Focus adjustment apparatus and focus adjustment method for binocular camera

Abstract

The application provides a focusing device and a focusing method for a binocular camera, and belongs to the technical field of optical element detection. The focusing device comprises a rack, a tray transportation module arranged on the rack, three jig transportation modules, three feeding and discharging mechanisms, three jig separation mechanisms, three focusing mechanisms, and a control mechanism for controlling the cooperative operation of the components. The first focusing mechanism of the three focusing mechanisms is configured with a fixed optical environment suitable for a first lens, the second focusing mechanism is configured with a fixed optical environment suitable for a second lens, and the third focusing mechanism is configured with a switchable optical environment, which can be switched between the optical environment suitable for the first lens and the optical environment suitable for the second lens. By additionally arranging the third focusing mechanism with an adjustable optical environment, the focusing flexibility and efficiency are improved during the focusing process of the binocular camera by flexibly selecting the focusing mechanism according to the needs.

Description

Technical Field

[0001] This application relates to the field of optical component inspection technology, and in particular to a focusing device and focusing method for a binocular camera. Background Technology

[0002] In the field of camera manufacturing, Active Alignment (AA) focusing is a crucial process for ensuring camera image quality. Its core principle is to precisely adjust the relative position of the lens and image sensor to achieve optimal imaging results. With the increasing demands for shooting performance in terminal devices, binocular cameras, due to their advantages such as depth perception and 3D imaging, are widely used in smartphones, autonomous driving, and security monitoring. Unlike monocular cameras, binocular cameras typically contain two lenses of different specifications. Each lens requires independent AA focusing and must meet the precision requirements for collaborative operation. This places higher demands on the flexibility and adaptability of AA focusing equipment.

[0003] In existing technologies, AA focusing equipment typically has only one focusing station. For example, the solutions disclosed in patents CN221967041U and CN104639936A require adaptive modifications to the parameters of the focusing station after one lens has been focused to adapt to the AA focusing of another lens. This method of constantly changing the focusing station to adapt to different lens specifications greatly reduces work efficiency.

[0004] Some improved methods, such as those disclosed in patent CN113891066B, employ two sets of AA focusing stations, each corresponding to AA focusing on a different type of lens, to improve operational efficiency. However, because the specifications of the two lenses in a binocular camera are different, the time spent on AA focusing tests at their respective focusing stations may not be the same. Therefore, the operational efficiency of the two focusing stations may not be synchronized, and the cycle time remains low. For example, in the traditional mechanical serial operation, it often happens that when one focusing station completes its work, the other is still working and needs to wait. Furthermore, when the focusing test result of one focusing station is abnormal and requires refocusing, the waiting time is even longer. Therefore, the focusing efficiency of existing dual-focusing stations needs further improvement. Summary of the Invention

[0005] The purpose of this application is to provide a focusing device and focusing method for a binocular camera to solve at least one of the above-mentioned technical problems.

[0006] In a first aspect, this application provides a focusing device for a binocular camera, including a frame, a tray transport module mounted on the frame, three fixture transport modules, three loading and unloading mechanisms, three fixture separation mechanisms, three focusing mechanisms, and a control mechanism for controlling the coordinated operation of the components.

[0007] Each focusing mechanism corresponds to a focusing area. The first focusing mechanism of the three focusing mechanisms is configured with a fixed optical environment adapted to the first lens, the second focusing mechanism is configured with a fixed optical environment adapted to the second lens, and the third focusing mechanism is configured with a switchable optical environment that can switch between the optical environment adapted to the first lens and the optical environment adapted to the second lens.

[0008] The pallet transport module is used to transport the pallet containing the product to be tested to the loading and unloading area.

[0009] Each fixture transport module is used to transport the fixture containing the product to be tested back and forth between one of the loading / unloading areas and the corresponding focusing area.

[0010] Each loading and unloading mechanism is used to transport the product to be tested back and forth between a pallet and a corresponding fixture in one of the loading and unloading areas;

[0011] Each fixture separation mechanism is used to transport the product to be tested back and forth between the fixture in the corresponding focusing area and the focusing platform of the corresponding focusing mechanism.

[0012] Optionally, the product under test includes a housing, a first lens assembly, and a second lens assembly in a separated state;

[0013] The fixture includes a third positioning groove for placing the housing, a first positioning groove for placing the first lens assembly, a second positioning groove for placing the second lens assembly, and a fourth positioning groove for placing the camera after the housing and the first and / or second lens assembly have been assembled.

[0014] The focusing mechanism assembles and focuses the housing and the first lens assembly and / or the second lens assembly on the focusing platform. After the focusing is completed, the fixture separation mechanism places the assembled camera into the fourth positioning slot.

[0015] Optionally, each loading and unloading mechanism includes four synchronously moving robotic arms. The first robotic arm is used to hold the first lens assembly, the second robotic arm is used to hold the second lens assembly, the third robotic arm is used to hold the housing, and the fourth robotic arm is used to hold the assembled camera.

[0016] Optionally, the pallet transport module includes a first pallet transport mechanism and a second pallet transport mechanism arranged in parallel. The first pallet transport mechanism transports pallets in a straight line along a first direction, and the second pallet transport mechanism transports pallets in a straight line along a second direction opposite to the first direction.

[0017] Optionally, each fixture transport module includes a first fixture transport mechanism and a second fixture transport mechanism arranged in parallel. The first fixture transport mechanism transports the fixture in a straight line along a third direction, and the second fixture transport mechanism transports the fixture in a straight line along a fourth direction opposite to the third direction.

[0018] Optionally, the device further includes three pallet placement mechanisms; each pallet placement mechanism corresponds to an unloading area. The pallet placement mechanism includes a pallet placement platform and a lifting mechanism for driving the pallet placement platform to rise and fall. When the lifting mechanism is at a first height position, the pallet can be transferred to the pallet placement platform by the pallet transport module. When the lifting mechanism is at a second height position, the pallet can pass under the pallet placement platform and continue to be transported.

[0019] A second aspect of this application provides a focusing method for a binocular camera, applied to the focusing device for a binocular camera described in any embodiment of this application, comprising:

[0020] Identify the test status of each product under test and the working status of each focusing mechanism. The test status includes no test, first lens completed test, second lens completed test, and both lenses completed test. The working status includes focusing and idle status.

[0021] When the product under test has completed the focusing test in a certain focusing mechanism and enters the state where both lenses have completed the test, the product under test is transferred from the corresponding focusing mechanism to the tray transport module via the fixture transport module, and then transported to the process after the focusing is completed.

[0022] When the product under test has completed the focusing test in a certain focusing mechanism and enters a state other than when both lenses have completed the test, select a focusing mechanism from the three focusing mechanisms that is suitable for the product under test to carry out the next focusing test, and transfer the product under test to the selected focusing mechanism for focusing test.

[0023] Optionally, selecting one of the three focusing mechanisms to conduct the next focusing test for the product under test includes:

[0024] Prioritize focusing mechanisms that are idle and whose optical environment directly matches the subsequent focusing requirements of the product under test.

[0025] Optionally, the preferred focusing mechanism that is in an idle state and whose optical environment directly matches the subsequent focusing requirements of the product under test includes:

[0026] When only the third focusing mechanism is idle, select the third focusing mechanism as the focusing mechanism for the next focusing test, and switch the third focusing mechanism to an optical environment that matches the product under test to be focused.

[0027] Optionally, the step of preferentially selecting a focusing mechanism that is in an idle state and whose optical environment directly matches the subsequent focusing requirements of the product under test includes: when there are two directly matched focusing mechanisms in an idle state, and one of them is a third focusing mechanism, the non-third focusing mechanism is selected as the focusing mechanism for conducting the next focusing test.

[0028] Optionally, selecting one of the three focusing mechanisms to conduct the next focusing test for the product under test includes:

[0029] Each focusing mechanism adapted to the product under test is used as a pre-selected mechanism;

[0030] Based on the waiting time of the focusing area corresponding to each pre-selection mechanism, the transportation time of the product to be tested, the loading and unloading time, the jig separation time, and the focusing time, the operation time of each pre-selection mechanism is predicted. The operation time is the time taken from the current moment when the corresponding pre-selection mechanism completes one focusing operation of the product to be tested and then enters the idle state again.

[0031] The pre-selected mechanism with the shortest operation time will be used as the focusing mechanism for the next focusing test.

[0032] Optionally, selecting one of the three focusing mechanisms to conduct the next focusing test for the product under test includes:

[0033] If any focusing mechanism malfunctions, or if the focusing yield of any focusing mechanism is less than the preset yield threshold, the focusing mechanism with the malfunction or the focusing yield less than the yield threshold will be shut down.

[0034] Transfer the test products on the focusing mechanism that is in a stopped state to the other two normally operating focusing mechanisms, and readjust the allocation rules of the test products.

[0035] Optionally, the step of transferring the product under test to the selected focusing mechanism for focusing test includes: when the selected focusing mechanism is not the same as the focusing mechanism that conducted the previous focusing test on the product under test, calling the fixture separation mechanism to transfer the product under test from the corresponding focusing platform to the fixture in the second fixture transport mechanism.

[0036] The second fixture transport mechanism is invoked to transport the fixture from the coking area to the loading and unloading area along a third direction;

[0037] The loading and unloading mechanism is invoked to transfer the product to be tested from the fixture in the loading and unloading area to the pallet on the pallet placement platform at the second height position;

[0038] The pallet is placed on the platform and lowered to the first height position. Based on the relative position between the product to be tested and the selected focusing mechanism, the transport direction of the pallet is determined. A pallet transport mechanism that matches the determined transport direction is selected to transport the pallet to the loading and unloading area corresponding to the selected focusing mechanism.

[0039] The loading and unloading mechanism is invoked to transfer the product to be tested from the pallet in the loading and unloading area to the fixture of the first fixture transport mechanism;

[0040] The first fixture transport mechanism is invoked to transport the fixture from the loading and unloading area to the coking area corresponding to the selected coking mechanism.

[0041] The selected focusing mechanism's corresponding fixture transport module is invoked to transfer the product to be tested from the fixture to the focusing platform of the selected focusing mechanism, and the selected focusing mechanism is controlled to perform focusing tests.

[0042] The focusing device and method for binocular cameras described in this application, through modular design and collaborative operation logic, can achieve differentiated and precise focusing of the two lenses of the binocular camera, ensuring focusing quality and efficiency. Specifically, the first and second focusing mechanisms are configured with fixed optical environments adapted to the first and second lenses, respectively. Both optical environments are specifically calibrated for the specifications of their respective lenses, ensuring the focusing accuracy of a single lens. The third focusing mechanism, through differentiated optical environment configuration and control mechanism switching modes, allows it to switch to a suitable optical environment based on actual operating conditions, supplementing the first two stations and performing precise supplementary focusing on the semi-finished lenses. The three focusing mechanisms process the binocular camera's focusing operation in parallel, avoiding insufficient focusing adaptability caused by the fixed function of a single station, and also improving the focusing efficiency of the binocular camera. Attached Figure Description

[0043] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly described below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation on the scope of this application.

[0044] Figure 1 This is a schematic diagram of the focusing device at a first angle in one embodiment;

[0045] Figure 2 An exploded view of the focusing device in one embodiment;

[0046] Figure 3 This is a schematic diagram of the structure of the first focusing mechanism and the fixture transport module in one embodiment;

[0047] Figure 4 This is a schematic diagram of the structure of the tray placement mechanism in one embodiment;

[0048] Figure 5 This is a schematic diagram of the structure of a fixture located on the fixture transport module in one embodiment;

[0049] Figure 6 This is a schematic diagram of the loading and unloading mechanism in one embodiment;

[0050] Figure 7 This is a flowchart illustrating a focusing method for a binocular camera in one embodiment.

[0051] Explanation of reference numerals: 100, frame; 200, pallet transport module; 300, jig transport module; 400, loading and unloading mechanism; 510, first coking mechanism; 520, second coking mechanism; 530, third coking mechanism; 600, pallet placement mechanism; 700, jig; 210, first pallet transport mechanism; 220, second pallet transport mechanism; 310, first jig transport mechanism; 320, second jig transport mechanism. Detailed Implementation

[0052] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0053] All terms used in this application (including technical and scientific terms) have the meanings commonly understood by those skilled in the art, unless otherwise defined. It should be noted that the terms used herein should be interpreted in a manner consistent with the context of this specification, and not in an idealized or overly rigid way.

[0054] For example, the terms "first," "second," etc., used in this application may be used herein to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish the first element from another element.

[0055] For example, the terms "comprising" or "including" used in this application indicate the presence of features, steps, operations and / or components, but do not exclude the presence or addition of one or more other features, steps, operations or components.

[0056] Combination Figure 1 and Figure 2As shown, this application provides a focusing device for a binocular camera. The device includes a frame 100, a pallet transport module 200 disposed on the frame 100, three fixture transport modules 300, three loading and unloading mechanisms 400, three fixture separation mechanisms, three focusing mechanisms, and a control mechanism for controlling the coordinated operation of the components.

[0057] Each focusing mechanism corresponds to a focusing area. The first focusing mechanism 510 is configured with a fixed optical environment adapted to the first lens, the second focusing mechanism 520 is configured with a fixed optical environment adapted to the second lens, and the third focusing mechanism 530 is configured with a switchable optical environment, capable of switching between the optical environment adapted to the first lens and the optical environment adapted to the second lens. The pallet transport module 200 is used to transport the pallet containing the product to be tested to the loading / unloading area. Each fixture transport module 300 is used to reciprocate between the fixture 700 containing the product to be tested in one loading / unloading area and the corresponding focusing area. Each loading / unloading mechanism 400 is used to reciprocate between the pallet and the corresponding fixture in one loading / unloading area. Each fixture separation mechanism is used to reciprocate between the fixture in the corresponding focusing area and the focusing platform of the corresponding focusing mechanism.

[0058] The frame 100 is constructed using industrial aluminum alloy profiles (which can be understood, or any other suitable material), and has an overall rectangular frame structure (which can be understood, or any other suitable shape). The top platform of the frame 100 is divided into three independent coking operation areas and a through-type loading / unloading area and pallet transport area. Space is reserved at the bottom for the installation of an electrical control cabinet to house the hardware components of the control mechanism.

[0059] Each focusing mechanism is installed at the center of a corresponding focusing area; that is, the first focusing mechanism 510 is installed at the center of the first focusing area, the second focusing mechanism 520 is installed at the center of the second focusing area, and the third focusing mechanism 530 is installed at the center of the third focusing area. The optical environment configurations of the three focusing mechanisms are differentiated: the first focusing mechanism 510 is configured with a fixed optical environment adapted to the first lens of the binocular camera. For example, its optical components include a ring light source with a wavelength of 550nm, a fixed-focus imaging lens with a focal length of 12mm, and a fixed-position image sensor. The optical parameters do not require adjustment after leaving the factory and are specifically calibrated for the AA focusing requirements of the first lens; the second focusing mechanism 520 is configured with a fixed optical environment adapted to the second lens of the binocular camera. For example, its optical components include a bar light source with a wavelength of 620nm, ... The fixed-focus imaging lens with a focal length of 8mm and another fixed-position image sensor are specifically calibrated for the AA focusing requirements of the second lens and are incompatible with the optical parameters of the first focusing mechanism 510. The third focusing mechanism 530 is equipped with a switchable optical environment. Its optical components are equipped with an adjustable wavelength LED light source, a movable imaging lens slide, and a displacement adjustable image sensor. Through the electrical signal command sent by the control mechanism, it can complete the switching of optical parameters within a preset time (e.g., within 1 second) to achieve rapid switching between the two optical environments adapted to the first and second lenses.

[0060] The pallet transport module 200 is installed in the pallet transport area of ​​the frame 100. It adopts a belt conveyor structure, and the pallet containing the product to be tested can be carried on the belt conveyor and moved to various loading / unloading areas or other processing stations as it is transported by the belt conveyor. The conveying direction of the pallet transport module 200 is parallel to the arrangement direction of the three focusing areas. It can transport the pallet containing the housing, the first lens assembly, the second lens assembly, or the complete or semi-finished product to be tested (i.e., a camera with both lens assemblies assembled or a camera with only one lens assembly assembled) from the equipment feeding end to the corresponding working position of the three loading / unloading mechanisms 400. After loading / unloading is completed, the pallet is then transported to the equipment discharge end.

[0061] The number of fixture transport modules 300 is the same as the number of focusing mechanisms. Each fixture transport module 300 is specifically designed to transport the product to be tested within the fixture 700 back and forth between a corresponding focusing mechanism and the loading / unloading area. One end of the fixture transport module 300 connects to the corresponding loading / unloading area of ​​the pallet transport module 200, and the other end extends to the focusing mechanism in the corresponding focusing area. This allows the fixture containing the product to be tested to be transported back and forth between the loading / unloading area and the focusing area, achieving precise transfer of the product to be tested between the transfer and focusing stations. The arrangement direction of the fixture transport modules 300 is perpendicular to the arrangement direction of the pallet transport modules 200.

[0062] There are also three loading / unloading mechanisms 400, each corresponding to a loading / unloading area. Each loading / unloading mechanism 400 can use a three-axis robotic arm structure to grasp and transfer the product to be tested. Figure 6 As shown, the end effector of the mechanism can be a robotic arm or a vacuum suction cup, which can remove the product to be tested from the tray on the tray transport module 200 and accurately place it into the fixture of the corresponding fixture transport module 300; at the same time, it can also remove the product that has completed the focusing process from the fixture and put it back into the designated slot of the tray.

[0063] There are also three fixture separation mechanisms (not shown in the figure), each corresponding to a focusing area. The structure of the fixture separation mechanism is similar to that of the loading / unloading mechanism 400, adopting a three-axis drive structure of lifting and translation. After the fixture transport module 300 moves the fixture 700 to the focusing area, the fixture separation mechanism can smoothly remove the product to be tested from the fixture and accurately place it on the focusing platform of the corresponding focusing mechanism. After the focusing process is completed, the product is moved back from the focusing platform to the fixture so that the fixture transport module 300 can send the product back to the loading / unloading area.

[0064] The control mechanism is electrically connected to the pallet transport module 200, three fixture transport modules 300, three loading / unloading mechanisms 400, three fixture separation mechanisms, and three coking mechanisms. The control mechanism has a built-in workstation scheduling program, which can receive status feedback signals from each module and send action commands to control all components to operate collaboratively according to a preset timing sequence.

[0065] In one implementation, the focusing device may also include a position recognition module. This position recognition module may include one or more modules, each corresponding to a module used to monitor whether fixtures, trays, products under test, etc., are placed in the correct positions within one or more areas. Specifically, the position recognition module may include industrial cameras and / or position sensors for position detection.

[0066] The focusing device for binocular cameras in this application, through modular design and collaborative operation logic, has the following technical effects:

[0067] I. Achieving differentiated and precise focusing of the dual lenses of a binocular camera, ensuring focusing quality and efficiency. The first focusing mechanism 510 and the second focusing mechanism 520 are respectively configured with fixed optical environments adapted to the first and second lenses. Both optical environments are specifically calibrated for the specifications of the corresponding lenses, ensuring the focusing accuracy of a single lens. The third focusing mechanism 530, through differentiated optical environment configuration and control mechanism switching modes, allows it to switch to a suitable optical environment according to the actual working conditions, supplementing the first two stations and performing precise supplementary focusing on the semi-finished lenses. The three focusing mechanisms process the focusing operation of the binocular camera in parallel, avoiding the problem of insufficient focusing adaptability caused by the fixed function of a single station, and also improving the focusing efficiency of the binocular camera.

[0068] II. Enhance production line flexibility to adapt to the mixed production needs of multiple product specifications. Existing AA equipment has fixed station functions, and switching product specifications requires changing optical components and tooling; the third focusing mechanism 530 of this equipment can quickly switch optical environments, and with the coordinated scheduling of the control mechanism, it can handle two lens specifications without changing hardware.

[0069] Third, it achieves fully automated flow and improves the efficiency of coking operations. The pallet transport module 200, the fixture transport module 300, the loading and unloading mechanism 400, and the fixture separation mechanism form a closed-loop automated transfer link. The entire process from product feeding to product discharging does not require manual intervention. The control mechanism can dynamically schedule product flow according to the real-time status of each workstation, avoiding workstation idleness or congestion.

[0070] In one embodiment, the product under test includes a housing, a first lens assembly, and a second lens assembly in a separated state; the fixture includes a third positioning groove for placing the housing, a first positioning groove for placing the first lens assembly, a second positioning groove for placing the second lens assembly, and a fourth positioning groove for placing a camera assembled with the housing and the first and / or second lens assemblies; the focusing mechanism assembles and focuses the housing and the first and / or second lens assemblies on the focusing platform, and the fixture separation mechanism places the assembled camera into the fourth positioning groove after focusing is completed.

[0071] In this embodiment, the product under test includes a binocular camera in an incomplete assembly state (i.e., the housing is not assembled with the first lens assembly or the second lens assembly), a first semi-assembled state (i.e., the housing is assembled with the first lens assembly but not yet with the second lens assembly), a second semi-assembled state (i.e., the housing is assembled with the second lens assembly but not yet with the first lens assembly), and a completed assembly state (i.e., the housing is assembled with both the first and second lens assemblies). The fourth positioning slot is used to accommodate the camera in the completed assembly state, the camera in the first semi-assembled state, and the camera in the second semi-assembled state. The structure and dimensions of each positioning slot match the structure and dimensions of the corresponding component, enabling the placement and fixation of the corresponding component.

[0072] The four positioning slots can be arranged in a straight line or any other arbitrary pattern. There is a certain distance between adjacent positioning slots to prevent interference during the gripping process of the robotic arm. The three positioning slots can achieve precise placement and positioning of the housing, the first lens assembly, the second lens assembly, and the camera through design such as shape adaptation, elastic limit, and positioning protrusions, providing a stable benchmark for subsequent component gripping and assembly alignment.

[0073] like Figure 5 As shown, it is understandable that both the tray and fixture 700 are components used to carry and transfer the product to be tested, and both can have the same structure. By setting four independent positioning slots, the temporary storage of the housing, the first lens assembly, and the second lens assembly, as well as the storage of finished / semi-finished cameras, can be realized simultaneously. There is no need to configure an additional material buffer mechanism, so that each fixture and tray has the function of "multi-material carrying + finished product temporary storage", which simplifies the equipment structure, reduces the number of times materials are transferred between modules, and reduces the risk of bumps and knocks during the transfer process.

[0074] In one embodiment, each loading / unloading mechanism 400 includes four synchronously moving robotic arms. The first robotic arm is used to hold a first lens assembly, the second robotic arm is used to hold a second lens assembly, the third robotic arm is used to hold a housing, and the fourth robotic arm is used to hold an assembled camera.

[0075] like Figure 6As shown, each loading / unloading mechanism 400 is equipped with a multi-axis linkage servo drive system, which drives four robotic arms to move synchronously. The positions of the first, second, third, and fourth robotic arms are aligned with the first, second, third, and fourth positioning slots, respectively. This allows one or more of the following components—the housing, the first lens assembly, the second lens assembly, and the finished / semi-finished camera—in the tray or fixture to be simultaneously grasped, moved, and placed, improving operational efficiency. If not all four positioning slots in the fixture or tray contain the corresponding components, the corresponding robotic arm will miss its grip.

[0076] Specifically, the pallet transport module 200 transports the pallet to the loading / unloading area and positions it. The fixture transport module 300 transports the fixture 700 to the same loading / unloading area and positions it. After the position recognition module (industrial camera + image processor) determines that the pallet and fixture are in position, it can determine the position coordinates of the pallet and fixture and send them to the central control mechanism. The control mechanism calculates the motion trajectory of the three-axis drive module to realize the grasping and transfer of the target object.

[0077] Taking the process of picking up a target object from a tray and transferring it to a fixture as an example, the central control unit drives the X / Y axes to move synchronously above the tray. The first robotic arm moves above the first positioning slot, while the second, third, and fourth robotic arms move synchronously above the second, third, and fourth positioning slots, respectively. Then, the Z-axis is controlled to descend synchronously to a predetermined position. The first robotic arm picks up the first lens assembly in the first positioning slot, the second robotic arm simultaneously picks up the second lens assembly in the second positioning slot, the third robotic arm simultaneously picks up the housing in the third positioning slot, and the fourth robotic arm picks up the target object in the fourth positioning slot. If there is no target object in the corresponding positioning slot, the corresponding robotic arm will not pick up the target object. After picking up the target object, the Z-axis is controlled to rise synchronously, and then the X / Y axes are driven to move synchronously above the fixture in the loading / unloading area. The Z-axis is then controlled to descend synchronously, placing the picked-up target object into the corresponding positioning slot in the fixture before releasing it. Finally, the four robotic arms are controlled to return to their initial positions. The process of picking up a camera from the fixture and transferring it to the fixture is basically similar and will not be described in detail here.

[0078] In one embodiment, the fixture separation mechanism is also designed to transfer target objects from the fixture to the focusing platform, or vice versa, and has a structure similar to the loading / unloading mechanism. The difference lies in that the robotic arm of the fixture separation mechanism can grasp and transfer specific target objects based on the focusing target of the corresponding focusing area, while the robotic arm of the loading / unloading mechanism 400 will grasp and transfer all target objects in the tray or fixture. The control mechanism can adjust the relative positions of these robotic arms on the X / Y / Z axes according to the actual target objects being grasped, so that when a corresponding robotic arm grasps a target object, a robotic arm that does not need to grasp a target object will not touch the corresponding target object, or during the actual grasping process, target objects that do not need to be grasped will be kept released without being grasped, thus avoiding interference during the focusing process.

[0079] Taking the focusing target of the focusing area as an example of focusing the first lens assembly, when the fixture contains a housing, a first lens assembly, and a second lens assembly, the corresponding fixture separation mechanism only grabs the housing and the first lens assembly from the fixture to the focusing platform, keeping the second lens assembly inside the fixture to avoid interference with the first lens assembly. After the focusing mechanism completes the assembly and focusing of the first lens assembly, the corresponding fixture separation mechanism grabs the camera in the first half-assembled state and transfers it to the corresponding positioning slot in the fixture. If the fixture contains a first lens assembly and a camera in the second half-assembled state, it grabs both the first lens assembly and the camera in the second half-assembled state. After the focusing mechanism completes the assembly and focusing of the first lens assembly, the corresponding fixture separation mechanism grabs the fully assembled camera and places it into the corresponding positioning slot in the fixture.

[0080] In one embodiment, the pallet transport module 200 includes a first pallet transport mechanism 210 and a second pallet transport mechanism 220 arranged in parallel. The first pallet transport mechanism 210 transports pallets in a straight line along a first direction, and the second pallet transport mechanism 220 transports pallets in a straight line along a second direction opposite to the first direction. Each fixture transport module 300 includes a first fixture transport mechanism 310 and a second fixture transport mechanism 320 arranged in parallel. The first fixture transport mechanism 310 transports fixtures in a straight line along a third direction, and the second fixture transport mechanism 320 transports fixtures in a straight line along a fourth direction opposite to the third direction.

[0081] like Figure 1 and Figure 2As shown, in this embodiment, the pallet transport module 200 is installed on the main conveying channel of the loading and unloading area of ​​the frame 100. The first pallet transport mechanism 210 and the second pallet transport mechanism 220 are arranged in parallel, with their conveying surfaces at the same horizontal level and their conveying directions completely opposite. Both pallet transport mechanisms adopt a synchronous belt conveying structure, with anti-slip ridges evenly distributed on the surface of the synchronous belt to prevent the pallets from slipping during transport. The drive end is equipped with a stepper motor, which, in conjunction with a planetary reducer, enables uniform and stable transport of the pallets. The first direction can be the direction from the feed end to the discharge end of the equipment, along which the first pallet transport mechanism 210 runs; the second direction is the direction from the discharge end to the feed end of the equipment, along which the second pallet transport mechanism 220 runs. The first focusing mechanism 510, the second focusing mechanism 520, and the third focusing mechanism 530 are arranged sequentially along the first direction.

[0082] The two pallet transport mechanisms are independently controlled by the control mechanism. Based on the operating status of each focusing mechanism, they can transfer pallets to the corresponding transport mechanisms as needed and deliver them to the required target positions. For example, after the first focusing mechanism 510 completes the focusing of the first lens assembly of the product under test and transports it to the corresponding first loading / unloading position via the fixture transport module 300, if the product under test needs to continue focusing on the second lens assembly, the corresponding loading / unloading mechanism 400 transfers the product under test to the first pallet transport mechanism 210 and transports it along the first direction to the second loading / unloading position corresponding to the second focusing mechanism 520, or the third loading / unloading position corresponding to the third focusing mechanism 530. Finally, the product under test is transferred to the corresponding second focusing mechanism 520 or third focusing mechanism 530 for focusing the second lens. For example, after the third focusing mechanism 530 completes the focusing of the first lens assembly of the product under test and transports it to the corresponding third loading / unloading position through the fixture transport module 300, if the product under test needs to continue focusing the second lens assembly, the product under test is transferred to the second pallet transport mechanism 220 through the corresponding loading / unloading mechanism 400, and transported along the second direction to the second loading / unloading position corresponding to the second focusing mechanism 520, and finally the product under test is transferred to the corresponding second focusing mechanism 520 to carry out the focusing of the second lens.

[0083] like Figure 3As shown, each coking area is equipped with an independent fixture transport module 300. Each fixture transport module 300 can also be composed of a first fixture transport mechanism 310 and a second fixture transport mechanism 320 arranged in parallel. The transport paths of the two mechanisms are connected at one end to the loading / unloading position of the pallet transport module 200, and at the other end to the coking platform of the coking mechanism. The transport directions are opposite, and together they realize the reciprocating cyclic transport of the fixture between the loading / unloading area and the coking area. For each fixture transport module 300, the third direction can be from the loading / unloading area to the coking area. The first fixture transport mechanism 310 runs along the third direction and is responsible for moving the fixture loaded with the product to be tested from the loading / unloading operation position to the fixture separation mechanism in the coking area. The fourth direction can be from the coking area to the loading / unloading area. The second fixture transport mechanism 320 runs along the fourth direction and is responsible for moving the fixture that has completed the coking operation from the coking area back to the loading / unloading operation position so that the loading / unloading mechanism 400 can complete the transfer of semi-finished or finished products. The fixture separation mechanism is also used to transfer the fixture between the first fixture transport mechanism and the second transport mechanism.

[0084] In one embodiment, the fixture transport module 300 may also employ only one fixture transport mechanism that can reciprocate in the third and fourth directions.

[0085] In one embodiment, such as Figure 4 As shown, the coking equipment also includes three pallet placement mechanisms 600. Each pallet placement mechanism 600 corresponds to a loading and unloading area. The pallet placement mechanism 600 includes a pallet placement platform and a lifting mechanism for raising and lowering the pallet placement platform. When the lifting mechanism is at the first height position, the pallet can be transferred from the pallet transport module 200 to the pallet placement platform. When the lifting mechanism is at the second height position, the pallet can pass under the pallet placement platform and continue to be transported.

[0086] Three pallet placement mechanisms 600 are installed one-to-one with the three loading and unloading areas. Each pallet placement mechanism 600 is fixed at the corresponding position in the loading and unloading area of ​​the frame 100, and is located directly above the two parallel first pallet transport mechanisms 210 and second pallet transport mechanisms 220 of the pallet transport module 200. The three pallet placement mechanisms 600 have completely identical structural specifications, are independently controlled by the control mechanism, and can independently complete lifting and lowering actions according to the operational needs of the corresponding coking station, without interfering with each other.

[0087] Each pallet placement mechanism 600 includes a pallet placement platform and a lifting mechanism. The surface dimensions of the pallet placement platform match the external dimensions of the pallet of the product to be tested. The lifting mechanism can use a small electric screw lifting module as the drive component, featuring adjustable lifting speed and high positioning accuracy. The bottom of the lifting mechanism is fixed to the frame 100 via a mounting base, and the top is rigidly connected to the connecting flange of the pallet placement platform, enabling the pallet placement platform to smoothly complete the lifting action.

[0088] The lifting mechanism switches between different height positions to achieve two modes: pallet holding and direct transport. At the first height position, the upper surface of the pallet placement platform is approximately at the same level as the conveying surface of the pallet transport module 200. At the second height position, the lower surface of the pallet placement platform is higher than the maximum height of the product to be tested on the pallet on the pallet transport module 200, allowing the pallet on the pallet transport module 200 to pass directly under the pallet placement platform without obstructing pallet transport.

[0089] The lifting mechanisms of the three pallet placement mechanisms 600 are all electrically connected to the control mechanism. The control mechanism can automatically instruct the corresponding pallet placement mechanism 600 to switch height positions based on the real-time operating status of the three focusing stations and the process information of the products within the pallets. When the control mechanism determines that loading / unloading operations need to be performed in the corresponding loading / unloading area, it instructs the lifting mechanism to drive the pallet placement platform to descend to the first height position. At this time, the pallet conveyed by the pallet transport module 200 can smoothly slide directly from the conveying mechanism onto the pallet placement platform. After the pallet is stably positioned on the corresponding pallet placement platform, the pallet placement platform is raised to the second height position, and the loading / unloading mechanism 400 is instructed to transfer the target object in the pallet at the second height position, or to transfer the target object in the jig to the pallet at the second height position. When loading / unloading is not required, the pallet placement platform remains at the second height position, allowing the pallet below to pass through the pallet placement platform and continue transport, or allowing pallets that do not require loading / unloading to pass directly through the pallet placement platform at the first height position and continue transport.

[0090] Taking a three-station collaborative operation scenario as an example: When it is necessary to transport the target object in the pallet to the focusing platform of the first focusing mechanism 510 for focusing of the first lens assembly, the pallet placement platform of the first loading and unloading area corresponding to the first focusing mechanism 510 is placed at a first height position. When the corresponding target pallet is transferred from the pallet transport module 200 to the pallet placement platform of the first loading and unloading area, the transfer of the pallet transport module 200 is paused, the pallet placement platform of the first loading and unloading area is raised to a second height position, and then the transfer of the pallet transport module 200 is resumed. If the pallet placement platform of the first loading and unloading area is at the first height position, but the pallet passing through the pallet placement platform is not the target pallet, the pallet transport module 200 is controlled to continue moving, so that the non-target pallet continues to pass through the pallet placement platform until the target pallet is on the pallet placement platform. After the pallet placement platform rises to the second height position, the loading and unloading mechanism 400 is invoked to transfer the target object on the target pallet to the fixture in the fixture transport module 300. The target object in the fixture is then transferred to the focusing platform of the first focusing mechanism 510 through the fixture transport module 300 and the fixture separation mechanism.

[0091] In one embodiment, a focusing method for a binocular camera is provided. This method is applied to the focusing device for a binocular camera described in any embodiment of this application, such as... Figure 7 As shown, the method includes:

[0092] Step S1: Identify the test status of each product under test and the working status of each focusing mechanism.

[0093] In this embodiment, the test states include no test conducted, the first lens completed the test, the second lens completed the test, and both lenses completed the test. The working states include focusing and idle states.

[0094] Step S2: When the product under test that has completed the focusing test in a certain focusing mechanism enters the state where both lenses have completed the test, the product under test is transferred from the corresponding focusing mechanism to the tray transport module 200 via the fixture transport module 300, and then transported to the process after the focusing is completed.

[0095] Step S3: When the product under test, which has completed the focusing test in a certain focusing mechanism, enters a state other than the two lenses having completed the test, select a focusing mechanism from the three focusing mechanisms that is suitable for the product under test to carry out the next focusing test, and transfer the product under test to the selected focusing mechanism for focusing test.

[0096] In this embodiment, when the device is first started, all three focusing mechanisms are in an idle working state, and no corresponding target object has been transported to the corresponding focusing platform for each focusing mechanism. At this time, the tray carrying the housing, the first lens, and the second lens can be placed on the tray transport module 200 for transportation. The products to be tested in the tray are all in a testing state before testing begins.

[0097] Specifically, for pallets containing products yet to be tested, they can be placed on the first pallet transport mechanism and transported along the first direction starting from the infeed end. The control mechanism can control the target loading and unloading positions corresponding to each pallet. For example, the target loading and unloading position of the first pallet is the first loading and unloading position corresponding to the first focusing mechanism 510; the target loading and unloading position of the second pallet is the second loading and unloading position corresponding to the second focusing mechanism 520; and the target loading and unloading position of the third pallet is the third loading and unloading position corresponding to the third focusing mechanism. Initially, the pallet placement platform at each loading and unloading position is at the first height position. When the first pallet reaches the pallet placement platform (denoted as the first pallet placement platform) corresponding to the first focusing mechanism 510 at the first height position, the movement of the first pallet transport mechanism is paused, the first pallet placement platform is raised to the second height position, and then the operation of the first pallet transport mechanism is resumed, so that the pallets on the first pallet transport mechanism continue to be transported. At this time, when the second pallet is transported to the pallet placement platform (denoted as the second pallet placement platform) corresponding to the second focusing mechanism 520, the movement of the first pallet transport mechanism is also paused, the second pallet placement platform is raised to the second height position, and then the operation of the first pallet transport mechanism is resumed. When the third pallet is transported to the pallet placement platform (denoted as the third pallet placement platform) corresponding to the third focusing mechanism, the movement of the first pallet transport mechanism is also paused, and the third pallet placement platform is raised to the second height position.

[0098] After the corresponding pallet placement platform rises to the second height position, the corresponding loading / unloading mechanism 400 is invoked to transfer all the products to be tested from the pallets on the platform to the fixtures on the corresponding fixture transport module 300. At this time, the fixture is in the corresponding loading / unloading area. After the transfer of the products to be tested is completed, the products to be tested in the fixture are transported to the corresponding focusing area via the fixture transport module 300. The fixture can be transported from the loading / unloading area to the focusing area via the corresponding first fixture transport mechanism.

[0099] The corresponding fixture separation mechanism transfers part or all of the product to be tested to the corresponding focusing platform as needed. For example, the fixture separation mechanism corresponding to the first focusing mechanism 510 (denoted as the first fixture separation mechanism) transfers the housing and the first lens assembly from the fixture to the focusing platform of the first focusing mechanism 510 (denoted as the first focusing platform), keeping the second lens assembly unchanged within the fixture; the fixture separation mechanism corresponding to the second focusing mechanism 520 (denoted as the second fixture separation mechanism) transfers the housing and the second lens assembly from the fixture to the focusing platform of the second focusing mechanism 520 (denoted as the second focusing platform), keeping the first lens assembly unchanged within the fixture; the fixture separation mechanism corresponding to the third focusing mechanism (denoted as the third fixture separation mechanism), according to the set lens to be focused, transfers the corresponding housing and lens assembly to the focusing platform of the third focusing mechanism (denoted as the third focusing platform), so that the lens assembly that does not need to be focused remains unchanged within the fixture. After the corresponding target object is transferred to the focusing platform, the working state of the corresponding focusing mechanism changes to focusing, and the assembly and / or focusing of the corresponding lens is carried out. At this point, the fixture separation mechanism will transfer the fixture from the first fixture transport mechanism within the coking zone to the second fixture separation mechanism within the coking zone. This allows the first fixture separation mechanism to transport another fixture to the loading / unloading zone at any time.

[0100] After a lens for a product under test is assembled and focused in a certain focusing mechanism, the focused camera is transferred from the focusing platform to the fixture in the second fixture separation mechanism. Then, the second fixture separation mechanism is controlled to transport the fixture from the focusing area to the loading and unloading area.

[0101] After the fixture arrives at the loading and unloading area, the transport direction is determined based on the test status of the product to be tested in the fixture. For example, if the product is in a state where both lenses have completed testing, the corresponding loading and unloading mechanism is called to transfer the product to be tested in the fixture in the loading and unloading area to the pallet on the pallet placement platform. Then, the pallet placement platform is lowered to the first height position, so that the pallet is transported to the discharge end by the first pallet transport mechanism along the first direction.

[0102] In this embodiment, the focusing mechanism includes three components: a first focusing mechanism 510 adapted for focusing on the first lens, a second focusing mechanism 520 adapted for focusing on the second lens, and a third focusing mechanism capable of simultaneously adapting to focusing on both lenses. Therefore, when the product under test is in the state where the first lens test is complete, the focusing mechanisms adapted to conduct the next focusing test are the second focusing mechanism 520 and the third focusing mechanism; when the product under test is in the state where the second lens test is complete, the focusing mechanisms adapted to conduct the next focusing test are the first focusing mechanism 510 and the third focusing mechanism.

[0103] If the product under test in the fixture is in a testing state other than when both lenses have completed testing (e.g., the first lens has completed testing, or the second lens has completed testing), then it still needs to undergo focusing testing on the other lens. In this case, the transport direction of the product under test is determined based on the current position of the fixture and the position of the assigned focusing mechanism. The product under test in the fixture is transferred to the corresponding tray, and transported on the corresponding tray transport mechanism in the determined direction to the next focusing mechanism.

[0104] After the product under test completes the focusing test of the second lens via the second focusing mechanism 520 and is in the state of "second lens testing complete," the appropriate focusing mechanisms for conducting the next focusing test are the first focusing mechanism 510 and the third focusing mechanism. If the third focusing mechanism is selected, the product under test is transported to the third loading / unloading area via the first pallet transport mechanism along the first direction. Then, the corresponding first fixture transport mechanism is called to transfer the product under test to the corresponding fixture and transport it to the third focusing area, where the third focusing mechanism conducts the focusing test of the first lens. If the first focusing mechanism 510 is selected, the product under test is transported to the first loading / unloading area via the second pallet transport mechanism along the second direction. Then, the corresponding first fixture transport mechanism is called to transfer the product under test to the corresponding fixture and transport it to the first focusing area, where the first focusing mechanism 510 conducts the focusing test of the first lens.

[0105] The focusing method for binocular cameras in this application improves the flexibility and efficiency of binocular camera focusing through a logical design of real-time status recognition, dynamic path scheduling, and precise workstation matching.

[0106] In one embodiment, selecting one of the three focusing mechanisms to conduct the next focusing test for the product under test includes: preferentially selecting a focusing mechanism that is idle and whose optical environment directly matches the subsequent focusing requirements of the product under test.

[0107] In this embodiment, the focusing efficiency of each focusing mechanism is not exactly the same. As the focusing equipment continues to work, the state of each focusing mechanism will change at the same time. The following descriptions are provided for the products under test in three different test states.

[0108] For products under test that have not yet undergone testing, the selectable focusing mechanism (i.e., the focusing mechanism whose optical environment directly matches the subsequent focusing requirements of the product under test) can be any one of the three. For products under test that have completed the first lens test, the selectable focusing mechanism can be the second focusing mechanism 520 and the third focusing mechanism, and the optical environment of the third focusing mechanism needs to be adjusted to adapt to the optical environment of the second lens. For products under test that have completed the second lens test, the selectable focusing mechanism can be the first focusing mechanism 510 and the third focusing mechanism, and the optical environment of the third focusing mechanism needs to be adjusted to adapt to the optical environment of the first lens.

[0109] In this embodiment, if only one selectable focusing mechanism is idle, that single idle focusing mechanism is selected. If multiple selectable focusing mechanisms are idle, or if all selectable focusing mechanisms are in the focusing process, a focusing mechanism can be selected according to a pre-set selection method. This selection method can be one or more of the following: random selection, selection based on the minimum transport path, selection based on the highest focusing efficiency, or selection based on the selection priority of the focusing mechanism.

[0110] Optionally, when only the third focusing mechanism is idle, the third focusing mechanism is selected as the focusing mechanism for the next focusing test, and the third focusing mechanism is switched to an optical environment that matches the product under test to be focused. If the optical environment in which the third focusing mechanism is located is already matched to the product under test, no adjustment is required.

[0111] Taking the third focusing mechanism as an example, the transfer method for the product under test is explained. When the product under test to be focused is already on the third focusing platform, there is no need to transfer the product under test. The fixture transport module corresponding to the third focusing mechanism is directly called to transfer the remaining lens components in the fixture of the corresponding second fixture transport mechanism to the third focusing platform (it can be understood that when the product under test is focusing, its remaining lens component is still in the corresponding fixture, and the fixture will be transferred from the first fixture transport mechanism to the second fixture transport mechanism by the fixture separation mechanism during the focusing process, and is still waiting in the focusing area). At the same time, the third focusing mechanism is switched to an optical environment that matches the product under test to be focused. Then, the third focusing mechanism continues to assemble and focus the lens. That is, the third focusing mechanism focuses the first lens and the second lens for the product under test respectively.

[0112] If the product to be tested is not currently on the third focusing platform (e.g., on the first or second focusing platform), taking the first focusing platform as an example (i.e., the product to be tested is in the state where the first lens has completed testing), the fixture separation mechanism at the first focusing mechanism 510 is invoked to transfer the product to the fixture of the corresponding second fixture transport mechanism (understandably, the second lens is still present in the fixture). The second fixture transport mechanism then transports the product from the first focusing area to the corresponding loading and unloading area. The loading and unloading mechanism in the loading and unloading area transfers the camera and second lens in the fixture, which are in the state where the first lens has completed testing, to the corresponding tray. The tray is then transported along the first direction by the first tray transport mechanism to the loading and unloading area corresponding to the third focusing platform. The loading and unloading mechanism in the third loading and unloading area transfers all items in the tray to the fixture of the first fixture transport mechanism in the loading and unloading area. The first fixture transport mechanism then transports the product to the third focusing area, and the fixture separation mechanism in the third focusing area transfers all items to the third focusing platform. During this process, if the optical environment of the third focusing mechanism does not match the product under test for which focusing testing is to be conducted, its optical environment will be adjusted. During the transfer of the product under test in the loading and unloading area, the pallet transport module is invoked to perform lifting operations; details will not be elaborated here.

[0113] Optionally, when there are two directly matched and idle focusing mechanisms, one of which is a third focusing mechanism, the non-third focusing mechanism is selected as the focusing mechanism for conducting the next focusing test.

[0114] In this embodiment, the control mechanism can have a built-in priority program to set the selection priority of the dedicated focusing mechanism to be higher than that of the third focusing mechanism. This ensures that when both the dedicated focusing mechanism and the third focusing mechanism are idle, the dedicated focusing mechanism will be called first.

[0115] Prioritizing the use of a first focusing mechanism 510 dedicated to focusing the first lens, or a second focusing mechanism 520 dedicated to focusing the second lens, rather than a third focusing mechanism, can reduce the number of operations or the duration of operation for the third focusing mechanism, and avoid frequent switching of its optical environment. The optical environments of the first focusing mechanism 510 and the second focusing mechanism 520 are calibrated with fixed parameters, which generally provide higher focusing accuracy and stability compared to the dynamically switching optical environment of the third focusing mechanism.

[0116] In one embodiment, a focusing mechanism is selected from three focusing mechanisms to conduct the next focusing test on the product under test, including:

[0117] Each focusing mechanism adapted to the product under test is designated as a pre-selected mechanism. Based on the waiting time of the focusing area corresponding to each pre-selected mechanism, the transportation time of the product under test, the loading and unloading time, the jig separation time, and the focusing time, the operation time of each pre-selected mechanism is predicted. The operation time is the time taken from the current moment for the corresponding pre-selected mechanism to complete one focusing operation of the product under test and then enter the idle state again. The pre-selected mechanism with the shortest operation time is selected as the focusing mechanism to conduct the next focusing test.

[0118] In this embodiment, when a product under test enters the first lens testing area or the second lens testing area and needs to be reassigned to a focusing mechanism, the operation time of each pre-selected mechanism can be calculated. The waiting time represents the estimated time for the corresponding focusing mechanism to transition from focusing to an idle state at the current moment. If the corresponding focusing mechanism is already idle at the current moment, its waiting time is 0. The transport time of the product under test includes the sum of the first transport time on the pallet transport module and the second transport time on the fixture transport module. Generally, the second transport time is relatively fixed, including the time taken by the second fixture transport mechanism to transport the product under test from the focusing area to the loading / unloading area and the time taken by the first fixture transport mechanism to transport the product under test from the loading / unloading area to the focusing area; the first transport time is controlled by the distance between the position of the product under test and the position of the pre-selected mechanism.

[0119] The loading and unloading time refers to the time it takes for the loading and unloading mechanism to complete loading and unloading. The loading process involves transferring the product to be tested from the pallet to the fixture, and the unloading process involves transferring the product to be tested from the fixture to the pallet. The process also involves the time it takes for the pallet placement platform to lift and lower.

[0120] Similarly, the fixture separation time includes the first separation time for transferring the product under test from the fixture to the focusing platform, and the second separation time for transferring the product under test from the focusing platform to the fixture. The focusing time represents the time it takes for the corresponding focusing mechanism to complete a single assembly and focusing test. Different focusing mechanisms may take different times to focus on different lenses; this time can be the average of the times taken by the corresponding focusing mechanism for the most recent N assembly and focusing tests on the same lens.

[0121] The predicted operation time is the sum of the predicted waiting time, transportation time, loading and unloading time, jig separation time and focusing time, after removing the overlapping time.

[0122] For example, the pre-selection mechanism has two focusing mechanisms (denoted as focusing mechanism A and focusing mechanism B). For focusing mechanism A, if it is currently focusing, its expected waiting time is 10s; in the transportation time, the first transportation time is 15s and the second transportation time is 10s; in the loading and unloading time, the loading time is 5s and the unloading time is also 5s; the total jig separation time is 10s, and the focusing time is 60s. The sum of these times, excluding overlapping time, is 115s. However, in actual operation, the product under test is partially executed in parallel with the transportation and loading / unloading process and the waiting time of the focusing mechanism. The overlapping time includes the 10s waiting time. Therefore, the calculated operation time of focusing mechanism A is 105s.

[0123] Similarly, for focusing mechanism B, if it is currently focusing, its expected waiting time is 20 seconds; the transportation time includes 10 seconds for the first transportation and 10 seconds for the second transportation; the loading and unloading time includes 5 seconds for loading and 5 seconds for unloading; the fixture separation time is a total of 10 seconds; and the focusing time is 55 seconds. The sum of these times, excluding overlapping times, is 115 seconds. However, in actual operation, the loading and unloading process of the product under test in the transport box and the waiting process of the focusing mechanism are executed in parallel, and the overlapping time includes the 20-second waiting time. Therefore, the calculated working time of focusing mechanism A is 95 seconds. In other words, although focusing mechanism B has a longer waiting time, the overall prediction shows that choosing focusing mechanism B results in a shorter working time. Therefore, focusing mechanism B can be selected as the focusing mechanism for the next focusing test.

[0124] In this embodiment, although the pre-selection mechanism may be a third focusing mechanism, and it may need to perform optical environment adjustment to adapt to the focusing test of the corresponding lens, the third focusing mechanism will have an additional corresponding optical environment adjustment time. However, the process of optical environment adjustment can be carried out simultaneously with the fixture separation process. Usually, the adjustment time will be less than the fixture separation time. Therefore, the adjustment time does not need to be included in the statistics of operation time.

[0125] This embodiment is applicable when all focusing mechanisms adapted to the product under test are not idle at the current moment, allowing for the selection of a focusing mechanism. By quantitatively calculating waiting time, transportation time, loading and unloading time, fixture separation time, and focusing time, the operation time of different selection strategies can be predicted, which can improve the overall testing efficiency compared to blind or random selection.

[0126] In one embodiment, selecting one of the three focusing mechanisms to conduct the next focusing test for the product under test includes: if any focusing mechanism malfunctions or the focusing yield of any focusing mechanism is less than a preset yield threshold, the focusing mechanism with the malfunction or the focusing yield less than the yield threshold is put into a shutdown state; the product under test on the focusing mechanism in the shutdown state is transferred to the other two normally operating focusing mechanisms, and the allocation rules of the product under test are readjusted.

[0127] In this embodiment, the control mechanism calculates the focusing yield of each focusing mechanism in real time. The yield thresholds for different focusing mechanisms can be different. When the calculated yield is lower than the focusing yield, the operation of the corresponding focusing device can be paused, allowing only the remaining two focusing mechanisms to operate. If the first focusing mechanism 510 enters the shutdown state, the optical environment of the third focusing mechanism is fixed to the optical environment adapted to the first lens, so that the third focusing mechanism can focus solely on the first lens. If the second focusing mechanism 520 enters the shutdown state, the optical environment of the third focusing mechanism is fixed to the optical environment adapted to the second lens, so that the third focusing mechanism can focus solely on the second lens.

[0128] In one embodiment, transferring the product under test to the selected focusing mechanism for focusing testing includes:

[0129] Step S31: When the selected focusing mechanism is not the same as the focusing mechanism used for the previous focusing test on the product under test, the fixture separation mechanism is invoked to transfer the product under test from the corresponding focusing platform to the fixture in the second fixture transport mechanism.

[0130] Typically, a third focusing mechanism may be selected to focus the first and second lenses of the same product under test separately. In this case, there is no need to transfer the product under test. However, when the focusing mechanisms selected to focus the two lenses are not the same, the product under test needs to be transferred to the other focusing mechanism after focusing one lens is completed. At this time, the control mechanism instructs the fixture separation mechanism of the original focusing area to initiate lifting and translation actions to smoothly remove the product under test, which has completed the previous focusing, from the focusing platform and accurately place it into the fixture positioning slot of the second fixture transport mechanism in that focusing area.

[0131] Step S32: Call the second fixture transport mechanism to transport the fixture from the coking area to the loading and unloading area along a third direction.

[0132] After the product to be tested is placed into the fixture positioning slot, the second fixture transport mechanism receives the transport instruction and starts linear drive in a third direction (from the focusing area to the loading and unloading area) to move the fixture carrying the product to be tested at a constant speed to the designated position of the loading and unloading area corresponding to the original focusing mechanism.

[0133] Step S33: Call the loading and unloading mechanism to transfer the product to be tested in the fixture in the loading and unloading area to the pallet of the pallet placement platform at the second height position.

[0134] Upon reaching the designated position, the loading and unloading mechanism of the corresponding loading and unloading area activates the four robotic arms to move synchronously, removing all the products to be tested from the fixture and transferring them to the tray of the tray placement platform at the second height position.

[0135] Step S34: Lower the pallet placement platform to the first height position. Based on the relative position between the product to be tested and the selected focusing mechanism, determine the transport direction of the pallet. Select a pallet transport mechanism that matches the determined transport direction to transport the pallet to the loading and unloading area corresponding to the selected focusing mechanism.

[0136] The control mechanism instructs the lifting mechanism to drive the pallet placement platform to descend from the second height position to the first height position, so that the upper surface of the pallet is flush with the conveying surface of the pallet transport module, and the pallet is transferred to the conveyor belt of the corresponding pallet transport mechanism.

[0137] If the original mechanism is the first focusing mechanism 510 and the target mechanism is the third focusing mechanism / second focusing mechanism 520, then the selected pallet transport mechanism is the first pallet transport mechanism; if the original mechanism is the third focusing mechanism and the target mechanism is the first focusing mechanism 510 / second focusing mechanism 520, then the selected pallet transport mechanism is the second pallet transport mechanism.

[0138] The selected pallet transport mechanism starts along the determined transport direction, precisely transferring the pallet loaded with the product to be tested to the loading / unloading area corresponding to the target focusing mechanism. After triggering the positioning sensor, it stops operating and waits for the loading / unloading operation. Similarly, the pallet is moved to the pallet placement platform at the first height position in the loading / unloading area, and then the pallet placement platform is raised to the second height position, waiting for the transfer of the product to be tested from the pallet.

[0139] Step S35: Call the loading and unloading mechanism to transfer the product to be tested in the pallet in the loading and unloading area to the fixture of the first fixture transport mechanism.

[0140] The target focusing mechanism starts the robotic arm of the loading and unloading mechanism in the corresponding loading and unloading area to remove the product to be tested from the tray and place it into the fixture positioning slot of the first fixture transport mechanism of the station, thus completing the cross-station transfer of the product.

[0141] Step S36: Call the first fixture transport mechanism to transport the fixture from the loading and unloading area to the coking area corresponding to the selected coking mechanism.

[0142] The first fixture transport mechanism starts along a third direction (from the loading / unloading area to the coking area), moving the fixture loaded with products to the coking area corresponding to the target coking mechanism, and parking it within the working range of the fixture separation mechanism.

[0143] Step S37: Call the selected focusing mechanism's corresponding fixture transport module to transfer the product to be tested in the fixture to the focusing platform of the selected focusing mechanism, and control the selected focusing mechanism to perform focusing test.

[0144] The fixture separation mechanism in the target focusing area removes the product from the fixture and transfers it to the focusing platform. Subsequently, the control mechanism instructs the target focusing mechanism to start the lens assembly and AA focusing program. Based on the product's focusing requirements (such as focusing the second lens), the corresponding optical environment parameters are called to complete a full focusing test.

[0145] The cross-station transfer process design in this embodiment achieves precise transfer of the product under test between different focusing mechanisms through standardized and automated action timing control.

[0146] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

[0147] Furthermore, those skilled in the art will understand that although some embodiments herein include certain features included in other embodiments but not others, combinations of features from different embodiments are meant to be within the scope of this application and form different embodiments. For example, all the embodiments above can be used in any combination. The information disclosed in this background section is intended only to enhance the understanding of the general background of this application and should not be construed as an admission or in any way implying that such information constitutes prior art known to those skilled in the art.

Claims

1. A focusing device for a binocular camera, characterized in that, It includes a frame, a pallet transport module mounted on the frame, three pallet placement mechanisms, three fixture transport modules, three loading and unloading mechanisms, three fixture separation mechanisms, three coking mechanisms, and a control mechanism for controlling the coordinated operation of each component. Each focusing mechanism corresponds to a focusing area. The first focusing mechanism among the three focusing mechanisms is equipped with a fixed optical environment adapted to the first lens, the second focusing mechanism is equipped with a fixed optical environment adapted to the second lens, and the third focusing mechanism is equipped with a switchable optical environment that can switch between the optical environment adapted to the first lens and the optical environment adapted to the second lens. The focusing test efficiency of each focusing mechanism is not exactly the same. The pallet transport module is used to transport the pallet containing the product to be tested to the loading and unloading area. One end of each fixture transport module is connected to a corresponding loading / unloading area, and the other end extends to the focusing mechanism of the corresponding focusing area, which is used to transport the fixture containing the product to be tested back and forth between one of the loading / unloading areas and the corresponding focusing area. Each loading and unloading mechanism is used to transport the product to be tested back and forth between a pallet and a corresponding fixture in one of the loading and unloading areas; Each fixture separation mechanism is used to transport the product to be tested back and forth between the fixture in the corresponding focusing area and the focusing platform of the corresponding focusing mechanism; Each pallet placement mechanism corresponds to a loading and unloading area. The pallet placement mechanism includes a pallet placement platform and a lifting mechanism for lifting the pallet placement platform. When the lifting mechanism is at the first height position, the pallet can be transferred from the pallet transport module to the pallet placement platform. When the lifting mechanism is at the second height position, the pallet can pass under the pallet placement platform and continue to be transported. The control mechanism automatically instructs the corresponding pallet placement mechanism to switch height positions based on the real-time operating status of the three focusing stations and the process information of the products in the pallet. If the pallet placement platform in the first loading and unloading area is at the first height position, but the pallet passing through the pallet placement platform in the first loading and unloading area is not the target pallet, the pallet transport module is controlled to continue moving, so that the non-target pallet continues to pass through the pallet placement platform until the target pallet is on the pallet placement platform in the first loading and unloading area.

2. The focusing device for a binocular camera according to claim 1, characterized in that, The product under test includes a housing, a first lens assembly, and a second lens assembly in a separated state; The fixture includes a third positioning groove for placing the housing, a first positioning groove for placing the first lens assembly, a second positioning groove for placing the second lens assembly, and a fourth positioning groove for placing the camera after the housing and the first and / or second lens assembly have been assembled. The focusing mechanism assembles and focuses the housing and the first lens assembly and / or the second lens assembly on the focusing platform. After the focusing is completed, the fixture separation mechanism places the assembled camera into the fourth positioning slot. Each loading and unloading mechanism includes four synchronously moving robotic arms. The first robotic arm is used to hold the first lens assembly, the second robotic arm is used to hold the second lens assembly, the third robotic arm is used to hold the housing, and the fourth robotic arm is used to hold the assembled camera.

3. The focusing device for a binocular camera according to claim 1, characterized in that, The pallet transport module includes a first pallet transport mechanism and a second pallet transport mechanism arranged in parallel. The first pallet transport mechanism transports pallets in a straight line along a first direction, and the second pallet transport mechanism transports pallets in a straight line along a second direction opposite to the first direction. Each fixture transport module includes a first fixture transport mechanism and a second fixture transport mechanism arranged in parallel. The first fixture transport mechanism transports the fixture in a straight line along a third direction, and the second fixture transport mechanism transports the fixture in a straight line along a fourth direction opposite to the third direction.

4. A focusing method for a binocular camera, characterized in that, A focusing device for a binocular camera as described in any one of claims 1 to 3, comprising: Identify the test status of each product under test and the working status of each focusing mechanism. The test status includes no test, first lens completed test, second lens completed test, and both lenses completed test. The working status includes focusing and idle status. When the product under test has completed the focusing test in a certain focusing mechanism and enters the state where both lenses have completed the test, the product under test is transferred from the corresponding focusing mechanism to the tray transport module via the fixture transport module, and then transported to the process after the focusing is completed. When the product under test has completed the focusing test in a certain focusing mechanism and enters a state other than when both lenses have completed the test, select a focusing mechanism from the three focusing mechanisms that is suitable for the product under test to carry out the next focusing test, and transfer the product under test to the selected focusing mechanism for focusing test.

5. The focusing method for a binocular camera according to claim 4, characterized in that, The process of selecting one of the three focusing mechanisms to conduct the next focusing test for the product under test includes: Prioritize focusing mechanisms that are idle and whose optical environment directly matches the subsequent focusing requirements of the product under test.

6. The focusing method for a binocular camera according to claim 5, characterized in that, The preferred focusing mechanism that is idle and whose optical environment directly matches the subsequent focusing requirements of the product under test includes: When only the third focusing mechanism is idle, select the third focusing mechanism as the focusing mechanism for the next focusing test, and switch the third focusing mechanism to an optical environment that matches the product under test to be focused; and / or When there are two directly matched and idle focusing mechanisms, and one of them is the third focusing mechanism, the non-third focusing mechanism is selected as the focusing mechanism to conduct the next focusing test.

7. The focusing method for a binocular camera according to claim 4, characterized in that, The process of selecting one of the three focusing mechanisms to conduct the next focusing test for the product under test includes: Each focusing mechanism adapted to the product under test is used as a pre-selected mechanism; Based on the waiting time of the focusing area corresponding to each pre-selection mechanism, the transportation time of the product to be tested, the loading and unloading time, the jig separation time, and the focusing time, the operation time of each pre-selection mechanism is predicted. The operation time is the time taken from the current moment when the corresponding pre-selection mechanism completes one focusing operation of the product to be tested and then enters the idle state again. The pre-selected mechanism with the shortest operation time will be used as the focusing mechanism for the next focusing test.

8. The focusing method for a binocular camera according to claim 4, characterized in that, The process of selecting one of the three focusing mechanisms to conduct the next focusing test for the product under test includes: If any focusing mechanism malfunctions, or if the focusing yield of any focusing mechanism is less than the preset yield threshold, the focusing mechanism with the malfunction or the focusing yield less than the yield threshold will be shut down. Transfer the test products on the focusing mechanism that is in a stopped state to the other two normally operating focusing mechanisms, and readjust the allocation rules of the test products.

9. The focusing method for a binocular camera according to any one of claims 4 to 8, characterized in that, The step of transferring the product under test to the selected focusing mechanism for focusing testing includes: when the selected focusing mechanism is not the same as the focusing mechanism used for the previous focusing test of the product under test. The fixture separation mechanism is invoked to transfer the product to be tested from the corresponding focusing platform to the fixture in the second fixture transport mechanism; The second fixture transport mechanism is invoked to transport the fixture from the coking area to the loading and unloading area along a third direction; The loading and unloading mechanism is invoked to transfer the product to be tested from the fixture in the loading and unloading area to the pallet on the pallet placement platform at the second height position; The pallet is placed on the platform and lowered to the first height position. Based on the relative position between the product to be tested and the selected focusing mechanism, the transport direction of the pallet is determined. A pallet transport mechanism that matches the determined transport direction is selected to transport the pallet to the loading and unloading area corresponding to the selected focusing mechanism. The loading and unloading mechanism is invoked to transfer the product to be tested from the pallet in the loading and unloading area to the fixture of the first fixture transport mechanism; The first fixture transport mechanism is invoked to transport the fixture from the loading and unloading area to the coking area corresponding to the selected coking mechanism. The selected focusing mechanism's corresponding fixture transport module is invoked to transfer the product to be tested from the fixture to the focusing platform of the selected focusing mechanism, and the selected focusing mechanism is controlled to perform focusing tests.

Images