CN116273719A - AR (augmented reality) glasses binocular image AA (automatic focusing) equipment, active alignment method and calibration method - Google Patents

Abstract

The invention discloses an AR (augmented reality) glasses binocular imaging AA (automatic imaging) device, an active alignment method and a calibration method, wherein the AR glasses binocular imaging AA device comprises a workbench, a position adjusting mechanism, a feeding assembly, a binocular detection module, an automatic dispensing module and a controller; the position adjusting mechanism comprises a first adjusting component, a moving part, a second adjusting component and a third adjusting component which are respectively arranged on the workbench at intervals, and the two groups of first adjusting components are arranged on the moving part of the moving part at intervals; the feeding assembly comprises a first feeding platform and a second feeding platform, the first feeding platform is arranged on the moving part, and two groups of second feeding platforms are respectively arranged on two groups of first adjusting assemblies; the binocular detection module comprises two detection cameras which are respectively arranged on the two groups of second adjusting components; the automatic dispensing module is arranged on the third adjusting component. The method has the advantages of high AA process efficiency and high accuracy and improves the definition of the AR glasses finished product.

Description

AR (augmented reality) glasses binocular image AA (automatic focusing) equipment, active alignment method and calibration method

Technical Field

The invention relates to the technical field of optics, in particular to an AR (augmented reality) glasses binocular imaging AA (automatic focusing) device, an active alignment method and a calibration method.

Background

Augmented reality (Augmented Reality, AR) technology is an emerging technology that superimposes computer-generated virtual information onto the real world where the user is located, and is an important branch of virtual reality technology. It improves the user's perception of the real world and provides a new way for humans to communicate with the world. In recent years, the augmented reality technology is widely applied to a plurality of fields such as industrial maintenance, video entertainment, medical operation, education training and the like, and gradually becomes a main direction of the development of the next generation man-machine interaction technology.

The AR glasses are used for enhancing the reality feeling by users wearing the glasses, and the virtual images generated in the AR glasses are overlapped with the real world to enhance the visual effect of the real scene. The AA process, active Alignment, is a technique for determining the relative position of components during assembly. When each spare and accessory part is assembled, the equipment detects the assembled semi-finished product, actively aligns the semi-finished product according to the actual condition of the assembled semi-finished product, and then assembles the next spare and accessory part into place. This active alignment technique can adjust the lens alignment to 6 degrees of freedom (X, Y, Z, R, tilt, tip), effectively reducing the assembly tolerances of the entire module.

In the present AR glasses processing, because the emission position of the simulated projection light source in the simulated light source projection module cannot accurately follow the adjustment position of the AR glasses, and refraction of the projection light source emitted by the simulated light source projection module of the AR glasses can affect the test effect of the binocular camera, most of the AR glasses are manually adjusted to focus position, and then the emission position and the emission angle of the projection light source emitted by the simulated light source projection module are manually adjusted, so that the accuracy is relatively coarse through manual slow adjustment, an error of several millimeters is possible, shift deviation and tilt deviation (the shift deviation refers to center deviation, tilt deviation refers to X-Y tilt) exist between the simulated light source projection module and the incident pupil of the lens, and the problems of poor definition, low processing efficiency and the like of AR glasses products are caused.

In view of the foregoing, it is desirable to provide a new apparatus, active alignment method and calibration method for binocular imaging AA of AR glasses, which solve or at least alleviate the above-mentioned technical drawbacks.

Disclosure of Invention

The invention mainly aims to provide an AR glasses binocular image AA device, an active alignment method and a calibration method, and aims to solve the technical problems of poor definition and low processing efficiency of products manufactured by the existing AA process.

In order to achieve the above object, the present invention provides an AR glasses binocular imaging AA apparatus for completing assembly of a lens frame and two waveguide sheets, the AR glasses binocular imaging AA apparatus comprising:

a work table;

the position adjusting mechanism comprises first adjusting components, moving parts, second adjusting components and third adjusting components, wherein the moving parts, the second adjusting components and the third adjusting components are respectively arranged on the workbench at intervals, the number of the first adjusting components is two, the two groups of the first adjusting components are arranged on the moving parts of the moving parts at intervals, the number of the second adjusting components is two, the two groups of the second adjusting components are arranged at intervals, and the first adjusting components are close to the second adjusting components or the third adjusting components by driving the moving parts to move;

the feeding assembly comprises a first feeding platform and a second feeding platform, the first feeding platform is arranged on the moving part, the number of the second feeding platforms is two, the two second feeding platforms are respectively arranged on the two first adjusting assemblies, and the first adjusting assemblies are driven to move, so that the second feeding platform is driven to move and rotate in multiple directions;

the binocular detection module comprises two detection cameras which are respectively arranged on the two groups of second adjusting components so as to drive the detection cameras to move and rotate in multiple directions by driving the second adjusting components to move;

The automatic dispensing module is arranged on the third adjusting assembly and used for driving the third adjusting assembly to move so as to drive the automatic dispensing module to move in three coordinates;

and the controller is respectively in communication connection with the position adjusting mechanism, the binocular detection module and the automatic dispensing module.

In an embodiment, the moving member further comprises a fixing portion, a driving motor and a transmission screw, wherein an output end of the driving motor is connected with the transmission screw, the transmission screw penetrates through the moving portion and is in threaded connection with the moving portion, the moving portion is in sliding connection with the fixing portion, the driving motor is installed on the fixing portion, and the transmission screw is in rotational connection with the fixing portion.

In an embodiment, the second adjusting component includes a first translation member, a second translation member, a lifting member, a rotating member, a first swinging member and a second swinging member which are stacked in sequence, and the detection camera is arranged on the second swinging member, and the first translation member, the second translation member, the lifting member, the rotating member, the first swinging member and the second swinging member are driven to move respectively so as to adjust six degrees of freedom of the detection camera.

In an embodiment, the first adjusting component comprises a triaxial translation part and a triaxial rotation part which are stacked, the triaxial translation part is installed on the moving part, the second feeding platform is installed on the top end of the triaxial rotation part, and the controller is used for adjusting six degrees of freedom of the second feeding platform by respectively driving the triaxial translation part and the triaxial rotation part to move.

In an embodiment, the three-axis translation member comprises a first axis translation sub-member, a second axis translation sub-member and a third axis translation sub-member which are sequentially stacked, and the moving axes of the first axis translation sub-member, the second axis translation sub-member and the third axis translation sub-member are perpendicular to each other.

In an embodiment, the triaxial rotating member includes the gyration slip table, first angle pendulum platform and the second angle pendulum platform of overlapping in proper order, the first rotation axis of first angle pendulum platform with the second rotation axis of second angle pendulum platform sets up perpendicularly, the third rotation axis of gyration slip table is perpendicular to simultaneously first rotation axis with the second rotation axis, the second material loading platform sets up on the second angle pendulum platform.

In an embodiment, the automatic dispensing module comprises a mounting plate, and a dispensing part, a vision module and a curing lamp which are respectively mounted on the mounting plate, wherein the mounting plate is connected with the third adjusting assembly.

In one embodiment, the controller includes a collation analysis module, a control module and a storage module; the control module is used for receiving analysis signals transmitted after the processing of the calibration analysis module and outputting control signals to drive the position adjusting mechanism to displace according to the analysis signals, and the storage module is used for recording the position information of the position adjusting mechanism and the data processing information.

In addition, the invention also provides an active alignment method which is applied to the AR glasses binocular imaging AA equipment, wherein the AR glasses comprise a glasses frame and two waveguide sheets, two groups of analog light source projection modules matched with the waveguide sheets are respectively assembled on the glasses frame, and the active alignment method comprises the following steps:

fixing a mirror frame to be processed on the first feeding platform, respectively fixing two waveguide sheets on two groups of second feeding platforms, controlling the moving part to move to a first position, and driving the two groups of first adjusting components to be close to the binocular detection module;

The first adjusting component is controlled to be displaced to a first test position, the analog light source projection module emits an image to the waveguide sheet, the detection camera captures an analog image displayed by the waveguide sheet and feeds the analog image back to the controller, the controller performs data processing and analysis on the analog image information to obtain a first MTF value and a first image coupling percentage value, and whether the first MTF value is in a qualified zone is judged;

if the first MTF value is in the qualified interval, controlling the moving part to move to a second position, and driving the first adjusting component to be close to the automatic dispensing module;

controlling the displacement of the third adjusting component to drive the automatic dispensing module to finish dispensing and curing of the mirror frame and the waveguide sheet;

controlling the moving part to move to the first position, re-capturing the displayed analog image of the waveguide sheet by the detection camera and feeding back the analog image to the controller, performing data processing and analysis on the analog image information by the controller, obtaining a second image coupling percentage value, and judging whether the difference value between the second image coupling percentage value and the first image coupling percentage value is within a preset difference range; if yes, the active alignment of the waveguide sheet and the mirror frame is completed;

If the first MTF value is not in the qualified interval, the controller outputs a control signal to drive the moving part and the first adjusting component to respectively move to a third position and a second test position;

and executing the step that the detection camera recaptures the displayed analog image of the waveguide chip and feeds the analog image back to the controller.

In addition, the invention also provides a calibration method which is applied to the AR glasses binocular imaging AA equipment, wherein the AR glasses binocular imaging AA equipment further comprises a graphic card module and UCGB, and the calibration method comprises the following steps:

controlling the binocular detection module, the UCGB and the graphic card module to be on the same straight line;

controlling the UCGB to photograph the image card module, calculating the relative positions of the coordinates of six degrees of freedom of the image card module, adjusting the center of the image card module to coincide with the optical axis of the UCGB according to the relative positions, and enabling the detection surface of the image card module to be perpendicular to the optical axis of the UCGB;

and taking away the UCGB, controlling the binocular detection module to take a picture of the picture card module, reversely obtaining six degrees of freedom coordinates of each detection camera of the binocular detection module, and adjusting the second adjusting assembly to enable optical axes of the two groups of detection cameras to be respectively overlapped with two pupil distance points of the picture card module and perpendicular to a detection surface of the picture card module.

In the technical scheme, after calibration of two detection cameras is finished by respectively adjusting the positions of two groups of second adjusting components, two waveguide sheets are respectively arranged on two groups of second feeding platforms, a lens frame is fixedly arranged on a first feeding platform, two groups of simulated light source projection modules respectively matched with the two waveguide sheets are assembled on the lens frame, and then a controller drives a moving part to operate, so that the first feeding platform and the first adjusting component which are arranged on a moving part move to detection positions close to a binocular detection module; after the detection position is reached, the controller firstly adjusts the positions of the two groups of first adjusting components through control instructions, the position of an incident light port of each waveguide sheet (namely, the optical waveguide lens) of the AR glasses, which is used for transmitting an image to each analog light source projection module, is respectively controlled, the analog image is projected onto the waveguide sheet through the internal optical path guide of the waveguide sheet, each detection camera captures a real-time display image displayed on the waveguide sheet and feeds the real-time display image back to the controller, the controller processes data of real-time image information, and then the moving part and each first adjusting component are respectively driven to move by the adaptive output control instructions according to the difference between the processed information and preset information. When the moving part moves, the lens frame and the waveguide piece move together to adjust the positions of the whole lens frame and the binocular detection module. When each first adjusting component moves, the position of each waveguide sheet can be independently adjusted, the adjustment of six degrees of freedom of each waveguide sheet is realized, the relative positions of the mirror frame and the waveguide sheets are actively aligned, so that the assembly of the AR glasses is conveniently completed, after adjustment, the binocular detection module acquires a display image fed back on the waveguide sheet in real time and transmits the display image to the controller for processing, the controller drives the first adjusting component to move to correspondingly change the position of the waveguide sheet until the controller judges that the MTF value of the real-time image information of each waveguide sheet is qualified, namely, the AA result is qualified, the moving part and the first adjusting component are not moved any more, and the controller records the position of the moving part and the image coupling percentage value of the image information of the two waveguide sheets at the moment; then the controller drives the moving part to drive the mirror frame and the waveguide sheet to move to the position close to the third adjusting component together, namely, the lower part of the automatic dispensing module, and the controller completes dispensing and curing operation of the mirror frame and the waveguide sheet by driving the third adjusting component to move, so that the fixing of the relative positions of the mirror frame and the waveguide sheet is realized. Then driving the moving part to return to a detection position for finally judging that the MTF value is qualified, testing the projected images on the two waveguide sheets again, and comparing the image coupling percentage value obtained at this time with the previous image coupling percentage value by the controller, wherein if the difference value between the two values is kept within a preset difference range, the assembled waveguide sheets and the mirror frame can be manually taken down for processing of the next stage; if the deviation from the preset difference range, the machining needs to be reworked. According to the invention, by matching the algorithm with the control mechanism, the binocular interpupillary distance and focal length of a person are simulated by matching the algorithm to simulate the observation condition of the eyes of the person, and the convenient AA process of the waveguide sheet and the mirror frame can be completed, so that the efficiency and the precision of the AA process are improved, and the definition of the AR glasses finished product is also improved.

Drawings

In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings which are required in the description of the embodiments or the prior art will be briefly described below, it being obvious that the drawings in the description below are only some embodiments of the invention, and that other drawings can be obtained without the inventive effort by a person skilled in the art, in a structure which is shown in accordance with these drawings.

FIG. 1 is a schematic perspective view of an AR glasses binocular image AA device according to an embodiment of the present invention;

FIG. 2 is a schematic perspective view of a moving member, a feeding assembly and a first adjusting assembly according to an embodiment of the present invention;

FIG. 3 is a schematic perspective view of a moving part, a feeding assembly and a first adjusting assembly according to an embodiment of the present invention;

FIG. 4 is a schematic perspective view of a rotary sliding table according to an embodiment of the present invention;

FIG. 5 is a schematic perspective view of a first angle swing according to an embodiment of the invention;

FIG. 6 is a schematic perspective view of a manual displacement mechanism, a second adjustment assembly and a binocular detection module according to an embodiment of the present invention;

FIG. 7 is a schematic perspective view of a third adjusting assembly and an automatic dispensing module according to an embodiment of the present invention;

FIG. 8 is a flow chart of a first embodiment of the active alignment method of the present invention;

FIG. 9 is a schematic flow chart of a first embodiment of an active alignment method according to the present invention;

FIG. 10 is a flow chart of a calibration method according to a first embodiment of the present invention;

FIG. 11 is a schematic diagram of calibration structures of a binocular detection module, UCGB and graphic card module according to an embodiment of the present invention;

fig. 12 is a schematic structural diagram of a card module detecting surface according to an embodiment of the invention.

Reference numerals illustrate:

the achievement of the object, functional features and advantages of the present invention will be further described with reference to the drawings in connection with the embodiments.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention. All other embodiments, based on the embodiments of the invention, which are apparent to those of ordinary skill in the art without inventive faculty, are intended to be within the scope of the invention.

It should be noted that all directional indicators (such as upper and lower … …) in the embodiments of the present invention are merely used to explain the relative positional relationship, movement conditions, etc. between the components in a specific posture (as shown in fig. 1), and if the specific posture is changed, the directional indicator is changed accordingly.

Furthermore, descriptions such as those referred to as "first," "second," and the like, are provided for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implying an order of magnitude of the indicated technical features in the present disclosure. Thus, a feature defining "a first" or "a second" can include at least one such feature, either explicitly or implicitly.

Moreover, the technical solutions of the embodiments of the present invention can be combined with each other, but it is necessary to be based on the fact that those skilled in the art can realize the technical solutions, and when the technical solutions are contradictory or cannot be realized, the technical solutions should be considered that the combination of the technical solutions does not exist, and the combination is not within the scope of protection required by the present invention.

Referring to fig. 1 to 3, the present invention provides an AR glasses binocular imaging AA apparatus 100 for completing assembly of a lens frame and two waveguide sheets, wherein the AR glasses binocular imaging AA apparatus 100 includes:

a work table 1;

the position adjusting mechanism comprises first adjusting components 21, moving parts 24, second adjusting components 22 and third adjusting components 23 which are respectively arranged on the workbench 1 at intervals, wherein the number of the first adjusting components 21 is two, the two groups of first adjusting components 21 are arranged on moving parts 241 of the moving parts 24 at intervals, the number of the second adjusting components 22 is two, and the two groups of second adjusting components 22 are arranged at intervals so as to enable the first adjusting components 21 to be close to the second adjusting components 22 or the third adjusting components 23 by driving the moving parts 241 to move;

The feeding assembly 3 comprises a first feeding platform 31 and a second feeding platform 32, the first feeding platform 31 is installed on the moving part 241, the number of the second feeding platforms 32 is two, and the two groups of second feeding platforms 32 are respectively arranged on the two groups of first adjusting assemblies 21 so as to drive the first adjusting assemblies 21 to move and drive the second feeding platform 32 to move and rotate in multiple directions;

the binocular detection module 4, the binocular detection module 4 includes two detection cameras 41, the two detection cameras 41 are respectively arranged on the two groups of second adjusting components 22, so as to drive the detection cameras 41 to move and rotate in multiple directions by driving the second adjusting components 22 to move;

the automatic dispensing module 5 is arranged on the third adjusting component 23, so that the automatic dispensing module 5 is driven to move in three coordinates by driving the third adjusting component 23;

the controller is respectively in communication connection with the position adjusting mechanism, the binocular detection module 4 and the automatic dispensing module 5.

In the above embodiment, after calibration of the two detection cameras 41 is completed by adjusting the positions of the two groups of second adjusting components 22 in advance, two waveguide plates are respectively mounted on the two groups of second feeding platforms 32, a lens frame is fixedly mounted on the first feeding platform 31, two groups of analog light source projection modules respectively matched with the two waveguide plates are mounted on the lens frame, and then the controller drives the moving component 24 to operate, so that the first feeding platform 31 and the first adjusting component 21 mounted on the moving part 241 move to detection positions close to the binocular detection module 4; after reaching the detection position, the controller firstly adjusts the positions of the two groups of first adjusting components 21 through control instructions, respectively controls the position of an incident light port of each waveguide sheet (namely, the optical waveguide lens) of the AR glasses, guides the incident light through the internal optical path of the waveguide sheet, emits the analog image from the emergent port to project the analog image onto the waveguide sheet, captures the real-time display image displayed on the waveguide sheet and feeds the real-time display image back to the controller, the controller processes the real-time image information, and then adaptively outputs control instructions to drive the moving part 241 and each first adjusting component 21 to move respectively according to the difference between the processed information and preset information. When the moving part 241 moves, the lens frame and the waveguide piece move together to adjust the positions of the entire lens frame and the binocular detecting module 4. When each first adjusting component 21 moves, the position of each waveguide sheet can be independently adjusted, the adjustment of six degrees of freedom of each waveguide sheet is realized, the relative positions of the mirror frame and the waveguide sheets are actively aligned, so that the assembly of the AR glasses is conveniently completed, after adjustment, the binocular detection module 4 acquires the display images fed back on the waveguide sheets in real time and transmits the display images to the controller for processing, the controller drives the first adjusting component 21 to move to correspondingly change the positions of the waveguide sheets until the controller judges that the MTF value of the real-time image information of each waveguide sheet is qualified, namely, the AA result is qualified, the moving part 241 and the first adjusting component 21 are not moved any more, and the controller records the position of the moving part 241 and the image coupling percentage value of the image information of the two waveguide sheets at the moment; then the controller drives the moving part 241 to drive the mirror frame and the waveguide sheet to move together to be close to the third adjusting component 23, namely, the lower part of the automatic dispensing module 5, and the controller completes the dispensing and curing operation of the mirror frame and the waveguide sheet by driving the third adjusting component 23 to move, so that the fixing of the relative positions of the mirror frame and the waveguide sheet is realized. Then driving the moving part 241 to return to the detection position for finally judging the qualification of the MTF value, testing the projected images on the two waveguide sheets again, and comparing the image coupling percentage value obtained at this time with the previous image coupling percentage value by the controller, if the difference value between the two values is kept within the preset difference range, manually taking down the assembled waveguide sheets and the mirror frame for processing at the next stage; if the deviation from the preset difference range, the machining needs to be reworked. According to the embodiment, the binocular pupil distance and focal length of a person are simulated by matching the algorithm with the control mechanism, so that the convenient AA process of the waveguide sheet and the mirror frame can be completed, the efficiency and the accuracy of the AA process are improved, and the definition of the AR glasses finished product is also improved. It should be noted that, the connection mode between the waveguide sheet and the second feeding platform 32 may be vacuum adsorption, the second feeding platform is formed with a plurality of negative pressure air distribution holes, the connection mode between the lens frame and the first feeding platform 31 may be clamping connection, and the middle part of the lens frame is clamped in the clamping groove formed in the first feeding platform 31.

In an embodiment, referring to fig. 2, the moving member 24 further includes a fixing portion 242, a driving motor 243, and a driving screw, wherein an output end of the driving motor 243 is connected to the driving screw, the driving screw passes through the moving portion 241 and is in threaded connection with the moving portion 241, the moving portion 241 is slidably connected to the fixing portion 242, the driving motor 243 is mounted to the fixing portion 242, and the driving screw is rotatably connected to the fixing portion 242. The driving motor 243 is used for driving the transmission screw to rotate, the transmission screw drives the moving part 241 to move on the fixing part 242, and the fixing part 242 is connected with the workbench 1, so that the embodiment has the advantages of rapid movement and stable operation. The moving direction of the moving portion 241 is the front-rear direction in fig. 2. The structure of the moving member 24 includes, but is not limited to, the above-mentioned form, but may also be a transmission structure in which a gear and a rack are engaged with each other, the rack is disposed along the length direction of the fixed portion 242, a driving member is mounted on the moving portion 241, an output end of the driving member is connected to the gear, and the gear is engaged with the rack, thereby driving the moving portion 241 to move.

In an embodiment, referring to fig. 6, the second adjusting assembly 22 includes a first translation member 221, a second translation member 222, a lifting member 223, a rotation member 224, a first swing member 225, and a second swing member 226 stacked in sequence, and the detection camera 41 is disposed on the second swing member 226, so as to adjust six degrees of freedom of the detection camera 41 by driving the first translation member 221, the second translation member 222, the lifting member 223, the rotation member 224, the first swing member 225, and the second swing member 226 to move, respectively. The first translation member 221 is used for driving the detection camera 41 to move along the front-back direction in fig. 6, the second translation member 222 is used for driving the detection camera 41 to move along the left-right direction in fig. 6, the lifting member 223 is used for driving the detection camera 41 to move along the up-down direction in fig. 6, and the rotation member 224, the first swinging member 225 and the second swinging member 226 are respectively used for driving the detection camera 41 to rotate or swing around the up-down direction, the left-right direction and the front-back direction in the drawing, so that adjustment of six degrees of freedom of the detection camera 41 is realized, calibration is facilitated, and the detection optical axis of the detection camera 41 is the front-back direction in fig. 6. It should be noted that, the driving direction of each component of the second adjusting assembly 22 is manual screwing driving, each component is connected with the screwing part through a screw rod, and the driving mode of screw rod 2183 in threaded connection with the movable part of each component is easy to adjust and control and has high precision. The position adjusting mechanism further comprises a manual displacement mechanism 25, the manual displacement mechanism 25 comprises a guide rail 251 and a sliding seat 252, the guide rail 251 is arranged on the workbench 1 along the front-back direction in fig. 6, the sliding seat 252 is in sliding connection with the guide rail 251, and the two groups of second adjusting assemblies 22 are mounted on the sliding seat 252 so as to be convenient for manually adjusting the positions of the two groups of second adjusting assemblies 22 back and forth, so that the application range is improved.

In an embodiment, referring to fig. 2 and 3, the first adjusting assembly 21 includes a triaxial translation member 211 and a triaxial rotation member 216 that are stacked, the triaxial translation member 211 is mounted on the moving portion 241, the second loading platform 32 is mounted on the top end of the triaxial rotation member 216, and the controller drives the triaxial translation member 211 and the triaxial rotation member 216 to move respectively, so as to adjust six degrees of freedom of the second loading platform 32 and the waveguide sheet mounted on the second loading platform 32. The triaxial translation part 211 is used for realizing the linear movement of the waveguide sheet in three directions, and the triaxial rotation part 216 is used for realizing the rotation or the swing of the waveguide sheet in three directions and is matched with the controller for precise AA operation control.

Specifically, the triaxial translation member 211 includes a first axial translation sub-member 212, a second axial translation sub-member 213, and a third axial translation sub-member 214 stacked in order, and the movement axes of the first axial translation sub-member 212, the second axial translation sub-member 213, and the third axial translation sub-member 214 are perpendicular to each other. The moving direction of the movable end of the first shaft translation sub 212 is the left-right direction in fig. 2, the moving direction of the movable end of the second shaft translation sub 213 is the up-down direction in fig. 2, and the moving direction of the movable end of the third shaft translation sub 214 is the front-back direction in fig. 2. The driving mode of the translation sub-piece is a matching mode of a sliding rail, a screw rod and a motor, the motor is connected with the screw rod in a transmission mode, the motor is used for driving the screw rod to rotate, the screw rod is in threaded connection with a movable end of the translation sub-piece, the movable end is in sliding connection with the sliding rail, the screw rod is driven to rotate through the motor, and therefore the movable end is driven to move.

In an embodiment, referring to fig. 2 to 5, the triaxial rotating element 216 includes a rotary sliding table 217, a first angle swinging table 218 and a second angle swinging table 219 stacked in sequence, a first rotation axis of the first angle swinging table 218 is perpendicular to a second rotation axis of the second angle swinging table 219, a third rotation axis of the rotary sliding table 217 is perpendicular to the first rotation axis and the second rotation axis at the same time, and the second loading platform 32 is disposed on the second angle swinging table 219. The first rotation axis is the left-right direction in fig. 2, the second rotation axis is the front-back direction in fig. 2, and the third rotation axis is the up-down direction in fig. 2. Specifically, referring to fig. 5, the first angle swinging table 218 includes a first rotating motor 2181, a base 2182, a screw rod 2183 and a swinging portion 2184, the first rotating motor 2181 is mounted on the base 2182, an output end of the first rotating motor 2181 is connected with the screw rod 2183, the screw rod 2183 is in threaded fit with a bottom of the swinging portion 2184, the first rotating motor 2181 drives the screw rod 2183 to rotate, so as to drive the swinging portion 2184 to swing left and right relative to the base 2182, and the second angle swinging table 219 is disposed on the swinging portion 2184. The embodiment has the advantages of easy control of swing amplitude and high precision. In the same manner, the second angle table 219 is horizontally rotated 90 ° with respect to the first angle table 218 and is mounted on the swinging portion 2184 of the first angle table 218, and thus has the same advantages as the first angle table 218, and will not be described again. Referring to fig. 4, the rotary slide table 217 includes a second rotary motor 2171, a mount 2172, and a rotating portion 2173, the second rotary motor 2171 is mounted to the mount 2172, the rotating portion 2173 is rotatably connected to the mount 2172, an output end of the second rotary motor 2171 is drivingly connected to the rotating portion 2173, and a base 2182 of the first angular stage 218 is mounted to the rotating portion 2173. The second rotary motor 2171 drives the rotation section 2173 to rotate, and thereby the first angle table 218, the second angle table 219, and the waveguide attached to the rotation section 2173 are rotated about the third rotation axis.

In an embodiment, referring to fig. 7, the automatic dispensing module 5 includes a mounting plate 51, a dispensing member 52, a vision module 53 and a curing light 54 respectively mounted on the mounting plate 51, and the mounting plate 51 is connected to the third adjusting assembly 23. The dispensing piece 52 is used for dispensing the clearance between the picture frame and the waveguide piece to fix the picture frame and the waveguide piece, the vision module 53 can observe the dispensing position and feed back to the controller, and the controller then adaptively drives the third adjusting component 23 to move, thereby changing the overall position of the automatic dispensing module 5, realizing multi-position dispensing, being more convenient for accomplish the dispensing operation, after the dispensing is accomplished, the curing lamp 54 irradiates the dispensing position of picture frame and waveguide piece, and realizes the curing fast. Specifically, the curing lamp 54 is a UV lamp. The third adjusting assembly 23 includes a Y-axis moving module 231, an X-axis moving module 232, and a Z-axis moving module 233, which are sequentially disposed, the Y-axis moving module 231 is mounted on the table 1, and the mounting plate 51 is mounted on a movable end of the Z-axis moving module 233. The Y-axis moving module 231 is installed at the lowest position, the X-axis moving module 232 is installed at the movable end of the Y-axis moving module 231, and the Z-axis moving module 233 is installed at the movable end of the X-axis moving module 232, so that position adjustment of the mounting plate 51, the dispensing piece 52, the vision module 53 and the curing lamp 54 in the rectangular space coordinate system is achieved.

In one embodiment, the controller includes a collation analysis module, a control module and a storage module; the calibration analysis module is used for receiving the image data information captured by the binocular detection module 4 and performing data processing to acquire data processing information, the control module is used for receiving analysis signals transmitted after the calibration analysis module processes the analysis signals and outputting control signals to drive the position adjusting mechanism to move according to the analysis signals, the storage module is used for recording the position information and the data processing information of the position adjusting mechanism, and the controller is specifically arranged in the workbench 1.

In addition, referring to fig. 8 and 9, the present invention further provides an active alignment method applied to the above-mentioned dual-eye image AA device 100 for AR glasses, where the AR glasses include a lens frame and two waveguide sheets, and two groups of analog light source projection modules matched with the waveguide sheets are respectively mounted on the lens frame, and the active alignment method includes the following steps:

s200, fixing a mirror frame to be processed on the first feeding platform, respectively fixing two waveguide sheets on two groups of second feeding platforms, controlling the moving part to move to a first position, and driving the two groups of first adjusting components to be close to the binocular detection module;

The first position is the initial detection position of the moving part 241, so that the binocular detection module 4 can detect the lens frame and the two waveguide sheets and realize alignment measurement of the lens frame and the two waveguide sheets;

s300, controlling the first adjusting component to move to a first test position, enabling the analog light source projection module to emit an image to the waveguide sheet, enabling the detection camera to capture an analog image displayed by the waveguide sheet and feed the analog image back to the controller, enabling the controller to conduct data processing and analysis on the analog image information, obtaining a first MTF value and a first image coupling percentage value, and judging whether the first MTF value is in a qualified zone or not;

the controller firstly adjusts the position of each first adjusting component 21 to a first test position through a control instruction, then controls each analog light source projection module on the glasses frame to emit an image to the position of an incident light port of each waveguide sheet of the AR glasses, the images are guided by an internal light path of the waveguide sheets, analog images are emitted from an emergent port to be projected onto the waveguide sheets, each detection camera 41 captures real-time analog images displayed on each waveguide sheet and feeds the real-time analog images back to the controller, the controller performs data processing on analog image information obtained in real time to obtain a first MTF value and a first image coupling percentage value of each analog image information, and then judges whether the first MTF value is in a qualified interval according to the difference between the processed MTF value information and preset information;

S400, if the first MTF value is in a qualified zone, controlling the moving part to move to a second position, and driving the first adjusting component to be close to the automatic dispensing module;

the MTF value is qualified, namely, the AA result is qualified, the moving part 241 and the first adjusting component 21 are not moved any more, and the controller records the position of the moving part 241 and the image coupling percentage value of the image information of each waveguide slice at the moment; then the controller drives the moving part 241 to drive the mirror frame and the waveguide sheet to move together to be close to the third adjusting component 23, namely, the lower part of the automatic dispensing module 5;

s500, controlling the displacement of the third adjusting component to drive the automatic dispensing module to finish dispensing and curing of the mirror frame and the waveguide sheet;

the controller drives the third adjusting component 23 to move, so that the dispensing and curing operation of the mirror frame and the two waveguide sheets are completed, and the fixing of the relative positions of the waveguide sheets and the mirror frame is completed;

s600, controlling the moving part to move to the first position, enabling the detection camera to capture the displayed analog image of the waveguide sheet again and feed the analog image back to the controller, enabling the controller to conduct data processing and analysis on the analog image information, obtaining a second image coupling percentage value, and judging whether the difference value between the second image coupling percentage value and the first image coupling percentage value is within a preset difference range; if yes, the active alignment of the waveguide sheet and the mirror frame is completed;

After the dispensing is completed, the controller drives the moving part 241 to return to the first position where the MTF value is finally determined to be qualified, and the first adjusting component 21 is still in the first test position, and tests the images projected on the two waveguide sheets again, and the controller compares the second image coupling percentage value obtained this time with the first image coupling percentage value, if the difference between the second image coupling percentage value and the first image coupling percentage value is kept within the preset difference range, the assembled waveguide sheet and the mirror frame can be manually removed for next-stage processing, and if the difference deviates from the preset difference range, the processing needs to be reworked.

S310, if the first MTF value is not in the qualified zone, the controller outputs a control signal to drive the moving member and the first adjusting component to respectively move to a third position and a second test position;

the controller calculates the direction and distance of the displacement required by the moving part 241 and each first adjusting component 21 through an algorithm, outputs a control instruction to drive the moving part 241 and the first adjusting components 21 to move, when the moving part 241 moves, the mirror frame and the waveguide sheets move together so as to adjust the positions of the whole mirror frame and the binocular detection module 4, and when each first adjusting component 21 moves, the position of each waveguide sheet can be independently adjusted, the adjustment of six-degree-of-freedom positions of each waveguide sheet is realized, and the relative positions of the mirror frame and the waveguide sheets are actively aligned;

S320, executing the step that the detection camera captures the displayed analog image of the waveguide sheet again and feeds the analog image back to the controller.

After adjustment, each detection camera 41 acquires the display image fed back on each waveguide sheet in real time and transmits the display image to the controller for processing, and the controller drives the first adjusting component 21 to move the position of the corresponding changed waveguide sheet until the controller judges that the MTF value of the real-time analog image information of each waveguide sheet is qualified. According to the embodiment, the binocular pupil distance and focal length of a person are simulated by matching the algorithm with the control mechanism, so that the convenient AA process of the waveguide sheet and the mirror frame can be completed, the efficiency and the accuracy of the AA process are improved, and the definition of the AR glasses finished product is also improved.

In addition, referring to fig. 10 to 12, the present invention further provides a calibration method, which is applied to the above-mentioned AR glasses binocular imaging AA device 100, where the AR glasses binocular imaging AA device 100 further includes a graphic card module 6 and UCGB7 (universal camera gauge block, universal camera block), and the calibration method includes the following steps:

s100, controlling the binocular detection module, the UCGB and the graphic card module to be on the same straight line;

S110, controlling the UCGB to photograph the image card module, calculating the relative positions of coordinates of six degrees of freedom of the image card module, adjusting the center of the image card module to coincide with the optical axis of the UCGB according to the relative positions, and enabling the detection surface of the image card module to be perpendicular to the optical axis of the UCGB;

s120, taking away the UCGB, controlling the binocular detection module to photograph the image card module, reversely obtaining six degrees of freedom coordinates of each detection camera of the binocular detection module, and adjusting the second adjusting assembly to enable optical axes of the two groups of detection cameras to be respectively overlapped with two pupil distance points of the image card module and perpendicular to a detection surface of the image card module.

The graphic card module 6 may be specifically configured by a plurality of circles arranged in an array, for example, in a 5*5 or 7*7 arrangement manner, as shown in fig. 12, where one circle at a central position is a calibration point of UCGB, a surrounding circle is used as an auxiliary determination point, and two circles on two sides of the circle at the central position are respectively used as pupil distance point calibration points of two detection cameras. The calibration of the binocular detection module 4 can be completed by calibrating the position of the graphic card module 6 through the standard UCGB7 and calibrating the two detection cameras 41 through the calibrated graphic card module 6, so that the accuracy of the subsequent detection of the waveguide chip and the mirror frame is ensured. The graphic card module 6 and the UCGB7 are only used for calibrating the detection module, and the AR glasses active alignment device 100 needs to be detached after the calibration is completed. The active alignment method adopts all the technical schemes of all the embodiments, so that the active alignment method has at least all the beneficial effects brought by the technical schemes of the embodiments, and is not described in detail herein.

The foregoing is only the preferred embodiments of the present invention, and not the limitation of the scope of the present invention, and all the equivalent structural changes made by the description of the present invention and the accompanying drawings or the direct/indirect application in other related technical fields are included in the scope of the present invention.

Claims (10)

1. An AR glasses binocular image AA apparatus for completing the assembly of a lens frame and two waveguide sheets, comprising:

a work table;

the position adjusting mechanism comprises first adjusting components, moving parts, second adjusting components and third adjusting components, wherein the moving parts, the second adjusting components and the third adjusting components are respectively arranged on the workbench at intervals, the number of the first adjusting components is two, the two groups of the first adjusting components are arranged on the moving parts of the moving parts at intervals, the number of the second adjusting components is two, the two groups of the second adjusting components are arranged at intervals, and the first adjusting components are close to the second adjusting components or the third adjusting components by driving the moving parts to move;

the feeding assembly comprises a first feeding platform and a second feeding platform, the first feeding platform is arranged on the moving part, the number of the second feeding platforms is two, the two second feeding platforms are respectively arranged on the two first adjusting assemblies, and the first adjusting assemblies are driven to move, so that the second feeding platform is driven to move and rotate in multiple directions;

The binocular detection module comprises two detection cameras which are respectively arranged on the two groups of second adjusting components so as to drive the detection cameras to move and rotate in multiple directions by driving the second adjusting components to move;

the automatic dispensing module is arranged on the third adjusting assembly and used for driving the third adjusting assembly to move so as to drive the automatic dispensing module to move in three coordinates;

and the controller is respectively in communication connection with the position adjusting mechanism, the binocular detection module and the automatic dispensing module.

2. The AR glasses binocular imaging AA apparatus of claim 1, wherein the moving member further comprises a fixed portion, a driving motor and a driving screw, an output end of the driving motor is connected with the driving screw, the driving screw passes through the moving portion and is in threaded connection with the moving portion, the moving portion is in sliding connection with the fixed portion, the driving motor is mounted on the fixed portion, and the driving screw is in rotational connection with the fixed portion.

3. The apparatus of claim 1, wherein the second adjusting assembly comprises a first translation member, a second translation member, a lifting member, a rotation member, a first swinging member, and a second swinging member stacked in sequence, and the detection camera is disposed on the second swinging member, and the detection camera is adjusted in six degrees of freedom by driving the first translation member, the second translation member, the lifting member, the rotation member, the first swinging member, and the second swinging member, respectively.

4. The AR glasses binocular imaging AA apparatus of claim 1, wherein the first adjusting assembly comprises a triaxial translating member and a triaxial rotating member stacked, the triaxial translating member is mounted on the moving portion, the second loading platform is mounted on the top end of the triaxial rotating member, and the controller adjusts six degrees of freedom of the second loading platform by driving the triaxial translating member and the triaxial rotating member to move respectively.

5. The AR glasses binocular imaging AA apparatus of claim 4, wherein the triaxial translating member comprises a first axial translating member, a second axial translating member and a third axial translating member stacked in sequence, and movement axes of the first axial translating member, the second axial translating member and the third axial translating member are perpendicular to each other.

6. The AR glasses binocular imaging AA apparatus of claim 4, wherein the triaxial rotating member comprises a rotary sliding table, a first angle swing table and a second angle swing table which are sequentially stacked, a first rotation axis of the first angle swing table is perpendicular to a second rotation axis of the second angle swing table, a third rotation axis of the rotary sliding table is perpendicular to the first rotation axis and the second rotation axis at the same time, and the second loading platform is arranged on the second angle swing table.

7. The AR glasses binocular image AA apparatus of claim 1, wherein the automatic dispensing module comprises a mounting plate, and a dispensing member, a vision module and a curing light respectively mounted to the mounting plate, the mounting plate being connected to the third adjusting assembly.

8. The AR glasses binocular imaging AA device of claim 1, wherein the controller comprises a proof reading analysis module, a control module and a storage module; the control module is used for receiving analysis signals transmitted after the processing of the calibration analysis module and outputting control signals to drive the position adjusting mechanism to displace according to the analysis signals, and the storage module is used for recording the position information of the position adjusting mechanism and the data processing information.

9. An active alignment method, which is applied to the AR glasses binocular imaging AA device of any one of claims 1 to 8, wherein the AR glasses comprise a glasses frame and two waveguide sheets, and two groups of analog light source projection modules matched with the waveguide sheets are respectively assembled on the glasses frame, and the active alignment method comprises the following steps:

Fixing a mirror frame to be processed on the first feeding platform, respectively fixing two waveguide sheets on two groups of second feeding platforms, controlling the moving part to move to a first position, and driving the two groups of first adjusting components to be close to the binocular detection module;

the first adjusting component is controlled to be displaced to a first test position, the analog light source projection module emits an image to the waveguide sheet, the detection camera captures an analog image displayed by the waveguide sheet and feeds the analog image back to the controller, the controller performs data processing and analysis on the analog image information to obtain a first MTF value and a first image coupling percentage value, and whether the first MTF value is in a qualified zone is judged;

if the first MTF value is in the qualified interval, controlling the moving part to move to a second position, and driving the first adjusting component to be close to the automatic dispensing module;

controlling the displacement of the third adjusting component to drive the automatic dispensing module to finish dispensing and curing of the mirror frame and the waveguide sheet;

controlling the moving part to move to the first position, re-capturing the displayed analog image of the waveguide sheet by the detection camera and feeding back the analog image to the controller, performing data processing and analysis on the analog image information by the controller, obtaining a second image coupling percentage value, and judging whether the difference value between the second image coupling percentage value and the first image coupling percentage value is within a preset difference range; if yes, the active alignment of the waveguide sheet and the mirror frame is completed;

If the first MTF value is not in the qualified interval, the controller outputs a control signal to drive the moving part and the first adjusting component to respectively move to a third position and a second test position;

and executing the step that the detection camera recaptures the displayed analog image of the waveguide chip and feeds the analog image back to the controller.

10. The calibration method is characterized in that the calibration method is applied to the AR glasses binocular imaging AA equipment according to any one of claims 1 to 8, the AR glasses binocular imaging AA equipment further comprises a graphic card module and UCGB, and the calibration method comprises the following steps:

controlling the binocular detection module, the UCGB and the graphic card module to be on the same straight line;

controlling the UCGB to photograph the image card module, calculating the relative positions of the coordinates of six degrees of freedom of the image card module, adjusting the center of the image card module to coincide with the optical axis of the UCGB according to the relative positions, and enabling the detection surface of the image card module to be perpendicular to the optical axis of the UCGB;

and taking away the UCGB, controlling the binocular detection module to take a picture of the picture card module, reversely obtaining six degrees of freedom coordinates of each detection camera of the binocular detection module, and adjusting the second adjusting assembly to enable optical axes of the two groups of detection cameras to be respectively overlapped with two pupil distance points of the picture card module and perpendicular to a detection surface of the picture card module.

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