Method, device, and apparatus for assembling prisms

A device for assembling a prism, applicable to assembling the prism to a fitting body, the device comprising:

• an acquiring module, configured to acquire scanned data by scanning a space where the prism and the fitting body are disposed in response to the prism being placed at a first predetermined station and the fitting body being placed at a second predetermined station;
• a model generating module, configured to generate a physical 3D model by three-dimensional reconstruction on the prism, the fitting body, and the space based on the scanned data;
• a comparing module, configured to acquire comparison data by comparing the physical 3D model with a theoretical 3D model, wherein the theoretical 3D model is a theoretical model for fitting the prism to the fitting body;
• and
• an assembling module, configured to control, based on the comparison data, a manipulator to fit the prism at the first predetermined station to the fitting body at the second predetermined station.

An apparatus for assembling a prism, configured to assemble the prism to a fitting body, the apparatus comprising:

• a manipulator, configured to grasp the prism;
• a motorized unit, connected to the manipulator, and configured to drive the manipulator to fit the prism at a first predetermined station to the fitting body at a second predetermined station;
• a scanner, configured to scan a space where the prism and the fitting body are disposed;
• at least one processor, connected to both the motorized unit and the scanner, wherein the at least one processor is configured to control the motorized to drive the manipulator to fit the prism to the fitting body, and control the scanner to scan the space where the prism and the fitting body are disposed;
• and
• a memory, communicably connected to the at least one processor, wherein the memory stores one or more instructions executable by the at least one processor, wherein, the one or more instructions, when executed by the at least one processor, cause the at least one processor to perform following operations:
• acquiring scanned data by scanning the space where the prism and the fitting body are disposed in response to the prism being placed at the first predetermined station and the fitting body being placed at the second predetermined station;
• generating a physical 3D model by three-dimensional reconstruction on the prism, the fitting body, and the space based on the scanned data;
• acquiring comparison data by comparing the physical 3D model with a theoretical 3D model, wherein the theoretical 3D model is a theoretical model for fitting the prism to the fitting body;
• and
• controlling, based on the comparison data, the manipulator to fit the prism at the first predetermined station to the fitting body at the second predetermined station.