CN114755782A

CN114755782A - Point spectrum lens mounting method, device, system, storage medium and product

Info

Publication number: CN114755782A
Application number: CN202210181131.9A
Authority: CN
Inventors: 欧俊文; 黄庆先; 金少锋; 刘付辉生
Original assignee: Shenzhen Sincevision Technology Co ltd
Current assignee: Shenzhen Sincevision Technology Co ltd
Priority date: 2022-02-25
Filing date: 2022-02-25
Publication date: 2022-07-15

Abstract

The application relates to a point spectrum lens mounting method, a point spectrum lens mounting device, a point spectrum lens mounting system, a point spectrum lens mounting storage medium and a point spectrum lens mounting product. The method comprises the following steps: acquiring a lens image corresponding to at least one lens to be mounted and a lens barrel image corresponding to at least one lens barrel to be mounted; performing image recognition processing on the lens image and the lens barrel image, and determining a lens position of the lens to be installed in the lens image and a lens barrel position of the lens barrel to be installed in the lens barrel image; and according to the lens position, the lens barrel position and the position corresponding relation between the lens to be installed and the lens barrel to be installed, installing the lens to be installed into the lens barrel to be installed at the corresponding position, and obtaining the point spectrum lens. By adopting the method, the mounting efficiency of the point spectrum lens can be improved.

Description

Point spectrum lens mounting method, device, system, storage medium and product

Technical Field

The present application relates to the field of device installation technologies, and in particular, to a method, an apparatus, a system, a storage medium, and a product for installing a point spectrum lens.

Background

At present, a large number of optical lenses are integrated in a single-point spectrum confocal lens, and the single-point spectrum confocal lens generally comprises a lens and a lens barrel, namely the lens and the lens barrel are assembled to obtain the lens. The single-point spectrum confocal lens can be used for optical measurement, so that the lens is higher in installation requirement.

In the related art, when the lens is mounted, a mechanical arm is usually manually controlled to mount each lens onto each lens barrel, so as to obtain a mounted lens.

However, in the above-described technique, there is a problem that mounting efficiency is low in the process of mounting the lens.

Disclosure of Invention

In view of the foregoing, it is desirable to provide a method, an apparatus, a system, a storage medium, and a product for mounting a point spectrum lens, which can improve mounting efficiency.

In a first aspect, the application provides a method for mounting a point spectrum lens. The method comprises the following steps:

acquiring a lens image corresponding to at least one lens to be mounted and a lens barrel image corresponding to at least one lens barrel to be mounted;

carrying out image recognition processing on the lens image and the lens barrel image, and determining the lens position of a lens to be installed in the lens image and the lens barrel position of a lens barrel to be installed in the lens barrel image;

and according to the position of the lens, the position of the lens barrel and the position corresponding relation between the lens to be installed and the lens barrel to be installed, installing the lens to be installed in the lens barrel to be installed at the corresponding position, and obtaining the point spectrum lens.

In one embodiment, acquiring a lens image corresponding to at least one lens to be mounted and a barrel image corresponding to at least one barrel to be mounted includes:

adopting a first vision camera to acquire data of a lens tray where at least one lens to be installed is located, and determining a lens image;

and adopting a second vision camera to carry out data acquisition on the lens cone tray where the at least one lens cone to be installed is positioned, and determining a lens cone image.

In one embodiment, performing image recognition processing on a lens image and a barrel image, and determining a lens position of a lens to be mounted in the lens image and a barrel position of a barrel to be mounted in the barrel image includes:

carrying out Hough detection processing on the lens image, and determining a first position and a second position in the lens image; the first position is a first origin position of the lens tray in the lens image, and the second position comprises at least one lens position of the lens to be mounted;

carrying out Hough detection processing on the lens cone image, and determining a third position and a fourth position in the lens cone image; the third position is a second origin position of the lens cone tray in the lens cone image, and the fourth position comprises at least one lens cone position of the lens cone to be mounted.

In one embodiment, the above installing the lens to be installed into the lens barrel to be installed at the corresponding position according to the lens position, the lens barrel position, and the position corresponding relationship between the lens to be installed and the lens barrel to be installed, includes:

acquiring an initial position of a sucker; the sucking disc is used for adsorbing the lens to be installed into the lens barrel to be installed, and the initial position is a first origin position or a second origin position;

and installing the lens to be installed into the lens barrel to be installed at the corresponding position according to the initial position, the lens barrel position and the position corresponding relation between the lens to be installed and the lens barrel to be installed.

In one embodiment, the mounting a lens to be mounted into a lens barrel to be mounted at a corresponding position according to an initial position, a lens barrel position, and a position corresponding relationship between the lens to be mounted and the lens barrel to be mounted, includes:

if the initial position is the first original position, determining a first moving distance of the sucker according to the position difference between the first original position and the lens position; the first moving distance comprises a moving distance in the X-axis direction and a moving distance in the Y-axis direction;

controlling the sucker to move to the lens position according to the first moving distance, and controlling the lens to be installed on the lens position of the sucker;

determining a lens barrel to be installed corresponding to the lens to be installed according to the position corresponding relation between the lens to be installed and the lens barrel to be installed and the position of the lens barrel;

and controlling the suction disc to mount the lens to be mounted into the lens barrel to be mounted at the corresponding position.

if the initial position is the second origin position, controlling the sucker to move to the first origin position according to the origin position difference between the first origin position and the second origin position;

determining a first moving distance of the sucker according to the position difference between the first origin position and the lens position; the first moving distance comprises a moving distance in the X-axis direction and a moving distance in the Y-axis direction;

controlling the sucker to move to the lens position according to the first moving distance, and controlling the sucker to adsorb the lens to be installed on the lens position;

and controlling the sucking disc to mount the lens to be mounted into the lens barrel to be mounted at the corresponding position.

In one embodiment, the mounting of the lens to be mounted into the lens barrel to be mounted at the corresponding position comprises:

calculating a second movement distance according to the lens position of the lens to be mounted and the lens barrel position of the lens barrel to be mounted at the corresponding position; the second moving distance comprises a moving distance in the X-axis direction and a moving distance in the Y-axis direction;

controlling the sucker to move to the position above the lens cone to be installed on the corresponding position according to the second moving distance;

acquiring a preset descending distance of the sucker; the preset descending distance is related to the depth of the lens to be mounted in the lens barrel to be mounted;

and controlling the suction disc to mount the lens to be mounted into the lens barrel to be mounted at the corresponding position according to the preset descending depth.

In one embodiment, before the lens to be mounted is mounted in the lens barrel to be mounted at the corresponding position, the method further includes:

acquiring a plurality of distances between a lens to be mounted and the inner wall of a lens barrel to be mounted;

and determining whether to adjust the position of the lens to be mounted according to the distance comparison results.

In one embodiment, determining whether to adjust the position of the lens to be mounted according to the distance comparison results includes:

if at least two of the plurality of distances are not equal, determining the minimum distance in the plurality of distances;

and adjusting the position of the lens to be installed to the opposite direction of the minimum distance.

In a second aspect, the application further provides a point spectrum lens mounting device. The device includes:

the device comprises an acquisition module, a display module and a display module, wherein the acquisition module is used for acquiring a lens image corresponding to at least one lens to be installed and a lens barrel image corresponding to at least one lens barrel to be installed;

the identification module is used for carrying out image identification processing on the lens image and the lens barrel image and determining the lens position of a lens to be installed in the lens image and the lens barrel position of a lens barrel to be installed in the lens barrel image;

and the mounting module is used for mounting the lens to be mounted into the lens barrel to be mounted at the corresponding position according to the lens position, the lens barrel position and the position corresponding relation between the lens to be mounted and the lens barrel to be mounted, so as to obtain the point spectrum lens.

In a third aspect, the present application further provides a point spectrum lens mounting system, where the system includes: the vision camera, the memorizer, the motor module and the controller, the controller includes the processor, the memorizer stores the computer program;

the visual camera is used for acquiring a lens image corresponding to at least one lens to be mounted and a lens barrel image corresponding to at least one lens barrel to be mounted;

the controller is used for carrying out image recognition processing on the lens image and the lens barrel image when executing the computer program, and determining the lens position of a lens to be installed in the lens image and the lens barrel position of a lens barrel to be installed in the lens barrel image;

and the controller is used for controlling the motor module to install the lens to be installed into the lens barrel to be installed at the corresponding position according to the lens position, the lens barrel position and the position corresponding relation between the lens to be installed and the lens barrel to be installed when executing the computer program, so that the point spectrum lens is obtained.

In a fourth aspect, the present application further provides a computer readable storage medium having a computer program stored thereon, the computer program when executed by a processor implementing the steps of:

In a fifth aspect, the present application further provides a computer program product comprising a computer program which, when executed by a processor, performs the steps of:

According to the point spectrum lens mounting method, device, system, storage medium and product, the lens image corresponding to the lens to be mounted and the lens cone image corresponding to the lens cone to be mounted are obtained, then the image recognition processing is carried out on the lens image and the lens cone image, the lens position of the lens to be mounted in the lens image and the lens cone position of the lens cone to be mounted in the lens cone image are determined, and finally the lens to be mounted is mounted in the lens cone to be mounted in the corresponding position according to the corresponding relation among the lens position, the lens cone position and the lens cone to be mounted, so that the point spectrum lens is mounted. The installation method of the point spectrum lens adopts machine vision to automatically acquire images for image recognition, and automatically installs the lens by combining the recognized position of the lens to be installed and the position of the lens barrel to be installed with the corresponding relation of the two positions, so that manual recognition and installation are not needed, labor and time can be saved, and the installation efficiency of the point spectrum lens can be improved; meanwhile, the position of the lens and the position of the lens barrel obtained through image recognition are accurate, and the lens is mounted in the lens barrel by combining the corresponding position relation on the basis, so that the mounted lens and the lens barrel are accurate, and the mounting precision of the point spectrum lens can be improved.

Drawings

FIG. 1 is a schematic diagram of a point spectrum lens mounting system in one embodiment;

FIG. 2 is a schematic flow chart illustrating a method for mounting a point spectrum lens according to an embodiment;

FIG. 3 is a schematic flow chart illustrating a method for mounting a point spectrum lens according to another embodiment;

FIG. 4 is a schematic flow chart diagram illustrating a method for mounting a spot spectrum lens in another embodiment;

FIG. 5 is a schematic flow chart illustrating a method for mounting a point spectrum lens according to another embodiment;

FIG. 6 is a schematic flow chart illustrating a method for mounting a point spectrum lens according to another embodiment;

FIG. 7 is a schematic view of another embodiment of the suction cup inside the lens barrel;

FIG. 8 is a schematic structural diagram of an infrared distance measuring sensor in another embodiment;

FIG. 9 is a schematic view showing the overall structure of a hydraulic cushion spring according to another embodiment;

FIG. 10 is a cross-sectional view schematically illustrating a hydraulic cushion spring according to another embodiment;

fig. 11 is a schematic structural diagram of a point spectrum lens mounting device in one embodiment.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

It will be understood that, as used herein, the terms "first," "second," and the like may be used herein to describe various elements and positions, etc., but these elements and positions are not limited by these terms.

The point spectrum lens installation method can be applied to a point spectrum lens installation system. Referring to fig. 1, the system includes a vision camera, a memory, a motor module and a controller, and a lens tray (for placing the lens to be mounted) and a lens barrel tray (for placing the lens barrel to be mounted) are also placed on an operation table of the system.

The visual camera is used for acquiring a lens image corresponding to at least one lens to be mounted and a lens barrel image corresponding to at least one lens barrel to be mounted. The number of the visual cameras can be set according to actual conditions, and for example, the number of the visual cameras can be one visual camera, two visual cameras, three visual cameras and the like. The vision camera may be a CCD (Charge coupled Device) camera, but may be other cameras.

The memory is connected with the controller, and the memory stores computer programs. The memory comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium.

The controller may include a microprocessor having a processing function and a microcontroller having a control function, which are connected to each other. The motor module may be a motor module including motors in a plurality of directions, and may include at least two motors among an X-axis motor (also referred to as a horizontal motor), a Y-axis motor (also referred to as a front-rear motor) in a Y-axis direction, and a Z-axis motor (also referred to as a vertical motor) in a Z-axis direction, for example. Wherein the motor may be a three-phase motor or the like. The bottom of the Z-axis motor can be connected with an infrared ranging sucker which can be used for adsorbing lenses.

The controller is connected with the motor module and the vision camera respectively, and the controller can comprise a processor which is used for carrying out image recognition processing on the lens image and the lens cone image when executing a computer program, and determining the lens position of the lens to be installed in the lens image and the lens cone position of the lens cone to be installed in the lens cone image. And the motor module is used for controlling the motor module to install the lens to be installed into the lens barrel to be installed at the corresponding position according to the position of the lens, the position of the lens barrel and the corresponding relationship between the lens to be installed and the lens barrel to be installed, so as to obtain the point spectrum lens.

In a word, the controller can process the acquired data collected by the vision camera, and control the motor module to control the motor by adopting the processed data, so that the lens and the lens cone are installed.

In one embodiment, as shown in fig. 2, a method for installing a point spectrum lens is provided, which is described by taking as an example the method applied to the installation system of the point spectrum lens in fig. 1, and includes the following steps:

s202, acquiring a lens image corresponding to at least one lens to be mounted and a lens barrel image corresponding to at least one lens barrel to be mounted.

The lenses to be mounted may correspond to the lens barrels to be mounted one by one, or a plurality of lenses to be mounted may correspond to one lens barrel to be mounted (i.e., a plurality of lenses to be mounted are mounted in one lens barrel to be mounted).

Specifically, before acquiring a lens image corresponding to a lens to be mounted and a lens barrel image corresponding to a lens barrel to be mounted, a lens tray for placing the lens to be mounted can be preset, and the lenses to be mounted are placed in holes of the lens tray according to a preset sequence; and arranging a lens cone tray for placing the lens cones to be installed, and respectively placing the lens cones to be installed in the hole positions of the lens cone tray according to a preset sequence. And then, on the installation operation table, fixing the trays on which the lenses and the lens cones to be installed in the installation hole positions of the lens trays and the lens cone trays respectively. Placing the lenses and lens barrels on the tray mounting holes and fixing the tray to the tray mounting holes can be done by mechanical arms or manually.

Meanwhile, a visual camera can be arranged above the installation operation table in advance to collect data, two visual cameras can be arranged to collect images of the lens to be installed and the lens barrel to be installed respectively, one visual camera can be arranged to collect images of the lens to be installed and the lens barrel to be installed simultaneously, and more visual cameras can be arranged to collect images of the lens to be installed and the lens barrel to be installed.

In addition, the lens image herein refers to an image of the entire tray and the lens to be mounted after the lens to be mounted is placed in the lens tray. Here, the lens barrel image refers to an image including the entire tray and the lens barrel to be mounted after the lens barrel to be mounted is placed in the lens barrel tray.

S204, carrying out image recognition processing on the lens image and the lens barrel image, and determining the lens position of the lens to be installed in the lens image and the lens barrel position of the lens barrel to be installed in the lens barrel image.

Wherein, the image recognition processing can be recognition by adopting an image recognition algorithm; or the neural network recognition model can be adopted for recognition; of course, other identification means are possible.

In a word, the lens image is subjected to image recognition processing through an image recognition algorithm or a neural network recognition model, and the position information of each lens to be installed in the lens image can be obtained; the position information of the lens to be mounted is recorded as a lens position, and may include a reference number (for example, belonging to a first row and a first column, and having a reference number of 1.1), a center point coordinate, a contour point coordinate, and the like of the lens to be mounted. Of course, the origin position of the lens tray in the lens image, for example, the coordinates of the upper left corner of the lens tray, may also be recognized.

Similarly, the lens cone image is subjected to image recognition processing through an image recognition algorithm or a neural network recognition model, so that the position information of each lens cone to be installed in the lens cone image can be obtained; the position information of the lens barrel to be mounted is recorded as a lens barrel position, and may include a reference number (for example, belonging to the second row and the first column, and having a reference number of 2.1), a center point coordinate, a contour point coordinate, and the like of the lens barrel to be mounted. Of course, the origin position of the barrel tray in the barrel image, for example, the coordinates of the upper left corner of the barrel tray may be recognized.

Of course, the number of the lenses to be mounted in the lens image and the number of the lens barrels to be mounted in the lens barrel image can also be recognized through an image recognition algorithm or a neural network recognition model.

Step S206, according to the position of the lens, the position of the lens barrel and the corresponding relationship between the lens to be mounted and the lens barrel to be mounted, the lens to be mounted is mounted in the lens barrel to be mounted at the corresponding position, and the point spectrum lens is obtained.

In this step, when placing the lens to be mounted in the lens tray and placing the lens barrel to be mounted in the lens barrel tray, the corresponding relationship between the lens to be mounted and the lens barrel to be mounted may also be set in advance, for example, a first row and a first column (i.e., reference numeral 1.1) of the lens tray in which the lens to be mounted corresponds to the lens barrel to be mounted in a first row and a first column (i.e., reference numeral 1.1) of the lens barrel tray, a second row and a third column (i.e., reference numeral 2.3) of the lens tray in which the lens to be mounted corresponds to the lens barrel to be mounted in a second row and a third column (i.e., reference numeral 2.3) of the lens barrel tray, and the like.

After the lens position of each lens to be mounted and the lens barrel position of each lens barrel to be mounted are obtained, each lens to be mounted can be moved to the corresponding lens barrel to be mounted according to the lens position of each lens to be mounted, the lens barrel position of each lens barrel to be mounted and the corresponding relationship between the two positions, and the point spectrum lens is mounted correspondingly, so that the mounted point spectrum lens is obtained.

According to the point spectrum lens mounting method, the lens image corresponding to the lens to be mounted and the lens barrel image corresponding to the lens barrel to be mounted are obtained, then image recognition processing is carried out on the lens image and the lens barrel image, the lens position of the lens to be mounted in the lens image and the lens barrel position of the lens barrel to be mounted in the lens barrel image are determined, and finally the lens to be mounted is mounted in the lens barrel to be mounted in the corresponding position according to the corresponding relation among the lens position, the lens barrel position and the lens barrel to be mounted, so that the point spectrum lens is mounted. The installation method of the point spectrum lens adopts machine vision to automatically acquire images for image recognition, and automatically installs the lens by combining the recognized position of the lens to be installed and the position of the lens barrel to be installed with the corresponding relation of the two positions, so that manual recognition and installation are not needed, labor and time can be saved, and the installation efficiency of the point spectrum lens can be improved; meanwhile, the position of the lens and the position of the lens barrel obtained through image recognition are accurate, and the lens is mounted in the lens barrel by combining the corresponding position relation on the basis, so that the mounted lens and the lens barrel are accurate, and the mounting precision of the point spectrum lens can be improved.

While the above embodiments mention that one or more vision cameras can be used to capture images of the lens and the lens barrel, the following embodiments describe a specific process of capturing images of the lens and the lens barrel using two vision cameras. In another embodiment, another method for installing a point spectrum lens is provided, and on the basis of the above embodiment, the step S202 may include the following steps a1 and a 2:

step A1, a first vision camera is adopted to collect data of a lens tray where at least one lens to be installed is located, and a lens image is determined.

And step A2, acquiring data of the lens cone tray where at least one lens cone to be installed is located by adopting a second visual camera, and determining a lens cone image.

In steps A1-A2, the first vision cameras may be of the same type, such as CCD cameras, or of course, of different types. For a specific acquisition process, reference may be made to the explanation of S202 above, which is not described herein again.

It should be noted that, the steps a1 and a2 are not executed in sequence, and may be executed first in step a1 and then in step a2, or may be executed first in step a2 and then in step a1, or may be executed simultaneously in steps a1 and a 2.

In the embodiment, the images of the lens to be mounted and the lens barrel to be mounted are respectively collected by two different vision cameras, so that the image collection efficiency can be improved, and the mounting efficiency of the subsequent point spectrum lens can be improved.

In the above embodiments, it is mentioned that the obtained lens image and lens barrel image can be subjected to image recognition processing, and the following embodiments describe in detail how the image recognition process is specifically performed. In another embodiment, another method for installing a point-spectrum lens is provided, and on the basis of the above embodiment, the step S204 may include the following steps B1 and B2:

step B1, carrying out Hough detection processing on the lens image, and determining a first position and a second position in the lens image; the first position is a first origin position of the lens tray in the lens image, and the second position comprises at least one lens position of the lens to be mounted.

Step B2, carrying out Hough detection processing on the lens cone image, and determining a third position and a fourth position in the lens cone image; the third position is a second origin position of the lens cone tray in the lens cone image, and the fourth position comprises at least one lens cone position of the lens cone to be mounted.

In steps B1-B2, the origin position of the lens tray in the lens image can be identified as the first position, i.e., the first origin position, which may be, for example, the coordinates of the upper left corner of the lens tray, by the hough detection processing on the lens image. Of course, the position information of each lens to be mounted may also be identified, and the position information of each lens to be mounted is recorded as the second position, and may include, for example, a mark number, a center point coordinate, a contour point coordinate, and the like of the lens to be mounted.

Similarly, the origin position of the lens barrel tray in the lens barrel image can be identified by hough detection processing on the lens barrel image, and is recorded as a third position, i.e. a second origin position, which may be, for example, the coordinates of the upper left corner of the lens barrel tray. Of course, the position information of each lens barrel to be mounted may also be recognized, and the position information of each lens barrel to be mounted is recorded as the fourth position, and may include, for example, a mark number, center point coordinates, contour point coordinates, and the like of the lens barrel to be mounted.

It should be noted that, the steps B1 and B2 are not executed in sequence, and may be executed first in step B1 and then in step B2, or may be executed first in step B2 and then in step B1, or may be executed simultaneously in steps B1 and B2.

In this embodiment, by performing hough detection processing on the lens image and the barrel image, the tray origin position, the lens position, and the barrel position in each image can be quickly identified, so that the efficiency of position identification can be improved, and the accuracy of image identification can be improved, thereby improving an accurate data base for subsequent lens and barrel installation, and improving the installation accuracy of the lens and the barrel.

In the above embodiments, it is mentioned that the lens can be mounted by the lens position, the lens barrel position and the corresponding relationship between the two positions, and the following embodiments describe in detail how to mount the lens by using the information. In another embodiment, another method for installing a point spectrum lens is provided, and on the basis of the above embodiment, as shown in fig. 3, the step S206 may include the following steps:

s302, acquiring an initial position of the sucker; the sucking disc is used for adsorbing a lens to be installed to the lens barrel to be installed, and the initial position is a first origin position or a second origin position.

Before describing the installation process of the embodiment, a motor module in the present application is described first, where the motor module includes motors in three directions, namely an X-axis motor in an X-axis direction, a Y-axis motor in a Y-axis direction, and a Z-axis motor in a Z-axis direction; the X-axis motor is used for controlling the horizontal movement and is used for controlling the Z-axis motor to move in the horizontal direction; the Y-axis motor is used for controlling the front and back direction movement and is used for controlling the Z-axis motor to move in the front and back direction; the Z-axis motor can move up and down in the vertical direction after moving horizontally and back and forth. The sucker is mainly installed below the Z-axis motor and used for adsorbing the lens to be installed.

Generally, the Z-axis motor and the suction cup are generally placed at the origin of the lens tray or the barrel tray, but may be placed at other positions, and the Z-axis motor and the suction cup are moved to the origin of the lens tray or the barrel tray before the lens is mounted. That is, the initial position of the suction cup is the first origin position of the lens tray or the second origin position of the barrel tray, and the first origin position and the second origin position can be obtained by the image recognition, and thus the initial position of the suction cup can be obtained.

Here, the initial position of the suction cup is at the origin position, and thus the position of the suction cup to the lens to be mounted is equal to the position of the origin to the lens to be mounted, which makes calculation of the moving distance and simpler.

S304, according to the initial position, the lens barrel position and the position corresponding relation between the lens to be installed and the lens barrel to be installed, the lens to be installed is installed in the lens barrel to be installed at the corresponding position.

In this step, the suction cup is moved to the lens position to absorb the lens by the obtained initial position of the suction cup and the lens position, and then the absorbed lens is installed in the lens barrel at the corresponding position by combining the position corresponding relationship between the lens barrel position and the lens barrel position.

In this embodiment, through the initial position of sucking disc, lens position, lens barrel position and the position corresponding relation between the lens barrel position, with the lens barrel of adsorbed lens installation to corresponding position in, here adsorb the lens through sucking disc initial position and lens position, can make adsorbed lens comparatively accurate to can make the installation of lens more accurate.

In the above embodiments, it is mentioned that the initial position of the suction cup may be the first origin position or the second origin position, and the following embodiments describe in detail how the lens mounting is performed through the two origin positions.

First, in another embodiment, another method for mounting a point spectrum lens is provided, and this embodiment mainly describes how to mount a lens barrel when the initial position of the suction cup is the first origin position. On the basis of the above embodiment, as shown in fig. 4, the above S304 may include the following steps:

s402, if the initial position is a first original position, determining a first moving distance of the sucker according to the position difference between the first original position and the lens position; the first movement distance includes a movement distance in the X-axis direction and a movement distance in the Y-axis direction.

In this step, the first origin position is an origin position of the lens tray, so that a position difference between the first origin position and each lens position may be calculated first, where the position difference may include position differences on an X axis and a Y axis, which means how much distance the suction cup moves on the X axis and the Y axis, respectively, to move to the lens position, and the two position differences of each lens are recorded as a first moving distance, that is, the first moving distance includes respective moving distances of the suction cup on the X axis and the Y axis.

It should be noted that, after each time the suction cup sucks and installs one lens, the suction cup will automatically return to the initial position of the suction cup, so as to quickly suck and install the next lens.

S404, controlling the sucker to move to the position of the lens according to the first moving distance, and controlling the lens to be installed on the position of the sucker lens.

In this step, after the first moving distance corresponding to each lens to be mounted is obtained, including the respective moving distances of the suction cups on the X axis and the Y axis, the Z axis motors corresponding to the suction cups can be controlled to move corresponding distances on the X axis and the Y axis, and the lenses to be mounted on the corresponding positions are adsorbed by moving up and down to the positions above the lenses to be adsorbed, and lowering the Z axis motors to a certain height.

S406, determining the lens barrel to be mounted corresponding to the lens to be mounted according to the position corresponding relation between the lens to be mounted and the lens barrel to be mounted and the position of the lens barrel.

In this step, the lens barrel to be mounted corresponding to the lens to be mounted can be obtained through the position corresponding relationship, for example, the above-mentioned reference numerals can be used as the lens position and the lens barrel position.

And S408, controlling the sucker to mount the lens to be mounted into the lens barrel to be mounted at the corresponding position.

In this step, after the lens barrel to be mounted is determined, optionally, the second movement distance may be calculated according to the lens position of the lens to be mounted and the lens barrel position of the lens barrel to be mounted at the corresponding position; the second moving distance comprises a moving distance in the X-axis direction and a moving distance in the Y-axis direction; controlling the sucker to move to the position above the lens cone to be installed on the corresponding position according to the second moving distance; acquiring a preset descending distance of the sucker; the preset descending distance is related to the depth of the lens to be mounted in the lens barrel to be mounted; and controlling the suction disc to mount the lens to be mounted into the lens barrel to be mounted at the corresponding position according to the preset descending depth.

Specifically, the moving distance between the lens position of one lens to be mounted which is currently adsorbed by the suction cup and the lens barrel position corresponding to the lens to be mounted can be calculated, and the moving distances in the X-axis direction and the Y-axis direction, which are both recorded as the second moving distance. And then, a Z-axis motor corresponding to the sucker can be controlled to move corresponding distances on an X axis and a Y axis, and the sucked lens is installed in the lens barrel at the position by moving the Z-axis motor to the position above the lens barrel to be installed up and down and descending the Z-axis motor to the preset descending depth. The preset falling depth can be set according to practical conditions, and can be 2mm, 5mm and the like from the upper surface of the lens barrel.

In this embodiment, the position difference between the first origin position and the lens position of the suction cup is calculated, and the suction cup is moved to adsorb the lens according to the position difference, so as to mount the lens and the lens barrel, thereby rapidly and accurately determining the lens and the lens barrel to be mounted, and improving the mounting efficiency and accuracy of the lens.

Next, in another embodiment, another method for mounting a point spectrum lens is provided, and this embodiment mainly describes how to mount a lens barrel when the initial position of the suction cup is the second origin position. On the basis of the above embodiment, as shown in fig. 5, the step S304 may include the following steps:

and S502, if the initial position is the second origin position, controlling the sucker to move to the first origin position according to the origin position difference between the first origin position and the second origin position.

In this step, the second origin position is the origin position of the lens barrel tray, and then the position difference between the second origin position and the first origin position may be calculated first, and the suction cup may be moved to the first origin position by the position difference.

After the suction cup is moved to the first origin position, the lens mounting can be performed according to the above method embodiment. Here, the suction cup is moved from the second origin position to the first origin position, so that the lens determination and the suction can be performed quickly.

For the explanation of the steps after moving the suction cup to the first origin position, reference may be made to the explanation of S402 above, which is not described herein again.

S504, determining a first moving distance of the sucker according to the position difference between the first origin position and the lens position; the first movement distance includes a movement distance in the X-axis direction and a movement distance in the Y-axis direction.

For the explanation of this step, reference may be made to the explanation of S402 above, which is not described herein again.

S506, controlling the sucker to move to the position of the lens according to the first moving distance, and controlling the sucker to adsorb the lens to be installed on the position of the lens.

For the explanation of this step, reference may be made to the explanation of S404 above, which is not described herein again.

And S508, determining the lens barrel to be mounted corresponding to the lens to be mounted according to the position corresponding relation between the lens to be mounted and the lens barrel to be mounted and the position of the lens barrel.

For the explanation of this step, reference may be made to the explanation of S406, which is not described herein again.

And S510, controlling the sucker to mount the lens to be mounted into the lens barrel to be mounted at the corresponding position.

For the explanation of this step, reference may be made to the explanation of S408 above, which is not described herein again.

In the embodiment, the sucker is moved to the first original point position from the second original point position, the position difference between the sucker and the lens position when the sucker is at the first original point position is calculated, the sucker is moved to adsorb the lens according to the position difference, and then the lens and the lens barrel are installed, so that the lens and the lens barrel which need to be installed can be quickly and accurately determined, and the installation efficiency and accuracy of the lens are improved.

In the above embodiments, it is mentioned that the lens may be installed in the corresponding lens barrel, before installation, in order to avoid the problem that the lens is too close to the inner wall of the lens barrel, which results in installation failure, here, another point spectrum lens installation method is also provided before installation, and mainly a process of adjusting the position of the lens in the lens barrel is described. On the basis of the above embodiment, as shown in fig. 6, the method may further include the following steps:

s602, a plurality of distances between the lens to be mounted and the inner wall of the lens barrel to be mounted are obtained.

In this step, as shown in fig. 7 and 8, a plurality of infrared distance measuring sensors may be disposed around the suction cup (the number of the infrared distance measuring sensors may be set according to actual conditions, in this embodiment, 4 infrared distance measuring sensors are mainly employed and respectively disposed at the central points around the suction cup, so that the distances between the lens and the lens barrel may be conveniently and rapidly collected), and by disposing a plurality of infrared distance measuring sensors, the distance between the lens to be mounted and the inner wall of the lens barrel to be mounted currently adsorbed on the suction cup may be obtained, thereby obtaining the distances in a plurality of directions.

S604, determining whether the position of the lens to be installed is adjusted according to the distance comparison results.

In this step, after obtaining the distances in the plurality of directions, the distances in the plurality of directions may be compared, and optionally, if at least two distances in the plurality of distances are not equal, a minimum distance in the plurality of distances is determined, where the minimum distance may be obtained by sorting the plurality of distances. Afterwards, the position of the lens to be installed can be adjusted to the opposite direction of the minimum distance, namely, the lens to be installed moves to the opposite direction corresponding to the minimum distance, so that the distance between the lens and the inner wall in the direction corresponding to the minimum distance is increased, and the lens is guaranteed not to collide in the installation process.

In this embodiment, through obtaining a plurality of distances between waiting to install lens and the lens cone inner wall to adjust the lens, make and can avoid colliding with the lens in the installation, improve the success rate of lens installation. Furthermore, the distance between the lens and the lens barrel can be increased by adjusting the lens in the opposite direction of the minimum distance, and the accuracy and the success rate of lens installation are further improved.

In addition, in another embodiment, as shown in fig. 9 and 10, a hydraulic buffer spring and a hydraulic spring buffer valve which are connected with each other are further disposed between the Z-axis motor and the suction cup, after the Z-axis motor receives a Z-axis feeding signal of the controller, the Z-axis motor will contact the hydraulic buffer spring and the hydraulic spring buffer valve when the Z-axis motor drops to a certain height, and as the compression amount increases, the resistance force applied to the Z-axis motor increases, so that the actual contact force between the suction cup and the lens is reduced, the lens is pressed due to an excessive feeding amount, the effect of protecting the lens is achieved, the lens damage or waste in the lens installation process is avoided, and the lens installation cost can be saved.

It should be understood that, although the steps in the flowcharts related to the embodiments as described above are sequentially displayed as indicated by arrows, the steps are not necessarily performed sequentially as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least a part of the steps in the flowcharts related to the embodiments described above may include multiple steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, and the execution order of the steps or stages is not necessarily sequential, but may be performed alternately or alternately with other steps or at least a part of the steps or stages in other steps.

Based on the same inventive concept, the embodiment of the application also provides a point spectrum lens mounting device for realizing the point spectrum lens mounting method. The solution of the problem provided by the device is similar to the solution described in the above method, so the specific limitations in the following embodiment of one or more point spectrum lens mounting devices can be referred to the limitations of the point spectrum lens mounting method in the above, and the details are not described herein again.

In one embodiment, as shown in fig. 11, there is provided a point spectrum lens mounting apparatus including: an acquisition module 11, an identification module 12 and a mounting module 13, wherein:

specifically, the acquiring module 11 is configured to acquire a lens image corresponding to at least one lens to be mounted and a lens barrel image corresponding to at least one lens barrel to be mounted;

the recognition module 12 is configured to perform image recognition processing on the lens image and the lens barrel image, and determine a lens position of a lens to be mounted in the lens image and a lens barrel position of a lens barrel to be mounted in the lens barrel image;

and the mounting module 13 is configured to mount the lens to be mounted into the lens barrel to be mounted at the corresponding position according to the lens position, the lens barrel position, and the position corresponding relationship between the lens to be mounted and the lens barrel to be mounted, so as to obtain a point spectrum lens.

In another embodiment, there is provided a point spectrum lens mounting apparatus, wherein the obtaining module 11 includes: the device comprises a first acquisition unit and a second acquisition unit;

specifically, the first acquisition unit is used for acquiring data of a lens tray where at least one lens to be mounted is located by using a first visual camera to determine a lens image;

and the second acquisition unit is used for acquiring data of the lens cone tray where the at least one lens cone to be installed is positioned by adopting a second visual camera and determining a lens cone image.

In another embodiment, there is provided a point spectrum lens mounting apparatus, wherein the identification module 12 includes: a first processing unit and a second processing unit;

specifically, the first processing unit is configured to perform hough detection processing on the lens image, and determine a first position and a second position in the lens image; the first position is a first origin position of the lens tray in the lens image, and the second position comprises at least one lens position of the lens to be mounted;

the second processing unit is used for carrying out Hough detection processing on the lens cone image and determining a third position and a fourth position in the lens cone image; the third position is a second origin position of the lens cone tray in the lens cone image, and the fourth position comprises at least one lens cone position of the lens cone to be mounted.

In another embodiment, there is provided a point spectrum lens mounting apparatus, wherein the mounting module 13 includes: a position acquisition unit and a mounting unit;

the position acquisition unit is used for acquiring the initial position of the sucker; the sucking disc is used for sucking a lens to be installed into the lens barrel to be installed, and the initial position is a first origin position or a second origin position;

and the mounting unit is used for mounting the lens to be mounted into the lens barrel to be mounted at the corresponding position according to the initial position, the lens barrel position and the position corresponding relation between the lens to be mounted and the lens barrel to be mounted.

In another embodiment, there is provided a point spectrum lens mounting apparatus, wherein the mounting unit may include: the mobile terminal comprises a first determining subunit, a first moving subunit, a second determining subunit and a first installing subunit;

specifically, the first determining subunit is configured to determine, when the initial position is the first origin position, a first moving distance of the suction cup according to a position difference between the first origin position and the lens position; the first moving distance comprises a moving distance in the X-axis direction and a moving distance in the Y-axis direction;

the first moving subunit is used for controlling the sucker to move to the lens position according to the first moving distance and controlling the sucker to adsorb the lens to be installed on the lens position;

the second determining subunit is used for determining the lens barrel to be installed corresponding to the lens to be installed according to the position corresponding relationship between the lens to be installed and the lens barrel to be installed and the position of the lens barrel;

and the first mounting subunit is used for controlling the sucker to mount the lens to be mounted into the lens barrel to be mounted at the corresponding position.

In another embodiment, there is provided a point spectrum lens mounting apparatus, wherein the mounting unit includes: a second moving subunit, a third determining subunit, a third moving subunit, a fourth determining subunit and a second mounting subunit;

the second moving subunit is used for controlling the sucker to move to the first origin position according to the origin position difference between the first origin position and the second origin position when the initial position is the second origin position;

the third determining subunit is used for determining the first moving distance of the sucker according to the position difference between the first origin position and the lens position; the first moving distance comprises a moving distance in the X-axis direction and a moving distance in the Y-axis direction;

the third moving subunit is used for controlling the sucker to move to the position of the lens according to the first moving distance and controlling the sucker to adsorb the lens to be installed on the position of the lens;

the fourth determining subunit is used for determining the lens barrel to be installed corresponding to the lens to be installed according to the position corresponding relationship between the lens to be installed and the lens barrel to be installed and the position of the lens barrel;

and the second mounting subunit is used for controlling the sucker to mount the lens to be mounted into the lens barrel to be mounted at the corresponding position.

Optionally, the first mounting subunit or the second mounting subunit is specifically configured to calculate a second movement distance according to a lens position of the lens to be mounted and a lens barrel position of the lens barrel to be mounted at a corresponding position; the second moving distance comprises a moving distance in the X-axis direction and a moving distance in the Y-axis direction; controlling the sucker to move to the position above the lens cone to be installed on the corresponding position according to the second moving distance; acquiring a preset descending distance of the sucker; the preset descending distance is related to the depth of the lens to be mounted in the lens barrel to be mounted; and controlling the suction disc to mount the lens to be mounted into the lens barrel to be mounted at the corresponding position according to the preset descending depth.

In another embodiment, a point spectrum lens mounting apparatus is provided, the apparatus further including: the distance measuring module and the comparison module.

The distance measurement module is used for acquiring a plurality of distances between the lens to be mounted and the inner wall of the lens barrel to be mounted;

and the comparison module is used for determining whether the position of the lens to be installed is adjusted according to the plurality of distance comparison results.

Optionally, the comparing module includes: a distance determination unit and an adjustment unit.

A distance determining unit configured to determine a minimum distance among the plurality of distances when at least two distances among the plurality of distances are not equal to each other;

and the adjusting unit is used for adjusting the position of the lens to be installed to the opposite direction of the minimum distance.

The modules in the point spectrum lens mounting device can be wholly or partially realized by software, hardware and a combination thereof. The modules can be embedded in a controller in the spot spectrum lens mounting system in a hardware form or independent of the controller in the spot spectrum lens mounting system, and can also be stored in a memory in the spot spectrum lens mounting system in a software form, so that the controller can call and execute the corresponding operations of the modules.

In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of:

acquiring a lens image corresponding to at least one lens to be mounted and a lens barrel image corresponding to at least one lens barrel to be mounted; carrying out image recognition processing on the lens image and the lens barrel image, and determining the lens position of a lens to be installed in the lens image and the lens barrel position of a lens barrel to be installed in the lens barrel image; and according to the position of the lens, the position of the lens barrel and the position corresponding relation between the lens to be installed and the lens barrel to be installed, installing the lens to be installed in the lens barrel to be installed at the corresponding position, and obtaining the point spectrum lens.

In one embodiment, the computer program when executed by the processor further performs the steps of:

adopting a first vision camera to acquire data of a lens tray where at least one lens to be installed is located, and determining a lens image; and adopting a second vision camera to carry out data acquisition on the lens cone tray where the at least one lens cone to be installed is positioned, and determining a lens cone image.

carrying out Hough detection processing on the lens image, and determining a first position and a second position in the lens image; the first position is a first origin position of the lens tray in the lens image, and the second position comprises at least one lens position of the lens to be mounted; carrying out Hough detection processing on the lens cone image, and determining a third position and a fourth position in the lens cone image; the third position is a second origin position of the lens cone tray in the lens cone image, and the fourth position comprises at least one lens cone position of the lens cone to be mounted.

acquiring an initial position of a sucker; the sucking disc is used for adsorbing the lens to be installed into the lens barrel to be installed, and the initial position is a first origin position or a second origin position; and installing the lens to be installed into the lens barrel to be installed at the corresponding position according to the initial position, the lens barrel position and the position corresponding relation between the lens to be installed and the lens barrel to be installed.

if the initial position is the first original position, determining a first moving distance of the sucker according to the position difference between the first original position and the lens position; the first moving distance comprises a moving distance in the X-axis direction and a moving distance in the Y-axis direction; controlling the sucker to move to the lens position according to the first moving distance, and controlling the lens to be installed on the lens position of the sucker; determining a lens barrel to be installed corresponding to the lens to be installed according to the position corresponding relation between the lens to be installed and the lens barrel to be installed and the position of the lens barrel; and controlling the suction disc to mount the lens to be mounted into the lens barrel to be mounted at the corresponding position.

if the initial position is the second origin position, controlling the sucker to move to the first origin position according to the origin position difference between the first origin position and the second origin position; determining a first moving distance of the sucker according to the position difference between the first origin position and the lens position; the first moving distance comprises a moving distance in the X-axis direction and a moving distance in the Y-axis direction; controlling the sucker to move to the lens position according to the first moving distance, and controlling the sucker to adsorb the lens to be installed on the lens position; determining a lens barrel to be installed corresponding to the lens to be installed according to the position corresponding relation between the lens to be installed and the lens barrel to be installed and the position of the lens barrel; and controlling the suction disc to mount the lens to be mounted into the lens barrel to be mounted at the corresponding position.

acquiring a plurality of distances between a lens to be mounted and the inner wall of a lens barrel to be mounted; and determining whether to adjust the position of the lens to be mounted according to the distance comparison results.

if at least two of the plurality of distances are not equal, determining the minimum distance in the plurality of distances; and adjusting the position of the lens to be installed to the opposite direction of the minimum distance.

In one embodiment, a computer program product is provided, comprising a computer program which, when executed by a processor, performs the steps of:

if the initial position is the second origin position, controlling the sucker to move to the first origin position according to the origin position difference between the first origin position and the second origin position; determining a first moving distance of the sucker according to the position difference between the first origin position and the lens position; the first moving distance comprises a moving distance in the X-axis direction and a moving distance in the Y-axis direction; controlling the sucker to move to the lens position according to the first moving distance, and controlling the sucker to adsorb the lens to be installed on the lens position; determining a lens barrel to be installed corresponding to the lens to be installed according to the position corresponding relation between the lens to be installed and the lens barrel to be installed and the position of the lens barrel; and controlling the sucking disc to mount the lens to be mounted into the lens barrel to be mounted at the corresponding position.

It should be noted that the data referred to in the present application (including but not limited to data for analysis, stored data, displayed data, etc.) are information and data that are authorized by the user or sufficiently authorized by each party.

It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, databases, or other media used in the embodiments provided herein can include at least one of non-volatile and volatile memory. The nonvolatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical Memory, high-density embedded nonvolatile Memory, resistive Random Access Memory (ReRAM), Magnetic Random Access Memory (MRAM), Ferroelectric Random Access Memory (FRAM), Phase Change Memory (PCM), graphene Memory, and the like. Volatile Memory can include Random Access Memory (RAM), external cache Memory, and the like. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), for example. The microprocessor in the controller according to the embodiments provided in the present application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, or the like, but is not limited thereto.

All possible combinations of the technical features in the above embodiments may not be described for the sake of brevity, but should be considered as being within the scope of the present disclosure as long as there is no contradiction between the combinations of the technical features.

The above examples only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present application. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, and these are all within the scope of protection of the present application. Therefore, the protection scope of the present patent application shall be subject to the appended claims.

Claims

1. A method of mounting a point spectrum lens, the method comprising:

performing image recognition processing on the lens image and the lens barrel image, and determining a lens position of the lens to be mounted in the lens image and a lens barrel position of the lens barrel to be mounted in the lens barrel image;

and according to the lens position, the lens barrel position and the position corresponding relation between the lens to be installed and the lens barrel to be installed, installing the lens to be installed into the lens barrel to be installed at the corresponding position, and obtaining the point spectrum lens.

2. The method according to claim 1, wherein the acquiring a lens image corresponding to at least one lens to be mounted and a lens barrel image corresponding to at least one lens barrel to be mounted comprises:

adopting a first vision camera to acquire data of a lens tray where the at least one lens to be installed is located, and determining the lens image;

and adopting a second vision camera to carry out data acquisition on the lens cone tray where the at least one lens cone to be installed is positioned, and determining the lens cone image.

3. The method according to claim 2, wherein the performing image recognition processing on the lens image and the barrel image to determine a lens position of the lens to be mounted in the lens image and a barrel position of the barrel to be mounted in the barrel image comprises:

carrying out Hough detection processing on the lens image, and determining a first position and a second position in the lens image; wherein the first position is a first origin position of the lens tray in the lens image, and the second position includes at least one lens position of the lens to be mounted;

carrying out Hough detection processing on the lens cone image, and determining a third position and a fourth position in the lens cone image; the third position is a second origin position of the lens barrel tray in the lens barrel image, and the fourth position includes at least one lens barrel position of the lens barrel to be mounted.

4. The method according to claim 3, wherein the installing the lens to be installed into the lens barrel to be installed at a corresponding position according to the lens position, the lens barrel position, and the positional correspondence between the lens to be installed and the lens barrel to be installed, comprises:

acquiring an initial position of a sucker; the sucking disc is used for sucking the lens to be installed into the lens barrel to be installed, and the initial position is the first origin position or the second origin position;

5. The method according to claim 4, wherein the installing the lens to be installed into the lens barrel to be installed at a corresponding position according to the initial position, the lens barrel position, and the positional correspondence between the lens to be installed and the lens barrel to be installed, comprises:

if the initial position is the first origin position, determining a first moving distance of the sucker according to the position difference between the first origin position and the lens position; the first moving distance comprises a moving distance in an X-axis direction and a moving distance in a Y-axis direction;

and controlling the sucking disc to mount the lens to be mounted in the lens barrel to be mounted at the corresponding position.

6. The method according to claim 4, wherein the installing the lens to be installed into the lens barrel to be installed at a corresponding position according to the initial position, the lens barrel position, and the position correspondence between the lens to be installed and the lens barrel to be installed comprises:

determining a first moving distance of the sucker according to the position difference between the first origin position and the lens position; the first moving distance comprises a moving distance in an X-axis direction and a moving distance in a Y-axis direction;

7. The method according to any one of claims 5 to 6, wherein the installing the lens to be installed into the lens barrel to be installed at the corresponding position comprises:

controlling the sucker to move to a position above the lens cone to be installed on the corresponding position according to the second moving distance;

and controlling the sucker to mount the lens to be mounted into the lens barrel to be mounted at the corresponding position according to the preset descending depth.

8. The method according to any one of claims 4 to 6, wherein before said mounting of said lens to be mounted into said lens barrel to be mounted in a corresponding position, said method further comprises:

acquiring a plurality of distances between the lens to be mounted and the inner wall of the lens barrel to be mounted;

and determining whether to adjust the position of the lens to be installed according to the distance comparison results.

9. The method of claim 8, wherein the determining whether to adjust the position of the lens to be mounted according to the plurality of distance comparisons comprises:

if at least two of the distances are not equal, determining the minimum distance in the distances;

10. A point spectral lens mount apparatus, the apparatus comprising:

the identification module is used for carrying out image identification processing on the lens image and the lens barrel image and determining the lens position of the lens to be installed in the lens image and the lens barrel position of the lens barrel to be installed in the lens barrel image;

11. A point spectrum lens mounting system, the system comprising: the vision camera, the memorizer, the motor module and the controller, the said controller includes the processor, the said memorizer stores the computer program;

the controller is configured to perform image recognition processing on the lens image and the barrel image when executing the computer program, and determine a lens position of the lens to be mounted in the lens image and a barrel position of the barrel to be mounted in the barrel image;

and the controller is used for controlling the motor module to install the lens to be installed into the lens barrel to be installed at the corresponding position according to the lens position, the lens barrel position and the position corresponding relation between the lens to be installed and the lens barrel to be installed when the computer program is executed, so that the point spectrum lens is obtained.

12. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 9.

13. A computer program product comprising a computer program, characterized in that the computer program realizes the steps of the method of any one of claims 1 to 9 when executed by a processor.