Projection equipment calibration method, device, computer equipment and storage medium

Abstract

The present application discloses a calibration method, device, computer equipment and storage medium for a projection device, and belongs to the technical field of intelligent devices. The method is applied to a computer device, and the method includes: obtaining an image frame captured by a human eye camera on a waveguide; obtaining position information of a target object of the image frame on the waveguide according to the image frame; adjusting the projection module of the projection device according to the position information and the optical axis position parameters of the human eye camera. Among them, the optical axis position parameters are obtained by the computer device after adjusting the position of the human eye camera when actively aligning it with the AA platform. There is no need to use a calibration plate or capture an image on the calibration plate. The alignment process is more convenient, which reduces the complexity of the physical equipment of the AA platform and improves the calibration efficiency of the AA platform.

Description

Technical Field

[0001] The present application relates to the technical field of intelligent devices, and in particular to a calibration method, device, computer device and storage medium for a projection device. Background Art

[0002] With the rapid development of the field of smart device technology, augmented reality (AR) and virtual reality (VR) technologies are being used more and more widely in terminals. For example, people use terminals to display virtual characters, virtual props, etc. in their daily lives.

[0003] Among them, during the production process of AR devices or VR devices, it is often necessary to calibrate the internal parameters of the device so that the information projected by the device can be the same as the pre-aligned position. For example, in AR glasses, the image projected on the lens needs to be calibrated with the human eye camera so that the projected image is more comfortable for the user to watch. At present, for this correction process, it is usually necessary to place the AR glasses in an active alignment (AA) platform, and use the human eye camera to capture the image on the AR glasses and the image on the calibration board, thereby completing the calibration process of the image on the AR glasses and the image on the calibration board. In this process, it is necessary to use a calibration board and capture the image on the calibration board. There are problems with the complexity of the physical equipment of the AA platform and the low calibration efficiency of the AA platform. Summary of the invention

[0004] The embodiments of the present application provide a method, device, computer equipment and storage medium for calibrating a projection device, which can eliminate the relay mirror and calibration plate in the AA platform, reduce the complexity of the physical equipment of the AA platform, and improve the calibration efficiency of the AA platform.

[0005] In one aspect, an embodiment of the present application provides a method for calibrating a projection device, the method being applied to a computer device, the computer device being connected to a human eye camera, the human eye camera being used to capture an image displayed by the projection device on a waveguide sheet, the method comprising:

[0006] Acquire the image picture on the waveguide film captured by the human eye camera;

[0007] According to the image, acquiring position information of a target object in the image on the waveguide sheet;

[0008] The projection module of the projection device is adjusted according to the position information and the optical axis position parameters of the human eye camera, wherein the optical axis position parameters are obtained after the computer device adjusts the position of the human eye camera on the active alignment AA platform.

[0009] In the process of calibrating the projection device in the present application, the position of the human eye camera in the active alignment with the AA platform is adjusted in advance by a computer device to obtain the optical axis position parameters of the human eye camera. During the calibration process, the image picture taken by the human eye camera on the waveguide is obtained by a computer device; according to the position information of the target object in the image picture on the waveguide and the optical axis position parameters of the human eye camera, the projection module of the projection device is adjusted, and there is no need to use a calibration plate or capture the image on the calibration plate. The alignment process is more convenient, reduces the complexity of the physical equipment of the AA platform, and improves the calibration efficiency of the AA platform.

[0010] As an optional implementation, in one aspect of the embodiments of the present application, adjusting the projection module of the projection device according to the position information and the optical axis position parameters of the human eye camera includes:

[0011] Controlling the projection module to move on the first axis so that the image captured by the human eye camera has the highest clarity;

[0012] According to the position information and the optical axis position parameters of the human eye camera, obtaining the offset of the projection module on the second axis and the third axis, wherein the first axis, the second axis and the third axis are perpendicular to each other;

[0013] The projection module is controlled to move on the second axis and the third axis so that the position information coincides with the preset position.

[0014] In the embodiment of the present application, the projection module is controlled to be adjusted in three mutually perpendicular directions to respectively achieve the highest clarity and overlap the position information with the preset position, thereby improving the calibration efficiency of the AA platform.

[0015] As an optional implementation, in one aspect of the embodiments of the present application, the human eye camera includes a left eye camera and a right eye camera, the projection device is an augmented reality AR device or a virtual reality VR device, the waveguide sheet of the projection device includes a left waveguide sheet and a right waveguide sheet, and the projection module includes a left projection module and a right projection module;

[0016] The left-eye camera is used to capture the image projected by the left-side projection module onto the left-side waveguide sheet, and the right-eye camera is used to capture the image projected by the right-side projection module onto the right-side waveguide sheet.

[0017] In the embodiment of the present application, for the left-eye camera and the right-eye camera of the human eye camera, the image picture taken by the left-eye camera on the left waveguide plate and the image picture taken by the right-eye camera on the left waveguide plate are respectively aligned through this solution, thereby reducing the complexity of the physical equipment of the AA platform and improving the calibration efficiency of the AA platform.

[0018] As an optional implementation, in one aspect of the embodiments of the present application, the projection device is an AR glasses, the AR glasses include a lens body module and the projection module, the projection module includes a projection lens and a projection screen;

[0019] Before adjusting the projection module of the projection device according to the position information and the optical axis position parameters of the human eye camera, the method further includes:

[0020] Assembling and fixing the mirror body module and the projection lens;

[0021] The projection screen is aligned with the projection lens so that the image projected by the projection lens is displayed on the projection screen and the waveguide sheet.

[0022] As an optional implementation, in one aspect of the embodiments of the present application, the projection device is an AR glasses, the AR glasses include a lens body module and the projection module, the projection module includes a projection lens and a projection screen;

[0023] Before adjusting the projection module of the projection device according to the position information and the optical axis position parameters of the human eye camera, the method further includes:

[0024] Fixing the mirror body module;

[0025] Assembling and fixing the projection lens and the projection screen;

[0026] The projection module is aligned with the mirror module so that the image projected by the projection lens is displayed on the projection screen and the waveguide sheet.

[0027] In the embodiment of the present application, the projection lens and projection screen of the AR glasses are of integrated design, and the projection module is a module composed of the projection lens and the projection screen. There is no need for the AA platform to align the projection screen and the projection lens, which improves the calibration efficiency of the AA platform.

[0028] As an optional implementation, in one aspect of the embodiments of the present application, before adjusting the projection module of the projection device according to the position information and the optical axis position parameter of the human eye camera, it also includes:

[0029] The left-eye camera and the right-eye camera are respectively arranged at a first position and a second position on the AA platform;

[0030] Acquire a first deviation between the optical axis center of the left-eye camera and a target position, and acquire a second deviation between the optical axis center of the right-eye camera and the target position, wherein the target position is a position where the optical axis centers set for the left-eye camera and the right-eye camera intersect;

[0031] The first deviation and the second deviation are stored in a memory as optical axis position parameters of the human eye camera.

[0032] In an embodiment of the present application, the left-eye camera and the right-eye camera are respectively set at the first position and the second position on the AA platform in advance, and the first deviation and the second deviation are obtained. The first deviation and the second deviation are stored in a memory as optical axis position parameters of the human eye camera, and are used in subsequent adjustments to the projection module of the projection device. There is no need to re-acquire each time the adjustment is made, thereby improving the calibration efficiency of the AA platform.

[0033] As an optional implementation, in one aspect of the embodiments of the present application, obtaining the offset of the projection module on the second axis and the third axis according to the position information and the optical axis position parameter of the human eye camera includes:

[0034] Acquire the optical axis position parameter from the memory;

[0035] According to the first deviation, adjusting the movement of the left projection module on the second axis and the third axis so that the position information in the image captured by the left eye camera coincides with the preset position;

[0036] According to the second deviation, the right projection module is adjusted to move on the second axis and the third axis so that the position information in the image captured by the right-eye camera coincides with the preset position.

[0037] In the embodiment of the present application, the left eye camera is adjusted according to the first deviation, and the right eye camera is adjusted according to the second deviation. The left eye camera and the right eye camera can be adjusted at the same time, thereby improving the calibration efficiency of the AA platform.

[0038] As an optional implementation, in one aspect of the embodiments of the present application, before adjusting the projection module of the projection device according to the position information and the optical axis position parameter of the human eye camera, it also includes:

[0039] The left-eye camera and the right-eye camera are respectively arranged at a third position and a fourth position on the AA platform, so that the optical axis centers of the left-eye camera and the right-eye camera intersect at one point;

[0040] According to the image, the optical axis position parameters are obtained, and the optical axis position parameters include the position of the optical axis center of the left eye camera on the left waveguide plate, and the position of the optical axis center of the right eye camera on the right waveguide plate.

[0041] In an embodiment of the present application, the left-eye camera and the right-eye camera are respectively set at the third position and the fourth position on the AA platform in advance, so that the optical axis centers of the left-eye camera and the right-eye camera intersect at one point, and the acquired optical axis position parameters include the position of the optical axis center of the left-eye camera on the left waveguide plate, and the position of the optical axis center of the right-eye camera on the right waveguide plate, which reduces the complexity of the optical axis position parameters and improves the calibration efficiency of the AA platform.

[0042] In another aspect, an embodiment of the present application provides a calibration device for a projection device, wherein the method is applied to a computer device, wherein the computer device is connected to a human eye camera, wherein the human eye camera is used to capture an image displayed by the projection device on a waveguide sheet, and wherein the method comprises:

[0043] A first acquisition module, used to acquire the image picture on the waveguide film captured by the human eye camera;

[0044] A second acquisition module, used for acquiring position information of a target object in the image on the waveguide sheet according to the image;

[0045] The module adjustment module is used to adjust the projection module of the projection device according to the position information and the optical axis position parameters of the human eye camera, wherein the optical axis position parameters are obtained after the computer device adjusts the position of the human eye camera on the active alignment AA platform.

[0046] In another aspect, an embodiment of the present application provides a computer device, which includes a memory and a processor, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the processor implements the calibration method of the projection device as described in one aspect above.

[0047] In another aspect, an embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the method for calibrating a projection device as described in the above another aspect and its optional manner is implemented.

[0048] The technical solution provided by the embodiments of the present application may at least include the following beneficial effects:

[0049] In the process of calibrating the projection device in the present application, the position of the human eye camera in the active alignment with the AA platform is adjusted in advance by a computer device to obtain the optical axis position parameters of the human eye camera. During the calibration process, the image picture taken by the human eye camera on the waveguide is obtained by a computer device; according to the position information of the target object in the image picture on the waveguide and the optical axis position parameters of the human eye camera, the projection module of the projection device is adjusted, and there is no need to use a calibration plate or capture the image on the calibration plate. The alignment process is more convenient, reduces the complexity of the physical equipment of the AA platform, and improves the calibration efficiency of the AA platform. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0051] Figure 1 is a structural schematic diagram of an AA platform for calibrating a projection device according to an exemplary embodiment of the present application;

[0052] Figure 2 is a method flow chart of a method for calibrating a projection device provided by an exemplary embodiment of the present application;

[0053] Figure 3 is a method flow chart of a method for calibrating a projection device provided by an exemplary embodiment of the present application;

[0054] Figure 4 is a structural schematic diagram of an AA platform involved in an exemplary embodiment of the present application;

[0055] Figure 5 is a structural schematic diagram of an AA platform for calibrating an AR device according to an exemplary embodiment of the present application;

[0056] Figure 6 is a structural schematic diagram of a projection module of AR glasses involved in an exemplary embodiment of the present application;

[0057] Figure 7 is a schematic diagram of an image captured by a human eye camera according to an exemplary embodiment of the present application;

[0058] Figure 8 is a schematic diagram of a coordinate system of an axis sensor involved in an exemplary embodiment of the present application;

[0059] Fig. 9 is a structural schematic diagram of an AA platform for calibrating AR glasses involved in an exemplary embodiment of the present application;

[0060] Fig.10 is a method flow chart of a calibration method for an augmented reality (AR) device provided by an exemplary embodiment of the present application;

[0061] Fig.11 is a structural schematic diagram of an AA platform involved in an exemplary embodiment of the present application;

[0062] Fig.12 It is a method flow chart of a calibration method of a virtual reality VR device provided by an exemplary embodiment of the present application;

[0063] Fig.13 is a structural schematic diagram of an AA platform involved in an exemplary embodiment of the present application;

[0064] Fig.14 It is a structural block diagram of a calibration device for an augmented reality (AR) device provided by an exemplary embodiment of the present application;

[0065] Fig.15 It is a structural diagram of a computer device provided by an exemplary embodiment of the present application. DETAILED DESCRIPTION

[0066] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0067] The term "multiple" as used herein refers to two or more than two. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the related objects are in an "or" relationship.

[0068] It should be noted that the terms "first", "second", "third" and "fourth" in the specification and claims of the present application are used to distinguish different objects rather than to describe a specific order. The terms "including" and "having" in the embodiments of the present application and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device including a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0069] The solution provided by the present application can be used in terminals with AR functions that people use in daily life. When producing AR devices, the images displayed by the AR devices are calibrated using human eye cameras. For ease of understanding, some terms and application architectures involved in the embodiments of the present application are briefly introduced below.

[0070] Augmented Reality (AR) technology is a technology that cleverly integrates virtual information with the real world. It widely uses a variety of technical means such as multimedia, three-dimensional modeling, real-time tracking and registration, intelligent interaction, and sensing. It simulates computer-generated virtual information such as text, images, three-dimensional models, music, and videos, and applies them to the real world. The two types of information complement each other, thereby achieving "enhancement" of the real world.

[0071] Virtual Reality (VR) technology is a brand-new practical technology developed in the 20th century. Virtual reality technology includes computers, electronic information, and simulation technology. Its basic implementation method is to use computers to simulate virtual environments to give people a sense of environmental immersion. With the continuous development of social productivity and science and technology, the demand for VR technology in all walks of life is growing. VR technology has also made great progress and has gradually become a new field of science and technology.

[0072] Active Alignment (AA) technology is commonly used in the display assembly process. The key lies in the establishment of the relative position between the display and the optical lens. Usually, functional testing and assembly are carried out together. After the display position is determined, dispensing assembly is carried out, usually called AA. It is a technology that determines the phase position during the assembly of parts. The AA platform is a platform device that uses active alignment technology.

[0073] Please refer to Figure 1 , which shows a schematic diagram of the structure of an AA platform for calibrating a projection device according to an exemplary embodiment of the present application. Figure 1As shown, it includes an AA platform 110, a projection device 120 and a computer device 130. The AA platform 100 includes a calibration plate 101, a relay lens 102, a human eye camera 103 and a bracket 104.

[0074] Optionally, the projection device 120 may be an AR device or a VR device.

[0075] During the process of AA on the projection device 120, the AA platform 100 places the projection device 120 in the AA platform 110, and then collects the image displayed by the projection device 120 through the human eye camera 103. Among them, when focusing and testing the camera module of the projection device 120, it is carried out within the nominal focal length of the camera module, and its far focal distance often reaches several meters. However, when testing at this distance, the test chassis requires a large space, and the relay lens 102 is used for simulated measurement during the measurement. After the calibration plate 101 passes through the relay lens 102, the calibration plate 101 becomes a virtual image that becomes farther and larger. The human eye camera 103 sees the virtual image of the calibration plate 101 through the relay lens 102, so as to reduce the light box space and reduce the size of the calibration plate 101. Among them, the calibration plate 101 can also be called a physical Chart.

[0076] After the above-mentioned acquisition and obtaining of the image displayed by the projection device, it is necessary to acquire the image of the calibration plate 101 through the relay lens 102, and adjust the camera module of the projection device 120 through the images of the two, so as to complete AA.

[0077] Optionally, the computer device 130 can be electrically connected to the AA platform 110, obtain the image obtained by the human eye camera 103 in the AA platform 110, and control the camera module of the projection device 120 to adjust. The computer device 130 can be a terminal with control capabilities. For example, the computer device 130 can be a mobile phone, a tablet computer, a laptop computer, a desktop computer, a desktop computer, etc. Alternatively, the computer device 130 can also be combined with the AA platform into one device.

[0078] In the above calibration scheme, each time, not only the image on the projection device 120 needs to be collected by the human eye camera 103, but also the virtual image of the calibration plate 101 in the AA platform 110 needs to be collected. Not only are the steps cumbersome, but also the relay mirror 102 and the calibration plate 101 need to be set in the AA platform 110, which makes the volume of the AA platform 110 itself larger, the utilization rate of the internal space is low, and the efficiency of calibrating the projection device is low.

[0079] In order to improve the calibration efficiency of the AA platform 110, the present application proposes a solution, which can remove the calibration plate 101 and the relay mirror 102 set in the AA platform 110, and simplify the calibration process of the projection device 120 by pre-calibrating the parameters of the human eye camera 103, thereby reducing the volume of the AA platform 110 and improving the calibration efficiency of the AA platform 110.

[0080] Please refer to Figure 2 , which shows a method flow chart of a method for calibrating a projection device provided by an exemplary embodiment of the present application. The method can be applied to Figure 1 The computer device connected to the AA platform in the scenario shown is executed by the computer device. Figure 2 As shown, the calibration method of the projection device includes the following steps.

[0081] Step 201, obtaining an image on the waveguide film captured by a human eye camera.

[0082] Optionally, the computer device is connected to a human eye camera, and the human eye camera is used to capture the image displayed by the projection device on the waveguide. The projection device is started and placed in the AA platform, and the projection device displays the virtual image on the waveguide through its own projection module. For example, the projection device can be an AR glasses, and the waveguide is assembled with the lenses of the AR glasses. By starting the AR glasses, the projection module displays the virtual image on the waveguide, and then the human eye camera is used to simulate the image seen by the human eye. In this step, the image displayed on the waveguide is captured by the human eye camera.

[0083] Step 202: According to the image frame, obtain the position information of the target object in the image frame on the waveguide sheet.

[0084] Optionally, the image contains various objects, and the computer device can identify the image to determine the position information of the target object in the image on the waveguide. The target object can be an image pre-set in the computer device, for example, the image can be any one of a "cross", a "square", a "ring", etc.

[0085] Optionally, after the computer device identifies the target object in the image screen by identifying the image screen, it determines the position information of the target object by combining the coordinate system established by itself for the captured image screen. For example, if the target object is a "cross", after the computer device identifies the "cross" in the image screen, it obtains the position coordinates of the "cross" in the coordinate system of the image screen, and uses the position coordinates as the position information of the target object on the waveguide.

[0086] Step 203, adjusting the projection module of the projection device according to the position information and the optical axis position parameters of the human eye camera, where the optical axis position parameters are obtained by adjusting the position of the human eye camera on the AA platform actively by the computer device.

[0087] Optionally, after the computer device obtains the position information, it adjusts the projection module of the projection device by using the optical axis position parameters obtained in advance, thereby completing the calibration of the projection device. The optical axis position parameters are the position parameters obtained by the computer device after the computer device adjusts the position of the human eye camera in active alignment with the AA platform in advance, and obtains the optical axis position parameters of the human eye camera relative to the calibration plate in combination with the calibration plate and the relay lens. When calibrating the projection device later, there is no need to set the calibration plate and the relay lens in the AA platform, and the projection module of the projection device is adjusted using the obtained optical axis position parameters and the above-mentioned position information.

[0088] To summarize, in the process of calibrating the projection device in the present application, the position of the human eye camera in active alignment with the AA platform is adjusted in advance by a computer device to obtain the optical axis position parameters of the human eye camera. During the calibration process, the image captured by the human eye camera on the waveguide is obtained by a computer device; according to the position information of the target object in the image on the waveguide and the optical axis position parameters of the human eye camera, the projection module of the projection device is adjusted. There is no need to use a calibration plate or capture the image on the calibration plate. The alignment process is more convenient, reduces the complexity of the physical equipment of the AA platform, and improves the calibration efficiency of the AA platform.

[0089] In one possible implementation, taking the projection device as an AR device, and the AR device as AR glasses as an example, the AR glasses include a left lens and a right lens, and accordingly, the waveguide plate of the projection device includes a left waveguide plate and a right waveguide plate, and the projection module of the projection device includes a left projection module and a right projection module. After the AR glasses are turned on, the left projection module projects the image onto the left waveguide plate, and the right projection module projects the image onto the right waveguide plate. The AA platform can calibrate the left projection module and the right projection module respectively, thereby improving the calibration efficiency of the AA platform.

[0090] Please refer to Figure 3 , which shows a method flow chart of a method for calibrating a projection device provided by an exemplary embodiment of the present application. The method can be applied to Figure 1 The computer device connected to the AA platform in the scenario shown is executed by the computer device. Figure 3 As shown, the calibration method of the projection device includes the following steps.

[0091] Step 301 : placing a left-eye camera and a right-eye camera at a first position and a second position on an AA platform, respectively.

[0092] Optionally, the human eye camera includes a left eye camera and a right eye camera, wherein the left eye camera is used to capture the image projected by the left projection module onto the left waveguide plate, and the right eye camera is used to capture the image projected by the right projection module onto the right waveguide plate.

[0093] Please refer to Figure 4 , which shows a schematic diagram of the structure of an AA platform involved in an exemplary embodiment of the present application. Figure 4 As shown, the AA platform 400, the calibration plate 410, and the computer device 420 are included. The AA platform 400 includes a left-eye camera 401, a right-eye camera 402, and a bracket 403. Optionally, the first position and the second position of the left-eye camera 401 and the right-eye camera 402 on the AA platform 400 can be as follows: Figure 4 At position one 403a and position two 403b on the middle bracket 403, the calibration plate 410 is set at a preset distance from the left-eye camera 401 and the right-eye camera 402. Optionally, the preset distance may be 2.5 m.

[0094] Optional, above Figure 4 The positions of the left-eye camera 401 and the right-eye camera 402 on the bracket 403 can be manually adjusted by a calibration person, or controlled by a computer device 420 .

[0095] Step 302, obtaining a first deviation between the optical axis center of the left eye camera and a target position, and obtaining a second deviation between the optical axis center of the right eye camera and a target position, wherein the target position is a position where the optical axis centers set for the left eye camera and the right eye camera intersect.

[0096] The intersection of the optical axis centers of the left-eye camera and the right-eye camera set by the computer device is the center position of the calibration plate. Figure 4 In the figure, the center position O of the calibration plate 410 is the target position, and the computer device 420 can obtain a first deviation between a position A of the optical axis center of the left eye camera 401 on the calibration plate 410 and the center position O of the calibration plate 410, and obtain a second deviation between a position B of the optical axis center of the right eye camera 402 on the calibration plate 410 and the center position O of the calibration plate 410.

[0097] Step 303: store the first deviation and the second deviation in a memory as optical axis position parameters of the human eye camera.

[0098] Optionally, the computer device stores the acquired first deviation and second deviation as the optical axis position parameters of the human eye camera in its own memory. Figure 4 After setting each component, the computer device 420 obtains OA and OB, and stores the optical axis position parameters according to the coordinate information of OA in the coordinate system of the left-eye camera 401 and the coordinate information of OB in the coordinate system of the right-eye camera 402.

[0099] Step 304: Place the AR device in the AA platform.

[0100] Optionally, when calibrating the AR device, start the AR device and place it on the AA platform for calibration. Figure 5 , which shows a schematic diagram of the structure of an AA platform for calibrating an AR device according to an exemplary embodiment of the present application. Figure 5 As shown, it includes an AA platform 510, an AR device 520 and a computer device 530. The AA platform 510 includes a left eye camera 501, a right eye camera 502 and a bracket 503. The AR device 520 is placed in front of the human eye camera, and the AR device 520 is started, so that the image displayed by the projection module is displayed on the lens of the AR device 520.

[0101] Step 305, obtaining the image on the waveguide film captured by the human eye camera.

[0102] In this application, the computer device captures the image on the waveguide of the AR glasses through the human eye camera. Figure 5 In the figure, the left-eye camera 501 captures the image projected by the left projection module onto the left waveguide, and the right-eye camera 502 captures the image projected by the right projection module onto the right waveguide, thereby obtaining the left image and the right image.

[0103] Optionally, in the present application, the projection device is an AR glasses, which includes a mirror body module and a projection module, and the projection module includes a projection lens and a projection screen. In the present application, the AA platform first combines and fixes the mirror body module and the projection lens; then aligns the projection screen with the projection lens so that the image projected by the projection lens is displayed on the projection screen and the waveguide.

[0104] Please refer to Figure 6 , which shows a schematic diagram of the structure of a projection module of AR glasses involved in an exemplary embodiment of the present application. Figure 6As shown, the AR glasses 600 include a mirror body module 603 and a projection module, and the projection module includes a projection screen 601 and a projection lens 602. Before the implementation of this solution, the AA platform can combine and fix the mirror body module 603 and the projection lens 602, place them in the AA platform, and then align the projection screen 601 with the projection lens 602, so that the image projected by the projection lens 602 is displayed on the projection screen 601 and the waveguide sheet of the mirror body module 603.

[0105] In another possible implementation, the projection device is an AR glasses, which includes a mirror body module and a projection module, and the projection module includes a projection lens and a projection screen. In a specific implementation, the AA platform in this application can first fix the mirror body module; then fix the projection lens and the projection screen together to form a projection module; then align the projection module with the mirror body module so that the image projected by the projection lens is displayed on the projection screen and the waveguide sheet. That is, in a specific implementation, the AA platform can first fix the mirror body module 603 and place it in the AA platform; then fix the projection screen 601 and the projection lens 602 together to form a projection module; then align the projection module with the mirror body module 603, so that the image projected by the projection lens 602 is displayed on the projection screen 601 and the waveguide sheet of the mirror body module 603.

[0106] Step 306: According to the image frame, obtain the position information of the target object in the image frame on the waveguide sheet.

[0107] Optionally, in the present application, the image screen obtained by the computer device includes the image screen on the left and the image screen on the right. Accordingly, the computer device will obtain the position information of the target object in the image screen on the left on the left side on the waveguide sheet based on the image screen on the left, and the computer device will obtain the position information of the target object in the image screen on the right on the waveguide sheet based on the image screen on the right. The target object can be an image pre-set in the computer device, for example, the image can be any one of a "cross", a "square", a "ring", etc.

[0108] For example, the preset image is "cross", please refer to Figure 7 , which shows a schematic diagram of an image captured by a human eye camera according to an exemplary embodiment of the present application. Figure 7 As shown, in the image screen 700, a target object 701 is included. Optionally, Figure 7It can be the left image captured by the left eye camera or the right image captured by the right eye camera. After the computer device captures the image through the human eye camera, it determines the position of the "cross" in the image to obtain the position information of the target object on the waveguide. For the image captured by the left eye camera and the right eye camera respectively, the position coordinates of the target object in the left image in the coordinate system of the left eye camera are obtained, and the position coordinates of the target object in the right image in the coordinate system of the right eye camera are obtained.

[0109] Step 307, adjusting the projection module of the AR device according to the position information and the optical axis position parameters of the human eye camera, where the optical axis position parameters are obtained after the computer device adjusts the position of the human eye camera when actively aligning it with the AA platform.

[0110] Optionally, after the computer device obtains the position information of the target object in the image on the waveguide, it can calculate the offset that needs to be adjusted for the projection module of the AR device based on the optical axis position parameters of the human eye camera obtained in advance, thereby controlling the movement of the projection module of the AR device. Optionally, after the AR glasses are set in the AA platform, the projection module of the AR glasses can be electrically connected to the axis sensor of the AA platform, and the computer device controls the movement of the projection module by controlling the axis sensor.

[0111] Optionally, the axis sensor of the computer device may include three axes, namely a first axis, a second axis and a third axis. The first axis, the second axis and the third axis are perpendicular to each other. The computer device may first control the projection module to move on the first axis so that the image captured by the human eye camera has the highest clarity.

[0112] Optionally, the first axis is perpendicular to the lens of the AR glasses. For example, please refer to Figure 8 , which shows a schematic diagram of a coordinate system of an axis sensor involved in an exemplary embodiment of the present application. Figure 8 As shown, it includes a first axis 801, a second axis 802, a third axis 803 and AR glasses 804. The first axis 801 is perpendicular to the lenses of the AR glasses 804. Optionally, when the projection module moves on the first axis 801, the human eye camera can be used to continue to shoot the image on the waveguide sheet, obtain and record the clarity of the image corresponding to each position on the first axis, select the position with the highest clarity as the final position, and move the position of the projection module on the first axis to this position, so that the clarity of the image captured by the human eye camera is the highest.

[0113] Optionally, the computer device can also obtain the offset of the projection module on the second axis and the third axis according to the position information and the optical axis position parameters of the human eye camera. Figure 5 The optical axis position parameters pre-collected in the step are combined with the position information of the target object to calculate the offset on the second axis and the third axis in this step. For example, the computer device obtains the optical axis position parameters from the memory; according to the first deviation, the left projection module is adjusted to move on the second axis and the third axis so that the position information in the image captured by the left eye camera coincides with the preset position; according to the second deviation, the right projection module is adjusted to move on the second axis and the third axis so that the position information in the image captured by the right eye camera coincides with the preset position.

[0114] The preset position also includes a first preset position and a second preset position, the first preset position is the position where the optical axis center of the left eye camera is located on the left waveguide, and the second preset position is the position where the optical axis center of the right eye camera is located on the right waveguide. Fig. 9 , which shows a schematic diagram of the structure of an AA platform for calibrating AR glasses involved in an exemplary embodiment of the present application. Fig. 9 As shown, an AA platform 910 and an AR glasses 920 are included. The AA platform 910 includes a left-eye camera 901, a right-eye camera 902, and a bracket 903. The AR glasses 920 include a left lens 904 and a right lens 905, a position 906 of the target object on the left lens 904, a position 907 of the target object on the right lens 905, a first preset position 908, and a second preset position 909. After the computer device obtains the optical axis position parameter from the memory, according to the first deviation, the left projection module is adjusted to move on the second axis and the third axis so that the position 906 of the target object on the left lens 904 coincides with the first preset position 908, and according to the second deviation, the right projection module is adjusted to move on the second axis and the third axis so that the position 907 of the target object on the right lens 905 coincides with the second preset position 909, thereby completing the calibration process of the AR glasses.

[0115] It should be noted that the above-mentioned AR device can also be replaced by a binocular VR device, and the projection module of the VR device can be calibrated through the AA platform.

[0116] To summarize, in the process of calibrating the projection device in the present application, the position of the human eye camera in active alignment with the AA platform is adjusted in advance by a computer device to obtain the optical axis position parameters of the human eye camera. During the calibration process, the image captured by the human eye camera on the waveguide is obtained by a computer device; according to the position information of the target object in the image on the waveguide and the optical axis position parameters of the human eye camera, the projection module of the projection device is adjusted. There is no need to use a calibration plate or capture the image on the calibration plate. The alignment process is more convenient, reduces the complexity of the physical equipment of the AA platform, and improves the calibration efficiency of the AA platform.

[0117] In addition, when the above-mentioned projection module includes a projection screen and a projection lens of an AR device, this method is relative to the method in which the projection module includes a projection screen of an AR device. The projection screen and the projection lens are already aligned during production, and there is no need to recalibrate the projection lens, which is beneficial to improving the calibration efficiency of the AR device. In the embodiment of the present application, the left-eye camera and the right-eye camera are respectively set at the first position and the second position on the AA platform in advance, and the first deviation and the second deviation are obtained. The first deviation and the second deviation are stored in the memory as the optical axis position parameters of the human eye camera, and are used in the subsequent adjustment of the projection module of the AR device. There is no need to re-acquire each time during adjustment, which also improves the calibration efficiency of the AA platform.

[0118] In a possible implementation, still taking the projection device as an AR device and the AR device as AR glasses as an example, in the above Figure 4 In the embodiment, the computer device can also set the eye camera and the right eye camera at the third position and the fourth position on the AA platform respectively, so that the optical axis centers of the left eye camera and the right eye camera intersect at one point, so that the first deviation and the second deviation are 0, and there is no need to store the first deviation and the second deviation. The position of the optical axis center of the human eye camera on the waveguide plate is used as the optical axis position parameter.

[0119] Please refer to Fig.10 , which shows a method flow chart of a calibration method for an augmented reality (AR) device provided by an exemplary embodiment of the present application. The method can be applied to Figure 1 The computer device connected to the AA platform in the scenario shown is executed by the computer device. Fig.10 As shown, the calibration method of the augmented reality AR device includes the following steps.

[0120] Step 1001: Set the left-eye camera and the right-eye camera at the third position and the fourth position on the AA platform respectively, so that the optical axis centers of the left-eye camera and the right-eye camera intersect at one point.

[0121] Optionally, the human eye camera includes a left eye camera and a right eye camera, wherein the left eye camera is used to capture the image projected by the left projection module onto the left waveguide plate, and the right eye camera is used to capture the image projected by the right projection module onto the right waveguide plate.

[0122] Before this step, the AA device can calibrate the left-eye camera and the right-eye camera with the preset position of the calibration plate; please refer to Fig.11 , which shows a schematic diagram of the structure of an AA platform involved in an exemplary embodiment of the present application. Fig.11 As shown, the AA platform 1100, the calibration plate 1110, and the computer device 1120 are included. The AA platform 1100 includes a left-eye camera 1101, a right-eye camera 1102, and a bracket 1103. Optionally, the left-eye camera 1101 and the right-eye camera 1102 can be respectively located at the third position and the fourth position on the AA platform as shown in FIG. Fig.11 At position one 1103a and position two 1103b on the middle bracket, the calibration plate 1110 is set up about 2.5 m away from the left eye camera 1101 and the right eye camera 1102 .

[0123] Optional, above Fig.11 The positions of the left-eye camera 1101 and the right-eye camera 1102 on the bracket 1103 can be manually adjusted by the calibration personnel or controlled by the computer device 1120. In actual settings, the positions of the left-eye camera 1101 and the right-eye camera 1102 can be adjusted so that the centers of their optical axes intersect at one point and coincide with the center of the calibration plate 1110, and then the left-eye camera 1101 and the right-eye camera 1102 are fixed on the bracket 1103, thereby realizing the calibration of the left-eye camera 1101 and the right-eye camera 1102.

[0124] Step 1002: Place the AR device in the AA platform.

[0125] Step 1003, obtaining the image picture on the waveguide film captured by the human eye camera.

[0126] Step 1004: acquiring position information of a target object in the image on the waveguide sheet according to the image.

[0127] Optionally, the implementation details of step 1002 to step 1003 may refer to the description of the above step 304 to step 306, which will not be repeated here.

[0128] Step 1005: Obtain optical axis position parameters according to the image.

[0129] In this embodiment, the optical axis position parameter includes the position of the optical axis center of the left eye camera on the left waveguide sheet, and the position of the optical axis center of the right eye camera on the right waveguide sheet. That is, after the computer device determines the positions of the left eye camera and the right eye camera in step 301, the computer device determines the position of the optical axis center of the left eye camera on the left waveguide sheet, and the position of the optical axis center of the right eye camera on the right waveguide sheet from the image. Fig.11 , the optical axis position parameters obtained are respectively the first optical axis position 1104 and the second optical axis position 1105. In the subsequent adjustment process, the position of the target object photographed by the left eye camera is adjusted to the first optical axis position 1104, and the position of the target object photographed by the right eye camera is adjusted to the second optical axis position 1105.

[0130] Step 1006: Adjust the projection module of the AR device according to the position information and the optical axis position parameters of the human eye camera.

[0131] Optionally, the implementation details of step 1006 may refer to the description of step 307 above, which will not be repeated here.

[0132] To summarize, in the calibration process of the AR device in the present application, the position of the human eye camera in the active alignment with the AA platform is adjusted in advance by a computer device to obtain the optical axis position parameters of the human eye camera. During the calibration process, the image captured by the human eye camera on the waveguide is obtained by a computer device; according to the position information of the target object in the image on the waveguide and the optical axis position parameters of the human eye camera, the projection module of the AR device is adjusted. There is no need to use a calibration plate or capture the image on the calibration plate. The alignment process is more convenient, reduces the complexity of the physical equipment of the AA platform, and improves the calibration efficiency of the AA platform.

[0133] In addition, the left-eye camera and the right-eye camera are respectively set at the third position and the fourth position on the AA platform in advance, so that the optical axis centers of the left-eye camera and the right-eye camera intersect at one point, and the acquired optical axis position parameters include the position of the optical axis center of the left-eye camera on the left waveguide plate, and the position of the optical axis center of the right-eye camera on the right waveguide plate, which reduces the complexity of the optical axis position parameters and improves the calibration efficiency of the AA platform.

[0134] In a possible implementation, the projection device is a VR device, and the VR device is a single-purpose VR glasses as an example. The VR glasses include a lens, and accordingly, the waveguide of the projection device includes a waveguide, and the projection module of the projection device includes a projection module. After the VR glasses are turned on, the projection module projects the image onto the waveguide, and the AA platform can calibrate the projection module to improve the calibration efficiency of the AA platform.

[0135] Please refer to Fig.12 , which shows a method flow chart of a calibration method for a virtual reality VR device provided by an exemplary embodiment of the present application. The method can be applied to Figure 1 The computer device connected to the AA platform in the scenario shown is executed by the computer device. Fig.12 As shown, the calibration method of the virtual reality VR device includes the following steps.

[0136] Step 1201, setting the human eye camera at the fifth position on the AA platform.

[0137] Optionally, the human eye camera is used to capture the image projected by the projection module onto the waveguide.

[0138] Please refer to Fig.13 , which shows a schematic diagram of the structure of an AA platform involved in an exemplary embodiment of the present application. Fig.13 As shown, it includes an AA platform 1300, a calibration plate 1310, and a computer device 1320. The AA platform 1300 includes a human eye camera 1301 and a bracket 1302. Optionally, the fifth position of the human eye camera 1301 on the AA platform can be as follows: Fig.13 At position 1302a on the middle bracket 1302 , the calibration plate 1310 is set up at a distance of about 2.5 m from the human eye camera 1301 .

[0139] Optional, above Fig.13 The position of the human eye camera 1301 on the bracket 1302 can be manually adjusted by the calibration personnel, or controlled by the computer device 1320 to make the center of the optical axis of the human eye camera 1301 coincide with the center of the calibration plate 1310.

[0140] Step 1202, placing the VR device in the AA platform.

[0141] Step 1203, obtaining the image on the waveguide film captured by the human eye camera.

[0142] Step 1204, obtaining position information of the target object in the image on the waveguide sheet according to the image.

[0143] Optionally, the implementation details of step 1202 to step 1203 may refer to the description of the above step 304 to step 306, which will not be repeated here.

[0144] Step 1205: Obtain optical axis position parameters according to the image.

[0145] In this embodiment, the optical axis position parameter includes the position of the optical axis center of the human eye camera 1301 on the waveguide. That is, after the computer device 1320 determines the fifth position 1302a of the human eye camera 1301 in the above step 1201, the computer device 1320 determines the position of the optical axis center of the human eye camera 1301 on the waveguide from the image. For example, in the above Fig.13 In the optical axis position parameter obtained, the optical axis position 1330 is obtained. In the subsequent adjustment process, the position of the target object photographed by the human eye camera 1301 is adjusted to the optical axis position 1330.

[0146] Step 1206: Adjust the projection module of the VR device according to the position information and the optical axis position parameters of the human eye camera.

[0147] Optionally, the implementation details of step 1206 may refer to the description of step 307 above, which will not be repeated here.

[0148] It should be noted that similar to the above Figure 3 In an embodiment, if there is a deviation (non-coincidence) between the optical axis center of the human eye camera and the fifth position, the computer device may also record the deviation between the optical axis center of the human eye camera and the fifth position, and use the deviation as the optical axis position parameter of the human eye camera and store it in a memory, and then execute subsequent steps.

[0149] In summary, in the process of calibrating the VR device in the present application, the position of the human eye camera in active alignment with the AA platform is adjusted in advance by a computer device to obtain the optical axis position parameters of the human eye camera. During the calibration process, the image captured by the human eye camera on the waveguide is obtained by a computer device; according to the position information of the target object in the image on the waveguide and the optical axis position parameters of the human eye camera, the projection module of the VR device is adjusted. There is no need to use a calibration plate or capture the image on the calibration plate. The alignment process is more convenient, reduces the complexity of the physical equipment of the AA platform, and improves the calibration efficiency of the AA platform.

[0150] The following is an embodiment of the device of the present application, which can be used to execute the embodiment of the method of the present application. For details not disclosed in the embodiment of the device of the present application, please refer to the embodiment of the method of the present application.

[0151] Please refer to Fig.14 , which shows a structural block diagram of a calibration device for a projection device provided by an exemplary embodiment of the present application, wherein the computer device is connected to a human eye camera, and the human eye camera is used to capture an image displayed by the projection device on a waveguide sheet. The calibration device 1400 for the projection device can be applied to the computer device, and the calibration device 1400 for the augmented reality AR device includes:

[0152] A first acquisition module 1401 is used to acquire the image picture on the waveguide film captured by the human eye camera;

[0153] A second acquisition module 1402 is used to acquire position information of a target object in the image on the waveguide sheet according to the image;

[0154] The module adjustment module 1403 is used to adjust the projection module of the projection device according to the position information and the optical axis position parameters of the human eye camera, wherein the optical axis position parameters are obtained after the computer device adjusts the position of the human eye camera when actively aligning it with the AA platform.

[0155] To summarize, in the process of calibrating the projection device in the present application, the position of the human eye camera in active alignment with the AA platform is adjusted in advance by a computer device to obtain the optical axis position parameters of the human eye camera. During the calibration process, the image captured by the human eye camera on the waveguide is obtained by a computer device; according to the position information of the target object in the image on the waveguide and the optical axis position parameters of the human eye camera, the projection module of the projection device is adjusted. There is no need to use a calibration plate or capture the image on the calibration plate. The alignment process is more convenient, reduces the complexity of the physical equipment of the AA platform, and improves the calibration efficiency of the AA platform.

[0156] Optionally, the module adjustment module 1403 includes: a first control unit, a first acquisition unit and a second control unit;

[0157] The first control unit is used to control the projection module to move on the first axis so that the image captured by the human eye camera has the highest clarity;

[0158] The first acquisition unit is used to acquire the offset of the projection module on the second axis and the third axis according to the position information and the optical axis position parameter of the human eye camera, wherein the first axis, the second axis and the third axis are perpendicular to each other;

[0159] The second control unit is used to control the projection module to move on the second axis and the third axis so that the position information coincides with the preset position.

[0160] Optionally, the human eye camera includes a left eye camera and a right eye camera, the projection device is an augmented reality (AR) device or a virtual reality (VR) device, the waveguide sheet of the projection device includes a left waveguide sheet and a right waveguide sheet, and the projection module includes a left projection module and a right projection module;

[0161] The left-eye camera is used to capture the image projected by the left-side projection module onto the left-side waveguide sheet, and the right-eye camera is used to capture the image projected by the right-side projection module onto the right-side waveguide sheet.

[0162] Optionally, the projection device is an AR glasses, the AR glasses include a lens module and the projection module, the projection module includes a projection lens and a projection screen; the device further includes:

[0163] A first fixing module, used for combining and fixing the mirror body module and the projection lens before adjusting the projection module of the projection device according to the position information and the optical axis position parameters of the human eye camera;

[0164] The first alignment module is used to align the projection screen with the projection lens so that the image projected by the projection lens is displayed on the projection screen and the waveguide sheet.

[0165] Optionally, the projection device is an AR glasses, the AR glasses include a lens module and the projection module, the projection module includes a projection lens and a projection screen; the device further includes:

[0166] A second fixing module, used for fixing the mirror body module before adjusting the projection module of the projection device according to the position information and the optical axis position parameters of the human eye camera;

[0167] A third fixing module, used to combine and fix the projection lens and the projection screen;

[0168] The second alignment module is used to align the projection module with the mirror module so that the image projected by the projection lens is displayed on the projection screen and the waveguide sheet.

[0169] Optionally, the device further comprises:

[0170] A first setting module, configured to respectively set the left-eye camera and the right-eye camera at a first position and a second position on the AA platform before adjusting the projection module of the AR device according to the position information and the optical axis position parameters of the human eye camera;

[0171] A third acquisition module is used to acquire a first deviation between the optical axis center of the left-eye camera and a target position, and to acquire a second deviation between the optical axis center of the right-eye camera and the target position, wherein the target position is a position where the optical axis centers set for the left-eye camera and the right-eye camera intersect;

[0172] The first storage module is used to store the first deviation and the second deviation as optical axis position parameters of the human eye camera in a memory.

[0173] Optionally, the first acquisition unit includes: a first acquisition subunit, a first adjustment subunit and a second adjustment subunit;

[0174] The first acquisition subunit is used to acquire the optical axis position parameter from the memory;

[0175] The first adjustment subunit is used to adjust the movement of the left projection module on the second axis and the third axis according to the first deviation, so that the position information in the image captured by the left eye camera coincides with the preset position;

[0176] The second adjustment subunit is used to adjust the movement of the right projection module on the second axis and the third axis according to the second deviation, so that the position information in the image captured by the right eye camera coincides with the preset position.

[0177] Optionally, the device further comprises:

[0178] a second setting module, configured to respectively set the left-eye camera and the right-eye camera at a third position and a fourth position on the AA platform before adjusting the projection module of the AR device according to the position information and the optical axis position parameter of the human eye camera, so that the optical axis centers of the left-eye camera and the right-eye camera intersect at one point;

[0179] The fourth acquisition module is used to acquire the optical axis position parameters according to the image, and the optical axis position parameters include the position of the optical axis center of the left eye camera on the left waveguide plate, and the position of the optical axis center of the right eye camera on the right waveguide plate.

[0180] Optionally, the projection module includes a projection screen of the AR device, or the projection module includes a projection screen and a projection lens of the AR device.

[0181] The embodiment of the present application also provides a computer device, which also includes a memory and a processor, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the processor implements the calibration method of the augmented reality AR device as described in the above embodiments. Optionally, the computer device can be used as an integral device with the AA platform, and the steps performed by the computer device in the above embodiments can also be replaced by the AA platform as an integral device.

[0182] Fig.15Schematic diagram of a computer device provided by an exemplary embodiment of the present application. Fig.15 As shown, the computer device 1500 includes a central processing unit (CPU) 1501, a system memory 1504 including a random access memory (RAM) 1502 and a read only memory (ROM) 1503, and a system bus 1505 connecting the system memory 1504 and the central processing unit 1501. The computer device 1500 also includes a basic input / output system (I / O system) 1508 for helping to transmit information between various components in the computer, and a large-capacity storage device 1507 for storing an operating system 1512, application programs 1513 and other program modules 1514.

[0183] The basic input / output system 1506 includes a display 1508 for displaying information and an input device 1509 such as a mouse and a keyboard for user inputting information. The display 1508 and the input device 1509 are connected to the central processing unit 1501 through an input / output controller 1510 connected to the system bus 1505. The basic input / output system 1506 may also include an input / output controller 1510 for receiving and processing inputs from a plurality of other devices such as a keyboard, a mouse, or an electronic stylus. Similarly, the input / output controller 1510 also provides output to a display screen, a printer, or other types of output devices.

[0184] The mass storage device 1507 is connected to the central processing unit 1501 via a mass storage controller (not shown) connected to the system bus 1505. The mass storage device 1507 and its associated computer readable medium provide non-volatile storage for the computer device 1500. That is, the mass storage device 1507 may include a computer readable medium (not shown) such as a hard disk or a CD-ROM (Compact Disc Read-Only Memory) drive.

[0185] The computer readable medium may include computer storage media and communication media. Computer storage media include volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information such as computer readable instructions, data structures, program modules or other data. The above-mentioned system memory 1504 and mass storage device 1507 can be collectively referred to as memory.

[0186] The computer device 1500 can be connected to the Internet or other network devices through a network interface unit 1511 connected to the system bus 1505 .

[0187] The memory also includes one or more programs, which are stored in the memory. The central processing unit 1501 implements all or part of the steps performed by the computer device in the methods provided in the above embodiments of the present application by executing the one or more programs.

[0188] In the above embodiments, all or part of the embodiments may be implemented by software, hardware, firmware or any combination thereof. When implemented by software, all or part of the embodiments may be implemented in the form of a computer program product.

[0189] The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions may be transmitted from a website site, a computer, a server, or a data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (Digital Subscriber Line, DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, server, or data center. The computer-readable storage medium may be any available medium that a computer can store or a data storage device such as a server or a data center that includes one or more available media integrations. The available medium may be a magnetic medium, (e.g., a floppy disk, a hard disk, a magnetic tape), an optical medium (e.g., a high-density digital video disc (Digital Video Disc, DVD)), or a semiconductor medium (e.g., a solid-state drive (Solid State Disk, SSD)), etc. The embodiment of the present application further discloses a computer-readable storage medium storing a computer program, wherein the computer program implements the method in the above method embodiment when executed by a processor.

[0190] The embodiment of the present application also discloses a computer program product, which includes a non-transitory computer-readable storage medium storing a computer program, and the computer program is operable to enable a computer to execute the method in the above method embodiment.

[0191] The embodiment of the present application also discloses an application publishing platform, wherein the application publishing platform is used to publish a computer program product, wherein when the computer program product runs on a computer, the computer executes the method in the above method embodiment.

[0192] It should be understood that the "one embodiment" or "an embodiment" mentioned throughout the specification means that the specific features, structures or characteristics related to the embodiment are included in at least one embodiment of the present application. Therefore, "in one embodiment" or "in an embodiment" appearing throughout the specification does not necessarily refer to the same embodiment. In addition, these specific features, structures or characteristics can be combined in one or more embodiments in any suitable manner. Those skilled in the art should also be aware that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily required for the present application.

[0193] In the various embodiments of the present application, it should be understood that the size of the serial numbers of the above-mentioned processes does not necessarily mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0194] The units described above as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0195] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0196] If the above-mentioned integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-accessible memory. Based on this understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product, which is stored in a memory and includes several requests for a computer device (which can be a personal computer, a server or a network device, etc., specifically a processor in a computer device) to perform some or all of the steps of the above-mentioned methods of various embodiments of the present application.

[0197] Those skilled in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by instructing related hardware through a program, and the program can be stored in a computer-readable storage medium, and the storage medium includes a read-only memory (ROM), a random access memory (RAM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), a one-time programmable read-only memory (OTPROM), an electronically erasable rewritable read-only memory (EEPROM), a compact disc (CD-ROM) or other optical disc storage, magnetic disk storage, magnetic tape storage, or any other computer-readable medium that can be used to carry or store data.

[0198] The above is an example introduction to the calibration method, device, computer equipment and storage medium of an augmented reality AR device disclosed in the embodiment of the present application. Individual examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea; at the same time, for general technical personnel in this field, according to the idea of ​​the present application, there will be changes in the implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A method for calibrating a projection device, characterized in that: The method is applied to a computer device, the computer device is connected to a human eye camera, the human eye camera is used to capture the image displayed by the projection device on the waveguide sheet, and the method includes: Acquire the image picture on the waveguide film captured by the human eye camera; According to the image, acquiring position information of a target object in the image on the waveguide sheet; The projection module of the projection device is adjusted according to the position information and the optical axis position parameters of the human eye camera, wherein the optical axis position parameters are obtained after the computer device adjusts the position of the human eye camera on the active alignment AA platform.

2. The method according to claim 1, characterized in that The adjusting the projection module of the projection device according to the position information and the optical axis position parameter of the human eye camera includes: Controlling the projection module to move on the first axis so that the image captured by the human eye camera has the highest clarity; According to the position information and the optical axis position parameters of the human eye camera, obtaining the offset of the projection module on the second axis and the third axis, wherein the first axis, the second axis and the third axis are perpendicular to each other; The projection module is controlled to move on the second axis and the third axis so that the position information coincides with the preset position.

3. The method according to claim 2, characterized in that The human eye camera includes a left eye camera and a right eye camera, the projection device is an augmented reality (AR) device or a virtual reality (VR) device, the waveguide sheet of the projection device includes a left waveguide sheet and a right waveguide sheet, and the projection module includes a left projection module and a right projection module; The left-eye camera is used to capture the image projected by the left-side projection module onto the left-side waveguide sheet, and the right-eye camera is used to capture the image projected by the right-side projection module onto the right-side waveguide sheet.

4. The method according to claim 3, characterized in that: The projection device is an AR glasses, the AR glasses include a lens body module and the projection module, and the projection module includes a projection lens and a projection screen; Before adjusting the projection module of the projection device according to the position information and the optical axis position parameters of the human eye camera, the method further includes: Assembling and fixing the mirror body module and the projection lens; The projection screen is aligned with the projection lens so that the image projected by the projection lens is displayed on the projection screen and the waveguide sheet.

5. The method according to claim 3, characterized in that: The projection device is an AR glasses, the AR glasses include a lens body module and the projection module, and the projection module includes a projection lens and a projection screen; Before adjusting the projection module of the projection device according to the position information and the optical axis position parameters of the human eye camera, the method further includes: Fixing the mirror body module; Assembling and fixing the projection lens and the projection screen; The projection module is aligned with the mirror module so that the image projected by the projection lens is displayed on the projection screen and the waveguide sheet.

6. The method according to claim 3, characterized in that Before adjusting the projection module of the projection device according to the position information and the optical axis position parameters of the human eye camera, the method further includes: The left-eye camera and the right-eye camera are respectively arranged at a first position and a second position on the AA platform; Acquire a first deviation between the optical axis center of the left-eye camera and a target position, and acquire a second deviation between the optical axis center of the right-eye camera and the target position, wherein the target position is a position where the optical axis centers set for the left-eye camera and the right-eye camera intersect; The first deviation and the second deviation are stored in a memory as optical axis position parameters of the human eye camera.

7. The method according to claim 6, characterized in that The step of obtaining the offset of the projection module on the second axis and the third axis according to the position information and the optical axis position parameter of the human eye camera includes: Acquire the optical axis position parameter from the memory; According to the first deviation, adjusting the movement of the left projection module on the second axis and the third axis so that the position information in the image captured by the left eye camera coincides with the preset position; According to the second deviation, the right projection module is adjusted to move on the second axis and the third axis so that the position information in the image captured by the right-eye camera coincides with the preset position.

8. The method according to claim 3, characterized in that Before adjusting the projection module of the projection device according to the position information and the optical axis position parameters of the human eye camera, the method further includes: Calibrate the left-eye camera and the right-eye camera with preset positions of a calibration plate; The left-eye camera and the right-eye camera are respectively set at the third position and the fourth position on the AA platform so that the optical axis centers of the left-eye camera and the right-eye camera intersect at one point; according to the image, the optical axis position parameters are obtained, and the optical axis position parameters include the position of the optical axis center of the left-eye camera on the left waveguide plate, and the position of the optical axis center of the right-eye camera on the right waveguide plate.

9. A calibration device for a projection device, characterized in that: The device is applied to a computer device, the computer device is connected to a human eye camera, the human eye camera is used to capture the image displayed by the projection device on the waveguide sheet, and the device includes: A first acquisition module, used to acquire the image on the waveguide film captured by the human eye camera; A second acquisition module, used for acquiring position information of a target object in the image on the waveguide sheet according to the image; The module adjustment module is used to adjust the projection module of the projection device according to the position information and the optical axis position parameters of the human eye camera, wherein the optical axis position parameters are obtained after the computer device adjusts the position of the human eye camera when actively aligning it with the AA platform.

10. A computer device, characterized in that: The computer device includes a memory and a processor, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the processor implements the calibration method for the projection device according to any one of claims 1 to 8.

11. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the calibration method of the projection device according to any one of claims 1 to 8 is implemented.

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