Augmented reality device, information display method and device

Abstract

The present application discloses an augmented reality device, an information display method and a device. The augmented reality device includes augmented reality glasses and a sensor module that is communicatively connected to the augmented reality glasses, and the sensor module and the augmented reality glasses are independent of each other. Among them, the augmented reality glasses include: a glasses body, a marker, a communication module and a controller. The marker is arranged on the glasses body and exposed through the outer surface of the glasses body. The communication module is arranged on the glasses body and is used to communicate with the sensor module. The controller is arranged on the glasses body and is electrically connected to the communication module. Among them, the sensor module is configured to: obtain a target image containing a marker. The controller is configured to: calibrate the first coordinate system where the sensor module is located with the second coordinate system where the glasses body is located according to the target image, and obtain the calibration result. In the present application, the augmented reality glasses are smaller in size and lighter in weight, suitable for users to wear for a long time.

Description

Technical Field

[0001] The present application relates to the field of augmented reality technology, and more specifically, to an augmented reality device, an information display method and a device. Background Art

[0002] In recent years, with the advancement of science and technology, augmented reality (AR) technology has gradually become a hot topic of research at home and abroad. Users display virtual information in the real world through interactive devices (for example, augmented reality glasses), allowing users to obtain richer information in the real world.

[0003] In existing augmented reality glasses, sensors (e.g., cameras) are often provided on the outer surface of the augmented reality glasses to obtain detection information of the user's location (e.g., the detection information corresponding to the camera is a scene image of the user's location), and the detection information is processed based on the controller inside the augmented reality glasses and the processed detection information is displayed on the augmented reality glasses. For example, when a user walks to the door of a restaurant, the detection information obtained by the augmented reality glasses through the camera is a store photo of the restaurant, and the processed detection information displayed on the augmented reality glasses can be the restaurant's recommended menu, discount information, and per capita price, etc.

[0004] However, in augmented reality glasses, if you want to obtain different types of information, you must set up multiple sensors of corresponding types. For example, if the user wants to know the distance between himself and the surrounding environment (for example, a building), the augmented reality glasses need to be equipped with a distance sensor (for example, a rangefinder). Therefore, when the augmented reality glasses are equipped with multiple sensors, they will be too large and too heavy. When the user wears the augmented reality glasses for a long time, they will feel uncomfortable, which reduces the user experience. Summary of the invention

[0005] Embodiments of the present application provide an augmented reality device, an information display method, and a device.

[0006] In a first aspect, some embodiments of the present application provide an augmented reality device. The augmented reality device includes: augmented reality glasses and a sensor module that is communicatively connected to the augmented reality glasses, and the sensor module and the augmented reality glasses are independent of each other. The augmented reality glasses include: a glasses body, a marker, a communication module and a controller. The marker is disposed on the glasses body and exposed through the outer surface of the glasses body. The communication module is disposed on the glasses body and is used to communicate with the sensor. The controller is disposed on the glasses body and is electrically connected to the communication module. The sensor module is configured to obtain a target image containing a marker. The controller is configured to calibrate the first coordinate system where the sensor is located with the second coordinate system where the glasses body is located according to the target image, and obtain a calibration result.

[0007] In a second aspect, some embodiments of the present application also provide an information display method, which is applied to augmented reality glasses. The augmented reality glasses are communicatively connected to the sensor module, and the augmented reality glasses and the sensor module are independent of each other. Among them, the augmented reality glasses include a glasses body and a marker arranged on the glasses body. The method includes: obtaining a target image containing a marker obtained by the sensor. Based on the target image, obtaining a calibration result, the calibration result characterizing the mapping relationship between a first coordinate system where the sensor is located and a second coordinate system where the glasses body is located. Obtaining detection information obtained by the sensor, the detection information is information in the first coordinate system. Based on the calibration result, determining the display information corresponding to the detection information, the display information is information in the second coordinate system for display by the augmented reality glasses.

[0008] In a third aspect, some embodiments of the present application also provide an information display method, which is applied to an augmented reality device. The augmented reality device includes augmented reality glasses and a sensor module that is communicatively connected to the augmented reality glasses, and the sensor module and the augmented reality glasses are independent of each other. Among them, the augmented reality glasses include a glasses body and a marker arranged on the glasses body. The method includes: the sensor module obtains a target image containing a marker. The augmented reality glasses obtain a calibration result based on the target image, and the calibration result characterizes the mapping relationship between the first coordinate system where the sensor module is located and the second coordinate system where the glasses body is located. The sensor module obtains detection information, and the detection information is information in the first coordinate system. Based on the calibration result, the augmented reality glasses determine the display information corresponding to the detection information, and the display information is information in the second coordinate system for display by the augmented reality glasses.

[0009] In a fourth aspect, some embodiments of the present application also provide an information display device, which is applied to augmented reality glasses, the augmented reality glasses are communicatively connected with the sensor module, and the augmented reality glasses and the sensor module are independent of each other. Among them, the augmented reality glasses include a glasses body and a marker arranged on the glasses body. The device includes: a target image acquisition module, a calibration result acquisition module, a detection information acquisition module and a display information determination module. Among them, the target image acquisition module is used to acquire a target image containing a marker acquired by the sensor. The calibration result acquisition module is used to acquire a calibration result based on the target image, and the calibration result characterizes the mapping relationship between the first coordinate system where the sensor is located and the second coordinate system where the glasses body is located. The detection information acquisition module is used to acquire the detection information acquired by the sensor, and the detection information is information in the first coordinate system. The display information determination module is used to determine the display information corresponding to the detection information based on the calibration result, and the display information is information in the second coordinate system for display by the augmented reality glasses.

[0010] In a fifth aspect, an embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer program instructions, wherein the computer program instructions can be called by a processor to execute the above-mentioned information display method.

[0011] In a sixth aspect, an embodiment of the present application further provides a computer program product, which, when executed, implements the above-mentioned information display method.

[0012] The present application provides an augmented reality device, an information display method and a device. In the augmented reality device provided by the present application, the augmented reality glasses and the sensor module are independent of each other, that is, the augmented reality glasses and the sensor module are separated, so that the user can connect the augmented reality glasses and sensor modules with different functions in a targeted manner under different usage requirements to obtain different types of detection information. Therefore, the augmented reality glasses have richer functions, smaller size, lighter weight, and are suitable for users to wear for a long time. In addition, a marker is provided on the glasses body of the augmented reality glasses. By identifying the marker, the sensor module can calibrate the position with the glasses body, ensuring that the display information subsequently displayed on the information display part of the augmented reality glasses can coincide with the corresponding elements in the real world seen by the user, thereby improving the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0014] Figure 1 A schematic diagram of an augmented reality device provided in an embodiment of the present application is shown.

[0015] Figure 2 A schematic diagram of an application scenario of an augmented reality device provided in an embodiment of the present application is shown.

[0016] Figure 3 A schematic diagram of superimposed display of uncorrected detection information and annotation information and a field of view image provided in an embodiment of the present application is shown.

[0017] Figure 4 A schematic diagram of superimposed display of corrected detection information and annotation information and a field of view image provided in an embodiment of the present application is shown.

[0018] Figure 5 A schematic diagram of a marker provided in an embodiment of the present application is shown.

[0019] Figure 6 A schematic flow chart of an information display method provided in the first embodiment of the present application is shown.

[0020] Figure 7 A flow chart of an information display method provided in the second embodiment of the present application is shown.

[0021] Figure 8 A flow chart of an information display method provided in the third embodiment of the present application is shown.

[0022] Fig. 9 A module block diagram of an information display device provided in an embodiment of the present application is shown.

[0023] Fig.10 A module block diagram of a computer-readable storage medium provided in an embodiment of the present application is shown. DETAILED DESCRIPTION

[0024] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be understood as limiting the present application.

[0025] In order to enable those skilled in the art to better understand the solutions of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without making creative work are within the scope of protection of the present application.

[0026] The present application provides an augmented reality device, an information display method and a device. In the augmented reality device provided in the present application, the augmented reality glasses and the sensor module are independent of each other, that is, the augmented reality glasses and the sensor module are separated, so that the user can connect the augmented reality glasses and the sensor modules with different functions in a targeted manner under different usage requirements to obtain different types of detection information. Therefore, the augmented reality glasses have richer functions, smaller size, lighter weight, and are suitable for users to wear for a long time. In addition, a marker is provided on the glasses body of the augmented reality glasses. By identifying the marker, the sensor can calibrate the position with the glasses body, ensuring that the display information subsequently displayed on the information display part of the augmented reality glasses can coincide with the corresponding elements in the real world seen by the user, thereby improving the user's experience.

[0027] See also Figure 1 , Figure 1 An augmented reality device provided by an embodiment of the present application is schematically shown. The augmented reality device 10 includes augmented reality glasses 20 and a sensor module 30 communicatively connected to the augmented reality glasses 20, wherein the sensor module 30 and the augmented reality glasses 20 are independent of each other.

[0028] In the embodiment of the present application, the augmented reality glasses 20 include a glasses body 100, a marker 200, a communication module 300 and a controller 400. The marker 200 is disposed on the glasses body 100 and exposed through the outer surface of the glasses body 100. The communication module 300 is disposed on the glasses body 100 and is used to communicate with the sensor module 30. The controller 400 is disposed on the glasses body 100 and is electrically connected to the communication module 300.

[0029] In the embodiment of the present application, the sensor module 30 is configured to: acquire a target image containing the marker 200. The sensor module 30 may include one sensor or multiple sensors. In some embodiments, the sensor module 30 includes at least one of the following sensors: an image sensor, an infrared thermal imager, a range finder, a night vision device, and a spectrometer.

[0030] In the embodiment of the present application, the sensor module 30 includes an image acquisition component (not shown in the figure) and a detection information acquisition component.

[0031] The image acquisition component is used to acquire a target image containing the marker 200. Exemplarily, the image acquisition component may be an image sensor (eg, a camera).

[0032] The detection information acquisition component is used to detect the scene in the real world and obtain the corresponding detection information. Exemplarily, if the sensor is an infrared thermal imager, the corresponding detection information is the infrared image corresponding to the scene in the real world collected by the infrared thermal imager. If the sensor is a ranging sensor, the corresponding detection information is the distance information between the ranging sensor and the target object in the real world. If the sensor is a night vision device, the corresponding detection information is the night vision image corresponding to the scene in the real world. If the sensor is a spectrometer, the corresponding detection information is the spectral information of the ambient light corresponding to the scene in the real world. The embodiments of the present application do not specifically limit the specific type of sensor.

[0033] In other embodiments, the image acquisition component and the detection information acquisition component may be implemented by the same hardware. Taking the sensor as an image sensor as an example, the image acquired by the image sensor may include both markers and real-world scenes.

[0034] It should be noted here that in the augmented reality device 10 provided in the present application, the sensor module 30 and the augmented reality glasses 20 are independent of each other, that is, there is no physical connection relationship between the sensor module 30 and the augmented reality glasses 20. For example, the sensor module 30 and the augmented reality glasses 20 communicate with each other through wireless communication, rather than establishing communication through a data line and a signal interface to establish wired communication; for another example, there is no hardware coordination (for example, a fixing groove, a clamping mechanism, etc.) between the sensor module 30 and the augmented reality glasses 20, so that the sensor module 30 can be fixed on the top of the augmented reality glasses 20. In the embodiment of the present application, since the sensor module 30 and the augmented reality glasses 20 are independent of each other, the augmented reality glasses are smaller in size and lighter in weight, and are suitable for users to wear for a long time.

[0035] In some embodiments, the sensor module 30 also includes a mounting component (not shown) suitable for installation on a movable platform. The movable platform can be a movable vehicle such as an unmanned vehicle or a drone, and a fixing component that matches the mounting component on the sensor module 30 is provided on the movable platform, so that the sensor module 30 can be fixed on the movable platform by the fixing component. Among them, the mounting component and the fixing component can be a pasting mechanism, a threaded connection mechanism, etc. In an embodiment of the present application, the sensor module 30 is arranged on the movable platform, and then the user controls the movable platform so that the sensor module 30 can collect the detection information in the blind spot of the user's visual field. For example, when the user wears the augmented reality glasses 20 in the wild, if there is a bush in the user's visual field, at this time, the user can control the movable platform to bypass the bush so that the sensor module 30 can collect the detection information behind the bush. It should be noted here that the detection information collected by the sensor module 30 and the real world seen by the user through the augmented reality glasses 20 need to ensure a certain scene overlap, so that the display information corresponding to the detection information can overlap with the corresponding elements in the real world seen by the user.

[0036] In some embodiments, the sensor module 30 can also be set on the user's body through a mounting component. Exemplarily, the sensor module 30 can be fixed to the top of the user's head through a mounting component (such as a strap, etc.), or it can be fixed to the user's ear (for example, through an ear hook, etc.). It should be noted that when the sensor module 30 is set at a certain position on the human body, it is necessary to ensure that the target image containing the marker 200 can be obtained through the image acquisition component at the corresponding position, so as to ensure that the sensor module 30 can smoothly complete the calibration of the coordinate system with the augmented reality glasses 20 during subsequent use. In an embodiment of the present application, the sensor module 30 is installed at a position other than the glasses body 100 through a mounting portion, so that the augmented reality glasses 20 are more lightweight and the wearing comfort of the user is ensured.

[0037] In the embodiment of the present application, the controller 400 is configured to: calibrate the first coordinate system where the sensor module 30 is located and the second coordinate system where the eyeglass body 100 is located according to the target image, and obtain a calibration result.

[0038] See also Figure 2 , Figure 2 The following is a schematic diagram of an application scenario of an augmented reality glasses provided by an embodiment of the present application. Figure 2In the embodiment, the sensor module 30 is an image acquisition component, and the user can view the field of view image 610 corresponding to the person 600 in the real world through the glasses body 100 of the augmented reality glasses. At the same time, the sensor module 30 corresponding to the augmented reality glasses can collect the detection information 620 corresponding to the person 600, and obtain the additional annotation information 622 corresponding to the detection information 620 through the controller. Figure 2 In the application scenario shown, the additional annotation information 622 is the type information and gender information of the character. Since the sensor module 30 and the glasses body 100 are located at different positions, if the augmented reality glasses 20 do not calibrate the display position of the detection information 620 and the additional annotation information 622, and directly display the detection information 620 and the additional annotation information 622 on the glasses body 100, the position of the detection information 620 and the additional annotation information 622 corresponding to the same object (for example, the detection information and annotation information corresponding to Child 1) will deviate from the position of the same object (for example, Child 1) in the field of view image 610 seen by the user through the glasses body 100. Please refer to Figure 3 , Figure 3 A schematic diagram of the superimposed display of uncorrected detection information and annotation information and a field of view image provided by an embodiment of the present application is schematically shown. On the one hand, the above-mentioned deviation phenomenon is caused by the fact that the sensor module 30 and the eyeglass body 100 are in different spatial positions; on the other hand, the above-mentioned deviation phenomenon is caused by the fact that the detection angle of the sensor module 30 is relatively tilted relative to the angle at which the user wears the augmented reality glasses 20. Therefore, when displaying the detection information, it is necessary to correct the position deviation between the position of the detection information and additional annotation information of the same object and the position of the same object in the field of view image. In an embodiment of the present application, the controller 400 determines the mapping relationship between the first coordinate system where the sensor module 30 is located and the second coordinate system where the eyeglass body 100 is located, that is, the calibration result, based on the target image containing the marker 200. In the subsequent steps, the controller 400 can accurately display the detection information on the augmented reality glasses 20 based on the above-mentioned calibration result, that is, accurately superimpose the detection information and additional annotation information of the same object with the same object in the field of view image. Please refer to Figure 4 , Figure 4 The schematic diagram of the superposition display of the corrected detection information and annotation information and the visual field image provided by the embodiment of the present application is schematically shown. Specifically, the specific implementation method of the controller 400 obtaining the calibration result based on the target image is described in detail in the following embodiment.

[0039] Please refer again Figure 1The glasses body 100 includes a frame portion 110 and a lens portion 120, and the lens portion 120 is detachably fixed to the frame portion 110. In some embodiments, the frame portion 110 includes a storage cavity (not shown in the figure), and the communication module 300 and the controller 400 are arranged in the storage cavity. The storage cavity is used to provide protection for the communication module 300 and the controller 400, so as to prevent the communication module 300 and the controller 400 from being impacted by external forces and causing internal components to be dislocated or damaged, thereby extending the service life of the augmented reality glasses 20.

[0040] Please refer again Figure 1 In some embodiments, the eyeglass body 100 further includes an information display unit 130, which is used to display the display information output by the controller 400. The sensor module 30 is also configured to obtain detection information, wherein the detection information is information in a first coordinate system. The controller 400 is also configured to determine the display information corresponding to the detection information according to the calibration result, wherein the display information is information in a second coordinate system. Finally, the display information is displayed on the information display unit 130. In the application embodiment, the controller 400 converts the detection information in the first coordinate system into display information in the second coordinate system based on the calibration result, so that the display information and the real-world field of view image seen by the user through the augmented reality glasses 20 are information in the same coordinate system, avoiding the situation where the information that needs to be displayed for the corresponding object in the detection information and the same object in the field of view image have a position deviation, thereby ensuring a good user experience. Specifically, the specific implementation method of the controller 400 determining the display information based on the calibration result is described in detail in the following embodiments.

[0041] In some embodiments, the information display unit 130 may include a combination of a projection device and a projection lens. The projection device is disposed on the frame portion 110, and is used to project the display information output by the controller 400 onto the projection lens. The projection lens may be integrated into the lens portion 120, and is used to display the display information. It should be noted here that the user can simultaneously see the display information on the projection lens and the real world behind the projection lens through the projection lens. In other embodiments, the information display unit 130 may be a transparent display screen (such as a display screen made of OLED) disposed on the lens portion 120, so that the controller 400 can output images and other information to the transparent display screen. After the information is displayed on the transparent display screen, the user can see the superposition of the information and the real world through the transparent display screen. Among them, the transparent display screen can establish a wired connection with the controller 400 via a data cable or establish a wireless connection with the controller 400 via a communication interface.

[0042] See also Figure 5 , Figure 5A schematic diagram of a marker provided in an embodiment of the present application is schematically shown. In an embodiment of the present application, the marker 200 includes a background 210 and a plurality of feature points 220 distributed on the background 210, and the plurality of feature points 220 are configured to be distinguished from the background 210 so as to be recognized by the sensor module 30. The shape of the marker 200 may be circular, rectangular, or triangular, which is not specifically limited in the present embodiment. In some embodiments, the plurality of feature points 220 are distinguished from the background 210 by color information, for example, the background 210 of the marker 200 is white, and the plurality of feature points 220 are black. As an embodiment, the marker 200 is a marking code. Specifically, the marking code may be DeepTag, RuneTag, AprilTag, TopoTag, QR, ARToolkit, ARUCO, AprilTag, ARToolkit+, etc., which are not specifically limited in the present embodiment of the present application.

[0043] In the embodiment of the present application, the communication module 300 may include one or more of a ZigBee module, a Bluetooth function module, an NFC function module, and a WIFI function module, and the controller 400 establishes a communication connection with the sensor module 30 through the communication module 300. In other embodiments, the communication module 300 includes a signal interface and a data line. The signal interface is electrically connected to the controller 400, and the sensor module 30 establishes a wired connection with the augmented reality glasses 20 through the data line and the signal interface. In the embodiment of the present application, the specific implementation method of the communication module 300 is not specifically limited.

[0044] In an embodiment of the present application, the controller 400 may include a processor, a memory and a substrate. Among them. The processor and the memory are respectively fixedly connected to the substrate, and the processor and the memory are communicatively connected. The processor may include one or more processing cores, and the calibration results are obtained and the detection information is converted by running instructions, programs, code sets or instruction sets stored in the memory, and calling data stored in the memory. Optionally, the processor may integrate a central processing unit (CPU), a graphics processing unit (GPU), a modem, etc. One or more combinations thereof. The memory may include a random access memory (RAM) and may also include a read-only memory (Read-Only Memory). The memory can be used to store instructions, programs, codes, code sets or instruction sets.

[0045] In some embodiments, the sensor module 30 includes a plurality of sensors, and the number of the markers 200 is multiple. The plurality of markers 200 are arranged on the eyeglass body 100 at intervals, and the plurality of markers 200 are suitable for one-to-one correspondence between the plurality of sensors. In the embodiment of the present application, by setting a plurality of markers 200 on the eyeglass body 100, the plurality of sensors can be bound to the augmented reality glasses 20 through the corresponding markers 200, ensuring that in the subsequent use of the plurality of sensors, the plurality of detection information obtained by the plurality of sensors can be accurately displayed on the augmented reality glasses 20. Further, the plurality of detection information obtained by the plurality of sensors can further enrich the real-world scene observed by the user. For example, the augmented reality glasses 20 worn by the user are provided with markers 200 corresponding to the infrared thermal imager and the ranging sensor. Therefore, the detection information collected by the infrared thermal imager and the ranging sensor can be accurately displayed on the augmented reality glasses 20, that is, the user can see the infrared image of the target person in the real-world scene and the distance information to the target person by wearing the augmented reality glasses 20 in the dark.

[0046] In some embodiments, the plurality of sensors include a first sensor and a second sensor, and the plurality of markers 200 include a first marker corresponding to the first sensor and a second marker corresponding to the second sensor. The first sensor is configured to obtain a first target image containing the first marker. The second sensor is configured to obtain a second target image containing the second marker. The controller 400 is also configured to calibrate the first sub-coordinate system where the first sensor is located with the second coordinate system where the eyeglass body 100 is located according to the first target image to obtain a first calibration result. The controller 400 is also configured to calibrate the second sub-coordinate system where the second sensor is located with the second coordinate system where the eyeglass body 100 is located according to the second target image to obtain a second calibration result. In an embodiment of the present application, when the controller 400 determines the first calibration result based on the first target image and determines the second calibration result based on the second target image, in a subsequent step, the controller 400 accurately displays the first detection information obtained by the first sensor and the second detection information obtained by the second sensor on the augmented reality glasses 20. Specifically, the specific implementation manner in which the controller 400 determines the first calibration result based on the first target image and determines the second calibration result based on the second target image is described in detail in the following embodiments.

[0047] See also Figure 6 , Figure 6 The present invention schematically shows an information display method provided by the first embodiment of the present invention. The method is applied to Figure 1The augmented reality glasses, wherein the augmented reality glasses are communicatively connected with the sensor module, the augmented reality glasses and the sensor module are independent of each other, and the augmented reality glasses include a glasses body and a marker arranged on the glasses body. The method calibrates the first coordinate system where the sensor module is located and the second coordinate system where the glasses body is located through the target image containing the marker acquired by the sensor module, obtains the calibration result, and then converts the detection information in the first coordinate system into display information in the second coordinate system based on the calibration result. The method provided in the embodiment of the present application realizes the coordinate system calibration of the sensor module and the augmented reality glasses by identifying the marker, thereby ensuring that the subsequent display information can coincide with the corresponding elements in the real world seen by the user, thereby improving the user experience. Specifically, the method may include the following steps S610 to S640.

[0048] Step S610: Acquire a target image including a marker acquired by the sensor module.

[0049] As an implementation mode, when the controller detects that the sensor module is in communication connection, the controller sends a target image request signal to the sensor module. When the sensor module receives the target image request signal, the sensor module acquires the marker on the augmented reality glasses and sends the acquired target image containing the marker to the controller. Exemplarily, a communication connection flag is set in the controller. The controller determines whether it is in communication with the sensor module by reading the value of the communication connection flag. When the value of the communication connection flag is a preset value, it is determined that the sensor module is in communication; otherwise, it is determined that the sensor module is disconnected.

[0050] As another implementation, when the sensor module receives the start signal, it sends a detection signal to the controller to determine whether the sensor module and the augmented reality glasses are in a communication connection state. If the sensor module receives a confirmation signal sent by the controller in response to the detection signal, it indicates that the sensor module and the augmented reality glasses are in a communication connection state. In this case, the sensor module acquires the marker on the augmented reality glasses and sends the acquired target image containing the marker to the controller.

[0051] Step S620: Obtain a calibration result based on the target image.

[0052] The calibration result represents the mapping relationship between the first coordinate system where the sensor module is located and the second coordinate system where the eyeglass body is located. The first coordinate system and the second coordinate system can be a Cartesian rectangular coordinate system, a plane polar coordinate system, a cylindrical coordinate system, a spherical coordinate system, etc. The first coordinate system and the second coordinate system can be the same type of coordinate system or different types of coordinate system, which is not specifically limited in the embodiments of the present application. For example, please refer to Figure 2, wherein the first coordinate system where the sensor module 30 is located can be a Cartesian rectangular coordinate system composed of the u-axis, v-axis and w-axis; the second coordinate system where the eyeglass body 100 is located can be a Cartesian rectangular coordinate system composed of the x-axis, y-axis and z-axis.

[0053] In the embodiment of the present application, the controller determines the relative orientation information between the sensor module and the marker based on the target image, and determines the calibration results of the first coordinate system and the second coordinate system based on the relative orientation information; wherein the relative orientation information includes relative position information and relative rotation information. Specifically, step S620 may include steps S622 to S626.

[0054] Step S622: Analyze the image features of the marker in the target image.

[0055] As an implementation, a target recognition algorithm is provided in the controller, and based on the target recognition algorithm, the position of the marker in the target image is determined. Exemplarily, the target recognition algorithm may be a target recognition algorithm based on a sliding window, an algorithm based on an R-CNN neural network, and the like.

[0056] In an embodiment of the present application, the image features of the marker are characterized by the pixel coordinates of multiple feature points in the marker. Among them, the pixel coordinates are the coordinates of multiple feature points in the image coordinate system corresponding to the target image. In some embodiments, the marker is composed of multiple regular figures, and the multiple feature points can be the vertices of the regular figures or the center points of the regular figures. When the position of the marker is determined, the controller identifies the multiple feature points in the marker, and then determines the pixel coordinates of the multiple feature points in the target image. Exemplarily, a first graphic matching algorithm and a pre-stored image corresponding to the marker are provided in the controller, and feature points to be identified are pre-marked in the pre-stored image. Based on the feature points to be identified in the pre-stored image, the first graphic matching algorithm can determine the feature points of the corresponding position of the marker in the target image. The first graphic matching algorithm can be a template matching algorithm, a feature matching algorithm, a matching algorithm based on deep learning, and the like.

[0057] In some embodiments, if the controller fails to identify the marker in the target image through the target recognition algorithm, in this case, it may be caused by the occlusion between the sensor module and the marker, and the controller may display a reminder message in the information display unit to remind the user to deal with the occlusion. For example, the reminder message may be "XX sensor did not obtain the marker, please check whether there is any occlusion."

[0058] In some embodiments, before the controller identifies the multiple feature points in the marker after determining the position of the marker, it also includes a step of image preprocessing the target image. As an embodiment, the controller extracts a sub-target image containing the marker based on the position information of the marker after determining the position of the marker, and processes the sub-target image based on a preset image processing algorithm. The image processing algorithm may be an image contrast enhancement algorithm or an image sharpening algorithm. Through the image preprocessing step, the color contour difference between the feature points in the marker and the background can be made more obvious, ensuring that subsequent feature points are extracted quickly and accurately.

[0059] Step S624: Obtain the relative position information between the sensor module and the augmented reality glasses based on the image features.

[0060] In an embodiment of the present application, the relative orientation information is determined based on the pixel coordinates, physical coordinates and physical parameters of the sensor module of multiple feature points. Among them, the physical coordinates of the multiple feature points are the coordinates of the feature points in the second coordinate system where the glasses body is located. That is, the physical coordinates of the multiple feature points represent the actual physical positions of the multiple feature points on the augmented reality glasses. The controller can determine the physical coordinates of the multiple feature points by reading the physical positions of the markers on the augmented reality glasses and the physical positions of the feature points on the markers. The physical parameters of the sensor module represent the parameters used when acquiring the target image. The physical parameters of the sensor module can be the focal length of the sensor module, the field of view size parameters, etc. The controller can determine the physical parameters of the sensor module by reading the parameter information corresponding to the sensor module.

[0061] The controller obtains the relative orientation information between the sensor module and the augmented reality glasses when determining the pixel coordinates, physical coordinates and physical parameters of the sensor module corresponding to the feature points. As an embodiment, the relative orientation information may include relative position information and relative rotation information. The relative position information characterizes the movement state between the first coordinate system and the second coordinate system, that is, the freedom of movement of the sensor module in the second coordinate system and each coordinate axis of the second coordinate system. The relative rotation information represents the rotation state between the sensor module and the second coordinate system, that is, the freedom of rotation of the sensor module in the second coordinate system and each coordinate axis of the second coordinate system. Then the relative orientation information is the six-degree-of-freedom information of the sensor module in the second coordinate system, which can represent the rotation and movement state of the sensor module in the second coordinate system, that is, the angle and distance between the field of view of the sensor module and each coordinate axis in the second coordinate system can be obtained. As an embodiment, the controller calculates the relative orientation information between the sensor module and the augmented reality glasses by a preset algorithm (e.g., SVD algorithm) when determining the pixel coordinates, physical coordinates and physical parameters of the sensor module corresponding to the feature points.

[0062] Specifically, in some other embodiments, when the controller obtains the feature point in step S624, the pixel coordinates of the feature point are further obtained. After obtaining the pixel coordinates of the feature point, the controller is also used to determine the relative position relationship between multiple feature points in the target image according to the pixel coordinates of the feature point, thereby obtaining the spatial posture of the marker (for example, posture information relative to the sensor module); then, according to the pixel sizes of the multiple feature points in the target image, the spatial distance of the marker (or each feature point) relative to the sensor module is calculated; finally, the relative orientation information of the marker relative to the sensor module can be obtained according to the spatial posture and the spatial distance.

[0063] Step S626: Determine the calibration result based on the relative position information.

[0064] In the embodiment of the present application, the calibration result is achieved through a calibration matrix. As an implementation mode, when the controller determines the relative orientation information, the relative orientation information is stored in the controller in the form of a matrix. Among them, the calibration matrix includes a position matrix and a rotation matrix. The position matrix represents the relative position information in the relative orientation information, and the rotation matrix represents the relative rotation information in the relative orientation information.

[0065] It should be noted here that, when the controller determines the calibration matrix corresponding to the sensor module, in subsequent operations, the detection information obtained by the sensor module in the first coordinate system can be converted into corresponding information in the second coordinate system based on the calibration matrix, that is, display information. Therefore, the controller can realize the coordinate conversion between the first coordinate system and the second coordinate system through the calibration matrix.

[0066] Step S630: Acquire detection information acquired by the sensor module.

[0067] The detection information is information in the first coordinate system. As an implementation mode, the controller sends a detection information acquisition signal to the sensor module when determining the calibration result of the sensor module. When the sensor module receives the detection information acquisition signal, it acquires the detection information in real time and sends the detection information to the controller. As another implementation mode, after sending the target image containing the marker to the controller, the sensor module automatically turns on the detection information acquisition function, acquires the detection information and sends it to the controller. For example, taking the case where a user wears augmented reality glasses at night, the scene of the real world seen by the user through the augmented reality glasses may be a dark scene. At this time, if the augmented reality glasses establish a communication connection with the infrared thermal imager, the infrared image acquired by the infrared thermal imager can be acquired; if the augmented reality glasses establish a communication connection with the night vision goggles, the night vision image acquired by the night vision goggles can be acquired; if the augmented reality glasses establish a communication connection with the ranging sensor module, the distance information between the ranging sensor module and the target object in the real world can be acquired.

[0068] Step S640: Based on the calibration result, determine the display information corresponding to the detection information.

[0069] The display information is information in a second coordinate system for display by augmented reality glasses. In an embodiment of the present application, the detection information includes first position data in a first coordinate system, and the first position data and the calibration matrix corresponding to the calibration result are subjected to corresponding product operations, that is, the second position data in the second coordinate system can be obtained, that is, the display information corresponding to the detection information. Exemplarily, taking the detection information as an infrared image acquired by an infrared thermal imager as an example, the detection information includes the first position data of the infrared image in the first coordinate system, and the first position data and the calibration matrix corresponding to the infrared thermal imager are subjected to point multiplication operations, that is, the second position data in the second coordinate system can be obtained, that is, the infrared image in the second coordinate system. In subsequent steps, the augmented reality glasses can display the infrared image in the second coordinate system on the information display unit in the augmented reality glasses, and the user can simultaneously see the scene of the real world (for example, a dark scene at night) and the infrared image corresponding to the scene through the information display unit.

[0070] In some embodiments, please refer again to Figure 2 ,exist Figure 2In the embodiment of the present invention, a user wearing augmented reality glasses can see the scene of children playing in the real world through the glasses body, and the sensor module (that is, image acquisition component) corresponding to the augmented reality glasses can collect the detection information corresponding to the scene. The controller processes the detection information and obtains the additional annotation information corresponding to the detection information (that is, the type information and gender information of the character). When the detection information and the additional annotation information are obtained, if the controller does not correct the display position of the detection information and the additional annotation information, and directly displays the detection information and the additional annotation information on the glasses body, the position of the detection information and the additional annotation information corresponding to the child and the position of the same child seen by the user through the glasses body will deviate. In this case, the controller transforms the first position data in the first coordinate system corresponding to the detection information and the additional annotation information to the second coordinate system through the calibration matrix to obtain the second position data, that is, to obtain the display data. The controller displays the display data on the glasses body, so that the detection information and the additional annotation information of the child are accurately superimposed with the same child in the field of view image.

[0071] The present application embodiment provides an information display method. The method is applied to Figure 1 The augmented reality glasses include a glasses body and a marker disposed on the glasses body. In the method, by identifying the marker, the coordinate system of the sensor module and the augmented reality glasses is calibrated, ensuring that the subsequent displayed information can coincide with the corresponding elements in the real world seen by the user, thereby improving the user experience.

[0072] See also Figure 7 , Figure 7 The following schematically shows an information display method provided by the second embodiment of the present application. The method is applied to Figure 1 The augmented reality glasses include a glasses body and a marker disposed on the glasses body. The number of the markers is multiple, and the multiple markers include a first marker corresponding to the first sensor and a second marker corresponding to the second sensor. Specifically, the method may include the following steps S710 to S780.

[0073] Step S710: Acquire a first target image including a first marker acquired by a first sensor.

[0074] Step S720: Acquire a second target image including a second marker acquired by a second sensor.

[0075] The specific implementation of steps S710 to S720 can refer to the specific introduction of step S610, which will not be repeated here.

[0076] Step S730: Based on the first target image, obtain a first calibration result.

[0077] The first calibration result represents a first mapping relationship between a first sub-coordinate system where the first sensor is located and a second coordinate system where the glasses body is located.

[0078] Step S740: Based on the second target image, obtain a second calibration result.

[0079] The second calibration result represents a second mapping relationship between the second sub-coordinate system where the second sensor is located and the second coordinate system where the glasses body is located.

[0080] The specific implementation of steps S730 to S740 can refer to the specific introduction in step S620, which will not be repeated here.

[0081] It should be noted here that, since multiple markers are provided on the augmented reality glasses, in the first target image and the second target image acquired by the controller, a situation where multiple markers are captured in one target image may occur. For example, the first marker and the second marker are acquired in the first target image at the same time. Therefore, when the controller determines the position of the first marker in the first target image through the target recognition algorithm, and when determining the position of the second marker in the second target image, a situation where multiple markers are determined may occur.

[0082] Therefore, when the controller determines that there are multiple markers in the target image, the controller determines the sensor for acquiring the target image through the parameter information of the target image, and then determines the marker corresponding to the sensor by searching the first mapping table, and then determines the marker corresponding to the target image from the multiple markers. The first mapping table represents the one-to-one correspondence between different types of sensors and different markers. For example, there is a one-to-one correspondence between the first sensor and the first marker, and there is a one-to-one correspondence between the second sensor and the second marker. Exemplarily, when the controller determines that there are multiple markers in the first target image, based on the parameter information of the first target image, the controller determines that the first target image is acquired by the first sensor, and then determines the first marker corresponding to the first sensor by searching the first mapping table, and then determines the first marker among the multiple markers as the marker corresponding to the first target image. Specifically, a second graphic matching algorithm may be provided in the controller, and based on the second graphic matching algorithm, the controller matches the first marker from the multiple markers as the marker corresponding to the first target image. The second graphic matching algorithm may be a template matching algorithm, a feature matching algorithm, a matching algorithm based on deep learning, and the like.

[0083] Step S750: Acquire first detection information acquired by the first sensor.

[0084] The first detection information is information in the first sub-coordinate system.

[0085] Step S760: Acquire the second detection information acquired by the second sensor.

[0086] The second detection information is information in the second sub-coordinate system.

[0087] The specific implementation of steps S750 to S760 can refer to the specific introduction in step S630, which will not be repeated here.

[0088] Step S770: Based on the first calibration result, determine the first display information corresponding to the first detection information.

[0089] The first display information is information in the second coordinate system for display by the augmented reality glasses.

[0090] Step S780: Based on the second calibration result, determine the second display information corresponding to the second detection information.

[0091] The second display information is information in a second coordinate system for display by the augmented reality glasses.

[0092] The specific implementation of steps S770 to S780 can refer to the specific introduction in step S640, which will not be repeated here.

[0093] In some embodiments, the controller, after determining the first display information corresponding to the first detection information and the second display information corresponding to the second detection information, further displays the first detection information and the second detection information simultaneously on the information display unit in the augmented reality glasses. Exemplarily, taking the first sensor as an infrared thermal imager and the second sensor as a ranging sensor as an example, the first display information corresponding to the infrared thermal imager is an infrared image in a second coordinate system, and the second display information corresponding to the ranging sensor is the distance information between the glasses body and the target object in the real-world scene. In an embodiment of the present application, the controller can display both the first display information and the second display information on the information display unit at the same time, so that the user can simultaneously see the real-world scene (for example, a dark scene at night) and the infrared image corresponding to the scene through the information display unit. If the infrared image contains an infrared image corresponding to the target person, the user can also see the distance information between the target person and the information display unit.

[0094] The present application embodiment provides an information display method. The method is applied to Figure 1The augmented reality glasses include a glasses body and a marker disposed on the glasses body. The number of the markers is multiple, and the multiple markers include a first marker corresponding to the first sensor and a second marker corresponding to the second sensor. In this method, by identifying multiple markers, the coordinate system of multiple sensors and the augmented reality glasses is calibrated, ensuring that the multiple display information collected by the subsequent multiple sensors can overlap with the corresponding elements in the real world seen by the user, further enriching the real world scene observed by the user.

[0095] See also Figure 8 , Figure 8 The third embodiment of the present application provides an information display method. Figure 1 The method includes the following steps S810 to S840:

[0096] Step S810: The sensor module acquires a target image including a marker.

[0097] Step S820: The augmented reality glasses obtain a calibration result based on the target image.

[0098] The calibration result represents the mapping relationship between the first coordinate system where the sensor module is located and the second coordinate system where the glasses body is located.

[0099] Step S830: The sensor module obtains detection information.

[0100] The detection information is information in the first coordinate system.

[0101] Step S840: The augmented reality glasses determine the display information corresponding to the detection information based on the calibration results.

[0102] The display information is information in the second coordinate system for display by the augmented reality glasses.

[0103] The specific implementation of steps S810 to S840 may refer to the specific introduction of steps S610 to S640, which will not be described in detail here.

[0104] The present application provides an information display method, which is applied to Figure 1In the method, the augmented reality glasses in the augmented reality device acquire a target image containing a marker based on the sensor module, and calibrate the coordinate system of the sensor module and the augmented reality glasses, thereby ensuring that the subsequent displayed information can coincide with the corresponding elements in the real world seen by the user, thereby improving the user experience.

[0105] See also Fig. 9 , Fig. 9 An information display device 900 provided by an embodiment of the present application is schematically shown. The device 900 is applied to augmented reality glasses, the augmented reality glasses are connected to the sensor module in communication, the augmented reality glasses and the sensor module are independent of each other, and the augmented reality glasses include a glasses body and a marker arranged on the glasses body. Among them, the device 900 includes: a target image acquisition module 910, a calibration result acquisition module 920, a detection information acquisition module 930 and a display information determination module 940. Among them, the target image acquisition module 910 is used to acquire a target image containing a marker acquired by the sensor module. The calibration result acquisition module 920 is used to acquire a calibration result based on the target image, and the calibration result characterizes the mapping relationship between the first coordinate system where the sensor module is located and the second coordinate system where the glasses body is located. The detection information acquisition module 930 is used to acquire the detection information acquired by the sensor module, and the detection information is information in the first coordinate system. The display information determination module 940 is used to determine the display information corresponding to the detection information based on the calibration result, and the display information is information in the second coordinate system for display by the augmented reality glasses.

[0106] In some embodiments, the calibration result acquisition module 920 is also used to analyze the image features of the marker in the target image; obtain the relative orientation information between the sensor module and the augmented reality glasses based on the image features; and determine the calibration result based on the relative orientation information.

[0107] In some embodiments, the number of markers is multiple, and the multiple markers include a first marker corresponding to the first sensor and a second marker corresponding to the second sensor. The target image acquisition module 910 is also used to acquire a first target image containing a first marker acquired by the first sensor, and the first sensor and the augmented reality glasses are connected in communication. The target image acquisition module 910 is also used to acquire a second target image containing a second marker acquired by the second sensor, and the second sensor and the augmented reality glasses are connected in communication. The calibration result acquisition module 920 is also used to acquire a first calibration result based on the first target image, and the first calibration result represents a first mapping relationship between the first sub-coordinate system where the first sensor is located and the second coordinate system where the glasses body is located. The calibration result acquisition module 920 is also used to acquire a second calibration result based on the second target image, and the second calibration result represents a second mapping relationship between the second sub-coordinate system where the second sensor is located and the second coordinate system where the glasses body is located. The detection information acquisition module 930 is also used to acquire the first detection information acquired by the first sensor, and the first detection information is information under the first sub-coordinate system. The detection information acquisition module 930 is also used to obtain the second detection information obtained by the second sensor, and the second detection information is information in the second sub-coordinate system. The display information determination module 940 is also used to determine the first display information corresponding to the first detection information based on the first calibration result, and the first display information is information in the second coordinate system for display by the augmented reality glasses. The display information determination module 940 is also used to determine the second display information corresponding to the second detection information based on the second calibration result, and the second display information is information in the second coordinate system for display by the augmented reality glasses.

[0108] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described devices and modules can refer to the corresponding processes in the aforementioned method embodiments, and will not be repeated here.

[0109] In several embodiments provided in the present application, the coupling between modules may be electrical, mechanical or other forms of coupling.

[0110] In addition, each functional module in each embodiment of the present application can be integrated into a processing module, or each module can exist physically separately, or two or more modules can be integrated into one module. The above integrated modules can be implemented in the form of hardware or software functional modules.

[0111] The present invention provides an information display device, which is applied to Figure 1In the device, the augmented reality glasses realize the coordinate system calibration of the sensor module and the augmented reality glasses by identifying the marker, thereby ensuring that the subsequent displayed information can coincide with the corresponding elements in the real world seen by the user, thereby improving the user experience.

[0112] See also Fig.10 , which shows that an embodiment of the present application also provides a computer-readable storage medium 1000, in which computer program instructions 1010 are stored. The computer program instructions 1010 can be called by a processor to execute the method described in the above embodiment.

[0113] The computer-readable storage medium may be an electronic memory such as a flash memory, an EEPROM (electrically erasable programmable read-only memory), an EPROM, a hard disk, or a ROM. Optionally, the computer-readable storage medium includes a non-transitory computer-readable storage medium. The computer-readable storage medium 1000 has storage space for computer program instructions 1010 for executing any method step of the above method. These computer program instructions 1010 can be read from or written to one or more computer program products.

[0114] The above are only preferred embodiments of the present application, and are not intended to limit the present application in any form. Although the present application has been disclosed as above with preferred embodiments, it is not intended to limit the present application. Any technical personnel in the field can make some changes or modify the technical contents disclosed above into equivalent embodiments without departing from the scope of the technical solution of the present application. However, any brief modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present application without departing from the content of the technical solution of the present application are still within the scope of the technical solution of the present application.

Claims

1. An augmented reality device, characterized in that: It includes augmented reality glasses and a sensor module that is communicatively connected to the augmented reality glasses, wherein the sensor module and the augmented reality glasses are independent of each other; The augmented reality glasses include: The glasses body is provided with an information display portion; A marker is disposed on the eyeglass body and exposed through the outer surface of the eyeglass body; a communication module, disposed on the glasses body and used for communicating with the sensor module; and A controller, disposed on the glasses body and electrically connected to the communication module; Wherein, the sensor module is configured to: obtain a target image including the marker; obtain detection information, wherein the detection information is information in a first coordinate system; the controller is configured to: calibrate the first coordinate system where the sensor module is located and the second coordinate system where the eyeglass body is located according to the target image, and obtain a calibration result; determine display information corresponding to the detection information according to the calibration result; the display information is the corresponding information of the detection information in the second coordinate system after the detection information is converted according to the calibration result; and display the display information on the information display unit.

2. The augmented reality device according to claim 1, characterized in that: The sensor module includes a plurality of sensors, and the number of the markers is plural. The markers are arranged on the eyeglass body at intervals from each other, and the markers are suitable for one-to-one correspondence with the sensors.

3. The augmented reality device according to claim 2, characterized in that: The plurality of sensors include a first sensor and a second sensor, the plurality of markers include a first marker corresponding to the first sensor and a second marker corresponding to the second sensor; the first sensor is configured to: acquire a first target image including the first marker; the second sensor is configured to: acquire a second target image including the second marker; the controller is configured to: Calibrate a first sub-coordinate system where the first sensor is located and a second coordinate system where the glasses body is located according to the first target image to obtain a first calibration result; The second sub-coordinate system where the second sensor is located and the second coordinate system where the glasses body is located are calibrated according to the second target image to obtain a second calibration result.

4. The augmented reality device according to any one of claims 1 to 3, characterized in that: The sensor module includes at least one of the following sensors: Image sensors, thermal imagers, range finders, night vision devices and spectrometers.

5. An information display method, characterized in that: The method is applied to augmented reality glasses, the augmented reality glasses are communicatively connected with a sensor module, and the augmented reality glasses and the sensor module are independent of each other; The augmented reality glasses include a glasses body and a marker disposed on the glasses body, and the method includes: Acquiring a target image including the marker acquired by the sensor module; Based on the target image, a calibration result is obtained, where the calibration result represents a mapping relationship between a first coordinate system where the sensor module is located and a second coordinate system where the glasses body is located; Acquire detection information acquired by the sensor module, where the detection information is information in the first coordinate system; Based on the calibration result, display information corresponding to the detection information is determined, and the display information is corresponding information of the detection information in the second coordinate system after conversion of the calibration result, so as to be displayed by the augmented reality glasses.

6. The method according to claim 5, wherein obtaining a calibration result based on the target image comprises: Analyzing image features of the marker in the target image; According to the image features, obtaining relative position information between the sensor module and the augmented reality glasses; Based on the relative position information, the calibration result is determined.

7. The method according to claim 5 or 6, wherein the number of the markers is multiple, and the multiple markers include a first marker corresponding to the first sensor and a second marker corresponding to the second sensor; The step of acquiring the target image containing the marker acquired by the sensor module comprises: Acquire a first target image including the first marker acquired by the first sensor; Acquire a second target image including the second marker acquired by the second sensor; The obtaining of a calibration result based on the target image includes: Based on the first target image, obtaining a first calibration result, where the first calibration result represents a first mapping relationship between a first sub-coordinate system where the first sensor is located and a second coordinate system where the glasses body is located; Based on the second target image, obtaining a second calibration result, where the second calibration result represents a second mapping relationship between a second sub-coordinate system where the second sensor is located and a second coordinate system where the glasses body is located; The acquiring the detection information acquired by the sensor module includes: Acquire first detection information acquired by the first sensor, where the first detection information is information in the first sub-coordinate system; Acquire second detection information acquired by the second sensor, where the second detection information is information in the second sub-coordinate system; The determining, based on the calibration result, display information corresponding to the detection information includes: Based on the first calibration result, determine first display information corresponding to the first detection information, where the first display information is information in the second coordinate system for display by the augmented reality glasses; Based on the second calibration result, second display information corresponding to the second detection information is determined, where the second display information is information in the second coordinate system for display by the augmented reality glasses.

8. An information display method, characterized in that: The method is applied to an augmented reality device, wherein the augmented reality device comprises augmented reality glasses and a sensor module communicatively connected to the augmented reality glasses, wherein the sensor module and the augmented reality glasses are independent of each other; The augmented reality glasses include a glasses body and a marker disposed on the glasses body, and the method includes: The sensor module acquires a target image including the marker; The augmented reality glasses obtain a calibration result based on the target image, wherein the calibration result represents a mapping relationship between a first coordinate system where the sensor module is located and a second coordinate system where the glasses body is located; The sensor module acquires detection information, where the detection information is information in the first coordinate system; The augmented reality glasses determine display information corresponding to the detection information based on the calibration result, and the display information is corresponding information of the detection information in the second coordinate system after conversion by the calibration result, so as to be displayed by the augmented reality glasses.

9. An information display device, characterized in that: The device is applied to augmented reality glasses, the augmented reality glasses are communicatively connected with a sensor module, and the augmented reality glasses and the sensor module are independent of each other; The augmented reality glasses include a glasses body and a marker disposed on the glasses body, and the device includes: A target image acquisition module, used to acquire the target image containing the marker acquired by the sensor module; A calibration result acquisition module, used to acquire a calibration result based on the target image, wherein the calibration result represents a mapping relationship between a first coordinate system where the sensor module is located and a second coordinate system where the glasses body is located; A detection information acquisition module, used to acquire the detection information acquired by the sensor module, wherein the detection information is information in the first coordinate system; A display information determination module is used to determine the display information corresponding to the detection information based on the calibration result, wherein the display information is the corresponding information of the detection information in the second coordinate system after the conversion of the calibration result, so as to be displayed by the augmented reality glasses.

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