Camera focusing device and focusing method

Abstract

The invention provides a camera focusing device and a focusing method, and belongs to the technical field of detection. The focusing method comprises the steps that S1, a feeding and discharging mechanism is called to transfer a to-be-tested product in a tray in a feeding and discharging area to a jig in the feeding and discharging area; s2, driving the rotating platform to rotate, rotating the jig on which the to-be-tested product is placed from the loading and unloading area to the focusing area, and rotating the jig on which focusing is completed to the loading and unloading area; s3, a jig separation mechanism is called to separate a jig in a focusing area to be focused from the rotating mechanism, after separation is completed, a focusing mechanism is called to assemble and focus a product to be tested in the rotated jig, and after focusing is completed, the separated jig is placed in the focusing area again; s4, a feeding and discharging mechanism is called to transfer the product which is newly rotated to the jig in the feeding and discharging area and is subjected to focusing to a tray; and circularly executing the steps S1 to S4. According to the invention, the focusing efficiency of the camera can be improved.

Description

Technical Field

[0001] This application relates to the field of detection technology, and in particular to a camera focusing device and focusing method. Background Technology

[0002] With the rapid development of intelligent vehicles and high-definition consumer electronics, the market demand for optical products such as automotive camera modules and high-definition cameras continues to rise, and the requirements for product assembly precision and production efficiency are becoming increasingly stringent. AA (Active Alignment) technology, as a core technology for optical module assembly, uses real-time acquisition of imaging data to drive a multi-degree-of-freedom platform to adjust the relative position and tilt angle of the lens and CMOS image sensor. This effectively corrects assembly errors, ensuring product imaging quality and consistency, and has become a key support for the mass production of high-pixel, high-performance optical products.

[0003] Currently, mainstream AA assembly equipment in the industry mainly adopts single-station serial operation or simple multi-station parallel design. The core processes include loading, focusing and alignment, dispensing and curing, and unloading. As disclosed in patents CN221967041U and CN104639936A, the loading, focusing, and unloading processes are mostly serial or simple parallel designs. That is, after the product to be tested is moved to the loading and unloading area, it is then transferred from the loading and unloading area to the focusing and testing area. After the focusing and testing area completes the test, it is transferred back to the loading and unloading area. The tested product is then removed from the loading and unloading area, and the above process is repeated to carry out the focusing test of the next product.

[0004] However, during the current product focusing test, subsequent products on the production line must wait for the previous product to complete focusing before proceeding to the next process. Since the focusing test takes longer than other processes, the existing technology exhibits significant motion redundancy and waiting time. Although some equipment is equipped with dual focusing stations, the station switching and focusing actions still lack coordination. When the rotating mechanism drives the fixture to switch, the focusing mechanism must pause operation and wait for positioning, failing to fully utilize the advantages of multi-station parallel processing. The production line cycle time is significantly constrained by the bottleneck process.

[0005] Based on this, existing camera focusing equipment and methods still have room for improvement in terms of cycle time efficiency. How to optimize the layout of mechanisms and control logic to achieve coordinated linkage of processes and shorten the redundancy time of actions has become a key technical issue to meet the demand for efficient mass production of optical products. Summary of the Invention

[0006] The purpose of this application is to provide a camera focusing device and focusing method to solve at least one of the above-mentioned technical problems.

[0007] In a first aspect, this application provides a camera focusing device, comprising: The product transport module is used to transport the pallet containing the product to be tested to the loading and unloading area, and after the material transfer is completed, the pallet is transported to the next process. A rotary platform with at least three stations is provided. Each station is fixed with a fixture for placing the product to be tested. The rotary platform can drive each station to rotate synchronously and intermittently. When at least one station is rotated to the loading and unloading area, the remaining at least two stations are simultaneously rotated to a corresponding focusing area. The loading and unloading mechanism is used to transfer the products to be tested bidirectionally between the pallets in the loading and unloading area and the fixtures in the loading and unloading area; The number of focusing mechanisms is the same as the number of focusing stations. Each focusing machine corresponds to a focusing area, which is used to focus the product to be tested in the fixture within the focusing area. The fixture separation mechanism is used to separate the fixture from the rotating mechanism before the focusing mechanism starts focusing. During the product focusing process, the separated fixture does not rotate with the rotating mechanism.

[0008] Optionally, the product under test includes a housing and a PCB board in a separated state. The tray includes a first positioning slot for placing the housing, a second positioning slot for placing the PCB board, and a third positioning slot for placing the camera after the housing and PCB board have been assembled. The focusing mechanism assembles the housing and PCB board in the fixture into a camera in the focusing area, and after focusing is completed, places the camera into the third positioning slot.

[0009] Optionally, the loading and unloading mechanism includes three robotic arms. The first robotic arm is used to hold the housing, the second robotic arm is used to hold the PCB board, and the third robotic arm is used to hold the camera. The positions of the first robotic arm and the second robotic arm correspond to the positions of the first positioning slot and the second positioning slot, and the three robotic arms move synchronously.

[0010] Optionally, the rotating platform has three workstations, which are evenly distributed around the rotating platform.

[0011] Optionally, the rotating platform has four workstations, which are evenly distributed around the rotating platform. Two of the workstations are located in the material feeding area, and the other two workstations are located in the coking area. Alternatively, one workstation may be located in the material feeding area, and the other three workstations may be located in the coking area.

[0012] A second aspect of this application provides a camera focusing method, applied to the camera focusing device described in any embodiment of this application, the focusing method comprising: Step S1: Use the loading and unloading mechanism to transfer the product to be tested from the pallet in the loading and unloading area to the fixture in the loading and unloading area; Step S2: Drive the rotating platform to rotate, rotate the fixture holding the product to be tested from the loading and unloading area to the focusing area, and rotate the fixture that has been focused to the loading and unloading area. Step S3: Call the fixture separation mechanism to separate the fixture in the focusing area to be focused from the rotating mechanism. After separation, call the focusing mechanism to assemble and focus the product to be tested in the rotated fixture. After focusing, call the fixture separation mechanism again to put the separated fixture back into the focusing area. Step S4: Call the loading and unloading mechanism to place the newly rotated fixture in the loading and unloading area, and transfer the focused product to the tray; Repeat steps S1 to S4.

[0013] Optionally, the focusing area includes multiple areas, and step S2 includes: The status of each focusing area is monitored in real time. When only one focusing area is in the waiting focusing state, the fixture containing the product to be tested is rotated from the loading and unloading area to the focusing area in the waiting focusing state. When multiple focusing areas are in a waiting-to-focus state, select one of the focusing areas as the target area and rotate the fixture containing the product to be tested from the loading / unloading area to the target area.

[0014] Optionally, selecting one of the focusing areas as the target area includes: Based on the focusing time, loading and unloading time, and rotation and transfer time of the product to be tested from the loading and unloading area to the corresponding focusing area, the operation time under each focusing area sorting strategy is predicted. The operation time is the time taken from the current moment to complete one focusing operation for each focusing area in the waiting focusing state according to the corresponding focusing area sorting strategy, and then to re-enter the waiting focusing state. Based on the sorting strategy of selecting the focusing area with the shortest operation time, the focusing area ranked first is selected as the target focusing area.

[0015] Optionally, step S2 further includes: when one of the focusing areas has completed focusing and the finished camera has been placed into the corresponding fixture, identifying whether the fixture currently in the loading and unloading area has completed the placement of the product to be tested, and after the product to be tested has been placed, prioritizing rotating the fixture that has completed the placement of the product to be tested to the focusing area that has completed focusing, and causing the fixture that was originally in the focusing area that has completed focusing to rotate synchronously.

[0016] Optionally, step S2 further includes: if the fixture originally in the focusing area rotates synchronously to the non-loading / unloading area, then after the fixture newly rotated to the focusing area completes the fixture separation, the rotating platform is controlled to continue rotating to rotate the fixture originally in the focusing sub-area to the loading / unloading area.

[0017] Optionally, step S1 includes: generating a rotatable signal for the loading / unloading area after the pallet in the loading / unloading area has finished placing the product to be tested; Step S3 includes: generating a corresponding rotatable signal for the focusing area after the fixture in the focusing area has completed fixture separation, or generating a corresponding rotatable signal for the focusing area after the fixture in the focusing area has completed fixture replay. Step S2 includes: after all areas generate rotatable signals, calling the rotation platform to rotate the fixture.

[0018] The camera focusing device and focusing method in this application, through modular design and collaborative operation logic, have the following technical effects: I. Significantly improve production cycle time and operational efficiency: The rotary platform is equipped with at least three workstations. When one workstation is in the loading and unloading area to perform material transfer, the other at least two workstations are simultaneously in the coking area to perform coking test operations. This breaks the time barrier of "loading waiting for coking to be completed, and coking waiting for loading to be ready" in the existing technology, so that the loading and unloading and coking processes can be completely parallel, achieving efficient flow. The rotary platform drives each workstation to rotate synchronously and intermittently, without the need for individual workstation switching, avoiding the coordination delay of independent actions of multiple mechanisms, and further reducing the time consumption of process connection.

[0019] II. Significantly improves focusing test accuracy and product consistency: The fixture separation mechanism rigidly separates the fixture from the rotating platform before focusing, ensuring that the fixture is completely free from the vibration of the rotating mechanism during focusing. At the same time, it avoids displacement of the fixture caused by the rotation of the rotating platform, thus ensuring the stability of focusing test. In addition, the focusing mechanism corresponds one-to-one with the focusing area. Each focusing mechanism can perform customized operation for the fixture of the corresponding station, without the need for frequent adjustment of operating parameters or stroke, reducing the error of mechanism switching and adaptation.

[0020] 3. Enhanced equipment flexibility and adaptability: The rotary platform supports flexible configuration of at least three workstations. The workstation ratio between the loading / unloading area and the focusing area can be adjusted according to the complexity of the focusing test process and the focusing time of different products, adapting to the needs of all scenarios from simple assembly testing to complex multi-parameter focusing; The loading / unloading mechanism supports bidirectional transfer of the product under test between the pallet and the fixture, which can not only complete the loading of the component under test, but also simultaneously realize the unloading of the finished product. There is no need to configure an additional independent unloading mechanism, which simplifies the equipment structure and adapts to the continuous flow requirements of automated production lines. It can be directly embedded into the existing production line, reducing the production line transformation cost.

[0021] IV. Optimized Equipment Structure and Operational Reliability: The product transport module, rotating platform, loading and unloading mechanism, coking mechanism, and fixture separation mechanism are all independent modular components. The functional boundaries of each module are clear, and they can be disassembled and repaired individually in case of failure, reducing maintenance costs. Secondly, all modules are coordinated through a central control unit, and the rotation timing of the rotating platform is precisely matched with the loading and unloading, coking, and fixture separation actions, which can also avoid collisions and interference caused by the simultaneous operation of multiple mechanisms. In addition, the rotating platform and each functional module adopt a circular layout, which is more suitable for the high-density production line layout requirements compared with traditional linear multi-station equipment, reducing the cost of production site occupation. Attached Figure Description

[0022] 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.

[0023] Figure 1 This is a schematic diagram of the camera focusing device at a first angle in one embodiment; Figure 2 This is a schematic diagram of the camera focusing device at a second angle in one embodiment; Figure 3 An exploded view of a camera focusing device in one embodiment; Figure 4 This is a partial schematic diagram of the product transportation module in one embodiment; Figure 5 This is a schematic diagram of the structure of a pallet located on a product transport module in one embodiment; Figure 6 This is a schematic diagram of the loading and unloading mechanism in one embodiment; Figure 7 This is a partial structural diagram of the loading and unloading mechanism in one embodiment; Figure 8 This is a schematic diagram of the rotating platform in one embodiment; Figure 9 This is a schematic diagram of the focusing mechanism in one embodiment; Figure 10 An exploded view of the focusing mechanism in one embodiment; Figure 11 Here is a flowchart of a camera focusing method in one embodiment; Figure 12 This is a schematic diagram of a first part of the camera focusing method in one embodiment; Figure 13 This is a schematic diagram of the second part of the camera focusing method in one embodiment; Figure 14This is a schematic diagram of the third part of the camera focusing method in one embodiment; Figure 15 This is a schematic diagram of the fourth part of the camera focusing method in one embodiment; Figure 16 This is a schematic diagram of the fifth part of the camera focusing method in one embodiment. Detailed Implementation

[0024] 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.

[0025] 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.

[0026] 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.

[0027] 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.

[0028] Combination Figures 1 to 10As shown, this application provides a camera focusing device, which includes: a product transport module 100, a rotating platform 200, a loading / unloading mechanism 300, a focusing mechanism 400, and a fixture separation mechanism 500. The product transport module 100, the loading / unloading mechanism 300, and the focusing mechanism 400 are all arranged around the rotating platform 200. The product transport module 100 is used to transport a tray 120 containing the product to be tested to the loading / unloading area, and after completing the material transfer, to transport the tray 120 to the next process. The rotating platform 200 has at least three stations, each station having a fixed fixture 210 for placing the product to be tested. The rotating platform 200 can drive each station to rotate synchronously and intermittently. When at least one station is rotated to the loading / unloading area, the remaining at least two stations are simultaneously rotated to a corresponding focusing area. The loading / unloading mechanism 300 is used for... The device performs bidirectional transfer of the product to be tested between the pallet 120 in the loading and unloading area and the fixture 210 in the loading and unloading area; the number of focusing mechanisms 400 is the same as the number of focusing stations, with each focusing machine corresponding to a focusing area, used to focus the product to be tested in the fixture 210 in the focusing area; the fixture separation mechanism 500 is used to separate the fixture 210 from the rotating mechanism before the focusing mechanism 400 starts focusing, and the separated fixture 210 does not rotate with the rotation of the rotating mechanism during the product focusing process of the focusing mechanism 400.

[0029] Optional, combined Figures 1 to 5 As shown, the product transport module 100 includes a conveyor track 110, a track drive motor, and a positioning cylinder, with a tray 120 positioned on the conveyor track. The product to be tested can be placed on the tray 120. This product is a camera, specifically a camera requiring assembly and focusing testing. The camera requiring assembly may include a separate housing and PCB board. The tray 120, containing the housing and PCB board, is conveyed to the loading / unloading area by the track drive motor and positioned and fixed by the positioning cylinder.

[0030] After the pallet 120 arrives at the loading and unloading area, the loading and unloading mechanism 300 can grab the test item on the pallet 120 and transfer the grabbed test item to the rotating platform and the fixture 210 at the workstation in the loading and unloading area. Then the positioning cylinder in the product transport module 100 is released, and the track drive motor transports the pallet 120 carrying the finished product to the next process, such as the glue dispensing and curing process.

[0031] Combination Figures 1 to 3As shown in Figure 8, the rotary platform 200 includes a precision servo motor, a rotary table 220, and an encoder. N (N≥3) workstations are evenly distributed on the rotary table 220. Each workstation can hold a fixture 210, which is also used to hold the product to be tested; its structure can be similar to that of the tray 120. After receiving the rotation signal from the central control unit, the servo motor drives the rotary table 220 to rotate intermittently at a predetermined angular velocity (e.g., 5° / s). The encoder can provide real-time feedback of the rotation angle to determine whether each workstation has rotated to the predetermined position (e.g., loading / unloading area, focusing area). Specifically, the rotary table 220 may include a central rotating shaft and workstations evenly arranged around its sides. The servo motor drives the rotary table 220 to rotate around its rotating shaft.

[0032] For example, the rotary platform 200 has three workstations, which are evenly distributed around the rotary platform 200. As another example, the rotary platform 200 has four workstations, which are evenly distributed around the rotary platform 200. Two of these workstations are located in the material loading area, and the other two are located in the coking area. Alternatively, one workstation may be located in the material loading area, and the other three in the coking area.

[0033] Taking 3 workstations as an example, one workstation corresponds to the loading / unloading area, and the other two workstations each correspond to a coking area, with the three workstations spaced 120° apart. Taking 4 workstations as an example, one workstation corresponds to the loading / unloading area, and the other three workstations each correspond to a coking area, with the four workstations spaced 90° apart. The number of workstations can be further increased, and the ratio between the loading / unloading area workstations and the coking area workstations can be set according to actual needs; for example, two loading / unloading areas, two / three / four / five coking areas can be set.

[0034] In one embodiment, the focusing device may further include a position recognition module. This position recognition module may include one or more modules, each corresponding to a module used to monitor whether the fixture 210, tray 120, product under test, etc., in one or more areas are placed or rotated into position. Specifically, the position recognition module may include a camera and / or a position sensor, etc.

[0035] Combination Figure 6 and Figure 7 As shown, the loading / unloading mechanism 300 uses a three-axis drive module to drive the robot arm to move within a certain range. The robot arm has sufficient stroke in each direction, enabling it to cover the transfer of the product to be tested. The robot arm is positioned above the loading / unloading area to facilitate the gripping of the product to be tested. Specifically, after the position recognition module detects that the tray 120 and / or fixture 210 are in place (within the loading / unloading area), the three-axis drive module drives the robot arm to move synchronously to achieve the gripping of the product to be tested.

[0036] The focusing mechanism 400 can also be multiple, and the number of focusing mechanisms 400 can be any suitable number from 2 to N-1. Combined with... Figure 9 and Figure 10 As shown, each focusing mechanism 400 includes a housing 410, a base 420, a fixture placement platform 430, and a focusing module 440 located within a receiving cavity formed by the housing and the base. The focusing module 440 is positioned above the fixture placement platform 430 and is used for assembling and / or focusing tests on the product to be tested transferred to the fixture 210 on the fixture placement platform 430. The base has a recess, within which the fixture placement platform 430 is located.

[0037] The fixture separation mechanism 500 can be fixed to the rotating platform 200 or the focusing mechanism 400, or any other suitable location. Optionally, there can be one or more fixture separation mechanisms 500; for example, one fixture separation mechanism 500 can be configured for each focusing area, combined with... Figure 9 and Figure 10 As shown, a fixture separation mechanism 500 can be provided in the groove of the base 420 of each focusing mechanism. This fixture separation mechanism 500 is used to transfer fixtures 210 located in the same focusing area. The fixture separation mechanism 500 may include a telescopic cylinder and a fixture clamping assembly (not shown). After the fixture 210 rotates to the focusing area, the fixture clamping assembly can clamp the fixture 210 by driving the telescopic cylinder, pushing the fixture 210 from the corresponding workstation to the fixture placement platform 430, or transferring it from the fixture placement platform 430 to the corresponding workstation. After the fixture 210 is moved to its destination, the fixture clamping assembly can release the fixture 210, allowing the fixture clamping assembly to return to its predetermined position.

[0038] The camera focusing device in this application, through modular design and collaborative operation logic, has the following technical effects: I. Significantly improve production cycle time and operational efficiency: The rotary platform 200 is equipped with at least three workstations. When one workstation is in the loading and unloading area to perform material transfer, the other at least two workstations are simultaneously in the coking area to perform coking test operations. This breaks the time barrier of "loading waiting for coking to be completed, and coking waiting for loading to be ready" in the existing technology, so that the loading and unloading and coking processes can be completely parallel, achieving efficient flow. The rotary platform 200 drives each workstation to rotate synchronously and intermittently, without the need for individual workstation switching, avoiding the coordination delay of independent actions of multiple mechanisms, and further reducing the time consumption of process connection.

[0039] II. Significantly improves focusing test accuracy and product consistency: The fixture separation mechanism 500 rigidly separates the fixture 210 from the rotating platform 200 before focusing, ensuring that the fixture 210 is completely free from the vibration of the rotating mechanism during focusing. At the same time, it prevents the fixture 210 from being displaced when the rotating platform 200 rotates, thus ensuring the stability of focusing test. In addition, the focusing mechanism 400 corresponds one-to-one with the focusing area. Each focusing mechanism 400 can perform customized operation for the fixture 210 of the corresponding station without the need for frequent adjustment of operating parameters or stroke, reducing the error of mechanism switching and adaptation.

[0040] 3. Enhanced Equipment Flexibility and Adaptability: The rotary platform 200 supports flexible configuration of at least three workstations (e.g., expandable to four workstations or more). It can adjust the workstation ratio between the loading / unloading area and the focusing area according to the complexity of the focusing test process and the focusing time of different products (e.g., 1 loading / unloading position + 2 focusing positions, 1 loading / unloading position + 3 focusing positions, etc.), adapting to the full-scenario needs from simple assembly testing to complex multi-parameter focusing. The loading / unloading mechanism 300 supports bidirectional transfer of the product under test between the tray 120 and the fixture 210, which can complete both "loading of the component under test" and "unloading of the finished product" simultaneously. There is no need to configure an additional independent unloading mechanism, which simplifies the equipment structure and adapts to the continuous flow requirements of automated production lines. It can be directly embedded into existing production lines, reducing the cost of production line transformation.

[0041] IV. Optimized Equipment Structure and Operational Reliability: The product transport module 100, rotary platform 200, loading and unloading mechanism 300, coking mechanism 400, and fixture separation mechanism 500 are all independent modular components. The functional boundaries of each module are clear, and they can be disassembled and repaired individually in case of failure, reducing maintenance costs. Secondly, all modules are coordinated through a central control unit. The rotation timing of the rotary platform 200 is precisely matched with the loading and unloading, coking, and fixture separation actions, which can also avoid collisions and interference caused by the simultaneous operation of multiple mechanisms. In addition, the rotary platform 200 and each functional module adopt a circular layout, which is more suitable for the high-density production line layout requirements compared with traditional linear multi-station equipment, reducing the cost of production site occupation.

[0042] In one embodiment, the product under test includes a housing and a PCB board in a separated state. The tray 120 includes a first positioning groove 121 for placing the housing, a second positioning groove 122 for placing the PCB board, and a third positioning groove 123 for placing a camera assembled from the housing and the PCB board. The focusing mechanism 400 assembles the housing and the PCB board in the fixture 210 into a camera in the focusing area, and after focusing is completed, places the camera into the third positioning groove 123.

[0043] In this embodiment, combined with Figure 5As shown, the first positioning slot 121 is adapted to the bottom of the housing, the second positioning slot 122 is adapted to the bottom of the PCB board, and the third positioning slot 123 is adapted to the bottom of the assembled camera. The housing, PCB board, and camera can be precisely moved into their respective positioning slots. The three positioning slots can be arranged in a straight line or any other arbitrary arrangement. A certain distance exists between adjacent positioning slots to prevent interference during the gripping process by the robotic arm. Through shape adaptation, elastic limiting, and positioning protrusions, the three positioning slots achieve precise placement and positioning of the housing, PCB board, and camera, providing a stable reference for subsequent component gripping and assembly alignment.

[0044] By setting three independent positioning slots, temporary storage of the housing and PCB board and finished product storage can be realized simultaneously without the need for additional material buffering mechanisms. This enables each fixture 210 and tray 120 to have 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.

[0045] In one embodiment, the loading / unloading mechanism 300 includes three robotic arms, which can be synchronously driven by a three-axis drive module. The first robotic arm 301 is used to hold the housing, the second robotic arm 302 is used to hold the PCB board, and the third robotic arm 303 is used to hold the camera. The positions of the first robotic arm 301 and the second robotic arm 302 correspond to the positions of the first positioning groove 121 and the second positioning groove 122, and the three robotic arms move synchronously.

[0046] In one embodiment, the structure of the fixture 210 is similar to that of the tray 120, and it is also provided with three positioning slots, which are used to accommodate and position the camera, the housing and the PCB board respectively. The three robotic arms can also simultaneously grab the corresponding parts from the three positioning slots of the fixture 210 and transfer them to the three positioning slots of the fixture 210, which will not be described in detail here.

[0047] Understandably, aligning the positions of the first and second robotic arms with the first and second positioning slots allows the housing and PCB board in the tray 120 or fixture 210 to be simultaneously grasped, moved, and placed by the first and second robotic arms, improving operational efficiency. Understandably, when not all three positioning slots in the fixture 210 or tray 120 contain the corresponding components, the corresponding robotic arm may miss its grip, but this will not affect the grasping and transfer of the corresponding components by the other robotic arms. For example, the third robotic arm can independently grasp, move, and place the camera without interference from the other two robotic arms; similarly, the third robotic arm will not interfere with the first and second robotic arms grasping the housing and PCB board.

[0048] During the process of controlling the robotic arm to grasp and transfer components, the position recognition module can be invoked to assist in detection and grasping positioning, thereby improving the accuracy of grasping and transfer.

[0049] Specifically, after the product transport module 100 transports and positions the pallet 120 to the loading / unloading area, the position recognition module (industrial camera + image processor) determines that the pallet 120 and fixture 210 are in position and then determines their position coordinates, which are sent to the central control unit. The central control unit calculates the motion trajectory of the three-axis drive module to achieve the grasping and transfer of the target object. Taking the grasping of the shell and PCB board from the pallet to the fixture as an example, the central control unit drives the X / Y axes to move synchronously above the pallet, the first robot arm moves above the first positioning slot, and the second and third robots arm move synchronously above the second and third positioning slots. After controlling the Z axis to descend synchronously to the predetermined position, the first robot arm grasps the shell in the first positioning slot, the second robot arm simultaneously grasps the PCB board in the second positioning slot, and the third robot arm is empty at this time. After grasping 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 and unloading area. Then, the Z-axis is controlled to descend synchronously, placing the grasped housing and PCB board into the corresponding positioning slots in the fixture before releasing them. Finally, the three robotic arms are controlled to return to their initial positions. The process of grasping the camera from the fixture and transferring it to the fixture is basically similar and will not be described in detail here.

[0050] In this embodiment, the three robotic arms are integrated into the same three-axis drive module, sharing the drive system and control signals. This eliminates the need for an independent drive module for each robotic arm, simplifying the equipment structure and reducing hardware costs. At the same time, synchronous motion control reduces the number of control commands, lowers logical complexity, and improves the stability of equipment operation.

[0051] In one embodiment, a camera focusing method is provided, which is applied to the camera focusing device described in any embodiment of this application, such as... Figure 11 As shown, the method includes: Step S1: Call the loading and unloading mechanism to transfer the product to be tested from the pallet in the loading and unloading area to the fixture in the loading and unloading area.

[0052] Step S2: Drive the rotating platform to rotate, and rotate the fixture holding the product to be tested from the loading and unloading area to the focusing area. At the same time, rotate the fixture that has been focused to the loading and unloading area.

[0053] Step S3: Call the fixture separation mechanism to separate the fixture in the focusing area to be focused from the rotating mechanism. After separation, call the focusing mechanism to assemble and focus the product to be tested in the rotated fixture. After focusing, call the fixture separation mechanism again to put the separated fixture back into the focusing area.

[0054] Step S4: Call the loading and unloading mechanism to rotate the newly rotated fixture into the loading and unloading area, place the coking products into the tray.

[0055] Repeat steps S1 to S4.

[0056] In this embodiment, a preparatory process is included before step S1, which includes equipment initialization, parameter setting, and material preparation. During equipment initialization, after the central control unit is started, the status of each module (product transport module, rotating platform, loading and unloading mechanism, focusing mechanism, and fixture separation mechanism) is automatically detected. After confirming that there are no faults, it enters standby mode. The parameters of the equipment may include the rotation angle of the rotating platform (120°), the movement path and clamping force of the robot arm and fixture separation mechanism, focusing accuracy, etc. The material preparation process includes: after the product transport module transports the tray carrying the separated camera housing and PCB board to the loading and unloading area, the tray positioning cylinder extends to fix the tray.

[0057] Step S1 is used to transfer the product under test. Specifically, when the position recognition module detects that the pallet has been positioned, it generates a "pallet ready" signal. The central control unit controls the robot to move according to the preset robot movement path. When it contacts the product under test (PCB board and housing) in the pallet, it controls the robot to clamp the product under test with a preset clamping force, and then continues to transport the product under test to the fixture in the loading and unloading area according to the preset movement path. Understandably, before the focusing test is conducted, there is no assembled and focused camera in the fixture in the loading and unloading area; the fixture is empty at this time. After multiple cycles of focusing tests, the fixture in the loading and unloading area will contain an assembled and focused camera.

[0058] Specifically, the presence of a camera in the fixture can be identified by the position recognition module. This action can be performed before or after step S1. If performed after step S1, that is, after the housing and PCB board in the tray have been moved into the fixture, if a camera is identified in the fixture in the loading and unloading area, then step S4 is executed; otherwise, step S2 is executed. If performed before step S1, step S4 can be executed first, followed by steps S1 to S3, or step S1 can be executed first, followed by step S4, and then steps S2 to S4 can continue to be executed.

[0059] Step S2 is used for workstation switching. The rotation direction of the rotating platform can be fixed or adjustable. For example, it can rotate in a first rotation direction or in a second rotation direction opposite to the first. For instance, the first rotation direction could be clockwise, and the second rotation direction could be counter-clockwise. The equipment can predict which rotation direction will allow for faster workstation switching and determine the rotation direction based on the prediction result.

[0060] During the switching process, the positions of the fixtures in the loading / unloading area and the focusing area can be switched. This switching can be independent or mutual. That is, the fixtures in the loading / unloading area can be rotated to the focusing area independently, and the fixtures in the focusing area can be rotated to the loading / unloading area independently. Alternatively, the positions of the two can be interchanged simultaneously.

[0061] Step S3 is used to perform fixture separation, focusing test, and fixture repositioning. During the focusing process, the fixture located at the focusing area station of the rotary table needs to be separated from the rotary platform (fixture separation). For example, the fixture is moved to the fixture placement platform. After separation, the focusing mechanism assembles the PCB board and housing in the fixture placement platform to form a camera. A focusing test is then performed on the camera (assembly focusing). After the focusing test is completed, the camera is placed into the fixture on the fixture placement platform, and then the fixture is reset to the station on the rotary table in the corresponding focusing area (fixture repositioning).

[0062] Step S4 is used for finished product transfer. When a camera is present in the fixture that has been rotated to the loading / unloading area, the loading / unloading mechanism can be invoked to transfer the camera to the tray in the loading / unloading area. In this embodiment, after completing step S3, if there is no fixture in the loading / unloading area, or if there is no camera in the fixture, the process can return to step S2 to synchronously rotate the fixture that has been focused to the loading / unloading area and then execute step S4.

[0063] The camera focusing method in this application, through the cyclical design of steps S1 to S4, seamlessly connects the steps of "material loading, station switching, fixture separation, simultaneous assembly and focusing of multiple products to be tested, fixture repositioning, and material unloading", reducing the waiting time between processes and improving the efficiency of focusing test.

[0064] In one embodiment, the focusing area includes multiple areas, and step S2 includes: real-time detection of the status of each focusing area; when only one focusing area is in a waiting-to-focus state, rotating the fixture holding the product to be tested from the loading / unloading area to the focusing area in the waiting-to-focus state; when multiple focusing areas are in a waiting-to-focus state, selecting one of the focusing areas as the target area, and rotating the fixture holding the product to be tested from the loading / unloading area to the target area.

[0065] In this embodiment, the number of focusing areas can be any suitable number, such as 2, 3, or 4. Before driving the rotary platform to rotate, it is necessary to check which focusing areas are in a waiting-to-focus state. If only one focusing area is in a waiting-to-focus state, then the target area is determined to be the focusing area, and the fixture holding the product to be tested is rotated from the loading / unloading area to the target area.

[0066] Specifically, if the rotation conditions are not met, the rotating platform remains stationary. For example, if a workstation is in the process of fixture separation or fixture reset, it indicates that the rotation conditions are not met. Alternatively, if each focusing mechanism is in the process of camera assembly or camera focusing test, the rotation conditions are also not met.

[0067] When multiple focusing areas are simultaneously in a waiting-to-focus state, any one of them can be selected as the target area. For example, the area that first entered the waiting-to-focus state can be chosen, or the focusing area with the shortest rotation path can be selected to ensure the product under test is delivered to the focusing area as quickly as possible. Alternatively, the target area can be determined according to a pre-set focusing priority order. Furthermore, the target area can also be determined based on the operating efficiency and number of operations of each focusing area. For instance, the focusing area with the fewest operations while waiting to focus can be selected, or the focusing area with the highest operating efficiency while waiting to focus can be selected.

[0068] By monitoring the status of each coking zone in real time, it is ensured that the jig can be rotated to an idle coking zone immediately after the loading and unloading zones have finished loading, thus avoiding long-term idleness of the coking zones and preventing conflicts caused by rotating the jig to a coking zone that is currently in operation.

[0069] In one embodiment, selecting one of the focusing areas as the target area includes: predicting the operation time under each focusing area sorting strategy based on the focusing time, loading and unloading time, and rotation and transfer time of the product to be tested from the loading and unloading area to the corresponding focusing area; the operation time is the time taken from the current moment to complete one focusing operation for each focusing area in the waiting focusing state according to the corresponding focusing area sorting strategy, and then to re-enter the waiting focusing state; and selecting the first-ranked focusing area in the focusing area sorting strategy with the shortest operation time as the target focusing area.

[0070] In this embodiment, when multiple focusing areas are waiting for focusing at the same time, the optimal focusing area can be selected as the target area by predicting the operation time under different sorting strategies. The focusing time T1i represents the time required for the i-th focusing area to complete a single assembly and focusing test. This time can be the average of the most recent N assembly and focusing test times for the corresponding focusing area, or the previous time. The focusing time consumed by different focusing mechanisms may not be the same. The loading / unloading time T2 represents the fixed time for the loading / unloading mechanism to complete loading and unloading. When there is no camera in the fixture in the loading / unloading area, the unloading time is 0, and the loading / unloading time T2 is only the time to transfer the shell and PCB board from the tray to the fixture. The equipment can predict whether each loading / unloading process includes both loading and unloading. The rotation transfer time T3i represents the rotation time required for the fixture to rotate from the loading / unloading area to the i-th focusing area. The rotation direction can be a fixed direction (such as the first rotation direction mentioned above), or the rotation direction can be determined according to the position of the focused area to improve rotation efficiency.

[0071] The predicted job duration is the sum of the predicted durations for each T1i, T2, T3i and the waiting time generated during that period, after removing the overlapping duration.

[0072] For example, at any given moment, there are two focusing areas (such as the first focusing area and the second focusing area) waiting to be focused. Strategy A is to load the material into the first focusing area first, and then load the material into the second focusing area; Strategy B is to load the material into the second focusing area first, and then load the material into the second focusing area.

[0073] For strategy A, the operation sequence and duration are as follows: loading / unloading area → first focusing area (rotation time T31 = 2s) → first focusing area operation (T11 = 12s) → loading / unloading area (T2 = 6s) → loading / unloading area → second focusing area (rotation time T32 = 2s) → second focusing area operation (T12 = 11.8s). There is overlap between T11 and T2, and between T32 and T12. After removing the overlapping time periods, the calculated operation duration is 15.8 seconds. That is, for example, if strategy A is started at 15 minutes and 0 seconds, it is predicted that both the first and second focusing areas can complete assembly and focusing at 15 minutes and 15.8 seconds.

[0074] For Strategy B, the operation sequence and duration are as follows: loading / unloading area → second focusing area (rotation time T32 = 2s) → operation in the second focusing area (T12 = 11.8s) → loading / unloading area (T2 = 6s) → loading / unloading area → first focusing area (rotation time T31 = 2s) → operation in the first focusing area (T11 = 12s). There is overlap between T11 and T2, and between T32 and T12, but after removing the overlap, the calculated operation duration is 16 seconds. Therefore, following the operation sequence of Strategy A, the first focusing area is selected as the target area. First, the fixture containing the product to be tested is rotated from the loading / unloading area to the first focusing area.

[0075] In this embodiment, by quantitatively calculating the focusing time, loading and unloading time, and rotation time, the total operation time of different sorting strategies can be predicted. Compared with blind selection, the waiting time in the focusing area can be reduced, and the overall detection efficiency can be improved.

[0076] In one embodiment, step S2 further includes: when one of the focusing areas has completed focusing and the finished camera has been placed into the corresponding fixture, identifying whether the fixture currently in the loading and unloading area has completed the placement of the product to be tested, and after the product to be tested has been placed, prioritizing rotating the fixture that has completed the placement of the product to be tested to the focusing area that has completed focusing, and causing the fixture that was originally in the focusing area that has completed focusing to rotate synchronously.

[0077] In this embodiment, the rotating platform simultaneously houses fixtures that have completed loading and fixtures that have completed testing. When the rotating platform is driven to rotate, the fixtures at its workstations rotate synchronously. The fixture that has completed loading needs to rotate from the loading / unloading area to one of the focusing areas that is waiting for focusing, while the fixture that has completed testing needs to rotate to the loading / unloading area for unloading. The fixture that has completed placing the product to be tested is preferentially rotated from the loading / unloading area to the focusing area that has completed focusing. At this time, based on the positional relationship between the two fixtures and the positional relationship between the focusing area and the loading / unloading area, the fixture originally in the focusing area that has completed focusing may also have rotated to the loading / unloading area. Therefore, fixture separation can be performed on the fixture that has newly rotated to the focusing area, and the camera that has completed testing can also be unloaded from the fixture that has newly rotated to the loading / unloading area.

[0078] If the fixture originally in the coking zone does not rotate to the non-loading / unloading zone simultaneously, then wait for the fixture that has just rotated to the coking zone to complete the fixture separation before controlling the rotating platform to continue rotating, so that the fixture originally in the coking sub-zone can be rotated to the loading / unloading zone.

[0079] In this embodiment, if the fixture in the focusing area does not rotate synchronously to the non-loading / unloading area, the rotation of the rotating platform is paused. After receiving a signal that the fixture in the corresponding focusing area has completed separation, the rotating platform is controlled to continue rotating to ensure smooth connection of the operation process and avoid rotational conflicts and chaos caused by multiple areas operating in parallel.

[0080] In one embodiment, step S1 includes: generating a rotatable signal for the loading / unloading area after the tray in the loading / unloading area has finished placing the product to be tested; step S3 includes: generating a rotatable signal for the corresponding focusing area after the fixture in the focusing area has finished separating from the fixture, or generating a rotatable signal for the corresponding focusing area after the fixture in the focusing area has finished repositioning; step S2 includes: calling a rotating platform to rotate the fixture after all areas have generated rotatable signals.

[0081] In this embodiment, when the focusing area has completed assembly and focusing test and the fixture needs to be repositioned, the rotatable signal can be withdrawn to prevent the focusing area from rotating, and then the fixture can be repositioned to the corresponding workstation.

[0082] In one embodiment, when the rotary platform is rotating and the focusing area has completed the focusing detection and is ready for fixture repositioning, it can detect which stations on the rotary platform are currently idle (i.e., no fixture is placed at the corresponding station), and select an idle station to place the fixture. For the identified idle station, once the identified idle station rotates to the focusing area that has completed the fixture repositioning process, the rotation of the rotary platform is paused, the fixture is repositioned to that station, and then the rotation of the rotary platform continues.

[0083] If the purpose of rotating the rotary platform is to move one of the fixtures that has already been repositioned to the loading / unloading area, then there are at least two fixtures on the rotary platform awaiting camera loading. The equipment can continue to control the rotation of the rotary platform to move the nearest fixture containing the camera to the loading / unloading area for camera loading, housing loading, and PCB board loading.

[0084] Specifically, when multiple idle workstations exist, the current rotation purpose can be identified. If the current rotation purpose is to rotate one of the jigs / workstations to a certain focusing area or loading / unloading area (denoted as the "target area"), then it can be identified whether there is an idle workstation in the focusing area waiting for jig repositioning when the corresponding jig / workstation rotates to the target area. If so, the rotating platform is controlled to rotate, rotating the corresponding jig / workstation to the target area. This allows simultaneous operation on both the target area and the focusing area waiting for jig repositioning, thereby improving work efficiency. For example, if the target area is the loading / unloading area, and the jig currently being rotated to the loading / unloading area has rotated to the loading / unloading area, the rotation of the rotating platform is paused. At this time, loading / unloading in the loading / unloading area and jig repositioning in the corresponding focusing area can be performed simultaneously.

[0085] Furthermore, regarding the target area loading and unloading zone, when the fixture corresponding to the camera rotates to the target area, if there is no empty workstation in the focusing area waiting for fixture repositioning, then it is further identified that after the rotating platform has completed the rotation of the fixture to the target area and completed loading and unloading, the next target area (i.e., which focusing area) needs to be delivered to after the loading fixture has been loaded is determined. When rotating to the next target area, it is determined which workstation in the loading and unloading zone is empty at this time (referred to as the target workstation). Then, the rotation of the rotating platform is not paused. After the rotating platform rotates to the target area and completes loading and unloading, the rotation of the rotating platform is controlled to continue. After the target workstation rotates to the focusing area waiting for fixture repositioning, the rotation is paused and fixture repositioning is performed. Then, the rotation of the rotating platform is controlled to continue to rotate to the next target area, so that after the rotating platform rotates to the next target area, the target workstation is also in the loading and unloading zone.

[0086] In one embodiment, taking a three-station rotary platform as an example, combined with Figures 12 to 16 As shown, the three workstations are designated as workstation 1, workstation 2, and workstation 3. The coking equipment includes one loading / unloading area and two coking areas (designated as coking area A and coking area B). Initially, the fixtures at all three workstations are in an unloaded state. Figure 12 (The state of the empty fixture in the middle), where station 1 is in the loading and unloading area, station 2 is in the coking A area, and station 3 is in the coking B area.

[0087] like Figure 12 As shown, in step S1, the station 1 currently in the loading / unloading area is loaded with materials, so that station 1 is in the jig-loaded state (i.e., Figure 12 (As shown in the material 1 state), then proceed to step S2, drive the rotating platform to rotate (e.g., clockwise), as... Figure 13As shown, station 1 and its fixture are rotated to the focusing area A. At this time, station 3 and its fixture are rotated to the loading area, and station 2 and its fixture are rotated to the unloading area. Then, step S3 is performed to separate the fixture on station 1. After the fixture separation is completed, station 1 is in a fixture-free state, and focusing area A begins to assemble and focus the housing and PCB board.

[0088] As station 1 rotates to the focusing area A, station 3 simultaneously rotates to the loading and unloading area. At this time, while jig separation and focusing are being performed in the focusing area A, loading can begin simultaneously onto the jig at station 3. Then... Figures 13 to 14 As shown, after the fixture at station 3 has completed loading (is in the material 1 state) and station 1 in the focusing A area has completed fixture separation (is in the empty fixture state), station 3 is rotated to the focusing B area, and station 1 is simultaneously rotated to the loading and unloading area.

[0089] At this point, fixture separation is performed at station 3. After fixture separation is completed, the rotary platform continues to rotate, moving station 2, which is still in an empty fixture state, to the loading and unloading area. During the rotation, the focusing area B performs assembly and focusing tests. After station 2 rotates into position, loading begins at station 2, ensuring the fixture on station 2 is in a material-loaded state. Then, the system waits to determine which focusing area will complete focusing first.

[0090] In such a situation Figure 15 As shown, if focusing area A completes focusing first, and the workstation of focusing area A is in a fixture-free state, then fixture re-layout is performed on focusing area A, so that the workstation of focusing area A enters the state where the camera is placed. Figure 12 As shown in the "material-in-place 2" state, if the workstation in the focusing area A is not in a fixture-free state, the rotating platform is driven to rotate, moving one of the fixture-free workstations to the focusing area A, and then fixture repositioning is performed on the focusing area A. After fixture repositioning is completed, the workstation in the "material-in-place 1" state (i.e., workstation 2 in the loading / unloading area) is rotated to the focusing area A, allowing the focusing area A to continue its operations. After workstation 2 arrives at the focusing area A, workstation 3 in the original focusing area A is simultaneously rotated to the focusing area B, where fixture separation is performed. After fixture separation is completed, the focusing area A continues to perform assembly and focusing tests. At this time, workstation 3 continues to rotate, moving it to the loading / unloading area, and then loading and unloading it, bringing it to the "material-in-place 1" state. Afterward, it continues to wait for which focusing area has completed focusing, and then performs the corresponding action.

[0091] If focusing in area B completes first, the process is similar. Figure 16As shown, at this time, fixture repositioning is performed on station 1 in the focusing area B. After fixture repositioning is completed, station 2, which has already been loaded in the loading / unloading area, is rotated to the focusing area B for fixture separation. Simultaneously, station 1 is rotated to the focusing area A. After station 2 in the focusing area B completes fixture separation, station 1 is rotated to the loading / unloading area, and loading / unloading is performed to bring it to a "material 1" state. Afterward, the process continues until a focusing area completes focusing, and then the corresponding action is performed.

[0092] By continuously performing cyclical operations, the efficiency of focusing can be improved.

[0093] 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.

[0094] 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 camera focusing device, characterized in that, include: The product transport module is used to transport the pallet containing the product to be tested to the loading and unloading area, and after the material transfer is completed, the pallet is transported to the next process. A rotary platform with at least three stations is provided. Each station is fixed with a fixture for placing the product to be tested. The rotary platform can drive each station to rotate synchronously and intermittently. When at least one station is rotated to the loading and unloading area, the remaining at least two stations are simultaneously rotated to a corresponding focusing area. The loading and unloading mechanism is used to transfer the products to be tested bidirectionally between the pallets in the loading and unloading area and the fixtures in the loading and unloading area; The number of focusing mechanisms is the same as the number of focusing stations. Each focusing machine corresponds to a focusing area, which is used to focus the product to be tested in the fixture within the focusing area. The fixture separation mechanism is used to separate the fixture from the rotating mechanism before the focusing mechanism starts focusing. During the product focusing process, the separated fixture does not rotate with the rotating mechanism.

2. The camera focusing device according to claim 1, characterized in that, The product under test includes a housing and a PCB board in a separated state. The tray includes a first positioning slot for placing the housing, a second positioning slot for placing the PCB board, and a third positioning slot for placing the camera after the housing and PCB board have been assembled. The focusing mechanism assembles the housing and PCB board in the fixture into a camera in the focusing area, and after focusing is completed, places the camera into the third positioning slot.

3. The camera focusing device according to claim 2, characterized in that, The loading and unloading mechanism includes three robotic arms. The first robotic arm is used to hold the housing, the second robotic arm is used to hold the PCB board, and the third robotic arm is used to hold the camera. The positions of the first robotic arm and the second robotic arm correspond to the positions of the first positioning slot and the second positioning slot, and the three robotic arms move synchronously.

4. The camera focusing device according to any one of claims 1 to 3, characterized in that, The rotating platform has three workstations, which are evenly distributed around the rotating platform; or The rotating platform has four workstations, which are evenly distributed around the rotating platform. Two of the workstations are located in the material loading area, and the other two workstations are located in the coking area. Alternatively, one workstation may be located in the material loading area, and the other three workstations may be located in the coking area.

5. A method for focusing a camera, characterized in that, The camera focusing device as described in any one of claims 1 to 4 comprises: Step S1: Use the loading and unloading mechanism to transfer the product to be tested from the pallet in the loading and unloading area to the fixture in the loading and unloading area; Step S2: Drive the rotating platform to rotate, rotate the fixture holding the product to be tested from the loading and unloading area to the focusing area, and rotate the fixture that has been focused to the loading and unloading area. Step S3: Call the fixture separation mechanism to separate the fixture in the focusing area to be focused from the rotating mechanism. After separation, call the focusing mechanism to assemble and focus the product to be tested in the rotated fixture. After focusing, call the fixture separation mechanism again to put the separated fixture back into the focusing area. Step S4: Call the loading and unloading mechanism to place the newly rotated fixture in the loading and unloading area, and transfer the focused product to the tray; Repeat steps S1 to S4.

6. The method according to claim 5, characterized in that, The focusing area includes multiple areas, and step S2 includes: The status of each focusing area is monitored in real time. When only one focusing area is in the waiting focusing state, the fixture containing the product to be tested is rotated from the loading and unloading area to the focusing area in the waiting focusing state. When multiple focusing areas are in a waiting-to-focus state, select one of the focusing areas as the target area and rotate the fixture containing the product to be tested from the loading / unloading area to the target area.

7. The method according to claim 6, characterized in that, Selecting one of the focusing areas as the target area includes: Based on the focusing time, loading and unloading time, and rotation and transfer time of the product to be tested from the loading and unloading area to the corresponding focusing area, the operation time under each focusing area sorting strategy is predicted. The operation time is the time taken from the current moment to complete one focusing operation for each focusing area in the waiting focusing state according to the corresponding focusing area sorting strategy, and then to re-enter the waiting focusing state. Based on the strategy of selecting the focusing area with the shortest operation time, the focusing area ranked first is selected as the target focusing area.

8. The method according to claim 6, characterized in that, Step S2 further includes: when one of the focusing areas has completed focusing and the finished camera has been placed into the corresponding fixture, identifying whether the fixture currently in the loading and unloading area has completed the placement of the product to be tested, and after the product to be tested has been placed, prioritizing the rotation of the fixture that has completed the placement of the product to be tested to the focusing area that has completed focusing, and causing the fixture that was originally in the focusing area that has completed focusing to rotate synchronously.

9. The method according to claim 8, characterized in that, Step S2 further includes: if the fixture originally in the focusing area rotates synchronously to the non-loading / unloading area, then after the fixture newly rotated to the focusing area completes the fixture separation, the rotating platform is controlled to continue rotating to rotate the fixture originally in the focusing sub-area to the loading / unloading area.

10. The method according to any one of claims 5 to 9, characterized in that, Step S1 includes: after the pallet in the loading and unloading area has finished placing the product to be tested, a rotatable signal for the loading and unloading area is generated; Step S3 includes: generating a corresponding rotatable signal for the focusing area after the fixture in the focusing area has completed fixture separation, or generating a corresponding rotatable signal for the focusing area after the fixture in the focusing area has completed fixture replay. Step S2 includes: after all areas generate rotatable signals, calling the rotation platform to rotate the fixture.

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