Alignment device and computer program

Abstract

To provide a technique of suppressing reduction in the alignment accuracy of a sensor substrate and a lens in a case where the lens forms images with poor performance.SOLUTION: An alignment device 1 includes: a substrate supporting unit 2; a lens supporting unit 4; an alignment sheet 6 for causing a plurality of light points to emerge; and a control unit 8 for adjusting the relative postures of the sensor substrate 16 and the lens 22 so that the total differences of the pixel values of at least two of the light points in an image IMG taken by an image sensor 14 is within a predetermined range of low numerical values, by changing the posture of at least one of the substrate supporting part 2 and the lens supporting part 4.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to an alignment device and a computer program.

Background Art

[0002] Conventionally, a method of aligning a sensor substrate and a lens using an MTF (Modulation Transfer Function) value representing the resolution of a lens as an index has been known (see, for example, Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In recent years, ADB (Adaptive Driving Beam) control has been proposed for dynamically and adaptively controlling a light distribution pattern based on the state around a vehicle. In ADB control, a preceding vehicle is detected based on light spots existing in front of the host vehicle. For this reason, although the camera module for ADB control is required to acquire pixel values with high accuracy, there is a tendency that high imaging performance is not required. In particular, this tendency is strong in ADB control implemented in a saddle-riding type vehicle such as a motorcycle.

[0005]

[0006] ​The present invention has been made in view of such circumstances, and one of its objects is to provide a technique for suppressing a decrease in the alignment accuracy between a sensor substrate and a lens when the imaging performance of the lens is low.

Means for Solving the Problems

[0007] In order to solve the above problems, an aspect of the present invention is an alignment apparatus. This apparatus includes a substrate support unit that supports a sensor substrate on which an image sensor is mounted, a lens support unit that supports a lens at a predetermined interval from the sensor substrate, an alignment sheet that is disposed at a position where the image sensor can capture an image through the lens and that causes a plurality of light spots to appear, and a control unit that adjusts the relative postures of the sensor substrate and the lens by changing the posture of at least one of the substrate support unit and the lens support unit so that the sum of the pixel value differences of at least two light spots included in the image captured by the image sensor falls within a predetermined low numerical range.

[0008] Another aspect of the present invention is an alignment apparatus. This apparatus includes a substrate support unit that supports a sensor substrate on which an image sensor is mounted, a lens support unit that supports a lens at a predetermined interval from the sensor substrate, an alignment sheet that is disposed at a position where the image sensor can capture an image through the lens and that causes a plurality of light spots to appear, a fixing processing unit that performs a process of fixing the relative postures of the sensor substrate and the lens, and a control unit that adjusts the relative postures of the sensor substrate and the lens by changing the posture of at least one of the substrate support unit and the lens support unit and that instructs the fixing processing unit to execute the process according to the pixel values of at least two light spots included in the image captured by the image sensor.

[0009] Another aspect of the present invention is a computer program executed by an alignment device that aligns a sensor substrate equipped with an image sensor and a lens. This computer program causes the alignment device to perform the following operations: capture an alignment sheet that presents a plurality of light points through a lens using the image sensor, obtain pixel values of at least two light points included in the image captured by the image sensor, and adjust the relative postures of the sensor substrate and the lens so that the sum of the differences in the obtained pixel values falls within a predetermined low numerical range.

[0010] Note that any combination of the above-described components, as well as conversions of the expressions of the present invention among methods, devices, systems, etc., are also effective as aspects of the present invention.

Advantages of the Invention

[0011] According to the present invention, it is possible to provide a technique for suppressing a decrease in the alignment accuracy between a sensor substrate and a lens when the imaging performance of the lens is low.

Brief Description of the Drawings

[0012]

Figure 1

Figure 2

Figure 3

Embodiments for Carrying Out the Invention

[0013] Hereinafter, the present invention will be described with reference to the drawings based on preferred embodiments. The embodiments are illustrative rather than limiting the invention, and all features and combinations thereof described in the embodiments are not necessarily essential to the invention. The same or equivalent components, members, and processes shown in each drawing are denoted by the same reference numerals, and repeated explanations will be omitted as appropriate. Also, the scales and shapes of the respective parts shown in each figure are set for convenience in order to facilitate the explanation, and are not to be construed in a limited manner unless otherwise specified. Further, when terms such as "first" and "second" are used in this specification or claims, these terms do not represent any order or importance unless otherwise specified, and are for distinguishing one configuration from another. Also, in each drawing, some members that are not important in explaining the embodiments are omitted from the display.

[0014] FIG. 1 is a schematic diagram of an alignment apparatus 1 according to an embodiment. In FIG. 1, some components of the alignment apparatus 1 are depicted as functional blocks. Some of the functional blocks are realized as elements and circuits including a computer's CPU and memory as hardware configurations, and are realized by a computer program or the like as software configurations. It is understood by those skilled in the art that these functional blocks can be realized in various forms by combinations of hardware and software.

[0015] The alignment apparatus 1 includes a substrate support portion 2, a lens support portion 4, an alignment sheet 6, a control portion 8, a notification portion 10, a storage medium 12, and a fixing processing portion 30.

[0016] The substrate support unit 2 supports the sensor substrate 16 on which the image sensor 14 is mounted. The substrate support unit 2 as an example has a substrate holding jig 18 and an alignment stage 20. The substrate holding jig 18 holds the sensor substrate 16 in a state of being fixed to the support surface of the alignment stage 20. The alignment stage 20 can change its posture in, for example, six axial directions. When the posture of the alignment stage 20 changes, the posture of the sensor substrate 16 held by the substrate holding jig 18 also changes simultaneously. Therefore, the substrate support unit 2 of the present embodiment supports the sensor substrate 16 in a state where the posture of the sensor substrate 16 can be displaced.

[0017] In the present disclosure, the six axial directions are the X-axis direction, the Y-axis direction, the Z-axis direction, and the directions around each axis in an XYZ coordinate system in which the support surface of the alignment stage 20 is the XY plane and the normal direction of the support surface is the Z-axis. Note that the alignment stage 20 may be configured to change its posture in one or more and five or less axes, or seven or more axes.

[0018] The lens support unit 4 supports the lens 22 at a predetermined interval from the sensor substrate 16. The lens 22 as an example takes the form of a lens assembly in which a plurality of lenses are incorporated.

[0019] The alignment sheet 6 is disposed at a position where the image sensor 14 can capture an image through the lens 22. The alignment sheet 6 as an example has a chart sheet 24 and a light spot sheet 26. The chart sheet 24 and the light spot sheet 26 are, as an example, square plates and are laminated such that their main surfaces are in contact with each other. Also, the chart sheet 24 is smaller than the light spot sheet 26. The chart sheet 24 is provided with a chart hole 24a penetrating therethrough. The chart hole 24a is disposed, for example, at the center of the chart sheet 24. The chart hole 24a has a shape corresponding to the contour of the chart C (see FIG. 2).

[0020] The light point sheet 26 is provided with light point holes 26a penetrating therethrough. The light point holes 26a are arranged, for example, at the four corners of the light point sheet 26 at positions that do not overlap with the chart sheet 24. Also, at the position of the light point sheet 26 that overlaps with the chart hole 24a in the stacking direction of the two sheets, a light transmission hole 26b penetrating therethrough is provided. The light transmission hole 26b is larger than the chart hole 24a and overlaps the entire chart hole 24a when viewed from the stacking direction of the two sheets. Note that the alignment sheet 6 may have a structure in which the chart hole 24a and the light point hole 26a are formed in one sheet.

[0021] A light source 28 is arranged on the side opposite to the lens support portion 4 with the alignment sheet 6 interposed therebetween. The posture of the light source 28 is determined so as to irradiate light to each of the light point holes 26a and the light transmission holes 26b. In the present embodiment, one light source 28 is provided for each of the light point holes 26a and the light transmission holes 26b, but one light source 28 may be provided for a plurality of holes.

[0022] When the light source 28 corresponding to each light point hole 26a is turned on, the light L emitted from each light source 28 passes through each light point hole 26a and is irradiated toward the lens 22 side. Also, when the light source 28 corresponding to the light transmission hole 26b is turned on, the light L emitted from the light source 28 passes through the light transmission hole 26b and the chart hole 24a and is irradiated toward the lens 22 side. As a result, the chart C and a plurality of light points S appear on the alignment sheet 6.

[0023] With the chart C and a plurality of light points S appearing on the alignment sheet 6, the image sensor 14 images the alignment sheet 6 through the lens 22. The image sensor 14 repeatedly generates an image IMG and sends it to the control unit 8.

[0024] FIG. 2 is a schematic diagram of an image IMG captured by the image sensor 14. As shown in FIG. 2, a chart C is reflected in the center of the image IMG, and light spots S are reflected in the four corners of the image IMG. The light spot holes 26a and the light sources 28 corresponding to the holes are set in terms of the size of the hole, the intensity of the light L, the color, etc. so that light spots S corresponding to the size and brightness of a tail lamp located, for example, 100 m ahead appear in the alignment sheet 6 when viewed from the image sensor 14 side. Note that the size and brightness of the tail lamp located 100 m ahead can adopt values specified by regulations.

[0025] Returning to FIG. 1, the control unit 8 changes the attitude of the substrate support unit 2, more specifically, the attitude of the alignment stage 20, according to the pixel values of the respective light spots S included in the image IMG. Thereby, the relative attitude of the sensor substrate 16 and the lens 22 is adjusted. The control unit 8 can be configured by a digital processor, and is configured, for example, by a combination of a microcomputer including a CPU and a software program. Note that the control unit 8 may be configured by an FPGA (Field Programmable Gate Array), an ASIC (Application Specified IC), or the like. The control unit 8 can change the attitude of the alignment stage 20 by executing a computer program stored in a storage medium 12 configured by a memory or a storage.

[0026] Note that the control unit 8 may control the attitude of the substrate support unit 2 according to the luminance values of the respective light spots S. Further, when the lens support unit 4 supports the lens 22 in a state where the attitude of the lens 22 can be displaced, the control unit 8 may adjust the relative attitude of the sensor substrate 16 and the lens 22 by changing the attitude of the lens support unit 4. Alternatively, the relative attitude of the sensor substrate 16 and the lens 22 may be adjusted by changing the attitudes of both the substrate support unit 2 and the lens support unit 4.

[0027] As an example, the control unit 8 first performs focus adjustment of the lens 22 so that the contour of the chart C in the image IMG satisfies a predetermined clarity condition. The clarity condition can be appropriately set based on the designer's empirical knowledge or experiments, simulations, etc. by the designer, and is preset and stored in the storage medium 12 or the like. Subsequently, the control unit 8 acquires the pixel values of each light point S included in the image IMG obtained after focus adjustment. Then, the sum ST of the differences (absolute values) of the pixel values of each light point S is calculated. When the pixel values of the four light points S are A, B, C, and D, the sum ST can be calculated based on the following formula (1). ST = |A - B|+|A - C|+|A - D|+|B - C|+|B - D|+|C - D| ···(1)

[0028] Note that the control unit 8 may acquire the pixel values of at least two light points S included in the image IMG and calculate the sum ST. Therefore, the image IMG only needs to include at least two light points S. When there are only two light points S, the difference itself between the pixel values of the two light points S becomes the sum ST. However, from the perspective of improving the alignment accuracy, it is preferable that the alignment sheet 6 presents four or more light points S, and the control unit 8 calculates the sum ST from the pixel values of four or more light points S. Note that the number of light points S presented on the alignment sheet 6 and the number of light points S used for calculating the sum ST do not have to match. That is, the control unit 8 may calculate the sum ST using only some of the plurality of light points S included in the image IMG.

[0029] Then, the control unit 8 changes the posture of the alignment stage 20 in the six-axis direction so that the sum ST falls within a predetermined low numerical range. The low numerical range in the present disclosure is a range of ±30% of the minimum value of the calculated sum ST, that is, a range of not less than the minimum value × 70% and not more than the minimum value × 130%. Preferably, the control unit 8 controls the alignment stage 20 so that the sum ST becomes the minimum value. By adjusting the posture of the alignment stage 20 until the sum ST becomes the minimum, the alignment accuracy can be improved.

[0030] For example, the control unit 8 changes the six axes of the alignment stage 20 in a brute-force manner. The range for changing the six axes can be set as appropriate based on the designer's empirical knowledge or experiments and simulations by the designer, and is preset and stored in the storage medium 12 or the like. Then, using the acquired image IMG for each change, the sum ST in each posture of the alignment stage 20 is calculated. The control unit 8 stores information associating the sum ST with the values of each axis.

[0031] Also, the control unit 8 holds the first calculated sum ST as a provisional minimum value, and compares the next calculated sum ST with the provisional minimum value. Then, the smaller sum ST is held as the provisional minimum value. By repeating this comparison process until the sum ST in all postures of the alignment stage 20 is calculated, the minimum value of the sum ST and the posture of the alignment stage 20 at which the minimum value is obtained can be specified. When the control unit 8 specifies the minimum value of the sum ST, it adjusts the posture of the alignment stage 20 to the posture at which the minimum value is obtained. Thereby, the alignment between the sensor substrate 16 and the lens 22 is achieved.

[0032] The control unit 8 instructs the fixing processing unit 30 to execute the fixing process according to the pixel value of each light spot S included in the image IMG. As an example, when the sum ST falls within a low numerical range or when the control unit 8 specifies the minimum value of the sum ST, the control unit 8 transmits a signal instructing the execution of the fixing process to the fixing processing unit 30. When receiving the instruction signal, the fixing processing unit 30 performs a process of fixing the relative postures of the sensor substrate 16 and the lens 22.

[0033] For example, the fixing processing unit 30 fills the gap between the sensor substrate 16 and the lens 22 with a known adhesive X. As an example, the adhesive X cures with each of light such as UV and heat. After filling the adhesive X, the fixing processing unit 30 irradiates the adhesive X with light to temporarily fix the sensor substrate 16 and the lens 22. Subsequently, the fixing processing unit 30 removes the sensor substrate 16 and the lens 22 from the substrate holding jig 18 and heats the adhesive X. Thereby, the adhesive X is completely cured to obtain a sensor module.

[0034] Note that the adhesive X may be filled before the end of alignment. If the adhesive X is not cured, even if the adhesive X is interposed in the gap between the sensor substrate 16 and the lens 22, the relative posture between the sensor substrate 16 and the lens 22 can be changed. Further, the curing process of the adhesive X may be performed after the gain adjustment process described later. Further, the configuration of the fixing processing unit 30 is not particularly limited. For example, the filling of the adhesive X may be performed by another device or an operator, and the fixing processing unit 30 may only perform light irradiation and heating. Further, the method of the fixing process is not particularly limited. For example, the adhesive X may be cured only by light, may be cured only by heat, or may be cured by another curing mechanism. Further, fixing means other than the adhesive X may be used.

[0035] Further, the control unit 8 sends the control result of the substrate support unit 2 to the notification unit 10. The notification unit 10 is configured by, for example, a known monitor or the like, and notifies the outside by displaying the control result on the monitor. Thereby, the convenience of the alignment apparatus 1 can be enhanced. Examples of the control result include the calculated total sum ST and the six-axis numerical values of the alignment stage 20 when the total sum ST is obtained. Note that the notification unit 10 may be omitted.

[0036] In the present embodiment, after the alignment process is executed, the gain adjustment process is executed. Note that the gain adjustment process may be executed before the alignment process, or may be executed simultaneously with the alignment process. In the gain adjustment process, the control unit 8 determines whether the pixel value of each light spot S in the image IMG is equal to or greater than a predetermined threshold value. The threshold value can be appropriately set based on the designer's empirical knowledge or experiments and simulations by the designer, and is preset and stored in the storage medium 12 or the like.

[0037] When each pixel value is less than the threshold value, the control unit 8 adjusts the gain of the image sensor 14 so that the pixel values of each light spot S become equal to or greater than a predetermined threshold value. The set value of the gain is stored in a memory (not shown) on the sensor substrate 16. Thereby, the detection accuracy of the preceding vehicle in the ADB control can be improved. Note that the brightness of the light spot S corresponds to the brightness of the tail lamp. For this reason, if it is confirmed that the light spot S can be detected, the detection of the head lamp brighter than the tail lamp is naturally guaranteed. Further, the gain adjustment process may be performed by a device different from the alignment device 1.

[0038] This embodiment includes a computer program executed by the control unit 8 of the alignment device 1. This computer program causes the alignment device 1 to execute a function of imaging an alignment sheet 6 that causes a plurality of light spots S to appear by the image sensor 14 via the lens 22, acquiring pixel values of at least two light spots S included in the image IMG captured by the image sensor 14, and adjusting the relative postures of the sensor substrate 16 and the lens 22 so that the total sum ST of the differences in the acquired pixel values falls within a predetermined low numerical range. Further, this embodiment also includes a storage medium 12 that stores the computer program.

[0039] FIG. 3 is a flowchart for explaining the alignment process and the gain adjustment process executed by the control unit 8. Note that FIG. 3 shows a case where the gain adjustment process is performed after the alignment process as an example.

[0040] First, the control unit 8 acquires an image IMG from the image sensor 14 (S101). Then, the control unit 8 calculates the total sum ST of the differences in pixel values of each light spot S in the acquired image IMG (S102). Subsequently, the control unit 8 determines whether the total sum ST has been calculated for all possible postures that the alignment stage 20 can take (S103). If the total sum ST has not been calculated for all postures (N in S103), the control unit 8 changes the posture of the alignment stage 20 (S104) and then repeats the processes of steps S101 to S103. If the total sum ST has been calculated for all postures (Y in S103), the control unit 8 adjusts the posture of the alignment stage 20 to the posture where the total sum ST is minimized and instructs the fixing processing unit 30 to execute the fixing process (S105). Thereby, the alignment process is completed.

[0041] Subsequently, the control unit 8 acquires an image IMG from the image sensor 14 (S106). Then, the control unit 8 determines whether the pixel value of each light spot S in the acquired image IMG is equal to or greater than a threshold value (S107). If the pixel value of any light spot S is less than the threshold value (N in S107), the control unit 8 adjusts the gain of the image sensor 14 (S108) and then repeats the processes of steps S106 to S107. If the pixel value of each light spot S is equal to or greater than the threshold value (Y in S107), the gain adjustment process is completed, and the control unit 8 ends this flow.

[0042] As described above, the alignment device 1 according to the present embodiment controls the posture of at least one of the substrate support portion 2 and the lens support portion 4 so that the total sum ST of the differences in pixel values of at least two light spots S included in the image IMG captured by the image sensor 14 falls within a predetermined low numerical range. That is, in the present embodiment, pixel values are used instead of the MTF value as an alignment index. Therefore, even in a camera module that employs a lens with relatively low imaging performance, it is possible to suppress a decrease in the alignment accuracy between the sensor substrate 16 and the lens 22.

[0043] In addition, the control unit 8 of the present embodiment executes gain adjustment processing before, after, or simultaneously with the alignment processing. That is, the alignment processing and the gain adjustment processing are executed by the same device. Thereby, compared with the case where each process is executed by separate devices, man-hours and costs can be reduced.

[0044] As described above, the embodiments of the present invention have been described in detail. The above-described embodiments are merely specific examples for implementing the present invention. The content of the embodiments does not limit the technical scope of the present invention, and many design changes such as changes, additions, and deletions of components are possible without departing from the idea of the invention defined in the claims. The new embodiments to which design changes are applied have the effects of the combined embodiments and modifications. In the above-described embodiments, with respect to the content for which such design changes are possible, notations such as "in the present embodiment" and "in the present embodiment" are added and emphasized, but design changes are also allowed for the content without such notations. Any combination of the above components is also effective as an aspect of the present invention. The hatching attached to the cross-section of the drawing does not limit the material of the object to which the hatching is attached.

[0045] The invention according to the above-described embodiment may be specified by the following items. [Item 1] A substrate support portion (2) that supports a sensor substrate (16) on which an image sensor (14) is mounted, A lens support portion (4) that supports a lens (22) at a predetermined interval from the sensor substrate (16), An alignment sheet (6) that is disposed at a position where the image sensor (14) can capture an image through the lens (22) and causes a plurality of light spots (S) to appear, A control unit (8) that adjusts the relative postures of the sensor substrate (16) and the lens (22) by changing the posture of at least one of the substrate support portion (2) and the lens support portion (4) so that the sum (ST) of the pixel value differences of at least two light spots (S) included in the image (IMG) captured by the image sensor (14) falls within a predetermined low numerical range. Alignment device (1). [Item 2] The control unit (8) adjusts the gain of the image sensor (14) so that the pixel value of each light spot (S) is equal to or greater than a predetermined threshold value. The alignment device (1) according to Item 1. [Item 3] The alignment sheet (6) causes four or more light spots (S) to appear. The control unit (8) calculates the sum (ST) from the pixel values of four or more light spots (S). The alignment device (1) according to Item 1 or Item 2. [Item 4] The control unit (8) adjusts the relative posture so that the sum (ST) becomes the minimum value. The alignment device (1) according to any one of Items 1 to 3. [Item 5] A substrate support part (2) that supports a sensor substrate (16) on which an image sensor (14) is mounted, A lens support part (4) that supports a lens (22) at a predetermined interval with respect to the sensor substrate (16), An alignment sheet (6) in which the image sensor (14) is arranged at a position where it can capture an image via the lens (22) and that causes a plurality of light spots (S) to appear, A fixing processing part (30) that performs a process of fixing the relative postures of the sensor substrate (16) and the lens (22), A control unit (8) that changes the posture of at least one of the substrate support part (2) and the lens support part (4) to adjust the relative posture of the sensor substrate (16) and the lens (22), and instructs the fixing processing part (30) to execute the process according to the pixel values of at least two light spots (S) included in the image (IMG) captured by the image sensor (14). Alignment device (1). [Item 6] A computer program executed by an alignment device (1) that aligns a sensor substrate (16) on which an image sensor (14) is mounted and a lens (22), An alignment sheet (6) that causes a plurality of light points (S) to appear is imaged by an image sensor (14) via a lens (22). The pixel values of at least two light points (S) included in the image (IMG) captured by the image sensor (14) are obtained. The alignment device (1) is made to execute a function of adjusting the relative postures of the sensor substrate (16) and the lens (22) so that the total sum (ST) of the differences between the obtained pixel values falls within a predetermined low numerical range. Computer program. [Item 7] An alignment method for aligning a sensor substrate (16) on which an image sensor (14) is mounted and a lens (22), An alignment sheet (6) that causes a plurality of light points (S) to appear is imaged by an image sensor (14) via a lens (22). The pixel values of at least two light points (S) included in the image (IMG) captured by the image sensor (14) are obtained. Including adjusting the relative postures of the sensor substrate (16) and the lens (22) so that the total sum (ST) of the differences between the obtained pixel values falls within a predetermined low numerical range. Alignment method.

Explanation of Signs

[0046] 1 Alignment device, 2 Substrate support part, 4 Lens support part, 6 Alignment sheet, 8 Control part, 10 Notification part, 14 Image sensor, 16 Sensor substrate, 22 Lens.

Claims

1. a substrate support portion that supports a sensor substrate on which an image sensor is mounted; a lens support portion that supports a lens at a predetermined interval from the sensor substrate; an alignment sheet that is disposed at a position where the image sensor can image through the lens and that causes a plurality of light points to appear; a control unit that changes the attitude of at least one of the substrate support portion and the lens support portion and adjusts the relative attitude of the sensor substrate and the lens so that the sum of the pixel value differences of at least two light points included in the image captured by the image sensor falls within a predetermined low numerical range; an alignment device.

2. The control unit adjusts the gain of the image sensor so that the pixel value of each light point is equal to or greater than a predetermined threshold value. The alignment device according to claim 1.

3. The alignment sheet causes four or more of the light points to appear, and the control unit calculates the sum from the pixel values of the four or more light points. The alignment device according to claim 1 or 2.

4. The control unit adjusts the relative attitude so that the sum becomes the minimum value. The alignment device according to claim 1 or 2.

5. a substrate support portion that supports a sensor substrate on which an image sensor is mounted; a lens support portion that supports a lens at a predetermined interval from the sensor substrate; an alignment sheet that is disposed at a position where the image sensor can image through the lens and that causes a plurality of light points to appear; a fixing processing unit that performs a process of fixing the relative attitude of the sensor substrate and the lens; a control unit that changes the attitude of at least one of the substrate support portion and the lens support portion to adjust the relative attitude of the sensor substrate and the lens, and instructs the fixing processing unit to execute the process according to the pixel values of at least two light points included in the image captured by the image sensor; an alignment device.

6. A computer program executed by an alignment device that aligns a sensor substrate on which an image sensor is mounted and a lens, capturing, by the image sensor through the lens, an alignment sheet that causes a plurality of light points to appear, acquiring pixel values of at least two light points included in the image captured by the image sensor, Causing the alignment device to execute a function of adjusting a relative posture of the sensor substrate and the lens so that a sum of differences of the obtained pixel values falls within a predetermined low numerical range. A computer program.

Images