Lens assembly method, device, apparatus, and storage medium

Abstract

The application discloses a lens assembly method and device, equipment and storage medium, and relates to the optical technology field, and comprises the following steps: when a lens enters a lens barrel, detecting first pose data of the lens by a first sensor and detecting first stress data of the lens under the first pose data by a second sensor; dynamically determining a weight coefficient according to the first pose data and the first stress data; searching an assembly position of the lens according to the weight coefficient, the first pose data and the first stress data, obtaining an optimal assembly position, and driving a preset control platform to move the lens to the optimal assembly position to complete assembly. The application can effectively avoid damage to a lens surface shape caused by collision or overpressure during assembly of the lens in a small gap, and accurately install the lens to an optimal assembly position in the lens barrel.

Description

Technical Field

[0001] This application relates to the field of optical technology, and in particular to a lens assembly method, apparatus, device and storage medium. Background Technology

[0002] In optical lenses, laser systems, and high-precision imaging equipment, the assembly of lenses with extremely small gaps (e.g., 2–10 μm on one side) is a core process. This process must ensure geometric accuracy such as coaxiality, tilt angle, and axial clearance, while also balancing mass production efficiency and long-term stability. Currently, mainstream assembly technologies in the industry generally suffer from the following problems: (1) The alignment detection method is singular, relying solely on machine vision or displacement sensors to achieve alignment. Among them, visual detection is easily limited by reflection and depth of field, while displacement sensors cannot identify tilt deviations and cannot fully guarantee assembly accuracy. Therefore, eccentricity, jamming and scratching are prone to occur during assembly with extremely small gaps, which cannot meet the requirements of high precision assembly.

[0003] (2) Assembly mainly relies on the high-precision machining tolerances of the lens barrel and the lens itself, and the lens is installed into the lens barrel by press or heat fitting. Rigid contact with extremely small gaps can easily cause micro-cracks or chipping at the lens edge, resulting in a low product yield. At the same time, pure mechanical positioning cannot compensate for lens surface shape errors or micro-deformation of the lens barrel, and the geometric assembly accuracy such as optical axis coaxiality is difficult to meet the diffraction limit requirements.

[0004] (3) When the lens is placed into the lens barrel with a very small gap, hard contact is likely to occur, which can lead to problems such as lens edge breakage and coating damage. Summary of the Invention

[0005] The main objective of this application is to provide a lens assembly method, apparatus, device, and storage medium, which aims to accurately install a lens into the lens barrel.

[0006] To achieve the above objectives, this application proposes a lens assembly method, the method comprising: After the lens enters the lens barrel, the first pose data of the lens is detected by the first sensor and the first stress data of the lens under the first pose data is detected by the second sensor. The weighting coefficients are determined based on the first pose data and the first stress data; Based on the weighting coefficients, the first pose data, and the first stress data, the assembly position of the lens is searched to obtain the optimal assembly position, thereby driving the preset control platform to move the lens to the optimal assembly position to complete the assembly.

[0007] In one embodiment, determining the weighting coefficients based on the first pose data and the first stress data includes: Based on the first pose data, determine the optical deviation vector; Based on the first stress data, determine the stress vector; The weighting coefficient is determined based on the optical deviation vector, the stress vector, and the preset comparison threshold.

[0008] In one embodiment, the step of searching for the optimal assembly position of the lens based on the weighting coefficients, the first pose data, and the first stress data includes: The optical deviation vector and the stress vector are normalized to obtain normalized optical deviation values ​​and normalized stress values; Determine the reference point based on the first pose data; Based on the reference point, the weighting coefficient, the normalized optical deviation value, and the normalized stress value, and in conjunction with a preset objective function, the assembly position of the lens is searched to obtain the optimal assembly position.

[0009] In one embodiment, the step of searching for the optimal assembly position of the lens based on the reference point, the weighting coefficient, the normalized optical deviation value, and the normalized stress value, combined with a preset objective function, includes: The current objective function value of the reference point is determined based on the weighting coefficients, the normalized optical deviation value, and the normalized stress value, combined with the objective function. Using the reference point as a reference, a preset disturbance value is superimposed, and the objective function value after the reference point is disturbed is measured; The rate of change of the objective function is determined based on the current objective function value and the perturbed objective function value; The pose of the lens is updated according to the rate of change of the objective function to obtain the optimal assembly position.

[0010] In one embodiment, before detecting the first pose data of the lens by the first sensor and the first stress data of the lens under the first pose data by the second sensor after the lens enters the lens barrel, the method further includes: When the lens is detected to be located in the upper region of the lens barrel, the eccentricity and tilt angle of the optical axis center of the lens relative to the mechanical axis of the lens barrel are detected by the first sensor. Based on the eccentricity and the tilt angle, the preset control platform is driven to gradually adjust the orientation of the lens so that the lens enters the lens barrel.

[0011] In one embodiment, the drive preset control platform moves the lens to the optimal assembly position to complete the assembly, including: After the preset control platform moves the lens to the optimal assembly position, a preset phase change material is injected. During the curing process of the phase change material, the assembly position and stress state of the lens are monitored in real time until curing is complete.

[0012] In one embodiment, the real-time monitoring of the lens's assembly orientation and stress state includes: The second pose data of the lens is detected by the first sensor, and the second stress data of the lens is detected by the second sensor. Based on the second pose data, monitor whether the pose of the lens deviates from the optimal assembly position, and based on the second stress data, monitor whether the lens generates abnormal stress during the curing process.

[0013] Furthermore, to achieve the above objectives, this application also proposes a lens assembly apparatus, which includes: The detection module is used to detect the first pose data of the lens through the first sensor and the first stress data of the lens under the first pose data through the second sensor after the lens enters the lens barrel. The determination module is used to determine the weighting coefficients based on the first pose data and the first stress data; The search module is used to search for the assembly position of the lens based on the weighting coefficient, the first pose data, and the first stress data to obtain the optimal assembly position, so as to drive the preset control platform to move the lens to the optimal assembly position to complete the assembly.

[0014] In addition, to achieve the above objectives, this application also proposes a lens assembly apparatus, the apparatus comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the lens assembly method as described above.

[0015] In addition, to achieve the above objectives, this application also proposes a storage medium, which is a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, it implements the steps of the lens assembly method described above.

[0016] In addition, to achieve the above objectives, this application also provides a computer program product, which includes a computer program that, when executed by a processor, implements the steps of the lens assembly method described above.

[0017] This application provides a lens assembly method, apparatus, device, and storage medium. The lens assembly method includes: after the lens enters the lens barrel, acquiring first pose data of the lens detected by a first sensor and first stress data of the lens under the first pose data detected by a second sensor; dynamically determining a weighting coefficient based on the first pose data and the first stress data; and searching for the assembly position of the lens based on the weighting coefficient, the first pose data, and the first stress data to obtain an optimal assembly position, thereby driving a preset control platform to move the lens to the optimal assembly position to complete the assembly. During the lens assembly process, the pose data and stress data of the lens are monitored simultaneously. By combining the pose data and stress data to search for the optimal assembly position, the lens surface shape can be effectively avoided due to collision or overpressure during assembly with extremely small gaps, while accurately installing the lens into the optimal assembly position within the lens barrel. Attached Figure Description

[0018] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0019] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a schematic flowchart of the lens assembly method according to Embodiment 1 of this application; Figure 2 This is a schematic flowchart of Embodiment 2 of the lens assembly method of this application; Figure 3 This is a schematic flowchart of the lens assembly method in Embodiment 3 of this application; Figure 4 This is a schematic flowchart of the lens assembly method in Embodiment 4 of this application; Figure 5 This is a schematic diagram of the module structure of the lens assembly device according to an embodiment of this application; Figure 6 This is a schematic diagram of the device structure of the hardware operating environment involved in the lens assembly method in this application embodiment.

[0021] The purpose, features, and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0022] It should be understood that the specific embodiments described herein are merely illustrative of the technical solutions of this application and are not intended to limit this application.

[0023] To better understand the technical solution of this application, a detailed description will be provided below in conjunction with the accompanying drawings and specific implementation methods.

[0024] It should be noted that the executing entity in this embodiment can be a computing service device with data processing, network communication, and program execution functions, such as a tablet computer, personal computer, or mobile phone, or an electronic device, big data service platform, or lens assembly system capable of realizing the above functions. The following description uses a lens assembly system as an example to illustrate this embodiment and the subsequent embodiments.

[0025] Based on this, embodiments of this application provide a lens assembly method, referring to... Figure 1 , Figure 1 This is a schematic flowchart of the lens assembly method of this application, provided in Embodiment 1.

[0026] Step S11: After the lens enters the lens barrel, the first pose data of the lens is detected by the first sensor and the first stress data of the lens under the first pose data is detected by the second sensor. It should be noted that the first sensor, including an optical position sensor such as a laser interferometer or a reflective center offset measuring instrument, is used to detect the real-time pose data of the lens; the second sensor, including a stress sensor such as a fiber Bragg grating sensor or a high-sensitivity piezoelectric thin film sensor, is used to detect the stress data of the lens under this pose. The second sensor can be installed in the following ways: integrated into the flexible pad layer in contact with the lens by the mechanical claw holding the lens; a miniature pressure sensor array is set on the side wall of the lens barrel to realize all-round detection of the stress between the inner wall of the lens barrel and the lens; a tiny elastic structure is processed on the lens barrel, and a strain gauge is attached to the elastic structure to indirectly obtain the stress state between the lens and the lens barrel through the signal change of the strain gauge.

[0027] It should be noted that, in order to achieve precise alignment between the lens optical axis and the lens barrel mechanical axis, this embodiment arranges a reflector below or on the side of the lens barrel. Optionally, the normal direction of the reflector is parallel or perpendicular to the lens barrel mechanical axis. By detecting the signal of the reflected light, the spatial direction and position of the lens barrel mechanical axis are determined, and an absolute coordinate system is established based on the direction and position of the lens barrel mechanical axis. All subsequent lens assembly operations are performed in accordance with this absolute coordinate system to ensure that the lens optical axis and the lens barrel mechanical axis are precisely coincident after the final assembly.

[0028] Furthermore, to accurately measure the deviation of the lens optical axis relative to the mechanical axis of the lens barrel, a measuring target needs to be set on the lens clamping mechanism. This measuring target can be a plane mirror, a spherical mirror, or the surface of the lens itself can be used as a reflective surface. During measurement, the laser beam emitted by the first sensor illuminates the target or lens surface, forming a reflected light spot. By detecting the positional change of the reflected light spot, the offset and tilt angle of the lens optical axis relative to the mechanical axis of the lens barrel can be directly reflected, providing data support for lens attitude adjustment.

[0029] In this embodiment, after the lens enters the target gap region of the lens barrel, the first sensor detects the first pose data of the lens. Specifically, the first sensor continuously acquires the real-time six-degree-of-freedom pose data of the lens at a preset sampling frequency. The six-degree-of-freedom pose data includes the position coordinates along the three orthogonal directions X, Y, and Z, as well as the rotation angles around the three axes X, Y, and Z. When the lens moves within a very small gap, due to the extremely small gap, any minute change in pose will cause a drastic change in the position of the reflected light spot, and this change can be accurately captured by the first sensor. This embodiment can determine the degree of deviation between the lens optical axis and the lens barrel mechanical axis based on the eccentricity and tilt angle information output by the first sensor, thereby precisely controlling the lens assembly process.

[0030] Simultaneously, the second sensor synchronously detects the first stress data of the lens under the aforementioned first pose data. When the lens enters the region of minimal gaps, even minute geometric interferences can cause a local increase in stress between the lens and the lens barrel. Examples include burrs on the lens edge, ellipticity deviations on the inner wall of the lens barrel, and tiny particles within the gap. The second sensor can detect these minute stress changes. For instance, when the right edge of the lens contacts the inner wall of the lens barrel, the second sensor positioned at the corresponding location will output a positive stress peak. In other embodiments, the lens pose data and the stress values ​​output by the second sensor are correlated to construct a stress distribution map. This map clearly indicates the interference points at various locations during the lens assembly process and the severity of interference at each point, providing a basis for subsequent optimization of the assembly path.

[0031] Step S12: Dynamically determine the weighting coefficients based on the first pose data and the first stress data; In this embodiment, an optical deviation vector is determined based on the first pose data. Optionally, the optical deviation vector is denoted as Eopt=[Δx, Δy, θ]. x θ y ] T Where Δx and Δy represent the radial eccentricity of the X-axis and Y-axis, respectively, and θ x and θ y This indicates the tilt angle of the X and Y axes.

[0032] Furthermore, based on the first stress data, a stress vector is determined; optionally, the stress vector is denoted as Fstr=[F x F y F z M x M y ] T , of which F x and F y F represents the radial contact force acting on the lens. z Indicates the axial pressure exerted on the lens; M x and M y This indicates the torque acting on the lens.

[0033] Further, the weighting coefficient is determined based on the optical deviation vector, the stress vector, and a preset comparison threshold. Optionally, the norm corresponding to the optical deviation vector and the norm corresponding to the stress vector are determined, and then the weighting coefficient is adjusted based on the norm of the optical deviation vector, the norm of the stress vector, and the preset comparison threshold.

[0034] More specifically, the weighting coefficients include the weighting coefficients corresponding to the optical deviation vector and the stress vector, wherein the sum of the weighting coefficients corresponding to the optical deviation vector and the stress vector is 1. Based on preset maximum optical deviation and maximum stress values, the optical deviation vector and the stress vector are normalized to obtain normalized optical deviation values ​​and normalized stress values, respectively. In one embodiment, when the norm of the optical deviation vector is greater than a first threshold, the weighting coefficient corresponding to the optical deviation vector is increased to preferentially correct the optical axis alignment. The first threshold is determined based on the normalized optical deviation value; for example, the first threshold = 0.8 * normalized optical deviation value.

[0035] In another embodiment, when the norm of the optical deviation vector is less than a preset second threshold, the system switches to a balance mode and adjusts the weight coefficients corresponding to the optical deviation vector and the stress vector. For example, the second threshold is determined based on the normalized optical deviation value, such as the second threshold = 0.2 * normalized optical deviation value. The weight coefficients corresponding to the optical deviation vector and the stress vector are both set to 0.5.

[0036] In another embodiment, when the norm of the stress vector is greater than the normalized stress value, the weighting coefficient corresponding to the stress vector is increased. For example, the weighting coefficient corresponding to the stress vector is increased to 0.8 or higher to release stress preferentially and prevent lens damage.

[0037] Step S13: Based on the weighting coefficient, the first pose data, and the first stress data, search for the assembly position of the lens to obtain the optimal assembly position, so as to drive the preset control platform to move the lens to the optimal assembly position to complete the assembly.

[0038] It should be noted that the preset control platform is a six-degree-of-freedom platform. A six-degree-of-freedom platform refers to a high-precision motion actuator that can translate along the three orthogonal directions of X, Y, and Z, and rotate around the three axes of X, Y, and Z. It can adjust its posture in three-dimensional space and can simultaneously compensate for eccentricity error and tilt error, meeting the high-precision alignment requirements of lenses with extremely small gaps.

[0039] In this embodiment, an objective function is constructed for the search, which quantifies the merits of the lens assembly position. The objective function is expressed as follows:

[0040] in, This represents the normalized optical deviation value. This represents the normalized stress value. This represents the weighting coefficients corresponding to the optical deviation vector. represents the weighting coefficient corresponding to the stress vector, and J represents the result calculated from the objective function.

[0041] Furthermore, based on the weighting coefficients, the first pose data, and the first stress data, combined with the aforementioned objective function, the six-degree-of-freedom platform is driven to perform gradient descent search in three-dimensional space. The gradient descent direction is along the direction in which the objective function value decreases, gradually approaching the optimal assembly position. For example, the lens is driven to move to the position where the optical deviation detected by the first sensor is minimal, and then a micro-scan is performed within a preset area at that position. During the micro-scan, the first sensor continuously outputs the real-time pose data of the lens, and the second sensor continuously outputs the real-time stress data of the lens. The variation law of the stress value is analyzed, and the optimal assembly position is determined based on the position where the stress value output by the second sensor is minimal. Then, the preset control platform is driven to move the lens to the optimal assembly position to complete the assembly. The specific search process for the optimal assembly position will be described in detail in steps S131 to S133 of the following embodiment, and will not be repeated here.

[0042] Furthermore, in other embodiments, for lens assembly under complex working conditions (such as high temperature and vibration environments), a filtering algorithm, such as Kalman filtering, can be added during the detection data processing of the first and second sensors to eliminate detection noise caused by environmental interference and ensure the accuracy of pose and stress data.

[0043] This embodiment acquires the first pose data of the lens detected by a first sensor and the first stress data of the lens under the first pose data detected by a second sensor after the lens enters the lens barrel. Based on the first pose data and the first stress data, a weighting coefficient is dynamically determined. The optimal assembly position of the lens is searched based on the weighting coefficient, the first pose data, and the first stress data, and a preset control platform is then driven to move the lens to the optimal assembly position to complete the assembly. During the lens assembly process, the pose data and stress data of the lens are monitored simultaneously. By combining the pose data and stress data to search for the optimal assembly position, the lens surface shape can be effectively avoided due to collision or overpressure during assembly with extremely small gaps, while ensuring the lens is accurately installed in the optimal assembly position within the lens barrel.

[0044] In one feasible implementation, refer to Figure 2 , Figure 2 This is a flowchart illustrating the lens assembly method of Embodiment 2 of this application; before step S11: when the lens is detected to have entered the target gap region in the lens barrel, and before acquiring the first pose data of the lens detected by the first sensor and the first stress data of the lens detected by the second sensor under the first pose data, the method further includes: Step A11: When the lens is detected to be located in the upper region of the lens barrel, the eccentricity and tilt angle of the optical axis center of the lens relative to the mechanical axis of the lens barrel are detected by the first sensor. Step A12: Based on the eccentricity and the tilt angle, drive the preset control platform to gradually adjust the orientation of the lens so that the lens enters the lens barrel.

[0045] This embodiment primarily achieves the initial alignment and smooth entry of the lens from the upper region of the lens barrel into the interior of the lens barrel, laying the foundation for subsequent fine-positioning assembly within extremely small gaps. When the six-degree-of-freedom platform is detected to have moved the lens to the upper part of the lens barrel, the following coarse positioning steps are performed: The first sensor detects the eccentricity and tilt angle of the lens's optical axis center relative to the lens barrel's mechanical axis. Specifically, the first sensor is a non-contact optical measurement sensor integrating laser emission and spot detection functions. Its internally integrated laser emission unit can output a stable measurement laser beam. After the laser beam illuminates the lens surface, it forms a reflected spot. The first sensor detects the positional change of the reflected spot in real time and, combined with the absolute coordinate system of the lens barrel's mechanical axis, calculates the eccentricity and tilt angle of the lens's optical axis center relative to the lens barrel's mechanical axis. Based on the eccentricity and tilt angle, a six-degree-of-freedom platform is driven to gradually adjust the spatial attitude of the lens, smoothly guiding the lens to the vicinity of the lens barrel opening. The platform continues to drive the lens to slowly move into the lens barrel, achieving preliminary calibration of the lens and lens barrel, preparing for subsequent precision assembly in a region with extremely small gaps.

[0046] Furthermore, throughout the entire process of the six-degree-of-freedom platform moving the lens, the second sensor continuously monitors the contact stress between the lens and the lens barrel, enabling collision warning and protection. Optionally, if the second sensor detects an abnormal stress peak, for example, if the detected stress value exceeds a preset safety threshold, the system immediately controls the six-degree-of-freedom platform to pause its movement, effectively preventing a hard collision between the lens and the lens barrel and avoiding damage to the lens surface or wear on the inner wall of the lens barrel.

[0047] It should be noted that when the lens is held by the clamping mechanism and is not in contact with any object (including the lens barrel and other assembly parts), the second sensor needs to be zeroed and calibrated. At this time, the lens is subjected to a constant clamping force applied by the clamping mechanism, and the second sensor records the clamping stress in this state as the reference zero point. During the subsequent assembly process, the sensor detects the dynamic assembly stress changes generated by the lens during the assembly process, eliminates the interference of the constant clamping force, ensures the accuracy of stress detection, and provides reliable data support for collision warning and stress anomaly judgment.

[0048] In this embodiment, the first sensor detects the eccentricity and tilt angle of the lens's optical axis center relative to the lens barrel's mechanical axis in real time, and guides the lens to enter the lens barrel quickly and smoothly based on the eccentricity and tilt angle. At the same time, the second sensor detects synchronously and determines in real time whether the lens collides with the lens barrel, avoiding damage to the lens due to collision and ensuring the safety and stability of the assembly process.

[0049] In one feasible implementation, refer to Figure 3 , Figure 3 This is a flowchart illustrating Embodiment 3 of the lens assembly method of this application; the driving preset control platform moves the lens to the optimal assembly position to complete the assembly, including: Step B11: Drive the preset control platform to move the lens to the optimal assembly position, and then inject the preset phase change material; Step B12: During the curing process of the phase change material, the assembly position and stress state of the lens are monitored in real time until curing is complete.

[0050] It should be noted that in the lens assembly process, existing assembly processes often use optical sensors such as PSDs (Position Sensitive Detectors) and interferometers to monitor the center deviation of the lens. After adjusting it to the optimal assembly position, UV adhesive is applied and cured under light to complete the fixation. However, this type of process has significant drawbacks: Firstly, the curing of UV adhesive usually requires tens of seconds to several minutes of light treatment, during which the lens must remain absolutely stationary. This process occupies a large portion of the overall assembly cycle time, seriously affecting assembly efficiency. Secondly, the UV adhesive generates shrinkage stress during the curing process, which can easily cause the aligned lens to shift by micrometers or even larger, compromising assembly accuracy and failing to meet the requirements of high-precision assembly.

[0051] To address the aforementioned issues, this embodiment drives a preset control platform to move the lens to the optimal assembly position. Subsequently, a preset phase change material is injected into this optimal assembly position. Specifically, the phase change material is a low-melting-point alloy or a thermoplastic polymer. The curing process of this phase change material is a physical phase change from liquid to solid, with a curing shrinkage rate close to zero. This effectively avoids lens position drift caused by curing shrinkage of traditional adhesives. Furthermore, its curing speed is fast, completing curing and locking within milliseconds, significantly shortening assembly time and solving the core problems of long curing time and positional displacement in traditional processes.

[0052] During the curing process of the phase change material, the second pose data of the lens is collected in real time by the first sensor, and the second stress data of the lens is collected by the second sensor. Based on the collected second pose data, the lens pose is monitored in real time to see if it deviates from the optimal assembly position. Based on the second stress data, it is possible to monitor whether the lens generates abnormal stress during the curing process, so as to ensure that the lens always maintains the optimal assembly posture during the curing process until the phase change material is completely cured and the entire assembly process is completed.

[0053] This embodiment replaces traditional UV adhesive with phase change material. The curing triggering method of phase change material (such as cooling or simple light exposure) can be completed within milliseconds to seconds, which is significantly shorter than the curing time of traditional UV adhesive (tens of seconds), thus greatly shortening the assembly and adjustment cycle of a single lens. In addition, the curing process of phase change material has no shrinkage, avoiding lens misalignment due to curing shrinkage. At the same time, real-time monitoring by dual sensors can promptly detect and avoid abnormal stress, further ensuring assembly quality.

[0054] In one feasible implementation, refer to Figure 4 , Figure 4 This is a flowchart illustrating Embodiment 4 of the lens assembly method of this application; based on the weighting coefficients, the first pose data, and the first stress data, the assembly position of the lens is searched to obtain the optimal assembly position, including: Step S131: Normalize the optical deviation vector and the stress vector to obtain normalized optical deviation value and normalized stress value; It should be noted that, since optical deviation and stress value have different dimensions, in this embodiment, an optical deviation vector is determined based on the first pose data; a stress vector is determined based on the first stress data; then, the optical deviation vector is normalized according to a preset maximum optical deviation to obtain a normalized optical deviation value; furthermore, the stress vector is normalized according to a preset maximum stress value to obtain a normalized stress value. The normalization formula is as follows: =

[0055] =

[0056] in, This represents the normalized optical deviation value. This represents the normalized stress value. Represents the optical deviation vector. Indicates the maximum optical deviation. Represents the stress vector. This indicates the maximum stress value.

[0057] Step S132: Determine the reference point based on the first pose data; Step S133: Based on the reference point, the weighting coefficient, the normalized optical deviation value, and the normalized stress value, and in conjunction with a preset objective function, search for the assembly position of the lens to obtain the optimal assembly position.

[0058] It should be noted that the objective function is expressed in the following form:

[0059] in, This represents the normalized optical deviation value. This represents the normalized stress value. This represents the weighting coefficients corresponding to the optical deviation vector. represents the weighting coefficient corresponding to the stress vector, and J represents the result calculated from the objective function.

[0060] In this embodiment, after determining the current weight coefficients, the controller drives the six-degree-of-freedom platform to perform gradient descent search in three-dimensional space. Specifically, the current objective function value is calculated based on the weight coefficients, the normalized optical deviation value, and the normalized stress value, combined with the objective function. Furthermore, a reference point is determined based on the first pose data. Using the reference point as a reference, preset perturbation values ​​are superimposed in each of the six degrees of freedom directions, that is, preset perturbation values ​​are applied along the three translational directions (X, Y, Z) and the three rotational directions (X, Y, Z). For each degree-of-freedom pose perturbation, the six-degree-of-freedom platform is driven to move the lens to complete a small pose adjustment in the corresponding direction. Subsequently, the pose data of the lens under the perturbation state is detected by the first sensor, and the stress data under the corresponding state is detected by the second sensor. Based on the pose data and stress data after perturbation in each degree-of-freedom direction, the objective function value after pose perturbation in each degree-of-freedom direction is calculated. Further, based on the current objective function value and the perturbed objective function value, the rate of change of the objective function in each direction is calculated: The expression of the rate of change of the objective function is as follows:

[0061] in, The rate of change of the objective function at the baseline point P. , and These represent the partial derivatives of the objective function along the three translation directions X, Y, and Z, respectively; that is, the rate of change of the objective function along the three translation directions X, Y, and Z in this embodiment. , and These represent the partial derivatives of the objective function about the three rotational directions X, Y, and Z, respectively; that is, the rates of change of the objective function about the three rotational directions X, Y, and Z in this embodiment.

[0062] Furthermore, based on the reference point, preset step size, and rate of change of the objective function, the current optimal pose is calculated, whereby the calculation formula for the current optimal pose is as follows:

[0063] in, The reference point is represented by α, and the preset step size is represented by α. Indicates the current optimal pose. The rate of change of the objective function at the baseline point.

[0064] Furthermore, the six-degree-of-freedom platform is driven to move the lens to the optimal pose. The real-time pose data corresponding to this pose is detected by the first sensor, and the real-time stress data corresponding to this pose is detected by the second sensor. Based on the pose data and stress data corresponding to the current optimal pose, the objective function value corresponding to the current optimal pose is determined. It is then determined whether the absolute value of the difference between the objective function value corresponding to the current optimal pose and the objective function value corresponding to the reference point is less than a preset convergence threshold. That is, when the absolute value of the difference is less than the preset convergence threshold, it indicates that the optimization has reached the preset accuracy, and the current optimal pose is taken as the optimal assembly position. If the condition is not met, the current optimal pose is taken as the new reference point, and the above optimization steps are repeated until the convergence condition is met, and the optimal assembly position is determined.

[0065] This embodiment combines weighting coefficients, normalized optical deviation values, and normalized stress values ​​to optimize the lens assembly position using a preset objective function. This not only precisely locates the optimal optical axis position of the lens at the geometric level but also simultaneously finds the position where the lens experiences minimal stress. This optimization method effectively avoids damage to the lens surface due to collisions with the lens barrel or excessive pressure during assembly with extremely small gaps. Simultaneously, it ensures the lens is accurately installed in the optimal assembly position within the lens barrel, balancing assembly precision and lens assembly safety.

[0066] Understandably, the embodiments of this application achieve precise control and safety assurance throughout the lens assembly process through the collaborative mechanism of the first and second sensors. This collaborative mechanism specifically includes the following three stages: Phase 1: Primarily driven by the first sensor, supplemented by the second sensor. This phase corresponds to the coarse positioning process before the lens enters the lens barrel. It mainly relies on the optical feedback signal from the first sensor to guide the six-degree-of-freedom platform to rapidly move the lens above the lens barrel and into it, achieving initial alignment between the lens and the lens barrel. The second sensor in this phase mainly plays a role in collision avoidance and safety monitoring, monitoring the contact stress between the lens and the lens barrel in real time. If an abnormal stress peak is detected, it immediately triggers the platform to pause its movement to prevent a hard collision between the lens and the lens barrel.

[0067] In the second stage, the dual-sensor weight balancing is performed. When the lens enters the extremely small gap region of the lens barrel, the system switches to the dual-sensor collaborative optimization mode. That is, by combining the pose data collected by the first sensor and the stress data collected by the second sensor, the system performs optimization search through a preset objective function to finally obtain the optimal assembly position that balances optical accuracy and stress stability, ensuring that the lens does not collide within the extremely small gap and that the optical axis is accurately aligned.

[0068] In the third stage, the first sensor is the primary sensor, with the second sensor as a secondary sensor. At the moment of phase change material injection and curing, the first sensor monitors the lens position in real time with a high sampling frequency to promptly detect any displacement and ensure that the lens is always kept in the optimal assembly position. The second sensor simultaneously monitors whether thermal stress or shrinkage stress is generated during the curing process to avoid abnormal stress causing damage to the lens surface shape and to ensure the quality of assembly.

[0069] It should be noted that the examples in the figures are only for understanding this application and do not constitute a limitation on the lens assembly method of this application. Any simple modifications based on this technical concept are within the protection scope of this application.

[0070] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0071] This application also provides a lens assembly device, please refer to... Figure 5 , Figure 5 This is a schematic diagram of the module structure of the lens assembly device according to an embodiment of this application; the lens assembly device includes: The detection module 21 is used to detect the first pose data of the lens by the first sensor and the first stress data of the lens under the first pose data by the second sensor after the lens enters the lens barrel. The determining module 22 is used to determine the weighting coefficients based on the first pose data and the first stress data; The search module 23 is used to search for the assembly position of the lens based on the weight coefficient, the first pose data and the first stress data, to obtain the optimal assembly position, so as to drive the preset control platform to move the lens to the optimal assembly position to complete the assembly.

[0072] Module 22 is also used for: Based on the first pose data, determine the optical deviation vector; Based on the first stress data, determine the stress vector; The weighting coefficient is determined based on the optical deviation vector, the stress vector, and the preset comparison threshold.

[0073] Search module 23 is also used for: The optical deviation vector and the stress vector are normalized to obtain normalized optical deviation values ​​and normalized stress values; Determine the reference point based on the first pose data; Based on the reference point, the weighting coefficient, the normalized optical deviation value, and the normalized stress value, and in conjunction with a preset objective function, the assembly position of the lens is searched to obtain the optimal assembly position.

[0074] Search module 23 is also used for: The current objective function value of the reference point is determined based on the weighting coefficients, the normalized optical deviation value, and the normalized stress value, combined with the objective function. Using the reference point as a reference, a preset disturbance value is superimposed, and the objective function value after the reference point is disturbed is measured; The rate of change of the objective function is determined based on the current objective function value and the perturbed objective function value; The pose of the lens is updated according to the rate of change of the objective function to obtain the optimal assembly position.

[0075] The lens assembly device further includes: The eccentricity and tilt angle detection module is used to detect the eccentricity and tilt angle of the optical axis center of the lens relative to the mechanical axis of the lens barrel by a first sensor when the lens is detected to be located in the upper region of the lens barrel. The drive module is used to drive the preset control platform to gradually adjust the posture of the lens according to the eccentricity and the tilt angle, so that the lens enters the lens barrel.

[0076] The lens assembly device further includes: An injection module is used to drive the preset control platform to move the lens to the optimal assembly position and then inject a preset phase change material. The monitoring module is used to monitor the assembly position and stress state of the lens in real time during the curing process of the phase change material until curing is complete.

[0077] The monitoring module is also used for: The second pose data of the lens is detected by the first sensor, and the second stress data of the lens is detected by the second sensor. Based on the second pose data, monitor whether the pose of the lens deviates from the optimal assembly position, and based on the second stress data, monitor whether the lens generates abnormal stress during the curing process.

[0078] The lens assembly apparatus provided in this application, employing the lens assembly method in the above embodiments, can solve the technical problems mentioned in the background art. Compared with the prior art, the beneficial effects of the lens assembly apparatus provided in this application are the same as those of the lens assembly method provided in the above embodiments, and other technical features in the lens assembly apparatus are the same as those disclosed in the methods of the above embodiments, and will not be repeated here.

[0079] This application provides a lens assembly apparatus, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, which are executed by the at least one processor to enable the at least one processor to perform the lens assembly method in Embodiment 1 above.

[0080] The following is for reference. Figure 6 , Figure 6 This is a schematic diagram of the hardware operating environment involved in the lens assembly method in this application embodiment. The lens assembly device in this application embodiment may include, but is not limited to, mobile terminals such as mobile phones, laptops, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Description), PMPs (Portable Media Players), in-vehicle terminals (such as in-vehicle navigation terminals), and fixed terminals such as digital TVs and desktop computers. Figure 6 The lens assembly device shown is merely an example and should not be construed as limiting the functionality and scope of the embodiments of this application.

[0081] like Figure 6 As shown, the lens assembly equipment may include a processing unit 1001 (e.g., a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory 1002 or a program loaded from a storage device 1003 into a random access memory 1004. The random access memory 1004 also stores various programs and data required for the operation of the lens assembly equipment. The processing unit 1001, the read-only memory 1002, and the random access memory 1004 are interconnected via a bus 1005. An input / output interface 1006 is also connected to the bus. Typically, the following systems can be connected to the input / output interface 1006: input devices 1007 including, for example, a touch screen, touchpad, keyboard, mouse, image sensor, microphone, accelerometer, gyroscope, etc.; output devices 1008 including, for example, a liquid crystal display (LCD), speaker, vibrator, etc.; storage devices 1003 including, for example, magnetic tape, hard disk, etc.; and communication devices 1009. The communication device 1009 allows the lens assembly equipment to communicate wirelessly or wiredly with other devices to exchange data. Although the figures show lens assembly equipment with various systems, it should be understood that it is not required to implement or possess all of the systems shown. More or fewer systems may be implemented alternatively.

[0082] Specifically, according to the embodiments disclosed in this application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments disclosed in this application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication device, or installed from storage device 1003, or installed from read-only memory 1002. When the computer program is executed by processing device 1001, it performs the functions defined in the methods of the embodiments disclosed in this application.

[0083] The lens assembly equipment provided in this application, employing the lens assembly method in the above embodiments, can solve the technical problems mentioned in the background art. Compared with the prior art, the beneficial effects of the lens assembly equipment provided in this application are the same as those of the lens assembly method provided in the above embodiments, and other technical features of the lens assembly equipment are the same as those disclosed in the previous embodiment method, and will not be repeated here.

[0084] It should be understood that the various parts disclosed in this application can be implemented using hardware, software, firmware, or a combination thereof. In the description of the above embodiments, specific features, structures, materials, or characteristics can be combined in any suitable manner in one or more embodiments or examples.

[0085] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

[0086] This application provides a computer-readable storage medium having computer-readable program instructions (i.e., a computer program) stored thereon, the computer-readable program instructions being used to execute the lens assembly method in the above embodiments.

[0087] The computer-readable storage medium provided in this application may be, for example, a USB flash drive, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems or devices, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: electrical connections having one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system or device. The program code contained on the computer-readable storage medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination thereof.

[0088] The aforementioned computer-readable storage medium may be included in the lens assembly equipment; or it may exist independently and not be assembled into the lens assembly equipment.

[0089] The aforementioned computer-readable storage medium carries one or more programs that, when executed by the lens assembly equipment, cause the lens assembly equipment to: detect first pose data of the lens using a first sensor and first stress data of the lens under the first pose data using a second sensor after the lens enters the lens barrel; determine a weighting coefficient based on the first pose data and the first stress data; and search for the assembly position of the lens based on the weighting coefficient, the first pose data, and the first stress data to obtain an optimal assembly position, thereby driving a preset control platform to move the lens to the optimal assembly position to complete the assembly.

[0090] Computer program code for performing the operations of this application can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, and conventional procedural programming languages ​​such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a Local Area Network (LAN) or a Wide Area Network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0091] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0092] The modules described in the embodiments of this application can be implemented in software or hardware. The names of the modules do not necessarily limit the functionality of the unit itself.

[0093] The readable storage medium provided in this application is a computer-readable storage medium that stores computer-readable program instructions (i.e., a computer program) for performing the above-described lens assembly method, and is capable of solving the technical problems described in the background art. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in this application are the same as the beneficial effects of the lens assembly method provided in the above embodiments, and will not be repeated here.

[0094] This application provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the lens assembly method described above.

[0095] The computer program product provided in this application can solve the technical problems described in the background section. Compared with the prior art, the beneficial effects of the computer program product provided in the embodiments of this application are the same as the beneficial effects of the lens assembly method provided in the above embodiments, and will not be repeated here.

[0096] The above description is only a part of the embodiments of this application and does not limit the patent scope of this application. All equivalent structural transformations made under the technical concept of this application and using the contents of the specification and drawings of this application, or direct / indirect applications in other related technical fields, are included in the patent protection scope of this application.

Claims

1. A lens assembly method, characterized in that, include: After the lens enters the lens barrel, the first pose data of the lens is detected by the first sensor and the first stress data of the lens under the first pose data is detected by the second sensor. The weighting coefficients are determined based on the first pose data and the first stress data; Based on the weighting coefficient, the first pose data, and the first stress data, the assembly position of the lens is searched to obtain the optimal assembly position, so as to drive the preset control platform to move the lens to the optimal assembly position to complete the assembly. The step of determining the weighting coefficients based on the first pose data and the first stress data includes: Based on the first pose data, determine the optical deviation vector; Based on the first stress data, determine the stress vector; The weighting coefficient is determined based on the optical deviation vector, the stress vector, and the preset comparison threshold. The step of searching for the optimal assembly position of the lens based on the weighting coefficients, the first pose data, and the first stress data includes: The optical deviation vector and the stress vector are normalized to obtain normalized optical deviation values ​​and normalized stress values; Determine the reference point based on the first pose data; Based on the reference point, the weighting coefficient, the normalized optical deviation value, and the normalized stress value, and combined with a preset objective function, the assembly position of the lens is searched to obtain the optimal assembly position. The step of searching for the optimal assembly position of the lens based on the reference point, the weighting coefficient, the normalized optical deviation value, and the normalized stress value, combined with a preset objective function, includes: The current objective function value is determined based on the weighting coefficients, the normalized optical deviation value, and the normalized stress value, combined with the objective function. Using the reference point as a reference, a preset disturbance value is superimposed, and the objective function value after the reference point is disturbed is measured; The rate of change of the objective function is determined based on the current objective function value and the perturbed objective function value; The pose of the lens is updated according to the rate of change of the objective function to obtain the optimal assembly position.

2. The lens assembly method as described in claim 1, characterized in that, Before detecting the first pose data of the lens by the first sensor and the first stress data of the lens under the first pose data by the second sensor after the lens enters the lens barrel, the method further includes: When the lens is detected to be located in the upper region of the lens barrel, the eccentricity and tilt angle of the optical axis center of the lens relative to the mechanical axis of the lens barrel are detected by the first sensor. Based on the eccentricity and the tilt angle, the preset control platform is driven to gradually adjust the orientation of the lens so that the lens enters the lens barrel.

3. The lens assembly method as described in claim 1, characterized in that, The drive preset control platform moves the lens to the optimal assembly position to complete the assembly, including: After the preset control platform moves the lens to the optimal assembly position, a preset phase change material is injected. During the curing process of the phase change material, the assembly position and stress state of the lens are monitored in real time until curing is complete.

4. The lens assembly method as described in claim 3, characterized in that, The real-time monitoring of the lens's assembly orientation and stress state includes: The second pose data of the lens is detected by the first sensor, and the second stress data of the lens is detected by the second sensor. Based on the second pose data, monitor whether the pose of the lens deviates from the optimal assembly position, and based on the second stress data, monitor whether the lens generates abnormal stress during the curing process.

5. A lens assembly device, characterized in that, include: The detection module is used to detect the first pose data of the lens through the first sensor and the first stress data of the lens under the first pose data through the second sensor after the lens enters the lens barrel. The determination module is used to determine the weighting coefficients based on the first pose data and the first stress data; The search module is used to search for the assembly position of the lens based on the weighting coefficient, the first pose data and the first stress data, to obtain the optimal assembly position, so as to drive the preset control platform to move the lens to the optimal assembly position to complete the assembly. The step of determining the weighting coefficients based on the first pose data and the first stress data includes: Based on the first pose data, determine the optical deviation vector; Based on the first stress data, determine the stress vector; The weighting coefficient is determined based on the optical deviation vector, the stress vector, and the preset comparison threshold. The step of searching for the optimal assembly position of the lens based on the weighting coefficients, the first pose data, and the first stress data includes: The optical deviation vector and the stress vector are normalized to obtain normalized optical deviation values ​​and normalized stress values; Determine the reference point based on the first pose data; Based on the reference point, the weighting coefficient, the normalized optical deviation value, and the normalized stress value, and combined with a preset objective function, the assembly position of the lens is searched to obtain the optimal assembly position. The step of searching for the optimal assembly position of the lens based on the reference point, the weighting coefficient, the normalized optical deviation value, and the normalized stress value, combined with a preset objective function, includes: The current objective function value is determined based on the weighting coefficients, the normalized optical deviation value, and the normalized stress value, combined with the objective function. Using the reference point as a reference, a preset disturbance value is superimposed, and the objective function value after the reference point is disturbed is measured; The rate of change of the objective function is determined based on the current objective function value and the perturbed objective function value; The pose of the lens is updated according to the rate of change of the objective function to obtain the optimal assembly position.

6. A lens assembly device, characterized in that, The lens assembly apparatus includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the lens assembly method as described in any one of claims 1 to 4.

7. A storage medium, characterized in that, The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, it implements the steps of the lens assembly method as described in any one of claims 1 to 4.

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