Eye movement tracking system and wearable device

Abstract

The embodiment of the invention discloses an eye movement tracking system and wearable equipment. The eye movement tracking system comprises a first light source module, a second light source module, a waveguide, an image acquisition module and a control module. Wherein the control module is configured to control the first light source module and the second light source module to be turned on in a time-sharing manner so as to alternately emit light rays towards the first eye and the second eye, and the waveguide transmits reflected light of the first eye and the second eye to the image acquisition module so that the image acquisition module can acquire image information of the first eye and the second eye. And the control module determines the fixation point information according to the image information. Therefore, the eye movement tracking system is favorable for reducing the production complexity and cost, improving the yield, and improving the aesthetic property and the user experience.

Description

Technical Field

[0001] The present invention relates to the field of eye tracking technology, and in particular to an eye tracking system and a wearable device. Background Art

[0002] Eye tracking is a core technology that captures and analyzes user eye movements, enabling visual perception and human-computer interaction. Based on optical imaging, computer vision algorithms, and artificial intelligence models, it detects pupil position, corneal reflection, or eye movement characteristics to calculate the user's gaze point in real time and map it to the interactive scene. This technology has evolved from an early psychological research tool to a key functional module in wearable devices. Current mainstream solutions rely on infrared optical tracking or RGB camera-based AI algorithms, but these solutions often suffer from complex structures, high costs, and difficult architecture implementation.

[0003] Currently, smart glasses, for example, commonly use a dual-camera solution for eye tracking, with a separate camera for each eye. While this design ensures binocular data independence, it comes with significant limitations: hardware redundancy, increased costs, and industrial design constraints. Specifically, each eye requires at least one camera, doubling hardware costs and requiring additional circuit board space and power management modules. Dual-camera systems require complex synchronization and calibration processes (such as timestamp alignment and view angle calibration), increasing production complexity and reducing yield risk. Traditional cameras are mounted on the lower edge of the frame (near the bridge of the nose or temple area) to be close to the user's eyes and avoid obstruction. This layout results in locally thicker frames (typically adding 2 to 3 mm), affecting overall aesthetics and potentially causing discomfort (e.g., pressure on the bridge of the nose). As wearable devices evolve toward lightweight, all-weather use, there's an urgent need to overcome these bottlenecks and achieve eye tracking solutions with higher accuracy, lower power consumption, and greater environmental adaptability. Summary of the Invention

[0004] In view of this, the purpose of the present invention is to provide an eye tracking system and a wearable device, which realize a single-camera eye tracking solution by time-sharing control of the light source module.

[0005] In a first aspect, an embodiment of the present invention provides an eye tracking system, comprising: a first light source module, which emits light toward a first eye; a second light source module, which emits light toward a second eye; a waveguide, which transmits reflected light from the first eye and the second eye; an image acquisition module, which receives the reflected light to obtain image information of the first eye and the second eye; and a control module, which is configured to control the first light source module and the second light source module to be turned on in a time-sharing manner, and the control module is further configured to determine gaze point information based on the image information.

[0006] In some embodiments, the waveguide is provided with a first coupling-in grating, a second coupling-in grating, and a first coupling-out grating; the reflected light of the first eye is incident on the waveguide through the first coupling-in grating and is emitted to the image acquisition module through the first coupling-out grating; the reflected light of the second eye is incident on the waveguide through the second coupling-in grating and is emitted to the image acquisition module through the first coupling-out grating.

[0007] In some embodiments, the first coupling-in grating is located directly in front of the first eye, and collimates the reflected light from the first eye and then injects it into the waveguide; the second coupling-in grating is located directly in front of the second eye, and collimates the reflected light from the second eye and then injects it into the waveguide; the first coupling-out grating is located between the first coupling-in grating and the second coupling-in grating, and is located directly in front of the image acquisition module.

[0008] In some embodiments, the first light source module includes at least one infrared lamp; the second light source module includes at least one infrared lamp; and the image acquisition module includes an infrared camera.

[0009] In some embodiments, the control module is configured to control the first light source module and the second light source module to be alternately turned on for a predetermined period of time.

[0010] In a second aspect, an embodiment of the present invention further provides a wearable device, comprising: the eye tracking system as described in the first aspect; and an optical display system, wherein the optical display system reuses the waveguide.

[0011] In some embodiments, the optical display system includes: a first optical-mechanical module, wherein the image generated by the first optical-mechanical module is transmitted to the first eye through the waveguide; and a second optical-mechanical module, wherein the image generated by the second optical-mechanical module is transmitted to the second eye through the waveguide.

[0012] In some embodiments, the waveguide is provided with a third coupling-in grating, a fourth coupling-in grating, a second coupling-out grating and a third coupling-out grating; the image generated by the first optomechanical module is incident on the waveguide through the third coupling-in grating and is emitted to the first eye through the second coupling-out grating; the image generated by the second optomechanical module is incident on the waveguide through the fourth coupling-in grating and is emitted to the second eye through the third coupling-out grating.

[0013] In some embodiments, the optical display system includes: a third optomechanical module, and the image generated by the third optomechanical module is transmitted to the first eye and the second eye through the waveguide.

[0014] In some embodiments, the waveguide is provided with a fifth coupling-in grating, a fourth coupling-out grating, and a fifth coupling-out grating; the image generated by the third optical-mechanical module is incident on the waveguide through the fifth coupling-in grating and is emitted to the first eye through the fourth coupling-out grating, and is emitted to the second eye through the fifth coupling-out grating.

[0015] An embodiment of the present invention provides an eye-tracking system and a wearable device. The eye-tracking system includes a first light source module, a second light source module, a waveguide, an image acquisition module, and a control module. The control module is configured to control the first light source module and the second light source module to be turned on in a time-sharing manner so as to emit light alternately toward the first eye and the second eye. The waveguide transmits the reflected light from the first eye and the second eye to the image acquisition module so that the image acquisition module obtains image information of the first eye and the second eye, and the control module determines the gaze point information based on the image information. As a result, the eye-tracking system helps reduce production complexity and cost, improve product yield, and enhance aesthetics and user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The above and other objects, features and advantages of the present invention will become more apparent through the following description of the embodiments of the present invention with reference to the accompanying drawings, in which:

[0017] Figure 1 is a schematic diagram of an eye tracking system provided by an embodiment of the present invention;

[0018] Figure 2 is a schematic block diagram of the structure of an eye tracking system provided by an embodiment of the present invention;

[0019] Figure 3 is a schematic diagram of another perspective of the eye tracking system provided by an embodiment of the present invention;

[0020] Figure 4 is a schematic diagram of an eye image captured by an image acquisition module provided by an embodiment of the present invention;

[0021] Figure 5is a schematic diagram of a wearable device provided by an embodiment of the present invention;

[0022] Figure 6 is a schematic diagram of a wearable device provided by an embodiment of the present invention from another perspective;

[0023] Figure 7 This is a schematic block diagram of the structure of a wearable device provided by an embodiment of the present invention;

[0024] Figure 8 is a schematic diagram of another wearable device provided by an embodiment of the present invention;

[0025] Figure 9 is a schematic diagram of another wearable device provided by an embodiment of the present invention from another perspective;

[0026] Figure 10 This is a schematic block diagram of the structure of another wearable device provided by an embodiment of the present invention.

[0027] Description of reference numerals:

[0028] 1-first light source module; 2-second light source module; 3-waveguide; 4-image acquisition module; 5-control module; 61-first coupling-in grating; 62-second coupling-in grating; 63-third coupling-in grating; 64-fourth coupling-in grating; 65-fifth coupling-in grating; 71-first coupling-out grating; 72-second coupling-out grating; 73-third coupling-out grating; 74-fourth coupling-out grating; 75-fifth coupling-out grating; 81-first optical machine module; 82-second optical machine module; 83-third optical machine module; A-first eye; B-second eye. DETAILED DESCRIPTION

[0029] The present application is described below based on the following embodiments, but the present application is not limited to these embodiments. In the detailed description of the present application below, certain specific details are described in detail. Those skilled in the art can fully understand the present application without the description of these details. To avoid obscuring the essence of the present application, well-known methods, processes, procedures, components, and circuits are not described in detail.

[0030] Furthermore, persons of ordinary skill in the art will appreciate that the figures provided herein are for illustration purposes only and are not necessarily drawn to scale.

[0031] Unless otherwise specified or limited, the terms "mounted," "connected," "connect," "fixed," and the like should be interpreted broadly. For example, they may refer to fixed or detachable connections, or integration; mechanical or electrical connections; direct or indirect connections through an intermediate medium; and internal communication between two components or interaction between two components, unless otherwise specified. Those skilled in the art will understand the specific meanings of the above terms in this application based on the specific circumstances.

[0032] For ease of explanation, spatially relative terms such as "in," "out," "under," "below," "lower," "above," "upper," and the like are used herein to describe the relationship of one element or feature illustrated in the figures to another element or feature. It will be understood that spatially relative terms may be intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, an element described as being "under" or "beneath" another element or feature would then be positioned "above" the other element or feature. Thus, the example term "under" can encompass both above and below orientations. The device may be oriented in other ways (rotated 90 degrees or in other orientations), and the spatially relative descriptors used herein should be interpreted accordingly.

[0033] Unless the context clearly requires otherwise, words like “include”, “comprising” and the like throughout this application should be interpreted as including rather than exclusive or exhaustive; that is, as meaning “including but not limited to”.

[0034] In the description of this application, it should be understood that the terms "first", "second", etc. are used for descriptive purposes only and should not be understood to indicate or imply relative importance. In addition, in the description of this application, unless otherwise specified, "plurality" means two or more.

[0035] Where the solutions described in this specification and in the examples involve the processing of personal information, such processing will be conducted with a legitimate basis (e.g., with the consent of the personal information subject or as necessary for the performance of a contract) and only within the prescribed or agreed scope. A user's refusal to process personal information other than that required for basic functions will not affect the user's use of these basic functions.

[0036] Figure 1 Schematic diagram of an eye tracking system provided by an embodiment of the present invention. Figure 1As shown, the eye tracking system includes a first light source module 1, a second light source module 2, a waveguide 3, an image acquisition module 4 and a control module 5. It should be noted that the size specifications of the eye tracking system correspond to the size of the user's head. Specifically, the first light source module 1 is used to emit light to the first eye A. Correspondingly, the second light source module 2 is used to emit light to the second eye B. It is easy to understand that the waveguide 3 is used to transmit the reflected light of the first eye A and the second eye B. Furthermore, the image acquisition module 4 receives the reflected light of the first eye A and the second eye B, thereby obtaining image information of the first eye A and the second eye B. Figure 2 FIG. 1 is a schematic block diagram of the structure of the eye tracking system provided by an embodiment of the present invention. Figure 2 As shown, the control module 5 is electrically connected to the first light source module 1, the second light source module 2 and the image acquisition module 4. It should be noted that the control module 5 is configured to control the first light source module 1 and the second light source module 2 to be turned on in a time-sharing manner, that is, to control the first light source module 1 and the second light source module 2 to be turned on alternately, so that only one light source module is turned on at the same time. It should be further noted that the control module 5 is also configured to determine the user's gaze point information based on the image information obtained by the image acquisition module 4, so as to achieve eye tracking of the user. Thus, the eye tracking system controls the first light source module 1 and the second light source module 2 in a time-sharing manner, and only one image acquisition module 4 is needed to capture the image of the user's eyeballs and track the gaze points of the two eyes, which helps to reduce production complexity and cost, improve yield rate, and enhance aesthetics and user experience.

[0037] Figure 3 is a schematic diagram of another perspective of the eye tracking system provided by an embodiment of the present invention, combined with Figure 1 and Figure 3 As shown, in one embodiment, the waveguide 3 is provided with a first coupling grating 61, a second coupling grating 62, and a first coupling grating 71. Specifically, when the control module 5 controls the first light source module 1 to turn on and the second light source module 2 to turn off, the first light source module 1 emits light toward the first eye A, and the reflected light of the first eye A is incident into the waveguide 3 through the first coupling grating 61 and is emitted to the image acquisition module 4 through the first coupling grating 71. Correspondingly, when the control module 5 controls the second light source module 2 to turn on and the first light source module 1 to turn off, the second light source module 2 emits light toward the second eye B, and the reflected light of the second eye B is incident into the waveguide 3 through the second coupling grating 62 and is emitted to the image acquisition module 4 through the first coupling grating 71. Figure 4 This is a schematic diagram of an eye image captured by the image acquisition module provided in an embodiment of the present invention. By time-sharing control of the first light source module 1 and the second light source module 2, only one image acquisition module 4 is needed to capture images of both eyes.

[0038] Combine Figure 1 and Figure 3 As shown, in one embodiment, the first coupling grating 61 is located directly in front of the first eye A and is used to collimate the reflected light from the first eye A before it is incident on the waveguide 3. In other words, the reflected light from the eyeball and pupil at different angles is collimated before it is incident on the waveguide 3, and then, after multiple reflections, it is emitted from the first coupling grating 71 to the image acquisition module 4. Correspondingly, the second coupling grating 62 is located directly in front of the second eye B and is used to collimate the reflected light from the second eye B before it is incident on the waveguide 3. In other words, the reflected light from the eyeball and pupil at different angles is collimated before it is incident on the waveguide 3, and then, after multiple reflections, it is emitted from the first coupling grating 71 to the image acquisition module 4. Furthermore, the first coupling grating 71 is located between the first coupling grating 61 and the second coupling grating 62 and directly in front of the image acquisition module 4, meaning that the image acquisition module 4 is equidistant from the first coupling grating 61 and the second coupling grating 62. That is to say, the first coupling-in grating 61 and the second coupling-in grating 62 are symmetrically arranged relative to the first coupling-out grating 71, and the middle first coupling-out grating 71 uses positive and negative order diffraction light to emit the light transmitted in the waveguides 3 on the left and right sides and enter the image acquisition module 4.

[0039] In one embodiment, the first light source module 1 includes at least one infrared lamp. Similarly, the second light source module 2 includes at least one infrared lamp. It should be noted that the divergence and energy of the infrared lamp are designed to maintain a safe range for the user's eyes, that is, the infrared radiation needs to be below a specific power threshold. Furthermore, the image acquisition module 4 includes an infrared camera. It is easy to understand that the first coupling grating 61 and the second coupling grating 62 are infrared light coupling gratings, and the first coupling grating 71 is an infrared light coupling grating.

[0040] In one embodiment, the control module 5 is configured to control the first light source module 1 and the second light source module 2 to alternately turn on for a predetermined period of time so that the image acquisition module 4 can capture images. Optionally, the control module 5 controls the first light source module 1 to turn on for a predetermined period of time and then turn it off. After a period of time (for example, 10 milliseconds), the control module 5 controls the second light source module 2 to turn on for a predetermined period of time. Finally, the above process is repeated after the second light source module 2 is turned off for a period of time. In this way, the eye tracking system can capture the eyeball and pupil information of both eyes. The relative position of the image acquisition module 4 and the pupil can be used to calculate the line of sight angle of the left and right pupils, thereby obtaining the user's gaze point information.

[0041] Figure 5 is a schematic diagram of a wearable device provided by an embodiment of the present invention, such as Figure 5As shown, an embodiment of the present invention further provides a wearable device comprising an eye tracking system and an optical display system. Optionally, the wearable device is an AR / VR headset or smart glasses. The structure of the eye tracking system is as described above and will not be repeated here. Furthermore, the optical display system reuses waveguide 3. It should be noted that the wearable device has a simple structure, and waveguide 3 is a complete piece. It is easy to understand that the optical display system is used to display AR or VR images.

[0042] Figure 6 This is a schematic diagram of another perspective of a wearable device provided by an embodiment of the present invention, combined with Figure 5 and Figure 6 As shown, in one embodiment, the optical display system includes a first optical engine module 81 and a second optical engine module 82. Furthermore, the image generated by the first optical engine module 81 is transmitted to the first eye A via a waveguide 3. Correspondingly, the image generated by the second optical engine module 82 is transmitted to the second eye B via a waveguide 3. It should be noted that the first optical engine module 81 and the second optical engine module 82 each include at least one optical engine, which serves as the light source for displaying the virtual image. Optionally, the optical engine is a micro-display full-color optical engine. Figure 7 This is a schematic block diagram of the structure of a wearable device provided by an embodiment of the present invention. Figure 7 As shown, the control module 5 is also electrically connected to the first optical-mechanical module 81 and the second optical-mechanical module 82. It should be further explained that the control module 5 can be used to control the first optical-mechanical module 81 and the second optical-mechanical module 82 to display images.

[0043] Combine Figure 5 and Figure 6 As shown, in one embodiment, the waveguide 3 is provided with a third coupling-in grating 63, a fourth coupling-in grating 64, a second coupling-out grating 72, and a third coupling-out grating 73. Furthermore, the image generated by the first optical-mechanical module 81 is incident on the waveguide 3 through the third coupling-in grating 63 and is emitted to the first eye A through the second coupling-out grating 72. Correspondingly, the image generated by the second optical-mechanical module 82 is incident on the waveguide 3 through the fourth coupling-in grating 64 and is emitted to the second eye B through the third coupling-out grating 73. Thus, the optical display system can display a virtual image.

[0044] Combine Figure 5 and Figure 6 As shown, in one embodiment, the second outcoupling grating 72 is located above the first incoupling grating 61, the third outcoupling grating 73 is located above the second incoupling grating 62, the third incoupling grating 63 is located on a side of the second outcoupling grating 72 away from the third outcoupling grating 73, and the fourth incoupling grating 64 is located on a side of the third outcoupling grating 73 away from the second outcoupling grating 72. Furthermore, the first optomechanical module 81 is directly opposite the third incoupling grating 63, and the second optomechanical module 82 is directly opposite the fourth incoupling grating 64.

[0045] Figure 8 is a schematic diagram of another wearable device provided by an embodiment of the present invention, such as Figure 8 As shown, an embodiment of the present invention further provides another wearable device, which includes an eye tracking system and an optical display system. Optionally, the wearable device is an AR / VR headset or smart glasses. The structure of the eye tracking system is as described above and will not be repeated here. Furthermore, the optical display system reuses waveguide 3. It should be noted that the wearable device has a simple structure, and waveguide 3 is a complete piece. It is easy to understand that the optical display system is used to display AR or VR images.

[0046] Figure 9 is a schematic diagram of another wearable device provided by an embodiment of the present invention from another perspective, combined with Figure 8 and Figure 9 As shown, in one embodiment, the optical display system includes a third optical engine module 83. Furthermore, the image generated by the third optical engine module 83 is transmitted to the first eye A and the second eye B via the waveguide 3. It should be noted that the third optical engine module 83 includes at least one optical engine, which serves as the light source for displaying the virtual image. Optionally, the optical engine is a micro-display full-color optical engine. Figure 10 is a schematic block diagram of the structure of another wearable device provided by an embodiment of the present invention, such as Figure 10 As shown, the control module 5 is also electrically connected to the third optical-mechanical module 83. It should be further explained that the control module 5 can be used to control the third optical-mechanical module 83 to display images.

[0047] Combine Figure 8 and Figure 9 As shown, in one embodiment, the waveguide 3 is provided with a fifth coupling-in grating 65, a fourth coupling-out grating 74, and a fifth coupling-out grating 75. Furthermore, the image generated by the third optical-mechanical module 83 is incident on the waveguide 3 through the fifth coupling-in grating 65, and is emitted to the first eye A through the fourth coupling-out grating 74, and is emitted to the second eye B through the fifth coupling-out grating 75, thereby displaying a virtual image.

[0048] Combine Figure 8 and Figure 9 As shown, in one embodiment, the fourth outcoupling grating 74 is located above the first incoupling grating 61, the fifth outcoupling grating 75 is located above the second incoupling grating 62, and the fifth incoupling grating 65 is located above the first outcoupling grating 71. Furthermore, the third optical-mechanical module 83 is directly opposite the fifth incoupling grating 65 and is located above the image acquisition module 4. By cooperating with the fifth incoupling grating 65, diffraction is achieved on the left and right sides, thereby achieving a one-to-two effect. At the same time, the image acquisition module 4 achieves a one-to-two effect by cooperating with the first outcoupling grating 71, thereby facilitating efficient use of space and components and reducing costs.

[0049] In one embodiment, the control module 5 includes a processor for controlling the overall operation of the wearable device, and may include one or more processing units. For example, the processor may include at least one of a central processing unit (CPU), an application processor (AP), a modem processor, a graphics processing unit (GPU), an image signal processor (ISP), a video processing unit (VPU), a video codec, a digital signal processor (DSP), a baseband processor, and a neural network processing unit (NPU). Among them, different processing units can be independent devices or integrated into one or more processors. The controller can generate an operation control signal based on the instruction opcode and the timing signal to complete the control of obtaining and executing instructions. The processor can also be provided with a memory for storing instructions and data. The processor executes various functional applications and data processing of the smart glasses by running the instructions stored in the memory. In some embodiments, the memory is a cache memory.

[0050] An embodiment of the present invention provides an eye-tracking system and a wearable device. The eye-tracking system includes a first light source module, a second light source module, a waveguide, an image acquisition module, and a control module. The control module is configured to control the first light source module and the second light source module to be turned on in a time-sharing manner so as to emit light alternately toward the first eye and the second eye. The waveguide transmits the reflected light from the first eye and the second eye to the image acquisition module so that the image acquisition module obtains image information of the first eye and the second eye, and the control module determines the gaze point information based on the image information. As a result, the eye-tracking system helps reduce production complexity and cost, improve product yield, and enhance aesthetics and user experience.

[0051] The foregoing is merely a preferred embodiment of the present application and is not intended to limit the present application. Persons skilled in the art will readily appreciate that the present application is susceptible to various modifications and variations. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present application shall be included within the scope of protection of the present application.

Claims

1. An eye tracking system, characterized in that: The eye tracking system comprises: A first light source module (1), the first light source module (1) emits light toward the first eye (A); a second light source module (2), the second light source module (2) emitting light toward the second eye (B); a waveguide (3) for transmitting reflected light from the first eye (A) and the second eye (B); an image acquisition module (4), the image acquisition module (4) receiving the reflected light to acquire image information of the first eye (A) and the second eye (B); and A control module (5) is configured to time-share control the first light source module (1) and the second light source module (2) to turn on, and the control module (5) is further configured to determine gaze point information based on the image information.

2. The eye tracking system according to claim 1, wherein: The waveguide (3) is provided with a first coupling grating (61), a second coupling grating (62) and a first coupling grating (71); The reflected light from the first eye (A) is incident on the waveguide (3) through the first coupling-in grating (61) and is emitted to the image acquisition module (4) through the first coupling-out grating (71); The reflected light from the second eye (B) is incident on the waveguide (3) through the second coupling-in grating (62) and is emitted to the image acquisition module (4) through the first coupling-out grating (71).

3. The eye tracking system according to claim 2, wherein: The first coupling grating (61) is located in front of the first eye (A) and collimates the reflected light of the first eye (A) and then injects it into the waveguide (3); The second coupling grating (62) is located in front of the second eye (B) and collimates the reflected light of the second eye (B) and then injects it into the waveguide (3); The first out-coupling grating (71) is located between the first in-coupling grating (61) and the second in-coupling grating (62), and is located directly in front of the image acquisition module (4).

4. The eye tracking system according to claim 1, wherein: The first light source module (1) comprises at least one infrared lamp; The second light source module (2) includes at least one infrared lamp; The image acquisition module (4) includes an infrared camera.

5. The eye tracking system according to claim 1, wherein: The control module (5) is configured to control the first light source module (1) and the second light source module (2) to be alternately turned on for a predetermined period of time.

6. A wearable device, characterized in that: The wearable device includes: The eye tracking system according to any one of claims 1 to 5; and An optical display system multiplexes the waveguide (3).

7. The wearable device according to claim 6, wherein: The optical display system comprises: A first optical machine module (81), wherein the image generated by the first optical machine module (81) is transmitted to the first eye (A) through the waveguide (3); and A second optical module (82), wherein the image generated by the second optical module (82) is transmitted to the second eye (B) through the waveguide (3).

8. The wearable device according to claim 7, wherein: The waveguide (3) is provided with a third coupling grating (63), a fourth coupling grating (64), a second coupling grating (72) and a third coupling grating (73); The image generated by the first optical machine module (81) is incident on the waveguide (3) through the third coupling grating (63) and is emitted to the first eye (A) through the second coupling grating (72); The image generated by the second optical module (82) is incident on the waveguide (3) through the fourth coupling grating (64) and is emitted to the second eye (B) through the third coupling grating (73).

9. The wearable device according to claim 6, wherein: The optical display system comprises: A third optical module (83), wherein the image generated by the third optical module (83) is transmitted to the first eye (A) and the second eye (B) through the waveguide (3).

10. The wearable device according to claim 9, wherein: The waveguide (3) is provided with a fifth coupling-in grating (65), a fourth coupling-out grating (74) and a fifth coupling-out grating (75); The image generated by the third optical module (83) is incident on the waveguide (3) through the fifth coupling grating (65) and is emitted to the first eye (A) through the fourth coupling grating (74), and is emitted to the second eye (B) through the fifth coupling grating (75).

Images