WO2023020477A1 - 眼底相机的镜头的控制方法和控制装置 - Google Patents

眼底相机的镜头的控制方法和控制装置 Download PDF

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Publication number
WO2023020477A1
WO2023020477A1 PCT/CN2022/112741 CN2022112741W WO2023020477A1 WO 2023020477 A1 WO2023020477 A1 WO 2023020477A1 CN 2022112741 W CN2022112741 W CN 2022112741W WO 2023020477 A1 WO2023020477 A1 WO 2023020477A1
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Prior art keywords
lens
distance
fundus camera
steps
desired position
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PCT/CN2022/112741
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English (en)
French (fr)
Inventor
胡丁山
和超
张大磊
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北京鹰瞳科技发展股份有限公司
上海鹰瞳医疗科技有限公司
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Publication of WO2023020477A1 publication Critical patent/WO2023020477A1/zh

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B3/00—Apparatus for testing the eyes; Instruments for examining the eyes
    • A61B3/10—Objective types, i.e. instruments for examining the eyes independent of the patients' perceptions or reactions
    • A61B3/12—Objective types, i.e. instruments for examining the eyes independent of the patients' perceptions or reactions for looking at the eye fundus, e.g. ophthalmoscopes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B3/00—Apparatus for testing the eyes; Instruments for examining the eyes
    • A61B3/10—Objective types, i.e. instruments for examining the eyes independent of the patients' perceptions or reactions
    • A61B3/14—Arrangements specially adapted for eye photography

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  • the invention relates to a fully automatic fundus camera.
  • the fundus camera is mainly used to take images of the retina of the human eye, so that medical personnel can check fundus diseases or assist medical personnel to judge the condition of other organs.
  • the blood vessels of the fundus are the only blood vessels that can be directly observed through the body surface. Medical personnel can check whether there are lesions in the optic nerve, retina, choroid and refractive medium of the fundus through the fundus camera.
  • Diagnosis and disease judgment such as detecting cerebral infarction, cerebral hemorrhage, cerebral arteriosclerosis, brain tumor, diabetes, kidney disease, hypertension, retinopathy of prematurity, glaucoma, age-related macular degeneration, etc. by screening retinal photos. The earlier these diseases are detected, the more beneficial it is for clinical treatment. Therefore, fundus cameras are widely used in clinical screening of fundus diseases and become an indispensable medical device.
  • the fundus camera includes a type in which the illumination optical path and the imaging optical path are separated into two optical paths by a hollow mirror.
  • the illumination light path includes a light source, a condenser lens group, an annular illumination diaphragm, a relay mirror, a hollow mirror and an eyepiece.
  • the illuminating light passing through the annular diaphragm passes through the relay mirror, then reflects at the hollow mirror, and then forms an image at the pupil after passing through the eyepiece lens, and then illuminates the fundus.
  • the current fundus cameras can automatically capture fundus images, and the process of automatic shooting mainly involves automatically aligning the main lens with the pupil, automatically adjusting the axial distance between the main lens and the pupil, and automatically adjusting the focus.
  • the existing fundus camera achieves automatic focusing based on phase focusing or contrast focusing by setting optical elements.
  • the current autofocus is driven by means of a driving motor such as a stepping motor for the focusing lens.
  • a driving motor such as a stepping motor for the focusing lens.
  • a Transmission mechanisms such as meshing gears.
  • the transmission mechanism has meshing gaps between gears due to the influence of various factors such as gear assembly, gear machining accuracy and gear matching tolerance. Due to the existence of this gap, although the stepper motor rotates a certain number of steps, the position of the focusing lens does not change.
  • the size of the space is related to many factors such as the model size of the focusing lens and the focusing motor itself, as well as the assembly and fit tolerance between the two, so there are differences among different devices.
  • the task of the present invention is to provide a control method and a control device for a lens of a fundus camera, thereby overcoming the above-mentioned disadvantages of the prior art.
  • the present invention provides
  • a method for controlling the lens of a fundus camera wherein the lens of the fundus camera is equipped with a stepping motor that drives the movement of the lens
  • the method includes the following steps: Step 1. Determine the desired position of the lens of the fundus camera; step 2. Start the stepper motor to rotate S2 steps along the first direction to drive the lens to approach the desired position from its initial position along the forward direction; wherein, after completing step 2, continue to rotate the stepper motor along the first direction S3 step, to further drive the lens to move along the positive direction through the desired position to an intermediate position, wherein the intermediate position is separated from the desired position by a first distance; further comprising the step of rotating the stepping motor in the first direction after S3 steps 3.
  • step 3 control the stepper motor to rotate step S4 in a second direction opposite to the first direction, thereby driving the lens to move in the opposite direction by a second distance to the desired position, wherein the second distance is the same as The first distance is equal.
  • the stepping motor is driven to move past the desired position reliably and then turn back during the entire positioning process of the lens.
  • the rotation process of the first direction and the second direction introduces the idle distance, even if there is the influence of the idle distance on the lens displacement, the second distance moved by the lens is still exactly the same as the first distance.
  • the distances are equal.
  • the stepping motor it is possible to allow the stepping motor to be rotated along the direction to be naturally positioned at a desired position to obtain a focal length suitable for the diopter of the subject without increasing the hardware cost, regardless of the type of lens.
  • it can ensure that the user can obtain the optimal shooting effect without any intervention and operation, which is beneficial to benefit the general public such as rural areas and remote areas with the fully automatic fundus camera.
  • the first distance is set to be greater than the maximum value of the structural void of the fundus camera.
  • both the first distance and the second distance are set to be greater than the maximum value of the structural void of the fundus camera.
  • the initial position of the lens is the front end of the lens, wherein the forward direction is the direction from front to back and the reverse direction is the direction from back to front.
  • the maximum value of the lost motion of the structure is designed to correspond to 50 steps of the stepping motor rotation.
  • step 1 the expected position of the lens of the fundus camera is determined according to the expected diopter.
  • a control device for the lens of the fundus camera wherein the lens of the fundus camera is equipped with a stepping motor that drives the movement of the lens, wherein the control device is electrically connected with the stepping motor, wherein the control
  • the device includes: a determination module, which is used to determine the desired position of the lens of the fundus camera; a first control module, which is used to start the stepper motor to rotate S2 steps along the first direction to drive the lens from its initial position along the normal direction. Approaching towards the desired position; wherein, the control device further includes a second control module, wherein the second control module is used to continue to make the stepper motor rotate along the first direction after S2 steps in the first direction.
  • Fig. 1 is the structural diagram of fundus camera among the present invention
  • Fig. 2 is a schematic diagram of a conventional control method for a lens of a fundus camera when no space travel is considered.
  • FIG. 3 is a schematic diagram of a conventional control method of a lens of a fundus camera when considering the space travel.
  • FIG. 4 is a first schematic diagram of a method for controlling a lens of a fundus camera according to the present invention.
  • FIG. 5 is a second schematic diagram of the lens control method of the fundus camera according to the present invention.
  • FIG. 6 is a schematic diagram of functional modules of a lens control device of a fundus camera according to the present invention.
  • Lens barrel 01. Surface sticker assembly; 011. Through hole; 012. Raised part;
  • the positioning component 11.
  • the determination module 12.
  • the first control module 12.
  • B Expected position
  • B' actual position
  • A maximum value of structural void
  • a void
  • D middle position
  • D' actual middle position
  • Fig. 1 shows a fully automatic fundus camera as a preferred embodiment according to the present invention, wherein the fully automatic fundus camera can allow the control of the fundus camera without increasing the hardware cost of the fundus camera and the control of the stepping motor is too complicated Control the lens of the camera to achieve precise focusing of the fundus camera, and then achieve a focal length suitable for the diopter of the subject.
  • the control of the stepping motor is too complicated
  • Fig. 1 shows a kind of fully automatic portable self-portrait fundus camera, and this camera comprises surface sticking assembly 01, motion assembly, positioning assembly 03 and lens barrel 1, and lens barrel 1 is internally provided with lighting assembly, focusing assembly, lens (connecting eyepiece) Objective lens) and optical lens group and imaging detector 10 etc.
  • the internal structure of lens barrel 1 can refer to Chinese patent document CN111134616A.
  • the actual product also includes a casing, and the movement assembly and the lens barrel 1 are located inside the casing.
  • the face sticker assembly 01 is sealingly connected to the front part of the housing.
  • the face sticker assembly includes a face sticker body and a window through hole formed on the mask body for accommodating the eyes of the person being photographed.
  • the face sticker assembly 01 is a component that contacts the subject's eyes, and the lens barrel 1 collects the subject's retinal fundus image through the through hole of the face sticker assembly 01 .
  • the side of the face sticker body facing away from the lens barrel 1 is configured in a shape that conforms to the facial contour around the eyes of the subject.
  • the face patch assembly 01 is formed inwardly into a concave shape to fit the arc of the human head, and the size of the through hole can at least accommodate both eyes when the testee's eyes fit the assembly.
  • FIG. 1 and FIG. 2 what FIG. 2 shows is the face sticker assembly 01 facing inward.
  • the lens barrel 1 A lens is able to point at this part and take an image.
  • a more preferred solution is to set a pattern or a simple figure on the raised portion 012 as a target. This specific position has multiple purposes, including detecting whether the camera’s lighting components and focusing components are normal, and detecting whether the subject’s eyes are correctly attached to the face sticker component 01, etc., which will be described in detail below.
  • the motion component is used to control the movement of the lens barrel 1 in three-dimensional space. Taking the coordinate system in FIG. 1 as an example, it can move on the X, Y, and Z axes in the figure. It should be noted that when the lens barrel 1 moves to the limit position in the Z direction, the end will not protrude from the surface sticker assembly 01 .
  • the motion assembly includes three track assemblies, the first set of tracks 021 is used to control the movement of the lens barrel 1 on the X axis, and the second set of tracks 022 is used to control the movement of the lens barrel 1 on the Y axis , the third group of tracks not shown in the figure is used to control the movement of the lens barrel 1 on the Z axis.
  • the lens barrel 1 and the second set of tracks 022 are set on a platform (base), the first set of tracks 021 can drive the base to move as a whole, and the third set of tracks can drive the base and the first set of tracks 021 to move , so that the whole is close to or far away from the face sticker assembly 01.
  • the illuminating component for imaging, the focusing component, the eyepiece lens, the optical lens group and the imaging detector are integrated in one lens barrel to realize the miniaturization of the optical path structure.
  • the user can wear the fundus camera and place the eye at the position of the window through hole.
  • the moving component designed as a stepping motor can drive the lens barrel to search for the pupil in the window through hole and adjust the working distance.
  • this solution reduces the complexity and difficulty of using the fundus camera hardware, allows users to take fundus images independently, and promotes the popularization of fundus cameras.
  • the fundus camera can automatically determine the edge position of the pupil. Specifically, a machine vision algorithm or a neural network model can be used to obtain the left edge point and the right edge point of the pupil. Furthermore, based on the position of the pupil and in combination with the expected diopter, the expected position B of the lens of the fundus camera is determined. The position adjustment of the lens is further described in conjunction with FIG. 2 .
  • the stroke end point Q of the lens is shown on the far left side of Fig. 2, where the stroke end point Q may be the rearmost end of the lens in the front-rear direction (that is, the Z direction shown in Fig. reference point.
  • the initial position C of the lens is shown on the far right side of FIG. 2 .
  • the initial position C may be, for example, the position where the stepper motor rotates S1 steps from the end point Q of the stroke.
  • the stepper motor meshes with the focus gear of the lens through a gear, and as a result, the rotation of the stepper motor drives the movement of the lens in its front-back direction.
  • the stepper motor can rotate S1 steps at most in the forward and backward direction until it reaches the end point Q of its stroke.
  • the S1 steps may be, for example, about 1500 to 2000 steps, but those skilled in the art know that it is not limited thereto.
  • the initial position C is set as the front end of the lens in the front-rear direction (in other words, it can be the default initial position after the fundus camera is turned on), which allows the stepping distance to be increased as much as possible.
  • the ratio of the distance between the desired position and the initial position C of the lens to the total travel distance between the travel end point Q and the initial position C can be obtained in combination with the number of steps S1.
  • the desired position B of the lens of the fundus camera is determined based on the position of the pupil and in combination with the desired diopter, as described above, the lens of the fundus camera is controlled
  • the second step (or step 2) of the method that is, the control signal of the step number S2 that needs to be rotated by the stepper motor can be obtained according to its actual distance from the initial position C, and then the control signal can be sent to the stepper motor so that The stepping motor drives the lens to move from the initial position C to the travel end point Q along the front-back direction, so as to move the lens of the fundus camera to the desired position B.
  • the number of steps S2 can be 560 steps, which is smaller than the total number of steps S1 that the stepping motor can move. Therefore, the distance between the desired position B and the stroke end point Q is S1-S2 steps corresponding to the number of rotation steps of the stepping motor, as shown in FIG. 2 .
  • FIG. 3 shows a schematic diagram of a method for controlling a lens of a fundus camera according to the present invention, wherein the same reference numerals in FIG. 3 have the same meanings as those in FIG. 2 , so they will not be repeated hereafter.
  • the actual position B' is the distance from the initial position C equal to the distance of S2 steps minus the idle distance a.
  • the distance between the actual position B' and the end point Q of the stroke is to add an empty distance a on the basis of the distance corresponding to the rotation steps of the stepping motor, which is S1-S2 steps, which does not make the fundus camera in the desired position Do satisfactory work.
  • the control method according to the present invention is designed to continue to make the stepper motor rotate S3 steps along the first direction after step 2 is completed, so as to further drive the lens Moving in the forward direction through the desired position B to an intermediate position D, wherein the intermediate position D is separated from the desired position B by a first distance.
  • the lens will move through its desired position B at this time, that is, the lens is located at the desired position as shown in FIG. 2 .
  • the actual position B' to the right of the position transitions to an intermediate position D which is to the left of the desired position (clearly seen in connection with FIGS. 4 and 3 ).
  • control method of the present invention also includes the 3rd step (step 3) after making the stepper motor rotate S3 steps along the first direction, and in this step 3, the stepper motor is controlled to rotate S4 steps along the second direction, thereby Driving the lens to move in the opposite direction to the desired position B by a second distance, wherein the second distance is equal to the first distance.
  • the steps S3 of the stepping motor rotating in the first direction are equal to the steps S4 of the stepping motor rotating in the second direction, for example, it can be designed as 50 steps .
  • the number of steps S3 can be preset in the controller of the fundus camera, so naturally S4 can also be preset.
  • the first distance can also be obtained by means of setting a position sensor or a distance sensor, and then the number of steps S4 can be calculated.
  • the rotation steps S3 and S4 may be 50 steps, for example.
  • the control method according to the present invention realizes moving the stepping motor to the desired position by further continuing to rotate in the first direction after step 2 and step 3
  • the rotation of B is turned, so that equal air travel a is introduced at different stages during the entire movement process: that is, the air travel a introduced during the rotation of the stepper motor in the first direction and the stepper motor in the second direction
  • the lost motion a introduced during the rotation (step 3) is due to the lost motion a introduced during each rotation of the stepper motor and the two lost motions are equal. This enables the lost motion in step 3 to neutralize or counteract the lost motion occurring during the previous rotation of the stepping motor in the first direction. As a result, this cancels out the effect of the dead travel on the actual position of the lens of the fundus camera, which will be described in detail in conjunction with FIG. 5 .
  • Figure 5 shows a schematic diagram of the method for controlling the lens of the fundus camera according to the present invention when considering the space travel, and wherein the method in Figure 5 also includes the various steps described in Figure 4, so it will not be hereinafter Let me repeat.
  • the stepper motor rotates the number of steps S2 in the first direction (during step 2), it will not be able to ideally move to the desired position B due to the existence of the empty space a , without further rotation will move to the actual position B' which is still at a distance a from the desired position B by a gap.
  • step 2 in Figure 3 In order to ensure that the lens position reliably exceeds the desired position B, on the basis of completing step 2 in Figure 3, continue to make the stepper motor rotate S3 steps in the first direction to further drive the lens to move forward Pass through the desired position B to the intermediate position D, but considering the empty distance a, the actual intermediate position D' at this time will not be farther than the theoretical intermediate position D. In other words, the actual first distance between the actual intermediate position D′ and the expected position is smaller than the theoretical first distance by a distance a.
  • step 3 is performed after the stepping motor is rotated in the first direction for S3 steps, and in this step 3, the stepping motor is controlled to rotate for S4 steps in the second direction opposite to the first direction, thereby driving the lens along the
  • the second distance is reversely moved from the actual intermediate position D′, wherein the second distance is equal to the first distance, or in other words, the steps S3 and S4 are equal.
  • the actual moving distance of the lens caused by the reversal of the stepping motor is less than the distance between the theoretical middle position D and the expected position B, that is, the actual moving distance of the lens is the theoretical distance between the two and the empty distance The difference of a.
  • the actual stop position D' of the lens is just a distance away from the intermediate position D by the distance a
  • the actual movement distance needs to be reduced by the distance a to just reach the desired position B, so that only by means of stepping
  • the improvement of the control logic of the motor can eliminate the influence of backlash on the lens position, and find the point with the sharpest focus. It should be noted that, for different types of lenses, no matter what the specific value of the space is, the above control methods can be well compatible, and the space can be removed through the control method of removing space to obtain clear Image.
  • the first distance is set to be greater than the maximum structural space A of the fundus camera.
  • both the first distance and the second distance are set to be greater than the maximum structural void of the fundus camera.
  • the maximum value of the structural void is the maximum possible void due to the lens differences of all fundus cameras. Since the structural empty path has a certain relationship with the size and assembly of the components of the fundus camera, the structural empty path is not constant or approximate for different types of fundus cameras.
  • the structural empty path of different models of fundus cameras will still fall within a reasonable range of values, that is, the endpoint of the numerical range corresponds to the maximum value of the structural empty path.
  • the structural backlash maximum can be designed to correspond to 50 step motor rotations.
  • FIG. 6 is a schematic diagram of the functional modules of the lens control device of the fundus camera proposed by the present invention.
  • the control device includes a determination module 11 , a first control module 12 and a second control module 13 .
  • the determination module 11 is used for the desired position of the lens of the fundus camera according to predetermined rules.
  • the desired position allows for a focal length optimally suited to the diopter of the subject.
  • step 1 of the above method in FIGS. 3 to 4 may be performed by the determination module 11 .
  • the first control module 12 is used to start the stepper motor to rotate S2 steps in the first direction to drive the lens to approach the desired position from the initial position in the forward direction.
  • a part of step 2 of the above method in FIGS. 3 to 4 may be executed by the first control module 12 .
  • the second control module 13 is configured to continue to rotate the stepping motor for S3 steps in the first direction after the stepping motor rotates for S2 steps in the first direction, so as to further drive the lens to move through the desired position in the forward direction to An intermediate position, wherein the intermediate position is separated from the desired position by a first distance, and after the stepping motor is further rotated in the first direction for S3 steps, the stepping motor is controlled to rotate in the second direction opposite to the first direction for S4 step, thereby driving the lens to move in the opposite direction to the desired position by a second distance, wherein the second distance is equal to the first distance.
  • step 2 and step 3 of the method in FIGS. 4 to 5 above can be executed by the second control module 13 .

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Abstract

一种眼底相机的镜头的控制方法和控制装置，其中该眼底相机的镜头配设有驱动该镜头运动的步进电机。该方法包括以下步骤：确定眼底相机的镜头的期望位置；启动步进电机沿第一方向旋转S2步以带动该镜头从其初始位置沿正向朝向期望位置逼近；继续使该步进电机沿第一方向旋转S3步，以进一步带动该镜头沿正向移动经过该期望位置至中间位置，该中间位置与期望位置相隔第一距离；控制该步进电机沿反向于第一方向的第二方向旋转S4步，从而带动该镜头沿反向移动第二距离至期望位置，其中该第二距离与第一距离相等。由此，允许去除空程对镜头的影响。

Description

眼底相机的镜头的控制方法和控制装置 技术领域
本发明涉及一种全自动眼底相机。
背景技术
眼底相机主要用于拍摄人眼视网膜图像，以便医疗人员检查眼底病或辅助医疗人员判断其它器官的病情。眼底的血管是人体唯一可通过体表直接观察到的血管，医疗人员通过眼底相机可以检查眼底的视神经、视网膜、脉络膜以及屈光介质是否存在病变，同时还可以通过眼底相机的协助对其它系统疾病进行诊断和病情判断，例如通过筛选视网膜照片检测脑梗塞、脑溢血、脑动脉硬化、脑肿瘤、糖尿病、肾病、高血压、早产儿视网膜病变、青光眼、老年化黄斑变性等。越早检测出这些疾病越有利于临床治疗，因此眼底相机普遍用于临床筛查眼底疾病，成为不可或缺的医疗器械。
目前，在医学眼底视网膜成像领域，眼底相机包括一种是照明光路与成像光路通过中空反射镜分离成两条光路。其中照明光路中包含光源、聚光镜组、环形照明光阑、中继镜、中空镜和接目物镜。通过环形光阑的照明光经过中继镜，然后在中空镜处反射，经接目物镜后成像于瞳孔处，进而进行照明眼底。目前的眼底相机均可以实现自动拍摄眼底图像，其中自动化拍摄的过程主要涉及自动将主镜头对准瞳孔、自动调整主镜头和瞳孔的轴向距离，以及自动调整焦距。
为了拍摄到清晰的眼底图像，需要设置适合被拍摄者屈光度的焦距，现有的眼底相机通过设置光学元件，基于相位对焦或者反差对焦实现自动对焦。目前的自动对焦均是借助于为调焦镜头配设有例如为步进电机的驱动电机来进行驱动，其中为了将步进电机的旋转运动转换为调焦镜头的动作，在两者间会设置诸如为啮合齿轮的传动机构。在实践中发现，该传动机构受齿轮装配、齿轮加工精度和齿轮配合公差等多种因素的影响在齿轮间存在啮合间隙。由于该间隙的存在，尽管步进电机转动了一定步数，但调焦镜头的位置并未发生变化。为此会在步进电机的旋转步数和调焦镜头 的实际位置之间存在一定的误差，该误差可以被称为“空程”。该空程的大小和调焦镜头和调焦电机自身的型号尺寸以及两者间的装配、配合公差等多个因素相关，因此在不同的设备之间存在差异。
为了消除该空程对调焦镜头的焦距的不利影响，目前采用了多种多样的方法例如利用传感器检测空程的大小来进行校准或者检测，但效果均差强人意。理由在于这些手段常常需要较高的硬件成本、在眼底相机这类精密的机光电一体化器械中增设传感器和布线也会使整机的设计进一步复杂化和体积大型化，而且精度控制检测也会非常复杂。
基于此，相关技术领域存在去除空程对眼底相机的拍照质量的不利影响的内在需求，为此相关技术人员致力于设计一种眼底相机的镜头的控制方法和控制装置以克服现有技术存在的缺陷。
发明内容
因此，本发明的任务是提供一种眼底相机的镜头的控制方法和控制装置，借此克服上述现有技术的缺点。
为了完成上述任务，本发明提供
一种眼底相机的镜头的控制方法,其中该眼底相机的镜头配设有驱动该镜头运动的步进电机,其中该方法包括以下步骤：步骤1.确定所述眼底相机的镜头的期望位置；步骤2.启动步进电机沿第一方向旋转S2步以带动该镜头从其初始位置沿正向朝向所述期望位置逼近；其中,在完成步骤2后继续使该步进电机沿第一方向旋转S3步,以进一步带动该镜头沿正向移动经过该期望位置至中间位置,其中该中间位置与所述期望位置相隔第一距离；进一步包括在使步进电机沿第一方向旋转S3步后的步骤3,在该步骤3中控制该步进电机沿反向于第一方向的第二方向旋转S4步,从而带动该镜头沿反向移动第二距离至所述期望位置，其中该第二距离与第一距离相等。
由此，区别于现有技术中的控制方法，在本发明中，驱动该步进电机在整个镜头的定位过程中首先可靠地运动经过期望位置，然后再折返。在此过程中，正因为在第一方向和第二方向的旋转过程中均引入了空程，这使得即使存在空程对镜头位移的影响，镜头所移动经过的第二距离仍正好与第一距离是相等的。结果是，与镜头的类型无关地，能允许在不增大硬 件成本的情况下，使步进电机沿旋转后，其自然地位于期望位置以获得适合被拍摄者屈光度的焦距。根据本发明可以确保用户无需进行任何干预和操作即能获得最优化的拍摄效果，这有利于将该全自动眼底相机惠及到农村、边远地区等广大民众。
在一个优选的实施例中，在步骤2中，其中该第一距离被设定为大于该眼底相机的结构空程极大值。由此，允许该控制方法能够很好地与不同型号的眼底相机的镜头相兼容。
在一个优选的实施例中，在步骤2和步骤3中，该第一距离和第二距离均被设定为大于该眼底相机的结构空程极大值。
在一个优选的实施例中，其中所述镜头的初始位置为该镜头的最前端，其中所述正向为从前到后的方向且所述反向为从后到前的方向。
在一个优选的实施例中，其中所述结构空程极大值被设计为对应于步进电机旋转50步。
在一个优选的实施例中，在步骤1中根据期望的屈光度来确定所述眼底相机的镜头的期望位置。
根据本发明还提供了一种眼底相机的镜头的控制装置，其中该眼底相机的镜头配设有驱动该镜头运动的步进电机，其中该控制装置与所述步进电机电连接，其中该控制装置包括：确定模块，其用于确定所述眼底相机的镜头的期望位置；第一控制模块，其用于启动步进电机沿沿第一方向旋转S2步以带动该镜头从其初始位置沿正向朝向所述期望位置逼近；其中，该控制装置还包括第二控制模块，其中该第二控制模块用于在该步进电机沿第一方向旋转S2步后，继续使该步进电机沿第一方向旋转S3步,以进一步带动该镜头沿正向移动经过该期望位置至中间位置,其中该中间位置与所述期望位置相隔第一距离，还进一步使步进电机沿第一方向旋转S3步后,控制该步进电机沿反向于第一方向的第二方向旋转S4步,从而带动该镜头沿反向移动第二距离至所述期望位置，其中该第二距离与第一距离相等。
本发明的其它特征和优点的一部分将会是本领域技术人员在阅读本发明后显见的，另一部分将在下文的具体实施方式中结合附图描述。
附图说明
以下，结合附图来详细说明本发明的实施例，其中：
图1为本发明中的眼底相机的结构图；
图2为未考虑空程时眼底相机的镜头的常规控制方法的示意图。
图3为考虑空程时眼底相机的镜头的常规控制方法的示意图。
图4为根据本发明的眼底相机的镜头的控制方法的第一示意图。
图5为根据本发明的眼底相机的镜头的控制方法的第二示意图。
图6为根据本发明的眼底相机的镜头的控制装置的功能模块示意图。
附图标记说明
1、镜筒；01、面贴组件；011、通孔；012、凸起部；
021、第一组轨道；022、第二组轨道；023、第三组轨道；
03、定位组件；11、确定模块；12、第一控制模块；
13、第二控制模块；Q、行程端点；C、第一位置
B、期望位置；B'、实际位置；A、结构空程极大值；a、空程；
D、中间位置；D'、实际中间位置。
具体实施方式
现参考附图来详细说明根据本发明的全自动眼底相机的示例性方案。提供附图是为了呈现本发明的多个实施方式，但附图不必按具体实施方案的尺寸绘制，并且某些特征可被放大、移除或局剖以更好地示出和解释本发明的公开内容。附图中的部分构件可在不影响技术效果的前提下根据实际需求进行位置调整。在说明书中出现的短语“在附图中”或类似用语不必参考所有的附图或示例。
在下文中被用于描述附图的某些方向性术语，例如“左”、“右”、“前”、“后”、“正”、“反”和其它方向性术语将被理解为具有其正常含义且指正常观看附图时所涉及的那些方向。除非另有指明，否则本说明书所述方向性术语基本按照本领域技术人员所理解的常规方向。
本发明中所使用的术语“第一”、“第一个”、“第二”、“第二个”及其类似术语在本发明中并不表示任何顺序、数量或重要性，而是用于将一个零部件与其它零部件区分开。
下面结合附图，对本发明的一些实施方式作详细说明。在不冲突的情况下，下述的实施例及实施例中的特征可以相互组合。
首先参阅图1，其中示出了根据本发明的作为优选实施方式的一种全自动眼底相机，其中该全自动眼底相机能够允许在不增加该眼底相机的硬件成本和步进电机的控制过分复杂化的情况下控制相机的镜头以实现眼底相机的精确调焦，进而实现适合被拍摄者屈光度的焦距。在本发明中仅需要在步进电机的控制方法中附加入空程去除的附加控制即可，而这一点可以通过集成或者单设根据本发明的控制装置来实现，详细描述可以参见下文的详细描述。
接下来将结合图1对本发明的全自动眼底相机进行详细的描述:
图1示出了一种全自动便携自拍眼底相机，该相机包括面贴组件01、运动组件、定位组件03和镜筒1，镜筒1内部设有照明组件、调焦组件、镜头(接目物镜)以及光学镜片组和成像探测器10等，镜筒1的内部结构可参考中国专利文件CN111134616A。实际产品还包括壳体，运动组件和镜筒1位于壳体内部。面贴组件01密封地连接于壳体的前部，面贴组件包括面贴本体和成型于面贴本体的用于被拍摄者的眼部贴合时容纳所述眼部的视窗通孔。面贴组件01作为接触被拍摄者眼部的部件，镜筒1透过面贴组件01的通孔采集被拍摄者的眼底视网膜图像。
面贴本体背向镜筒1的一面被构造为与被拍摄者的眼部周围的面部轮廓相贴合的形状。具体地，面贴组件01向内形成凹陷形状以适于人体头部弧形，其通孔的尺寸至少能在被测者的眼部贴合本组件时容纳双眼。面贴组件01向内(壳体内、镜筒)的一面有至少一个用于检测相机各项功能的特定位置。在一个具体的实施例中，结合图1和图2所示，图2所展示的是面贴组件01朝内的一面，通孔011的中部上边缘有一个凸起部012，镜筒1的镜头能够对准此部位并拍摄图像。更优选的方案是，在此凸起部012上设置一个图案或者简单图形等作为标靶。此特定位置有多种用途，包括检测相机的照明组件、调焦组件是否正常，检测被拍者的眼部是否正确地贴合了面贴组件01等，具体将在下文中进行详细介绍。
运动组件用于控制镜筒1在三维空间中移动，以图1中的坐标系为例，能够在图中的X、Y、Z三轴上移动。需要说明的是，镜筒1在Z方向移动到极限位置时，端部不会伸出面贴组件01外。作为一个具体的实施例，运动组件包括三个轨道组件，第一组轨道021用于控制镜筒1在X轴上的运动、第二组轨道022用于控制镜筒1在Y轴上的运动、图中未示出的第 三组轨道用于控制镜筒1在Z轴上的运动。具体地，镜筒1连同第二组轨道022被设置在一个平台(基座)上，第一组轨道021能够带动基座整体运动，第三组轨道能够带动基座和第一组轨道021运动，使整体接近或远离面贴组件01。
根据本发明提供的眼底相机，用于成像的照明组件、调焦组件、接目物镜、光学镜片组和成像探测器集成在一个镜筒中实现光路结构小型化。在实际使用时，用户可以自行佩戴眼底相机，将眼部置于视窗通孔位置，此时设计为步进电机的运动组件能驱动镜筒在视窗通孔范围中搜索瞳孔，并调整工作距离，从而设置适合被拍摄者屈光度的焦距进而拍摄眼底图像，本方案降低了眼底相机硬件的复杂度和使用难度，让用户能够自主拍摄眼底图像，促进眼底相机的普及。
请参见图2和图3，其中结合两者来详细描述空程将会如何来不利地影响眼底相机的使用。
如图2所示，例如在用户佩戴好眼底相机后，该眼底相机可以自动地确定瞳孔的边缘位置。具体可使用机器视觉算法或者使用神经网络模型，得到瞳孔的左侧边缘点和右侧边缘点。进而基于该瞳孔的位置并结合期望的屈光度来确定眼底相机的镜头的期望位置B。进一步结合图2来描述镜头的位置调节。
在图2的最左侧示出了镜头的行程端点Q，在此该行程端点Q可以是镜头在前后方向(即图1所示的Z方向)的最后端，其在此作为镜头运动的大致参考点。在图2的最右侧示出了镜头的初始位置C，该初始位置C在此例如可以是步进电机自行程端点Q起转动S1步所处的位置。例如，该步进电机通过齿轮与镜头的调焦齿轮相啮合，结果是步进电机的旋转带动了镜头在其前后方向上的移动。反言之，从初始位置C出发，步进电机可以沿前后方向最多转动S1步直至其行程端点Q。在此，作为一种实例，其中该S1步例如可以为约1500至2000步，但本领域技术人员知晓并不限定于此。
在下文中，作为一种可行的实例，将该初始位置C设定为镜头在前后方向的最前端(换言之，可以是该眼底相机开机后的默认初始位置)，这样允许尽可能地增大步进电机允许转动的步数S1以增大眼底相机的镜头的可调节性。随后根据行程端点Q和初始位置C之间固定的物理距离(利用 诸如位置传感器或者距离传感器等手段可以获知该物理距离)和步进电机的步数S1来获知该步进电机每转动一步时能带动镜头在前后方向的位移量，或者说可以根据镜头在期望位置和初始位置C之间的距离与行程端点Q和初始位置C之间的总行程距离的比值，并结合步数S1来获知使镜头从初始位置C运动到期望位置所需的步数。
进一步，如图2所示，在该镜头处于初始位置C时，基于该瞳孔的位置并结合期望的屈光度所确定出眼底相机的镜头的期望位置B，如上所述，进行眼底相机的镜头的控制方法的第2步骤(或者步骤2)，即可以根据其距初始位置C的实际距离得出需要步进电机转动的步数S2的控制信号，随后可以将该控制信号发送至步进电机以使该步进电机带动镜头从初始位置C沿前后方向朝向行程端点Q移位，以期将眼底相机的镜头移动至期望位置B。在此例如该步数S2例如可以是560步，其小于步进电机能运动的总步数S1。由此，该期望位置B距行程端点Q的距离为对应于步进电机的旋转步数为S1-S2步，如图2所示。
然而，以上的控制逻辑或者方法并未实际考虑到步进电机的空程对将镜头移位至期望位置B的移动所产生的影响，在实际使用过程中，考虑到空程的情况下，该镜头的实际位置将是如图3所示的那样。接下来将结合图3来说明步进电机的空程对镜头位置的精确控制所带来的影响。在图3中示出了根据本发明的眼底相机的镜头的控制方法的示意图，其中图3中相同的附图标记具有与图2相同的含义，因此在下文中将不再赘述。
如图3所示，由于步进电机旋转S2步，这种步进电机的转动必然会引入空程a，因此在步进电机旋转S2步时，由于空程a的存在(即步进电机旋转S2步的过程中有部分步数是无法驱动镜头沿其前后方向运动的)，因此镜头的实际位置需要考虑到该空程的影响，这使得镜头的实际位置是落在B'的位置，其与理论上适合被拍摄者屈光度的焦距的期望位置相距一段距离，该距离相当于空程a。换言之，该实际位置B'是距初始位置C的距离为S2步数的距离减去空程a。类似地，该实际位置B'距行程端点Q的距离为在对应于步进电机的旋转步数为S1-S2步的距离的基础上追加空程a，这并不能使眼底相机处于期望的位置进行令人满意的工作。
为此，与图2和图3所示出的控制方法不同，根据本发明的控制方法被设计为在完成步骤2后继续使该步进电机沿第一方向旋转S3步,以进一 步带动该镜头沿正向移动经过该期望位置B至中间位置D,其中该中间位置D与期望位置B相隔第一距离。换言之，由于增加了使步进电机在完成步骤2后继续沿第一方向旋转S3步的步骤，使得该镜头此时会移动经过其期望位置B，即镜头从原来图2中示出的位于期望位置的右侧的实际位置B'转变为位于期望位置的左侧的中间位置D(结合图4和图3可清楚地看出)。
进一步，本发明的控制方法还包括在使步进电机沿第一方向旋转S3步后的第3步骤(步骤3),在该步骤3中控制该步进电机沿第二方向旋转S4步,从而带动该镜头沿反向移动第二距离至期望位置B，其中该第二距离与第一距离相等。在此由于第二距离和第一距离是相等的，因此步进电机的第一方向旋转的步数S3与其在第二方向上旋转的步数S4是相等的，在此例如可以设计为50步。步数S3是可以在眼底相机的控制器中预设的，使得S4自然也可以预设好的。当然，同样也可以借助于设置位置传感器或者距离传感器等手段来获知该第一距离进而推算出步数S4。在本实施例中，其中该旋转步数S3和S4例如可以是50步。
不难看出，不同于图1和图2中示出的方法，根据本发明的控制方法通过增设步骤2后的进一步继续沿第一方向旋转和步骤3后，实现了将步进电机关于期望位置B的旋转转向，由此在整个运动过程中在不同的阶段分别引入了相等的空程a：即步进电机第一方向的旋转过程中引入的空程a以及步进电机沿第二方向的选转(步骤3)过程中引入的空程a，由于在步进电机的每次旋转期间均会引入空程a且两次空程是相等的。这使得步骤3中的空程能够中和或者抵消到步进电机在前的第一方向的旋转过程中出现的空程。结果是，这抵消该空程对于眼底相机的镜头的实际位置的影响，这一点将结合图5来进行详细描述。
在图5中示出了考虑空程时根据本发明的眼底相机的镜头的控制方法的示意图，且其中在图5的方法也包含了与图4中所描述的各个步骤，因此在下文中将不再赘述。如图5所示，正如在图3中所介绍的那样，在步进电机沿第一方向旋转步数S2(步骤2期间)时会由于空程a的存在而无法理想地运动至期望位置B，在没有进一步旋转的情况下会移动至仍距该期望位置B一段距离为空程a的实际位置B'。为此，为了确保使镜头位置可靠地超过期望位置B，在完成图3中的步骤2的基础上，继续使该步进电 机沿第一方向旋转S3步,以进一步带动该镜头沿正向移动经过该期望位置B至中间位置D,但考虑到空程a，此时实际所处的中间位置D'并不会远于理论上的中间位置D。换言之，该实际所处的中间位置D'与期望位置之间的实际第一距离要比理论上的第一距离小空程a。
接下来，在使步进电机沿第一方向旋转S3步后进行步骤3,在该步骤3中控制该步进电机沿反向于第一方向的第二方向旋转S4步,从而带动该镜头沿自实际中间位置D'反向移动第二距离，其中第二距离与第一距离相等，或者说其中的步数S3与S4是相等的。在此过程中，由于步进电机的旋转仍然存在空程a，使得步进电机虽然旋转与S3的步数相同的步数S4，但正因为在第一方向和第二方向的旋转过程中均引入了空程，这使得即使存在空程对镜头位移的影响，镜头所移动经过的第二距离仍正好与第一距离是相等的。结果是，在步进电机沿第二方向旋转S4步后，镜头自然地位于期望位置B以获得适合被拍摄者屈光度的焦距。
由上可知，当期望或者理论上控制步进电机驱动镜头运动到中间位置D时(即在原有步进电机旋转S2步的基础上追加使电机继续转动S3步)，这有利地确保镜头可靠地运动经过期望位置B。由于空程a的存在，该镜头的实际停留位置D'为与中间位置D相隔距离空程a的位置。接下来，控制步进电机沿第二方向以与步数S3相同的步数旋转以驱动镜头朝靠近期望位置B的方向运动一段距离，这段距离为实际停留位置D'至期望位置B的距离。由于空程a的存在，步进电机的反转所造成的镜头的实际运动距离小于理论上中间位置D距期望位置B的距离，即镜头的实际运动距离为两者间的理论距离与空程a的差值。此时，由于镜头的实际停留位置D'正好为与中间位置D相隔距离空程a的位置，则在其实际运动的距离需要减少空程a后刚好达到期望位置B，使得仅借助于步进电机的控制逻辑的改进(无需增加眼底相机的硬件成本或使控制逻辑进一步复杂化)即可消除空程对镜头位置的影响，找到了聚焦最清晰的点。需要说明的是，对于不同型号的镜头，无论其空程的具体数值是多少，以上的控制方法都能很好地兼容，均能通过该去除空程的控制方法来去除空程，以获取清晰的图像。
在此优选地，为了允许该控制方法能够很好地与不同型号的眼底相机的镜头相兼容，其中该第一距离被设定为大于该眼底相机的结构空程极大值A。更进一步的，该第一距离和第二距离均被设定为大于该眼底相机的 结构空程极大值。在此，该结构空程极大值为虑所有眼底相机的镜头差异性导致的最大可能存在的空程。由于结构空程与眼底相机的部件的尺寸、组装有一定的关系，因此对于不同型号的眼底相机来说，结构空程并不是恒定或者近似的。但归因于眼底相机自身的设计阈值，不同型号的眼底相机的结构空程仍会落入合理的数值范围内，即该数值范围的端点对应于结构空程极大值。在此，尤其是，该结构空程极大值可以设计为对应于步进电机旋转50步。
请参照图6，是本发明提出的眼底相机的镜头的控制装置的功能模块示意图，该控制装置包括确定模块11、第一控制模块12以及第二控制模块13。
具体来说，该确定模块11用于按照预定规则眼底相机的镜头的期望位置。优选地，在该期望位置能够允许最优地适合被拍摄者屈光度的焦距。
在本发明实施例中，以上图3至4中的方法的步骤1可以由确定模块11来执行。
第一控制模块12，其用于启动步进电机沿第一方向旋转S2步以带动该镜头从其初始位置沿正向朝向期望位置逼近。在本发明实施例中，以上图3至4中的方法的步骤2的一部分可以由第一控制模块12执行。
第二控制模块13，用于在该步进电机沿第一方向旋转S2步后，继续使该步进电机沿第一方向旋转S3步,以进一步带动该镜头沿正向移动经过该期望位置至中间位置,其中该中间位置与所述期望位置相隔第一距离，还进一步使步进电机沿第一方向旋转S3步后,控制该步进电机沿反向于第一方向的第二方向旋转S4步,从而带动该镜头沿反向移动第二距离至所述期望位置，其中该第二距离与第一距离相等。
在本发明实施例中，以上图4至5中的方法的步骤2的另一部分和步骤3可以由第二控制模块13执行。
由于在如何借助于控制方法来去除空程已经结合图3至5进行了详细描述，在此不再赘述。
虽然仅用有限量的实施例详细描述本发明，但是应当容易地理解，本发明不限于所公开的这样的实施例。相反，可通过合并任何数量的此前未描述的变化、改变、替代或等同装置来修改本发明，但是这与本发明的精神和范围相当。此外，虽然已经描述了本发明的各个不同实施例，可以理 解，本发明的方面可仅包括实施例中的一些。因此，本发明不被视为受前述说明的限制，但仅受所附权利要求限制。

Claims (10)

  1. 一种眼底相机的镜头的控制方法,其中该眼底相机的镜头配设有驱动所述镜头运动的步进电机,其中该方法包括以下步骤：
    步骤1.确定所述眼底相机的镜头的期望位置；
    步骤2.启动步进电机沿第一方向旋转S2步以带动该镜头从其初始位置沿正向朝向所述期望位置逼近；
    其特征在于,在完成步骤2后继续使该步进电机沿第一方向旋转S3步,以进一步带动该镜头沿正向移动经过该期望位置至中间位置,其中该中间位置与所述期望位置相隔第一距离；
    进一步包括在使步进电机沿第一方向旋转S3步后的步骤3,在该步骤3中控制该步进电机沿反向于第一方向的第二方向旋转S4步,从而带动该镜头沿反向移动第二距离至所述期望位置，其中该第二距离与第一距离相等。
  2. 如权利要求1所述的方法，其特征在于，在步骤2中，其中该第一距离被设定为大于该眼底相机的结构空程极大值。
  3. 如权利要求2所述的方法，其特征在于，在步骤2和步骤3中，该第一距离和第二距离均被设定为大于该眼底相机的结构空程极大值。
  4. 如权利要求1所述的方法，其特征在于，其中所述镜头的初始位置为该镜头的最前端，其中所述正向为从前到后的方向且所述反向为从后到前的方向。
  5. 如权利要求2或3所述的方法，其特征在于，其中所述结构空程极大值被设计为对应于步进电机旋转50步。
  6. 如权利要求1所述的方法，其特征在于，在步骤1中根据期望的屈光度来确定所述眼底相机的镜头的期望位置。
  7. 一种眼底相机的镜头的控制装置，其中该眼底相机的镜头配设有驱动该镜头运动的步进电机，其中该控制装置与所述步进电机电连接，其中该控制装置包括：
    确定模块，其用于确定所述眼底相机的镜头的期望位置；
    第一控制模块，其用于启动步进电机沿第一方向旋转S2步以带动该镜头从其初始位置沿正向朝向所述期望位置逼近；
    其特征在于，该控制装置还包括第二控制模块，其中该第二控制模块用于在该步进电机沿第一方向旋转S2步后，继续使该步进电机沿第一方 向旋转S3步,以进一步带动该镜头沿正向移动经过该期望位置至中间位置,其中该中间位置与所述期望位置相隔第一距离，还进一步使步进电机沿第一方向旋转S3步后,控制该步进电机沿反向于第一方向的第二方向旋转S4步,从而带动该镜头沿反向移动第二距离至所述期望位置，其中该第二距离与第一距离相等。
  8. 如权利要求7所述的控制装置，其特征在于，其中该第一距离被设定为大于该眼底相机的结构空程极大值。
  9. 如权利要求7所述的控制装置，其特征在于，其中该第一距离和第二距离均被设定为大于该眼底相机的结构空程极大值。
  10. 如权利要求8或9所述的控制装置，其特征在于，其中所述结构空程极大值被设计为对应于步进电机旋转50步。
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