Active Alignment Using Continuous Motion Sweeps and Temporal Interpolation
First Claim
1. A computer-implemented method for actively aligning a first optical element to a second optical element, the method comprising performing, by a processor, operations ofcausing a robot to continuously scan the first optical element along a trajectory from a starting location to an ending location;
- while the robot continuously scans the first optical element from the starting location to the ending location;
storing a plurality of time spaced-apart positions of the first optical element; and
acquiring a plurality of time spaced-apart alignment data items, wherein each alignment data item of the plurality of time spaced-apart alignment data items;
results from an optical signal that passed through the first optical element and was received by the second optical element; and
contains data indicative of a degree of optical alignment between the first optical element and the second optical element;
estimating a desired alignment position, based at least in part on the plurality of time spaced-apart alignment data items and the plurality of time spaced-apart positions of the first optical element; and
causing the robot to move the first optical element to the desired alignment position.
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Accused Products
Abstract
Methods and apparatus for actively aligning a first optical element, such as a lens, to a second optical element, such as an image sensor, use continuous scans, even absent a synchronization signal from one of the optical elements. During a scan, timed position information about the scanned optical element is collected, and then a relationship between position of the scanned optical element and time is estimated, such as by fitting a curve to a set of position-time pairs. This relationship can then be used to estimate locations of the scanned optical element at times when image data or other alignment quality-indicating data samples are acquired. From this alignment quality versus location data, an optimum alignment position can be determined, and the scanned optical element can then be positioned at the determined alignment position.
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Citations
23 Claims
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1. A computer-implemented method for actively aligning a first optical element to a second optical element, the method comprising performing, by a processor, operations of
causing a robot to continuously scan the first optical element along a trajectory from a starting location to an ending location; -
while the robot continuously scans the first optical element from the starting location to the ending location; storing a plurality of time spaced-apart positions of the first optical element; and acquiring a plurality of time spaced-apart alignment data items, wherein each alignment data item of the plurality of time spaced-apart alignment data items; results from an optical signal that passed through the first optical element and was received by the second optical element; and contains data indicative of a degree of optical alignment between the first optical element and the second optical element; estimating a desired alignment position, based at least in part on the plurality of time spaced-apart alignment data items and the plurality of time spaced-apart positions of the first optical element; and causing the robot to move the first optical element to the desired alignment position. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A system for actively aligning a first optical element to a second optical element, the system comprising:
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a robot configured to grasp the first optical element; a motion controller configured to; cause the robot to continuously scan the first optical element along a trajectory from a starting location to an ending location; and while the robot continuously scans the first optical element from the starting location to the ending location, store a plurality of time spaced-apart positions of the first optical element; a measurement controller configured, while the robot continuously scans the first optical element from the starting location to the ending location, to; acquire a plurality of time spaced-apart alignment data items, wherein each alignment data item of the plurality of time spaced-apart alignment data items; results from an optical signal that passed through the first optical element and was received by the second optical element; and contains data indicative of a degree of optical alignment between the first optical element and the second optical element; and an alignment processor configured to; estimate a desired alignment position, based at least in part on the plurality of time spaced-apart alignment data items and the plurality of time spaced-apart positions of the first optical element; and cause the robot to move the first optical element to the desired alignment position. - View Dependent Claims (13, 14, 15, 16, 17, 18, 19, 20, 21, 22)
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23. A computer program product for actively aligning a first optical element to a second optical element, the computer program product comprising a non-transitory computer-readable medium having computer readable program code stored thereon, the computer readable program code configured to:
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cause a robot to continuously scan the first optical element along a trajectory from a starting location to an ending location; while the robot continuously scans the first optical element from the starting location to the ending location; store a plurality of time spaced-apart positions of the first optical element; and acquire a plurality of time spaced-apart alignment data items, wherein each alignment data item of the plurality of time spaced-apart alignment data items; results from an optical signal that passed through the first optical element and was received by the second optical element; and contains data indicative of a degree of optical alignment between the first optical element and the second optical element; estimate a desired alignment position, based at least in part on the plurality of time spaced-apart alignment data items and the plurality of time spaced-apart positions of the first optical element; and cause the robot to move the first optical element to the desired alignment position.
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Specification