Centering jig for teleconverter and camera, motion control system and method

Abstract

The invention relates to the technical field of camera generation, and provides a centering jig for a teleconverter and a camera, a motion control system and a motion control method. A mounting cavity used for mounting a teleconverter is arranged in a lens carrier of the centering jig, the teleconverter and the centering jig can be mounted together, a centering structure of a positioning cover located above the teleconverter is combined, and the center of the teleconverter and the center of the centering structure are coaxially arranged in the first direction parallel to the optical axis direction. The teleconverter and the camera can be directly centered and positioned through the cooperation of the centering jig and the teleconverter, so that the centering and positioning accuracy can be improved, and unnecessary errors can be reduced; the equipment installation steps in the centering process can be simplified, and the risk that the teleconverter is scratched due to improper placement after being detached is avoided; and the distance between the teleconverter and the camera can be adjusted in time.

Description

Technical Field

[0001] The present application relates to the technical field of camera generation, and more specifically, to a centering fixture, motion control system and method for a teleconverter and a camera. Background Art

[0002] In electronic devices such as mobile phones and iPads, it is necessary to test the performance of the camera in the electronic device. Since the teleconverter has the function of extending the focal length or magnifying the image, in the actual test scene, the teleconverter is set between the camera to be tested (or the electronic device equipped with the camera) and the test chart (also called a chart), and the teleconverter is used to achieve the test purpose of testing the equivalent vision in a limited space.

[0003] Due to the optical characteristics of the teleconverter and the assembly requirements of the camera, during the test process, it is necessary to align (or coincide) the optical center of the teleconverter, the optical center of the camera's imaging (or the center of the camera's field of view), and the center of the test chart, which is referred to as the centering of the teleconverter, the camera, and the test chart. When centering the teleconverter and the camera, a centering jig is required. In the prior art, the teleconverter is removed from the lens bracket of the test equipment and placed aside, and the centering jig is installed on the lens bracket. After the centering jig and the camera are centered, the teleconverter is installed in the centered position, thereby completing the centering of the teleconverter and the camera.

[0004] When the above-mentioned centering jig is used for centering, since the teleconverter and the camera are not directly centered, but an equivalent centering is achieved through the centering jig, there is a large error in the centering result. Summary of the invention

[0005] The embodiment of the present application provides a centering jig, a motion control system, an automatic centering method and an electronic device for a teleconverter and a camera. The centering jig can improve the accuracy of centering. The motion control system can realize automatic centering of the teleconverter and the camera. The automatic centering method and the electronic device can quickly perform automatic centering, reduce the time of centering and increase the accuracy of centering.

[0006] In a first aspect, a centering jig for a teleconverter and a camera is provided, comprising: a shell body, forming a first accommodating space; a lens carrier, at least a portion of the lens carrier is accommodated in the first accommodating space, the lens carrier forming a mounting cavity for mounting the teleconverter; a positioning cover, located on a side of the lens carrier away from the bottom of the shell body, provided with a light-transmitting centering structure, the center of the centering structure coincides with the center of the positioning cover, when the teleconverter is installed in the mounting cavity, the center of the teleconverter and the center of the centering structure are coaxially arranged along a first direction, and the first direction is parallel to the optical axis direction of the teleconverter; wherein the lens carrier can drive the teleconverter and the positioning cover to move along the first direction.

[0007] In the above embodiment, a mounting cavity for mounting a teleconverter is provided in the lens carrier of the centering jig, and the teleconverter can be mounted together with the centering jig, and the center of the teleconverter and the center of the centering structure are coaxially arranged along a first direction parallel to the optical axis direction in combination with the centering jig and the teleconverter. In this way, the teleconverter and the camera can be directly centered and positioned by cooperating with the centering jig and the teleconverter: on the one hand, the accuracy of centering and positioning can be improved, and unnecessary errors can be reduced; on the other hand, the equipment installation steps of the centering process are simplified, the time for centering and positioning can be reduced, the user experience can be improved, and the risk of scratches caused by improper placement after the teleconverter is disassembled can be avoided. In addition, since the lens carrier can drive the teleconverter and the positioning cover to move together along the first direction, in this way, while always maintaining the positioning state of the teleconverter and the positioning cover, the distance between the teleconverter and the camera can be adjusted in time, that is, the focusing distance of the camera can be adjusted in time.

[0008] Optionally, the lens carrier is an annular structure, including a rotating part and a fixed part, the rotating part is close to the positioning cover and the fixed part is far away from the positioning cover, the fixed part is fixedly connected to the shell, the rotating part can rotate relative to the fixed part and can move along the first direction during the rotation to drive the teleconverter and the positioning cover to move along the first direction.

[0009] In the above embodiment, compared with the problem of poor distance control and stability caused by only moving the teleconverter in the first direction (z direction) in a single manner in the related art, in the above embodiment, the rotating component and the fixed component in the lens carrier cooperate with each other, so that the rotating component can rotate and the rotation can be converted into movement along the first direction (z direction). In implementation, the distance moved by the teleconverter along the first direction (z direction) can be controlled by the number of revolutions of the rotating component, which is equivalent to refining the granularity of controlling the moving distance, facilitating the adjustment of small distances to improve the adjustment accuracy, and improving the stability of the moving process.

[0010] Optionally, the fixed component includes at least one first spiral boss distributed circumferentially, and the size of the first spiral boss in the first direction gradually increases along the rotation direction of the rotating component; and the rotating component includes at least one second spiral boss distributed circumferentially, and the size of the second spiral boss in the first direction gradually decreases along the rotation direction of the rotating component; wherein, when the rotating component rotates, the rotating component can move along the first direction through the cooperation between the first spiral boss and the second spiral boss.

[0011] In the above embodiment, through the cooperation between the first spiral boss of the fixed component and the second spiral boss of the rotating component, the rotation of the rotating component can be converted into the movement of the rotating component along the first direction (z direction). When the adjustment of a small distance can be achieved, the movement of the rotating component can be achieved with a smaller force, which saves effort and has better controllability.

[0012] Optionally, the fixed component includes a plurality of first spiral bosses which are arranged in the same direction and continuously, and the rotating component includes a plurality of second spiral bosses which are arranged in the same direction and continuously.

[0013] In the above embodiment, the cooperation of multiple first spiral bosses and multiple second spiral bosses arranged in the same direction and continuously can flexibly adjust the moving distance of the rotating component along the first direction (z direction) to adjust the moving distance of the teleconverter through the unidirectional rotation of the rotating component, which can not only increase the moving distance but also reduce the moving distance, effectively simplifying the user's operation process, and the unidirectional rotation can reduce friction loss to increase the service life.

[0014] Optionally, the first spiral boss includes a plurality of first bosses, a first stop groove is formed between two adjacent first bosses, and along the rotation direction of the rotating component, the sizes of the plurality of first bosses in the first direction gradually increase; and the second spiral boss includes a plurality of second bosses, a second stop groove is formed between two adjacent second bosses, and along the rotation direction of the rotating component, the sizes of the plurality of second bosses in the first direction gradually decrease; wherein the first boss can be inserted into the second stop groove, and the second boss can be inserted into the first stop groove to prevent the rotating component from reversing.

[0015] In the above embodiment, due to the existence of the first stop groove and the second stop groove, the first protrusion can be inserted into the second stop groove and the second protrusion can be inserted into the first stop groove, and the rotating part will not reverse. Moreover, even if the first protrusion is inserted into the second stop groove and the second protrusion is inserted into the first stop groove, under the action of an external force in the same direction as the forward rotation direction, the first protrusion can be disengaged from the second stop groove and the second protrusion can be disengaged from the first stop groove, thereby realizing the forward rotation of the rotating part.

[0016] Optionally, the first protrusion includes a first adjustment surface close to the rotating component, and a first guiding slope is formed at one end of the first adjustment surface along the rotation direction of the rotating component. Along the rotation direction of the rotating component, the distance between the first guiding slope and the bottom of the first protrusion gradually increases.

[0017] In the above embodiment, along the rotation direction of the rotating component, since the distance between the first guiding slope and the bottom of the first protrusion gradually increases, the first guiding slope of the first protrusion guides the rotation of the rotating component, so that the rotating component can rotate smoothly relative to the fixed component.

[0018] Optionally, the second protrusion includes a second adjustment surface close to the fixed component, and a second guide slope is formed at one end of the second adjustment surface along the rotation direction of the rotating component. Along the rotation direction of the movable component, the distance between the second guide slope and the bottom of the second protrusion gradually decreases.

[0019] In the above embodiment, along the rotation direction of the rotating part, since the distance between the second guiding slope and the bottom of the second protrusion gradually decreases, the second guiding slope of the second protrusion guides the rotation of the rotating part, so that the rotating part can rotate smoothly relative to the fixed part.

[0020] Optionally, the centering jig further comprises a handle, which is connected to the rotating component, and an external force acts on the handle to drive the rotating component to rotate.

[0021] In the above embodiment, the rotating component is driven to rotate by a mechanical handle, so as to finally drive the teleconverter and the positioning cover to move, and since no additional power consumption is required, power consumption is saved. It is also convenient for the user to operate the handle to rotate the rotating component, and the entire operation process is relatively convenient, which improves the user experience.

[0022] Optionally, the positioning cover and the handle are detachably connected.

[0023] In the above embodiment, since the handle is connected to the rotating component, the handle realizes the detachable connection between the positioning cover and the rotating component, thereby realizing the detachable connection between the positioning cover and the lens carrier, so as to maintain the relative position of the positioning cover and the teleconverter mounted on the lens carrier, which is easy to realize and has a simple structure. Moreover, compared with the method of connecting the positioning cover to the teleconverter, since no additional design is required on the teleconverter, the structural design is also simplified.

[0024] Optionally, the handle includes a handle body and a connecting structure, wherein the connecting structure is connected to the rotating component; and the positioning cover includes a positioning groove, wherein the connecting structure is inserted into the positioning groove to limit the movement of the positioning cover in a plane perpendicular to the first direction.

[0025] In the above embodiment, the cooperation between the positioning groove and the connecting structure can limit the movement of the positioning cover in a plane (xy plane) perpendicular to the first direction, thereby preventing the movement of the positioning cover from affecting the centering of the positioning cover and the teleconverter.

[0026] Optionally, the handle includes two connecting structures, which are respectively connected to two ends of the handle body; and the positioning cover includes two positioning grooves, which correspond one to one to the two connecting structures.

[0027] In the above embodiment, since the two connecting structures at both ends of the handle are detachably connected to the two positioning grooves of the positioning cover, the cooperation of the two positioning grooves and the two connecting structures increases the connection contact area between the handle and the positioning cover, and can better limit the movement of the positioning cover in a plane perpendicular to the first direction (xy plane), thereby improving the stability of the structural connection.

[0028] Optionally, the centering jig further includes a locking device, which is disposed on one side of the circumference of the shell, the locking device is connected to the shell, and the locking device can be connected to the rotating component to prevent the rotating component from rotating.

[0029] In the above embodiment, the locking device can be connected to the rotating component through the housing to prevent the rotating component from rotating, so that the rotating component is stably in the current state to stably maintain the distance between the teleconverter and the camera.

[0030] Optionally, the locking device includes an insertion rod, a socket for inserting the insertion rod is provided on the shell, a plurality of slots are provided in the circumference of the rotating component, and the insertion rod can be inserted into the slots through the socket.

[0031] In the above embodiment, the insertion rod of the locking device is connected to the housing through the insertion hole on the housing, and the rotation of the rotating component is restricted by the cooperation between the clamping groove on the rotating component and the insertion rod, and the structural design is simple.

[0032] Optionally, the socket is a semi-open hole; and the centering jig also includes a limit baffle, which is located between the socket and the end of the insertion rod, and a limit hole is set on the limit baffle, and the insertion rod is inserted into the limit hole to limit the movement of the insertion rod in the first direction.

[0033] In the above embodiment, when the insertion hole is a half-open hole, the insertion rod may be separated from the insertion hole from the opening of the insertion hole, so that the insertion rod is separated from the housing, affecting the function of the locking device. Therefore, the limiting hole of the limiting baffle can limit the insertion rod from being separated from the insertion hole from the opening of the insertion hole, ensuring that the insertion rod is inserted into the card slot through the insertion hole to effectively prevent the rotation of the rotating component.

[0034] Optionally, the locking device further comprises a limiting member, which is fixedly sleeved outside the insertion rod, wherein the limiting baffle is clamped between the shell and the limiting member.

[0035] In the above embodiment, the limit baffle is clamped in the gap between the housing and the limit member to achieve a detachable connection of the limit baffle. This assembly method is convenient for installation and disassembly.

[0036] Optionally, the rotating component includes a first part and a second part, the second part is closer to the fixed component, the second part is retracted relative to the first part, and the second part is used to mount the teleconverter.

[0037] Optionally, a receiving cavity for receiving a partial area of ​​the teleconverter is formed in the positioning cover, and the receiving cavity is communicated with the centering structure.

[0038] In the above embodiment, since the accommodating cavity provides an accommodating space for the teleconverter and can accommodate a partial area of ​​the teleconverter, the size of the centering jig in the first direction (z direction) can be reduced, thereby reducing the size of the entire device.

[0039] Optionally, the centering structure is a circular hole, and a diameter of the centering structure is less than or equal to 1 mm.

[0040] In the above embodiment, the light transmitted through the center of the teleconverter is the strongest, and the light in the remaining areas is weaker. The aperture of the circular hole is designed to be small, and the circular hole with a small aperture is not easy to transmit light. When the center of the circular hole does not coincide with the center of the teleconverter, the weaker light in the remaining areas of the teleconverter itself is not easy to transmit light through the circular hole. Moreover, when the centers of the two do not coincide, the light from the teleconverter to the circular hole is oblique, and the hole wall is easy to reflect the light, making the light transmittance of the circular hole worse, and almost no imaging pattern can be seen. Therefore, for a circular hole with a small aperture, it means that only strong light can pass through the circular hole and form a good image. Therefore, when the circular hole can transmit light, it means that the center of the circular hole coincides with the center of the teleconverter. Therefore, the circular hole-shaped centering structure facilitates the coincidence of the center of the centering structure with the center of the teleconverter, that is, facilitates the centering positioning between the center of the centering structure and the teleconverter. Therefore, when the teleconverter and the lens are centered by the centering structure, the error caused by inaccurate positioning of the center of the centering structure and the center of the teleconverter can be effectively reduced, thereby affecting the test results of the camera.

[0041] Optionally, a minimum dimension of the centering structure in the first direction is greater than or equal to 1.5 mm.

[0042] In the above embodiment, when the minimum dimension of the centering structure in the first direction (z direction) is greater than or equal to 1.5 mm, it means that the dimension of the positioning cover along the first direction (z direction) is designed to be thicker. When the center of the centering structure does not coincide with the center of the teleconverter, most of the light from the teleconverter to the centering structure is oblique. The oblique light is more easily reflected by the thick inner wall of the centering structure, making it more difficult for the centering structure to transmit light. Only when the center of the centering structure coincides with the center of the teleconverter, the centering structure can transmit light better, and the light is relatively uniform, which means that the center of the centering structure coincides with the center of the teleconverter. Therefore, designing the minimum dimension of the centering structure in the first direction (z direction) to be thicker is conducive to achieving the coincidence of the center of the centering structure with the center of the teleconverter, that is, it is easy to achieve the centering positioning between the center of the centering structure and the teleconverter. Therefore, when the centering positioning between the teleconverter and the lens is performed through the centering structure, the error caused by the inaccurate positioning of the center of the centering structure and the center of the teleconverter can be effectively reduced, thereby affecting the test result of the camera.

[0043] In a second aspect, an automatic centering method is provided, which is applied to a motion control system, wherein the motion control system includes a teleconverter stage device and a motion mechanism, the teleconverter stage device includes a centering fixture and a teleconverter installed in the centering fixture, and the motion mechanism can drive the teleconverter stage device to move in a plane perpendicular to a first direction, and the first direction is parallel to the optical axis direction of the teleconverter; the method includes:

[0044] Determine that an imaging figure formed based on the centering jig appears in the field of view of the camera; when the imaging figure appears in the field of view of the camera, perform the second positioning process N times until the image distance between the center of the imaging figure and the center of the imaging picture in the imaging picture taken by the camera after the Nth second positioning process meets a preset condition, and the preset condition is used to indicate that the center of the imaging figure and the center of the imaging picture coincide, and N is an integer greater than or equal to; wherein performing the nth second positioning process includes:

[0045] An nth imaging picture including an nth imaging figure captured by a camera is obtained, where n is greater than or equal to and less than or equal to N; picture distance information indicating the nth picture distance is determined, where the nth picture distance is the distance between the center of the nth imaging figure and the center of the nth imaging picture; when the nth picture distance does not meet a preset condition, the nth actual distance is determined according to the nth picture distance and the nth coordinate conversion coefficient, and position information indicating the nth actual distance is obtained, where the coordinate conversion coefficient is used to characterize the relationship between the image coordinate system and the motion coordinate system, where the image coordinate system is the coordinate system of the imaging picture captured by the camera, and the motion coordinate system is the coordinate system of the motion mechanism; and the motion mechanism is controlled according to the nth actual distance to drive the teleconverter stage device to move.

[0046] In the above embodiment, the electronic device performs multiple second positioning processes until the center of the imaging figure coincides with the center of the imaging screen in the last second positioning process, thereby completing the centering positioning of the teleconverter and the camera. In each second positioning process, the electronic device obtains the imaging screen captured by the camera at the current position of the motion mechanism (i.e., the teleconverter stage device), the imaging screen includes an imaging figure formed based on the centering fixture in the teleconverter stage device, and the actual distance that the motion mechanism needs to move is determined based on the image distance between the center of the imaging figure in the imaging screen and the center of the imaging screen and the coordinate conversion coefficient, and the motion mechanism is controlled based on the actual distance to drive the teleconverter stage device to move to a new position. Since the coordinate conversion coefficient represents the relationship between the image coordinate system based on the imaging picture taken by the camera and the motion coordinate system of the motion mechanism, in most cases the camera and the motion mechanism are not necessarily parallel (related to the direction of the camera fixture). Therefore, the actual distance determined by the picture distance and the coordinate conversion coefficient can more accurately reflect the actual distance that the motion mechanism needs to move, thereby improving the accuracy of the second positioning process. The motion mechanism can make the center of the imaging figure coincide with the center of the imaging picture through fewer movements, thereby realizing the centering positioning of the teleconverter and the camera, and improving the speed and accuracy of the automatic centering positioning process as a whole.

[0047] Optionally, the step of executing the second positioning process for the nth time further includes: updating the nth coordinate conversion coefficient according to the nth picture distance and the nth actual distance to obtain the n+th coordinate conversion coefficient.

[0048] In the above embodiment, after each second positioning process, after the motion mechanism moves to a new position, the positional relationship between the motion coordinate system and the image coordinate system will change, therefore, the coordinate conversion coefficient is updated by the screen distance and the actual distance obtained in the current second positioning process, so that the actual distance is calculated using the updated coordinate conversion coefficient in the next second positioning process. In this way, the coordinate conversion coefficient is continuously updated in an iterative manner, and the actual distance determined based on the iteratively updated coordinate conversion coefficient can become very small after a few second positioning processes, and the motion mechanism can make the center of the imaging figure coincide with the center of the imaging screen through a few movements, further effectively improving the accuracy of the second positioning process, and further improving the speed and accuracy of the automatic centering positioning process as a whole.

[0049] Optionally, the step of updating the nth coordinate conversion coefficient according to the nth picture distance and the nth actual distance to obtain the n+th coordinate conversion coefficient includes: updating the nth coordinate conversion coefficient according to the nth picture distance, the nth actual distance and the nth Kalman gain to obtain the n+th coordinate conversion coefficient, when n is equal to, the nth Kalman gain is obtained based on the initial covariance, when n is greater than or equal to, the nth Kalman gain is obtained based on the initial covariance and the n-th Kalman gain, and the n-th Kalman gain is used to determine the nth coordinate conversion coefficient.

[0050] In the above embodiment, the Kalman gain, as a weight coefficient, can characterize the relationship between the coordinate conversion coefficient of the last second positioning process and the coordinate conversion coefficient of the next second positioning process. Therefore, the coordinate conversion coefficient of the last second positioning process is updated according to the Kalman gain, and the updated coordinate conversion coefficient is more accurate, and then the actual distance obtained based on the updated coordinate conversion coefficient in the next second positioning process is also more accurate, thereby improving the accuracy and speed of the second positioning process. In addition, the Kalman gain is continuously updated iteratively. When n is greater than or equal to, the coordinate conversion coefficient of each second positioning process is obtained based on at least one iteratively updated Kalman gain. In this way, based on the actual distance and the screen distance of the last second positioning process, the actual distance determined by the coordinate conversion coefficient obtained based on the iteratively updated Kalman gain can become very small after fewer second positioning processes. The motion mechanism can make the center of the imaging figure coincide with the center of the imaging screen through the least number of movements, which more effectively improves the accuracy of the second positioning process, and overall improves the speed and accuracy of the automatic centering positioning process.

[0051] Optionally, the preset condition is that the picture distance is less than or equal to a distance threshold.

[0052] Optionally, the step of determining that the imaging pattern formed based on the centering jig appears in the field of view of the camera includes: dividing the moving area of ​​the motion mechanism into R*C sub-areas, the size of each sub-area is less than or equal to the size of the observation field of view of the camera; performing M first positioning processes according to the Gaussian probability distribution values ​​of at least some of the sub-areas in the R*C sub-areas, until after the Mth first positioning process, the imaging pattern appears in the sub-area where the target position obtained based on the Mth first positioning process is located, so as to determine that the imaging pattern appears in the field of view of the camera; wherein, performing the jth first positioning process includes:

[0053] In the case that the imaging pattern does not appear in the current sub-region where the motion mechanism is currently located, the position of the sub-region corresponding to the maximum Gaussian probability distribution value in multiple sub-regions around the current sub-region is determined as the target position, and the position information indicating the target position is obtained. When j is equal to, the current sub-region is the sub-region where the initial position is located; when j is greater than or equal to, the current sub-region is the sub-region where the target position determined in the j-th first positioning process is located; the motion mechanism is controlled to drive the teleconverter stage device to move to the target position; M is an integer greater than or equal to, and j is equal to or equal to and less than or equal to M.

[0054] In the above embodiment, the electronic device divides the moving area of ​​the motion mechanism into a plurality of sub-areas, determines the position of the sub-area corresponding to the maximum Gaussian probability distribution value in the sub-area used in each first positioning process as the target position, controls the motion mechanism to drive the teleconverter stage device to move to the target position, and performs the first positioning process multiple times until the imaging pattern formed based on the centering fixture in the teleconverter stage device appears in the sub-area, at which time, the imaging pattern appears in the field of view of the camera. Since the sub-area corresponding to the maximum Gaussian probability distribution value is a sub-area with a high probability of the imaging pattern appearing, this method of subdividing the moving area into a plurality of small-sized sub-areas and determining the target position based on the Gaussian probability distribution value of the sub-area improves the positioning speed of the first positioning process, so that the motion mechanism can drive the teleconverter stage device to move to a position where the imaging pattern appears in the field of view of the camera with as few movements as possible, that is, the imaging pattern can appear in the field of view of the camera as soon as possible, and the speed of automatic centering positioning is effectively improved at the beginning stage of automatic centering positioning.

[0055] Optionally, in the above-mentioned case where the imaging pattern does not appear in the current sub-region where the motion mechanism is currently located, the position of the sub-region corresponding to the maximum Gaussian probability distribution value in the multiple sub-regions around the current sub-region is determined as the target position, and the step of obtaining the position information indicating the target position includes: in the case where the imaging pattern does not appear in the current sub-region, and in the case where there is a marked sub-region in the multiple sub-regions around the current sub-region, the position of the sub-region corresponding to the maximum Gaussian probability distribution value in the unmarked sub-regions in the multiple sub-regions is determined as the target position, and the position information indicating the target position is obtained, wherein the marked sub-region is a sub-region that has been determined before the j-th first positioning process that the imaging pattern does not appear.

[0056] In the above embodiment, the marked sub-area is a sub-area that has been determined before and is unlikely to have an imaging pattern appear. Conversely, the unmarked sub-area is a sub-area that is not determined to have an imaging pattern appear. By marking these sub-areas where no imaging pattern appears, and determining the target position to which the motion mechanism needs to move from the unmarked sub-area, the problem of low positioning efficiency or even inability to locate the imaging pattern due to the target position determined in the subsequent first positioning process being the same as the previous target position can be avoided, and the positioning efficiency can be effectively improved.

[0057] Optionally, in the above-mentioned case where the imaging pattern does not appear in the current sub-region where the motion mechanism is currently located, the position of the sub-region corresponding to the maximum Gaussian probability distribution value in the multiple sub-regions around the current sub-region is determined as the target position, and the step of obtaining the position information indicating the target position includes: in the case where the imaging pattern does not appear in the current sub-region, and there is no marked sub-region in the multiple sub-regions around the current sub-region, the position of the sub-region corresponding to the maximum Gaussian probability distribution value in the multiple sub-regions is determined as the target position, and the position information indicating the target position is obtained, wherein the marked sub-region is a sub-region that has been determined not to appear in the imaging pattern before the j-th first positioning process.

[0058] In the above embodiment, the marked sub-region is a sub-region that has been determined before and is unlikely to have an imaging pattern appear. Conversely, the unmarked sub-region is a sub-region that is not determined to have an imaging pattern appear. It is determined whether there is a marked sub-region in the multiple sub-regions around the current sub-region. If there is no marked sub-region, the position of the sub-region corresponding to the maximum Gaussian probability distribution value in the multiple sub-regions is determined as the target position. This can avoid the problem of low positioning efficiency or even inability to locate the imaging pattern due to the target position determined in the subsequent first positioning process being the same as the previous target position, and can effectively improve the positioning efficiency.

[0059] Optionally, the multiple sub-regions around the current sub-region are multiple sub-regions adjacent to the current sub-region.

[0060] In the above embodiment, the possible locations of the imaging pattern are determined in multiple sub-regions adjacent to the current sub-region, and the target position can be determined in a small area around the current sub-region, thereby improving the positioning accuracy. Moreover, after multiple first positioning processes, the sub-regions with larger Gaussian probability distribution values ​​can be traversed as much as possible, thereby improving the positioning speed.

[0061] Optionally, the multiple sub-regions adjacent to the current sub-region include: at least part of the sub-regions located at eight positions along four directions of the current sub-region; when all eight positions have sub-regions, the multiple sub-regions include the sub-region where each of the eight positions is located; when some of the eight positions have sub-regions, the multiple sub-regions include the sub-region where each of the some positions is located; wherein the eight positions include: two positions on both sides of the current sub-region along the second direction, two positions on both sides of the current sub-region along the third direction, two positions on both sides of the current sub-region along the fourth direction, and two positions on both sides of the current sub-region along the fifth direction, the second direction and the third direction are perpendicular to the first direction, the fourth direction is the direction of the line connecting two diagonals of the current sub-region, and the fifth direction is the direction of the line connecting the other two diagonals of the current sub-region.

[0062] In the above embodiment, the multiple sub-regions adjacent to the current sub-region include at least part of the sub-regions located at eight positions along four directions of the current sub-region. A certain positioning process can basically traverse all sub-regions adjacent to the current sub-region, which is conducive to improving the positioning speed.

[0063] Optionally, h is the displacement of the motion mechanism in the second direction, h s is the size of the camera’s field of view in the second direction, w is the movable displacement of the motion mechanism in the third direction, and w s is the size of the observation field of the camera in the third direction, and the second direction and the third direction are perpendicular to the first direction.

[0064] Optionally, before performing the first positioning process M times according to the Gaussian probability distribution values ​​of at least some of the R*C sub-areas, the method also includes: generating a Gaussian probability distribution function for each sub-area according to a Gaussian probability density function generated based on the initial position.

[0065] In a third aspect, an automatic centering method is provided, which is applied to a motion control system, wherein the motion control system includes a teleconverter stage device and a motion mechanism, the teleconverter stage device includes a centering fixture and a teleconverter installed in the centering fixture, and the motion mechanism can drive the teleconverter stage device to move in a plane perpendicular to a first direction, and the first direction is parallel to the optical axis direction of the teleconverter; the method includes:

[0066] The moving area of ​​the motion mechanism is divided into R*C sub-areas, and the size of each sub-area is less than or equal to the size of the observation field of view of the camera; according to the Gaussian probability distribution value of at least some of the sub-areas in the R*C sub-areas, the first positioning process is performed M times, until the imaging figure formed based on the centering fixture after the Mth first positioning process appears in the sub-area where the target position obtained based on the Mth first positioning process is located, so as to determine that the imaging figure appears in the field of view of the camera, and M is an integer greater than or equal to; wherein, performing the jth first positioning process includes:

[0067] In the case where the imaging pattern does not appear in the current sub-region where the motion mechanism is currently located, the position of the sub-region corresponding to the maximum Gaussian probability distribution value in multiple sub-regions around the current sub-region is determined as the target position, and the position information indicating the target position is obtained, j is greater than or equal to and less than or equal to M, when j is equal to, the current sub-region is the sub-region where the initial position is located, and when j is greater than or equal to, the current sub-region is the sub-region where the target position determined in the j-th first positioning process is located; the motion mechanism is controlled to drive the teleconverter stage device to move to the target position; and,

[0068] When it is determined that the imaging pattern appears in the field of view of the camera, the second positioning process is performed N times, and the screen distance between the center of the imaging pattern and the center of the imaging screen in the imaging screen captured by the camera after the Nth second positioning process meets a preset condition, and the preset condition is used to indicate that the center of the imaging pattern and the center of the imaging screen coincide with each other, and N is an integer greater than or equal to; wherein, performing the nth second positioning process includes:

[0069] An nth imaging picture including an nth imaging figure captured by a camera is obtained, where n is greater than or equal to and less than or equal to N; picture distance information indicating an nth picture distance is determined, where the nth picture distance is the distance between the center of the nth imaging figure and the center of the nth imaging picture; when the nth picture distance does not meet a preset condition, a motion mechanism is controlled to drive the teleconverter stage device to move according to the nth picture distance.

[0070] In the above embodiment, the electronic device divides the moving area of ​​the motion mechanism into multiple sub-areas, determines the position of the sub-area corresponding to the maximum Gaussian probability distribution value in the sub-area used in each first positioning process as the target position, controls the motion mechanism to drive the teleconverter stage device to move to the target position, and performs multiple first positioning processes until an imaging pattern formed based on the centering jig in the teleconverter stage device appears in the sub-area. At this time, the imaging pattern appears in the field of view of the camera. After the imaging pattern appears in the field of view of the camera, the second positioning process is performed multiple times, and the motion mechanism is controlled to move according to the picture distance obtained in each second positioning process until the center of the imaging pattern coincides with the center of the imaging picture. Since the sub-region corresponding to the maximum Gaussian probability distribution value is the sub-region where the imaging pattern may appear with a higher probability, this method of dividing the moving area into multiple small-sized sub-regions and determining the target position based on the Gaussian probability distribution values ​​of the sub-regions improves the positioning speed of the first positioning process, so that the motion mechanism can drive the teleconverter stage device to move to a position where the imaging pattern appears in the field of view of the camera with the fewest possible movements, that is, the imaging pattern can appear in the field of view of the camera as soon as possible, effectively improving the speed of automatic centering positioning at the initial stage of automatic centering positioning.

[0071] Optionally, the above-mentioned step of controlling the motion mechanism to drive the teleconverter stage device to move according to the nth picture distance when the nth picture distance does not meet the preset conditions includes: when the nth picture distance does not meet the preset conditions, determining the nth actual distance according to the nth picture distance and the nth coordinate conversion coefficient, and obtaining position information indicating the nth actual distance, the coordinate conversion coefficient is used to characterize the relationship between the image coordinate system and the motion coordinate system, the image coordinate system is the coordinate system of the imaging picture captured by the camera, and the motion coordinate system is the coordinate system of the motion mechanism; controlling the motion mechanism to drive the teleconverter stage device to move according to the nth actual distance.

[0072] In the above embodiment, since the coordinate conversion coefficient represents the relationship between the image coordinate system based on the imaging picture taken by the camera and the motion coordinate system of the motion mechanism, in most cases the camera and the motion mechanism are not necessarily parallel (related to the direction of the camera fixture). Therefore, the actual distance determined by the picture distance and the coordinate conversion coefficient can more accurately reflect the distance that the motion mechanism actually needs to move, thereby improving the accuracy of the second positioning process. The motion mechanism can make the center of the imaging figure coincide with the center of the imaging picture through fewer movements, thereby realizing the centering positioning of the teleconverter and the camera, and improving the speed and accuracy of the automatic centering positioning process as a whole.

[0073] In a fourth aspect, a motion control system is provided, comprising: a teleconverter stage device, comprising a centering jig as in any one of the implementations of the first aspect, wherein the mounting cavity of the centering jig is used to mount the teleconverter; a motion mechanism connected to the teleconverter stage device, the motion mechanism being capable of driving the teleconverter stage device to move along a second direction and a third direction, the second direction, the third direction and the first direction being perpendicular to each other, and the first direction being parallel to the optical axis direction of the teleconverter; and an electronic device, used to control the motion mechanism to drive the teleconverter stage device to move along the second direction and the third direction.

[0074] In the above embodiment, the electronic device controls the motion mechanism to drive the teleconverter stage device equipped with the centering jig and the teleconverter to move along the second direction (y direction) and the third direction (x direction), thereby realizing automatic centering of the teleconverter and the camera. By replacing the manual centering method with the automatic centering method, the error of the centering process can be reduced, the centering time can be reduced, and the user experience can be improved. Moreover, since the position change or abnormal backtracking of the teleconverter can be monitored during the automatic centering process, it is convenient to periodically monitor the teleconverter.

[0075] In addition, the centering jig has the same beneficial effects as any one of the implementations of the first aspect described above.

[0076] Optionally, the motion mechanism includes a first motion component and a second motion component, the first motion component can drive the teleconverter stage device to move along the second direction, and the second motion component can drive the teleconverter stage device to move along the third direction.

[0077] In the above embodiment, the first motion component and the second motion component of the motion mechanism respectively drive the teleconverter stage device to move along the second direction (y direction) and the third direction (x direction), so that the movement of the two motion components can be relatively independent, which can reduce the space occupied by the movement of the motion mechanism to a certain extent.

[0078] Optionally, the first moving component is arranged along the third direction, the second moving component is arranged along the second direction, the first moving component is fixedly connected to the teleconverter stage device and is slidably connected to the second moving component along the second direction, the first moving component can slide relative to the second moving component along the second direction to drive the teleconverter stage device to move along the second direction, and the second moving component can drive the first moving component to move along the third direction to drive the teleconverter stage device to move along the third direction.

[0079] In the above-mentioned embodiment, when the teleconverter stage device can be moved in the second direction (x direction) and the third direction (y direction), since the teleconverter stage device only needs to be connected to the first motion component, the movement of the teleconverter stage in two directions can be achieved through the sliding connection between the first motion component and the second motion component. The movement of the teleconverter stage in two directions can be achieved with fewer parts or simple connections, which effectively simplifies the complexity of the structural design; and the structural layout between the two motion components and the teleconverter stage is more compact, so that the space occupied by the structure is small.

[0080] Optionally, the second motion component includes a slide table, on which a slide groove extending along the second direction is provided, and an end of the first motion component is inserted into the slide groove and can slide relative to the second motion component along the second direction through the slide groove.

[0081] Optionally, the second motion component includes two slides distributed along the third direction, and the two ends of the first motion component are respectively inserted into the slide grooves of the two slides.

[0082] In the above embodiment, since the second motion component includes two slides distributed along the third direction (x direction), the two slides are both slidably connected to the first motion component, the stability of the sliding process of the first motion component can be increased, so that the teleconverter stage device can be driven to move more stably, effectively increasing the stability of the system.

[0083] Optionally, the teleconverter stage device also includes a mounting shell, and the centering jig is installed in the mounting shell.

[0084] In the above embodiment, by installing the centering device on the installation shell, the centering jig can be protected.

[0085] Optionally, the electronic device is also used to execute the method in any implementation of the second aspect or the third aspect above.

[0086] In a fifth aspect, an electronic device is provided, wherein the electronic device is used to execute the method provided in the second aspect or the third aspect. Specifically, the electronic device may include a module for executing any possible implementation of the second aspect or the third aspect.

[0087] In a sixth aspect, an electronic device is provided, comprising a processor. The processor is coupled to a memory and can be used to execute instructions in the memory to implement the method in any possible implementation of the second aspect or the third aspect. Optionally, the electronic device also includes a memory. Optionally, the device also includes a communication interface, and the processor is coupled to the communication interface.

[0088] In a seventh aspect, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a device, the device implements the method in any possible implementation manner of the second aspect or the third aspect mentioned above.

[0089] In an eighth aspect, a computer program product comprising instructions is provided, wherein when the instructions are executed by a computer, the device implements the method in any possible implementation manner of the second aspect or the third aspect.

[0090] In the ninth aspect, a chip is provided, comprising: an input interface, an output interface, a processor and a memory, wherein the input interface, the output interface, the processor and the memory are connected via an internal connection path, and the processor is used to execute the code in the memory. When the code is executed, the processor is used to execute the method in any possible implementation of the second aspect or the third aspect mentioned above. BRIEF DESCRIPTION OF THE DRAWINGS

[0091] Figure 1 This is a schematic scene diagram of using a teleconverter for distance focusing provided in an embodiment of the present application.

[0092] Figure 2 It is a schematic diagram of the shooting interface of the mobile phone provided in an embodiment of the present application.

[0093] Figure 3 It is a schematic structural diagram of the centering fixture provided in an embodiment of the present application.

[0094] Figure 4 It is an exploded view of the structure of the centering fixture and the teleconverter provided in the embodiment of the present application.

[0095] Figure 5 It is a top view of the structure of the centering jig and the teleconverter provided in the embodiment of the present application.

[0096] Figure 6 yes Figure 5 Cross-section view from AA perspective.

[0097] Figure 7 yes Figure 6 A partial enlarged view at point B.

[0098] Figure 8 It is an exploded view of the structure of the handle, rotating component and fixed component provided in the embodiment of the present application at one viewing angle.

[0099] Fig. 9 It is an exploded view of the structure of the handle, rotating component and fixed component provided in the embodiment of the present application from another perspective.

[0100] Fig.10 yes Fig. 9A partial enlargement of point C.

[0101] Fig.11 It is a schematic structural diagram of the structure of the handle, rotating component and fixed component provided in the embodiment of the present application.

[0102] Fig.12 yes Fig.11 A partial enlarged view of point D in the middle.

[0103] Fig.13 It is an exploded view of the centering fixture with the positioning cover removed provided in an embodiment of the present application.

[0104] Fig.14 It is a schematic structural diagram of the centering jig with the positioning cover removed provided in an embodiment of the present application.

[0105] Fig.15 It is a schematic structural diagram of the cooperation between the motion control system and the electronic device provided in the embodiment of the present application.

[0106] Fig.16 It is an exploded diagram of the motion control system provided by an embodiment of the present application without the test chart.

[0107] Fig.17 This is another exploded diagram of the motion control system provided by an embodiment of the present application without the test chart.

[0108] Fig.18 It is a schematic flow chart of the automatic centering method 800 provided in an embodiment of the present application.

[0109] Fig.19 It is a schematic diagram of a shooting interface of a mobile phone equipped with a camera provided in an embodiment of the present application.

[0110] Fig. 20 It is a schematic flowchart of the process of step S810 in method 800 provided in an embodiment of the present application.

[0111] Fig.21 It is a schematic diagram of the moving area of ​​the motion mechanism provided in the embodiment of the present application.

[0112] Fig. 22 It is an exemplary flowchart of a method for executing a first positioning process in step S810 provided in an embodiment of the present application.

[0113] Fig.23 It is a schematic diagram of the relationship between the image coordinate system and the motion coordinate system provided in the embodiment of the present application.

[0114] Fig.24 It is a schematic flowchart of a method for executing a second positioning process in step S820 provided in an embodiment of the present application.

[0115] Fig.25 It is a schematic diagram of the relationship between the number of positioning times in the second positioning process provided by an embodiment of the present application and the distance between the center of the imaging pattern and the imaging screen.

[0116] Fig.26 It is a schematic flow chart of the automatic centering positioning method 900 provided in an embodiment of the present application.

[0117] Fig. 27 It is a schematic flow chart of the automatic centering method 1000 provided in an embodiment of the present application.

[0118] Fig.28 It is a schematic flowchart of the automatic centering method 1100 provided in an embodiment of the present application.

[0119] Fig.29 It is an exemplary block diagram of the automatic centering device 1200 provided in an embodiment of the present application.

[0120] Fig.30 It is a schematic structural diagram of an electronic device 1300 provided in an embodiment of the present application.

[0121] Reference numerals

[0122] 200, teleconverter;

[0123] 100. Centering fixture;

[0124] 1. Shell 1; 11. First accommodating space; 12. Insertion hole 12; 13. Support structure;

[0125] 2. lens carrier; 20. mounting cavity 20;

[0126] 21, fixing member; 211, first spiral boss; 212, first protrusion; 2121, first adjustment surface; 2121a, first guide slope; 213, first stop groove;

[0127] 22, rotating member; 22a, first part; 224, slot 224; 22b, second part; 221, second spiral boss; 222, second protrusion; 2221, second adjustment surface; 2221a, second guide slope; 223, second stop groove;

[0128] 3. Positioning cover; 31. Centering structure; 32. Positioning groove; 33. Accommodating cavity;

[0129] 4. handle; 41. handle body; 42. connection structure;

[0130] 5. Locking device; 51. Insertion rod; 511. Insertion rod body; 512. Insertion rod end; 52. Limiting member;

[0131] 6. Limit baffle; 61. Limit hole on the baffle;

[0132] 300, teleconverter stage device; 310, mounting shell; 310a, second accommodating space; 310b, opening;

[0133] 400, motion mechanism; 410, first motion component; 411a, first end; 411b, second end;

[0134] 420, second motion assembly; 421, slide; 4211, slideway;

[0135] 510. controller; 520. electronic equipment;

[0136] 600. Test chart. DETAILED DESCRIPTION

[0137] The technical solution in this application will be described below in conjunction with the accompanying drawings.

[0138] The embodiments of the present application relate to the calibration of a teleconverter and a camera. The teleconverter may also be called a medium-range lens or a telephoto converter. It is an optical testing auxiliary accessory installed between a lens and a lens module of a device with a camera function, such as a mobile phone, an iPad, a camera, or the like.

[0139] In electronic devices such as mobile phones and iPads, the FarSFR / distortion / FOV and other performance of the camera in the electronic device needs to be tested through a chart. When testing a single camera or an entire electronic device, the ideal solution is to test it within the nominal focal length of the camera, and its telephoto distance often reaches several meters. When testing at this distance using conventional methods, a large test site is required. In addition, a slight change in the field of view angle + an increase in the object distance will lead to an increase in the diagonal size of the image, which may cause the test chart (also called a chart) to not fill the entire field of view.

[0140] Therefore, in order to achieve the test purpose of testing equivalent long-range vision in a limited space, a teleconverter is used to simulate the environment of building a long-range vision when the camera is fixed-focus at a long distance in a production environment.

[0141] Figure 1 is a schematic scene diagram of using a teleconverter to perform distance focusing according to an embodiment of the present application. Figure 1 , the teleconverter 101 is arranged between the electronic device 101 (or camera) equipped with a camera to be tested and the test chart 103, and S is an image obtained by magnifying the test chart 103 through the teleconverter 101. Since the teleconverter has the function of extending the focal length or magnifying the image, the teleconverter can be used to achieve the test purpose of testing the equivalent vision in a limited space.

[0142] Due to the optical characteristics of the teleconverter and the assembly requirements of the camera, during the test process, it is necessary to align (or coincide) the optical center of the teleconverter, the optical center of the camera's imaging (or the center of the camera's field of view), and the center of the test chart. The embodiment of the present application relates to the alignment of the optical center of the teleconverter and the optical center of the camera's imaging, referred to as the centering of the teleconverter and the camera. It should be understood that the embodiment of the present application assumes that the center of the test chart is aligned with the optical center of the camera's imaging, and on this basis, the teleconverter and the camera are centering. When centering the teleconverter and the camera, a centering jig is required.

[0143] In the prior art, the teleconverter is removed from the lens bracket of the test equipment and placed aside, and a centering jig is installed on the lens bracket. A light-transmitting centering structure is provided on the centering jig, and the centering structure can be a hole (e.g., a small circular hole) or a groove (e.g., a cross-shaped hollow groove). The light source enters the lens of the camera from the centering structure, so that only the centering structure can be seen in the imaging of the camera. The position of the teleconverter is adjusted by observing the imaging pattern and manually adjusting the lens bracket to drive the movement of the centering jig. When the center of the imaging pattern formed by the centering structure is aligned with the center of the imaging picture taken by the camera, it is considered that the optical center of the teleconverter is aligned with the optical center of the imaging of the camera. Subsequently, the centering jig is removed from the lens bracket that has been moved and positioned, and the teleconverter is reinstalled on the lens bracket, thereby completing the centering positioning of the teleconverter and the camera. Thereafter, the teleconverter after the centering positioning is completed can be used to test the relevant performance of the camera.

[0144] Take a mobile phone as an example of an electronic device equipped with a camera. Figure 2 is a schematic diagram of a shooting interface of a mobile phone equipped with a camera provided in an embodiment of the present application. Figure 2 The centering structure of the centering fixture is a circular hole. The light source enters the camera through the circular hole. The imaging picture and imaging graphic are displayed on the shooting interface. The imaging graphic is a circular hole. When the center of the imaging graphic is aligned (or coincides) with the center of the imaging picture (which can also be understood as the shooting interface or preview interface of the mobile phone or the imaging interface of the camera), the centering positioning of the teleconverter and the camera is achieved.

[0145] When using the above-mentioned prior art centering jig for centering positioning, there are the following problems:

[0146] 1. After the centering jig and the camera are aligned, the teleconverter is installed to the aligned position. Since the teleconverter and the camera are not directly aligned, but an equivalent alignment is achieved through the centering jig, there is a large error in the alignment result. In addition, the equipment installation steps based on the centering jig are relatively cumbersome, which increases the time for centering and is not conducive to user experience. If the teleconverter is improperly placed aside after being disassembled, there is a risk of scratching the teleconverter, which affects the test results.

[0147] 2. The centering process is a manual operation, which is not convenient enough and requires two people to work together when necessary, which is not conducive to user experience. In addition, manual operation requires human observation to determine whether the centering is completed, which will cause large errors. Since the position change or abnormal backtracking of the teleconverter cannot be monitored in real time, it is not convenient to perform periodic monitoring of the teleconverter. In addition, manual operation for centering is time-consuming.

[0148] Based on the above problems, the embodiments of the present application provide a centering fixture, a motion control system and an automatic centering method for a teleconverter and a camera.

[0149] In a first aspect, a centering jig for a teleconverter and a camera is provided, wherein a lens carrier in the centering jig can be installed with the teleconverter, and in combination with a centering structure of a positioning cover located above the teleconverter, the teleconverter and the camera can be directly centered and positioned by the centering jig and the teleconverter, thereby improving the accuracy of the centering and positioning; and the centering jig simplifies the equipment installation steps of the centering process, can reduce the time of centering and positioning, improve user experience, and avoid the risk of scratches caused by improper placement after the teleconverter is disassembled; in addition, the lens carrier can drive the teleconverter and the positioning cover to move together in a first direction parallel to the optical axis direction of the teleconverter, and can timely adjust the distance between the teleconverter and the camera, that is, can timely adjust the focusing distance of the camera.

[0150] On the second aspect, a motion control system for a teleconverter and a camera is provided, which realizes automatic centering of the teleconverter and the camera through the motion control system. Automatic centering replaces manual centering, which can reduce the centering error, facilitate periodic monitoring of the teleconverter, reduce the centering time and improve user experience.

[0151] On the third aspect, an automatic centering method for a teleconverter and a camera is provided, by which automatic centering can be quickly performed, the centering time can be reduced, and the accuracy of centering can be increased.

[0152] It should be understood that the centering jig, motion control system and automatic centering method of the present application can be used in combination with each other or independently, and are all effective compared to the solutions in the prior art.

[0153] For example, the centering jig of the present application can be manually centered or automatically centered in combination with a motion control system. In the case of automatic centering, the centering jig, the motion control system and the automatic centering method can be further combined to achieve a better overall effect of automatic centering.

[0154] For another example, during automatic centering and positioning, the automatic centering method can be combined with the centering jig of the present application, or can be combined with a centering jig of other structures. The present application does not make any limitations, but the automatic centering method of the present application combined with the centering jig of the present application has a better effect of automatic centering and positioning.

[0155] The following is a detailed description of the above three aspects in conjunction with the accompanying drawings.

[0156] First, combine Figures 3 to 14 , the centering fixture of this application is described in detail.

[0157] Figure 3 It is a schematic structural diagram of the centering fixture provided in an embodiment of the present application. Figure 4 It is an exploded view of the structure of the centering fixture and the teleconverter provided in the embodiment of the present application. Figure 5 It is a top view of the structure of the centering jig and the teleconverter provided in the embodiment of the present application. Figure 6 yes Figure 5 Cross-section view from AA perspective. Figure 7 yes Figure 6 A partial enlarged view at point B.

[0158] refer to Figures 3 to 6 The centering fixture 100 includes: a shell 1, a lens carrier 2 and a positioning cover 3.

[0159] A first accommodating space 11 is formed in the housing 1, and the first accommodating space 11 is used to accommodate the lens carrier 2. The first accommodating space 1 is a space that runs through along a first direction (such as the z direction), and the first direction is parallel to the optical axis direction of the teleconverter, or in other words, the first direction is parallel to the thickness direction of the positioning cover 3. Such a first accommodating space 1 will not block light.

[0160] In addition, as the component farthest from the positioning cover 3 in the centering jig 100, the housing 1 also supports the lens carrier 2, the positioning cover 3, the teleconverter 200 and other structures. Figure 4 As shown), the support structure 13 is in contact with the lens carrier 2 (as shown Figure 6As shown), it is capable of supporting the lens carrier 2.

[0161] At least a part of the lens carrier 2 is accommodated in the first accommodating space 11, that is, a part or all of the lens carrier 2 is accommodated in the first accommodating space 11. In the case where a part of the lens carrier 2 is accommodated in the first accommodating space 11, another part of the lens carrier 2 is exposed to the housing 1, for example, an end of the lens carrier 2 away from the positioning cover 3 may be exposed to the housing 1, or an end of the lens carrier 2 close to the positioning cover 3 may be exposed to the housing 1.

[0162] The lens carrier 2 has a mounting cavity 20 formed therein, and the mounting cavity 20 is used to mount the teleconverter 200. It should be understood that the mounting cavity 20 is a cavity that penetrates along a first direction (such as the z direction), so that light can enter the teleconverter 200 and exit from the teleconverter 200.

[0163] When the lens carrier 2 moves along the first direction (z direction), it can drive the teleconverter 200 to move along the first direction to adjust the distance between the teleconverter 200 and the camera, thereby achieving the purpose of adjusting the focusing distance of the camera and realizing precise focusing.

[0164] The positioning cover 3 is a plate-shaped structure, and is located on one side of the lens carrier 2 away from the bottom of the housing 1. It should be understood that when the teleconverter 200 is installed in the mounting cavity 20 of the lens carrier 2, the positioning cover 3 is not only located on one side of the lens carrier 2 away from the bottom of the housing 1, but also located on one side of the teleconverter 200 away from the bottom of the housing 1. Figure 4 Taking the orientation shown as an example, the positioning cover 3 is located above the lens carrier 2 (the side of the lens carrier 2 away from the bottom of the shell 1), and is also located above the teleconverter 200 (the side of the teleconverter 200 away from the bottom of the shell 1).

[0165] Exemplarily, the positioning cover 3 can be detachably connected to the teleconverter 200, or detachably connected to the lens carrier 2, so as to maintain the relative position of the positioning cover 3 and the teleconverter 200. It should be understood that the connection between the positioning cover 3 and the teleconverter 200 or the lens carrier 2 is a detachable connection, so that it is convenient to remove the positioning cover 3 from the centering jig 100 to test the camera, and to install or remove the teleconverter 200 in the centering jig 100.

[0166] For example, reference Figure 6 and Figure 7 A receiving cavity 33 is formed on one side of the positioning cover 3 near the teleconverter 200, and the receiving cavity 33 is used to receive a partial area of ​​the teleconverter 200. It should be understood that the shape of the receiving cavity 33 matches the shape of the partial area of ​​the teleconverter 200 received.

[0167] Since the accommodating cavity 33 provides an accommodating space for the teleconverter 200 and can accommodate a partial area of ​​the teleconverter 200 , the size of the centering jig in the first direction (z direction) can be reduced, thereby reducing the size of the entire device.

[0168] refer to Figures 4 to 7 The positioning cover 3 is provided with a light-transmissive centering structure 31, and the center of the centering structure 31 coincides with the center of the positioning cover 3, or in other words, the center of the centering structure 31 is the center of the positioning cover 3. When the teleconverter 200 is installed in the mounting cavity 20, the center of the teleconverter 200 is coaxially arranged with the center of the centering structure 31 along the first direction (z direction).

[0169] It should be understood that the area of ​​the positioning cover 3 other than the centering structure 31 is opaque, so that light can only pass through the centering structure 31, so as to achieve the centering positioning of the teleconverter 200 and the camera through the centering structure 31.

[0170] When the lens carrier 2 moves along the first direction (z direction), the lens carrier 2 can drive the teleconverter 200 and the positioning cover 3 located above the teleconverter 200 to move along the first direction (z direction).

[0171] It should be understood that the lens carrier 2 drives the teleconverter 200 to move along the first direction (z direction) in order to adjust the focusing distance of the camera, and the lens carrier 2 simultaneously drives the positioning cover 3 to move along the first direction (z direction) in order to maintain the positioning state of the teleconverter 200 and the positioning cover 3.

[0172] The shape of the centering structure 31 can be a symmetrical figure of any shape, which is convenient for locating the center of the centering structure 31. For example, the shape of the centering structure 31 can be a symmetrical figure of various shapes such as a cross, a rectangle, a cross, a round hole, etc.

[0173] In one example, reference Figure 7 The centering structure 31 is a circular hole. The centering structure 31 in the shape of a circular hole has a simple structural design, which simplifies the structural design.

[0174] The diameter of the circular hole is generally designed to be relatively small. For example, the diameter of the circular hole is less than or equal to 1 mm. For example, the diameter of the circular hole can be 0.4 mm, 0.5 mm, 0.6 mm, 0.7 mm, etc.

[0175] It should be understood that the light transmitted through the center of the teleconverter 200 is the strongest, and the light in the remaining areas is weaker. The aperture of the circular hole is designed to be small, and the circular hole with a small aperture is not easy to transmit light. When the center of the circular hole does not coincide with the center of the teleconverter 200, the weaker light in the remaining areas of the teleconverter 200 itself is not easy to transmit light through the circular hole. Moreover, when the centers of the two do not coincide, the light from the teleconverter 200 to the circular hole is oblique, and the hole wall easily reflects the light, making the light transmittance of the circular hole worse, and almost no imaging pattern can be seen. Therefore, for a circular hole with a small aperture, it means that only strong light can pass through the circular hole and form a good image. Therefore, when the circular hole can transmit light, it means that the center of the circular hole coincides with the center of the teleconverter 200. Therefore, the circular hole-shaped centering structure 31 facilitates the coincidence of the center of the centering structure 31 with the center of the teleconverter 200, that is, facilitates the centering positioning between the center of the centering structure 31 and the teleconverter 200. Therefore, when the teleconverter 200 and the lens are centered by the centering structure 31, the error caused by the inaccurate positioning of the center of the centering structure 31 with the center of the teleconverter 200 can be effectively reduced, thereby affecting the test result of the camera.

[0176] In one example, the minimum dimension of the centering structure 31 in the first direction (z direction) is greater than or equal to 1.5 mm. It should be understood that the minimum dimension of the centering structure 31 in the first direction (z direction) described here is also the minimum dimension of the positioning cover 3 in the first direction (z direction).

[0177] When the size of the positioning cover 3 in the first direction is basically the same and the size of the centering structure 31 in the first direction (z direction) is also basically the same, the minimum size described here can be understood as the size of the centering structure 31 in the first direction (z direction).

[0178] When the dimensions of the positioning cover 3 in the first direction are not consistent, such as Figure 6 and Figure 7 As shown, the size of the positioning cover 3 in the first direction gradually increases from the center of the positioning cover 3 to the two sides. In this structure, the size of the centering structure 31 in the first direction (z direction) is inconsistent, and the centering structure 31 has a minimum size in the first direction (z direction), and the minimum size is the size of the central area of ​​the centering structure 31. However, when the centering structure 31 is a circular hole, since the aperture of the circular hole is very small, the radial space occupied is very small, resulting in that the size of the circular hole in the first direction does not change much, and therefore, the minimum size of the circular hole in the first direction is basically the overall size of the circular hole in the first direction.

[0179] When the minimum dimension of the centering structure 31 in the first direction (z direction) is greater than or equal to 1.5 mm, it means that the dimension of the positioning cover 3 along the first direction (z direction) is designed to be thicker. When the center of the centering structure 31 does not coincide with the center of the teleconverter 200, most of the light from the teleconverter 200 to the centering structure 31 is oblique, and the oblique light is more easily reflected by the thicker inner wall of the centering structure 31, making it more difficult for the centering structure 31 to transmit light. Only when the center of the centering structure 31 coincides with the center of the teleconverter 200, can the centering structure 31 transmit light better and the light is relatively uniform, which means that the center of the centering structure 31 coincides with the center of the teleconverter 200. Therefore, designing the minimum dimension of the centering structure 31 in the first direction (z direction) to be thicker is conducive to achieving the coincidence of the center of the centering structure 31 and the center of the teleconverter 200, that is, it is easy to achieve the centering positioning between the center of the centering structure 31 and the teleconverter 200. Therefore, when the teleconverter 200 and the lens are centered by the centering structure 31, the error caused by the inaccurate positioning of the center of the centering structure 31 and the center of the teleconverter 200 can be effectively reduced, thereby affecting the test result of the camera.

[0180] It should be understood that the design in which the centering structure 31 is a circular hole and the minimum size of the centering structure 31 in the first direction (z direction) is greater than or equal to 1.5 mm is more conducive to achieving the coincidence of the center of the centering structure 31 and the center of the teleconverter 200, and is also more conducive to reducing the centering positioning error between the teleconverter 200 and the lens, thereby achieving the best centering positioning effect.

[0181] The centering jig provided in the above embodiment has a mounting cavity 20 for mounting a teleconverter 200 in the lens carrier 2 of the centering jig 100, and the teleconverter 200 can be mounted together with the centering jig 100. In combination with the centering structure 31 of the positioning cover 3 located above the teleconverter 200, the center of the teleconverter 200 and the center of the centering structure 31 are coaxially arranged along a first direction parallel to the optical axis direction. In this way, the teleconverter 200 and the camera can be directly centered by the centering jig 100 and the teleconverter 200. On the one hand, the accuracy of the centering can be improved and unnecessary errors can be reduced. On the other hand, the equipment installation steps of the centering process are simplified, which can reduce the time of the centering, improve the user experience, and avoid the risk of scratches caused by improper placement after the teleconverter 200 is disassembled. In addition, since the lens carrier 2 can drive the teleconverter 200 and the positioning cover 3 to move along the first direction, the distance between the teleconverter 200 and the camera can be adjusted in time while always maintaining the positioning state of the teleconverter 200 and the positioning cover 3, that is, the focusing distance of the camera can be adjusted in time.

[0182] Regarding the structural design of the lens carrier 2 driving the teleconverter 200 and the positioning cover 3 to move along the first direction (z direction), in some embodiments, refer to Figure 4 The lens carrier 2 is a hollow annular structure, including a rotating component 22 and a fixed component 21. The cavity of the rotating component 22 and the cavity of the fixed component 21 form a mounting cavity 20 for mounting the teleconverter 200. The fixed component 21 is away from the positioning cover 3, and the fixed component 21 is fixedly connected to the housing 1. For example, the fixed component 21 can be fixedly connected to the housing 1 by a fastener. Compared with the fixed component 21, the rotating component 22 is close to the positioning cover 3, or in other words, the rotating component 22 is located on the side of the fixed component 21 away from the bottom of the housing 1. The rotating component 22 can rotate relative to the fixed component 21 and can move along the first direction (z direction) during the rotation process, so as to drive the teleconverter 200 and the positioning cover 3 to move along the first direction (z direction).

[0183] In implementation, the rotating component 22 rotates relative to the fixed component 21 under the action of an external force, and during the rotation process, the cooperation between the rotating component 22 and the fixed component 21 can convert the rotation between the two into the movement of the rotating component 22, and the rotating component 22 moves along the first direction (z direction), and the rotating component 22 drives the teleconverter 200 and the positioning cover 3 to move along the first direction (z direction). In this way, the distance that the teleconverter 200 moves along the first direction (z direction) can be controlled by counting the number of rotations of the rotating component 22.

[0184] Compared with the problems of poor distance control and stability caused by only moving the teleconverter 200 in the first direction (z direction) in the related art, in the above embodiment, the rotating component 22 and the fixed component 21 in the lens carrier 2 are coordinated so that the rotating component 22 can rotate and convert the rotation into movement in the first direction (z direction). In implementation, the distance moved by the teleconverter 200 in the first direction (z direction) can be controlled by the number of rotations of the rotating component 22, which is equivalent to refining the granularity of controlling the moving distance, facilitating the adjustment of small distances, and improving the stability of the moving process.

[0185] Regarding the rotation of the rotating member 22, in some embodiments, refer to Figure 3 Hehe Figure 4 The centering jig 100 further includes a handle 4, which is exposed from the housing 1. The handle 4 is connected to the rotating component 22, and an external force acts on the handle 4 to drive the rotating component 22 to rotate.

[0186] That is, this embodiment drives the rotating component 22 to rotate by the handle 4. In practice, the user applies a hand or an operating tool to the handle 4, so that an external force acts on the handle 4, and the rotating component 22 rotates and moves along the first direction (z direction) by rotating the handle 4.

[0187] In the above embodiment, the mechanical handle 4 is used to drive the rotating component 22 to rotate, thereby finally driving the teleconverter 200 and the positioning cover 3 to move. Since no additional power consumption is required, power consumption is saved. It is also convenient for the user to operate the handle 4 to rotate the rotating component 22. The entire operation process is relatively convenient, which improves the user experience.

[0188] In one example, reference Figure 3 Hehe Figure 4 The handle 4 includes an interconnected handle body 41 and a connecting structure 42 , the connecting structure 42 is connected to the rotating component 22 , and an external force can act on the handle body 41 to drive the rotating component 22 to rotate.

[0189] The handle body 41 and the connection structure 42 may be integrally formed, or may be fixedly connected by other means such as fasteners, and no limitation is made here.

[0190] For example, reference Figure 3 and Figure 4 The handle 4 is a semi-circular structure with two ends, and the handle 4 includes two connecting structures 42, and the two connecting structures 42 are respectively connected to the two ends of the handle body 41. This shape of the handle 4 is roughly compatible with the shape of the overall structure of the centering jig 100, which can avoid the problem of occupying a large space.

[0191] Of course, in other examples, the handle 4 may also be a component of other structures such as a push rod, and the handle 4 may be directly connected to the rotating component 22 or connected to the rotating component 22 through a connecting structure 42 .

[0192] It should be understood that the above embodiment of driving the rotating component 22 by the handle 4 is only for illustrative purposes and should not be construed as limiting the embodiments of the present application. For example, the rotating component 22 may be driven to rotate by a motor. For another example, the rotating component 22 may be driven to rotate by other forms of mechanical structures.

[0193] In the embodiment where the centering jig 100 includes a handle 4, in some embodiments, the positioning cover 3 is detachably connected to the handle 4. Since the handle 4 is connected to the rotating component 22, the detachable connection between the positioning cover 3 and the rotating component 22 is achieved through the handle 4, thereby achieving a detachable connection between the positioning cover 3 and the lens carrier 2, so as to maintain the relative position of the positioning cover 3 and the teleconverter 200 installed on the lens carrier 2, which is easy to implement and has a simple structure. Moreover, compared with the method of connecting the positioning cover 3 to the teleconverter 200, since no additional design is required on the teleconverter 200, the structural design is also simplified.

[0194] Exemplarily, the positioning cover 3 includes a positioning structure, and the positioning structure is detachably connected to the connecting structure 42, thereby realizing a detachable connection between the positioning cover 3 and the handle 4. The cooperation between the positioning structure and the connecting structure 42 can limit the movement of the positioning cover 3 in a plane (xy plane) perpendicular to the first direction, thereby preventing the movement of the positioning cover 3 from affecting the centering of the positioning cover 3 and the teleconverter 200.

[0195] In the embodiment where the handle 4 includes two connection structures 42 , the positioning cover 3 also includes two positioning structures. The two positioning structures correspond to the two connection structures 42 one by one, and one positioning structure is detachably connected to the corresponding connection structure 42 .

[0196] Since the two connecting structures 42 at both ends of the handle 4 are detachably connected to the two positioning structures of the positioning cover 3, the cooperation of the two positioning structures and the two connecting structures 42 increases the connection contact area between the handle 4 and the positioning cover 3, and can better limit the movement of the positioning cover 3 in a plane perpendicular to the first direction (xy plane), thereby improving the stability of the structural connection.

[0197] In one example, reference Figure 3 and Figure 4 The positioning structure may be a positioning groove 32, and the connecting structure 42 is inserted into the positioning groove 32. Through the cooperation between the connecting structure 42 and the positioning groove 32, the movement of the positioning cover 3 in the plane (xy plane) perpendicular to the first direction can be well restricted, so as to better avoid the movement of the positioning cover 3 affecting the centering of the positioning cover 3 and the teleconverter 200.

[0198] Exemplarily, the positioning groove 32 is an open groove with an outer opening, having three side groove walls, penetrating the positioning cover 3 along the first direction (z direction), and can limit the movement of the positioning cover 3 in the xy plane. This open groove with an outer opening facilitates the cooperation between the connecting structure 42 of the handle 4 and the positioning groove 32, simplifying the structural design. In other examples, the positioning structure can also be a structure such as a positioning column, and a groove adapted to the positioning structure is provided on the connecting structure 42, and the positioning structure is inserted into the groove.

[0199] The following is a detailed description of the structure for driving the teleconverter 200 and the positioning cover 3 to move by the cooperation between the rotating component 22 and the fixing component 21 .

[0200] Figure 8 It is an exploded view of the structure of the handle, rotating component and fixed component provided in the embodiment of the present application at one viewing angle. Fig. 9 It is an exploded view of the structure of the handle, rotating component and fixed component provided in the embodiment of the present application from another perspective. Fig.10 yes Fig. 9 A partial enlargement of point C. Fig.11It is a schematic structural diagram of the structure of the handle, rotating component and fixed component provided in the embodiment of the present application. Fig.12 yes Fig.11 A partial enlarged view of point D in the middle.

[0201] In some embodiments, reference Figure 8 The rotating component 22 includes a first portion 22a and a second portion 22b, wherein the cavity of the first portion 22a and the cavity of the second portion 22b form the cavity of the rotating component 22. The first portion 22a is away from the fixed component 21, the second portion 22b is close to the fixed component 21, and the second portion 22b is retracted relative to the first portion 22a, so that a step surface is formed between the first portion 22a and the second portion 22b, and the second portion 22b can mount the teleconverter 200.

[0202] refer to Figure 6 When the teleconverter 200 is installed in the installation cavity 20, the teleconverter 200 is mounted on the second portion 22b. In this way, through the mounting contact between the teleconverter 200 and the second portion 22b, when the rotating component 22 moves along the first direction (z direction), the teleconverter 200 and the positioning cover 3 located above the teleconverter 200 can be driven to move along the first direction (z direction).

[0203] In other embodiments, the rotating component 22 and the teleconverter 200 may also drive the teleconverter 200 to move along the first direction (z direction) by other means. For example, the rotating component 22 and the teleconverter 200 may be fixedly connected by a fixed connection method such as a fastener, so that when the rotating component 22 rotates and moves, the teleconverter 200 not only moves but also rotates.

[0204] In some embodiments, reference Figure 8 and Fig. 9 The fixed part 21 includes at least one first spiral boss 211 distributed circumferentially. For each first spiral boss 211, along the rotation direction of the rotating part 22 (the direction indicated by the arrow in the figure), the size of the first spiral boss 211 in the first direction (z direction) gradually increases.

[0205] For the sake of ease of explanation, the surface of the first spiral boss 211 close to the rotating part 22 is recorded as the first spiral adjustment surface. Along the rotation direction of the rotating part 22, the size of the first spiral boss 211 in the first direction (z direction) gradually increases. It can also be expressed as that along the rotation direction of the rotating part 22, the distance between the first spiral adjustment surface and the end of the first spiral boss 211 (or the fixed part 21) away from the rotating part 22 gradually increases.

[0206] The at least one first spiral boss 211 includes one or more first spiral bosses 211. It should be understood that when the fixing component 21 includes one first spiral boss 211, the first spiral boss 211 occupies the entire circumference of the fixing component 21; when the fixing component 21 includes multiple first spiral bosses 211, the multiple first spiral bosses 211 occupy the entire circumference of the fixing component 21.

[0207] It should be noted that, unless otherwise specified, the rotation direction of the rotating component 22 in the embodiment of the present application represents the forward rotation direction of the rotating component 22 , and the explanations above or below are the same here and will not be repeated.

[0208] refer to Fig. 9 and Fig.10 The rotating component 22 includes at least one second spiral boss 221 distributed circumferentially. For example, the second portion 22b of the rotating component 22 includes at least one second spiral boss 221 distributed circumferentially. It should be understood that the number of the second spiral bosses 221 is consistent with the number of the first spiral bosses 211.

[0209] The first spiral boss 211 is matched with the second spiral boss 221. Specifically, for the first spiral boss 211, along the rotation direction of the rotating component 22, the size of the first spiral boss 211 in the first direction (z direction) gradually increases;

[0210] For the adapted second spiral boss 221 , along the rotation direction of the rotating component 22 , the size of the second spiral boss 221 in the first direction (z direction) gradually decreases.

[0211] For the sake of ease of explanation, the surface of the second spiral boss 221 close to the fixed part 21 is recorded as the second spiral adjustment surface. Along the rotation direction of the rotating part 22, the size of the second spiral boss 221 in the first direction (z direction) gradually decreases. It can also be expressed as that along the rotation direction of the rotating part 22, the distance between the second spiral adjustment surface and the end of the second spiral boss 221 (or the rotating part 22) away from the fixed part 21 gradually decreases.

[0212] The at least one second spiral boss 221 includes one or more second spiral bosses 221. It should be understood that when the rotating component 21 includes one second spiral boss 221, the second spiral boss 221 occupies the entire circumference of the rotating component 22; when the rotating component 22 includes multiple second spiral bosses 221, the multiple second spiral bosses 221 occupy the entire circumference of the rotating component 22.

[0213] For the matched first spiral boss 211 and second spiral boss 221, when the rotating component 22 rotates, the first spiral boss 211 and the second spiral boss 221 cooperate to enable the rotating component 22 to move along the first direction (z direction), and the rotation of the rotating component 22 is converted into movement. When the rotating component 22 rotates, the first spiral adjustment surface of the first spiral boss 211 fits with part or all of the second spiral adjustment surface of the second spiral boss 221 to transmit the force.

[0214] It should be understood that when the rotating component 22 and the fixed component 21 are in Fig.12 In the state shown, that is, when the area of ​​the minimum size of the second spiral boss 221 along the first direction (z direction) corresponds to the area of ​​the maximum size of the first spiral boss 211 along the first direction (z direction), the rotating component 22 is in the initial position, and the first spiral adjustment surface of the first spiral boss 211 and the entire area of ​​the second spiral adjustment surface of the second spiral boss 221 are almost in contact, and the area of ​​contact between the two is the largest; as the rotating component 22 rotates, an area of ​​any size of the second spiral boss 221 contacts an area of ​​every size of the first spiral boss 211 so that the rotating component 22 can move along the first direction Moving in the (z direction), the first spiral adjustment surface of the first spiral boss 211 begins to fit partially with the second spiral adjustment surface of the second spiral boss 221, and the greater the rotation angle, the smaller the area where the two fit. When the area with the maximum dimension of the second spiral boss 221 along the first direction (z direction) corresponds to the area with the maximum dimension of the first spiral boss 211 along the first direction (z direction), the distance moved by the rotating component 22 along the first direction (z direction) is the largest, and the area where the first spiral adjustment surface of the first spiral boss 211 fits with the second spiral adjustment surface of the second spiral boss 221 is the smallest.

[0215] It should also be understood that when the rotating component 22 rotates and moves along the first direction (z direction), the teleconverter 200 is actively moved along the first direction (z direction) together with the rotating component 22 .

[0216] In the above embodiment, through the cooperation between the first spiral boss 211 of the fixed component 21 and the second spiral boss 221 of the rotating component 22, the rotation of the rotating component 22 can be converted into the movement of the rotating component 22 along the first direction (z direction). While the adjustment of a small distance can be achieved, the rotation of the rotating component can also be achieved with a small force, and the controllability is good.

[0217] In some embodiments, the fixed component 21 includes a first spiral boss 211 and the rotating component 22 includes a second spiral boss 221. In this embodiment, the rotating component 22 can rotate not only in the forward direction but also in the reverse direction. The forward rotation can move the rotating component 22 away from the fixed component 21, and the reverse rotation can move the rotating component 22 toward the fixed component 21.

[0218] In other embodiments, the fixed component 21 includes a plurality of first spiral bosses 211 disposed in the same direction and continuously, and the rotating component 22 includes a plurality of second spiral bosses 221 disposed in the same direction and continuously. It should be understood that the number of the first spiral bosses 211 and the second spiral bosses 221 are the same. Figure 8 and Fig. 9 In the embodiment, the fixed component 21 includes three first spiral bosses 211 , and the rotating component 22 includes three second spiral bosses 221 .

[0219] In implementation, taking a second spiral boss 221 as an example, the rotating part 22 rotates, and when the second spiral boss 221 and a first spiral boss 211 start to cooperate from the beginning to the end, the rotating part 22 starts to move along the first direction until it moves to the maximum distance; the rotating part 22 continues to rotate, and the second spiral boss 221 starts to cooperate with the next first spiral boss 211, and the rotating part 22 falls back to the initial position and continues to move along the first direction away from the fixed part 21.

[0220] It can be seen that in this embodiment, the cooperation of the multiple first spiral bosses 211 and the multiple second spiral bosses 221 which are arranged in the same direction and continuously can flexibly adjust the moving distance of the rotating component 22 along the first direction (z direction) to adjust the moving distance of the teleconverter 200 through the unidirectional rotation of the rotating component 22, which can not only increase the moving distance but also reduce the moving distance, effectively simplifying the user's operation process, and the unidirectional rotation can reduce friction loss to increase the service life.

[0221] In addition, it can be understood that, taking the first spiral boss 211 as an example, when the number of the first spiral bosses 211 is greater, the maximum dimension of each first spiral boss 211 along the first direction (z direction) is smaller, which means that the distance that the rotating part 22 can move is smaller, and conversely, when the number of the first spiral bosses 211 is smaller, the maximum dimension of each first spiral boss 211 along the first direction (z direction) is larger, which means that the distance that the rotating part 22 can move is larger. Therefore, when the other dimensions of the structure and the curve design of the first spiral boss 211 and the second spiral boss 221 remain unchanged, the moving distance can be flexibly controlled by the number of the first spiral boss 211 and the second spiral boss 221.

[0222] During the rotation of the rotating component 22, the rotating component 22 may reverse, thereby affecting the distance between the teleconverter 200 and the camera. In the embodiment of the present application, stop grooves are formed on the first spiral boss 211 and the second spiral boss 221 to prevent the rotating component 22 from reversing.

[0223] In some embodiments, reference Figure 8 and Fig.12 The first spiral boss 211 includes a plurality of first protrusions 212 and a plurality of first stop grooves 213. A first stop groove 213 is formed between two adjacent first protrusions 212, or a first protrusion 212 is formed between two adjacent first stop grooves 213. Along the rotation direction of the rotating component 22, the sizes of each first protrusion 212 in the first direction (z direction) are different, and the sizes of the plurality of first protrusions 212 in the first direction (z direction) gradually increase. Among them, the surface of the first protrusion 212 close to the rotating component 22 is a first adjustment surface 2121, and the first adjustment surfaces 2121 of the plurality of first protrusions 212 are formed as the first spiral adjustment surfaces of the first spiral boss 211.

[0224] refer to Fig.10 and Fig.12 The second spiral boss 221 includes a plurality of second protrusions 222 and a plurality of second stop grooves 223. A second stop groove 223 is formed between two adjacent second protrusions 222, or a second protrusion 222 is formed between two adjacent second stop grooves 223. Along the rotation direction of the rotating component 22, the sizes of the second protrusions 222 in the first direction (z direction) are different, and the sizes of the plurality of second protrusions 222 in the first direction (z direction) gradually decrease. Among them, the surface of the second protrusion 222 close to the fixed component 21 is the second adjustment surface 2221, and the second adjustment surfaces 2221 of the plurality of second protrusions 222 are formed as the second spiral adjustment surfaces of the second spiral boss 221.

[0225] The first protrusion 212 can be inserted into the second stop groove 223 , and the second protrusion 222 can be inserted into the first stop groove 213 to prevent the rotating component 22 from being reversed.

[0226] In the above embodiment, when an external force pushes the rotating component 22 to rotate in the forward direction, due to the existence of the first stop groove 213 and the second stop groove 223, the first protrusion 212 can be inserted into the second stop groove 223 and the second protrusion 222 can be inserted into the first stop groove 213, and the rotating component 22 will not reverse. Moreover, even if the first protrusion 212 is inserted into the second stop groove 223 and the second protrusion 222 is inserted into the first stop groove 213, under the action of an external force in the same direction as the forward rotation direction, the first protrusion 212 can also be disengaged from the second stop groove 223 and the second protrusion 222 can be disengaged from the first stop groove 213, thereby realizing the forward rotation of the rotating component 22.

[0227] refer to Figure 8 and Fig.12 A first guiding inclined surface 2121a is formed at one end of the first adjusting surface 2121 of the first protrusion 212 along the rotation direction of the rotating component 22. Specifically, the first guiding inclined surface 2121a is located at the end of the first adjusting surface 2121 that is in initial contact with the second adjusting surface 2221 of the second protrusion 222. In addition, along the rotation direction of the rotating component 22, the distance between the first guiding inclined surface 2121a and the bottom of the first protrusion 212 gradually increases. In this way, the first guiding inclined surface 2121a of the first protrusion 212 guides the rotation of the rotating component 22, so that the rotating component 22 can smoothly rotate relative to the fixed component 21.

[0228] refer to Fig.10 and Fig.12 A second guiding inclined surface 2221a is formed at one end of the second adjusting surface 2221 of the second protrusion 222 along the rotation direction of the rotating component 22. Specifically, the second guiding inclined surface 2221a is located at the end of the second adjusting surface 2221 that is initially in contact with the first adjusting surface 2121 of the first protrusion 212. In addition, along the rotation direction of the rotating component 22, the distance between the second guiding inclined surface 2121a and the bottom of the second protrusion 222 gradually decreases. In this way, the second guiding inclined surface 2221a of the second protrusion 222 guides the rotation of the rotating component 22, so that the rotating component 22 can smoothly rotate relative to the fixed component 21.

[0229] It can be understood that in the embodiment where the first adjustment surface 2121 has the first guiding slope 2121a and the second adjustment surface 2221 has the second guiding slope 2221a, the shapes of the first guiding slope 2121a and the second guiding slope 2221a are adapted, that is, the inclination angles of the two guiding slopes are the same.

[0230] Fig.13 It is an exploded view of the centering fixture with the positioning cover removed provided in an embodiment of the present application. Fig.14 It is a schematic structural diagram of the centering jig with the positioning cover removed provided in an embodiment of the present application.

[0231] refer to Fig.13 and Fig.14 The centering jig 100 further includes a locking device 5 disposed on one side of the circumference of the housing 1 . The locking device 5 is connected to the housing 1 , and the locking device 5 can be connected to the rotating component 22 to prevent the rotating component 22 from rotating.

[0232] In the above embodiment, the locking device 5 can be connected to the rotating component 22 through the housing 1 to prevent the rotating component 22 from rotating, so that the rotating component 22 is stably in the current state to stably maintain the distance between the teleconverter 200 and the camera.

[0233] In some embodiments, reference Fig.13 and Fig.14 The locking device 5 includes an insertion rod 51 , a plug hole 12 for inserting the insertion rod 51 is provided on the housing 1 , and a plurality of slots 224 are provided in the circumference of the rotating component 22 , and the insertion rod 51 can be inserted into the slots 224 through the plug hole 12 .

[0234] It should be understood that the slot 224 has an opening in a direction toward the first insertion rod 51 , so that the insertion rod 51 can be inserted into the slot 224 through the opening.

[0235] In practice, after adjusting the distance between the teleconverter 200 and the camera, the rotation of the rotating component 22 needs to be stopped, and the insertion rod 51 is inserted into the insertion hole 12 and the card slot 224, so that the rotating component 22 stops rotating. When it is desired to continue adjusting the distance between the teleconverter 200 and the camera, the insertion rod 51 is pulled out from the card slot 224 and the insertion hole 12, and the insertion rod 51 is separated from the rotating component 22 and the housing 1, and the rotating component 22 can continue to rotate.

[0236] Exemplarily, in an embodiment where the rotating component 22 includes a first portion 22a and a second portion 22b that is retracted relative to the first portion, the slot 224 is provided on the first portion 22a. Exemplarily, the slot 224 penetrates the first portion 22a along the first direction (z direction), so that no matter where the rotating component 22 moves along the first direction (z direction), the insertion rod 51 of the locking device 5 can be inserted into the slot 224 through the insertion hole 12.

[0237] It should be understood that the greater the number of the slots 224 , the more advantageous it is to enable the insertion rod 51 of the locking device 5 to be inserted into the slots 224 through the insertion hole 12 when the rotating component 22 moves to any position.

[0238] In the above embodiment, the insertion rod 51 of the locking device 5 is connected to the housing 1 through the insertion hole 12 on the housing 1, and the rotation of the rotating component 22 is restricted by the cooperation between the slot 224 on the rotating component 22 and the insertion rod 51, and the structural design is simple.

[0239] For example, reference Fig.13 and Fig.14 The insertion hole 12 is arranged at the top of the housing 1, that is, at the end of the housing 1 close to the positioning cover 3. This means that the insertion rod 51 of the locking device 5 is located at the top of the housing 1. When the rotating component 22 moves to the limit distance along the first direction (z direction) away from the housing 1, the insertion hole 12 at the top of the housing 1 can make the insertion rod 51 inserted into the insertion hole 12 as much as possible into the card slot 224 to prevent the rotating component 22 from rotating.

[0240] The plug hole 12 can be an opening of various shapes, which is not limited here.

[0241] For example, the insertion hole 12 may be a circumferentially closed hole.

[0242] For another example, it can also be a semi-open hole with a circumferential opening (such as Fig.13 As shown). The opening of the insertion hole 12 faces the positioning cover 3. When the insertion hole 12 is a half-open hole, it means that the insertion rod 51 of the locking device 5 is located at the top of the housing 1 in the first direction (z direction). Then, when the rotating component 22 moves to the limit distance along the first direction (z direction) away from the housing 1, the insertion hole 12 at the top of the housing 1 can make the insertion rod 51 inserted into the insertion hole 12 can be inserted into the card slot 224 to prevent the rotation of the rotating component 22.

[0243] However, when the insertion hole 12 is a half-open hole, the insertion rod 51 may be separated from the insertion hole 12 from the opening of the insertion hole 12, so that the insertion rod 51 is separated from the housing 1, affecting the function of the locking device 5. Therefore, the centering jig 100 is further provided with a limit baffle 6, which can limit the insertion rod 51 from being separated from the insertion hole 12 from the opening of the insertion hole 12, ensuring that the insertion rod 51 passes through the insertion hole 12 and is inserted into the card slot 224 to effectively prevent the rotation of the rotating component 22.

[0244] In some embodiments, reference Fig.13 and Fig.14 The limit baffle 6 is located between the insertion hole 12 and the end of the insertion rod 51. A limit hole 61 is set on the limit baffle 6, wherein the limit hole 61 is a circumferentially closed hole, and the insertion rod 51 is inserted into the limit hole 61 to limit the movement of the insertion rod 51 in the first direction (z direction).

[0245] In the above embodiment, the limiting hole 61 is located outside the insertion hole 12 away from the housing 1, and the insertion rod 51 is inserted into the limiting hole 61 and the insertion hole 12 in sequence, and finally can be inserted into the card slot 224. The limiting hole 61 limits the movement of the insertion rod 51 in the first direction (z direction).

[0246] In one example, the limit baffle 6 can be fixed to the housing 1 by means of fasteners or the like.

[0247] In another example, the stopper plate 6 is detachably disposed between the insertion hole 12 and the end of the insertion rod 51. Fig.13 and Fig.14 The locking device 5 further includes a limiting member 52 , which is fixedly sleeved outside the insertion rod 51 , wherein the limiting baffle 6 is clamped between the housing 1 and the limiting member 52 .

[0248] It can be understood that since the limit baffle 6 is located between the shell 1 and the limit member 52, the insertion rod 51 passes through the limit member 52, the limit hole 61 of the limit baffle 6, the insertion hole 12 of the shell 1 and the slot 224 of the rotating part 22 in sequence. Since the limit member 52 is fixedly sleeved on the outside of the insertion rod 51, the end of the limit member 52 away from the end 512 of the insertion rod 51 can abut against the limit baffle 6, and the end of the limit baffle 6 close to the shell 1 abuts against the shell 1, thereby enabling the limit baffle 6 to be clamped between the shell 1 and the limit member 52.

[0249] In practice, after adjusting the distance between the teleconverter 200 and the camera, it is necessary to stop the rotation of the rotating component 22, and pass the insertion rod 51 with the limiting member 52 through the limiting hole 61 of the limiting baffle 6, the insertion hole 12 of the housing 1, and the slot 224 of the rotating component 22 in sequence, and clamp the limiting baffle 6 between the housing 1 and the limiting member 52, so that the rotating component 22 stops rotating. When it is desired to continue adjusting the distance between the teleconverter 200 and the camera, the insertion rod 51 is pulled out from the slot 224, the insertion hole 12, and the limiting hole 61 of the limiting baffle 6, and the insertion rod 51 is separated from the rotating component 22, the housing 1, and the limiting baffle 6, and the rotating component 22 can continue to rotate.

[0250] In the above embodiment, the limiting baffle 6 is clamped in the gap between the housing 1 and the limiting member 52 to achieve a detachable connection of the limiting baffle 6. This assembly method is convenient for installation and disassembly.

[0251] Exemplarily, the insertion rod 51 includes an insertion rod body 511 and an end 512 , wherein the radial dimension of the end 512 is greater than the radial dimension of the insertion rod body 511 , wherein the limiting member 52 is sleeved outside the insertion rod 51 and abuts against the end 512 of the insertion rod 51 .

[0252] In this example, the limit member 52 is detachably connected to the insertion rod 51. After the distance between the teleconverter 200 and the camera is adjusted, the rotation of the rotating component 22 needs to be stopped, and the insertion rod 51 is passed through the limit member 52, the limit hole 61 of the limit baffle 6, the insertion hole 12 of the shell 1 and the slot 224 of the rotating component 22 in sequence, and the limit baffle 6 is clamped between the shell 1 and the limit member 52, so that the rotating component 22 no longer rotates.

[0253] In other examples, the limiting member 52 may also be integrally formed with the insertion rod 51 or the limiting member 52 may be fixed to the insertion rod 51 by other means, and the embodiment of the present application does not impose any limitation thereto.

[0254] It should be understood that the locking device 5 in the above example is only for illustrative purposes and should not be construed as limiting the embodiments of the present application. Any structure that can prevent the rotation of the rotating component 22 is within the protection scope of the embodiments of the present application.

[0255] It should also be understood that the above-mentioned structure of realizing the movement of the teleconverter 200 along the first direction (z direction) by the cooperation of the rotating component 22 and the fixed component 21 of the lens carrier 2 is only for illustrative purposes and should not be construed as limiting the embodiments of the present application. In other embodiments, the lens carrier 2 does not need the rotating component 22 and the fixed component 21, and the entire lens carrier 2 is a movable component that can move only along the first direction (z direction) as a whole under the action of an external force.

[0256] The centering jig 100 provided in the embodiment of the present application is described in detail above.

[0257] As mentioned above, when the teleconverter and the camera are aligned by the centering jig, the position of the teleconverter in the x-direction and the y-direction can be adjusted by manual centering or automatic centering, so as to finally align the optical center of the teleconverter and the optical center of the camera's imaging, thereby achieving the centering of the teleconverter and the camera. After the teleconverter and the camera are aligned, the positioning cover of the centering jig is removed, and the relevant performance of the camera can be tested through the teleconverter.

[0258] Regarding the method of automatically centering the teleconverter and camera using the centering fixture, the following is combined with Figures 15 to 17 , taking the centering jig 100 provided above as an example, the motion control system provided in the embodiment of the present application is described in detail.

[0259] It should be noted again that during the centering process, the center of the test chart, the optical center of the teleconverter, and the optical center of the imaging of the camera of the electronic device need to be aligned. In the case where the center of the default test chart and the optical center of the imaging of the camera are already aligned, the embodiment of the present application only involves the centering positioning of the teleconverter and the camera.

[0260] Fig.15 It is a schematic structural diagram of the cooperation between the motion control system and the electronic device provided in the embodiment of the present application. Fig.16 It is an exploded diagram of the motion control system provided by an embodiment of the present application without the test chart. Fig.17 This is another exploded diagram of the motion control system provided by an embodiment of the present application without the test chart.

[0261] refer to Fig.15The motion control system includes a test chart 600, a teleconverter stage device 300 and a motion mechanism 400, wherein the test chart 600, the structure in which the teleconverter stage device 300 and the motion mechanism 400 are assembled, and an electronic device (e.g., a mobile phone) 700 equipped with a camera are arranged in sequence along a first direction (z direction).

[0262] The teleconverter stage device 300 includes a centering jig 100 , and a mounting cavity 20 of the centering jig 100 is used to mount the teleconverter 200 .

[0263] For example, reference Fig.16 The teleconverter stage device 300 further includes a mounting shell 310, and the centering jig 100 is mounted in the mounting shell 310. In this way, by mounting the centering jig 100 in the mounting shell 310, the centering jig 100 can be protected.

[0264] The mounting shell 310 is a shell with an open top, and a second accommodating space 310 a is formed in the mounting shell 310 . The centering jig 100 is placed in the second accommodating space 310 a from the top to install the centering jig 100 in the mounting shell 310 .

[0265] In the embodiment where the centering jig 100 includes a locking device 5, refer to Fig.16 and Fig.17 The side wall of the mounting shell 310 is formed with an opening slot 310b that passes through the side arm, and the locking device 5 passes through the opening slot 310b. In this way, when the centering jig 100 is installed on the mounting shell 310, it is convenient to operate the locking device 5 through the opening slot 310b, thereby improving the user experience.

[0266] The motion mechanism 400 is connected to the teleconverter stage device 300. When the motion mechanism 400 moves, it can drive the teleconverter stage device 300 to move along the second direction (y direction) and the third direction (x direction) to achieve automatic centering positioning of the teleconverter 200 and the camera. The second direction (y direction), the third direction (x direction) and the first direction (z direction) are perpendicular to each other. The motion mechanism 400 can be driven by a motor (not shown in the figure).

[0267] In addition, the motion control system also includes a controller 510 and an electronic device 520. The electronic device 520 is used to control the movement of the motion mechanism 400 in the second direction (y direction) and the third direction (x direction) through the controller 510, so as to drive the teleconverter stage device 300 to move along the second direction (y direction) and the third direction (x direction) through the motion mechanism 400, so as to realize automatic centering positioning of the teleconverter and the camera.

[0268] In one example, reference Fig.15The electronic device 520 may be a terminal device with computing and processing capabilities such as a mobile phone, a tablet computer, a laptop computer, a desktop computer, etc. connected to the controller 510. For example, the electronic device 520 may determine the distance or position that the motion mechanism needs to move, and send position information indicating the distance or position to the controller 510. The controller 510 generates a control instruction based on the position information to control the movement of the motion mechanism.

[0269] In the above embodiment, the electronic equipment of the motion control system controls the motion mechanism 400 to drive the teleconverter stage device 300 equipped with a centering jig and a teleconverter to move along the second direction (y direction) and the third direction (x direction), thereby realizing automatic centering of the teleconverter and the camera. By replacing the manual centering method with the automatic centering method, the error of the centering process can be reduced, the centering time can be reduced, and the user experience can be improved. Moreover, since the position change or abnormal backtracking of the teleconverter can be monitored during the automatic centering process, it is convenient to periodically monitor the teleconverter.

[0270] Regarding the process in which the electronic device 520 determines the position information indicating the distance or position that the motion mechanism needs to move during the automatic centering positioning, and controls the movement of the motion mechanism based on the position information, please refer to the specific description of method 800, method 900, method 1000 and method 1100 below, which will not be repeated here, and all have the same beneficial effects as the various embodiments of each method.

[0271] refer to Figures 15 to 17 The motion mechanism 400 includes a first motion component 410 and a second motion component 420. The first motion component 410 can drive the teleconverter stage device 300 to move along the second direction (y direction), and the second motion component 420 can drive the teleconverter stage device 300 to move along the third direction (x direction).

[0272] In this way, by respectively driving the teleconverter stage device 300 to move along the second direction (y direction) and the third direction (x direction) through the first motion component 410 and the second motion component 420 of the motion mechanism 400, the movement of the two motion components can be relatively independent, which can reduce the space occupied by the movement of the motion mechanism 400 to a certain extent.

[0273] In some embodiments, reference Fig.15The first motion component 410 is arranged along the third direction (x direction), and the second motion component 420 is arranged along the second direction (y direction). The first motion component 410 is fixedly connected to the teleconverter stage device 300, and the first motion component 410 and the second motion component 420 are slidingly connected along the second direction (y direction). The first motion component 410 can slide relative to the second motion component 420 along the second direction (y direction) to drive the teleconverter stage device 300 to move along the second direction (y direction), and the second motion component 420 can drive the first motion component 410 to move along the third direction (x direction) to drive the teleconverter stage device 300 to move along the third direction (x direction).

[0274] Since the first motion component 410 is fixedly connected to the teleconverter stage device 300 and is slidably connected to the second motion component 420 along the second direction (y direction), the teleconverter stage device 300 is not in contact with the second motion component 420. Therefore, when the first motion component 410 moves along the second direction (y direction), the first motion component 410 can slide relative to the second motion component 420 along the second direction (y direction), and can drive the teleconverter stage device 300 connected to the first motion component 410 to move along the second direction (y direction). When the second motion component 420 moves along the third direction (x direction), the second motion component 420 can drive the first motion component 410 to move along the third direction (x direction). Since the first motion component 410 is connected to the teleconverter stage device 300, the first motion component 410 can drive the teleconverter stage device 300 to move along the third direction (x direction).

[0275] In the above-mentioned embodiment, when the teleconverter stage device 300 can be moved in the second direction (x direction) and the third direction (y direction), since the teleconverter stage device 300 only needs to be connected to the first motion component 410, the movement of the teleconverter stage 300 in two directions can be achieved through the sliding connection between the first motion component 410 and the second motion component 420. The movement of the teleconverter stage 300 in two directions can be achieved with fewer components or simple connections, which effectively simplifies the complexity of the structural design; and the structural layout between the two motion components and the teleconverter stage 300 is more compact, so that the space occupied by the structure is small.

[0276] For example, reference Fig.17 A connecting portion 413 is formed on one side of the first motion component 410 close to the teleconverter stage device 300 , and the connecting portion 413 is fixedly connected to the end of the mounting shell 310 close to the first motion component 410 to fix the teleconverter stage device 300 to the first motion component 410 .

[0277] Regarding the sliding connection between the first motion component 410 and the second motion component 420, in some embodiments, reference Fig.16 and Fig.17 The second motion component 420 includes a slide 421, on which a slide groove 4211 extending in the second direction (y direction) is provided. The end 411 of the first motion component 410 is inserted into the slide groove 4211 and can move relative to the second motion component 420 in the second direction (y direction) through the slide groove 4211. The end of the first motion component 410 abuts against the groove wall of the slide groove 4211, which can limit the movement of the first motion component 410 relative to the second motion component 420 in the third direction (x direction).

[0278] For example, reference Fig.17 The cross-section of the slide groove 4211 is T-shaped. Correspondingly, the end 411 of the first motion component 410 is T-shaped. The T-shaped end 411 is inserted into the T-shaped slide groove 4211. Such structural coordination can effectively prevent the first motion component 410 from detaching from the slide groove 4211.

[0279] In one example, reference Fig.16 and Fig.17 , the second motion component 420 includes two slides 421 distributed along the third direction (x direction), and the two ends of the first motion component 410 are respectively inserted into the slide grooves 4211 of the two slides 421 to achieve the sliding connection between the first motion component 410 and the second motion component 420. Exemplarily, the two slides 421 are symmetrically distributed along the third direction (x direction), which is beneficial to the stability of the structure during the movement.

[0280] For ease of description, the two slides 421 are respectively recorded as slides 421a and slides 421b, and the two ends of the first motion component 410 are respectively recorded as first end 411a and second end 411b. The first end 411a of the first motion component 410 is inserted into the slide groove 4211 of the slide 421a, and the second end 411b of the first motion component 410 is inserted into the slide groove 4211 of the slide 421b.

[0281] In the above embodiment, since the second motion component 420 includes two slides 421 distributed along the third direction (x direction), the two slides 421 are both slidably connected to the first motion component 410, the stability of the sliding process of the first motion component 410 can be increased, so that the teleconverter stage device 300 can be driven to move more stably, effectively increasing the stability of the system.

[0282] In other examples (not shown in the figure), the second motion component 420 may include a slide 421 . When the number of the slide 421 is one, one end of the first motion component 410 is inserted into the slide groove 4211 of the slide 421 .

[0283] It should be understood that the connection relationship and structure between the motion mechanism 400, the first motion component 410, the second motion component 420 and the teleconverter stage device 300 in the above-mentioned example are only for illustrative purposes and should not constitute a limitation to the embodiments of the present application.

[0284] In other embodiments, the first motion component 410 and the second motion component 420 can be independently arranged, that is, there is no connection between the first motion component 410 and the second motion component 420, and the teleconverter stage device 300 can be slidably connected to the first motion component 410. When the first motion component 410 moves along the third direction, the teleconverter stage device 300 can slide relative to the first motion component 410 to realize the movement of the first motion component 410 in the third direction. When the second motion component 420 moves along the second direction, the second motion component 420 can drive the teleconverter stage device 300 to move along the second direction.

[0285] Alternatively, there is no connection between the first motion component 410 and the second motion component 420, and the teleconverter stage device 300 can be slidably connected to the second motion component 420. When the second motion component 420 moves along the second direction, the teleconverter stage device 300 can slide relative to the second motion component 420 to achieve movement of the second motion component 420 in the second direction. When the first motion component 410 moves along the third direction, the first motion component 410 can drive the teleconverter stage device 300 to move along the third direction.

[0286] In other embodiments, the motion mechanism 400 may not need to be provided with the first motion component 410 and the second motion component 420 that move relatively independently, and the motion mechanism 400 may move along the second direction and the third direction as a whole, but the movement occupies a larger space.

[0287] After the teleconverter and the camera are aligned based on the above motion control system, the positioning cover of the alignment fixture is removed, and the relevant performance of the camera can be tested through the teleconverter.

[0288] It should be understood that the motion control system may include not only the components exemplified above, but also more components. For example, the motion control system may also include various components such as a guide rail for transporting the electronic device 520 and a terminal for operating the entire system.

[0289] The following, combined Figures 18 to 28 , introduces the automatic centering method provided in the embodiment of the present application. The automatic centering method can quickly perform automatic centering positioning, reduce the centering positioning time and increase the centering positioning accuracy.

[0290] It should be understood that the automatic centering method described below can be used in combination with the centering jig and motion control system described above, or can be used in combination with a centering jig and motion control system of other structures, and the embodiments of the present application do not impose any limitation thereto.

[0291] In the embodiment of the present application, the execution subject for executing the above-mentioned automatic centering method can be any electronic device with computing and processing capabilities or a chip in an electronic device. The electronic device can be various types of electronic devices such as mobile phones, tablet computers, laptop computers, desktop computers, controllers, etc. The embodiment of the present application does not impose any restrictions on the specific type of electronic devices.

[0292] In some embodiments, the electronic device for performing the automatic centering method can be configured in the motion control system. Fig.15 The electronic device 520 shown controls the movement of the motion mechanism through the controller 510. Exemplarily, the electronic device 520 calculates the distance or position that the motion mechanism in the motion control system needs to move, and the electronic device 520 sends position information indicating the distance or position to the controller 510. The controller 510 generates a control instruction based on the position information to control the movement of the motion mechanism, so that the motion mechanism drives the teleconverter stage device to move until the center of the imaging figure formed by the centering fixture in the teleconverter stage device coincides with the center of the imaging picture taken by the camera. In implementation, for example, automatic centering can be achieved by clicking a button in the electronic device, so as to achieve the purpose of one-key automatic centering.

[0293] Once again, the motion mechanism of the motion control system is connected to the teleconverter stage device, which includes a centering jig and a teleconverter. The motion mechanism drives the teleconverter stage device to move to achieve the centering positioning of the teleconverter and the camera. When the teleconverter and the camera successfully complete the centering positioning, the center of the imaging figure formed by the centering jig coincides with the center of the imaging picture taken by the camera. In the following description, the position of the motion mechanism and the position of movement also represent the position of the teleconverter stage device or the teleconverter or the centering jig.

[0294] For the convenience of description, the process of the automatic centering method is schematically explained by taking the centering jig and motion control system shown above, an electronic device as the execution subject, and a mobile phone equipped with a camera as an example.

[0295] Fig.18 It is a schematic flow chart of the automatic centering method 800 provided in an embodiment of the present application.

[0296] In step S810, the electronic device controls the motion mechanism to move the teleconverter stage device based on the position information obtained by the first type of positioning method, so that the imaging pattern formed by the centering fixture in the teleconverter stage device appears in the field of view of the camera.

[0297] Since the camera's field of view is small, while the moving area of ​​the motion mechanism is large, the first type of positioning method mainly calculates the probability of the imaging pattern appearing in the camera's field of view by calculating the Gaussian probability distribution values ​​of each area in the moving area of ​​the motion mechanism, thereby obtaining the position information of the motion mechanism, and controlling the movement of the motion mechanism through the position information. The motion mechanism can make the imaging pattern appear in the camera's field of view with as few movements as possible, that is, the imaging pattern can appear in the camera's field of view as soon as possible, thereby improving the speed of automatic centering positioning from the beginning. In the implementation, whether the imaging pattern appears in the camera's imaging screen is used to indicate whether the imaging pattern appears in the camera's field of view.

[0298] Fig.19 is a schematic diagram of a shooting interface of a mobile phone equipped with a camera provided in an embodiment of the present application. Fig.19 , the imaging figure appears in the imaging screen, but the center of the imaging figure does not coincide with the center of the imaging screen.

[0299] It should be understood that the imaging pattern described in this step appears in the field of view (or imaging screen) of the camera, which means that the imaging pattern appears in the field of view (or imaging screen) of the camera for the first time. It should also be understood that the imaging pattern appears in the field of view (or imaging screen) of the camera, which may be part of or all of the area of ​​the imaging pattern appears in the field of view (or imaging screen) of the camera, and no limitation is made here.

[0300] The centering process of the teleconverter and the camera performed in step S810 can be understood as a coarse positioning process.

[0301] In step S820, the electronic device controls the motion mechanism to move the teleconverter stage device based on the position information obtained by the second type of positioning method, so that the center of the imaging pattern coincides with the center of the imaging screen of the camera.

[0302] When an imaging pattern appears in the field of view of the camera, the position information obtained by the second type of positioning method is used to control the movement of the motion mechanism. A smaller number of movements can be used to make the center of the imaging pattern coincide with the center of the camera's imaging screen (e.g. Figure 2 As shown), the speed of automatic centering is further improved and the accuracy of centering is increased.

[0303] Exemplarily, in combination with the above motion mechanism, the x-axis motion component and the y-axis motion component of the motion mechanism can be moved separately, where the x-axis motion component can correspond to the second motion component 420 of the above motion mechanism, and the y-axis motion component can correspond to the first motion component 410 of the above motion mechanism.

[0304] The centering process of the teleconverter and the camera performed in step S820 can be understood as a precise positioning process.

[0305] In the following, for the convenience of description, the description of the movement of the teleconverter stage device driven by the motion mechanism can be simplified to the movement of the motion mechanism.

[0306] The following, combined Figure 20 to Figure 22 , the process of step S810 is described in detail, and combined with Figure 23 to Figure 25 , the process of step S820 is described in detail.

[0307] Fig. 20 It is a schematic flowchart of the process of step S810 in method 800 provided in an embodiment of the present application.

[0308] For ease of description, the coordinate system of the motion mechanism is defined as the motion coordinate system, which includes mutually perpendicular x-axis, y-axis and z-axis. The coordinate positions described in step S810 are all coordinate positions in the motion coordinate system, and only involve the x-axis direction (referred to as the x-direction) and the y-axis direction (referred to as the y-direction). It can be understood that the positioning of the teleconverter and the camera in the z-axis direction (referred to as the z-direction) is adjusted by, for example, the centering fixture mentioned above. The motion coordinate system here can correspond to the above Figures 3 to 17 The coordinate system shown in .

[0309] In addition, the following parameters are defined: the movable displacement of the motion mechanism in the y direction is h, the movable displacement of the motion mechanism in the x direction is w, the size of the field of view observable by the camera (or mobile phone) in the y direction and the size of the field of view in the x direction are hs and ws respectively, and the position of the center point of the previous imaging figure is used as the initial position for searching the imaging figure at the beginning of this execution of step S810. The coordinates of the initial position are marked as (x0, y0). If it does not exist, the coordinates of the default initial position are (w / 2, h / 2), that is, x0=w / 2, y0=h / 2.

[0310] In step S811, the electronic device divides the moving area of ​​the motion mechanism into R*C sub-areas.

[0311] The movement range of the motion mechanism indicates the area of ​​the maximum movement range in which the motion mechanism can move.

[0312] Taking the size of the camera's observation field of view as a reference size, the size of each sub-area is less than or equal to the size of the camera's observation field of view. In this way, it can be ensured that the imaging pattern can be seen within the camera's field of view when the motion mechanism is moved appropriately.

[0313] For example, Round up. It can be seen that when the ratio of h to hs and the ratio of w to ws are integers, the size of each sub-area is the same as the size of the camera's observation field of view. When the ratio of h to hs and / or the ratio of w to ws is a non-integer, the size of a row and / or a column of sub-areas at the boundary of the moving area is smaller than the size of the camera's observation field of view. Exemplarily, the shape of the sub-area can be any shape, for example, the shape of the sub-area is square, circular, etc.

[0314] Fig.21 is a schematic diagram of the moving area of ​​the motion mechanism provided in the embodiment of the present application. Fig.21 The moving area of ​​the motion mechanism is divided into 20 sub-areas, and the shape of the sub-areas is square. The sizes of the sub-areas in the first four columns are basically the same as the size of the observation field of the camera, and the size of the sub-area in the fifth column is smaller than the size of the observation field of the camera.

[0315] In step S812, the electronic device generates a Gaussian probability density function according to the initial position.

[0316] The Gaussian probability density function f(x,y) is expressed by the following formula:

[0317]

[0318] Among them, μ1=x0, μ2=y0, σ1=min(x0,h-x0) / 3, σ2=min(y0,h-y0) / 3, ρ is a constant related to the motion mechanism, and x and y represent the coordinates of the center point of the sub-area, respectively.

[0319] In step S813, the electronic device generates a Gaussian probability density function and a Gaussian probability distribution function for each sub-area.

[0320] The Gaussian probability distribution function F(i) of the i-th sub-region is expressed by the following formula:

[0321]

[0322] Among them, r i and c i are the row and column where the ith sub-region is located,

[0323] In step S814, the electronic device performs M first positioning processes according to the Gaussian probability distribution values ​​of at least some of the R*C sub-regions, obtains position information indicating the target position based on each first positioning process, and controls the motion mechanism to drive the teleconverter stage device to move to the target position based on the position information of each first positioning process, until the imaging pattern appears in the sub-region where the target position indicated by the position information obtained based on the Mth first positioning process is located. M is an integer greater than or equal to 1.

[0324] It should be understood that when the imaging pattern appears in the sub-area where the target position indicated by the position information obtained based on the Mth first positioning process is located, it means that the imaging pattern appears in the field of view of the camera, and the coarse positioning process is realized.

[0325] In this step, when the imaging pattern does not appear in the sub-region where the initial position is located, the initial position is used as the search starting point. When the imaging pattern does not appear in the sub-region where the initial position is located, the Gaussian probability distribution values ​​of multiple sub-regions around the sub-region where the initial position is located are determined. According to the Gaussian probability distribution values ​​of multiple sub-regions around the sub-region where the initial position is located, the first first positioning process is performed, including: determining the position information according to the Gaussian probability distribution values ​​of multiple sub-regions around the sub-region where the initial position is located, controlling the motion mechanism to move to the target position according to the position information, and judging whether the imaging pattern appears in the sub-region where the target position is located. If the imaging pattern appears in the sub-region where the target position is located, it means that the imaging pattern appears in the field of view of the camera, and step S810 is completed. At this time, M is 1. If the imaging pattern does not appear in the sub-region where the target position is located, it means that the imaging pattern has not appeared in the field of view of the camera, and positioning needs to be continued. Therefore, the target position obtained by the first first positioning process is used as the search starting point of the second first positioning process, and the second first positioning process is performed based on the Gaussian probability distribution values ​​of multiple sub-regions around the sub-region where the target position is located. By analogy, finally in the Mth first positioning process, the motion mechanism is controlled to move to the target position based on the position information obtained in the Mth first positioning process, and the imaging pattern appears in the sub-area where the target position is located, which means that the imaging pattern appears in the field of view of the camera, and step S810 is executed.

[0326] It should be understood that when the target position is determined by taking the initial position as the search starting point, the imaging pattern will definitely not appear in the sub-region where the initial position is located.

[0327] Regarding the position information, the position information is used to indicate the target position to which the motion mechanism needs to move, wherein the target position is the position of the sub-region where the target position is located. For example, the position of the sub-region can be represented by the center point of the sub-region, that is, the center point of the sub-region is used as the target position. It should be noted that although the position of the sub-region is represented by the center point of the sub-region, which also represents the target position, the imaging pattern may appear at any position of the sub-region, not necessarily at the center point of the sub-region.

[0328] In one example, the position information may include the target position. In another example, the position information may also include the displacement of the motion mechanism from the current position to the target position, and the target position may be determined based on the displacement. Since the coordinates of the center point of each sub-area have been defined in step S812, it is equivalent to determining the position of each sub-area. Therefore, it is more convenient to indicate the target position by including the target position in the position information.

[0329] In order to facilitate the description of a first positioning process, the current position and target position of the motion mechanism of a first positioning process are defined. In a first positioning process, the current position of the motion mechanism is the search starting point of the first positioning process, and the target position is the position to which the motion mechanism needs to move. For the first first positioning process, the current position of the motion mechanism is the initial position mentioned above. For any process other than the first first positioning process, the current position of the motion mechanism of each first positioning process is the target position of the previous first positioning process, or in other words, the target position of each first positioning process is the current position of the motion mechanism of the next first positioning process. In addition, the sub-area where the current position of the motion mechanism is located is defined as the current sub-area.

[0330] Fig. 22 It is an exemplary flowchart of a method for executing a first positioning process in step S810 provided in an embodiment of the present application.

[0331] In step S8141, the electronic device determines the position information indicating the target position according to the Gaussian probability distribution values ​​of multiple sub-areas around the current sub-area where the motion mechanism is currently located.

[0332] Method 1

[0333] In some embodiments, the electronic device determines the position of the sub-region corresponding to the maximum Gaussian probability distribution value in multiple sub-regions around the sub-region where the motion mechanism is currently located as the target position to obtain position information indicating the target position.

[0334] It can be understood that among the multiple sub-areas surrounding the current sub-area where the motion mechanism is currently located, the probability of the imaging figure appearing in the sub-area corresponding to the maximum Gaussian probability distribution value is the highest. Therefore, the position of the sub-area corresponding to the maximum Gaussian probability distribution value can be determined as the target position.

[0335] The multiple sub-regions around the current sub-region may be multiple sub-regions adjacent to the current sub-region, or may be non-adjacent sub-regions located around the current sub-region, and no limitation is made here.

[0336] In one example, the multiple sub-regions around the current sub-region are multiple sub-regions adjacent to the current sub-region. That is, the electronic device determines the location information indicating the target location based on the Gaussian probability distribution values ​​of the multiple sub-regions adjacent to the current sub-region. In this way, the location where the imaging pattern may appear is determined in the multiple sub-regions adjacent to the current sub-region, and the target location can be determined in a small area around the current sub-region, thereby improving the positioning accuracy. Moreover, after multiple first positioning processes, the sub-regions with larger Gaussian probability distribution values ​​can be traversed as much as possible, thereby improving the positioning speed.

[0337] In one example, a target eight-neighborhood greedy algorithm can be used to determine multiple sub-regions adjacent to the current sub-region. The multiple sub-regions adjacent to the current sub-region determined based on the algorithm include: at least part of the sub-regions located at eight positions along four directions of the current sub-region, when all eight positions have sub-regions, the multiple sub-regions include the sub-regions where each of the eight positions is located, that is, the multiple sub-regions include eight sub-regions; when some of the eight positions have sub-regions, the multiple sub-regions include the sub-regions where each of the partial positions is located, that is, the multiple sub-regions are less than eight sub-regions. Among them, the eight positions include: two positions on both sides of the current sub-region along the second direction (y direction), two positions on both sides of the current sub-region along the third direction (x direction), two positions on both sides of the current sub-region along the fourth direction, and two positions on both sides of the current sub-region along the fifth direction. The second direction (y direction) and the third direction (x direction) are perpendicular to the first direction (z direction), the fourth direction is the direction of the line connecting the two diagonals of the current sub-region, and the fifth direction is the direction of the line connecting the other two diagonals of the current sub-region.

[0338] refer to Fig.21 ,by Fig.21 Taking the direction of as an example, the eight positions of the current sub-region along the four directions are: the top, bottom, left, right, upper left corner, right small corner, lower left corner and upper right corner of the current sub-region. The direction of the line connecting the upper left corner and the right small corner is the fourth direction (or the fifth direction), and the direction of the line connecting the lower left corner and the upper right corner is the fifth direction (or the fourth direction).

[0339] When the eight positions of the current sub-region along the four directions all have sub-regions, the multiple sub-regions adjacent to the current sub-region are the eight sub-regions where these eight positions are located. Fig.21 In (a), it is assumed that the current sub-region is a sub-region numbered 8 (denoted as sub-region 8), and sub-region 8 has sub-regions at eight positions along four directions. Then, the multiple sub-regions adjacent to sub-region 8 include eight sub-regions, namely sub-region 2, sub-region 3, sub-region 4, sub-region 7, sub-region 9, sub-region 12, sub-region 13 and sub-region 14. The rectangle formed by these eight sub-regions encloses sub-region 8.

[0340] When only some of the eight positions of the current sub-region along four directions have sub-regions, the multiple sub-regions adjacent to the current sub-region are the sub-regions where the some positions are located. Fig.21 In (a), assuming that the current sub-region is the sub-region numbered 15 (denoted as sub-region 15), then only five of the eight positions of sub-region 15 along four directions have sub-regions. Therefore, the multiple sub-regions adjacent to sub-region 15 include five sub-regions, namely sub-region 9, sub-region 10, sub-region 14, sub-region 19, and sub-region 20.

[0341] In a specific embodiment, reference Fig.21 In (a), the current sub-region is sub-region 8. Among the eight sub-regions adjacent to sub-region 8, the sub-region corresponding to the maximum Gaussian probability distribution value is sub-region 13. Therefore, the position of sub-region 13 (the center point of sub-region 13) is used as the target position to which the motion mechanism needs to move. The position information includes the target position, which is represented by coordinates.

[0342] Method 2

[0343] In some embodiments, the electronic device determines whether there is a marked sub-region in a plurality of sub-regions surrounding a current sub-region where the motion mechanism is currently located;

[0344] In the case where there is a marked sub-region among the multiple sub-regions, the electronic device determines the position of the sub-region corresponding to the maximum Gaussian probability distribution value among the unmarked sub-regions as the target position, so as to obtain position information indicating the target position. The marked sub-region is a sub-region that has been determined not to have an imaging pattern; or,

[0345] In the case that there is no marked sub-region among the multiple sub-regions, the electronic device determines the position of the sub-region corresponding to the maximum Gaussian probability distribution value among the multiple sub-regions as the target position to obtain position information indicating the target position.

[0346] It should be understood that the marked sub-region is a sub-region where the target position is located in a certain first positioning process before the current first positioning process, and no imaging pattern appears in the sub-region where the target position is located in the certain first positioning process.

[0347] That is to say, the marked sub-area is a sub-area that has been determined before and is unlikely to have an imaging pattern appear. Conversely, the unmarked sub-area is a sub-area that is not determined to have an imaging pattern appear. By marking these sub-areas where no imaging pattern appears, and determining the target position to which the motion mechanism needs to move from the unmarked sub-area, the problem of low positioning efficiency or even inability to locate the imaging pattern caused by the target position determined in the subsequent first positioning process being the same as the previous target position can be avoided, which can effectively improve the positioning efficiency.

[0348] For a detailed description of the multiple sub-regions around the current sub-region where the motion mechanism is currently located, please refer to the relevant description of method 1, which will not be repeated here.

[0349] In a specific embodiment, reference Fig.21 In (b), the current sub-region where the motion mechanism is currently located is sub-region 13, and the eight sub-regions adjacent to sub-region 13 are sub-region 7, sub-region 8, sub-region 9, sub-region 12, sub-region 14, sub-region 17, sub-region 18 and sub-region 19. Among the eight sub-regions, sub-region 8 is a marked sub-region, which means that the sub-region in which the imaging pattern cannot appear is sub-region 8. Therefore, the sub-region corresponding to the maximum Gaussian probability distribution value is determined to be sub-region 18 from the sub-regions other than sub-region 8 among the eight sub-regions. Therefore, the position of sub-region 18 (the center point of sub-region 18) is taken as the target position to which the motion mechanism needs to move, and the position information includes the target position, which is represented by coordinates. In addition, sub-region 13 is marked so that sub-region 13 can be filtered out when the first positioning process is performed again later.

[0350] In another specific embodiment, referring to Fig.21 In (a), the current sub-region where the motion mechanism is currently located is sub-region 8, and the eight sub-regions adjacent to sub-region 8 are sub-region 2, sub-region 3, sub-region 4, sub-region 7, sub-region 9, sub-region 12, sub-region 13 and sub-region 14. There is no marked sub-region in the eight sub-regions. Therefore, the sub-region corresponding to the maximum Gaussian probability distribution value is determined to be sub-region 13 from the eight sub-regions. Therefore, the position of sub-region 13 (the center point of sub-region 13) is taken as the target position to which the motion mechanism needs to move, and the position information includes the target position, which is represented by coordinates. In addition, sub-region 8 is marked so that sub-region 8 can be filtered out during the subsequent first positioning process.

[0351] The following is a code for determining the sub-region where the target location is located based on method 2:

[0352]

[0353] In step S8142, the electronic device controls the motion mechanism to drive the teleconverter stage device to move to the target position.

[0354] In step S8143, the electronic device determines whether the imaged pattern appears in the sub-area where the target position is located.

[0355] When it is determined that the imaging pattern appears in the sub-region where the target position is located, the current positioning process is terminated and step S820 is executed to perform precise positioning.

[0356] When it is determined that the imaging pattern does not appear in the sub-area where the target position is located, the square where the target position obtained in the first positioning process is located is used as the current square where the moving mechanism is currently located in the next first positioning process, and steps S8141 to S8143 are repeated until the imaging pattern appears in the sub-area where the target position is located determined in a certain first positioning process.

[0357] In the embodiment in which the position information indicating the target position is determined by method 2 in step S8141, when it is determined in step S8143 that the imaging pattern does not appear in the sub-region where the target position is located, the sub-region where the target position is located is marked so that the marked sub-region is no longer considered when the target position is determined subsequently.

[0358] In a specific embodiment, reference Fig.21 In (a), it is assumed that sub-region 8 is the sub-region where the target position is located determined in the first first positioning process, and the electronic device controls the motion mechanism to move to the position where sub-region 8 is located. When it is determined that the imaging pattern does not appear in sub-region 8, sub-region 8 is marked; in the second first positioning process, the sub-region where the target position is located determined based on the 8 sub-regions around sub-region 8 is sub-region 13, and the electronic device controls the motion mechanism to move to the position where sub-region 13 is located. When it is determined that the imaging pattern does not appear in sub-region 13, reference is made to Fig.21 (b) in the figure marks sub-region 13; continue to refer to Fig.21In (b), during the third first positioning process, the sub-region corresponding to the maximum Gaussian probability distribution value is determined to be sub-region 18 from among the seven sub-regions adjacent to sub-region 13 except sub-region 8. The electronic device controls the motion mechanism to move to the position of sub-region 18. When it is determined that the imaging pattern appears in sub-region 18, the coarse positioning process is terminated. When it is determined that the imaging pattern does not appear in sub-region 18, the next first positioning process is continued.

[0359] In the above step S810, the electronic device divides the moving area of ​​the motion mechanism into a plurality of sub-areas, determines the position of the sub-area corresponding to the maximum Gaussian probability distribution value in the sub-areas used in each first positioning process as the target position, controls the motion mechanism to drive the teleconverter stage device to move to the target position, and performs the first positioning process multiple times until the imaging pattern formed based on the centering fixture in the teleconverter stage device appears in the sub-area, at which time, the imaging pattern appears in the field of view of the camera. Since the sub-area corresponding to the maximum Gaussian probability distribution value is a sub-area where the imaging pattern may appear with a high probability, this method of subdividing the moving area into a plurality of small-sized sub-areas and determining the target position based on the Gaussian probability distribution value of the sub-area improves the positioning speed of the first positioning process, so that the motion mechanism can drive the teleconverter stage device to move to a position where the imaging pattern appears in the field of view of the camera with as few movements as possible, that is, the imaging pattern can appear in the field of view of the camera as soon as possible, and the speed of automatic centering positioning is effectively improved at the beginning stage of automatic centering positioning.

[0360] Next, combine Figures 23 to 25 , the process of step 820 is described in detail.

[0361] As mentioned above, step S820 is a precise positioning process. After the imaging pattern appears in the field of view of the camera, the motion mechanism needs to be moved in the x direction and the y direction respectively. The position information obtained in step S820 controls the movement of the motion mechanism so that the center of the imaging pattern coincides with the center of the imaging screen of the camera, thereby finally realizing automatic centering positioning of the teleconverter and the camera.

[0362] In conjunction with the motion coordinate system of the motion mechanism defined above, the present application also defines an image coordinate system. The motion coordinate system is the coordinate system of the motion mechanism, which is a coordinate system defined by the position of the motion mechanism. The image coordinate system is the coordinate system of the imaging picture taken by a camera (or an electronic device equipped with a camera, such as a mobile phone), which is a coordinate system defined by the position of the camera (or an electronic device equipped with a camera, such as a mobile phone), and the camera is a camera that is aligned with the teleconverter. Since the camera and the motion mechanism are not necessarily parallel (related to the direction of the camera fixture), the image coordinate system and the motion coordinate system are not necessarily parallel, and there is an angle between the two.

[0363] Fig.23 Schematic diagram of the relationship between the image coordinate system and the motion coordinate system provided in the embodiment of the present application. Fig.23 , the image coordinate system and the motion coordinate system are not parallel, and there is an angle θ between them.

[0364] In addition, the screen distance and the actual distance are also defined. The screen distance represents the distance between the center of the imaging figure in the imaging picture and the center of the imaging picture, and the actual distance represents the distance that the motion mechanism actually needs to move. The imaging picture is the image captured by the camera including the imaging figure. The actual distance can be obtained by the screen distance and the coordinate conversion coefficient between the two coordinate systems, wherein the coordinate conversion coefficient is used to characterize the relationship between the image coordinate system and the motion coordinate system. Compared with the screen distance, the actual distance can more accurately reflect the distance that the motion mechanism actually needs to move. Therefore, the motion mechanism can make the center of the imaging figure and the imaging picture coincide with each other through fewer movements, and finally realize the centering positioning of the teleconverter and the camera.

[0365] In step S820, the electronic device will repeat the second positioning process N times until the center of the imaging figure in the imaging picture taken by the camera coincides with the center of the imaging picture after the Nth second positioning process, where N is an integer greater than or equal to 1. In each second positioning process, the electronic device obtains the imaging picture including the imaging figure taken by the camera, determines the screen distance between the center of the imaging figure in the imaging picture and the center of the imaging picture based on the imaging picture, determines the actual distance that the motion mechanism needs to move based on the screen distance and the coordinate conversion coefficient, controls the motion mechanism to drive the teleconverter stage device to move to a new position based on the actual distance, updates the coordinate conversion coefficient, and then performs the next second positioning process again on the motion mechanism in the new position to control the motion mechanism to move to another new position, and repeats the process until the center of the imaging figure coincides with the center of the imaging picture after the motion mechanism is controlled to move based on the actual distance in the Nth second positioning process.

[0366] Fig.24is a schematic flow chart of a method for performing a second positioning process in step S820 provided in an embodiment of the present application. Fig.24 , a method for the electronic device to perform a second positioning process in step S820 is described in detail. In addition, i represents the subscript of various parameters in the i-th second positioning process, and the i-th second positioning process is any second positioning process.

[0367] In step S821, the electronic device obtains an imaging picture including an imaging graphic captured by a camera.

[0368] When the imaging pattern appears in the field of view of the camera, the electronic device obtains the imaging picture taken by the camera, and the imaging picture includes the imaging pattern, such as Fig.19 The imaging picture shown includes an imaging graph. It should be understood that the camera here is a camera that is aligned with the teleconverter.

[0369] In step S822, the electronic device determines screen distance information for indicating a screen distance between a center of an imaged graphic in an imaged screen and a center of the imaged screen.

[0370] For example, the screen distance is expressed in coordinates, and the screen distance is defined as (dx i ,dy i ), dx i Indicates the distance between the center of the imaged figure and the center of the imaged screen in the x direction, dy i It indicates the distance between the center of the imaging figure and the center of the imaging screen in the y direction. It should be understood that the screen distance is the distance between the imaging figure and the imaging screen in the image coordinate system.

[0371] In the following, for the convenience of description, unless otherwise specified, when describing the center of the imaging figure and the center of the imaging picture together, "two centers" can be used to simplify the description of the center of the imaging figure and the center of the imaging picture, and the two description methods can be replaced with each other.

[0372] Based on the imaging picture, the electronic device determines the coordinates of the center of the imaging figure in the imaging picture as (w ei ,h ei ), determine the coordinates of the center of the imaging screen as (w fi ,h fi ), and then determine the coordinates of the two center screen distances as (dx i ,dy), where dx i =w fi -w ei ,dy i =h fi -h ei .

[0373] In step S823, the electronic device determines whether the picture distance meets a preset condition.

[0374] The preset condition is a condition for indicating that the center of the imaging graphic and the center of the imaging screen coincide with each other.

[0375] In some embodiments, the preset condition is that the distance between the center of the imaged figure and the center of the imaged screen is less than or equal to the distance threshold. It should be understood that the preset condition indicates that the distance between the center of the imaged figure and the center of the imaged screen in the x direction and the y direction is less than the distance threshold.

[0376] Exemplarily, the distance threshold is less than or equal to 0.05 mm. For example, the distance threshold may be 0.05 mm, 0.04 mm, 0.03 mm, 0.025 mm, 0.02 mm, 0.015 mm, 0.01 mm, etc.

[0377] When it is determined that the screen distance meets the preset condition, it means that the center of the imaged pattern coincides with the center of the imaged screen, and the positioning process ends. When it is determined that the screen distance does not meet the preset condition, step S824 is executed.

[0378] In step S824, the electronic device determines position information indicating the actual distance that the motion mechanism needs to move based on the screen distance and the coordinate conversion coefficient.

[0379] Since the image coordinate system and the motion coordinate system are not necessarily parallel and there is an angle between them, it is necessary to convert the picture distance in the image coordinate system into the actual distance of the motion mechanism in the motion coordinate system. Compared with the picture distance, the actual distance can more accurately reflect the distance that the motion mechanism actually needs to move.

[0380] The coordinate transformation coefficient is defined as follows: i , the initial angle between the image coordinate system and the motion coordinate system during the first positioning is θ, the initial conversion coefficient between the image coordinate system and the motion coordinate system during the first positioning is γ, and the actual distance is (dx i ',dy i '), dx i ' represents the actual distance the motion mechanism moves along the x direction, dy i ' represents the actual distance the motion mechanism moves along the y direction.

[0381] Among them, the actual distance of the motion mechanism can be expressed by the first formula:

[0382] in,

[0383]

[0384] K i-1 is the Kalman gain, σi-2 is the intermediate covariance, ε and σ0 are both constants, σ0 is the initial covariance, and ε is the positioning deviation of the motion mechanism.

[0385] In the first formula above, it can be seen that since both the screen distance and the actual distance are represented by matrices, the coordinate conversion coefficient λ i It can also be called a coordinate transformation matrix.

[0386] In the above formulas, formula (1) is defined as Formula (2) is Formula (3) is Formula (4) is σ i-2 =(1-K i-2 )σ0.

[0387] When i=1, that is, in the first second positioning process, the coordinate conversion coefficient λ1 is obtained based on formula (1).

[0388] When i ≥ 2, that is, in any second positioning process after the first second positioning process, the coordinate conversion coefficient λ i Based on formula (2), λ i Based on the i-1th second positioning process K i-1 Get, K i-1 Based on formula (3), when i=2, When i ≥ 3, K i-1 Based on the i-2th second positioning process σ i-2 Get, σ i-2 Based on formula (4), it is obtained.

[0389] Combining formula (3) and formula (4), we get formula (5) It can be seen that K i-1 It is actually based on ε and σ0 as constants and K as a variable. i-2 So, K i-1 It is obtained based on the Kalman gain update of the last second positioning process, and the intermediate covariance σ i-2 Can be used as an intermediate parameter.

[0390] As a weight coefficient, the Kalman gain can characterize the relationship between the coordinate conversion coefficient of the last second positioning process and the coordinate conversion coefficient of the next second positioning process. Therefore, the coordinate conversion coefficient of the last second positioning process is updated according to the Kalman gain, and the updated coordinate conversion coefficient is more accurate, and then the actual distance obtained based on the updated coordinate conversion coefficient in the next second positioning process is also more accurate, thereby improving the accuracy and speed of the second positioning process. In addition, for the case where i is greater than or equal to 2, the Kalman gain will be continuously iteratively updated, and the coordinate conversion coefficient of each second positioning process is obtained based on at least one iteratively updated Kalman gain. In this way, based on the actual distance and the screen distance of the last second positioning process, the actual distance determined by the coordinate conversion coefficient obtained based on the iteratively updated Kalman gain can become very small after fewer second positioning processes, and the motion mechanism can make the center of the imaging figure coincide with the center of the imaging screen through the least number of movements, which more effectively improves the accuracy of the second positioning process, and overall improves the speed and accuracy of the automatic centering positioning process.

[0391] In step S825, the electronic device controls the motion mechanism to move the teleconverter stage according to the actual distance.

[0392] Based on the actual distance obtained in step S825, the electronic device controls the motion mechanism to move to a new position according to the actual distance, that is, the electronic device controls the motion mechanism to move dx in the x direction. i ' and move dy in the y direction i ', to move to the new position. It can be understood that the distance between the new position of the motion mechanism and the position of the motion mechanism before the movement is the actual distance.

[0393] In combination with the above motion mechanism, illustratively, the electronic device controls the y-axis motion component (i.e., the first motion component 410) in the motion mechanism to slide along the y direction relative to the x-axis motion component (i.e., the second motion component 420) and drives the teleconverter stage device 300 to move dy along the y direction. i ', the electronic device controls the x-axis motion component (ie, the second motion component 420) in the motion mechanism to drive the y-axis motion component to move along the x direction to drive the teleconverter stage device 300 to move dx along the x direction i '.

[0394] In step S826, the electronic device updates the coordinate conversion coefficient according to the screen distance and the actual distance to obtain an updated coordinate conversion coefficient.

[0395] After the motion mechanism moves to a new position, the positional relationship between the motion coordinate system and the image coordinate system changes, so the coordinate conversion coefficient will also change. The coordinate conversion coefficient is updated and the actual distance is calculated using the updated coordinate conversion coefficient during the next second positioning process.

[0396] When updating the coordinate conversion coefficient, the screen distance (dx i ,dy i ) and actual distance (dx i ',dy i '), the coordinate conversion coefficient used in the (i+1)th second positioning process is updated through formula (2), formula (3) and formula (4).

[0397] If i is equal to 1, that is, the i-th second positioning process is the first second positioning process, then the coordinate conversion coefficient is updated by formula (2) and formula (3); if i is greater than or equal to 2, that is, the i-th second positioning process is the second or subsequent second second positioning process, then the coordinate conversion coefficient is updated by formula (2), formula (3) and formula (4).

[0398] After the coordinate conversion coefficients are updated, the i+i-th second positioning process is performed. In the i+1-th second positioning process, steps S821 to 826 are repeatedly performed until the center of the imaging figure coincides with the center of the imaging screen. It should be understood that for step S821 of each second positioning process, the electronic device obtains the imaging screen captured by the camera when the motion mechanism is in a new position. Different second positioning processes have different positions of the imaging figure in the imaging screen. Under normal circumstances, the more times the second positioning process is performed, the closer the center of the imaging figure is to the center of the imaging screen.

[0399] In the above steps, there is no limitation on the order of step S825 and step S826, and step S825 can be executed before step S826 or after step S826.

[0400] In the above step S820, the electronic device performs multiple second positioning processes until the center of the imaging figure coincides with the center of the imaging screen in the last second positioning process, thereby completing the centering positioning of the teleconverter and the camera. In each second positioning process, the electronic device obtains the imaging screen captured by the camera at the current position of the motion mechanism (i.e., the teleconverter stage device), the imaging screen includes an imaging figure formed based on the centering fixture in the teleconverter stage device, and the actual distance that the motion mechanism needs to move is determined based on the image distance between the center of the imaging figure in the imaging screen and the center of the imaging screen and the coordinate conversion coefficient, and the motion mechanism is controlled to drive the teleconverter stage device to move to a new position based on the actual distance. Since the coordinate conversion coefficient represents the relationship between the image coordinate system based on the imaging picture taken by the camera and the motion coordinate system of the motion mechanism, in most cases the camera and the motion mechanism are not necessarily parallel (related to the direction of the camera fixture). Therefore, the actual distance determined by the picture distance and the coordinate conversion coefficient can more accurately reflect the actual distance that the motion mechanism needs to move, thereby improving the accuracy of the second positioning process. The motion mechanism can make the center of the imaging figure coincide with the center of the imaging picture through fewer movements, thereby realizing the centering positioning of the teleconverter and the camera, and improving the speed and accuracy of the automatic centering positioning process as a whole.

[0401] After each second positioning process, after the motion mechanism moves to a new position, the positional relationship between the motion coordinate system and the image coordinate system will change. Therefore, the coordinate conversion coefficient is updated by the screen distance and the actual distance obtained in the current second positioning process, so that the actual distance can be calculated using the updated coordinate conversion coefficient in the next second positioning process. In this way, the coordinate conversion coefficient is continuously updated in an iterative manner, and the actual distance determined based on the iteratively updated coordinate conversion coefficient can become very small after a few second positioning processes. The motion mechanism can make the center of the imaging figure coincide with the center of the imaging screen through a few movements, further effectively improving the accuracy of the second positioning process, and further improving the speed and accuracy of the automatic centering positioning process as a whole.

[0402] Fig.25 Schematic diagram of the relationship between the number of positioning times in the second positioning process provided by the embodiment of the present application and the distance between the center of the imaging pattern and the imaging screen. Fig.25 , the entire precise positioning process can make the distance between the center of the imaging figure and the center of the imaging screen very small through three second positioning processes, and the two centers can be regarded as basically overlapping. In the first second positioning process, the distance between the two centers is large. By the second second positioning process, the distance between the two centers has been much smaller. By the third second positioning process, the distance between the two centers is very small, and the two centers are basically regarded as overlapping.

[0403] It should be understood that the method 800 illustrated above is only for illustrative purposes and should not be construed as limiting the embodiments of the present application.

[0404] In the precise positioning process of step S820, in some embodiments, the difference between the two coordinate systems may not be considered, and multiple second positioning processes may be performed. In each second positioning process, the movement of the motion mechanism is controlled based on the image distance obtained in the above manner. When the motion mechanism moves to a new position, the movement of the motion mechanism is continued to be controlled based on the image distance obtained at the new position, and multiple second positioning processes are performed until the center of the imaging pattern coincides with the center of the imaging image. This method can also achieve automatic centering of the teleconverter and the camera, but it requires more positioning processes.

[0405] In the precise positioning process of step S820, in other embodiments, the difference between the two coordinate systems is still considered, but the coordinate conversion coefficients may be updated in other ways, for example, only based on the actual distance.

[0406] In other embodiments, the imaging pattern may be made to appear in the field of view of the camera by other means, not limited to the method of step 810 above. After the imaging pattern appears in the field of view of the camera, a precise positioning process is performed based on the method of step S820.

[0407] Fig.26 9 is a schematic flow chart of a method 900 for automatic centering and positioning provided in an embodiment of the present application. The method 900 illustrates a specific embodiment, and in combination with the above description, similar or identical contents are briefly described and will not be repeated.

[0408] In step S911, the imaging interface of the camera is displayed.

[0409] The user can manually open the camera to display the camera's imaging interface. For a device such as a mobile phone equipped with a camera, the camera can be opened through a control on the mobile phone. For example, the imaging interface of the mobile phone can be displayed as follows: Figure 2 or Fig.19 shown.

[0410] In step S912, the electronic device controls the motion mechanism to drive the teleconverter stage device to move to the test station, and the teleconverter stage device includes a teleconverter and a centering fixture. This step can be controlled by the motion control system to move the motion mechanism and the teleconverter stage device to the test station together.

[0411] If the electronic device is a terminal device such as a mobile phone, a tablet computer, a laptop computer, or a desktop computer, the electronic device can control the movement of the motion mechanism through, for example, the controller 510 described above.

[0412] In step S921, the electronic device divides the moving area of ​​the motion mechanism into R*C sub-areas.

[0413] In step S922, the electronic device generates a Gaussian probability density function according to the initial position.

[0414] In step S923, the electronic device generates a Gaussian probability distribution function for each sub-region according to the Gaussian probability density function.

[0415] In step S9241, the electronic device determines the position information indicating the target position according to the Gaussian probability distribution values ​​of a plurality of squares around the current sub-region where the motion mechanism is currently located.

[0416] In step S9242, the electronic device controls the motion mechanism to drive the teleconverter stage device to move to the target position.

[0417] In step S9243, the electronic device determines whether the imaged pattern appears in the sub-area where the target position is located.

[0418] When the imaging pattern does not appear in the sub-area where the target position is located, the target position is used as the current sub-area where the motion mechanism is currently located in the next first positioning process, and steps S9241 to S9243 are repeatedly executed multiple times to perform multiple first positioning processes until the imaging pattern appears in the sub-area where the target position is located, indicating that the imaging pattern appears in the field of view of the camera, and the precise positioning process (steps S931 to S936) is started.

[0419] When the imaging pattern appears in the sub-region where the target position is located, it means that the imaging pattern appears in the field of view of the camera, and the precise positioning process (steps S931 to S936) begins to be executed.

[0420] In step S931, the electronic device obtains an imaging picture including an imaging graphic captured by a camera.

[0421] In step S932, the electronic device determines screen distance information for indicating a screen distance between a center of an imaged graphic in an imaged screen and a center of the imaged screen.

[0422] In step S933, the electronic device determines whether the screen distance meets a preset condition.

[0423] If it is determined that the picture distance does not meet the preset condition, the electronic device executes step S934.

[0424] When it is determined that the screen distance meets the preset conditions, it means that the center of the imaging figure coincides with the center of the imaging screen, and the automatic centering process is completed.

[0425] In step S934, the electronic device determines position information indicating an actual distance to be moved according to the screen distance and the coordinate conversion coefficient.

[0426] In step S935, the electronic device controls the motion mechanism to move the teleconverter stage device according to the actual distance.

[0427] In step S936, the electronic device updates the coordinate conversion coefficient according to the screen distance and the actual distance to obtain a new coordinate conversion coefficient.

[0428] Repeat steps S931 to S936 multiple times to perform the second positioning process multiple times until the screen distance meets the preset conditions, which means that the center of the imaging figure coincides with the center of the imaging screen, and the automatic centering process is completed.

[0429] Fig. 27 It is a schematic flow chart of the automatic centering method 1000 provided in an embodiment of the present application.

[0430] The automatic centering method 1000 is applied to a motion control system, which includes a teleconverter stage device and a motion mechanism. The teleconverter stage device includes a centering fixture and a teleconverter installed in the centering fixture. The motion mechanism can drive the teleconverter stage device to move in a plane perpendicular to a first direction, and the first direction is parallel to the optical axis direction of the teleconverter.

[0431] The centering jig in the motion control system may be the centering jig 100 exemplified above, or may be a centering jig of other structural forms, which is not limited here.

[0432] In step S1010, the electronic device determines that an imaging pattern formed based on the centering jig appears within the field of view of the camera.

[0433] In some embodiments, step S1010 includes step A and step B.

[0434] Step A: The electronic device divides the moving area of ​​the motion mechanism into R*C sub-areas, and the size of each sub-area is less than or equal to the size of the observation field of the camera.

[0435] For example, h is the displacement of the motion mechanism in the second direction, h s is the size of the camera’s field of view in the second direction, w is the movable displacement of the motion mechanism in the third direction, and w s is the size of the observation field of the camera in the third direction, and the second direction and the third direction are perpendicular to the first direction.

[0436] Here, step A may correspond to step S811 above. For the specific description of step A, please refer to the relevant description of step S811 above, which will not be repeated here.

[0437] Step B: The electronic device performs the first positioning process M times according to the Gaussian probability distribution values ​​of at least some of the R*C sub-regions, until the imaging pattern appears in the sub-region where the target position obtained based on the Mth first positioning process is located after the Mth first positioning process, so as to determine that the imaging pattern appears in the field of view of the camera, where M is an integer greater than or equal to 1. The jth first positioning process includes:

[0438] Step B1. When the imaging pattern does not appear in the current sub-region where the motion mechanism is currently located, the electronic device determines the position of the sub-region corresponding to the maximum Gaussian probability distribution value in multiple sub-regions around the current sub-region as the target position, and obtains position information indicating the target position, j is greater than or equal to 1 and less than or equal to M. When j is equal to 1, the current sub-region is the sub-region where the initial position is located. When j is greater than or equal to 2, the current sub-region is the sub-region where the target position determined in the j-1th first positioning process is located.

[0439] In some embodiments, the multiple sub-regions around the current sub-region are multiple sub-regions adjacent to the current sub-region.

[0440] Exemplarily, the multiple sub-regions adjacent to the current sub-region include: at least part of the sub-regions located at eight positions along four directions of the current sub-region; when all eight positions have sub-regions, the multiple sub-regions include the sub-region where each of the eight positions is located; when some of the eight positions have sub-regions, the multiple sub-regions include the sub-region where each of the some positions is located; wherein the eight positions include: two positions on both sides of the current sub-region along the second direction, two positions on both sides of the current sub-region along the third direction, two positions on both sides of the current sub-region along the fourth direction, and two positions on both sides of the current sub-region along the fifth direction, the second direction and the third direction are perpendicular to the first direction, the fourth direction is the direction of the line connecting two diagonals of the current sub-region, and the fifth direction is the direction of the line connecting the other two diagonals of the current sub-region.

[0441] In other embodiments, the multiple sub-regions around the current sub-region may not necessarily be multiple sub-regions adjacent to the current sub-region, and the embodiments of the present application do not impose any limitation thereon. For example, among the multiple sub-regions around the current sub-region, some of the sub-regions are sub-regions adjacent to the current sub-region, and another part of the sub-regions may be sub-regions separated from the current sub-region by one sub-region.

[0442] In some embodiments, step B1 specifically includes: when the imaging pattern does not appear in the current sub-region, and there is a marked sub-region in multiple sub-regions around the current sub-region, the electronic device determines the position of the sub-region corresponding to the maximum Gaussian probability distribution value in the unmarked sub-regions among the multiple sub-regions as the target position, and obtains position information indicating the target position, wherein the marked sub-region is a sub-region where the imaging pattern has been determined not to appear before the j-th first positioning process.

[0443] In other embodiments, step B1 specifically includes: when the imaging graphic does not appear in the current sub-region, and when there is no marked sub-region in multiple sub-regions around the current sub-region, the electronic device determines the position of the sub-region corresponding to the maximum Gaussian probability distribution value in the multiple sub-regions as the target position, and obtains position information indicating the target position, wherein the marked sub-region is a sub-region where it has been determined that the imaging graphic does not appear before the j-th first positioning process.

[0444] That is to say, in this embodiment, the electronic device will mark the sub-area in which it has been determined that no imaging pattern appears before. In this way, before determining the target position, it is first determined whether there is a marked sub-area among the multiple sub-areas surrounding the current sub-area. If there is a marked sub-area, the electronic device determines the sub-area corresponding to the maximum Gaussian probability distribution value from the unmarked sub-areas among the multiple sub-areas, and determines the position of the sub-area as the target position to obtain position information indicating the target position; if there is no marked sub-area, the electronic device determines the sub-area corresponding to the maximum Gaussian probability distribution value from the multiple sub-areas, and determines the position of the sub-area as the target position to obtain position information indicating the target position.

[0445] In other embodiments, the electronic device may also simplify the processing flow, and does not need to mark the sub-regions that have been determined not to have imaging patterns, and directly determine the target position from multiple sub-regions around the current sub-region. However, compared with the method of marking the sub-regions that have been determined not to have imaging patterns, this method may slightly affect the positioning speed, but overall, compared with the prior art, the present application determines the target position through the Gaussian probability distribution value of the sub-region, which has improved the positioning speed to a certain extent.

[0446] Step B2: The electronic device controls the motion mechanism to drive the teleconverter stage device to move to the target position.

[0447] In some embodiments, before step B, method 1000 further includes: the electronic device generates a Gaussian probability distribution function for each sub-area according to a Gaussian probability density function generated based on the initial position.

[0448] In the above step S1010, the jth first positioning process is any positioning process among the M first positioning processes, which may correspond to the above Fig. 22 In the first positioning process shown, step B1 may correspond to step S8141 above, and step B2 may correspond to step S8142 above. For the specific description of step B1 and step B2, please refer to the relevant description of step S8141 and step S8142 above, and will not be repeated here.

[0449] In step S1020, when the imaging pattern appears in the field of view of the camera, the electronic device performs the second positioning process N times until the screen distance between the center of the imaging pattern and the center of the imaging screen in the imaging screen captured by the camera after the Nth second positioning process meets a preset condition, where the preset condition is used to indicate that the center of the imaging pattern coincides with the center of the imaging screen, and N is an integer greater than or equal to 1. Exemplarily, the preset condition is that the screen distance is less than or equal to the distance threshold.

[0450] The performing of the nth second positioning process includes:

[0451] Step C1: The electronic device obtains an nth imaging picture including an nth imaging pattern captured by a camera, where n is greater than or equal to 1 and less than or equal to N.

[0452] Step C2: The electronic device determines screen distance information indicating an nth screen distance, where the nth screen distance is the distance between the center of the nth imaging pattern and the center of the nth imaging screen.

[0453] Step C3. When the nth picture distance does not meet the preset conditions, the electronic device determines the nth actual distance based on the nth picture distance and the nth coordinate conversion coefficient, and obtains position information indicating the nth actual distance. The coordinate conversion coefficient is used to characterize the relationship between the image coordinate system and the motion coordinate system. The image coordinate system is the coordinate system of the imaging picture captured by the camera, and the motion coordinate system is the coordinate system of the motion mechanism.

[0454] Step C4: the electronic device controls the motion mechanism to drive the teleconverter stage device to move according to the nth actual distance.

[0455] In the above step S1020, the nth second positioning process is any positioning process in the N second positioning processes, which may correspond to the above Fig.24 In the second positioning process shown, the nth imaging pattern, the nth imaging screen, the nth screen distance, the nth coordinate conversion coefficient and the nth actual distance are all contents generated or used in the nth second positioning process.

[0456] Step C1 may correspond to step S821 above, step C2 may correspond to step S822 above, step C3 may correspond to step S824 above, and step C4 may correspond to step S825 above. For the specific description of each step, please refer to the relevant description above and will not be repeated here.

[0457] In some embodiments, the step of executing the second positioning process for the nth time further includes: the electronic device updates the nth coordinate conversion coefficient according to the nth screen distance and the nth actual distance to obtain the n+1th coordinate conversion coefficient.

[0458] Exemplarily, the electronic device updates the nth coordinate conversion coefficient according to the nth picture distance, the nth actual distance and the nth Kalman gain to obtain the (n+1)th coordinate conversion coefficient.

[0459] When n is equal to 1, the first Kalman gain is obtained based on the initial covariance. The first Kalman gain is used to characterize the relationship between the first coordinate conversion coefficient of the first second positioning process and the second coordinate conversion coefficient of the second second positioning process. For example, referring to formula (3), n here is equivalent to i-1 in formula (3), and the first Kalman gain is It is obtained based on the initial oblique variance σ0 and the positioning deviation ε of the motion mechanism.

[0460] When n is greater than or equal to 2, the nth Kalman gain is obtained based on the initial covariance and the n-1th Kalman gain, and the n-1th Kalman gain is used to determine the nth coordinate transformation coefficient.

[0461] The meaning of the n-1th Kalman gain being used to determine the n-th coordinate conversion coefficient can be understood as the i-th coordinate conversion coefficient is updated based on the i-1th picture distance of the i-1th second positioning process, the i-1th actual distance and the i-1th Kalman gain.

[0462] Regarding the process of obtaining the nth Kalman gain based on the initial covariance and the n-1th Kalman gain, exemplarily, according to the intermediate covariance obtained based on the n-1th Kalman gain and the initial covariance, the nth Kalman gain is obtained according to the intermediate covariance.

[0463] For example, referring to formula (3) and formula (4), n here is equivalent to i-1 in formula (3) and formula (4), σ i-2 is the intermediate covariance. Based on formula (4), the n-1th Kalman gain (K i-2 ) and the initial covariance to obtain the intermediate covariance σ i-2 , based on formula (3), through the intermediate covariance σ i-2 Get the nth Kalman gain (Ki-1 ). Combining formula (3) and formula (4), we get formula (5) It can be seen that the nth Kalman gain (K i-1 ) is actually based on the initial covariance ε and σ0 as constants and the variable n-1th Kalman gain (K i-2 ) obtained.

[0464] In other embodiments, the coordinate conversion coefficients may be updated in other ways, for example, the coordinate conversion coefficients may be updated based only on the actual distance and the screen distance, that is, the coordinate conversion coefficients may be updated without the Kalman gain.

[0465] In other embodiments, the coordinate conversion coefficient does not need to be updated. The coordinate conversion coefficient initially used is used in each second positioning process. Although the effect of determining the actual distance is not as good as using the updated coordinate conversion coefficient, compared with the prior art, since some relationships between the image coordinate system and the motion coordinate system have been taken into consideration, the speed and accuracy of centering positioning are improved to a certain extent overall.

[0466] Fig.28 It is a schematic flowchart of the automatic centering method 1100 provided in an embodiment of the present application.

[0467] The automatic centering method 1100 is applied to a motion control system, which includes a teleconverter stage device and a motion mechanism. The teleconverter stage device includes a centering fixture and a teleconverter installed in the centering fixture. The motion mechanism can drive the teleconverter stage device to move in a plane perpendicular to a first direction, and the first direction is parallel to the optical axis direction of the teleconverter.

[0468] The centering jig in the motion control system may be the centering jig 100 exemplified above, or may be a centering jig of other structural forms, which is not limited here.

[0469] In step S1110, the electronic device divides the moving area of ​​the motion mechanism into R*C sub-areas, and the size of each sub-area is less than or equal to the size of the observation field of the camera.

[0470] In step S1120, the electronic device performs M first positioning processes according to the Gaussian probability distribution values ​​of at least some of the R*C sub-regions, until the imaging pattern formed based on the centering fixture after the Mth first positioning process appears in the sub-region where the target position obtained based on the Mth first positioning process is located, so as to determine that the imaging pattern appears in the field of view of the camera, where M is an integer greater than or equal to 1; wherein performing the jth first positioning process includes:

[0471] When the imaging pattern does not appear in the current sub-region where the motion mechanism is currently located, the position of the sub-region corresponding to the maximum Gaussian probability distribution value among the multiple sub-regions around the current sub-region is determined as the target position, and the position information indicating the target position is obtained, j is greater than or equal to 1 and less than or equal to M, when j is equal to 1, the current sub-region is the sub-region where the initial position is located, and when j is greater than or equal to 2, the current sub-region is the sub-region where the target position determined in the j-1th first positioning process is located; the motion mechanism is controlled to drive the teleconverter stage device to move to the target position.

[0472] For the relevant description of step S1110 and step S1120, please refer to the relevant description of step S1010 in method 1000, which will not be repeated here.

[0473] In step S1130, when it is determined that the imaging pattern appears in the field of view of the camera, the second positioning process is performed N times, and the screen distance between the center of the imaging pattern and the center of the imaging screen in the imaging screen captured by the camera after the Nth second positioning process meets a preset condition, and the preset condition is used to indicate that the center of the imaging pattern and the center of the imaging screen coincide with each other, and N is an integer greater than or equal to 1; wherein, performing the nth second positioning process includes:

[0474] An nth imaging picture including an nth imaging figure captured by a camera is obtained, where n is greater than or equal to 1 and less than or equal to N; picture distance information indicating an nth picture distance is determined, where the nth picture distance is the distance between the center of the nth imaging figure and the center of the nth imaging picture; and when the nth picture distance does not meet a preset condition, a motion mechanism is controlled to drive a teleconverter stage device to move according to the nth picture distance.

[0475] In some embodiments, when the nth picture distance does not meet the preset condition, the step of controlling the motion mechanism to drive the teleconverter stage device to move according to the nth picture distance includes:

[0476] In the case that the nth picture distance does not meet the preset condition, the nth actual distance is determined according to the nth picture distance and the nth coordinate conversion coefficient, and the position information indicating the nth actual distance is obtained, the coordinate conversion coefficient is used to characterize the relationship between the image coordinate system and the motion coordinate system, the image coordinate system is the coordinate system of the imaging picture taken by the camera, and the motion coordinate system is the coordinate system of the motion mechanism;

[0477] The motion mechanism is controlled according to the nth actual distance to drive the teleconverter stage device to move.

[0478] In other embodiments, there is no need to consider the coordinate conversion coefficient, and the movement of the motion mechanism can be controlled only according to the picture distance, and the centering positioning of the teleconverter and the camera can also be achieved. No limitation is made here.

[0479] For the relevant description of step S1130, please refer to the relevant description of step 1020 above, which will not be repeated here.

[0480] Above, combined Figures 18 to 28 , the automatic centering method provided by the embodiment of the present application is described in detail, and the following will be combined with Figure 29 to Figure 30 , describe in detail the automatic centering device and electronic equipment provided according to the embodiments of the present application.

[0481] Fig.29 1 is an exemplary block diagram of an automatic centering device 1200 provided in an embodiment of the present application. The device 1200 is an electronic device, and may also be a chip in an electronic device.

[0482] In some embodiments, the automatic centering device 1200 is used to execute various processes and steps corresponding to the electronic device in the above method 1000. The automatic centering device 1200 includes: a processing unit 1210, and the processing unit 1210 is used to execute the following steps:

[0483] Determine that an imaging figure formed based on the centering fixture appears in the field of view of the camera; when the imaging figure appears in the field of view of the camera, perform the second positioning process N times until the image distance between the center of the imaging figure and the center of the imaging picture in the imaging picture taken by the camera after the Nth second positioning process meets a preset condition, and the preset condition is used to indicate that the center of the imaging figure and the center of the imaging picture coincide, and N is an integer greater than or equal to 1; wherein performing the nth second positioning process includes:

[0484] An nth imaging picture including an nth imaging figure captured by a camera is obtained, where n is greater than or equal to 1 and less than or equal to N; picture distance information indicating the nth picture distance is determined, where the nth picture distance is the distance between the center of the nth imaging figure and the center of the nth imaging picture; when the nth picture distance does not meet a preset condition, the nth actual distance is determined according to the nth picture distance and the nth coordinate conversion coefficient, and position information indicating the nth actual distance is obtained, where the coordinate conversion coefficient is used to characterize the relationship between the image coordinate system and the motion coordinate system, where the image coordinate system is the coordinate system of the imaging picture captured by the camera, and the motion coordinate system is the coordinate system of the motion mechanism; and the motion mechanism is controlled according to the nth actual distance to drive the teleconverter stage device to move.

[0485] It should be understood that the processing unit 1210 can be used to execute each step performed by the electronic device in the method 1000. For specific descriptions, please refer to the relevant descriptions above and will not be repeated here.

[0486] In the embodiments of the present application, Fig.29 The device may also be a chip or a chip system, such as a system on chip (SoC).

[0487] Fig.30 1 is a schematic structural diagram of an electronic device 1300 provided in an embodiment of the present application. The electronic device 1300 is used to execute the corresponding steps and / or processes in the above method embodiment.

[0488] The electronic device 1300 includes a processor 1310, a transceiver 1320, and a memory 1330. The processor 1310, the transceiver 1320, and the memory 1330 communicate with each other through an internal connection path, and the processor 1310 can implement the functions of the processor 1310 in various possible implementations of the electronic device 1300. The memory 1330 is used to store instructions, and the processor 1310 is used to execute the instructions stored in the memory 1330, or in other words, the processor 1310 can call these stored instructions to implement the functions of the processor 1310 in the electronic device 1300.

[0489] Optionally, the memory 1330 may include a read-only memory and a random access memory, and provide instructions and data to the processor. A portion of the memory may also include a non-volatile random access memory. For example, the memory may also store information about the device type. The processor 1310 may be used to execute instructions stored in the memory, and when the processor 1310 executes instructions stored in the memory, the processor 1310 is used to execute the various steps and / or processes of the above-mentioned method embodiment corresponding to the electronic device.

[0490] The electronic device 1300 is used to execute the various processes and steps corresponding to the electronic device in the above-mentioned method 1000 or method 1100, and the steps executed by the processor 1310 can correspond to the various steps executed by the processing unit 1210 in the device 1200. The specific description refers to the above description and will not be repeated here.

[0491] It should be understood that in the embodiments of the present application, the processor of the above-mentioned device may be a central processing unit (CPU), and the processor may also be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0492] In the implementation process, each step of the above method can be completed by an integrated logic circuit of hardware in a processor or an instruction in the form of software. The steps of the method disclosed in conjunction with the embodiment of the present application can be directly embodied as a hardware processor for execution, or a combination of hardware and software units in a processor for execution. The software unit can be located in a storage medium mature in the art such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory or an electrically erasable programmable memory, a register, etc. The storage medium is located in a memory, and the processor executes the instructions in the memory, and completes the steps of the above method in conjunction with its hardware. To avoid repetition, it is not described in detail here.

[0493] The embodiment of the present application provides a computer program product, when the computer program product is run on a terminal device, the terminal device executes the technical solution in the above embodiment. Its implementation principle and technical effect are similar to those of the above method-related embodiments, and will not be repeated here.

[0494] The embodiment of the present application provides a readable storage medium, the readable storage medium contains instructions, when the instructions are executed in a terminal device, the terminal device executes the technical solution of the above embodiment. The implementation principle and technical effect are similar, and will not be repeated here.

[0495] The embodiment of the present application provides a chip, the chip is used to execute instructions, when the chip is running, the technical solution in the above embodiment is executed. The implementation principle and technical effect are similar, and will not be repeated here.

[0496] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions may be transmitted from a website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (digital subscriber line, DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, server or data center. The computer-readable storage medium may be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrated. The available medium may be a magnetic medium (eg, a floppy disk, a hard disk, a magnetic tape), an optical medium (eg, a high-density digital video disc (DVD)), or a semiconductor medium (eg, a solid state disk (SSD)).

[0497] It should be understood that the "embodiment" mentioned throughout the specification means that the specific features, structures or characteristics related to the embodiment are included in at least one embodiment of the present application. Therefore, the various embodiments in the entire specification do not necessarily refer to the same embodiment. In addition, these specific features, structures or characteristics can be combined in one or more embodiments in any suitable manner. It should be understood that in various embodiments of the present application, the size of the sequence number of the above-mentioned processes does not mean the order of execution, and the execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present application.

[0498] It should also be understood that in the present application, "when", "if" and "if" all mean that the UE or base station will take corresponding actions under certain objective circumstances. It is not a time limit, and it does not require the UE or base station to make judgments when implementing it, nor does it mean that there are other limitations.

[0499] A person skilled in the art may understand that the various numerical numbers such as first and second involved in the present application are only used for the convenience of description and are not used to limit the scope of the embodiments of the present application, and also indicate the order of precedence.

[0500] In this application, elements expressed in the singular are intended to mean "one or more" rather than "one and only one", unless otherwise specified. In this application, "at least one" is intended to mean "one or more", and "more than one" is intended to mean "two or more", unless otherwise specified.

[0501] The term "and / or" in this article is merely a description of the association relationship of associated objects, indicating that there may be three relationships. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. A can be singular or plural, and B can be singular or plural.

[0502] In this document, the term "at least one of..." or "at least one of..." means all or any combination of the listed items. For example, "at least one of A, B, and C" may mean: A exists alone, B exists alone, C exists alone, A and B exist at the same time, B and C exist at the same time, and A, B, and C exist at the same time, where A may be singular or plural, B may be singular or plural, and C may be singular or plural.

[0503] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0504] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0505] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0506] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0507] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0508] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage media include: various media that can store program codes, such as USB flash drives, mobile hard disks, read-only memories (ROM), random access memories (RAM), magnetic disks or optical disks.

[0509] The same or similar parts between the various embodiments in this application can refer to each other. In the various embodiments in this application, and the various implementation methods / implementation methods / implementation methods in each embodiment, if there is no special explanation and logical conflict, the terms and / or descriptions between different embodiments and the various implementation methods / implementation methods / implementation methods in each embodiment are consistent and can be referenced to each other. The technical features in different embodiments and the various implementation methods / implementation methods / implementation methods in each embodiment can be combined to form new embodiments, implementation methods, implementation methods, or implementation methods according to their inherent logical relationships. The above-described implementation methods of this application do not constitute a limitation on the scope of protection of this application.

[0510] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims. In short, the above is only a preferred embodiment of the technical solution of the present application, and is not used to limit the protection scope of the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A centering fixture for a teleconverter and a camera, characterized in that: include: A housing (1) is formed with a first accommodating space (11); A lens carrier (2), at least a portion of the lens carrier (2) being accommodated in the first accommodating space (11), the lens carrier (2) being formed with a mounting cavity (20) for mounting a teleconverter (200); A positioning cover (3) is located on a side of the lens carrier (2) away from the bottom of the housing (1), and is provided with a light-transmitting centering structure (31), the center of the centering structure (31) coincides with the center of the positioning cover (3), and when the teleconverter (200) is installed in the installation cavity (20), the center of the teleconverter (200) and the center of the centering structure (31) are coaxially arranged along a first direction, and the first direction is parallel to the optical axis direction of the teleconverter (200); wherein, The lens carrier (2) can drive the teleconverter (200) and the positioning cover (3) to move along the first direction.

2. The centering jig according to claim 1, characterized in that: The lens carrier (2) is an annular structure, comprising a rotating component (22) and a fixed component (21), wherein the rotating component (22) is close to the positioning cover (3) and the fixed component (21) is far away from the positioning cover (3), and the fixed component (21) is fixedly connected to the housing (1), and the rotating component (22) can rotate relative to the fixed component (21) and can move along the first direction during the rotation process, so as to drive the teleconverter (200) and the positioning cover (3) to move along the first direction.

3. The centering jig according to claim 2, characterized in that: The fixed component (21) comprises at least one first spiral boss (211) distributed in the circumferential direction, and along the rotation direction of the rotating component (22), the size of the first spiral boss (211) in the first direction gradually increases; and The rotating component (22) comprises at least one second spiral boss (221) distributed circumferentially, and along the rotation direction of the rotating component (22), the size of the second spiral boss (221) in the first direction gradually decreases; wherein, when the rotating component (22) rotates, the rotating component (22) can be moved along the first direction through the cooperation between the first spiral boss (211) and the second spiral boss (221).

4. The centering jig according to claim 3, characterized in that: The fixed component (21) comprises a plurality of the first spiral bosses (211) which are arranged in the same direction and continuously, and the rotating component (22) comprises a plurality of the second spiral bosses (221) which are arranged in the same direction and continuously.

5. The centering jig according to claim 4, characterized in that: The first spiral boss (211) comprises a plurality of first protrusions (212), a first stop groove (213) is formed between two adjacent first protrusions (212), and along the rotation direction of the rotating component (22), the sizes of the plurality of first protrusions (212) in the first direction gradually increase; and, The second spiral boss (221) comprises a plurality of second protrusions (222), a second stop groove (223) is formed between two adjacent second protrusions (222), and along the rotation direction of the rotating component (22), the sizes of the plurality of second protrusions (222) in the first direction gradually decrease; wherein, The first protrusion (212) can be inserted into the second stop groove (223), and the second protrusion (222) can be inserted into the first stop groove (213) to prevent the rotating component (22) from reversing.

6. The centering jig according to claim 5, characterized in that: The first protrusion (212) comprises a first adjustment surface (2121) close to the rotating component (222); a first guiding inclined surface (2121a) is formed at one end of the first adjustment surface (2121) along the rotation direction of the rotating component (22); along the rotation direction of the rotating component (22), the distance between the first guiding inclined surface (2121a) and the bottom of the first protrusion (212) gradually increases.

7. The centering jig according to claim 5 or 6, characterized in that: The second protrusion (222) comprises a second adjustment surface (2221) close to the fixed component (221), and a second guiding inclined surface (2221a) is formed at one end of the second adjustment surface (2221) along the rotation direction of the rotating component (22), and along the rotation direction of the movable component (22), the distance between the second guiding inclined surface (2121a) and the bottom of the second protrusion (222) gradually decreases.

8. The centering jig according to any one of claims 2 to 7, characterized in that: The centering jig further comprises a handle (4), wherein the handle (4) is connected to the rotating component (22), and an external force acts on the handle (4) to drive the rotating component (22) to rotate.

9. The centering jig according to claim 8, characterized in that: The handle (4) comprises a handle body (41) and a connecting structure (42), wherein the connecting structure (42) is connected to the rotating component (22); and the positioning cover (3) comprises a positioning groove (32), wherein the connecting structure (42) is inserted into the positioning groove (32) to limit the movement of the positioning cover (3) in a plane perpendicular to the first direction.

10. The centering jig according to any one of claims 2 to 9, characterized in that: The centering jig further comprises a locking device (5) which is arranged on one side of the circumference of the shell (1); the locking device (5) is connected to the shell (1), and the locking device (5) can be connected to the rotating component (22) to prevent the rotating component (22) from rotating.

11. The centering jig according to claim 10, characterized in that: The locking device (5) comprises an insertion rod (51), the housing (1) is provided with an insertion hole (12) for the insertion of the insertion rod (51), the rotating component (22) is provided with a plurality of slots (224) in the circumference thereof, and the insertion rod (51) can be inserted into the slots (224) through the insertion hole (12).

12. The centering jig according to any one of claims 1 to 11, characterized in that: The centering structure (31) is a circular hole, and the diameter of the centering structure is less than or equal to 1 mm.

13. An automatic centering method, characterized in that: Applied in a motion control system, the motion control system comprises a teleconverter stage device and a motion mechanism, the teleconverter stage device comprises a centering fixture and a teleconverter installed in the centering fixture, and the motion mechanism can drive the teleconverter stage device to move in a plane perpendicular to a first direction, and the first direction is parallel to the optical axis direction of the teleconverter; The method comprises: Determining that an imaging pattern formed based on the centering fixture appears within the field of view of a camera; In the case where the imaging pattern appears in the field of view of the camera, performing the second positioning process N times until the screen distance between the center of the imaging pattern in the imaging screen captured by the camera after the Nth second positioning process and the center of the imaging screen meets a preset condition, wherein the preset condition is used to indicate that the center of the imaging pattern coincides with the center of the imaging screen, and N is an integer greater than or equal to 1; The performing of the nth second positioning process includes: Acquire an nth imaging picture including an nth imaging pattern captured by the camera, where n is greater than or equal to 1 and less than or equal to N; Determining screen distance information indicating an n-th screen distance, wherein the n-th screen distance is a distance between a center of the n-th imaging pattern and a center of the n-th imaging screen; In the case that the nth picture distance does not satisfy the preset condition, determining the nth actual distance according to the nth picture distance and the nth coordinate conversion coefficient, and obtaining position information indicating the nth actual distance, wherein the coordinate conversion coefficient is used to characterize the relationship between an image coordinate system and a motion coordinate system, wherein the image coordinate system is a coordinate system of an imaging picture taken by the camera, and the motion coordinate system is a coordinate system of the motion mechanism; The motion mechanism is controlled according to the nth actual distance to drive the teleconverter stage device to move.

14. The automatic centering method according to claim 13, characterized in that: The performing of the nth second positioning process further includes: The nth coordinate conversion coefficient is updated according to the nth screen distance and the nth actual distance to obtain the (n+1)th coordinate conversion coefficient.

15. The automatic centering method according to claim 14, characterized in that: The updating of the nth coordinate conversion coefficient according to the nth screen distance and the nth actual distance to obtain the n+1th coordinate conversion coefficient comprises: According to the nth picture distance, the nth actual distance and the nth Kalman gain, the nth coordinate conversion coefficient is updated to obtain the n+1th coordinate conversion coefficient. When n is equal to 1, the 1st Kalman gain is obtained based on the initial covariance. When n is greater than or equal to 2, the nth Kalman gain is obtained based on the initial covariance and the n-1th Kalman gain. The n-1th Kalman gain is used to determine the nth coordinate conversion coefficient.

16. The automatic centering method according to any one of claims 13 to 15, characterized in that: The determining that the imaging pattern formed based on the centering jig appears within the field of view of the camera includes: Divide the moving area of ​​the motion mechanism into R*C sub-areas, where the size of each sub-area is less than or equal to the size of the observation field of view of the camera; According to the Gaussian probability distribution values ​​of at least some of the R*C sub-regions, perform the first positioning process M times until the imaging pattern appears in the sub-region where the target position obtained based on the Mth first positioning process is located after the Mth first positioning process, so as to determine that the imaging pattern appears in the field of view of the camera, where M is an integer greater than or equal to 1; The j-th first positioning process includes: In the case where the imaging pattern does not appear in the current sub-region where the motion mechanism is currently located, the position of the sub-region corresponding to the maximum Gaussian probability distribution value in multiple sub-regions around the current sub-region is determined as the target position, and the position information indicating the target position is obtained, j is greater than or equal to 1 and less than or equal to M, when j is equal to 1, the current sub-region is the sub-region where the initial position is located, and when j is greater than or equal to 2, the current sub-region is the sub-region where the target position determined in the j-1th first positioning process is located; The motion mechanism is controlled to drive the teleconverter stage device to move to the target position.

17. The automatic centering method according to claim 16, characterized in that: In the case that the imaging pattern does not appear in the current sub-region where the motion mechanism is currently located, the position of the sub-region corresponding to the maximum Gaussian probability distribution value in multiple sub-regions around the current sub-region is determined as the target position, and the position information indicating the target position is obtained, including: In the case where the imaging pattern does not appear in the current sub-region, and in the case where there is a marked sub-region in multiple sub-regions around the current sub-region, the position of the sub-region corresponding to the maximum Gaussian probability distribution value in the unmarked sub-regions of the multiple sub-regions is determined as the target position, and the position information indicating the target position is obtained, wherein the marked sub-region is a sub-region in which the imaging pattern has been determined not to appear before the j-th first positioning process; or, When the imaging pattern does not appear in the current sub-region and there is no marked sub-region among the multiple sub-regions around the current sub-region, the position of the sub-region corresponding to the maximum Gaussian probability distribution value among the multiple sub-regions is determined as the target position, and the position information indicating the target position is obtained.

18. The automatic centering method according to claim 16 or 17, characterized in that: The multiple sub-regions around the current sub-region are multiple sub-regions adjacent to the current sub-region.

19. The automatic centering method according to claim 18, characterized in that: The multiple sub-regions adjacent to the current sub-region include: at least part of the sub-regions where eight positions along four directions of the current sub-region are located; when all of the eight positions have sub-regions, the multiple sub-regions include the sub-region where each of the eight positions is located; when some of the eight positions have sub-regions, the multiple sub-regions include the sub-region where each of the some positions is located; wherein, The eight positions include: two positions on both sides of the current sub-area along the second direction, two positions on both sides of the current sub-area along the third direction, two positions on both sides of the current sub-area along the fourth direction, and two positions on both sides of the current sub-area along the fifth direction. The second direction and the third direction are perpendicular to the first direction, the fourth direction is the direction of a line connecting two diagonals of the current sub-area, and the fifth direction is the direction of a line connecting the other two diagonals of the current sub-area.

20. The automatic centering method according to any one of claims 16 to 19, characterized in that: h is the displacement of the motion mechanism in the second direction, h s is the size of the observation field of the camera in the second direction, w is the movable displacement of the motion mechanism in the third direction, and w s is the size of the observation field of the camera in the third direction, and the second direction and the third direction are perpendicular to the first direction.

21. A motion control system, characterized in that: include: A teleconverter stage device (300), comprising a centering jig (100) according to any one of claims 1 to 19, wherein the mounting cavity (20) of the centering jig (100) is used for mounting a teleconverter (200); a motion mechanism (400) connected to the teleconverter stage device (300), the motion mechanism (400) being capable of driving the teleconverter stage device (300) to move along a second direction and a third direction, the second direction, the third direction and the first direction being perpendicular to each other, and the first direction being parallel to the optical axis direction of the teleconverter (200); The electronic device is used to control the motion mechanism (400) to drive the teleconverter stage device (300) to move along the second direction and the third direction.

22. The motion control system according to claim 21, characterized in that: The motion mechanism (400) comprises a first motion component (410) and a second motion component (420); the first motion component (410) can drive the teleconverter stage device (300) to move along the second direction; and the second motion component (420) can drive the teleconverter stage device (300) to move along the third direction.

23. The motion control system according to claim 22, characterized in that: The first motion component (410) is arranged along the third direction, and the second motion component (420) is arranged along the second direction. The first motion component (410) is fixedly connected to the teleconverter stage device (300) and is slidably connected to the second motion component (420) along the second direction. The first motion component (410) can slide relative to the second motion component (420) along the second direction to drive the teleconverter stage device (300) to move along the second direction, and the second motion component (420) can drive the first motion component (410) to move along the third direction to drive the teleconverter stage device (300) to move along the third direction.

24. The motion control system according to any one of claims 21 to 23, characterized in that: The electronic device is specifically used for: Determining that an imaging pattern formed based on the centering fixture appears within the field of view of a camera; In the case where the imaging pattern appears in the field of view of the camera, performing the second positioning process N times until the screen distance between the center of the imaging pattern in the imaging screen captured by the camera after the Nth second positioning process and the center of the imaging screen meets a preset condition, wherein the preset condition is used to indicate that the center of the imaging pattern coincides with the center of the imaging screen, and N is an integer greater than or equal to 1; The performing of the nth second positioning process includes: Acquire an nth imaging picture including an nth imaging pattern captured by the camera, where n is greater than or equal to 1 and less than or equal to N; Determining screen distance information indicating an n-th screen distance, wherein the n-th screen distance is a distance between a center of the n-th imaging pattern and a center of the n-th imaging screen; In the case that the nth picture distance does not satisfy the preset condition, determining the nth actual distance according to the nth picture distance and the nth coordinate conversion coefficient, and obtaining position information indicating the nth actual distance, wherein the coordinate conversion coefficient is used to characterize the relationship between an image coordinate system and a motion coordinate system, wherein the image coordinate system is a coordinate system of an imaging picture taken by the camera, and the motion coordinate system is a coordinate system of the motion mechanism; The motion mechanism is controlled according to the nth actual distance to drive the teleconverter stage device to move.

25. The motion control system according to claim 24, characterized in that: The electronic device is specifically used for: The nth coordinate conversion coefficient is updated according to the nth screen distance and the nth actual distance to obtain the (n+1)th coordinate conversion coefficient.

26. The motion control system according to claim 25, characterized in that: The electronic device is specifically used for: According to the nth picture distance, the nth actual distance and the nth Kalman gain, the nth coordinate conversion coefficient is updated to obtain the n+1th coordinate conversion coefficient. When n is equal to 1, the 1st Kalman gain is obtained based on the initial covariance. When n is greater than or equal to 2, the nth Kalman gain is obtained based on the initial covariance and the n-1th Kalman gain. The n-1th Kalman gain is used to determine the nth coordinate conversion coefficient.

27. The motion control system according to any one of claims 24 to 26, characterized in that: The electronic device is specifically used to: divide the moving area of ​​the motion mechanism into R*C sub-areas, and the size of each sub-area is less than or equal to the size of the observation field of view of the camera; According to the Gaussian probability distribution values ​​of at least some of the R*C sub-regions, perform the first positioning process M times until the imaging pattern appears in the sub-region where the target position obtained based on the Mth first positioning process is located after the Mth first positioning process, so as to determine that the imaging pattern appears in the field of view of the camera, where M is an integer greater than or equal to 1; The j-th first positioning process includes: In the case where the imaging pattern does not appear in the current sub-region where the motion mechanism is currently located, the position of the sub-region corresponding to the maximum Gaussian probability distribution value in multiple sub-regions around the current sub-region is determined as the target position, and the position information indicating the target position is obtained, j is greater than or equal to 1 and less than or equal to M, when j is equal to 1, the current sub-region is the sub-region where the initial position is located, and when j is greater than or equal to 2, the current sub-region is the sub-region where the target position determined in the j-1th first positioning process is located; The motion mechanism is controlled to drive the teleconverter stage device to move to the target position.

28. The motion control system according to claim 27, characterized in that: The electronic device is specifically used for: In the case where the imaging pattern does not appear in the current sub-region, and in the case where there is a marked sub-region in multiple sub-regions around the current sub-region, the position of the sub-region corresponding to the maximum Gaussian probability distribution value in the unmarked sub-regions of the multiple sub-regions is determined as the target position, and the position information indicating the target position is obtained, wherein the marked sub-region is a sub-region in which the imaging pattern has been determined not to appear before the j-th first positioning process; or, When the imaging pattern does not appear in the current sub-region and there is no marked sub-region among the multiple sub-regions around the current sub-region, the position of the sub-region corresponding to the maximum Gaussian probability distribution value among the multiple sub-regions is determined as the target position, and the position information indicating the target position is obtained.

29. An electronic device, characterized in that: include: Memory, for storing computer instructions; A processor, configured to call the computer instructions stored in the memory to execute the method according to any one of claims 13 to 20.

30. A computer-readable storage medium, characterized in that: Used to store computer instructions, wherein the computer instructions are used to implement the method according to any one of claims 13 to 20.

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