CN114660806A - Eye tracking optical device, head-mounted display equipment and eye tracking method - Google Patents
Eye tracking optical device, head-mounted display equipment and eye tracking method Download PDFInfo
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- 230000003287 optical effect Effects 0.000 title claims abstract description 43
- 238000000034 method Methods 0.000 title claims abstract description 19
- 210000001508 eye Anatomy 0.000 claims abstract description 128
- 210000001747 pupil Anatomy 0.000 claims description 36
- 230000004424 eye movement Effects 0.000 claims description 9
- 238000004458 analytical method Methods 0.000 claims description 6
- 230000033001 locomotion Effects 0.000 claims description 6
- 238000013507 mapping Methods 0.000 claims description 6
- 238000012545 processing Methods 0.000 claims description 6
- 239000011521 glass Substances 0.000 claims description 5
- 230000003993 interaction Effects 0.000 description 10
- 210000005252 bulbus oculi Anatomy 0.000 description 8
- 230000005540 biological transmission Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 210000003128 head Anatomy 0.000 description 4
- 230000002441 reversible effect Effects 0.000 description 3
- 230000003321 amplification Effects 0.000 description 2
- 230000004397 blinking Effects 0.000 description 2
- 238000001914 filtration Methods 0.000 description 2
- 239000012528 membrane Substances 0.000 description 2
- 238000003199 nucleic acid amplification method Methods 0.000 description 2
- 208000012886 Vertigo Diseases 0.000 description 1
- 230000004598 abnormal eye movement Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 239000012535 impurity Substances 0.000 description 1
- 238000002310 reflectometry Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 231100000889 vertigo Toxicity 0.000 description 1
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
- G02B27/0093—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00 with means for monitoring data relating to the user, e.g. head-tracking, eye-tracking
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
- G02B27/01—Head-up displays
- G02B27/017—Head mounted
- G02B27/0172—Head mounted characterised by optical features
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
- G02B27/01—Head-up displays
- G02B27/0179—Display position adjusting means not related to the information to be displayed
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
- G02B27/01—Head-up displays
- G02B27/0179—Display position adjusting means not related to the information to be displayed
- G02B2027/0187—Display position adjusting means not related to the information to be displayed slaved to motion of at least a part of the body of the user, e.g. head, eye
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Abstract
The invention relates to the field of head-mounted display equipment, in particular to an eye tracking optical device, head-mounted display equipment using the same and an eye tracking method. An eye tracking optical device comprises an optical assembly, a display screen, a camera and an infrared emitter, wherein the optical assembly comprises a first lens and a second lens which are arranged side by side, a concave surface is arranged on one side, close to the second lens, of the first lens, and a first partial reflector is arranged on the concave surface; the second lens is a waveguide lens, a second partial reflector is arranged in the middle of the waveguide lens, the display screen is located above the waveguide lens, and the camera is located below the waveguide lens and used for shooting images of eyes. The invention uses the waveguide lens, the concave lens and the partial reflector to form the optical component, realizes that the light of the display screen and the light of the infrared emitter are incident into the human eyes in parallel, thereby realizing the coaxial tracking shooting of the camera on the images of the eyes and improving the accuracy of eye tracking.
Description
Technical Field
The invention relates to the field of head-mounted display equipment, in particular to an eye tracking optical device, head-mounted display equipment using the same and an eye tracking method.
Background
In the fields of Virtual Reality (VR) and mixed reality (AR), human-computer interaction design is always the focus of research in the field. The existing common human-computer interaction modes at present comprise physical contact interaction of a handle, a remote controller, a touch panel and the like, and physical contact-free interaction of gesture recognition, eyeball tracking, motion capture and the like. The eyeball tracking technology is used for judging the real fixation point of the human eyes by detecting the positions of the pupils of the human eyes, so that the image display effect of the head display equipment is controlled. Compared with other interaction modes, the eyeball tracking interaction mode is more fit for natural interaction and is considered as a breakthrough for solving the vertigo problem of the virtual reality head display equipment.
The existing eyeball tracking interaction mode mostly adopts off-axis tracking of a camera and an eyeball, tracking distortion in the opposite direction of an off-axis angle exists, the eyeball is easily tracked inaccurately and even lost, and the accuracy of eye movement interaction is influenced.
Disclosure of Invention
In order to solve the above problems, the present invention provides an eye tracking optical device, which combines the waveguide reflection of a lens with a camera to realize coaxial tracking shooting of an eye image, and feeds back the eye image to a system, thereby realizing more accurate eye tracking.
The technical scheme of the invention is as follows:
an eye tracking optical device comprises an optical assembly, a display screen, a camera and an infrared emitter, wherein the optical assembly comprises a first lens and a second lens which are arranged side by side, one side of the first lens, which is close to the second lens, is provided with a concave surface, and the concave surface is provided with a first partial reflector; the second lens is a waveguide lens, a second partial reflector is arranged in the middle of the waveguide lens, the display screen is positioned above the waveguide lens, and the camera is positioned below the waveguide lens and used for shooting an image of the eye; the first partial reflector is used for reflecting and amplifying the display screen image light transmitted by the waveguide lens and then emitting the display screen image light into human eyes and allowing external light to penetrate into the human eyes, and the second partial reflector is used for reflecting the infrared emitter light transmitted by the waveguide lens and then emitting the infrared emitter light into the human eyes, so that the light received by the camera is coaxial with the image light.
And the second partial reflector is arranged at the inclined plane position and used for reflecting light rays emitted by the infrared emitter through the partial reflector and then injecting the light rays into human eyes. After entering the waveguide prism, the image light of the display screen is reflected once or for many times in the waveguide prism, then is emitted to the second partial reflector, and a part of the light is reflected out of the waveguide prism, is emitted to the first lens, is reflected and amplified by the first partial reflector on the first lens, then enters the waveguide lens, passes through the waveguide lens, and is emitted to human eyes.
Preferably, still be equipped with the infrared reflection membrane between waveguide prism and the waveguide compensating mirror for improve the reflection efficiency of infrared light, can promote more than 90% with infrared emitter's infrared light reflection income people's eye's efficiency, thereby make the eye image that the camera was shot more clear.
Preferably, the first lens is a thick curved lens including a convex surface and a concave surface, and the concave surface is adjacent to the second lens. Because the first lens still needs to transmit external ambient light, the external image can be seen by human eyes conveniently, and the thickness of the first lens is the same, so that distortion can be prevented when the external light is incident. The concave surface of the first lens is close to the second lens and used for receiving display screen image light rays emitted from the right side and carrying out amplification imaging.
Furthermore, the front side and/or the rear side of the first lens are/is provided with an infrared cut-off glass slide for filtering infrared rays in external environment rays emitted from the front side, so that the camera is prevented from being overexposed and the shooting image quality is prevented from being influenced.
The partial reflectors are arranged on the first lens and the second lens, so that the reflection and the transmission of light rays can be realized at different stages respectively, and the first partial reflector and the second partial reflector are semi-transparent and semi-reflective films or reflective polarizing films.
Further, the infrared emitter comprises at least one, the infrared emitter is located at the same position as the camera, and/or the infrared emitter is located at the top and/or the bottom of the rear side of the waveguide lens. If the infrared transmitter is arranged near the camera, the emitted infrared light is reflected by the second partial reflector and the infrared reflecting film after being reflected for one time or multiple times by the waveguide lens and then enters human eyes. If the infrared transmitter is arranged at the rear side of the waveguide lens, the emitted infrared light is directly emitted into human eyes.
Further, the camera is an infrared camera, and an infrared narrow-band-pass filter is arranged in the camera and only allows infrared light to pass through. After infrared light enters eyes, according to the principle that a light path is reversible, infrared light at the eyes returns along the original path of the light path and enters a camera, and the camera acquires eye images.
A head-mounted display device is provided with the eye tracking optical device.
Further, eye movement tracking optical device includes two cameras, corresponds left eye and right eye setting respectively for shoot left eye, right eye pupil, confirm the interpupillary distance and the pupil height of left eye, right eye, convenience of customers improves according to interpupillary distance and pupil height adjustment device and wears the effect.
A method for tracking eye movement by using the optical device for tracking eye movement comprises an image recognition module and an analysis processing module, and comprises the following steps:
s1, the camera acquires eye image information and transmits the eye image information to the image recognition module;
s2, recognizing the positions of the pupil and the infrared image point by the image recognition module;
s3, setting time t1 at intervals by the camera, acquiring eye image information again, and recognizing the positions of the pupil and the infrared image point again by the image recognition module;
s4, the analysis processing module calculates the moving direction and distance of the eye position according to the positions of the pupil and the infrared image point identified twice;
s5, according to the eye position change calculated in the step S4, the system executes the corresponding mapping operation.
In steps S2 and S3, the infrared image point includes one, and the relative position of the pupil and the infrared image point is determined.
In steps S2 and S3, the infrared image points include a plurality of infrared image points, and the relative positions of the pupil and the infrared image points are determined, or a coordinate system is constructed with the infrared image points, and the position of the pupil in the coordinate system is determined.
The mapping operation in step S4 includes a corresponding movement of a cursor corresponding to the eye fixation point with the movement of the eye.
When the eyes rotate and the head is not moved, the head-mounted display device is also fixed, so that the positions of infrared image points projected by the eyes by the infrared emitter on the head display are not moved, and the positions of the pupils are changed along with the rotation of the eyes, therefore, the moving direction and the distance of the eyeballs can be judged by calculating the change of the pupils relative to the positions of the infrared image points, so that the change of the fixation points of the eyeballs is determined, and the fixation points of the eyes are tracked to execute corresponding operation.
If the pupil position is not changed or the change range is smaller than the set value after the set time t2, the system performs corresponding operations, wherein t2> t 1. This is to determine whether the user is gazing at a certain position for a long time, and can be used to perform operations such as focusing or enlarging a local position.
In order to prevent the misoperation caused by abnormal eye movement such as blinking, the normal eye image range can be set to judge and eliminate impurities, namely, if the eye image information acquired in the steps S1 and S3 is compared with the set image range and exceeds the set range, the eye change acquired this time is not calculated, and the system does not make corresponding reaction.
The invention has the beneficial effects that:
1. the invention uses the waveguide lens, the concave lens and the partial reflector to form the optical component, realizes that the light of the display screen and the light of the infrared emitter are incident into the human eyes in parallel, thereby realizing the coaxial tracking shooting of the camera on the images of the eyes and improving the accuracy of eye tracking.
2. According to the invention, the infrared cut-off glass is arranged on the front side of the optical assembly, so that the interference of infrared rays in an external environment is avoided, and the shooting image quality of a camera is improved.
3. The invention can be provided with a plurality of infrared emitters, projects a plurality of infrared image points on the eyes, positions the eyes according to the plurality of infrared image points, and improves the positioning accuracy.
4. The eye movement tracking method can accurately track the eye movement, can react to the long-time fixation of the eyes and improve the interaction effect.
Drawings
FIG. 1 is a schematic structural diagram of a first embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a second embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a third embodiment of the present invention;
FIG. 4 is a schematic structural diagram of a fourth embodiment of the present invention;
FIG. 5 is a schematic flow chart of an eye tracking method according to the present invention;
FIG. 6 is a schematic view of an eye image using an infrared emitter;
FIG. 7 is a schematic view of an eye image using a plurality of infrared emitters;
in the figure, 1, a first lens, 2, a first transflective film, 3, a display screen, 4, a waveguide prism, 5, a waveguide compensation mirror, 6, an infrared emitter, 7, a camera, 8, a human eye, 9, a second transflective film, 10, an infrared reflection film, 11, an infrared cut-off glass sheet, 12, a pupil, 13 and an infrared image point.
Detailed Description
The embodiments of the present invention will be described in detail below with reference to the drawings and examples.
Example one
An eye tracking optical device, as shown in fig. 1, includes an optical assembly and a display screen 3 on top of the optical assembly and a camera 7 on the bottom of the optical assembly. Optical assembly is including the first lens 1 and the second lens that set up side by side, first lens 1 is the arc lens of uniform thickness, has convex surface and concave surface, and the concave surface is close to the second lens, pastes first semi-transparent semi-reflecting membrane 2 on the concave surface. The second lens is a waveguide lens, the waveguide lens comprises a waveguide prism 4 and a waveguide compensation mirror 5, the waveguide prism 4 is located above and close to the display screen, and the waveguide compensation mirror 5 is located below and close to the camera. The waveguide prism 4 and the waveguide compensation mirror 5 are jointed along an inclined plane which inclines from the upper right to the lower left to form an optical lens with uniform thickness, and a second semi-transparent semi-reflective film 9 is jointed at the joint position of the waveguide prism and the waveguide compensation mirror. The camera 7 is an infrared camera, and an infrared narrow-band-pass filter is arranged in the camera and only allows infrared light to pass through. An infrared transmitter 6 is arranged on (or near) the camera 7, and the infrared transmitter adopts an infrared LED and is used for transmitting infrared light.
Example two
An eye tracking optical device, as shown in fig. 2, in the first embodiment, an infrared reflective film 10 is added at a boundary between a waveguide prism and a waveguide compensation mirror to reduce the loss of infrared light, improve the reflectivity of infrared light, and improve the definition of an eye image shot by a camera.
EXAMPLE III
An eye tracking optical device, as shown in fig. 3, in addition to the second embodiment, an infrared cut-off glass sheet 11 is respectively disposed on the front side and the rear side of the first lens for filtering out infrared light in external environment light, so as to prevent the camera from overexposure and affecting the image quality of the shot image.
Example four
An eye tracking optical device, as shown in fig. 4, is based on the third embodiment, and an infrared emitter 6 is respectively added at the top and the bottom of a waveguide lens to directly project infrared rays onto the eye, so that a plurality of infrared image points can be formed on the eye, and a multi-point positioning effect is achieved.
The light transmission path of the device is as follows:
1. the process of displaying screen image light to human eyes is as follows: the image light emitted by the display screen is firstly coupled into the waveguide prism, is totally reflected once or for many times in the waveguide prism, reaches the second semi-transparent semi-reflective film at the boundary of the waveguide prism and the waveguide compensation mirror, is reflected by the second semi-transparent semi-reflective film, penetrates out of the waveguide prism, is emitted onto the concave surface of the first lens, enters the waveguide prism again after being reflected and amplified, and enters human eyes after passing through the waveguide prism and the waveguide compensation mirror.
2. Process of infrared ray of infrared transmitter near camera to human eye: the infrared emitter is coupled in from the lower part of the waveguide compensation mirror, and after one or more times of total reflection, the infrared emitter is reflected out of the waveguide compensation mirror through the second semi-transparent semi-reflective film (and the infrared reflective film) and enters human eyes.
3. The process of human eye image light entering the camera: according to the principle of reversible light path, the image light of human eyes returns to the camera according to the transmission path of the infrared light of the infrared transmitter, namely the image light of human eyes enters the waveguide compensation mirror, is reflected by the second semi-transparent semi-reflective film (and the infrared reflective film), is coupled out to the camera from the lower part after being totally reflected for one or more times, and then the camera acquires the image of human eyes.
4. The process of external ambient light entering human eyes: external ambient light enters the human eye through the first lens and the waveguide lens.
Through reflection and transmission of the optical assembly, light rays of the display screen and the infrared emitter are vertically emitted into human eyes, the light path is reversible, the camera and the display screen seen by the human eyes are positioned right in front of the human eyes, the light rays of the display screen enter the eyes from right in front, the camera also obtains images of the eyes and infrared reflection light rays of the eyes from right in front of the eyes, and coaxial tracking of the camera and the images is further achieved.
EXAMPLE five
A head-mounted display apparatus provided with the eye-tracking optical device of the third or fourth embodiment. The head-mounted display device is provided with two cameras corresponding to the left eye and the right eye, images of the left eye and images of the right eye are respectively shot, the pupil distance and the pupil height of the left eye and the pupil height of the right eye are determined, and the wearing position of the head-mounted display device is adjusted according to the pupil distance and the pupil height of a user.
A method for tracking eye movement by using the optical device for tracking eye movement further comprises an image recognition module and an analysis processing module, and the method comprises the following steps:
and S1, the camera acquires eye image information and transmits the eye image information to the image recognition module.
And S2, the image recognition module recognizes the positions of the pupil and the infrared image point.
And S3, setting time t1 at intervals by the camera, acquiring the eye image information again, and recognizing the positions of the pupil and the infrared image point again by the image recognition module.
The number of infrared emitters in the eye tracking optical device may be one or more than one, and the number of infrared image points in the eye may be one or more than one. If the infrared image point is one, the relative position of the pupil and the infrared image point is directly determined. The infrared image points are multiple, the relative positions of the pupil and the infrared image points are determined, or a coordinate system is constructed by the infrared image points, and the position of the pupil in the coordinate system is determined.
And S4, the analysis processing module calculates the moving direction and distance of the eye position according to the positions of the pupil and the infrared image point identified twice. Generally, the infrared image point is fixed and calculated according to the change of the pupil relative to the position of the infrared image point.
S5, according to the eye position change calculated in the step S4, the system executes the corresponding mapping operation. The mapping operation is set such that a cursor corresponding to the eye's gaze point moves correspondingly with the movement of the eye.
The system can also execute certain operation, such as local amplification and the like, aiming at a certain position watched by the user for a long time. By setting the time threshold t2(t2> t1), when the system detects that the pupil position is unchanged or the change range is smaller than the set value beyond the time threshold t2, the system performs corresponding operations.
The system can also eliminate interference such as blinking and the like, and when the eye image information acquired by the camera exceeds the set image range, the eye change acquired at this time is not calculated, and the system does not make corresponding reaction.
Claims (16)
1. An eye tracking optical device, comprising an optical assembly, a display screen, a camera and an infrared emitter, characterized in that: the optical assembly comprises a first lens and a second lens which are arranged side by side, one side of the first lens, which is close to the second lens, is provided with a concave surface, and the concave surface is provided with a first partial reflector; the second lens is a waveguide lens, a second partial reflector is arranged in the middle of the waveguide lens, the display screen is positioned above the waveguide lens, and the camera is positioned below the waveguide lens and used for shooting an image of the eye; the first partial reflector is used for reflecting and amplifying the display screen image light transmitted by the waveguide lens and then emitting the display screen image light into human eyes and allowing external light to penetrate into the human eyes, and the second partial reflector is used for reflecting the infrared emitter light transmitted by the waveguide lens and then emitting the infrared emitter light into the human eyes, so that the light received by the camera is coaxial with the image light.
2. The eye-tracking optical device according to claim 1, wherein: the waveguide lens comprises a waveguide prism and a waveguide compensation mirror, the waveguide prism and the waveguide compensation mirror are attached to form an optical lens with uniform thickness along an inclined plane, and the second partial reflector is arranged at the position of the inclined plane and used for enabling light rays emitted by the infrared emitter to be reflected by the partial reflector and then to be emitted into human eyes.
3. The eye-tracking optical device according to claim 2, wherein: an infrared reflection film is further arranged between the waveguide prism and the waveguide compensation mirror.
4. The eye-tracking optical device according to claim 1, wherein: the first lens is a uniform-thickness arc-shaped lens and comprises a convex surface and a concave surface, and the concave surface is close to the second lens.
5. The eye-tracking optical device according to claim 4, wherein: and an infrared cut-off glass slide is arranged on the front side and/or the rear side of the first lens.
6. The eye-tracking optical device according to any one of claims 1 to 5, wherein: the first partial reflector and the second partial reflector are semi-transparent semi-reflecting films or reflective polarizing films.
7. The eye-tracking optical device according to any one of claims 1 to 5, wherein: the infrared emitter comprises at least one, the infrared emitter is located at the same position with the camera, and/or the infrared emitter is located at the top and/or the bottom of the rear side of the waveguide lens.
8. An eye tracking optical device according to any one of claims 1 to 5, wherein: the camera is an infrared camera.
9. A head-mounted display device, characterized in that: eye tracking optical device having any one of claims 1 to 8.
10. The head-mounted display device of claim 9, wherein: the eye movement tracking optical device comprises two cameras, the two cameras correspond to left eye and right eye settings respectively and are used for shooting pupils of the left eye and the right eye and determining the interpupillary distance and the pupil height of the left eye and the right eye.
11. A method for eye tracking using the device of claims 1-8, comprising an image recognition module and an analysis processing module, characterized by the steps of:
s1, the camera acquires eye image information and transmits the eye image information to the image recognition module;
s2, recognizing the positions of the pupil and the infrared image point by the image recognition module;
s3, setting time t1 at intervals by the camera, acquiring eye image information again, and recognizing the positions of the pupil and the infrared image point again by the image recognition module;
s4, the analysis processing module calculates the moving direction and distance of the eye position according to the positions of the pupil and the infrared image point identified twice;
s5, according to the eye position change calculated in the step S4, the system executes the corresponding mapping operation.
12. The eye-tracking method according to claim 11, wherein: in steps S2 and S3, the infrared image point includes one, and the relative position of the pupil and the infrared image point is determined.
13. The eye-tracking method according to claim 11, wherein: in steps S2 and S3, the infrared image points include a plurality of infrared image points, and the relative positions of the pupil and the infrared image points are determined, or a coordinate system is constructed with the infrared image points, and the position of the pupil in the coordinate system is determined.
14. The eye-tracking method according to claim 11, wherein: the mapping operation in step S5 includes a corresponding movement of the cursor corresponding to the eye fixation point with the movement of the eye.
15. The eye-tracking method according to claim 11, wherein: if the pupil position is not changed or the change range is smaller than the set value after the set time t2, the system executes corresponding operations, wherein t2> t 1.
16. The eye-tracking method according to claim 11, wherein: if the eye image information obtained in steps S1 and S3 is larger than the set image range, the eye change obtained this time is not calculated, and the system does not make a corresponding response.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2024114258A1 (en) * | 2022-11-28 | 2024-06-06 | 亿信科技发展有限公司 | Eye movement tracking apparatus and method |
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| CN114019678A (en) * | 2021-10-22 | 2022-02-08 | 小派科技（上海）有限责任公司 | Eyeball-tracking optical device, optical system, display device, and display system |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2024114258A1 (en) * | 2022-11-28 | 2024-06-06 | 亿信科技发展有限公司 | Eye movement tracking apparatus and method |
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