CN112180607A

CN112180607A - Image display device and wearable equipment

Info

Publication number: CN112180607A
Application number: CN202011241365.5A
Authority: CN
Inventors: 陈彪
Original assignee: Guangdong Oppo Mobile Telecommunications Corp Ltd
Current assignee: Guangdong Oppo Mobile Telecommunications Corp Ltd
Priority date: 2020-11-09
Filing date: 2020-11-09
Publication date: 2021-01-05

Abstract

The embodiment of the application provides an image display device and wearable equipment, and the image display device includes: the first emitting unit is used for emitting first light rays, and the first light rays comprise first effective light rays; the first prism group is arranged opposite to the first emitting unit, and the first effective light enters the first prism group and is refracted by the first prism group to form first incident light; the first waveguide plate is arranged opposite to the first prism group, first incident light is transmitted into the first waveguide plate and then is conducted by the first waveguide plate to form first emergent light, and the first emergent light is emitted to the outside from the first waveguide plate; and the first driving unit is connected with the first prism group and used for driving the first prism group to rotate so as to change the angle of the first emergent light emergent from the first waveguide plate. The image display device provided by the embodiment of the application can change the imaging position of the virtual image, so that the user experience is improved.

Description

Image display device and wearable equipment

Technical Field

The present application relates to the field of electronic technologies, and in particular, to an image display device and a wearable device.

Background

With the development of intelligent technology, wearable equipment capable of realizing more functions is applied in more and more fields, and the wearable equipment is more and more popular with users, so that great convenience is brought to the life and work of the users. The wearable device may implement an Augmented Reality (AR) function by means of an image display apparatus included therein, and the image display apparatus may project a virtual image in a real scene.

Disclosure of Invention

The embodiment of the application provides an image display device and wearable equipment, which can change the imaging position of a virtual image in the image display device.

An embodiment of the present application provides an image display device, which includes:

the first emitting unit is used for emitting first light rays, and the first light rays comprise first effective light rays;

the first prism group is arranged opposite to the first emitting unit, and the first effective light is incident to the first prism group and then refracted by the first prism group to form first incident light;

the first waveguide plate is arranged opposite to the first prism group, the first incident light enters the first waveguide plate and then is conducted by the first waveguide plate to form first emergent light, and the first emergent light is emitted to the outside from the first waveguide plate; and

the first driving unit is connected with the first prism group and used for driving the first prism group to rotate so as to change the angle of the first emergent light emergent from the first waveguide plate.

The embodiment of the application also provides a wearable device, which comprises a shell and an image display device arranged in the shell, wherein the image display device is the image display device.

The image display device that this application embodiment provided, in the first light that first emission unit sent, first effective light forms first incident light and incides first waveguide board with certain angle after the refraction of first prism group, form first emergent light and with certain angle outgoing first waveguide board after the conduction of first waveguide board, drive first prism group through first drive unit and rotate in order to change the angle that first incident light incided first waveguide board, thereby change the angle that first emergent light is emergent first waveguide board, consequently, change the imaging position of the virtual image that emergent light formed, thereby improve user experience.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings used in the description of the embodiments will be briefly introduced below. It is obvious that the drawings in the following description are only some embodiments of the application, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.

Fig. 1 is a schematic view of directions and angles provided in the embodiments of the present application.

Fig. 2 is a schematic view of a first structure of an image display device according to an embodiment of the present disclosure.

Fig. 3 is a side view of the image display device shown in fig. 2.

Fig. 4 is a display effect diagram of the image display device shown in fig. 2.

Fig. 5 is a schematic diagram of a second structure of an image display device according to an embodiment of the present application.

Fig. 6 is a schematic structural diagram of a third image display device according to an embodiment of the present application.

Fig. 7 is a schematic diagram of a fourth structure of the image display device according to the embodiment of the present application.

Fig. 8 is a display effect diagram of the image display device shown in fig. 7.

Fig. 9 is a side view of the image display device shown in fig. 7.

Fig. 10 is a schematic diagram of a fifth structure of an image display device according to an embodiment of the present application.

Fig. 11 is a schematic structural diagram of the first prism group in the image display device shown in fig. 10.

Fig. 12 is a three-dimensional schematic diagram illustrating the rotation of the first prism group in the image display device shown in fig. 10.

Fig. 13 is a schematic plan view illustrating rotation of the first prism group in fig. 12.

Fig. 14a to 14c are top views of the first prism set and the second prism set in fig. 11 in three states, respectively.

Fig. 15a-15c are side views of the first prism and the second prism shown in fig. 14a-14c, respectively, in three states.

Fig. 16a to 16c are three-dimensional perspective views of the first prism and the second prism shown in fig. 14a to 14c, respectively, in three states.

Fig. 17 is a schematic structural diagram of a first driving unit in the image display device shown in fig. 10.

Fig. 18 is a schematic diagram of a sixth structure of an image display device according to an embodiment of the present application.

Fig. 19 is a schematic diagram of a seventh structure of the image display device according to the embodiment of the present application.

Fig. 20 is a schematic structural diagram of a wearable device provided in an embodiment of the present application.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. It is to be understood that the embodiments described are only a few embodiments of the present application and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

Referring to fig. 1, fig. 1 is a schematic view illustrating directions and angles provided by an embodiment of the present application. In order to facilitate understanding of a light propagation path of the image display device provided by the embodiment of the present application, the "horizontal direction" mentioned in the embodiment of the present application is set as a standard horizontal direction, the "vertical direction" is set as a standard vertical direction, an intersection point of the horizontal direction and the vertical direction is a center of a field of view of a human eye, an azimuth angle is an included angle between the horizontal direction and a plane where the center of the field of view of the human eye is located relative to the center of the field of view of the human eye, an azimuth direction is a direction corresponding to the azimuth angle, a pitch angle is an included angle between the vertical direction and the plane where the center of the field of view.

With the continuous improvement of technology and the increasing demand, augmented reality wearable devices have gained more and more attention, and accordingly, many optical solutions have appeared. The diffraction waveguide scheme has the advantages of being good in adaptability, light and thin in appearance, small in real visual field influence and the like. The diffraction waveguide scheme mainly comprises a waveguide plate and a projection optical machine. In particular, the wearable device comprises an image display device.

Referring to fig. 2, fig. 2 is a first structural schematic diagram of an image display device according to an embodiment of the present disclosure. The image display device 200 may include a projection light machine 220 and a waveguide plate 240, and the angle and position of the projection light machine 220 are matched to the waveguide plate 240. The image display device 200 may further include an incoupling grating 260 and an outcoupling grating 280. The light of the projection light engine 220 and the waveguide plate 240 are distributed in an orthogonal state, that is, the central field of view light (light corresponding to the solid line in the figure) emitted by the projection light engine 220 propagates along the normal of the exit interface, enters the waveguide plate 240 in the orthogonal incident direction, and is also incident and coupled into the surface of the grating 260 in the orthogonal direction and is diffracted. The viewing angle of the human eye 300 is set to be the standard horizontal direction, the placement direction of the waveguide plate 240 is orthogonal to the line of sight direction of the human eye 300, and the in-coupling grating 260 and the out-coupling grating 280 are both parallel to the waveguide plate 240. The direction of the central field-of-view light coupled out through the incoupling grating 260, the waveguide plate 240 and the outcoupling grating 280 is consistent with the normal direction of the waveguide plate 240, i.e. consistent with the viewing angle direction of the human eye 300 in the horizontal direction. It is understood that the projection optics 220 has an azimuth angle of 0 degrees with respect to the waveguide plate 240. Referring to fig. 3, fig. 3 is a side view of the image display apparatus shown in fig. 2. The viewing angle of the human eye 300 is set to be the standard horizontal direction, the placement direction of the waveguide plate 240 is orthogonal to the line of sight direction of the human eye 300, and the coupling-in grating 260 and the coupling-out grating 280 are both parallel to the waveguide plate 240. The direction of the central field-of-view light coupled out by the incoupling grating 260, the waveguide plate 240 and the outcoupling grating 280 is also the standard horizontal direction, i.e. the vertical direction is consistent with the viewing direction of the human eye 300. It is understood that the projection light 220 is tilted at an angle of 0 degree with respect to the waveguide plate 240.

According to the above arrangement, if the size inconsistency of the inside and outside fields of view of the human eyes is not considered, and only the viewing angle of the front view is taken as the reference, the relative relationship between the real scene and the virtual image generated by the image display apparatus 200 can be seen as shown in fig. 4, and fig. 4 is a display effect diagram of the image display apparatus shown in fig. 2. The block diagram of the black solid line in the figure shows a certain size of visual field which is centered at the front of the human eyes when the human eyes directly look at the front, and the intersection point of the black dotted line is the central position of the visual field at the front of the human eyes directly. The dotted tree pattern in the figure represents a virtual image generated by the image display device 200. The scene directly observed by human eyes is an image with the center of the virtual image coinciding with the center of the visual angle of the real scene.

Referring to fig. 5, fig. 5 is a schematic view illustrating a second structure of an image display device according to an embodiment of the present disclosure. The projection light engine 220 has a pitch angle of 0 degrees with respect to the waveguide plate 240. The direction of the projection light engine 220 is no longer orthogonal to the direction of the waveguide plate 240, that is, the central field light (light corresponding to the solid line in the figure) emitted by the projection light engine 220 propagates along the normal of the exit interface thereof and then orthogonally enters the incoupling prism 270 disposed on the surface of the waveguide plate 240, and the central field light enters the waveguide plate 240 at a specific non-zero angle with respect to the normal of the waveguide plate 240 and is totally reflected on the inner surface of the waveguide plate 240. The viewing angle of the human eye 300 is set to be a standard horizontal direction, the placing direction of the waveguide plate 240 is orthogonal to the viewing direction of the human eye 300, the planes of the incoupling grating 260 and the outcoupling grating 280 are both parallel to the waveguide plate 240, and the direction of the central viewing field light coupled out by the incoupling grating 260, the waveguide plate 240 and the outcoupling grating 280 is consistent with the normal direction of the waveguide plate 240, that is, consistent with the viewing angle direction of the human eye 300. A non-zero included angle is formed between the projection optical machine 220 and the waveguide plate 240, and the included angle is for realizing geometric coupling and satisfying the total reflection condition, and has a larger value, and the finally emergent central view field light is still positioned right in front of the human eye 300 and is parallel to the view angle direction.

Referring to fig. 6, fig. 6 is a schematic structural diagram of an image display device according to an embodiment of the present application. The projection light engine 220 has a pitch angle of 0 degrees with respect to the waveguide plate 240. The binocular lenses are arranged in a non-parallel mode, opening angles are formed towards the outer sides of the two eyes, and the deflection angle of each lens is small, such as smaller than 10 degrees. Based on the propagation characteristics of the waveguide plate 240, the incoupling grating 260, and the outcoupling grating 280, in order to realize that the principal ray (the ray corresponding to the solid line in the figure) of the central field of view deflected by the waveguide plate 240 is still directly in front of the human eye 300 and parallel to the viewing angle direction, the projection optical machine 220 needs to have a certain non-zero included angle with the interface of the waveguide plate 240. The coupled light rays in the image display device 200 of the right eye have a counterclockwise angle with respect to the normal F0 of the waveguide plate 240, and the coupled light rays in the image display device 200 of the left eye have a clockwise angle with respect to the normal F0 of the waveguide plate 240, with the normal F0 of the waveguide plate 240 as a reference. That is, the included angle of the coupled light with respect to the normal F0 of the waveguide plate 240 is opposite to the included angle of the emergent light of the optical projector 220 with respect to the normal F0 of the waveguide plate 240, and the angles are the same, and the angle is equal to the outward deflection angle of the lens.

An image display device according to an embodiment of the present application is further provided, and referring to fig. 7 in detail, fig. 7 is a schematic diagram illustrating a fourth structure of the image display device according to the embodiment of the present application. The image display apparatus 200 may include a first emission unit 211, a first prism group 231, a first waveguide plate 241, and a first driving unit (not shown in the drawings). It is to be understood that the image display device 200 may further include other components, such as the first incoupling grating 261 and the first outcoupling grating 281. The embodiment of the present application does not limit the specific components of the image display apparatus 200.

The first emitting unit 211 is configured to emit a first light L10. The first Emitting unit 211 may be a Micro projection system, and the Micro projection system may be a Micro projection optical path based on a display scheme such as Digital Light Processing (DLP), Liquid Crystal On Silicon (LCOS), or Micro Light Emitting Diode (Micro-LED), Organic Light Emitting Diode (OLED), or Micro-OLED. The image output by the micro-projection system may be at infinity, i.e. the single field of view ray output by the micro-projection system is a parallel ray. The exit pupil position of the micro projection system is outside the hardware structure, and the exit pupil distance of the micro projection system matches with the distance between the micro projection system and the waveguide thickness, and coincides with the position of the first in-coupling grating 261. It is to be understood that the light projector in the embodiments and the drawings of the present application is an exemplary device of the first emission unit 211, and the first emission unit 211 may also be another device, and the specific type of the first emission unit 211 is not limited herein.

The first prism group 231 is disposed opposite to the first emitting unit 211, and is used for refracting light incident to the first prism group 231. It should be noted that, the first light (not shown in the figure) emitted by the first emitting unit 211 is radially outwardly transmitted from the exit interface, so that even if the first prism group 231 is disposed opposite to the first emitting unit 211, the first light emitted by the first emitting unit 211 cannot be totally incident on the first prism group 231. Of the first light beams, the light beam successfully entering the first prism group 231 is a first effective light beam L11, and the light beam not entering the first prism group 231 is a first ineffective light beam (not shown). The first prism group 231 is specifically configured to refract the first effective light L11, and the first effective light L11 is incident on the first prism group 231 and then refracted by the first prism group 231 to form a first incident light L111. The first prism group 231 may be made of glass, the first prism group 231 may also be made of resin, and the first prism group 231 may also be made of non-metal materials such as acrylic. The embodiment of the present application does not limit the specific material of the first prism group 231. It is understood that, in order not to affect the original brightness and color of the first effective light L11, the first prism group 231 should be a colorless transparent material.

The first waveguide plate 241 is disposed opposite to the first prism group 231 for conducting light incident on the first waveguide plate 241. In particular, the first waveguide plate 241 may include a first portion and a second portion. The first part is arranged opposite to the first prism group 231, so that the first incident light L111 emitted from the first prism group 231 can enter the first waveguide plate 241; the first incident light L111 is incident on the first waveguide plate 241 and then is transmitted by the first waveguide plate 241 to form a first emergent light L112, and the first emergent light L112 is emitted from the first waveguide plate 241 to the outside; the second portion is disposed opposite to the user's eye 300 so that the first outgoing light ray L112 emitted by the first waveguide plate 241 can enter the user's eye 300.

The first incoupling grating 261 is disposed opposite to the first portion, and the first outcoupling grating 281 is disposed opposite to the second portion. The first waveguide plate 241, the first incoupling grating 261 and the first outcoupling grating 281 may be integrated optical elements, which may be single-layer structures or multilayer structures. The first incoupling grating 261 and the first outcoupling grating 281 may be surface relief gratings or bulk gratings according to diffraction efficiency and cost requirements. The first incoupling grating 261 and the first outcoupling grating 281 have the same period and are conjugated in the whole optical path. It is understood that a turning grating may be added outside the first waveguide plate 241, the first incoupling grating 261 and the first outcoupling grating 281, i.e. between the first incoupling grating 261 and the first outcoupling grating 281, as required, and the first incoupling grating 261, the turning grating and the first outcoupling grating 281 realize conjugation as a whole.

The first driving unit is connected to the first prism group 231, and is configured to drive the first prism group 231 to rotate, so as to change an angle of the first effective light L11 entering the first prism group 231, thereby changing a refraction degree of the first effective light L11 by the first prism group 231, further changing an angle of the first incident light L111 entering the first waveguide board 241, and finally changing an angle of the first emergent light L112 exiting the first waveguide board 241. It should be noted that the image display apparatus 200 in the embodiment of the present application may not include the first driving unit, and instead, the first prism group 231 is rotated manually. The embodiment of the present application does not limit the specific driving manner of the first prism group 231.

The light emitted by the first emitting unit 211 enters the eye 300 of the user to form a virtual image after being refracted by the first prism group 231 and transmitted by the first incoupling grating 261, the first waveguide plate 241 and the first outcoupling grating 281, the light in the real scene directly enters the eye 300 of the user through the first waveguide plate 241 to form a real image, and the virtual image and the real image are superimposed to form an augmented reality image.

Of the first light beams emitted by the first emitting unit 211, the first effective light beam L11 enters the first prism group 231, and is refracted by the first prism group 231 to form a first incident light beam L111; after the first incident light L111 enters the first waveguide plate 241, the first incident light L112 is formed by the first incoupling grating 261, the first waveguide plate 241 and the first outcoupling grating 281. Wherein the first in-coupling grating 261 and the first out-coupling grating 281 are both parallel to the first waveguide plate 241, and the normal lines of the first in-coupling grating 261 and the first out-coupling grating 281 are the same as or parallel to the normal line F1 of the first waveguide plate 241.

The first incident light L111 has a first component in the horizontal direction when entering the first waveguide plate 241, and the first component has a first included angle α 1 with the normal F1 of the first waveguide plate 241 in the horizontal direction; the first outgoing light ray L112 has a second component in the horizontal direction when exiting the first waveguide plate 241, and the second component has a second included angle α 2 with the normal F1 of the first waveguide plate 241 in the horizontal direction; the first angle α 1 and the second angle α 2 are equal, that is, α 1 ═ α 2, and the first component and the second component are symmetrical with respect to a normal F1 of the first waveguide plate 241.

In the azimuth direction, the first incident light L111 enters the first waveguide plate 241 at a predetermined angle, i.e., a first included angle α 1, with the normal F1 of the first waveguide plate 241, is diffracted by the first incoupling grating 261 to satisfy the total reflection condition, is transmitted in the first waveguide plate 241 in a total reflection manner, is diffracted by the first outcoupling grating 281, and exits the first waveguide plate 241 at a predetermined angle, i.e., a second included angle α 2, with the normal F1 of the first waveguide plate 241 to form a first exiting light L112. The first incident light ray L111 is angled with respect to the normal F1 of the first waveguide plate 241 in a direction opposite to the angle of the first emergent light ray L112 with respect to the normal F1 of the first waveguide plate 241, and the two are axisymmetrically distributed with respect to the normal F1 of the first waveguide plate 241, and then the first emergent light ray L112 enters the eye 300 of the user to be displayed as an image.

Because the first component of the horizontal direction when the first incident light L111 enters the first waveguide plate 241 and the normal F1 of the first waveguide plate 241 have the first included angle α 1 in the horizontal direction, the second component of the horizontal direction when the first emergent light L112 exits the first waveguide plate 241 and the normal F1 of the first waveguide plate 241 have the second included angle α 2 in the horizontal direction, and the first component and the second component are symmetrical with respect to the normal F1 of the first waveguide plate 241, the center of the virtual image formed by the first emergent light L112 can be shifted from the viewing angle center of the user, and the risk caused by the mutual influence between the virtual image and the viewing angle center is avoided, specifically, as shown in fig. 8, fig. 8 is a display effect diagram of the image display device shown in fig. 7. Because the brightness of the virtual image and the brightness of the real scene image are difficult to perfectly match, when the virtual image and the real scene image are fused, the center of the virtual image is staggered with the center of the visual angle of a user, and the matching problem caused by different brightness can be solved. Exemplarily, the following steps are carried out: when the brightness of the virtual image is slightly smaller or slightly larger than that of the real scene, the center of the virtual image avoids the visual center with the highest user sensitivity, so that the visual difference caused by different brightness is reduced, and the display effect and the user experience are improved; when the brightness of the virtual image is far greater than that of the real scene, the center of the virtual image is staggered with the visual center of the user, and the situation that the most important central area of the real scene cannot be seen clearly due to overhigh virtual image, and the user cannot pay attention to the real scene in time is avoided.

It should be noted that, since fig. 7 is a top view of the image display device 200, the first incident light ray L111 in the figure can be understood as a diagram of the first component, and the first emergent light ray L112 in the figure can be understood as a diagram of the second component.

The first incident light L111 also has a third component in the vertical direction when entering the first waveguide plate 241, and the third component has a fourth included angle α 4 with the normal F1 of the first waveguide plate 241 in the vertical direction; the first outgoing light ray L112 further has a fourth component in the vertical direction when exiting the first waveguide plate 241, and the fourth component has a sixth included angle α 6 with the normal F1 of the first waveguide plate 241 in the vertical direction; the fourth angle α 4 is equal to the sixth angle α 6, i.e., α 4 ═ α 6, and the third component and the fourth component are symmetrical with respect to the normal F1 of the first waveguide plate 241.

In the pitch direction, please refer to fig. 9, fig. 9 is a side view of the image display device shown in fig. 7. The first incident light L111 enters the first waveguide plate 241 at a predetermined angle, i.e., a fourth angle α 4, with the normal F1 of the first waveguide plate 241, is diffracted by the first incoupling grating 261 to satisfy the total reflection condition, is transmitted in the first waveguide plate 241 in a total reflection manner, is diffracted by the first outcoupling grating 281, and exits the first waveguide plate 241 at a predetermined angle, i.e., a sixth angle α 6, with the normal F1 of the first waveguide plate 241 to form a first exiting light L112. The first incident light ray L111 is angled with respect to the normal F1 of the first waveguide plate 241 in a direction opposite to the angle of the first emergent light ray L112 with respect to the normal F1 of the first waveguide plate 241, and the two are axisymmetrically distributed with respect to the normal F1 of the first waveguide plate 241, and then the first emergent light ray L112 enters the eye 300 of the user to be displayed as an image.

The normal F1 of the first waveguide plate 241 has a third angle α 3 with the horizontal direction H, the third component has a fifth angle α 5 with the horizontal direction H, the third angle α 3 is equal to the fourth angle α 4, the fifth angle α 5 is equal to the sum of the fourth angle α 4 and the third angle α 3, and the fourth component is parallel to the horizontal direction H.

A normal F1 of the first waveguide plate 241 has a third included angle α 3 with the horizontal direction H, and in order to ensure that the direction of the first outgoing light L112 formed after the first incoming light L111 is transmitted through the first incoupling grating 261, the first waveguide plate 241 and the first incoupling grating 281 is the horizontal direction, the first incoming light L111 formed after the first effective light L11 emitted by the first emitting unit 211 is refracted by the first prism group 231 is controlled to enter the first waveguide plate 241 at a fourth included angle α 4 with the normal F1 of the first waveguide plate 241 in the vertical direction. Since the normal F1 of the first waveguide 241 has a third angle α 3 with the horizontal direction H, a fifth angle α 5 between the first incident light L111 and the horizontal direction H in the pitch direction is an angle | α 3+ α 4| and an angle between the first emergent light L112 and the horizontal direction H in the pitch direction is 0 °.

Correspondingly, the first emission unit 211 may also be disposed obliquely with respect to the first waveguide 241, and a position relationship between the optical path of the light emitted by the first emission unit 211 and the first waveguide 241 is no longer limited to a mutually orthogonal position relationship, so as to provide a larger space for ergonomic Design and Industrial Design (ID), and facilitate achieving better comfort and appearance. In the vertical direction, the angle of the waveguide lens can be changed while the virtual image position is kept unchanged. Because the first waveguide plate 241 can be placed at an incline, the overall appearance and the design of the housing of the wearable device accommodating the first waveguide plate 241 are more flexible, which helps to improve the appearance. The overall appearance and the shell of the wearable device can better accord with human engineering, and better comfort level is facilitated to be realized.

It should be noted that, since fig. 9 is a side view of the image display device 200, the first incident light ray L111 in the figure can be understood as a diagram of the third component, and the first emergent light ray L112 in the figure can be understood as a diagram of the fourth component.

The angle of the first included angle α 1 in the embodiment of the present application may be set as required, for example, the first included angle α 1 may be less than 16 degrees, or less than 12 degrees, or less than 8 degrees. It is understood that the first included angle α 1 may be selected based on industrial design of the wearable device, and may also be designed based on comfort considerations of the offset angle of the virtual image relative to the human eye. It should be noted that the angle range of the first included angle α 1 is only an exemplary example, and a person skilled in the art may adjust the range of the first included angle α 1 as needed, for example, the range of the first included angle α 1 may be 0 degree to 8 degrees, 0 degree to 16 degrees, 2 degrees to 8 degrees, 3 degrees to 16 degrees, and the like.

The angle of the fourth included angle α 4 in the embodiment of the present application may be set as required, for example, the fourth included angle α 4 may be less than 16 degrees, or less than 12 degrees, or less than 8 degrees. It is understood that the fourth angle α 4 may be selected based on industrial design of the wearable device, or may be designed based on comfort considerations of the offset angle of the virtual image relative to the human eye. It should be noted that the angle range of the fourth included angle α 4 is only an exemplary example, and a person skilled in the art may adjust the range of the fourth included angle α 4 as needed, for example, the range of the fourth included angle α 4 may be 0 degree to 8 degrees, 0 degree to 16 degrees, 2 degrees to 8 degrees, or 3 degrees to 16 degrees.

It is understood that the angles of the first included angle α 1 and the fourth included angle α 4 may be equal or unequal. The first included angle α 1 and the fourth included angle α 4 can be selected individually without affecting each other. The first included angle α 1 and the fourth included angle α 4 may also be selected in a linkage manner, that is, the sum of the first included angle α 1 and the fourth included angle α 4 is within a certain range, such as 0 to 8 degrees, 0 to 16 degrees, 2 to 12 degrees, or 3 to 16 degrees.

Referring to fig. 10, fig. 10 is a schematic view illustrating a fifth structure of an image display device according to an embodiment of the present disclosure. A horizontal component of the first effective light ray L11 in the first light ray emitted by the first emission unit 211 is parallel to the normal F1 of the first waveguide plate 241, that is, a horizontal component of the first incident light ray L111 before being refracted by the first prism group 231 is parallel to the normal F1 of the first waveguide plate 241. The first prism group 231 is configured to change the direction of the first effective light beam L11, so as to change the angle at which the first incident light beam L111 enters the first waveguide plate 241, so that the first component forms a first included angle α 1 with the normal F1 of the first waveguide plate 241 in the horizontal direction, and further change the angle at which the first emergent light beam L112 exits the first waveguide plate 241, so that the second component forms a second included angle α 2 with the normal F1 of the first waveguide plate 241 in the horizontal direction.

Referring to fig. 11, fig. 11 is a schematic structural diagram of the first prism set in the image display apparatus shown in fig. 10. The first prism group 231 may include a first prism 2311 and a second prism 2312, and the first prism 2311 and the second prism 2312 have the same refractive index. The first prism 2311 and the second prism 2312 may be prisms made of the same material and in the same shape, for example, the first prism 2311 and the second prism 2312 may be triangular prisms with right-angled triangle cross sections, the first prism 2311 and the second prism 2312 may be quadrangular prisms with right-angled trapezoid cross sections, and the first prism 2311 and the second prism 2312 may also be one triangular prism with right-angled triangle cross sections or one quadrangular prism with right-angled trapezoid cross sections. The embodiment of the present application does not limit the specific shapes of the first and

second prisms

2311 and 2312. It is understood that the first prism 2311 and the second prism 2312 may be the same size, and the first prism 2311 and the second prism 2312 may also be different sizes; the first prism 2311 and the second prism 2312 can be made of the same material, and the first prism 2311 and the second prism 2312 can also be made of different materials, so that the first prism 2311 and the second prism 2312 only need to be ensured to have the same refractive index.

The first prism 2311 includes a first incident surface S1 and a first exit surface S3, the first incident surface S1 having a first interior angle θ 1 in the horizontal direction with the first exit surface S3; the second prism 2312 includes a second incident surface S2 and a second exit surface S4, the second incident surface S2 and the second exit surface S4 having a second interior angle θ 2 in the horizontal direction; the first interior angle θ 1 is equal to the second interior angle θ 2, i.e., θ 1 is equal to 2. The first exit surface S3 is adjacent to and parallel to the second incident surface S2, and the first exit surface S3 and the second incident surface S2 are both parallel to the first waveguide plate 241 in the horizontal direction. Therefore, a common normal F of the first exit face S3 and the second entrance face S2 is the same as or parallel to the normal F1 of the first waveguide plate 241.

The first effective light L11 of the first light emitted by the first emitting unit 211 is refracted by the first incident surface S1, the first exit surface S3, the second incident surface S2, and the second exit surface S4 in sequence to form a first incident light L111, so that a horizontal component of the light incident on the first waveguide plate 241 is not parallel to the normal F1 of the first waveguide plate 241 in the horizontal direction, but has a predetermined included angle, i.e., a first included angle α 1, and further a horizontal component of the light exiting from the first waveguide plate 241 is not parallel to the normal F1 of the first waveguide plate 241 in the horizontal direction, but has a predetermined included angle, i.e., a second included angle α 2.

Referring to fig. 12 and 13, fig. 12 is a three-dimensional schematic view illustrating rotation of the first prism set in the image display apparatus shown in fig. 10, and fig. 13 is a schematic plan view illustrating rotation of the first prism set in fig. 12. The first driving unit can drive the first prism group 231 to rotate so as to change the angle of the first effective light beam L11 incident on the first prism group 231, thereby changing the refraction degree of the first prism group 231 to the first effective light beam L11. Specifically, the first driving unit may drive the first prism 2311 to rotate together with the second prism 2312 about the common normal F of the first exit surface S3 and the second entrance surface S2, and the first prism 2311 and the second prism 2312 rotate by equal angles and in opposite directions. Suppose that the first driving unit drives the first prism 2311 to rotate clockwise by an angle around the common normal F of the first exit surface S3 and the second entrance surface S2

The first driving unit simultaneously drives the second prism 2312 to rotate counterclockwise by an angle around the common normal F of the first exit surface S3 and the second entrance surface S2

Wherein the first prism 2311 or the second prism 2312 rotates by an angle

The first included angle alpha 1 and the second included angle alpha 2 satisfy the relation:

referring to fig. 14 to 16, fig. 14a to 14c are top views of the first prism and the second prism in the first prism group shown in fig. 11 in three states, respectively, fig. 15a to 15c are side views of the first prism and the second prism in three states shown in fig. 14a to 14c, respectively, and fig. 16a to 16c are three-dimensional perspective views of the first prism and the second prism in three states shown in fig. 14a to 14c, respectively.

In the state shown in fig. 14a, 15a and 16a, the first effective light ray L11 is entirely deflected to the left: the first effective light ray L11 is refracted when entering the first prism 2311 from the first incident surface S1, and the first effective light ray L11 is deflected to the left at the first amplitude for the first time; the first effective light ray L11 after the first deflection is refracted when exiting the first prism 2311 from the first exit surface S3, and the first effective light ray L11 is deflected to the right by the second amplitude for the second time; the second deflected first effective light L11 is refracted when entering the second prism 2312 through the second incident surface S2, and the first effective light L11 is deflected leftward for a third time by a third amplitude; the third deflected effective light L11 is refracted when the second prism 2312 exits from the second exit surface S4, and the first effective light L11 is deflected to the right by a fourth amplitude for the fourth time. As can be seen from the optical common knowledge, the second amplitude is the same as the third amplitude, and the second deflected first effective light ray L11 is parallel to the third deflected first effective light ray L11 in the horizontal direction, that is, the first effective light ray L11 in the first prism 2311 is parallel to the first effective light ray L11 in the second prism 2312 in the horizontal direction. In this state, the first effective light L11 can reach the maximum deflection angle to the left after being refracted by the first prism group 231.

In the state shown in fig. 14b, 15b and 16b, the first effective ray L11 is entirely translated downwards: the first effective light ray L11 is refracted when entering the first prism 2311 from the first incident surface S1, and the first effective light ray L11 is deflected downward for the first time at the first amplitude; the first effective light ray L11 after the first deflection is refracted when exiting the first prism 2311 from the first exit surface S3, and the first effective light ray L11 is deflected upward by a second amplitude for the second time; the second deflected first effective light L11 is refracted when entering the second prism 2312 through the second incident surface S2, and the first effective light L11 is deflected downward by a third amplitude for a third time; the third deflected first effective light ray L11 is refracted when the second prism 2312 exits from the second exit surface S4, and the first effective light ray L11 is deflected upward by a fourth amplitude for the fourth time. As can be seen from the optical common knowledge, the second amplitude is the same as the third amplitude, and the second deflected first effective light ray L11 is parallel to the third deflected first effective light ray L11 in the vertical direction, that is, the first effective light ray L11 in the first prism 2311 is parallel to the first effective light ray L11 in the second prism 2312 in the vertical direction. In this state, the first effective light L11 is refracted by the first prism group 231, and then does not deflect in the horizontal direction and translates downward in the vertical direction.

In the state shown in fig. 14c, 15c and 16c, the first effective light ray L11 is entirely deflected to the right: the first effective light ray L11 is refracted when entering the first prism 2311 from the first incident surface S1, and the first effective light ray L11 is deflected to the right by the first amplitude for the first time; the first effective light ray L11 after the first deflection is refracted when exiting the first prism 2311 from the first exit surface S3, and the first effective light ray L11 is deflected leftward for the second time by the second amplitude; the second deflected first effective light L11 is refracted when entering the second prism 2312 through the second incident surface S2, and the first effective light L11 is deflected rightward at a third amplitude for a third time; the third deflected first effective light L11 is refracted when the second prism 2312 exits from the second exit surface S4, and the first effective light L11 is deflected to the left by a fourth amplitude for the fourth time. As can be seen from the optical common knowledge, the second amplitude is the same as the third amplitude, and the second deflected first effective light ray L11 is parallel to the third deflected first effective light ray L11 in the horizontal direction, that is, the first effective light ray L11 in the first prism 2311 is parallel to the first effective light ray L11 in the second prism 2312 in the horizontal direction. In this state, the first effective light L11 can reach the maximum deflection angle to the right after being refracted by the first prism group 231.

Referring to fig. 17, fig. 17 is a schematic structural diagram of a first driving unit in the image display device shown in fig. 10. The first driving unit 251 may include a detection module 2511, a controller 2512, and a driving motor 2513, wherein the controller 2512 is electrically connected to the detection module 2511 and the driving motor 2513, respectively.

The detection module 2511 includes a light emitter 2514 and a light receiver 2515. The light emitter 2514 is disposed on one side of the first waveguide plate 241 near the first emission unit 211, and is configured to emit infrared light L0 with a preset wavelength; the infrared light L0 is transmitted by the first waveguide plate 241 to form a first infrared emergent light L1, the first infrared emergent light L1 is emitted from the first waveguide plate 241 to the eyes 300 of the user and is reflected back to the first waveguide plate 241 by the eyes 300 of the user, the reflected first infrared emergent light L1 is transmitted again by the first waveguide plate 241 to form a second infrared emergent light L2, and the second infrared emergent light L2 is emitted from the first waveguide plate 241 to the outside; the light receiver 2515 is disposed on a side of the first waveguide plate 241 away from the first emitting unit 211, and is configured to receive the second infrared outgoing light L2 and detect information of human eyes of the user according to the second infrared outgoing light L2. The detection module 2511 is configured to generate a control command according to the human eye information, and send the control command to the controller 2512. The human eye information includes at least one of position information of human eyes, angle information of human eyes and focusing information of human eyes.

After receiving the control command sent by the detection module 2511, the controller 2512 controls the driving motor 2513 to rotate according to the control command. The driving motor 2513 is connected to the first prism group 231 for driving the first prism group 231 to rotate so as to adjust the angle of the first incident light L111 entering the first waveguide plate 241, thereby adjusting the angle of the first emergent light L112 exiting the first waveguide plate 241.

Referring to fig. 18, fig. 18 is a schematic view illustrating a sixth structure of an image display device according to an embodiment of the present application. The image display apparatus 200 may further include a second emission unit 212, a second prism group 232, a second waveguide plate 242, and a second driving unit (not shown in the drawings). It is understood that the image display device 200 may also include other components, such as the second incoupling grating 262 and the second outcoupling grating 282. The embodiment of the present application does not limit the specific components of the image display apparatus 200.

The second emitting unit 212 is disposed symmetrically to the first emitting unit 211 about the first axis in the horizontal direction, and the second emitting unit 212 is configured to emit a second light (not shown in the figure). The structure of the second transmitting unit 212 may be the same as that of the first transmitting unit 211, and please refer to the description of the first transmitting unit 211, which is not described herein again.

The second prism set 232 and the first prism set 231 are symmetrically arranged about a second axis in the horizontal direction, and the second prism set 232 is arranged opposite to the second transmitting unit 212 and is used for refracting light incident to the second prism set 232. It should be noted that the second light emitted by the second emitting unit 212 is transmitted radially outward from the exit interface, so that even if the second prism set 232 is disposed opposite to the second emitting unit 212, the second light emitted by the second emitting unit 212 cannot be incident on the second prism set 232 completely. Of the second light beams, the light beam successfully entering the second prism set 232 is a second effective light beam L21, and the light beam not entering the second prism set 232 is a second ineffective light beam (not shown). The second prism group 232 is specifically configured to refract the second effective light L21, and the second effective light L21 is incident on the second prism group 232 and then refracted by the second prism group 232 to form a second incident light L211. The structure of the second prism group 232 may be the same as that of the first prism group 231, and please refer to the description of the first prism group 231, which is not repeated herein.

The second waveguide plate 242 and the first waveguide plate 241 are symmetrically arranged about the third axis in the horizontal direction, and the second waveguide plate 242 is arranged opposite to the second prism group 232 for conducting the light incident on the second waveguide plate 242. In particular, the second waveguide plate 242 may include a first portion and a second portion. The first part is arranged opposite to the second prism group 232, so that the second incident light L211 emitted by the second prism group 232 can enter the second waveguide plate 242; the second incident light L211 is incident on the second waveguide plate 242 and then is transmitted by the second waveguide plate 242 to form a second emergent light L212, and the second emergent light L212 is emitted from the second waveguide plate 242 to the outside; the second portion is disposed opposite to the user's eye 300 so that the second outgoing light ray L212 emitted from the second waveguide plate 242 can enter the user's eye 300.

The structures of the second incoupling grating 262 and the second incoupling grating 282 may be the same as the structures of the first incoupling grating 261 and the first outcoupling grating 281, respectively, for details, please refer to the description of the first incoupling grating 261 and the first outcoupling grating 281, which is not repeated herein.

The second driving unit is connected to the second prism group 232 and configured to drive the second prism group 232 to rotate so as to change an angle of the second effective light L21 entering the second prism group 232, thereby changing a refraction degree of the second prism group 232 on the second effective light L21, further changing an angle of the second incident light L211 entering the second waveguide plate 242, and finally changing an angle of the second emergent light L212 exiting the second waveguide plate 242. It should be noted that the image display apparatus 200 in the embodiment of the present application may not include the second driving unit, and instead, the second prism group 232 may be rotated manually. The embodiment of the present application does not limit the specific driving manner of the second prism group 232.

It should be noted that the angle of rotation of the second prism group 232 driven by the second driving unit is equal to and opposite to the angle of rotation of the first prism group 231 driven by the first driving unit, so that the angle of the second emergent light L212 exiting the second waveguide 242 is equal to and opposite to the angle of the first emergent light L112 exiting the first waveguide 241, and thus the second emergent light L212 is symmetrical to the first emergent light L112, and the first axis, the second axis, and the third axis all coincide with the symmetry axes of the first emergent light L112 and the second emergent light L212.

The intersection region of the reverse extension line of the first outgoing light ray L112 and the reverse extension line of the second outgoing light ray L212 forms a virtual image in the image display apparatus 200, and the distance from the center of the virtual image to the binocular midpoint of the user's eyes is a binocular fusion distance D. When the first driving unit and the second driving unit respectively change the angle at which the first outgoing light ray L112 exits the first waveguide plate 241 and the angle at which the second outgoing light ray L212 exits the second waveguide plate 242, the imaging position of the virtual image in the image display apparatus 200 changes, and the binocular fusion distance D of the virtual image also changes.

The second incident light ray L212 has a fifth component in the horizontal direction when entering the second waveguide plate 242, and the fifth component has a seventh included angle β 1 with the normal F2 of the second waveguide plate 242 in the horizontal direction; the second outgoing light ray L212 has a sixth component in the horizontal direction when exiting the second waveguide plate 242, and the sixth component has an eighth included angle β 2 with the normal F2 of the second waveguide plate 242 in the horizontal direction; the seventh angle β 1 is equal to the eighth angle β 2, that is, β 1 ═ β 2, and the fifth component and the sixth component are symmetrical with respect to the normal F2 of the second waveguide plate 242. The seventh included angle β 1, the eighth included angle β 2, the binocular fusion distance D, and the binocular interpupillary distance IPD of the user satisfy the relationship:

2·tanβ1＝2D·tanβ2＝IPD

referring to fig. 19, fig. 19 is a schematic diagram illustrating a seventh structure of an image display device according to an embodiment of the present application. Image display apparatus 200 may further include a third emission unit 213, a third prism group 233, a third waveguide 243, and a third driving unit (not shown in the drawings). It is understood that the image display apparatus 200 may further include other components, such as the third in-coupling grating 263 and the third out-coupling grating 283. The embodiment of the present application does not limit the specific components of the image display apparatus 200.

The third emitting unit 213 is disposed symmetrically with the first emitting unit 211 about a fourth axis in the horizontal direction, and the third emitting unit 213 is configured to emit a third light (not shown in the figure). The structure of the third transmitting unit 213 may be the same as that of the first transmitting unit 211, and please refer to the description of the first transmitting unit 211, which is not described herein again.

The third prism group 233 is disposed opposite to the third emission unit 213, and refracts light incident to the third prism group 233. It should be noted that the third light emitted by the third emitting unit 213 is radially outwardly transmitted from the exit interface, so that even if the third prism group 233 is disposed opposite to the third emitting unit 213, the third light emitted by the third emitting unit 213 cannot be totally incident on the third prism group 233. Of the third light beams, the light beam successfully entering the third prism set 233 is a third effective light beam L31, and the light beam not entering the third prism set 233 is a third ineffective light beam (not shown). The third prism group 233 is specifically configured to refract the third effective light L31, and the third effective light L31 enters the third prism group 233 and is refracted by the third prism group 233 to form a third incident light L311. The structure of the third prism group 233 may be the same as the structure of the first prism group 231, and please refer to the description of the first prism group 231, which is not repeated herein.

The third waveguide 243 and the first waveguide 241 are symmetrically disposed about a fifth axis in the horizontal direction, the fifth axis and the fourth axis being overlapped, and the third waveguide 243 is disposed opposite to the third prism group 233, and is configured to transmit light incident on the third waveguide 243. Specifically, the third waveguide 243 may include a first portion and a second portion. The first part is arranged opposite to the third prism group 233 so that the third incident light L311 emitted from the third prism group 233 can enter the third waveguide 243; the third incident light L311 enters the third waveguide 243 and then is transmitted through the third waveguide 243 to form a third outgoing light L312, and the third outgoing light L312 is emitted from the third waveguide 243 to the outside; the second portion is disposed opposite to the user's eye 300 so that the third outgoing light L312 emitted by the third waveguide 243 can enter the user's eye 300.

The structures of the third incoupling grating 263 and the third outcoupling grating 283 may be the same as the structures of the first incoupling grating 261 and the first outcoupling grating 281, respectively, for details, please refer to the description of the first incoupling grating 261 and the first outcoupling grating 281, which is not repeated herein.

The third driving unit is connected to the third prism group 233 and configured to drive the third prism group 233 to rotate, so as to change an angle of the third effective light L31 entering the third prism group 233, thereby changing a refraction degree of the third effective light L31 by the third prism group 233, further changing an angle of the third incident light L311 entering the third waveguide plate 243, and finally changing an angle of the third emergent light L312 exiting the third waveguide plate 243. It should be noted that the image display apparatus 200 in the embodiment of the present application may be configured to rotate the third prism group 233 manually instead of including the third driving unit. The embodiment of the present application does not limit the specific driving manner of the third prism group 233.

Note that the third prism group 233 is driven by the third driving unit to rotate by a different angle than the first prism group 231 is driven by the first driving unit to rotate, so that the angle at which the third waveguide 243 is emitted by the third outgoing light beam L312 is different from the angle at which the first waveguide 241 is emitted by the first outgoing light beam L112.

The intersection region of the reverse extension line of the first outgoing light ray L112 and the reverse extension line of the third outgoing light ray L312 forms a virtual image in the image display apparatus 200, and a line connecting the center of the virtual image to the binocular midpoint of the user has an offset angle γ in the horizontal direction with respect to the fourth axis and the fifth axis. When the first driving unit and the third driving unit respectively change the angle at which the first outgoing light ray L112 exits the first waveguide 241 and the angle at which the third outgoing light ray L312 exits the third waveguide 243, the imaging position of the virtual image in the image display apparatus 200 changes, and the offset angle γ also changes.

When the third incident light L312 enters the third waveguide 243, the third incident light L has a seventh component in the horizontal direction, and the seventh component forms a ninth included angle β 3 with the normal F3 of the third waveguide 243 in the horizontal direction; when exiting the third waveguide 243, the third outgoing light L312 has an eighth component in the horizontal direction, and the eighth component has a tenth angle β 4 with the normal F3 of the third waveguide 243 in the horizontal direction; the ninth included angle β 3 is equal to the tenth included angle β 4, that is, β 3 ═ β 4, and the seventh component and the eighth component are symmetrical to the normal F3 of the third waveguide plate 243. The first included angle alpha 1, the second included angle alpha 2, the ninth included angle beta 3, the tenth included angle beta 4 and the offset angle gamma satisfy the following relations: the term "tan γ" means | tan β 3-tan α 1| tan β 4-tan α 1| tan β 3-tan α 2| tan β 4-tan α 2 |.

The embodiment of the application further provides a wearable device, and the wearable device can be one of augmented reality display devices such as intelligent glasses or intelligent helmets. For better understanding of the wearable device, the wearable device is described in detail below as an example of smart glasses. Referring to fig. 20, fig. 20 is a schematic structural diagram of a wearable device according to an embodiment of the present application. The wearable device 10 includes a housing 100 and an image display apparatus 200, the image display apparatus 200 is disposed in the housing 100, and the structure of the image display apparatus 200 may adopt the structure of the image display apparatus 200 in any of the above embodiments, which is not described herein again.

In some embodiments, the smart glasses may be used as a visual smart auxiliary device of the mobile terminal, for example, the smart glasses may display information such as time, weather, number of moving steps and the like to the user, and specifically may display the information to the user through lenses of the smart glasses. The intelligent glasses can also provide functions of arrival reminding, timing alarm clock, voice call, backlog reminding and the like, a user can obtain instant messages, answer voice calls and the like through the intelligent glasses without holding the mobile terminal, and the mobile terminal can be placed in a pocket or a bag all the time without being taken out for operation. And a display interface of the mobile terminal, such as a main interface, a notification bar, an application program interface and the like of the mobile terminal, can be obtained through the intelligent glasses.

The intelligent glasses can be integrated with a voice module, the voice module can realize voice recognition and voice control functions, for example, according to the display of the voice control intelligent glasses, voice is obtained, a translation function (convenient for a user to communicate with foreigners) is implemented, and audio (such as music, broadcast and the like) can be played.

The intelligent glasses can be integrated with a positioning module, realize a navigation function according to the positioning module, display navigation information such as map or road guide on the lenses, and can be superposed with live-action images to realize the function of increasing the real display. The user does not need to look at the mobile terminal in a head-down manner, and can go forward according to the navigation information displayed by the lens. In addition, navigation voice can be played through voice dialing, and navigation is assisted.

The intelligent glasses can be further integrated with a touch module, and the function module of the intelligent glasses can be controlled through the touch module. Such as answering a voice call, turning off an alarm clock, adjusting volume, etc.

The lens of intelligence glasses can be sunglasses lens, and intelligence glasses not only have stronger intelligent function, still have better outward appearance and practicality. It is understood that when the lens can realize the display function, the lens can be a special lens, such as a super-thin flexible display screen with high light transmittance.

In the description of the present application, the terms "first", "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more features. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.

The above disclosure provides many different embodiments or examples for implementing different structures of the application. The components and arrangements of specific examples are described above to simplify the present disclosure. Of course, they are merely examples and are not intended to limit the present application.

The image display device and the wearable device provided by the embodiment of the application are described in detail above. The principles and implementations of the present application are described herein using specific examples, which are presented only to aid in understanding the present application. Meanwhile, for those skilled in the art, according to the idea of the present application, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present application.

Claims

1. An image display apparatus, comprising:

2. An image display device as claimed in claim 1, characterized in that the first incident light ray has a first component in the horizontal direction when entering the first waveguide plate, the first component having a first angle to the normal of the first waveguide plate in the horizontal direction;

the first emergent ray has a second component in the horizontal direction when exiting the first waveguide plate, and the second component and the normal of the first waveguide plate have a second included angle in the horizontal direction;

the first included angle is equal to the second included angle, and the first component and the second component are symmetrical relative to the normal of the first waveguide plate.

3. An image display device as claimed in claim 2, characterized in that the first incoming light ray also has a third component in the vertical direction when entering the first waveguide plate, and the first outgoing light ray also has a fourth component in the vertical direction when exiting the first waveguide plate;

a third included angle is formed between the normal of the first waveguide plate and the horizontal direction, a fourth included angle is formed between the third component and the normal of the first waveguide plate in the vertical direction, and a fifth included angle is formed between the third component and the horizontal direction;

the third included angle is equal to the fourth included angle, the fifth included angle is equal to the sum of the fourth included angle and the third included angle, and the fourth component is parallel to the horizontal direction.

4. An image display device as claimed in claim 3, characterized in that the fourth component has a sixth angle in the vertical direction with the normal of the first waveguide, the fourth angle being equal to the sixth angle, and the third component and the fourth component being symmetrical with respect to the normal of the first waveguide.

5. The image display device according to claim 4, wherein the angle values of the third angle, the fourth angle, and the sixth angle are each greater than 0 degrees and less than 8 degrees.

6. An image display device according to claim 2, wherein the component of the first effective ray in the horizontal direction is parallel to the normal of the first waveguide plate in the horizontal direction;

the first prism group is used for changing the direction of the first effective light, so that the angle of the first incident light entering the first waveguide plate is changed, the first component and the normal of the first waveguide plate have the first included angle in the horizontal direction, and the angle of the first emergent light exiting the first waveguide plate is changed, so that the second component and the normal of the first waveguide plate have the second included angle in the horizontal direction.

7. The image display device according to claim 6, wherein the first prism group includes a first prism and a second prism; the first prism comprises a first incident surface and a first emergent surface, and the first incident surface and the first emergent surface have a first inner angle in the horizontal direction; the second prism comprises a second incident surface and a second emergent surface, and the second incident surface and the second emergent surface have a second inner angle in the horizontal direction; the first inner angle and the second inner angle are equal in angle, the first emergent surface is parallel and adjacent to the second incident surface, and the first emergent surface and the second incident surface are both parallel to the first waveguide plate in the horizontal direction;

the first effective light sequentially passes through the first incident surface, the first emergent surface, the second incident surface and the second emergent surface to be refracted to form the first incident light, the first driving unit can drive the first prism and the second prism to rotate together around the common normal of the first emergent surface and the second incident surface, and the rotating angles of the first prism and the second prism are equal and opposite.

8. The image display device according to claim 7, wherein the first prism and the second prism have the same refractive index, and a relationship is satisfied between an angle at which the first prism or the second prism is rotated and the first angle

Wherein α 1 is the first included angle, n is a refractive index of the first prism or the second prism, θ is the first inner angle or the second inner angle,

the angle of rotation of the first prism or the second prism.

9. The image display device according to claim 1, wherein the first driving unit includes a controller, and a detection module and a driving motor connected to the controller;

the detection module is used for detecting human eye information of a user, generating a control instruction according to the human eye information, and sending the control instruction to the controller, wherein the human eye information comprises at least one of position information, angle information and focusing information of human eyes;

the controller is used for controlling the driving motor to rotate according to the control instruction;

the driving motor is connected with the first prism group and used for driving the first prism group to rotate so as to adjust the angle of the first incident light entering the first waveguide plate.

10. The image display device according to claim 9, wherein the detection module comprises a light emitter and a light receiver, the light emitter is disposed on a side of the first waveguide plate close to the first emission unit, and the light receiver is disposed on a side of the first waveguide plate far from the first emission unit;

the light transmitter is used for transmitting infrared light with preset wavelength;

the infrared light is transmitted by the first waveguide plate to form first infrared emergent light, the first infrared emergent light is emitted to eyes of a user by the first waveguide plate and is reflected back to the first waveguide plate by the eyes of the user, the reflected first infrared emergent light is transmitted again by the first waveguide plate to form second infrared emergent light, and the second infrared emergent light is emitted to the outside by the first waveguide plate;

the light receiver is used for receiving the second infrared emergent light and detecting the eye information according to the second infrared emergent light.

11. The image display device according to any one of claims 1 to 10, further comprising:

a second emitting unit for emitting second light rays including second effective light rays;

the second prism group is arranged opposite to the second transmitting unit, and the second effective light is incident into the second prism group and then refracted by the second prism group to form second incident light;

the second waveguide plate is arranged opposite to the second prism group, the second incident light enters the second waveguide plate and is then transmitted by the second waveguide plate to form second emergent light, the second emergent light is emitted to the outside from the second waveguide plate, and the second emergent light is axisymmetric with the first emergent light; and

the second driving unit is connected with the second prism group, and is used for driving the second prism group to rotate so as to change the angle of the second emergent light beam exiting the second waveguide plate, and the angle of the second driving unit driving the second prism group to rotate is equal to and opposite to the angle of the first driving unit driving the first prism group to rotate, so that the angle of the second emergent light beam exiting the second waveguide plate is equal to and opposite to the angle of the first emergent light beam exiting the first waveguide plate;

the second emitting unit and the first emitting unit are symmetrically arranged in the horizontal direction relative to a first axis, the second prism group and the first prism group are symmetrically arranged in the horizontal direction relative to a second axis, the second waveguide plate and the first waveguide plate are symmetrically arranged in the horizontal direction relative to a third axis, and the first axis, the second axis and the third axis are all coincided with the symmetry axes of the first emergent light and the second emergent light.

12. The image display device according to claim 11, wherein the first driving unit and the second driving unit are further configured to change a binocular fusion distance of a virtual image in the image display device by changing an angle at which the first outgoing light ray exits the first waveguide plate and an angle at which the second outgoing light ray exits the second waveguide plate, respectively;

when the second incident light enters the second waveguide plate, the second incident light has a fifth component in the horizontal direction, and a seventh included angle is formed between the fifth component and the normal of the second waveguide plate in the horizontal direction;

the second emergent light has a sixth component in the horizontal direction when exiting the second waveguide plate, and the sixth component and the normal of the second waveguide plate have an eighth included angle in the horizontal direction;

the seventh angle is equal to the eighth angle, the fifth component is symmetrical to the sixth component with respect to the normal of the second waveguide plate, and the seventh angle, the eighth angle, the binocular fusion distance and the binocular pupillary distance of the user satisfy a relationship 2D, tan β 1, 2D, tan β 2, IPD, where D is the binocular fusion distance, β 1 is the seventh angle, β 2 is the eighth angle, and IPD is the binocular pupillary distance of the user.

13. The image display device according to any one of claims 1 to 10, further comprising:

a third emitting unit for emitting third light including third effective light;

the third prism group is arranged opposite to the third transmitting unit, and the third effective light enters the third prism group and is refracted by the third prism group to form third incident light;

the third waveguide plate is arranged opposite to the third prism group, the third incident light enters the third waveguide plate and then is transmitted by the third waveguide plate to form third emergent light, and the third emergent light is emitted to the outside through the third waveguide plate; and

a third driving unit, connected to the third prism group, configured to drive the third prism group to rotate so as to change an angle at which the third outgoing light exits the third waveguide plate, where the angle at which the third outgoing light exits the third waveguide plate is different from an angle at which the first driving unit drives the first prism group to rotate, so that the angle at which the third outgoing light exits the third waveguide plate is different from the angle at which the first outgoing light exits the first waveguide plate;

the third emission unit and the first emission unit are symmetrically arranged on the horizontal direction about a fourth axis, the third waveguide plate and the first waveguide plate are symmetrically arranged on the horizontal direction about a fifth axis, and the fourth axis is overlapped with the fifth axis.

14. The image display device according to claim 13, wherein an intersection area of the reverse extension line of the first outgoing ray and the reverse extension line of the third outgoing ray forms a virtual image in the image display device, and a line connecting a center of the virtual image and a binocular midpoint of a user has an offset angle in a horizontal direction with respect to the fourth axis and the fifth axis;

when the third incident light enters the third waveguide plate, the third incident light has a seventh component in the horizontal direction, and the seventh component and the normal of the third waveguide plate have a ninth included angle in the horizontal direction;

when the third emergent light exits the third waveguide plate, the third emergent light has an eighth component in the horizontal direction, and a tenth included angle is formed between the eighth component and the normal of the third waveguide plate in the horizontal direction;

the ninth included angle and the tenth included angle are equal, the seventh component and the eighth component are symmetrical to a normal line of the third waveguide plate, and the first included angle, the second included angle, the ninth included angle, the tenth included angle and the offset angle satisfy a relationship of | tan γ | ═ tan β 3-tan α 1| ═ tan β 4-tan α 1| ═ tan β 3-tan α 2| ═ tan β 4-tan α 2|, where γ is the offset angle, β 3 is the ninth included angle, β 4 is the tenth included angle, α 1 is the first included angle, and α 2 is the second included angle.

15. A wearable device, comprising:

a housing; and

an image display device disposed within the housing, the image display device being as claimed in any one of claims 1-14.