Interchangeable lens adaptive control compensation system and method

Abstract

This invention provides an adaptive control and compensation system for interchangeable lenses, including a lens mount, an actuator, and a controller. The lens mount is used to mount various different lenses. The actuator is connected to the lens mount and is used to drive the lens mount to move. The controller is electrically connected to the actuator and is used to control the actuator to drive the lens mount, while simultaneously determining whether the maximum preset output torque of the actuator is insufficient to drive the lens mount at each position. The controller records the position as a bad point in response to the maximum preset output torque being insufficient to drive the lens mount at a certain position. An adaptive control and compensation method for interchangeable lenses is also proposed.

Description

Technical Field

[0001] This invention relates to a control compensation system and method, and more particularly to an adaptive control compensation system and method for interchangeable lenses. Background Technology

[0002] For projector lenses, different lenses are available depending on the projection size or projection distance. For users with different projection venue needs, projectors with interchangeable lenses for different venues are more attractive than purchasing multiple projectors with different lenses at once, thus creating a market demand for projectors with interchangeable lenses. If you want to add support for lenses not planned for support during the development phase to an already released projector, in addition to redesigning the parameters of the motor driving the lens, the user's home projector also needs to update its firmware.

[0003] As time or environment changes, mechanical components may be affected by wear and tear or thermal expansion and contraction, which increases the resistance of the motor driving the lens and affects the smoothness of movement. In the worst case, it may get stuck.

[0004] In addition to the reasons mentioned above, optical components also have individual lens tolerances due to design tolerances. These individual lens tolerances can lead to variations in the performance of different lenses. In the past, motor drive parameters could not adapt to environmental changes on their own. Therefore, motor drive parameter design was generally based on the parameters with the largest individual tolerances and the worst performance during the design phase. This could result in situations where the overall performance was lowered in order to accommodate the worst individual tolerances.

[0005] Furthermore, in conventional projectors, different lenses paired with optical engines may encounter resistance in certain positions or directions when the lens moves, and in the worst case, it may even be unable to stop and move forward.

[0006] On the other hand, conventional projectors do not have boundary sensing functionality installed or utilized, so the lens cannot know whether it has moved to the boundary. In this case, the lens may damage the edge components. Summary of the Invention

[0007] The purpose of this invention is to provide an adaptive control and compensation system for interchangeable lenses, which can automatically adjust the parameters of the moving lens in response to changes in different lenses, time, or environments, thereby achieving adaptive control and compensation. The purpose of this invention is also to provide an adaptive control and compensation method for interchangeable lenses, which can automatically adjust the parameters of the moving lens in response to changes in different lenses, time, or environments, thereby achieving adaptive control and compensation.

[0008] Based on the above objectives, the present invention proposes an interchangeable lens adaptive control compensation system, characterized in that it includes: a lens mount for mounting a lens; an actuator connected to the lens mount and used to drive the lens mount to move in a plane perpendicular to the optical axis of the lens mount; and a controller electrically connected to the actuator; the controller is used to determine, when the actuator drives the lens mount, whether the actuator is unable to drive the lens mount with a maximum preset output torque at each position; the controller is used to record the position as a bad pixel in response to the actuator being unable to drive the lens mount with a maximum preset output torque at a certain position.

[0009] Preferably, the controller is also configured to establish a lookup table corresponding to each of the positions, and record the position in the lookup table where the lens mount cannot be driven by the maximum preset output torque as a bad spot; the controller is also configured to control the actuator to drive the lens mount according to the lookup table, wherein the movement path of the lens mount avoids the position recorded as a bad spot in the lookup table.

[0010] Preferably, the device also includes a sensor connected to the lens mount and electrically connected to the controller, wherein the sensor is used to sense the location of the lens mount.

[0011] Preferably, the lookup table stores the drive torque value of the actuator corresponding to each position. The controller is further configured to: determine whether the user's movement command for the lens mount is manual or automatic; in response to the movement command being manual, drive the actuator to move the lens mount according to the drive torque value corresponding to the current position in the lookup table; determine whether the movement speed of the lens mount meets a preset speed; in response to the movement speed of the lens mount not meeting the preset speed, update the drive torque value corresponding to the current position in the lookup table for use the next time the lens mount moves to the current position; in response to the movement speed of the lens mount meeting the preset speed, drive the actuator to move the lens mount according to the drive torque value corresponding to the current position in the lookup table; and in response to the movement command being automatic, plan the movement path of the lens mount according to the lookup table to control the actuator to drive the lens mount to the target position.

[0012] Preferably, the step of planning the movement path of the lens mount according to the lookup table further includes planning the movement path of the lens mount based on at least one of the following conditions: shortest path, fastest speed, and minimum power consumption.

[0013] Preferably, updating the drive torque value corresponding to the current position in the lookup table includes: finding the drive torque value after adjusting by one unit torque, and using it as the updated drive torque value corresponding to the current position in the lookup table.

[0014] Preferably, updating the drive torque value corresponding to the current position in the lookup table includes updating the speed of the actuator corresponding to the drive torque value at the current position in the lookup table. Specifically, this includes: finding the interval in the speed-torque characteristic curve of the actuator where the drive torque value at the current position is located; and finding the speed corresponding to the drive torque value after adjusting by one unit of torque according to the speed-torque characteristic curve, or adjusting the speed by one unit according to the speed adjustment direction, as the updated speed corresponding to the current position in the lookup table.

[0015] Preferably, the rotational speeds stored in the lookup table include static friction speeds and dynamic friction speeds. The controller is configured to: in response to the static friction speed being sufficient to move the lens mount from a rest position without updating the static friction speed corresponding to that position in the lookup table; and in response to the static friction speed being insufficient to move the lens mount from a rest position, update the static friction speed and store the updated static friction speed in the lookup table.

[0016] Preferably, the controller is also used to command the actuator to drive the lens mount to scan the boundary of the lens it mounts in order to obtain the range of motion of the lens.

[0017] Preferably, scanning the boundary of the lens mounted thereon includes: obtaining a first torque of the actuator, wherein the first torque is the minimum torque required to drive the lens mount to move in at least three directions; multiplying the first torque by a buffer coefficient corresponding to the weight of the lens to obtain a second torque, and setting the second torque as the maximum preset output torque; and moving the lens mount with the maximum preset output torque until it can no longer be moved, and determining the corresponding position as the boundary of a portion of the lens.

[0018] Preferably, the lens mount is used to mount at least two different lenses; the controller is used to command the actuator to drive the lens mount to scan the boundary of the lens in response to the lens mount being reconfigured with a lens.

[0019] Based on the above objectives, the present invention also proposes an adaptive control compensation method for interchangeable lenses, comprising: using an actuator to drive a lens mount to move in a plane perpendicular to the optical axis of the lens mount; while controlling the actuator to drive the lens mount, determining whether the actuator cannot drive the lens mount with the maximum preset output torque at each position; and in response to the actuator being unable to drive the lens mount with the maximum preset output torque at a certain position, recording that position as a bad spot.

[0020] Preferably, it further includes: proposing a lookup table corresponding to each position, and recording the position in the lookup table where the lens mount cannot be driven by the maximum preset output torque as a bad spot; controlling the actuator to drive the lens mount according to the lookup table, wherein the movement path of the lens mount avoids the position recorded as a bad spot in the lookup table.

[0021] Preferably, the lookup table stores the drive torque value of the actuator corresponding to each position, and the method further includes: determining whether the user's movement command for moving the lens mount is manual adjustment or automatic adjustment; in response to the movement command being manual adjustment, driving the actuator to move the lens mount according to the drive torque value corresponding to the current position in the lookup table; determining whether the movement speed of the lens mount meets a preset speed; in response to the movement speed of the lens mount not meeting the preset speed, updating the drive torque value corresponding to the current position in the lookup table for use the next time the lens mount moves to the current position; in response to the movement speed of the lens mount meeting the preset speed, driving the actuator to move the lens mount according to the drive torque value corresponding to the current position in the lookup table; and in response to the movement command being automatic adjustment, planning the movement path of the lens mount according to the lookup table to drive the lens mount to the target position.

[0022] Preferably, the step of planning the movement path of the lens mount according to the lookup table further includes planning the movement path of the lens mount based on at least one of the following conditions: shortest path, fastest speed, and minimum power consumption.

[0023] Preferably, updating the drive torque value corresponding to the current position in the lookup table includes: finding the drive torque value after adjusting by one unit torque, and using it as the updated drive torque value corresponding to the current position in the lookup table.

[0024] Preferably, updating the drive torque value corresponding to the current position in the lookup table includes updating the speed of the actuator corresponding to the drive torque value at the current position in the lookup table. Specifically, this includes: finding the interval in the speed-torque characteristic curve of the actuator where the drive torque value at the current position is located; and finding the speed corresponding to the drive torque value after adjusting by one unit of torque according to the speed-torque characteristic curve, or adjusting the speed by one unit according to the speed adjustment direction, as the updated speed corresponding to the current position in the lookup table.

[0025] Preferably, the rotational speeds stored in the lookup table include static friction rotational speeds and dynamic friction rotational speeds. The method further includes: in response to the static friction rotational speed being sufficient to move the lens mount from a position to a rest position without updating the static friction rotational speed corresponding to that position in the lookup table; and in response to the static friction rotational speed being insufficient to move the lens mount from a position to a rest position, updating the static friction rotational speed and storing the updated static friction rotational speed in the lookup table.

[0026] Preferably, the actuator is also instructed to drive the lens mount to scan the boundary of the lens it mounts in order to obtain the range of motion of the lens.

[0027] Preferably, scanning the boundary of the lens includes: obtaining a first torque of the actuator, wherein the first torque is the minimum torque required to move the lens mount in at least three directions; multiplying the first torque by a buffer coefficient corresponding to the weight of the lens to obtain a second torque, and setting the second torque as the maximum preset output torque; and moving the lens mount with the maximum preset output torque until it can no longer be moved, and determining the corresponding position as the boundary of a portion of the lens.

[0028] Preferably, the lens mount is used to mount at least two different lenses; the method further includes commanding the actuator to drive the lens mount to scan the boundary of the lens in response to the lens mount being reconfigured with a lens.

[0029] In the interchangeable lens adaptive control compensation system and method of the present invention, when controlling the actuator to drive the lens mount, it is simultaneously determined whether the maximum preset output torque of the actuator is insufficient to drive the lens mount at each position. If the maximum preset output torque is insufficient to drive the lens mount at a certain position, the position is recorded as a bad point. Therefore, the interchangeable lens adaptive control compensation system and method of the present invention can automatically adjust the parameters of the moving lens in response to changes in different lenses, time, or environments, thereby achieving adaptive control and compensation. Attached Figure Description

[0030] Figure 1A This is a block diagram of the interchangeable lens adaptive control compensation system according to the first embodiment of the present invention.

[0031] Figure 1B To adopt Figure 1A A schematic diagram of the projector's exterior with an interchangeable lens adaptive control compensation system.

[0032] Figure 2 for Figure 1A The flowchart shows the switching lens adaptive control compensation method executed by the switching lens adaptive control compensation system.

[0033] Figure 3 for Figure 1A A schematic diagram of an interchangeable lens adaptive control compensation system at the boundary of the movable range of the scanning lens.

[0034] Figure 4 for Figure 1A A schematic diagram of the coordinates within the lens's movable range in an interchangeable lens adaptive control compensation system.

[0035] Figure 5 for Figure 1A A schematic diagram of the torque compensation table for an interchangeable lens adaptive control compensation system.

[0036] Figure 6 for Figure 1A The torque-speed characteristic curve of the motor in the interchangeable lens adaptive control compensation system.

[0037] Figure 7 for Figure 1A A schematic diagram of the torque compensation table after recording bad pixels in the interchangeable lens adaptive control compensation system.

[0038] Figure 8 for Figure 1A A schematic diagram of the defect avoidance mechanism of the interchangeable lens adaptive control compensation system.

[0039] Figure 9A and Figure 9B For illustration Figure 1A A schematic diagram illustrating the process of a switching lens adaptive control compensation system planning the lens travel path when the target position of the lens is known. Detailed Implementation

[0040] To provide a further understanding of the purpose, structure, features, and functions of the present invention, detailed descriptions are provided below with reference to specific embodiments.

[0041] Figure 1A This is a block diagram of an embodiment of the interchangeable lens adaptive control compensation system of the present invention. Figure 1B To adopt Figure 1A A schematic diagram of the projector's exterior with an adaptive control compensation system for switching lenses. Figure 2 for Figure 1A The flowchart illustrates the adaptive control compensation method for interchangeable lenses implemented by the adaptive control compensation system. Please refer to... Figure 1A , Figure 1B and Figure 2The interchangeable lens adaptive control compensation system 100 of this embodiment can be applied to a projector 200. The interchangeable lens adaptive control compensation system 100 of this embodiment includes a lens mount 110, an actuator 120, and a controller 130. The lens mount 110 is used to mount (e.g., multiple different lenses) 210. The actuator 120 is connected to the lens mount 110 and is used to drive the lens mount 110 to move, for example, to move the lens mount 110 relative to the housing 220 of the projector 200. Specifically, the lens mount 110 moves relative to the display element in the housing 220 of the projector 200 in a direction perpendicular to the optical axis A1 to adjust the position of the image projected by the projector 200. The display element is, for example, a digital micromirror device (DMD), a liquid crystal on silicon (LCD), a transmissive liquid crystal panel, an organic light-emitting diode (OLED) display panel, or another spatial light modulator (SLM). In this embodiment, the actuator 120 drives the lens mount 110 to move in a plane perpendicular to the optical axis A1 of the lens mount 110 (which is also the optical axis of the lens 210), for example, in a direction perpendicular to the optical axis A1 of the lens mount 110 (which is also the optical axis of the lens 210). Figure 1B It moves on the plane formed by the x and y directions, where both the x and y directions are perpendicular to the optical axis A1, and the x direction is perpendicular to the y direction.

[0042] The controller 130 is electrically connected to the actuator 120 and is used to control the actuator 120 to drive the lens mount 110. Simultaneously, it determines whether the maximum preset output torque of the actuator 120 is insufficient to drive the lens mount 110 at each position (in other words, it determines whether the maximum preset output torque cannot drive the lens mount 110). Preferably, a lookup table corresponding to each of the aforementioned positions is also established. Furthermore, the controller 130 records the position as a bad point (e.g., in the lookup table) in response to the maximum preset output torque failing to drive the lens mount 110 at a certain position. Figure 2 Steps S6-4 and S12).

[0043] In this embodiment, the actuator 120 includes a horizontal moving motor 122 and a vertical moving motor 124. The horizontal moving motor 122 is used to drive the lens mount 110 to move in the x direction, while the vertical moving motor 124 is used to drive the lens mount 110 to move in the y direction.

[0044] Furthermore, in this embodiment, the interchangeable lens adaptive control compensation system also includes a sensor 140 connected to the lens mount 110 and electrically connected to the controller 130, wherein the sensor 140 is used to sense the position of the lens mount 110. In one embodiment, the sensor 140 is, for example, a variable resistor, and the controller 130 determines the position of the lens mount 110 based on the change in the resistance value of the variable resistor.

[0045] In this embodiment, the controller 130 is used to, based on the recorded lookup table, ensure that when the actuator 120 drives the lens mount 110 next time, it avoids locations recorded as bad pixels in the lookup table, such as from... Figure 2 Step S6-4 returns to step S6-2, or steps S13 and S14 following step S12.

[0046] In this embodiment, each position in the lookup table corresponds to a drive torque value of the actuator 120, and the controller 130 performs the following steps. First, it determines whether the user's instruction to move the lens mount 110 is manual or automatic adjustment, as in step S6-1. Then, in response to the manual adjustment instruction, the lens mount 110 is moved according to the drive torque value at the current position in the lookup table, as in steps S7 and S8. However, it is determined whether the speed at which the lens mount 110 moves meets a preset speed, as in step S9. Then, in response to the speed at which the lens mount 110 moves not meeting the preset speed, the drive torque value corresponding to the current position in the lookup table is updated for use the next time the lens mount 110 moves to the current position, as in step S10. On the other hand, in response to the speed at which the lens mount 110 moves meeting the preset speed, the lens mount continues to move according to the drive torque value in the lookup table, as in step S8, returning from step S9. Furthermore, in response to the movement command of the moving lens mount 110, the movement path of the lens mount 110 is automatically adjusted according to the lookup table (preferably, at least one of the shortest path, fastest speed and minimum power consumption is considered to drive the lens mount 110 to a target position, as in step 6-2).

[0047] In this embodiment, when it is determined in step S6-1 that manual adjustment is to be used, the controller 130 updates the drive torque value in the lookup table based on the premise of moving the lens mount 110 at a constant speed, as in step S9. The drive torque value after decreasing or increasing by one unit torque according to the speed adjustment direction is used as the updated drive torque value corresponding to the current position in the lookup table, as in step S10.

[0048] In a preferred embodiment, each position in the lookup table corresponds to the rotational speed of the driving torque value. Updating the driving torque value corresponding to the current position in the lookup table specifically involves updating the rotational speed stored at the current position in the lookup table. In other embodiments, the lookup table may further include a first lookup table and a second lookup table, wherein the first lookup table stores the position and the corresponding driving torque value, and the second lookup table stores the driving torque value and the corresponding driving rotational speed. The driving rotational speed corresponding to the current position is obtained by sequentially searching the first and second lookup tables. This invention is not limited to these embodiments.

[0049] In this embodiment, when it is determined in step S6-1 that manual adjustment is to be used, the controller 130 updates the rotational speed of the drive torque value in the lookup table based on the premise that the lens mount 110 moves at a constant speed, as in step S9. In this embodiment, the rotational speed stored in the lookup table includes static friction rotational speed and dynamic friction rotational speed, and the rotational speed updated based on the premise of constant speed is the dynamic friction rotational speed. The controller performs the following steps. First, in response to the static friction rotational speed being sufficient to move the lens mount 110 from a stationary position, the static friction rotational speed at the position in the lookup table is not updated. On the other hand, in response to the static friction rotational speed being insufficient to move the lens mount 110 from a stationary position, the static friction rotational speed is updated, and the updated static friction rotational speed is stored in the lookup table, as in step S9.

[0050] Furthermore, in this embodiment, updating the drive torque value in the lookup table at the current position includes the following steps: Finding the range of the drive torque value at the current position within the speed-torque characteristic curve of the actuator 120. Then, based on the speed-torque characteristic curve, finding the speed corresponding to the drive torque value after decreasing or increasing by one unit torque in the speed adjustment direction, and using this as the updated speed corresponding to the current position in the lookup table; alternatively, the speed that decreases or increases by one unit speed in the speed adjustment direction can also be used as the updated speed corresponding to the current position in the lookup table; as in step S10.

[0051] On the other hand, in this embodiment, the controller 130 commands the actuator 120 to drive the lens mount 110 to scan the boundary of the lens 210 it mounts, in order to determine the range of motion of the lens 210, as in step S3. In this embodiment, the scanning of the boundary of the lens 210 includes the following steps.

[0052] First, the torque of actuator 120 is gradually increased from the minimum torque until a first torque is achieved that allows the lens mount 110 to move in at least three directions (in other words, the first torque is the torque that can overcome the maximum static friction). Based on this first torque, a larger second torque is obtained as the maximum preset output torque. In one embodiment, considering the weight of lens 210, the first torque is multiplied by the buffer coefficient corresponding to the weight of lens 210 to obtain the second torque, and the second torque is set as the maximum preset output torque, as in step 2. Then, the lens mount 110 is driven to move with the maximum preset output torque until it can no longer move. When this point, the corresponding position is confirmed as the boundary of lens 210 in the direction of movement, that is, a partial boundary of lens 210 is confirmed. Further, the movement is performed in another direction, and other boundaries of the movement range of lens 210 are scanned, as in step 3.

[0053] Furthermore, in this embodiment, the controller 130 commands the actuator 120 to drive the lens mount 110 to scan the boundary of the lens 210 in response to the lens mount 110 being reconfigured with a lens 210 (e.g., another lens of a different specification), as in step 1.

[0054] The interchangeable lens adaptive control compensation method of this embodiment can be executed by the interchangeable lens adaptive control compensation system 100, and its specific steps are as follows: Figure 2 As shown, the interchangeable lens adaptive control compensation method of this embodiment may include Figure 2 At least some or all of the steps.

[0055] In step S1, a sensor is used to determine whether the lens 210 is attached to the lens mount 110. This can be done, for example, by using a microswitch, or by checking the position of the lens mount 110 after the projector 200 is powered on to see if it differs from its position before the projector was powered off. This indicates whether the lens 210 has been moved. When the actuator 120 is not powered on, it does not continuously output torque, and the lens 210 may be displaced due to external forces (such as gravity), falling out of its original position. Therefore, upon power-on and detection of a position change, the actuator parameters can be corrected by rerunning the process to address these situations.

[0056] Next, step S2 is executed, in which the torque used to scan the boundary is determined. During the development phase of the projector 200, the buffer coefficient was determined experimentally using different lens models 210. In this design, the boundary search does not directly impact the physical boundary, thus avoiding damage to the mechanism. When the first torque is multiplied by the buffer coefficient to obtain the second torque, the second torque will not exceed the system's maximum torque. The buffer coefficient is used to assume that the boundary is the position where the second torque multiplied by the buffer coefficient reaches its limit and cannot advance further. Here, the first torque is the torque that can overcome the maximum static friction.

[0057] Next, step S3 is executed, which scans the boundary to determine the movement range of lens 210. First, a direction is selected and the second torque obtained in step S2 is used... Figure 3 By scanning the boundary diagram, the system moves along the boundary P1 and records the position of each point relative to the center point. These sampling points are then collected to delineate the boundary of the movement range of the lens 210. In this way, when the system determines that it has reached the boundary, it can stop the actuator 120 from continuing to output torque, thus preventing damage to the lens 210 or the lens mount 110 due to continuous impact.

[0058] Then, step S4 is performed, which involves creating a torque compensation table (i.e., the lookup table mentioned above). Specifically, within the range of movement of the lens 210 surrounded by boundary P1, the position is managed and positive and negative directions are distinguished using the unit distance from the center point, such as... Figure 4 The coordinates of several locations are indicated, and the precision of the unit distance can be set as needed. In this embodiment, the value before the comma in the coordinates corresponds to the distance relative to the center point in the x-direction, while the value after the comma corresponds to the distance relative to the center point in the y-direction. Furthermore, in the established torque compensation table, each coordinate point records the required dynamic friction speed and static friction speed in each direction, such as... Figure 5 ,in Figure 5 The table only shows 9 representative coordinate points and lists only the kinetic friction speed and static friction speed at coordinate (0,1). However, each coordinate actually has corresponding x-direction positive static friction speed, x-direction negative static friction speed, y-direction positive static friction speed, y-direction negative static friction speed, x-direction positive kinetic friction speed, x-direction negative kinetic friction speed, y-direction positive kinetic friction speed, and y-direction negative kinetic friction speed. The x-direction positive static friction speed refers to the motor speed used by the horizontal moving motor 122 to overcome static friction when moving the lens mount 110 in the positive x-direction, while the y-direction negative kinetic friction speed refers to the motor speed used by the vertical moving motor to overcome kinetic friction when moving the lens mount 110 in the negative y-direction. The physical meanings of the other 6 speed parameters are deduced similarly. And in... Figure 5When the torque compensation table was initially created, all coordinate fields used preset torque speeds.

[0059] Next, step S5 is executed, which involves receiving a movement command. In this embodiment, the system's lens 210 movement mode is divided into two types: one is where the user presses a button or touches the user interface to command the lens 210 to move forward (the system does not know the destination), and the other is where the destination is known, and the system directly moves the lens 210 to the designated position. The controller 130 sends movement commands to drive the actuator 120 according to the different movement modes.

[0060] Next, step S6 is executed, which involves obtaining the movement path of lens 210. As mentioned above, the movement mode of lens 210 is divided into manual adjustment and direct movement to a designated position. For manual adjustment, the movement path is confirmed from the table record field of the current position of lens 210 before movement (e.g., to check for bad pixels and whether a detour is needed). For direct movement to a designated position, it is preferable to drive lens mount 110 to the target position using the shortest path, fastest speed, and / or minimum power consumption.

[0061] Next, proceed to step S6-1 to determine whether the movement of lens 210 is manually adjusted. If yes, proceed to step S7; otherwise, proceed to step S6-2.

[0062] In step S7, the controller 130 looks up the table to obtain the torque at the current position. Assuming movement from coordinates (0,1) towards coordinates (-1,1), the table is first looked up (i.e., the lookup table is retrieved as shown in the table below). Figure 5 The negative static friction speed at coordinate (0,1) is found in the torque compensation table. If the lens can move forward using this speed, then the negative static friction speed does not need to be modified. After the static friction is tested, the lens 210 is moved using the negative kinetic friction speed at coordinate (0,1). If the static friction speed recorded in the torque compensation table cannot move the lens 210, the static friction is increased and the table is updated. There is a relationship curve between torque and the aforementioned speed (described later), therefore, obtaining the static friction speed or kinetic friction speed from the table is equivalent to obtaining the torque.

[0063] Next, step S8 is executed, which is to move the motor forward, that is, to push the lens mount 110 forward by the actuator 120. In this embodiment, the torque or speed obtained in step S7 is used to drive the horizontal moving motor 122 or the vertical moving motor 124.

[0064] Following this, step S9 is executed, which, based on a constant speed, determines whether the torque needs updating after traveling one unit distance. Since the resistance is not necessarily the same for each unit distance, the speed at which the same torque travels through each grid will also be different. To address this, the time taken to travel each unit distance is calculated, and the speed is compensated for by aiming for the time taken to travel each unit distance to be equal. For example, continuing the previous example, after receiving feedback from sensor 140 that the lens mount 110 has reached the coordinates (-1,1), the speed v1 can be calculated using the time t1 taken from (0,1) to (-1,1) and the distance s from (0,1) to (-1,1), as shown in the following formula:

[0065] v1 = s / t1

[0066] Assuming the speed at other coordinate positions is v, if the difference between |v-v1| and the set difference threshold is greater than the set threshold, it is determined that the speed needs additional torque compensation, and the process proceeds to step S10; if the difference between |v-v1| and the set difference threshold is not greater than the set threshold, it is determined that the torque does not need to be updated, and the process returns to step S8. The target speed calculated by torque compensation will be applied the next time the same coordinate position is passed. After application, a feedback mechanism is used to confirm whether the speed has reached the target set to be consistent with other coordinate positions. If there is still a gap, the target speed for torque compensation will continue to be calculated for application the next time the same coordinate position is passed. This torque compensation table will infinitely approach and improve with the increase of the number of passes.

[0067] In step S10, torque compensation is calculated. Based on the torque-speed characteristic curve in the motor specifications, corresponding formulas are established for the linear segments, as follows: Figure 6 As illustrated. For example, using Figure 6 Taking the motor with the part number a-SMART-M60L as an example, the intervals A, B, and C and their corresponding formulas are derived. First, the controller 130 confirms the interval currently used for torque (e.g., confirming interval A, B, or C). Next, according to the speed adjustment direction, it finds the speed corresponding to decreasing or increasing one unit of torque. Figure 6 The characteristic curves corresponding to the numbers a-SMART-M42L and a-SMART-M56L are the characteristic curves of two other motors.

[0068] Next, step S11 is executed, which determines whether the compensation torque is greater than the maximum supported torque. In step S11, the controller 130 checks whether the compensation torque obtained in step S10 exceeds the maximum limit supported by the system (e.g., exceeds the maximum torque supported by the motor). If yes, step S12 is executed; if no, step S13 is executed.

[0069] In step S12, the defective location and detour path are recorded. If step S11 indicates that the compensation torque exceeds the limit, it means that the compensation mechanism is no longer applicable when approaching this location from the current direction of travel. The current torque direction and location are combined and recorded as a defective location, and recorded in the torque compensation table mentioned above, such as... Figure 7 In addition, such as Figure 8 As shown, if the next position (i.e., target position D) is the bad point X, the target position is changed to a neighboring point of bad point X in the same direction (i.e., the new target position D'). The concept of the bad point detour mechanism is as follows: First, information is obtained from the current position. Next, information about the next detour is obtained. Then, the direction of travel is turned by +90 degrees. After the turn, the motor continues to move. After that, a position with a -90-degree angle that does not require detour is found and turned. Finally, the shortest path to bypass the bad point is found.

[0070] Next, step S13 is executed to update the torque compensation table. In step S13, depending on the progress of the process, if an update is needed, the torque compensation, fault points, and detour paths are updated. If no update is needed, they remain unchanged.

[0071] Next, step S14 is executed, which involves the motor moving forward, i.e., the actuator 120 pushing the lens mount 110 forward. Furthermore, for every unit distance the actuator 120 pushes the lens mount 110, the process of steps S8 to S12 is repeated.

[0072] Next, step S15 is executed, which is receiving a stop command, that is, receiving a stop command from the actuator 120 of the controller 130, and the motor stops.

[0073] Next, step S16 is executed, which involves waiting for the next movement command. In step S16, the transmission of control commands to actuator 120 is stopped.

[0074] If step S6-1 determines otherwise, meaning the movement of lens 210 is automatic, then step S6-2 is executed. Step S6-2, for example, involves using the torque obtained in step S2 to move the lens 210 to the target position along the minimum path. For instance, given the target position, quickly moving lens 210 to the designated position is more important than smoothness. With the goal of quickly moving lens 210, first find the range R1 enclosed by the minimum movement distances in the x and y directions between the starting position A and the target position B. Figure 9A As illustrated. Next, as shown... Figure 9B As shown, all routes are exhausted within the range R1. The route that minimizes the cumulative work done by static and kinetic friction is then selected. The motor speed is then adjusted to the highest speed supported by the system. The goal of quickly moving the camera to the designated position is achieved by using the shortest travel distance and the highest torque supported by the system to travel along the route that minimizes the cumulative resistance (such as friction).

[0075] Next, step S6-3 is executed, which determines whether the motor is stuck. If so, step S6-4 is executed; otherwise, step S6-5 is executed.

[0076] In step S6-4, bad spots are recorded and detour routes can be planned, just like in step S12. Then, return to step S6-2.

[0077] Step S6-5 is the motor moving forward, that is, the actuator 120 pushes the lens mount 110 forward.

[0078] Then, step S6-6 is executed, which is to receive a stop command, that is, to receive a stop command from the actuator 120 of the controller 130, and the motor stops.

[0079] Next, step S6-7 is executed, which is to wait for the next movement command. In step S6-7, the control to be sent to actuator 120 is stopped.

[0080] The interchangeable lens adaptive control compensation system 100 and the interchangeable lens adaptive control compensation method of this embodiment have the following advantages and effects:

[0081] 1. No additional design costs or firmware updates are required. The system itself can adapt to new lenses and directly support them when a new lens is installed.

[0082] 2. Environmental changes can affect the smoothness of movement (for example, temperature can cause thermal expansion and contraction of mechanical components), and this embodiment can compensate for these uncertain changes.

[0083] 3. Mechanisms with design tolerances may also affect the smoothness of movement. Instead of establishing a set of low-standard common settings to accommodate modules with poor performance, this embodiment can compensate for this uncertainty, allowing each individual lens 210 to achieve its own best performance.

[0084] 4. Different lens combinations may result in unpredictable situations in certain sections of the movable space (e.g., the lens may not move smoothly in certain sections, or it may even get stuck). This embodiment can solve these unpredictable situations by using dead pixels and detour paths. In addition, the directionality of unpredictable dead pixel situations is further subdivided to achieve the goal of accurately using detour methods and avoiding damage to the motor life.

[0085] 5. If the lens 210 moves and impacts the edge components, it will cause damage to the components over time. This embodiment uses a coordinate system to manage the boundaries, and actively stops output when it enters the boundary.

[0086] In summary, in the interchangeable lens adaptive control compensation system and method of the present invention, when controlling the actuator to drive the lens mount, it is simultaneously determined whether the maximum preset output torque of the actuator is insufficient to drive the lens mount at each position. If the maximum preset output torque is insufficient to drive the lens mount at a certain position, the position is recorded as a bad point. Therefore, the interchangeable lens adaptive control compensation system and method of the present invention can automatically adjust the parameters of the moving lens in response to changes in different lenses, time, or environments, thereby achieving adaptive control and compensation.

[0087] The present invention has been described in the above-described embodiments; however, these embodiments are merely examples for implementing the present invention. It must be noted that the disclosed embodiments do not limit the scope of the present invention. Conversely, any modifications and refinements made without departing from the spirit and scope of the present invention are within the scope of patent protection of the present invention.

Claims

1. A switchable lens adaptive control compensation system, characterized in that, include: Lens mount, used to hold the lens; An actuator, connected to the lens mount, is used to drive the lens mount to move in a plane perpendicular to the optical axis of the lens mount; as well as The controller is electrically connected to the actuator; The controller is used to determine whether the actuator cannot drive the lens mount with the maximum preset output torque at each position when the actuator drives the lens mount; the controller is used to create a lookup table corresponding to each position, and record the position in the lookup table where the lens mount cannot be driven by the maximum preset output torque as a bad point. The controller is also used to control the actuator to drive the lens mount according to the lookup table, and the movement path of the lens mount avoids the location of the defective pixel; the lookup table stores the driving torque value of the actuator corresponding to each position, and the controller is also used to execute: Determine whether the user's instruction to move the lens mount is a manual adjustment or an automatic adjustment; In response to the movement command, the lens mount is automatically adjusted according to the lookup table to plan the movement path of the lens mount, so as to control the actuator to drive the lens mount to the target position; as well as In response to the manual adjustment command, the actuator is driven to move the lens mount according to the drive torque value corresponding to the current position in the lookup table; it is then determined whether the speed at which the lens mount moves meets the preset speed. If not, update the drive torque value corresponding to the current position in the lookup table for use the next time the lens mount moves to the current position; If so, the actuator is driven to move the lens mount according to the drive torque value corresponding to the current position in the lookup table.

2. The interchangeable lens adaptive control compensation system as described in claim 1, characterized in that, It also includes a sensor connected to the lens mount and electrically connected to the controller, wherein the sensor is used to sense the location of the lens mount.

3. The interchangeable lens adaptive control compensation system as described in claim 1, characterized in that, The step of planning the movement path of the lens mount according to the lookup table also includes planning the movement path of the lens mount based on at least one of the following conditions: shortest path, fastest speed, and minimum power consumption.

4. The interchangeable lens adaptive control compensation system as described in claim 1, characterized in that, Updating the drive torque value corresponding to the current position in the lookup table includes: Find the drive torque value after adjusting by one unit torque, and use it as the updated drive torque value corresponding to the current position in the lookup table.

5. The interchangeable lens adaptive control compensation system as described in claim 1, characterized in that, Updating the drive torque value corresponding to the current position in the lookup table includes updating the speed of the actuator corresponding to the drive torque value at the current position in the lookup table, specifically including: Find the range of the driving torque value corresponding to the current position within the speed-torque characteristic curve of the actuator; and Based on the speed-torque characteristic curve, find the speed corresponding to the drive torque value after adjusting by one unit of torque in the direction of speed adjustment, or adjust the speed by one unit of torque in the direction of speed adjustment, and use this as the updated speed corresponding to the current position in the lookup table.

6. The interchangeable lens adaptive control compensation system as described in claim 5, characterized in that, The lookup table stores rotational speeds, including static friction speeds and dynamic friction speeds, which the controller uses to execute: In response to the static friction speed being sufficient to move the lens mount from a rest position without updating the static friction speed corresponding to that position in the lookup table; and In response to the static friction speed being insufficient to move the lens mount from rest at that position, the static friction speed is updated and stored in the lookup table.

7. The interchangeable lens adaptive control compensation system as described in claim 1, characterized in that, The controller is also used to command the actuator to drive the lens mount to scan the boundary of the lens it mounts in order to obtain the range of motion of the lens.

8. The interchangeable lens adaptive control compensation system as described in claim 7, characterized in that, The scanning of the boundaries of the lens mounted thereon includes: Obtain a first torque of the actuator, wherein the first torque is the minimum torque required to move the lens mount in at least three directions; multiply the first torque by a buffer coefficient corresponding to the weight of the lens to obtain a second torque, and set the second torque as the maximum preset output torque; and Move the lens mount with the maximum preset output torque until it can no longer be moved, and determine the corresponding position as the boundary of the lens portion.

9. The interchangeable lens adaptive control compensation system as described in claim 7, characterized in that, The lens mount is used to mount at least two different lenses; the controller is used to command the actuator to drive the lens mount to scan the boundaries of the lens in response to the lens mount being reconfigured with a lens.

10. A method for adaptive control compensation of interchangeable lenses, characterized in that, include: An actuator is used to drive the lens mount to move in a plane perpendicular to the optical axis of the lens mount; When controlling the actuator to drive the lens mount, determine whether the actuator cannot drive the lens mount with the maximum preset output torque at each position of the lens mount; as well as A lookup table is created corresponding to each position, and the position in the lookup table where the lens mount cannot be driven by the maximum preset output torque is recorded as a bad spot; the actuator is controlled to drive the lens mount according to the lookup table, and the movement path of the lens mount avoids the position of the bad spot; The lookup table stores the driving torque value of the actuator corresponding to each position, and the method further includes: Determine whether the user's instruction to move the lens mount is a manual adjustment or an automatic adjustment; In response to the movement command, the system automatically adjusts, plans the movement path of the lens mount according to the lookup table, and drives the lens mount to the target position; and, In response to the manual adjustment command, the actuator is driven to move the lens mount according to the drive torque value corresponding to the current position in the lookup table; it is then determined whether the speed at which the lens mount moves meets the preset speed. If not, update the drive torque value corresponding to the current position in the lookup table for use the next time the lens mount moves to the current position; If so, the actuator is driven to move the lens mount according to the drive torque value corresponding to the current position in the lookup table.

11. The adaptive control compensation method for interchangeable lenses as described in claim 10, characterized in that, The step of planning the movement path of the lens mount according to the lookup table also includes planning the movement path of the lens mount based on at least one of the following conditions: shortest path, fastest speed, and minimum power consumption.

12. The adaptive control compensation method for interchangeable lenses as described in claim 10, characterized in that, Updating the drive torque value corresponding to the current position in the lookup table includes: Find the drive torque value after adjusting by one unit torque, and use it as the updated drive torque value corresponding to the current position in the lookup table.

13. The adaptive control compensation method for interchangeable lenses as described in claim 10, characterized in that, Updating the drive torque value corresponding to the current position in the lookup table includes updating the speed of the actuator corresponding to the drive torque value at the current position in the lookup table, specifically including: Find the interval in the speed-torque characteristic curve of the actuator where the driving torque value at the current position falls; and Based on the speed-torque characteristic curve, find the speed corresponding to the drive torque value after adjusting by one unit of torque in the direction of speed adjustment, or adjust the speed by one unit of torque in the direction of speed adjustment, and use this as the updated speed corresponding to the current position in the lookup table.

14. The adaptive control compensation method for interchangeable lenses as described in claim 13, characterized in that, The lookup table stores rotational speeds including static friction speeds and dynamic friction speeds. The method also includes: In response to the static friction speed being sufficient to move the lens mount from a rest position without updating the static friction speed corresponding to that position in the lookup table; and In response to the static friction speed being insufficient to move the lens mount from rest at that position, the static friction speed is updated and stored in the lookup table.

15. The adaptive control compensation method for interchangeable lenses as described in claim 10, characterized in that, It also includes commanding the actuator to drive the lens mount to scan the boundary of the lens it mounts in order to obtain the range of motion of the lens.

16. The adaptive control compensation method for interchangeable lenses as described in claim 15, characterized in that, Scanning the boundaries of the lens includes: Obtain a first torque for the actuator, wherein the first torque is the minimum torque required to drive the lens mount to move in at least three directions; Multiplying the first torque by the buffer coefficient corresponding to the weight of the lens yields the second torque, and this second torque is set as the maximum preset output torque; and Move the lens mount with the maximum preset output torque until it can no longer be moved, and determine the corresponding position as the boundary of the lens portion.

17. The adaptive control compensation method for interchangeable lenses as described in claim 16, characterized in that, The lens mount is used to mount at least two different lenses; the method also includes commanding the actuator to drive the lens mount to scan the boundary of the lens in response to the lens mount being reconfigured to a lens.

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