the axis along the first direction based on the starting position.

[0083] Precise positioning of the active movement distance requires determining the starting position of the active part after eliminating the gap between itself and the driven part. The first positioning device determines the starting position of the active part after eliminating the gap between itself and the driven part. Through the starting position information fed back by the first positioning device, the control device can accurately position the starting position of the active part after eliminating the gap between itself and the driven part, thereby accurately controlling the distance of the active part from the starting position to push the driven part. This allows for precise control of the distance the active part pushes the driven part, causing the driven part to drive the lens switching device, and finally stopping the lens switching device at the target position.

[0084] For example, the first positioning device includes a fixedly mounted photoelectric sensor and a baffle fixedly connected to the lens conversion device. In this embodiment, the first positioning device is used in conjunction with a damping device to position the starting position where the active part pushes the driven part to rotate.

[0085] See Figure 7 The diagram shows a connection schematic of a first positioning device and a braking device configured in cooperation according to an embodiment of the present invention.

[0086] In this design, the photoelectric sensor 191 of the first positioning device and the spring piece 181 of the braking device are fixedly mounted on the lens arm 15. The baffle 192 of the first positioning device and the protruding structure of the braking device are fixedly mounted on the lens conversion device 11. In the initial position, the baffle 192 blocks the light from the photoelectric sensor 191 from being transmitted from the sensor's emitting end to the receiving end. When the active part eliminates the gap between the active part and the driven part and overcomes the resistance applied to the protruding structure 182 by the spring piece 181 of the braking device, the driven part moves, causing the lens conversion device to rotate. This causes the baffle 192 on the lens conversion device 11 to move, allowing the receiving end of the photoelectric sensor to receive the light emitted by the emitting end of the photoelectric sensor. The photoelectric sensor 181 transmits a signal to the control device. When the control device receives the signal, it confirms that the driven part is in the initial position. Then, based on the initial position, it precisely controls the distance the active part continues to rotate around the axis along the first direction to drive the driven part and move the lens conversion device, ultimately stopping the lens conversion device at the target position.

[0087] It should be understood that the connection between the first positioning device and the braking device in this embodiment is merely exemplary. Those skilled in the art should understand that the first positioning device can also be independently mounted on the driven part of the lens conversion device or the driving device. Furthermore, it should be understood that the first positioning device in this embodiment, in the form of a baffle and a photoelectric sensor, is merely exemplary. Those skilled in the art should understand that other sensors (e.g., pressure sensors) can also be used to achieve the technical effects of this invention.

[0088] In one example of the present invention, the determination of the termination position of the driving part's movement can be achieved by a positioning device that is communicatively connected to a control device.

[0089] For example, the control device includes a second positioning device for determining the termination position where the driving part stops pushing the driven part, the second positioning device being configured as follows:

[0090] The second positioning device locates the termination position of the rotation of the driven part by the active part, so that the control device controls the active part to stop rotating around the axis according to the termination position. Specifically, when the active part pushes the driven part to the termination position, the second positioning device detects the signal that the active part has pushed the driven part to the termination position and sends the signal to the control device. The control device controls the driven part to stop pushing the driven part according to the signal.

[0091] Similar to the first positioning device described above for positioning the starting position of the driven part's rotation, according to an embodiment of the present invention, the second positioning device includes a sensor communicatively connected to a control device. An exemplary sensor includes a photoelectric sensor. When the driven part pushes the driven part to a termination position, a corresponding baffle provided on the lens switching device blocks the light emitted by the photoelectric sensor's emitting end from being received by the photoelectric sensor's receiving end. The photoelectric sensor transmits the blocked signal to the control device. Upon receiving the signal, the control device confirms that the driven part is currently at the termination position and then controls the driven part to stop rotating based on the termination position.

[0092] In one example according to the present invention, the control device includes a drive motor for driving the active part to rotate. Determining the termination position of the active part's movement in pushing the driven part can be achieved by setting a drive motor with a pre-set driving sequence. Specifically, at the starting position where the active part pushes the driven part to rotate, the drive motor is set to drive the active part to rotate a predetermined distance. After the active part has pushed the driven part to rotate the predetermined distance, the drive motor stops driving, at which point the active part is at the termination position where the active part pushes the driven part to rotate.

[0093] For example, the driving motor is configured as a stepper motor or a servo motor. A stepper motor drives the drive with a fixed unit step angular displacement or linear displacement. The driving process is set by setting the number of steps the stepper motor takes, thus setting the movement distance of the driven component. In this embodiment, the driving process is preset by pre-setting the number of steps the stepper motor takes, thereby setting the driving part to push the driven part to rotate a predetermined distance and then stop. A servo motor drives the drive with a fixed unit rotation angle. The rotation angle is set by setting the number of rotations of the servo motor shaft, thus setting the driving process. In this embodiment, the driving process is preset by setting the number of rotations of the servo motor shaft, thereby setting the driving part to push the driven part to rotate a predetermined distance and then stop.

[0094] Using stepper motors or servo motors as drive motors can reduce the production cost of image acquisition devices.

[0095] It should be understood that the above-described determination of the termination position of the active part pushing the driven part by a separately set positioning device or by a drive motor with a predetermined driving process is merely exemplary. Those skilled in the art should understand that any method that can determine the termination position of the active part pushing the driven part is applicable to the present invention.

[0096] When the driving part stops pushing the driven part, the driven part still has a continuing speed due to inertia. Therefore, according to an example of the present invention, a lens positioning mechanism is provided to further position the lens switching device so that the lens switching device stops at the target position.

[0097] According to one example of the present invention, when the driving part stops pushing the driven part, the lens switching device is located at the target position; when the second positioning device positions the termination position of the driving part stopping pushing the driven part, the driving part is controlled to stop pushing the driven part, and at this time, the driven part drives the lens switching device to move to the target position as well. At this time, a lens positioning mechanism is provided to achieve the simultaneous cessation of the driving part's movement and the stopping of the lens switching device. Specifically, the lens positioning mechanism is used to position the lens switching device during its movement, so that when the driven part drives the lens switching device to the target position, the lens switching device stops moving, thereby achieving the simultaneous cessation of the driving part's movement and the lens switching device being located at the target position.

[0098] For example, the lens positioning mechanism is configured such that during the movement of the lens conversion device, the lens positioning mechanism provides resistance to prevent the lens conversion device from continuing to move, so that when the driven part drives the lens conversion device to the target position, the lens conversion device stops moving.

[0099] For example, the lens positioning mechanism includes a baffle set at the target position. When the control device controls the active part to stop, when the resistance provided by the lens positioning mechanism to the lens conversion device is greater than or equal to the thrust of the active part pushing the driven part, the driven part also stops along with the stop of the active part. At this time, the position where the lens conversion device stops is the target position.

[0100] According to an example of the present invention, when the active part stops pushing the driven part, the lens switching device is not located at the target position. That is, when the second positioning device positions the termination position of the active part stopping pushing the driven part, the lens switching device is located at a first positioning position different from the target position. At this time, a lens positioning mechanism is provided to move the lens switching device from the first positioning position to the target position.

[0101] For example, the lens positioning mechanism is configured as follows:

[0102] During the movement of the lens conversion device, the lens positioning mechanism provides resistance to prevent the lens conversion device from continuing to move, thereby positioning the lens conversion device.

[0103] According to one example of the present invention, the lens positioning mechanism is configured as follows:

[0104] When the lens positioning mechanism positions the lens conversion device, the lens conversion device includes a first positioning position and a target position, wherein...

[0105] At the first positioning position, the active part stops pushing the driven part, and,

[0106] When the lens switching device moves from the first positioning position to the target position, the movement distance of the driven part is less than or equal to the gap.

[0107] Since a gap is provided between the active part and the driven part of the driving device in the image acquisition device according to the present invention, when the active part stops pushing the driven part, the driven part continues to move due to inertia. In this embodiment, when the lens positioning structure is set to position the lens switching device located at the first positioning position when the active part stops pushing the driven part, the movement distance of the driven part is less than or equal to the gap when the lens switching device moves from the first positioning position to the target position. That is, while the driven part continues to move within the distance of the gap, it gradually stops, thereby driving the lens switching device to gradually stop, thus ensuring that the stopping process of the lens switching device is slow and stable, and effectively improving the switching stability of the lens switching device.

[0108] For example, the above-mentioned lens positioning mechanism includes a first positioning element fixedly disposed therein and a second positioning element fixedly connected to the lens conversion device, and the lens positioning mechanism is configured as follows:

[0109] When the lens switching device moves from the first positioning position to the target position, the first positioning element applies a gradually decreasing force to the second positioning element.

[0110] After the active part stops moving, the first positioning element applies a gradually decreasing force to the second positioning element, causing the lens switching device and the driven part to gradually stop moving, further stabilizing the stopping process of the lens switching device, further slowing down the stopping process of the lens switching device, so that the lens switching device stops stably at the target position.

[0111] Furthermore, exemplarily, the lens positioning mechanism is configured as follows:

[0112] When the force applied by the lens positioning mechanism to the lens conversion device is greater than the force applied by the lens positioning mechanism to the lens conversion device at the target position, the lens positioning mechanism can move the lens conversion device toward the target position.

[0113] The lens positioning mechanism described above ensures that after the driven part moves the lens switching device to the target position under inertia and then passes the target position, it can return to the target position under the action of the lens positioning mechanism.

[0114] Furthermore, exemplarily, the lens positioning device is configured as follows:

[0115] The first positioning element includes an elastic member extending in a second direction, which is intersecting the direction of movement of the lens switching device;

[0116] The second positioning element has a shape that mates with the end of the first positioning element in the second direction; wherein the elastic member is configured as follows:

[0117] When the lens switching device moves from the first positioning position to the target position, the elastic deformation of the elastic member in the second direction gradually decreases to generate a gradually decreasing elastic force on the second positioning element, and...

[0118] When the elastic force of the elastic component is greater than the elastic force at the target position, the lens switching device can be moved toward the target position.

[0119] The following reference Figure 2 , Figure 8 as well as Figures 9A-9DAn exemplary description is provided for a lens positioning mechanism in an image acquisition apparatus according to an embodiment of the present invention.

[0120] like Figure 2 As shown, the image acquisition device 1 includes a lens positioning mechanism 20 for positioning the lens switching device 11, which positions the lens switching device 11 so that the lens switching device 11 stops at the target position.

[0121] Continue reading Figure 2 The lens positioning mechanism 20 includes a first positioning element 201 and a second positioning element 202. The first positioning element 201 includes a fixed elastic member 2011 and a steel ball 2012 (not shown) fixed on the elastic member 2011. The second positioning element 202 is a V-groove provided on the lens conversion device 11.

[0122] like Figure 8 A schematic diagram of the cooperation between the first positioning element and the second positioning element in the lens positioning structure when the lens switching device is in the target position is shown according to an embodiment of the present invention.

[0123] See Figure 8 As shown, the first positioning element 201 according to this embodiment includes an elastic element 2011 and a steel ball 2012 that cooperate with the second positioning element 202 which is configured as a V-groove. At this time, the axis of the V-groove of the second positioning element 202 coincides with the axis of the steel ball 2012, and the lens switching device is located at the target position.

[0124] The following reference Figures 9A-9D The positioning principle of the lens positioning mechanism according to this embodiment will be further explained. Specifically, in... Figures 9A-9D (1) shows a schematic diagram of the relative positions of the lens switching device and the drive device during the movement, and (2) shows a schematic diagram of the relative positions of the first positioning element and the second positioning element of the lens positioning mechanism during the movement.

[0125] See Figure 9A The diagram shows the initial position where the control device controls the active unit 121 to rotate about an axis, wherein, as Figure 9A A gap D is provided between the driving part 121 and the driven part 122 shown in (1). At this time, as Figure 9A The steel ball 2012 on the lens positioning mechanism shown in (2) is located on the right side of the V-groove of the second positioning element 202, away from the V-groove. The elastic element 2011 has an initial length L1 under the gravity of the steel ball 2012.

[0126] See Figure 9BThis is shown as follows: After the control device controls the driving unit 121 to rotate about an axis in the direction indicated by arrow A, eliminating the gap between the driving unit 121 and the driven unit 122, the driving unit 121 is in the starting position where it begins to push the driven unit 122. At this time, as... Figure 9B The gap D between the driving part 121 and the driven part 122 shown in (1) is eliminated. Figure 9B The steel ball 2012 on the lens positioning mechanism shown in (2) is initially positioned on the right side of the V-groove of the second positioning element 202, and the elastic element 2011 has an initial length L1 under the gravity of the steel ball 2012.

[0127] See Figure 9C This is shown as follows: after the control device controls the active part 121 to continue pushing the driven part 122 a predetermined distance, the active part 121 stops pushing the driven part 122, and the active part 121 is in the terminated position where it stops pushing the driven part 122. At this time, as... Figure 9C The lens conversion device 11 shown in Figure (1) is located in the first positioning position, as follows: Figure 9C After the second positioning element 202, shown in Figure (2), moves toward the first positioning element 201, the right inner side of the V-groove of the second positioning element 202 of the lens positioning mechanism contacts the steel ball 2012 of the first positioning element 201. At this time, due to the gap between the active part 121 and the driven part 122, the active part 121 stops pushing the driven part 122, and the driven part 122 can still continue to move under the action of inertia. The lens conversion device still has a speed in the direction of movement toward the target position. At the same time, due to the contact between the steel ball 2012 and the right inner side of the V-groove, the elastic member 2011 above the steel ball 2012 is squeezed and produces elastic deformation with a deformation length L2. The elastic member 2011 has a downward force on the steel ball 2012, so that the steel ball 2012 applies a force perpendicular to its right inner side to the V-groove on the second positioning element 202. The second positioning element 202 continues to move toward the target position under the force applied to its right side by the steel ball 2012.

[0128] See Figure 9D This is shown to be the case that, under the influence of inertia and the force exerted by the steel ball 2012 on the V-groove of the second positioning element 202, the driven part 122 continues to move, causing the lens positioning mechanism to position the lens conversion device 11 at the target position. At this time, as... Figure 9D As shown in (1), the lens conversion device 11 is located at the target position; as Figure 9D As shown in (2), the axis of the V-groove of the second positioning element 202 coincides with the axis of the steel ball 2012. At this time, the deformation of the elastic element 2011 decreases, and it has a deformation length L3. The steel ball 2012 exerts the same force on the two inner sides of the V-groove, so that the lens positioning mechanism is positioned at the target position.

[0129] During the above process, the elastic element 2011 changes from a stretched state with a length of L1 to a contracted state, wherein, from Figures 9C to 9D During the process, the length L3 of the elastic element in its contracted state is greater than L2, that is, from... Figures 9C to 9D During the process, the deformation of the elastic element 2011 gradually decreases, causing the force exerted by the steel ball 2012 on the second positioning element 202 to gradually decrease as well. Since the elastic element 2011 always has the tendency to reduce its deformation, when the elastic force of the elastic element is greater than the elastic force at the target position, the lens conversion device can move toward the target position. When the lens conversion device is at the target position, the elastic element 2011 can prevent the lens conversion device from moving further, thereby making the lens conversion device 11 stably positioned at the target position.

[0130] It should be understood that the use of elastic elements and steel balls as the first positioning elements and the use of V-shaped slots on the lens conversion device as the second positioning elements in this embodiment are merely exemplary. Those skilled in the art should understand that other forms of elastic elements and lens positioning mechanisms that cooperate with the elastic elements can also be provided to achieve the positioning of the lens conversion device.

[0131] Thus far, the structure of an image acquisition device according to an embodiment of the present invention has been exemplarily described. In this embodiment, by setting a gap between the active part and the driven part of the driving device, and eliminating the gap between the active part and the driven part by rotating around an axis along a first direction before driving the driven part, this process eliminates the backlash of the driving device itself. During the subsequent movement of the driven part driven by the active part, the control device controls the driven part to drive the lens switching device to the target position, achieving precise positioning of the lens switching device and ultimately achieving precise switching between lenses on the lens switching device. Specifically, during the process of the control device controlling the driven part to drive the lens switching device to the target position, a stop device is provided to ensure that the gap between the active part and the driven part is eliminated. Combined with a first positioning device that positions the starting position of the active part driving the driven part to rotate and a second positioning device that positions the ending position where the active part stops driving the driven part to rotate, the starting and ending positions of the movement of the active part driven by the driven part controlled by the control device are precisely positioned, achieving precise control of the movement distance of the active part driving the driven part. The lens positioning mechanism stops the lens switching device when the driving part stops pushing the driven part, or moves the lens switching device to the target position after the driving part stops pushing the driven part to rotate, so as to achieve the purpose of switching between at least two lenses.

[0132] In the aforementioned driving process, before each drive, the active part is rotated around the axis to eliminate the gap between the active part and the driven part before the driven part is driven to move. This eliminates the backlash error of the driving device itself in each driving process, and the lens switching device can be repeatedly and accurately positioned, improving the accuracy and precision of the acquired microscopic images.

[0133] Example 2

[0134] The present invention also provides a lens switching method applied to an image acquisition device, wherein the image acquisition device includes:

[0135] Lens conversion device, wherein the lens conversion device is provided with at least two lenses; and

[0136] A driving device, the driving device being used to drive the lens switching device to a target position to achieve switching between the at least two lenses, wherein the driving device includes:

[0137] An active part, which is capable of rotating about an axis;

[0138] The driven part is connected to the lens conversion device and has a gap between it and the driving part;

[0139] The method includes:

[0140] After the active part is controlled to rotate around the axis in the first direction to eliminate the gap, it continues to rotate around the axis in the first direction, so that the active part pushes the driven part to rotate, thereby causing the driven part to drive the lens conversion device to move to the target position.

[0141] Because a gap exists between the active and driven parts, the active part is rotated around its axis in a first direction to eliminate the gap before the driven part is moved. This process eliminates the backlash of the drive device itself. In subsequent movements of the driven part, precise control ensures the active part continues to drive the driven part, moving the lens switching device to the target position. This achieves precise positioning of the lens switching device and ultimately precise switching between lenses, allowing the device to switch between at least two lenses. In this control method, before each drive, the active part rotates around its axis to eliminate the gap before the driven part moves. This eliminates the backlash of the drive device in each drive process, enabling the lens switching device to repeatedly and precisely position itself, thus improving the accuracy and precision of the acquired microscopic images.

[0142] For example, the structure of the image acquisition device is as described in Embodiment 1, wherein it includes a control device for controlling the movement of the active part.

[0143] In one example of the invention, after the active part has rotated about the axis to eliminate the gap between the active part and the driven part, the active part is controlled to continue rotating about the axis for a first distance and then stop, so as to achieve precise control over the continued driving of the driven part by the active part (i.e., precise control over the continued driving of the driven part by the active part by controlling the distance the active part continues to rotate about the axis).

[0144] See Figure 10 The diagram illustrates a schematic flowchart of a lens switching method for an image acquisition device according to an embodiment of the present invention, specifically showing the process of controlling the active part to rotate around an axis along a first direction to eliminate the gap and then continuing to rotate around the axis along the first direction.

[0145] For example, such as Figure 10 As shown, the process of controlling the active part to rotate around the axis along the first direction to eliminate the gap and then continuing to rotate around the axis along the first direction includes:

[0146] Step S1: Control the active part to rotate around the axis along the first direction.

[0147] The first direction is the direction in which the active part drives the driven part to rotate, causing the lens switching device to move toward the target position.

[0148] Step S12: Detect the position of the lens conversion device and / or the driven part. When the position of the lens conversion device and / or the driven part changes, control the active part to continue rotating around the axis a first distance along the first direction and then stop the rotation around the axis, so that the active part pushes the driven part to rotate and drive the lens conversion device to move to the first positioning position.

[0149] For example, after the active part eliminates the gap between the active part and the driven part by rotating around the axis, the starting position for controlling the active part to continue rotating around the axis a first distance along the first direction (i.e., the starting position for the active part to push the driven part to move) is determined by a first positioning device that positions the starting position for the active part to push the driven part to rotate. The first positioning device detects the position of the lens switching device and / or the driven part. When the position of the lens switching device and / or the driven part changes, it indicates that the active part moving along the first direction has eliminated the gap between the active part and the driven part. At this time, the movement of the active part along the first direction is controlled, and the active part is controlled to continue rotating around the axis a first distance along the first direction before stopping the rotation around the axis.

[0150] Furthermore, for example, after detecting that the active part has eliminated the gap between the active part and the driven part, controlling the active part to continue rotating a first distance around the axis in the first direction is achieved by setting the drive process of the drive motor.

[0151] For example, as shown in Embodiment 1, the control device includes a drive motor that drives the active part to rotate. At the starting position where the active part pushes the driven part to move, the drive motor is set to drive the active part to rotate a first distance by a predetermined drive. After the active part pushes the driven part to rotate a first distance, the drive motor stops driving. At this time, the drive motor controls the active part to continue rotating around the axis a first distance along the first direction.

[0152] In this embodiment, the starting position of the active part driving the driven part and the distance by which the active part continues to rotate around the axis from the starting position are precisely controlled, thereby achieving precise control over the process of the active part rotating around the axis to drive the driven part.

[0153] For example, the drive motor can be a stepper motor or a servo motor. Using a stepper motor or a servo motor as the drive motor can reduce the production cost of the image acquisition device.

[0154] In one example according to the invention, after the active part rotates around the axis to eliminate the gap between the active part and the driven part, the position of the active part continuing to rotate around the axis to drive the driven part to move the lens switching device is detected. When the lens switching device is detected to have moved to the first position, the active part is controlled to stop rotating around the axis, thereby achieving precise control of the active part continuing to drive the driven part (i.e., precise control of the active part continuing to drive the driven part is achieved by controlling the position of the active part continuing to drive the driven part).

[0155] See Figure 11 The diagram illustrates a schematic flowchart of a lens switching method for an image acquisition device according to an embodiment of the present invention, specifically showing the process of controlling the active part to rotate around an axis along a first direction to eliminate the gap and then continuing to rotate around the axis along the first direction.

[0156] For example, such as Figure 11 As shown, the process of controlling the active part to rotate around the axis along the first direction to eliminate the gap and then continuing to rotate around the axis along the first direction includes:

[0157] Step S1: Control the active part to rotate around the axis along the first direction;

[0158] Step S22: Detect the position of the lens switching device. When the lens switching device reaches the first positioning position along the movement direction, control the active part to stop rotating around the axis.

[0159] For example, after the active part has eliminated the gap between the active part and the driven part by rotating around the axis, the starting position for controlling the active part to continue rotating around the axis along the first direction (that is, the starting position for the active part to push the driven part to move) is determined by a first positioning device that positions the starting position for the active part to push the driven part to rotate.

[0160] For example, after the active part has eliminated the gap between the active and driven parts by rotating around an axis, the position of the active part continuing to rotate around the axis to drive the driven part and move the lens switching device is detected by a second positioning device located at a first positioning position. The second positioning device detects the position of the lens switching device and / or the driven part, and when the position of the lens switching device and / or the driven part reaches the predetermined first positioning position, it controls the active part to stop rotating around the axis. At this time, the active part is located at the termination position of driving the driven part to move.

[0161] In this embodiment, the starting and ending positions of the active part driving the driven part are determined, thereby achieving precise control over the process of the active part rotating around the axis to drive the driven part.

[0162] It should be understood that after the active part has eliminated the gap between the active part and the driven part by rotating around the axis, the precise control of the process of the active part continuing to rotate around the axis to drive the driven part is merely exemplary. Those skilled in the art should understand that any method that can achieve precise control of the movement of the active part driving the driven part is applicable to the present invention.

[0163] In one example according to the invention, the first positioning position is the target position of the lens switching device.

[0164] The first positioning position is set as the target position. That is, after the active part rotates around its axis to eliminate the gap between the active and driven parts, it continues to rotate around the axis to drive the driven part, causing the driven part to move the lens switching device to the target position. At this point, the active part stops rotating around the axis. The lens switching device is then positioned at the target position, thus achieving the switching between lenses on the lens switching device. This switching process is precisely controlled by the aforementioned precise control of the movement of the active part after it eliminates the gap between the active and driven parts, i.e., precise control of the process from when the active part starts driving the driven part and thus the lens switching device begins to move to the target position, thereby achieving precise positioning of the lens switching device.

[0165] For example, a lens positioning mechanism can be used to stop the lens switching device at the target position while the active part pushes the driven part to move the lens switching device to the target position, thereby stopping the rotation of the active part around the axis.

[0166] For example, the lens positioning mechanism is configured such that during the movement of the lens conversion device, the lens positioning mechanism provides resistance to prevent the lens conversion device from continuing to move, so that when the driven part drives the lens conversion device to the target position, the lens conversion device stops moving.

[0167] For example, the lens positioning mechanism includes a baffle set at the target position. When the control device controls the active part to stop, when the resistance provided by the lens positioning mechanism to the lens conversion device is greater than or equal to the thrust of the active part pushing the driven part, the driven part also stops along with the stop of the active part. At this time, the position where the lens conversion device stops is the target position.

[0168] In one example according to the present invention, the first positioning position is different from the target position. In this case, by further positioning control of the lens switching device, the lens switching device is stopped at the target position, thereby positioning the lens positioning device at the target position.

[0169] For example, the first positioning position is set such that when the lens fixing device moves from the first positioning position to the target position, the distance the driven part rotates is less than or equal to the gap. Since there is a gap between the driving part and the driven part, when the lens switching device moves to the first positioning position, the driving part stops rotating around its axis. At this time, due to inertia, the driven part still has the speed to continue moving. Therefore, when the driving part stops pushing the driven part, the lens switching device located at the first positioning position is positioned. Within the range where the movement distance of the driven part under inertia is less than or equal to the gap, the lens switching device moves from the first positioning position to the target position and stops at the target position. That is, while the driven part continues to move within the gap distance and gradually stops, it simultaneously drives the lens switching device to gradually move to the target position and stop, thereby ensuring that the stopping process of the lens switching device is slow and stable, effectively improving the switching stability of the lens switching device.

[0170] Since a gap is provided between the active part and the driven part of the driving device in the image acquisition device according to the present invention, when the active part stops pushing the driven part, the driven part has a speed of continued movement due to inertia. In this embodiment, when the lens positioning structure is provided to position the lens switching device located at the first positioning position when the active part stops pushing the driven part, when the lens switching device moves from the first positioning position to the target position, the movement distance of the driven part is less than or equal to the gap. That is, while the driven part continues to move within the distance of the gap, it gradually stops, and at the same time, it drives the lens switching device to gradually stop.

[0171] For example, the lens switching device can be stopped at the target position by applying a force to the lens switching device to prevent it from continuing to move.

[0172] By applying a force to the lens switching device to prevent it from continuing to move, the speed of the lens switching device gradually decreases as it moves forward to the target position due to resistance, thereby ensuring that the stopping process of the lens switching device is slow and stable, effectively improving the switching stability of the lens switching device.

[0173] For example, the lens switching device is stopped at the target position by applying a gradually decreasing force to the lens switching device.

[0174] By applying a gradually decreasing force to the lens switching device, the lens switching device and the driven part gradually stop moving, further stabilizing the stopping process of the lens switching device and further slowing down the stopping process of the lens switching device, thereby making the lens switching device stop stably at the target position.

[0175] Furthermore, exemplarily, the gradually decreasing force can drive the lens switching device from the first positioning position to the target position.

[0176] When the driving part stops pushing the driven part, under the action of inertia, the driven part continues to drive the lens switching device forward from the first fixed position. When the speed of the driven part is zero, the lens switching device has not yet reached the target position. By setting a gradually decreasing force, the lens switching device can be driven from the first fixed position to the target position, and the lens switching device can be further moved forward to finally reach the target position.

[0177] Meanwhile, when the drive motor drives the active part according to the preset driving process, if the drive motor is a stepper drive electrode or a servo motor, the driving accuracy of the stepper drive electrode or servo motor is relatively small (the stepper drive motor drives with a fixed unit step angle displacement or linear displacement, and the minimum driving accuracy is a unit step angle displacement or linear displacement; the servo motor drives with a fixed unit rotation angle, and the minimum driving accuracy is a unit rotation angle). This can easily cause the distance traveled by the lens switching device to exceed the distance between the lens switching device and the target position when the active part stops driving the driven part (that is, the first positioning position reached by the lens switching device exceeds the target position). In this case, by gradually reducing the force to move the lens switching device from the first positioning position to the target position, the inaccurate positioning of the lens switching device can be avoided.

[0178] In one example according to the present invention, as described in Embodiment 1... Figure 2 , Figure 8 as well as Figures 9A-9D The lens positioning mechanism shown positions the lens conversion device.

[0179] Specifically, such as Figure 2 As shown, the image acquisition device 1 includes a lens positioning mechanism 20 for positioning the lens switching device 11, which positions the lens switching device 11 so that the lens switching device 11 stops at the target position.

[0180] Continue reading Figure 2 The lens positioning mechanism 20 includes a first positioning element 201 and a second positioning element 202. The first positioning element 201 includes a fixed elastic member 2011 and a steel ball 2012 (not shown) fixed on the elastic member 2011. The second positioning element 202 is a V-groove provided on the lens conversion device 11.

[0181] See Figure 8The diagram shows a structural schematic of the first positioning element according to this embodiment, including the elastic member 2011 and the steel ball 2012, cooperating with the second positioning element 202, which is configured as a V-groove. When the axis of the V-groove of the second positioning element 202 coincides with the axis of the steel ball 2012, the lens switching device is located at the target position.

[0182] In this embodiment, since the movement distance of the driven part is less than or equal to the gap when the lens conversion device moves from the first positioning position to the target position, the first positioning position includes two cases: First, in step S12 or S22, during the process of the active part rotating around the axis along the first direction, the distance traveled by the lens conversion device from the start of its movement to reaching the first positioning position is the first distance, which is less than the distance between the lens conversion device and the target position when it starts moving; Second, in step S12 or S22, during the process of the active part rotating around the axis along the first direction, the distance traveled by the lens conversion device from the start of its movement to reaching the first positioning position is the second distance, which is greater than the distance between the lens conversion device and the target position when it starts moving. Different methods are needed for positioning the lens conversion device in these two cases. The following describes the reference... Figures 12A-12B , Figures 13A-13C The positioning methods of the lens switching device in two different cases are illustrated by way of example.

[0183] First, refer to Figures 12A-12B Let me explain the first case:

[0184] In step S12 or S22 above, during the process of the active part rotating around the axis along the first direction, when the lens switching device starts moving and reaches the first positioning position, the active part stops pushing the driven part. Since there is a gap between the active part and the driven part, the active part stops moving, while the driven part still has the speed to continue moving forward. Since the first distance of the lens switching device is less than the distance between the lens switching device and the target position when it starts moving, the lens switching device continues to move under the drive of the driven part in the direction of movement toward the target position.

[0185] Referring to 12A, a schematic diagram of the relative positional relationship between the first and second positioning elements on the lens switching device is shown when the lens switching device is in the first positioning position. At this time, the second positioning element has a velocity toward the target position (as shown by arrow V1 in the figure), and the right inner side of the V-groove of the second positioning element 202 of the lens positioning mechanism contacts the steel ball 2012 of the first positioning element 201. The elastic member 2011 above the steel ball 2012 is compressed and undergoes elastic deformation with a deformation length L2. The elastic member 2011 exerts a downward force on the steel ball 2012, causing the steel ball 2012 to exert a force perpendicular to its right inner side on the V-groove of the second positioning element 202. Under the force exerted on its right side by the steel ball 2012, the second positioning element 202 continues to move toward the target position.

[0186] Referring to 12B, it is shown that under the action of inertia and the force exerted by the steel ball 2012 on the V-groove of the second positioning element 202, the driven part 122 drives the lens positioning device to continue moving until the axis of the V-groove of the second positioning element 202 coincides with the axis of the steel ball 2012. At this time, the lens conversion device 11 is located at the target position. At this time, the deformation of the elastic element 2011 decreases, and it has a deformation length L3; the force exerted by the steel ball 2012 on the two inner sides of the V-groove is the same, so that the lens positioning mechanism is positioned at the target position.

[0187] During the above process, the elastic elements are all in a contracted state, and L3>L2, that is, during the process of the lens conversion device moving from the first positioning position to the target position, the deformation of the elastic element 2011 gradually decreases, so that the force of the steel ball 2012 on the second positioning element 202 also gradually decreases. Since the elastic element 2011 always has the tendency to reduce its deformation, when the elastic force of the elastic element is greater than the elastic force at the target position, the lens conversion device can move towards the target position. When the lens conversion device is at the target position, the elastic element 2011 can prevent the lens conversion device from moving further, so that the lens conversion device 11 is stably positioned at the target position.

[0188] See below. Figures 13A-13C The second scenario will be explained as follows:

[0189] When, in step S12 or S22 above, during the rotation of the active part around the axis along the first direction, from the start of the movement of the lens conversion device to the arrival at the first positioning position, the second distance traveled by the lens conversion device is greater than the distance between the lens conversion device and the target position at the start of its movement. At this time, the lens conversion device has moved past the target position. Since the gap between the active part and the driven part has been eliminated during the movement of the active part pushing the driven part, there is no gap between them when the active part stops pushing the driven part at the first positioning position. Since the active part prevents the driven part from moving in the opposite direction, the lens conversion device cannot move back to the target position. Therefore, in this embodiment, after performing step S12 or S22, the following is also included:

[0190] Step S3: After the active part stops rotating around the axis along the first direction, the active part is controlled to rotate around the axis a third distance in the opposite direction to the first direction and then stop rotating around the axis. The third distance is at least equal to the distance the driven part rotates when the lens fixing device moves from the first positioning position to the target position, and the third distance is less than or equal to the gap.

[0191] Referring to 13A, a schematic diagram of the relative positional relationship between the first and second positioning elements on the lens switching device is shown when the lens switching device moves to a first positioning position that passes the target position. At this time, the second positioning element has a velocity away from the target position (as shown by arrow V2 in the figure), and the left inner side of the V-groove of the second positioning element 202 of the lens positioning mechanism contacts the steel ball 2012 of the first positioning element 201. The elastic member 2011 above the steel ball 2012 is compressed and undergoes elastic deformation with a deformation length L2. The elastic member 2011 exerts a downward force on the steel ball 2012, causing the steel ball 2012 to exert a force perpendicular to its left inner side on the V-groove of the second positioning element 202. The second positioning element 202 stops moving under the force exerted on its left side by the steel ball 2012.

[0192] See Figure 13B The diagram illustrates the relative positional relationship between the first and second positioning elements on the lens conversion device after the active part has rotated a third distance around an axis in a direction opposite to the direction of movement in steps S12 or S22. The third distance is set to be at least equal to the distance the driven part rotates when the lens fixing device moves from the first positioning position to the target position, and the third distance is less than or equal to the gap. In this case, because the distance the active part moves in the opposite direction is less than or equal to the gap, it fails to push the driven part to move, nor can it cause the driven part to move the lens conversion device away from the target position. Figure 13BThe state in which the left inner side of the V-groove of the second positioning element 202 of the lens positioning mechanism is still in contact with the steel ball 2012 of the first positioning element 201.

[0193] Controlling the active part to rotate around the axis in a direction opposite to the direction of movement in the aforementioned steps S12 or S22 is to provide a clearance for the reverse movement of the driven part. Figure 13A Under the force exerted by the steel ball 2012 on the inner side of the V-groove on the second positioning element 202, the second positioning element 202 can move toward the target position (i.e., with...). Figure 13A (in the opposite direction of V2), thus eventually moving to the target position.

[0194] Referring to 13C, it is shown that under the force applied by the steel ball 2012 to the inner side of the V-groove on the second positioning element 202, the second positioning element 202 moves toward the target position until the axis of the V-groove of the second positioning element 202 coincides with the axis of the steel ball 2012. At this time, the lens conversion device 11 is located at the target position. At this time, the deformation of the elastic element 2011 decreases, and it has a deformation length L3; the force exerted by the steel ball 2012 on the two inner sides of the V-groove is the same, so that the lens positioning mechanism is positioned at the target position.

[0195] During the above process, the elastic elements are all in a contracted state, and L3>L2, that is, during the process of the lens conversion device moving from the first positioning position to the target position, the deformation of the elastic element 2011 gradually decreases, so that the force of the steel ball 2012 on the second positioning element 202 also gradually decreases. Since the elastic element 2011 always has the tendency to reduce its deformation, when the elastic force of the elastic element is greater than the elastic force at the target position, the lens conversion device can move towards the target position. When the lens conversion device is at the target position, the elastic element 2011 can prevent the lens conversion device from moving further, so that the lens conversion device 11 is stably positioned at the target position.

[0196] Example 3

[0197] The present invention also provides an image acquisition device, comprising:

[0198] Lens conversion device, wherein the lens conversion device is provided with at least two lenses; and

[0199] A driving device, the driving device being used to drive the lens switching device to a target position to achieve switching between the at least two lenses, wherein the driving device includes:

[0200] An active part, which is capable of rotating about an axis;

[0201] A driven part, which is connected to the lens conversion device and has a gap between itself and the driving part; and

[0202] A control module, wherein the control module includes an executable program instruction stored thereon and a processor, wherein when the executable program instruction is executed by the processor, the processor performs the method described in Embodiment 2.

[0203] The present invention has been described through the above embodiments. However, it should be understood that the above embodiments are for illustrative purposes only and are not intended to limit the invention to the scope of the described embodiments. Furthermore, those skilled in the art will understand that the present invention is not limited to the above embodiments, and many more variations and modifications can be made based on the teachings of the present invention, all of which fall within the scope of protection claimed by the present invention. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. An image acquisition device, characterized in that, include: A lens conversion device, wherein a low-magnification objective lens and a high-magnification objective lens are provided on the lens conversion device; and A driving device, wherein the driving device is used to drive the lens switching device to a target position to achieve switching between the low-magnification objective lens and the high-magnification objective lens, wherein the driving device includes: An active part, which is capable of rotating about an axis; A driven part, which is connected to the lens conversion device and has a gap between itself and the driving part; and A control device controls the rotation of the active part around the axis during each drive process, so that after the active part eliminates the gap when rotating around the axis along the first direction, it can continue to rotate around the axis along the first direction, thereby driving the driven part to rotate. During the rotation, the driven part drives the lens switching device to the target position, thereby achieving the switch from the low-magnification objective lens to the high-magnification objective lens while eliminating the backlash of the drive device itself.

2. The image acquisition device according to claim 1, characterized in that, It also includes a damping device that provides resistance to the driven part, and drives the driven part to rotate when the thrust provided by the driving part to the driven part is greater than the resistance.

3. The image acquisition device according to claim 2, characterized in that, The braking device includes a fixedly disposed elastic component, wherein the elastic component is configured as follows: By applying pressure to the driven part or the lens conversion device through its own elastic deformation, it provides resistance to the driven part.

4. The image acquisition device according to claim 3, characterized in that, The damping device includes a spring sheet and a protruding structure fixedly connected to the lens conversion device; One end of the spring sheet is fixedly disposed, and the other end contacts the protruding structure and provides pressure to the protruding structure.

5. The image acquisition device according to claim 1, characterized in that, The control device includes a positioning device, which is configured as follows: The starting position at which the driving part pushes the driven part to rotate is positioned, so that the control device controls the distance by which the driving part continues to rotate around the axis along the first direction based on the starting position; and / or The control device locates the termination position of the active part driving the driven part to rotate, so that the control device controls the active part to stop rotating around the axis according to the termination position.

6. The image acquisition device according to claim 5, characterized in that, The positioning device includes a fixedly mounted photoelectric sensor and a baffle plate fixedly connected to the lens conversion device.

7. The image acquisition device as described in claim 1 or 5, characterized in that, It also includes a lens positioning mechanism for positioning the lens switching device during its movement so that the lens switching device stops at the target position.

8. The image acquisition device as described in claim 7, characterized in that, The lens positioning mechanism is configured as follows: During the movement of the lens conversion device, the lens positioning mechanism provides resistance to prevent the lens conversion device from continuing to move, thereby positioning the lens conversion device.

9. The image acquisition device according to claim 7, characterized in that, The lens positioning mechanism is configured as follows: When the lens positioning mechanism positions the lens conversion device, the lens conversion device includes a first positioning position and a target position, wherein... At the first positioning position, the active part stops pushing the driven part, and, When the lens switching device moves from the first positioning position to the target position, the movement distance of the driven part is less than or equal to the gap.

10. The image acquisition device according to claim 9, characterized in that, The lens positioning mechanism includes a first positioning element fixedly disposed therein and a second positioning element fixedly connected to the lens conversion device, and the lens positioning mechanism is configured as follows: When the lens switching device moves from the first positioning position to the target position, the first positioning element applies a gradually decreasing force to the second positioning element.

11. The image acquisition device according to claim 10, characterized in that, The lens positioning mechanism is configured as follows: When the force applied by the lens positioning mechanism to the lens conversion device is greater than the force applied by the lens positioning mechanism to the lens conversion device at the target position, the lens positioning mechanism can move the lens conversion device toward the target position.

12. The image acquisition device according to claim 11, characterized in that, The first positioning element includes an elastic member extending in a second direction, which is intersecting the direction of movement of the lens switching device; The second positioning element has a shape that mates with the end of the first positioning element in the second direction; wherein the elastic member is configured as follows: When the lens switching device moves from the first positioning position to the target position, the elastic deformation of the elastic member in the second direction gradually decreases to generate a gradually decreasing elastic force on the second positioning element, and... When the elastic force of the elastic component is greater than the elastic force at the target position, the lens switching device can be moved toward the target position.

13. The image acquisition device according to claim 12, characterized in that, The first positioning element includes an elastic member fixed at one end and a steel ball connected to the other end of the elastic member. The second positioning element includes a V-shaped groove disposed on the lens conversion device, wherein the axial direction of the V-shaped groove is consistent with the deformation direction of the elastic element, and the V-shaped groove includes a first side surface and a second side surface; wherein, When the first side or the second side comes into contact with the steel ball, the lens switching device is located at the first positioning position; When the V-shaped groove moves to coincide with the axis of the steel ball and contacts both the first side and the second side, the lens conversion device is located at the target position.

14. The image acquisition device according to claim 1, characterized in that, The control device includes a drive motor, and the active part is connected to the motor shaft of the drive motor.

15. The image acquisition device according to claim 14, characterized in that, Its features are, The drive motor includes a stepper motor.

16. A lens switching method, applied to an image acquisition device, characterized in that, The image acquisition device includes a lens switching device, which is equipped with a low-magnification objective lens to a high-magnification objective lens. and A driving device, wherein the driving device is used to drive the lens switching device to a target position to achieve switching between the low-magnification objective lens and the high-magnification objective lens, wherein the driving device includes: An active part, which is capable of rotating about an axis; The driven part is connected to the lens conversion device and has a gap between it and the driving part; The method includes: During each drive process, the active part is controlled to rotate around the axis along the first direction to eliminate the gap, and then continues to rotate around the axis along the first direction, so that the active part pushes the driven part to rotate, thereby causing the driven part to drive the lens switching device to move, thereby achieving the switch from the low magnification objective lens to the high magnification objective lens while eliminating the backlash of the drive device itself.

17. The method according to claim 16, characterized in that, The step of controlling the active unit to rotate around the axis along the first direction to eliminate the gap and then continuing to rotate around the axis along the first direction includes: The active part is controlled to rotate about the axis along the first direction; The position of the lens switching device and / or the driven part is detected. When the position of the lens switching device and / or the driven part changes, the active part is controlled to continue rotating around the axis a first distance along the first direction, so that the active part pushes the driven part to rotate and drive the lens switching device to move to the first positioning position and then stops rotating around the axis.

18. The method according to claim 16, characterized in that, The step of controlling the active unit to rotate around the axis along the first direction to eliminate the gap and then continuing to rotate around the axis along the first direction includes: The active part is controlled to rotate about the axis along the first direction; The position of the lens switching device is detected, and when the lens switching device reaches the first positioning position along the direction of movement, the active part is controlled to stop rotating around the axis.

19. The method according to claim 17 or 18, characterized in that, The first positioning location is the target location.

20. The method according to claim 17 or 18, characterized in that, The first positioning position is different from the target position, wherein the first positioning position is set such that when the lens fixing device moves from the first positioning position to the target position, the distance the driven part rotates is less than or equal to the gap, and the method further includes: Position the lens switching device so that it stops at the target position.

21. The method according to claim 20, characterized in that, In the step of positioning the lens conversion device, a force is applied to the lens conversion device to stop it from moving further, thereby stopping the lens conversion device at the target position.

22. The method according to claim 21, characterized in that, In the step of positioning the lens conversion device, the lens conversion device is stopped at the target position by applying a gradually decreasing force to the lens conversion device.

23. The method according to claim 22, characterized in that, The gradually decreasing force can move the lens switching device from the first positioning position to the target position.

24. The method according to claim 23, characterized in that, During the rotation of the active part around the axis along the first direction, the distance traveled by the lens switching device from the start of movement to the arrival at the first positioning position is the first distance, which is less than the distance between the lens switching device and the target position when it starts moving.

25. The method according to claim 23, characterized in that, During the rotation of the active part around the axis along the first direction, the distance traveled by the lens switching device from the start of its movement to reaching the first positioning position is a second distance, which is greater than the distance between the lens switching device and the target position at the start of its movement; wherein, the step of positioning the lens switching device further includes: After the active part stops rotating about the axis along the first direction, the active part is controlled to rotate about the axis a third distance in the opposite direction to the first direction and then stop rotating about the axis. The third distance is at least equal to the distance the driven part rotates when the lens fixing device moves from the first positioning position to the target position, and the third distance is less than or equal to the gap.

26. An image acquisition device, characterized in that, include: A lens conversion device, wherein a low-magnification objective lens to a high-magnification objective lens is provided on the lens conversion device; and A driving device, wherein the driving device is used to drive the lens switching device to a target position to achieve switching between the low-magnification objective lens and the high-magnification objective lens, wherein the driving device includes: An active part, which is capable of rotating about an axis; A driven part, which is connected to the lens conversion device and has a gap between itself and the driving part; and A control module, wherein the control module includes a processor storing executable program instructions, the executable program instructions, when executed by the processor, cause the processor to perform: During each drive process, the active part is controlled to rotate around the axis along the first direction to eliminate the gap, and then continues to rotate around the axis along the first direction, so that the active part pushes the driven part to rotate, thereby causing the driven part to drive the lens switching device to move, thereby achieving the switch from the low magnification objective lens to the high magnification objective lens while eliminating the backlash of the drive device itself.

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