A waveguide sheet detection system

Abstract

The application discloses a waveguide sheet detection system. The system comprises a base, a clamp for clamping a waveguide sheet, an imaging device for shooting the waveguide sheet, a moving device and a control device. The moving device is arranged on the base and is movable relative to the base, and is connected to at least one of the clamp and the imaging device, for moving the clamp relative to the imaging device. The control device is coupled to the moving device and the imaging device, for controlling the moving device to move according to the image shot by the imaging device. The moving device comprises a Z-axis moving device, an X-axis moving device, a Y-axis moving device and a rotating device. The Z-axis, the X-axis and the Y-axis are perpendicular to each other, the Z-axis is parallel to the optical axis of the camera of the imaging device, and the rotating axis of the rotating device is parallel to the Z-axis. According to the application, the waveguide sheet can be moved and rotated in three-dimensional space relative to the imaging device, so that the waveguide sheet can be adjusted to any position relative to the imaging device, and the waveguide sheet detection is facilitated.

Description

Technical Field

[0001] The present invention relates to the technical field of waveguide plate detection, and in particular to a waveguide plate detection system. Background Art

[0002] When testing the optical performance of optical waveguide products, it's crucial to ensure the proper relative positioning of the optical engine and the waveguide's input grating, as well as the detection imaging system and output grating. Currently, this task is typically performed manually by testers, requiring high skill and labor intensity, as they meticulously adjust the waveguide's position over an extended period of time.

[0003] Therefore, a waveguide plate detection system is needed to at least partially solve the above problems. Summary of the Invention

[0004] The Summary of the Invention introduces a series of simplified concepts that will be further described in the Detailed Description of the Invention. The Summary of the Invention is not intended to limit the key features and essential features of the claimed technical solution, nor is it intended to determine the scope of protection of the claimed technical solution.

[0005] To at least partially solve the above problems, the present invention provides a waveguide plate detection system, comprising:

[0006] base;

[0007] A fixture for holding the waveguide;

[0008] An imaging device, used for photographing the waveguide;

[0009] a moving device provided to the base and movable relative to the base, the moving device being connected to at least one of the jig and the imaging device for making the jig movable relative to the imaging device; and

[0010] a control device coupled to the mobile device and the imaging device, configured to control the movement of the mobile device according to the image captured by the imaging device,

[0011] Wherein, the mobile device includes:

[0012] A Z-axis moving device is provided for moving the imaging device relative to the fixture along the Z-axis direction.

[0013] an X-axis moving device for moving the imaging device relative to the fixture along the X-axis direction,

[0014] A Y-axis moving device for moving the imaging device relative to the fixture along the Y-axis direction, and

[0015] A rotating device is provided for rotating the imaging device relative to the fixture around a rotation axis parallel to the Z-axis direction, wherein

[0016] The Z-axis direction, the X-axis direction, and the Y-axis direction are perpendicular to each other, and the Z-axis direction is parallel to the optical axis of the camera of the imaging device.

[0017] According to the waveguide plate detection system of the present invention, the waveguide plate can be moved and rotated in three-dimensional space relative to the imaging device through an electronic control method, so that the waveguide plate can be adjusted to any position relative to the imaging device, reducing the labor intensity of the detection personnel and facilitating the implementation of waveguide plate detection.

[0018] Optionally, the fixture comprises:

[0019] a first clamp connected to the moving device, the first clamp comprising a first clamping portion for clamping an uncut waveguide sheet; and

[0020] A second clamp is used to clamp the cut waveguide sheet, and the second clamp is detachably connected to the first clamp.

[0021] According to the waveguide plate inspection system of the present invention, both uncut waveguide plates and cut waveguide plates can be inspected by simply replacing a jig.

[0022] Optionally, the first fixture further includes:

[0023] a back plate including a first side and a second side opposite the first side, the first side facing the imaging device, the second side connected to the moving device; and

[0024] a first mounting portion provided to the first side for mating with a second mounting portion of the second clamp so that the second clamp is detachably connected to the first clamp,

[0025] Wherein, the first clamping portion is provided to the first side.

[0026] Further, optionally, the first clamping portion is configured as a first groove, and / or

[0027] The first mounting portion is configured as a mounting hole.

[0028] According to the waveguide plate inspection system of the present invention, the method of mounting the waveguide plate on the fixture is simple.

[0029] Optionally, the first clamp further comprises a second clamping portion, the second clamping portion is arranged to the first side of the back plate, the second clamping portion is located between the first mounting portion and the back plate, and is used for clamping the light shield plate.

[0030] According to the waveguide sheet detection system, the light shield plate can be arranged behind the waveguide sheet, so that the imaging effect of the waveguide sheet in the imaging device is improved.

[0031] Optionally, the second clamping portion is configured as a second groove.

[0032] According to the waveguide sheet detection system, the light shield plate is arranged to the clamp in a simple way.

[0033] Optionally, when the uncut waveguide sheet is arranged on the first clamping portion, the distance between the uncut waveguide sheet and the back plate is a first distance d1,

[0034] When the cut waveguide sheet is connected to the first clamp through the second clamp, the distance between the cut waveguide sheet and the back plate is a second distance d2,

[0035] The clamp is configured in such a way that the first distance d1 is equal to the second distance d2 by designing the size of the second clamp or adjusting the distance between the second clamp and the back plate.

[0036] According to the waveguide sheet detection system, after the clamp is replaced, the distance between the waveguide sheet and the back plate remains unchanged, and the process of adjusting the position of the waveguide sheet relative to the imaging device is simplified.

[0037] Optionally, the second clamp comprises a first clamp portion and a second clamp portion, the first clamp portion and the second clamp portion are arranged oppositely, and the first clamp portion is detachably connected to the second clamp portion to clamp the cut waveguide sheet together with the second clamp portion.

[0038] According to the waveguide sheet detection system, the second clamp has a simple structure and is easy to use.

[0039] Optionally, the Z-axis moving device, the X-axis moving device and the Y-axis moving device are connected to the imaging device, and the rotating device is connected to the clamp.

[0040] Further, the waveguide sheet detection system further comprises a clamp support, the clamp support is arranged to the base and is stationary relative to the base, wherein the rotating device is arranged to the clamp support, the clamp is connected to the rotating device and is rotatable relative to the clamp support around the rotation axis under the drive of the rotating device,

[0041] The Z-axis moving device is provided on the base, and the Z-axis moving device includes a Z-axis moving platform, and the Z-axis moving platform is movable along the Z-axis direction relative to the base.

[0042] The X-axis moving device is arranged on the Z-axis moving platform, and the X-axis moving device includes an X-axis moving platform, and the X-axis moving platform is movable along the X-axis direction relative to the Z-axis moving platform.

[0043] The Y-axis moving device is arranged on the X-axis moving platform, and the Y-axis moving device includes a Y-axis moving platform, and the Y-axis moving platform is movable along the Y-axis direction relative to the X-axis moving platform.

[0044] The imaging device is arranged on the Y-axis moving platform.

[0045] According to the waveguide plate detection system of the present invention, the moving device has a compact structure and is easy to control.

[0046] Optionally, the Z-axis moving device further includes:

[0047] A Z-axis screw, the Z-axis screw being provided to the base and extending along the Z-axis direction;

[0048] A Z-axis lead screw nut, configured to match the Z-axis lead screw; and

[0049] A Z-axis motor is provided on the base, and the Z-axis motor is coupled to the control device for driving the Z-axis screw to rotate.

[0050] Wherein, the Z-axis moving platform is connected to the Z-axis screw nut.

[0051] Optionally, the X-axis moving device further includes:

[0052] An X-axis screw, the X-axis screw being arranged on the Z-axis movable platform and extending along the X-axis direction;

[0053] An X-axis lead screw nut, configured to match the X-axis lead screw; and

[0054] An X-axis motor is provided to the Z-axis moving platform, and the X-axis motor is coupled to the control device for driving the X-axis lead screw to rotate.

[0055] Wherein, the X-axis moving platform is connected to the X-axis lead screw nut.

[0056] Optionally, the Y-axis moving device further includes:

[0057] A Y-axis screw, the Y-axis screw being arranged on the X-axis movable platform and extending along the Y-axis direction;

[0058] A Y-axis lead screw nut, configured to match the Y-axis lead screw; and

[0059] A Y-axis motor is provided to the X-axis moving platform, and the Y-axis motor is coupled to the control device for driving the Y-axis lead screw to rotate.

[0060] Wherein, the Y-axis moving platform is connected to the Y-axis lead screw nut.

[0061] Optionally, the rotating device includes a rotating motor and a rotating transmission assembly, the rotating motor is arranged to the clamp support and coupled to the control device, and the rotating transmission assembly is connected between the output shaft of the rotating motor and the clamp, so that the clamp rotates with the rotation of the output shaft of the rotating motor.

[0062] According to the waveguide plate detection system of the present invention, the performance of the moving device is stable and the control is convenient.

[0063] Optionally, the imaging device includes a positioning imaging device and a detection imaging device, and the relative positions of the detection imaging device and the positioning imaging device remain unchanged. The waveguide plate detection system is configured to complete the following steps in the detection process of the waveguide plate:

[0064] The control device controls the Z-axis moving device, the Y-axis moving device, and the X-axis moving device to operate so that the clamp is located at a second position P2 relative to the imaging device, and the control device controls the rotation device to operate so that the rotation angle of the clamp relative to the imaging device is a first angle R1;

[0065] The control device controls the positioning imaging device to photograph the waveguide to be inspected to obtain a second image, and the control device controls the rotation device to operate according to the second image, so that the rotation angle of the clamp relative to the imaging device is a second angle R2; and

[0066] The control device controls the positioning imaging device to photograph the waveguide to be inspected to obtain a third image. The control device controls the Z-axis moving device, the Y-axis moving device, and the X-axis moving device to operate according to the third image, so that the fixture is located at a third position P3 relative to the imaging device.

[0067] Furthermore, during the detection process of the waveguide plate, a calibration process is further included before the detection process, and the waveguide plate detection system is configured to complete the following steps in the calibration process:

[0068] The control device controls the Z-axis moving device, the Y-axis moving device and the X-axis moving device to work so that the clamp is located at a first position P1 relative to the imaging device, and controls the rotating device to work so that the rotating angle of the clamp relative to the imaging device is the first angle R1, so that the calibration waveguide piece presents a desired image in the detection imaging device;

[0069] The control device records information of the first position P1 and information of the first angle R1;

[0070] The control device controls the Z-axis moving device, the Y-axis moving device and the X-axis moving device to work so that the clamp is located at the second position P2 relative to the imaging device, so that the calibration waveguide piece presents a desired image in the positioning imaging device;

[0071] The control device records information of the second position P2;

[0072] The control device controls the positioning imaging device to take a picture of the calibration waveguide piece to obtain a first picture;

[0073] The control device analyzes a first rotating angle r1 of the calibration waveguide piece relative to a reference line in the first picture, and records information of the first rotating angle r1; and

[0074] The control device analyzes a first pixel position p1 of a feature point of the calibration waveguide piece in the first picture, and records information of the first pixel position p1,

[0075] Wherein, the relative positions of the in-coupling grating and the out-coupling grating of the calibration waveguide piece are the same as the relative positions of the in-coupling grating and the out-coupling grating of the waveguide piece to be detected, and the reference line is a straight line with an unchanged angle in the shooting field of view of the positioning imaging device.

[0076] When testing the optical performance of optical waveguide products, it is necessary to ensure that the relative positions of the optical engine and the waveguide plate's coupling grating, as well as the detection imaging system and the coupling grating, are properly adjusted. Since the waveguide plate transfer process only ensures the relative position of the coupling grating and coupling grating is fixed, but not their relative position to the waveguide plate. Therefore, the position of each waveguide plate needs to be adjusted when testing its optical performance. The waveguide plate testing system of the present invention pairs a detection imaging device with a positioning imaging device, and incorporates a calibration process prior to the testing process. For waveguide plates of the same specification, the calibration process determines the ideal position of the waveguide plate's coupling grating and coupling grating relative to the detection system. During the testing process, the device then automatically adjusts the coupling grating and coupling grating of the tested waveguide plate to these ideal positions, effectively ensuring the stability of the test results. Furthermore, calibration only needs to be performed once for waveguide plates of the same specification, which improves testing efficiency.

[0077] Optionally, the control device controls the rotation device to operate according to the second image so that the angle between the clamp and the imaging device is a second angle R2, including:

[0078] The control device analyzes a second rotation angle r2 of the waveguide to be inspected relative to the reference line in the second picture, where the second angle R2 is a sum of the first angle R1 and the second rotation angle r2 minus the first rotation angle r1.

[0079] Optionally, the control device controls the Z-axis moving device, the Y-axis moving device, and the X-axis moving device to operate according to the third image so that the clamp is located at a third position P3 relative to the imaging device, including:

[0080] The control device analyzes the second pixel position p2 of the feature point of the waveguide to be detected in the third image, and determines the third position P3 according to the first pixel position p1 and the second pixel position p2.

[0081] Optionally, the first pixel position p1 includes a first Y-axis coordinate position Y1 along the Y-axis direction and a first X-axis coordinate position X1 along the X-axis direction.

[0082] The second pixel position p2 includes a second Y-axis coordinate position Y2 along the Y-axis direction and a second X-axis coordinate position X2 along the X-axis direction.

[0083] The third position P3 is a position moved from the first position P1 by a first moving distance D1 along the Y-axis direction and a second moving distance D2 along the X-axis direction, wherein

[0084] D1=(Y2-Y1)×a, D2=(X2-X1)×a,

[0085] Where a is the actual physical size corresponding to a pixel.

[0086] According to the waveguide plate detection system of the present invention, in the detection process, the adjustment of the waveguide plate position is based on the ideal position determined in the calibration process, so that the coupling-in grating and the coupling-out grating of the waveguide plate under inspection can be adjusted to the ideal position.

[0087] Optionally, the characteristic point is a vertex of a boundary angle of the outcoupling grating; and / or

[0088] The reference line is a horizontal line or a vertical line in the shooting field of view of the positioning imaging device.

[0089] According to the waveguide plate detection system of the present invention, the selection of characteristic points and reference lines is reasonable and the relevant algorithm is mature, which is conducive to ensuring the stability of the detection results.

[0090] Optionally, the rotation angle of the waveguide plate relative to the reference line is an angle between a characteristic line of the waveguide plate and the reference line.

[0091] Furthermore, the characteristic line is an edge of the outcoupling grating of the waveguide plate.

[0092] According to the waveguide plate detection system of the present invention, the selection of characteristic lines is reasonable and the relevant algorithm is mature, which is conducive to ensuring the stability of the detection results.

[0093] Optionally, the positioning imaging device includes a positioning camera, and the positioning camera includes a telecentric lens.

[0094] According to the waveguide plate detection system of the present invention, since the telecentric lens has no perspective phenomenon, the coordinates of the object in the image are not affected by the movement error of the Z-axis moving device and change, thereby reducing the final positioning error.

[0095] Optionally, the detection imaging device includes an optical machine and a detection camera, wherein the optical axis of the detection camera and the optical axis of the positioning camera both extend along the Z-axis direction, and the relative position of the optical machine and the detection camera corresponds to the relative position of the coupling-in grating of the waveguide plate and the coupling-out grating of the waveguide plate.

[0096] Furthermore, the detection imaging device also includes an optical machine moving device, which is used to enable the optical machine to move relative to the detection camera along at least one of the Y-axis direction and the X-axis direction.

[0097] According to the waveguide plate detection system of the present invention, the relative position of the optical machine and the detection camera can be adjusted, so that the waveguide plate detection system can detect waveguide plates of different models. BRIEF DESCRIPTION OF THE DRAWINGS

[0098] The following drawings of the present invention are incorporated herein as a part of the present invention for understanding the present invention. The drawings show embodiments of the present invention and the description thereof is used to explain the principle of the present invention.

[0099] In the attached figure:

[0100] Figure 1 A front perspective view of a waveguide plate detection system according to a preferred embodiment of the present invention;

[0101] Figure 2 for Figure 1 A rear perspective view of the waveguide detection system shown;

[0102] Figure 3 for Figure 1 A perspective view of a first fixture of the waveguide plate detection system shown;

[0103] Figure 4 for Figure 1 Schematic diagram of a fixture of a waveguide plate inspection system holding an uncut waveguide plate;

[0104] Figure 5 for Figure 1 Schematic diagram of a fixture of a waveguide plate detection system holding a cut waveguide plate;

[0105] Figure 6 for Figure 1 A schematic diagram of the alignment between the detection imaging device of the waveguide plate detection system and the waveguide plate is shown;

[0106] Figure 7 for Figure 1 The diagram shown is a schematic diagram of a first image of a calibrated waveguide plate taken by a positioning imaging device in a calibration process of a waveguide plate detected by a waveguide plate detection system;

[0107] Figure 8 for Figure 1 The schematic diagram of the second image of the waveguide to be inspected taken by the positioning imaging device in the inspection process of the waveguide inspection system is shown;

[0108] Figure 9 for Figure 1 The diagram shown is a schematic diagram of a third picture of the waveguide to be inspected taken by the positioning imaging device in the inspection process of the waveguide inspection system for inspecting the waveguide.

[0109] Description of reference numerals:

[0110] 10: Base

[0111] 12: Fixture support

[0112] 20: Fixture

[0113] 21: First fixture

[0114] 22: Back panel

[0115] 23: First side

[0116] 24: Second side

[0117] 25: First installation part

[0118] 26: First clamping part

[0119] 27: Second clamping part

[0120] 31: Second fixture

[0121] 32: First fixture

[0122] 33: Second fixture

[0123] 35: Second installation part

[0124] 40: Mobile devices

[0125] 41: Z-axis moving device

[0126] 42: Z-axis moving platform

[0127] 43: Z-axis screw

[0128] 45: Z-axis motor

[0129] 51: X-axis moving device

[0130] 52: X-axis moving platform

[0131] 53: X-axis screw

[0132] 55: X-axis motor

[0133] 61: Y-axis moving device

[0134] 62: Y-axis moving platform

[0135] 63: Y-axis screw

[0136] 65: Y-axis motor

[0137] 71: Rotating device

[0138] 75: Rotating motor

[0139] 80: Waveguide

[0140] 81: Incoupling Grating

[0141] 82: Outcoupling Grating

[0142] 83: Feature points

[0143] 90: Imaging device

[0144] 91: Detection imaging device

[0145] 92: Positioning imaging device

[0146] 93: Detection camera

[0147] 94: Optical Machine

[0148] 95: Positioning camera

[0149] 100: Waveguide detection system

[0150] DZ: Z-axis direction

[0151] DX: X-axis direction

[0152] DY: Y-axis direction

[0153] FL: Feature Line

[0154] PR: Rotation axis

[0155] RL: Baseline DETAILED DESCRIPTION

[0156] In the following description, numerous specific details are provided to provide a more thorough understanding of the present invention. However, it will be apparent to those skilled in the art that the present invention may be practiced without one or more of these details. In other instances, certain technical features well known in the art are not described to avoid confusion with the present invention.

[0157] In order to fully understand the present invention, a detailed description will be provided in the following description. It should be understood that these embodiments are provided to make the disclosure of the present invention thorough and complete, and to fully convey the concepts of these exemplary embodiments to those of ordinary skill in the art. Obviously, the implementation of the embodiments of the present invention is not limited to the specific details familiar to those skilled in the art. The preferred embodiments of the present invention are described in detail below, however, in addition to these detailed descriptions, the present invention may also have other embodiments.

[0158] It should be noted that the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should also be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of the features, wholes, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or combinations thereof.

[0159] Ordinal numbers such as "first" and "second" cited in the present invention are merely identifiers and do not have any other meanings, such as a specific order, etc. Moreover, for example, the term "first component" itself does not imply the existence of a "second component", and the term "second component" itself does not imply the existence of a "first component".

[0160] It should be noted that the terms "upper", "lower", "front", "back", "left", "right", "inside", "outside" and similar expressions used in this document are for illustrative purposes only and are not limiting.

[0161] The present invention provides a waveguide plate detection system.

[0162] Now, exemplary embodiments according to the present invention will be described in more detail with reference to the accompanying drawings.

[0163] like Figure 1 and Figure 2 As shown, in a preferred embodiment, a waveguide sheet inspection system 100 according to the present invention includes a base 10, a fixture 20, an imaging device 90, a moving device 40, and a control device (not shown). The fixture 20 is used to hold the waveguide sheet 80. The imaging device 90 is used to image the waveguide sheet 80, thereby enabling the quality of the waveguide sheet 80 to be inspected based on the captured image. The moving device 40 is attached to the base 10. The moving device 40 is movable relative to the base 10. The moving device 40 is connected to at least one of the fixture 20 and the imaging device 90, and is configured to enable the fixture 20 to move relative to the imaging device 90 (i.e., enable the imaging device 90 to move relative to the fixture 20), thereby enabling the imaging device 90 to align with the waveguide sheet 80. The control device is coupled to both the moving device 40 and the imaging device 90, and is configured to control the movement of the moving device 40 based on the image captured by the imaging device 90, thereby enabling the imaging device 90 to align with the waveguide sheet 80. Furthermore, the control device is preferably also configured to analyze and process the image captured by the imaging device 90 to assess the quality of the waveguide sheet 80.

[0164] In this application, “movement” can refer to either translation or rotation.

[0165] Preferably, the moving device 40 includes a Z-axis moving device 41 for moving (translating) the imaging device 90 relative to the fixture 20 along the Z-axis direction DZ, an X-axis moving device 51 for moving (translating) the imaging device 90 relative to the fixture 20 along the X-axis direction DX, a Y-axis moving device 61 for moving (translating) the imaging device 90 relative to the fixture 20 along the Y-axis direction DY, and a rotating device 71 for rotating (rotating) the imaging device 90 relative to the fixture 20 about a rotation axis PR parallel to the Z-axis direction DZ. The Z-axis direction DZ, the X-axis direction DZ, and the Y-axis direction DY are perpendicular to each other, and the Z-axis direction DZ is parallel to the optical axis of the camera of the imaging device 90. That is, the Z-axis direction DZ is the shooting direction of the imaging device 90. After being clamped by the fixture 20, the waveguide plate 80 is located in a plane perpendicular to or substantially perpendicular to the Z-axis direction DZ. That is, the normal of the waveguide plate 80 is parallel to or substantially parallel to the Z-axis direction DZ.

[0166] One or more of the Z-axis moving device 41, the X-axis moving device 51, the Y-axis moving device 61, and the rotating device 71 are connected to the imaging device 90, and the rest are connected to the fixture 20. Alternatively, the Z-axis moving device 41, the X-axis moving device 51, the Y-axis moving device 61, and the rotating device 71 are all connected to the imaging device 90. Alternatively, the Z-axis moving device 41, the X-axis moving device 51, the Y-axis moving device 61, and the rotating device 71 are all connected to the fixture 20. Preferably, as Figure 1 and Figure 2 As shown, the Z-axis moving device 41 , the X-axis moving device 51 , and the Y-axis moving device 61 are connected to the imaging device 90 , and the rotating device 71 is connected to the fixture 20 .

[0167] Specifically, the Z-axis moving device 41 is provided to the base 10. The Z-axis moving device includes a Z-axis moving platform 42, a Z-axis screw 43, a Z-axis screw nut (not shown) and a Z-axis motor 45. Among them, the Z-axis screw 43 is provided to the base 10 and extends along the Z-axis direction DZ. The Z-axis screw nut is provided to match the Z-axis screw 43. The Z-axis motor 45 is provided to the base 10. The Z-axis motor 45 is coupled to the control device for driving the Z-axis screw 43 to rotate. The Z-axis moving platform 42 is connected to the Z-axis screw nut. When the Z-axis motor 45 is working, the Z-axis screw 43 rotates, so that the Z-axis screw nut moves along the Z-axis direction DZ on the Z-axis screw 43, thereby making the Z-axis moving platform 42 movable along the Z-axis direction DZ relative to the base 10.

[0168] The X-axis moving device 51 is set to the Z-axis moving platform 42. The X-axis moving device 51 includes an X-axis moving platform 52, an X-axis lead screw 53, an X-axis lead screw nut (not shown) and an X-axis motor 55. Among them, the X-axis lead screw 53X is set to the Z-axis moving platform 42 and extends along the X-axis direction DX. The X-axis lead screw nut is matched with the X-axis lead screw 53. The X-axis motor 55 is set to the Z-axis moving platform 42. The X-axis motor 55 is coupled to the control device for driving the X-axis lead screw 53 to rotate. The X-axis moving platform 52 is connected to the X-axis lead screw nut. When the X-axis motor 55 is working, the X-axis lead screw 53 rotates, so that the X-axis lead screw nut moves along the X-axis direction DX on the X-axis lead screw 53, so that the X-axis moving platform 52 is movable along the X-axis direction DX relative to the Z-axis moving platform 42, that is, the X-axis moving platform 52 is movable along the X-axis direction DX relative to the base 10.

[0169] The Y-axis moving device 61 is arranged to the X-axis moving platform 52. The Y-axis moving device 61 includes a Y-axis moving platform 62, a Y-axis lead screw 63, a Y-axis lead screw nut (not shown) and a Y-axis motor 65. Among them, the Y-axis lead screw 63 is arranged to the X-axis moving platform 52 and extends along the Y-axis direction DY. The Y-axis lead screw nut is matched with the Y-axis lead screw 63. The Y-axis motor 65 is arranged to the X-axis moving platform 52. The Y-axis motor 65 is coupled to the control device for driving the Y-axis lead screw 63 to rotate. The Y-axis moving platform 62 is connected to the Y-axis lead screw nut. When the Y-axis motor 65 is working, the Y-axis screw 63 rotates, causing the Y-axis screw nut to move along the Y-axis direction DY on the Y-axis screw 63, so that the Y-axis moving platform 62 can be moved along the Y-axis direction DY relative to the X-axis moving platform 52, that is, the Y-axis moving platform 62 can be moved along the Y-axis direction DY relative to the Z-axis moving platform 42, that is, the Y-axis moving platform 62 can be moved along the Y-axis direction DY relative to the base 10.

[0170] The imaging device 90 is attached to the Y-axis moving platform 62. Therefore, the imaging device 90 is movable in the Y-axis direction DY relative to the X-axis moving platform 52, the Z-axis moving platform 42, and the base 10. The imaging device 90 is movable in the X-axis direction DX relative to the Z-axis moving platform 42 and the base 10. The imaging device 90 is movable in the Z-axis direction DZ relative to the base 10.

[0171] like Figure 1 and Figure 2As shown, the waveguide plate inspection system 100 further includes a fixture support 12. The fixture support 12 is mounted to the base 10 and is stationary relative to the base 10. The fixture support 12 can also be considered a part of the base 10. The fixture 20 is stationary relative to the base 10 along the Z-axis direction DZ. The fixture 20 is connected to a rotating device 71 and is rotatable relative to the fixture support 12 about a rotation axis PR driven by the rotating device 71. The rotating device 71 is mounted to the fixture support 12, or in other words, the rotating device 71 is mounted to the base 10. The rotating device 71 includes a rotary motor 75 and a rotary transmission assembly (not shown). The rotary motor 75 is mounted to the fixture support 12 (i.e., the base 10) and coupled to a control device. The rotary transmission assembly is connected between the output shaft of the rotary motor 75 and the fixture 20, so that the fixture 20 rotates relative to the fixture support 12 (i.e., the base 10) about the rotation axis PR as the output shaft of the rotary motor 75 rotates. The rotation axis PR extends along the Z-axis direction DZ.

[0172] As can be seen from the above description, the Y-axis movable platform 62 on which the imaging device 90 is mounted does not rotate relative to the base 10. Therefore, in the present invention, the rotating device 71 is configured to rotate the jig 20 relative to the base 10 about a rotation axis PR parallel to the Z-axis direction DZ, thereby enabling the imaging device 90 to rotate relative to the jig 20 about a rotation axis PR parallel to the Z-axis direction DZ. The jig 20 does not move relative to the base 10 in the Z-axis direction DZ, the Y-axis direction DY, and the X-axis direction DX. Therefore, in the present invention, the Z-axis moving device 41 is constructed so that the imaging device 90 can be moved along the Z-axis direction DZ relative to the base 10, so as to enable the imaging device 90 to be moved along the Z-axis direction DZ relative to the clamp 20; the X-axis moving device 51 is constructed so that the imaging device 90 can be moved along the X-axis direction DX relative to the base 10, so as to enable the imaging device 90 to be moved along the X-axis direction DX relative to the clamp 20; the Y-axis moving device 61 is constructed so that the imaging device 90 can be moved along the Y-axis direction DY relative to the base 10, so as to enable the imaging device 90 to be moved along the Y-axis direction DY relative to the clamp 20.

[0173] In other words, in a preferred embodiment, the imaging device 90 is capable of translational movement relative to the base 10 and the fixture 20 along the Z-axis DZ, X-axis DX, and Y-axis DY, while the fixture 20 is capable of rotational movement relative to the base 10 and the imaging device 90 about the rotation axis PR. The translational movement of the imaging device 90 determines the relative position of the imaging device 90 and the fixture 20 (i.e., the waveguide sheet 80). The rotational movement of the fixture 20 determines the relative rotational angle between the molding device 90 and the fixture 20 (i.e., the waveguide sheet 80).

[0174] The position of the imaging device 90 relative to the fixture 20 is jointly determined by the Z-axis moving device 41, the X-axis moving device 51 and the Y-axis moving device 61, so the imaging device 90 is connected to the Z-axis moving device 41, the X-axis moving device 51 and the Y-axis moving device 61.

[0175] like Figure 3 、 Figure 4 and Figure 5 As shown, the clamp 20 includes a first clamp 21 and a second clamp 31. The first clamp 21 is connected to the mobile device 40. Specifically, the first clamp 21 is connected to the rotation transmission assembly of the rotating device 71 of the mobile device 40, so that the first clamp 21 can rotate around the rotation axis PR relative to the base 10. The second clamp 31 is detachably connected to the first clamp 21. The first clamp 21 is used to clamp the uncut waveguide sheet 80. The second clamp is used to clamp the cut waveguide sheet 80. For example, the waveguide sheet 80 is circular when cut (such as Figure 4 As shown), it can be applied to glasses, so the waveguide sheet 80 will be cut into the shape of the glasses lens (as shown Figure 5 Therefore, the waveguide sheet inspection system 100 according to the present invention can inspect the waveguide sheet 80 before cutting, and can also inspect the waveguide sheet 80 after cutting.

[0176] like Figure 3 and Figure 4 As shown, the first fixture 21 includes a back plate 22, a first clamping portion 26, and a second clamping portion 27. The back plate 22 extends along a plane perpendicular to or substantially perpendicular to the Z-axis direction DZ. That is, the back plate 22 is perpendicular to or substantially perpendicular to the Z-axis direction DZ. The back plate 22 includes a first side 23 and a second side 24 opposite the first side. The first side 23 faces the imaging device 90. The first side 23 extends along a plane perpendicular to or substantially perpendicular to the Z-axis direction DZ. That is, the normal of the back plate 22 is parallel to or substantially parallel to the Z-axis direction DZ. The second side 24 is connected to the moving device 40, that is, to the rotation transmission assembly of the rotating device 71 of the moving device 40. The first clamping portion 26 is provided on the first side 23 of the back plate 22. The first clamping portion 26 is configured as a first groove for clamping the uncut waveguide sheet 80 (the cut waveguide sheet 80 is inserted into the first groove). The second clamping portion 27 is also provided on the first side 23 of the back plate 22 and is located between the first mounting portion 25 and the back plate 22. The second clamping portion 27 is used to clamp the light shielding plate so that the imaging device 90 can obtain a better shooting effect. The second clamping portion 27 is configured as a second groove (the light shielding plate is inserted into the second groove).

[0177] like Figure 5As shown, the second clamp 31 comprises a first clamp portion 32 and a second clamp portion 33. The first clamp portion 32 is oppositely arranged to the second clamp portion 33. The first clamp portion 32 is detachably connected to the second clamp portion 33 to jointly clamp the cut waveguide sheet 80 with the second clamp portion 33.

[0178] The first clamp 21 further comprises a first mounting portion 25. The second clamp 31 further comprises a second mounting portion 35. The first mounting portion 25 is arranged to the first side 23 to match with the second mounting portion 35 of the second clamp 31, so that the second clamp 31 is detachably connected to the first clamp 21. For example, the first mounting portion 25 and the second mounting portion 35 are both configured as mounting holes, and the second clamp 31 is mounted to the first clamp 21 by bolts. Alternatively, the first mounting portion 25 is configured as a mounting hole, and the second mounting portion 35 is configured as a mounting pin on the side of the second clamp facing the first clamp 21, which mounting pin is inserted into the mounting hole to mount the second clamp 31 to the first clamp 21.

[0179] It can be understood that, when the waveguide sheet 80 is mounted to the clamp 20, the waveguide sheet 80 rotates synchronously with the clamp 20 relative to the base 10, and the waveguide sheet 80 rotates synchronously with the clamp 20 relative to the imaging device 90. As shown in Figure 4 and Figure 5 As shown, the waveguide sheet 80 comprises a coupling-in grating 81 and a coupling-out grating 82. For the same model or the same type of waveguide sheet 80, the relative positions of the coupling-in grating 81 and the coupling-out grating 82 are unchanged.

[0180] As shown in Figure 1 and Figure 2 As shown, the imaging device 90 comprises a detection imaging device 91 coupled to the control device for detecting the performance of the waveguide sheet 80. The detection imaging device 91 comprises a light machine 94 and a detection camera 93. The light machine 94 and the detection camera 93 are both coupled to the control device. The optical axis of the detection camera 93 extends along the Z-axis direction DZ. The relative positions of the light machine 94 and the detection camera 93 correspond to the relative positions of the coupling-in grating 81 and the coupling-out grating 82, that is, when the light machine 94 is aligned with the coupling-in grating 81, the detection camera 93 is simultaneously aligned with the coupling-out grating 82 (as shown in Figure 6As shown). During inspection, the optical engine 94 is aligned with the coupling-in grating of the waveguide plate 80, allowing light to enter the waveguide plate 80 through the coupling-in grating 81. The user then observes the image in the coupling-out grating 82 through the inspection camera 93, thereby analyzing the performance of the waveguide plate 80. When the model of the waveguide plate 80 is different, the relative position of the coupling-in grating 81 and the coupling-out grating 82 will be different. Therefore, preferably, the inspection imaging device 91 also includes an optical mechanical moving device (not shown) for moving the optical engine 94 relative to the inspection camera 93 along at least one of the Y-axis direction DY and the X-axis direction DX, thereby adjusting the relative position of the optical engine 94 and the inspection camera 93. For example, the optical mechanical moving device is constructed as an optical mechanical moving platform, which is set to the Y-axis moving platform 62 and is movable relative to the Y-axis moving platform 62 along at least one of the Y-axis direction DY and the X-axis direction DX. The inspection camera 93 is set to the Y-axis moving platform 62, and the optical engine 94 is set to the optical mechanical moving platform, so that its relative position with the inspection camera 93 can be adjusted.

[0181] When testing the optical performance of optical waveguide products, it's crucial to ensure the relative positions of the optical engine and the waveguide's input grating, as well as the detection imaging system and the output grating, are properly adjusted. Currently, this relative position is adjusted based on experience by observing the imaging system's images. Because the waveguide transfer process only ensures the relative positions of the input and output gratings remain fixed, not their relative positions to the waveguide. Therefore, the waveguide's position must be adjusted for each waveguide's optical performance test. Due to subjective factors, the relative positions of the optical engine and the waveguide's input grating, as well as the detection imaging system and the output grating, cannot be guaranteed to be consistent during each measurement, affecting the stability of the test results.

[0182] In other words, during the transfer process of the waveguide plate 80, only the relative position between the coupling-in grating 81 and the coupling-out grating 82 can be guaranteed to be fixed, but the relative position between the coupling-in grating 81 and the coupling-out grating 82 and the waveguide plate 80 cannot be guaranteed to remain unchanged. In other words, it cannot be guaranteed that the coupling-in grating 81 and the coupling-out grating 82 are always located at fixed positions on the waveguide plate 80. Therefore, each time the waveguide plate 80 is replaced, the optical machine 94 needs to be realigned with the coupling-in grating 81 (or the detection camera 93 needs to be realigned). This makes the detection operation cumbersome and inefficient under manual operation. At the same time, the stability of the manual alignment operation is not guaranteed, which affects the stability of the detection results.

[0183] To solve this problem, Figure 1 and Figure 2As shown, the imaging device 90 further includes a positioning imaging device 92. The positioning imaging device 92 is coupled to the control device. The relative position of the positioning imaging device 92 and the detection imaging device 91 remains unchanged. The positioning imaging device 92 includes a positioning camera 95. The optical axis of the positioning camera 95 extends along the Z-axis direction DZ. The positioning imaging device 92 is used to automatically adjust the positions of the coupling-in grating 81 and the coupling-out grating 82 of the waveguide plate 80 to a fixed position (also referred to as the detection position) relative to the detection imaging device 91 after each replacement of the waveguide plate 80. In this way, the relative position of the detection imaging device 91 and the waveguide plate 80 remains unchanged, thereby improving work efficiency and detection stability.

[0184] Specifically, the inspection process for the waveguide plate 80 includes a calibration step and an inspection step. During the calibration step, the user, through subjective experience, determines the ideal position of the fixture 20 for inspecting the waveguide plate 80 relative to the inspection imaging device 91 based on the calibrated waveguide plate, and the control device records the relevant information. During the inspection step, the control device automatically adjusts the fixture 20 relative to the inspection imaging device 91 to the ideal position based on the recorded information, ensuring that the relative position of each waveguide plate to be inspected and the inspection imaging device 91 is the ideal position. It will be understood that the calibration waveguide plate and the waveguide plate to be inspected are of the same model, that is, the relative position of the coupling grating and the decoupling grating of the calibration waveguide plate is the same as the relative position of the coupling grating and the decoupling grating of the waveguide plate to be inspected.

[0185] First, in the calibration process, the waveguide plate detection system 100 is configured to complete the following steps.

[0186] S11. The control device controls the moving device 40 to operate, so that the clamp 20 is located at the first position P1 relative to the imaging device 90, and the rotation angle of the clamp 20 relative to the imaging device 90 is the first angle R1, so that the waveguide plate 80 (also called the calibration waveguide plate 80) serving as the calibration waveguide plate presents the desired image in the detection imaging device 91.

[0187] In step S11, any one of the waveguide sheets 80 of a certain model is first used as a calibration waveguide sheet and clamped in the fixture 20. The user manipulates the control device to operate the movement device 40, including controlling the Z-axis movement device 41, the X-axis movement device 51, the Y-axis movement device 61, and the rotation device 71, thereby adjusting the relative position and relative angle between the fixture 20 and the imaging device 90, that is, adjusting the relative position and relative angle between the waveguide sheet 80 and the imaging device 90. Specifically, the user manipulates the control device to operate the Z-axis movement device 41, the Y-axis movement device 61, and the X-axis movement device 51 to position the fixture 20 at a first position P1 relative to the imaging device 90; and the user manipulates the control device to control the rotation device 71 to rotate the fixture 20 at a first angle R1 relative to the imaging device 90. When the user sees the desired image in the image captured by the detection camera 93 (for example, seeing a clear, expected image in the image captured by the detection camera 93), the control device controls the movement device 40 to stop moving. At this point, the Z-axis moving device 41, the X-axis moving device 51, and the Y-axis moving device 61 position the fixture 20 at the first position P1 relative to the imaging device 90, and the rotation device 71 rotates the fixture 20 at the first angle R1 relative to the imaging device 90. That is, at this point, the Z-axis moving device 41, the X-axis moving device 51, and the Y-axis moving device 61 position the waveguide plate 80 at the first position P1 relative to the imaging device 90, and the rotation device 71 rotates the waveguide plate 80 at the first angle R1 relative to the imaging device 90. In this application, the position of the coupling-in grating 81 and the coupling-out grating 82 relative to the detection imaging device 91 when the waveguide plate 80 is at the first position P1 and the first angle R1 relative to the imaging device 90 is referred to as the detection position. It will be understood that, in this application, each time the waveguide plate 80 is replaced, the movement device 40 must be controlled to move the waveguide plate 80 to the detection imaging device 91 to the detection position.

[0188] For example, in the present invention, the mechanical zero point of the X-axis direction DX is Figure 1 The left end of the Y axis direction DY is the mechanical zero point. Figure 1 The lower end of the Z axis direction DZ mechanical zero point is Figure 1 The coordinate units for the motion in the X-axis direction DX, Y-axis direction DY, and Z-axis direction DZ are in millimeters. In the present invention, the angle at which the fixture 20 rotates about the rotation axis PR is also referred to as the R-axis position. The user can set the rotation angle of the fixture 20 relative to the base 10 to 0 degrees at a certain rotation angle of the output shaft of the rotary motor 75.

[0189] For example, in step S11, the manual adjustment of the moving device 40 is to adjust the relative positions of the detection camera 93 and the out-coupling grating 82, and the light machine 94 and the in-coupling grating 81 to be appropriate (to be adjusted to the P1 position and the R1 angle), and the detection imaging device 91 is located at a detection position relative to the calibration waveguide sheet 80 (as shown, the light machine 94 is aligned with the in-coupling grating 81, and the detection camera 93 is aligned with the out-coupling grating 82), and the X, Y, Z axis positions of the detection imaging device 91 (i.e. the imaging device 90, i.e. the positioning imaging device 92) are (100.3, 20.2, 135), and the R axis position of the clamp 20 is 90.5 degrees. Figure 6

[0190] S12, the control device records the information of the first position P1 and the information of the first angle R1.

[0191] In step S12, the control device records the information of the first position P1 as: the X axis coordinate position is 100.3 mm, the Y axis coordinate position is 20.2 mm, and the Z axis coordinate position is 135 mm. The control device records the information of the first angle R1 as: the R axis coordinate position is 90.5 degrees. That is, preferably, the first position P1 of the clamp 20 relative to the imaging device 90 at this time is equivalent to the position of the imaging device 90 relative to the base 10, and the first angle R1 of the clamp 20 relative to the imaging device 90 at this time is equivalent to the angle of the clamp 20 relative to the base 10.

[0192] It can be understood that, since the clamp support 12 is fixed relative to the base 10, the position of the imaging device 90 relative to the base 10 and the position of the imaging device 90 relative to the clamp 20 always differ by a constant value, and therefore the position of the imaging device 90 relative to the base 10 can be used to represent the position of the imaging device 90 relative to the clamp 20. On the other hand, the imaging device 90 does not rotate relative to the base 10, and therefore the rotation angle of the clamp 20 relative to the base 10 can be used to represent the rotation angle of the clamp 20 relative to the imaging device 90.

[0193] S13, the control device controls the moving device 40 to work, so that the clamp 20 is located at a second position P2 relative to the imaging device 90, so that the calibration waveguide sheet 80 presents a desired image in the positioning imaging device 92.

[0194] ​In step S13, after the calibration waveguide 80 presents the desired image in the detection camera 93, the user controls the moving device 40 through the control device to move the fixture 20 relative to the imaging device 90 so that the calibration waveguide 80 also presents the desired image in the positioning camera 95. Specifically, the user controls the Z-axis moving device 41, the Y-axis moving device 61, and the X-axis moving device 51 through the control device to move the fixture 20 to the second position P2 of the imaging device 90. At this time, the boundary corner of the outcoupling grating 82 is clearly visible in the image captured by the positioning camera 95 (as shown in FIG. Figure 7 For example, at this time, the X, Y, and Z axis positions of the detection imaging device 91 (ie, the imaging device 90 , ie, the positioning imaging device 92 ) are (150.5, 15.0, 100).

[0195] S14. The control device records information of the second position P2.

[0196] In step S14, the control device records the second position P2 as follows: X-axis coordinate position: 150.5 mm, Y-axis coordinate position: 15.0 mm, and Z-axis coordinate position: 100 mm. In other words, the position of the imaging device 90 relative to the base 10 at this time is preferably equivalent to the second position P2 of the fixture 20 relative to the imaging device 90.

[0197] S15 , the control device controls the positioning imaging device 92 to photograph the calibration waveguide 80 to obtain a first image.

[0198] In this step, the control device controls the positioning imaging device 92 to take the first picture of the calibration waveguide plate 80 as shown in FIG. Figure 7 shown.

[0199] S16 , the control device analyzes the first rotation angle r1 of the calibration waveguide 80 relative to the reference line RL in the first image, and records information of the first rotation angle r1 .

[0200] Specifically, the reference line RL is, for example, a straight line with a constant angle in the shooting field of view of the positioning imaging device 92, such as a horizontal line (pixel Y-axis coordinate remains constant) or a vertical line (pixel X-axis coordinate remains constant) in the shooting field of view of the positioning imaging device 92. The rotation angle of the waveguide plate 80 relative to the reference line RL can be represented by the angle between the characteristic line FL of the waveguide plate 80 and the reference line RL. For example, Figure 7 As shown, the control device analyzes the angle between the edge (characteristic line FL) of the outcoupling grating 82 of the waveguide plate 80 and the reference line RL in the first picture, which is 0.46 degrees, that is, the first rotation angle r1 is 0.46 degrees.

[0201] S17 , the control device analyzes the first pixel position p1 of the feature point of the calibration waveguide plate 80 in the first image, and records information of the first pixel position p1 .

[0202] Specifically, the characteristic point 83 of the calibration waveguide plate 80 is, for example, the vertex of the boundary corner of the outcoupling grating 82. The first pixel position p1 includes a first Y-axis coordinate position Y1 along the Y-axis direction and a first X-axis coordinate position X1 along the X-axis direction. The pixel position of the boundary corner vertex 83 (characteristic point 83) in the first image is, for example, (780, 594), that is, the boundary corner vertex 83 is located at the pixel position of the 594th row and the 780th column in the digital image, which is also the first pixel position p1, where X1 = 780 and Y1 = 594. It can be understood that the boundary corner vertex 83 can be selected from the vertex of any of the four boundary corners of the outcoupling grating 82.

[0203] Existing vision-guided positioning methods typically require placing a marker at the target location as an identification target. The marker can be temporarily placed at the target location or permanently machined (e.g., engraved or printed). This inevitably introduces errors between the marker and the target location, and adds an extra step. In this step, the present invention directly utilizes the boundary angles of the outcoupling grating 82 as the identification target, avoiding the errors introduced by the marker and simplifying the process.

[0204] At this point, the calibration process is complete. The user removes the calibration waveguide 80 from the fixture 20 and places the waveguide 80 to be tested (also called the detection waveguide 80) into the fixture 20, entering the detection process. During the detection process, the waveguide detection system 100 detects the performance of the detection waveguide 80 one by one. The waveguide detection system 100 must ensure that the relative positions of the detection imaging device 91 and the coupling-in grating 81 and coupling-out grating 82 of the detection waveguide 80 are the same as the relative positions of the detection imaging device 91 and the coupling-in grating 81 and coupling-out grating 82 of the calibration waveguide 80 in step S11. During the detection process of the waveguide, the waveguide detection system 100 is configured to complete the following steps.

[0205] S21 , the control device controls the moving device 40 to operate, so that the clamp 20 is located at the second position P2 relative to the imaging device 90 , and the rotation angle of the clamp 20 relative to the imaging device 90 is the first angle R1 .

[0206] Specifically, the control device controls the Z-axis moving device 41, the Y-axis moving device 61 and the X-axis moving device 51 to work so that the clamp 20 is located at the second position P2 relative to the imaging device 90; and the control device controls the rotating device 71 to work so that the rotation angle of the clamp 20 relative to the imaging device 70 is the first angle R1. The information of the second position P2 is recorded in step S14, and the information of the first angle R1 is recorded in step S12. Based on the recorded information, the control device automatically controls the moving device 40 to move the imaging device 90 (that is, the detection imaging device 91, that is, the positioning imaging device 92) to the second position P2 with the X, Y, and Z axis positions of (150.5, 15.0, 100), and rotates the clamp 20 to 90.5 degrees relative to the base 10. In step S21, it can be understood that, as Figure 8 As shown, the outcoupling grating 82 can be clearly seen in the imaging field of the positioning imaging device 92 at this time.

[0207] S22, the control device controls the positioning imaging device 92 to photograph the waveguide plate 80 to be inspected to obtain a second image, and the control device controls the rotating device 71 to operate according to the second image, so that the rotation angle of the clamp 20 relative to the imaging device 90 is a second angle R2.

[0208] In this step, the control device controls the positioning imaging device 92 to take the second picture of the waveguide plate 80 to be detected. Figure 8 Specifically, the control device analyzes the second rotation angle r2 of the waveguide plate 80 to be detected relative to the reference line RL in the second image. The second angle R2 is the sum of the first angle R1 and the second rotation angle r2 minus the first rotation angle r1. In other words, the angle at which the waveguide plate 80 rotates relative to the imaging device 90 is the difference between the first rotation angle r1 and the second rotation angle r2. The information of the first angle R1 is recorded in step S12, and the value of the first rotation angle r1 is recorded in step S16. For example, Figure 9 As shown, the second rotation angle r2 between the edge (characteristic line FL) of the outcoupling grating 82 of the waveguide plate 80 and the reference line RL is 12.24 degrees. Then the rotation angle of the fixture 20 in this step is r1-r2=0.46-12.24=-11.78 degrees, and the second angle R2=R1+r2-r1=90.5+12.24-0.46=102.28 degrees. After the above calculations, the control device controls the rotation device 71 to rotate the fixture 20 relative to the imaging device 90 by -11.78 degrees, that is, the fixture 20 rotates -11.78 degrees relative to the base 10, so that the rotation angle of the fixture 20 relative to the imaging device 90 is 102.28 degrees, that is, the rotation angle of the fixture 20 relative to the base 10 is 102.28 degrees. After the fixture 20 is rotated, the appearance of the detection waveguide plate 80 seen in the shooting field of the positioning imaging device 92 is as follows. Figure 9 as shown.

[0209] S23, the control device controls the positioning imaging device 92 to take a third picture of the waveguide sheet to be detected, and controls the Z-axis moving device 41, the Y-axis moving device 61 and the X-axis moving device 51 to work according to the third picture, so that the clamp 20 is located at a third position P3 relative to the imaging device 90.

[0210] In this step, the control device controls the third picture of the detection waveguide sheet 60 taken by the positioning imaging device 92 to be as shown. Figure 9 Specifically, the control device analyzes the second pixel position p2 of the feature point 83 of the detection waveguide sheet 80 in the third picture, and determines the third position P3 according to the first pixel position p1 and the second pixel position p2. In the third picture, the second pixel position p2 includes a second Y-axis coordinate position Y2 along the Y-axis direction DY and a second X-axis coordinate position X2 along the X-axis direction DX. The third position P3 is a position that is moved by a first moving distance D1 along the Y-axis direction DY and a second moving distance D2 along the X-axis direction DX from the first position P1, wherein D1=(Y2-Y1)×a, D2=(X2-X1)×a, and a is the actual physical size corresponding to one pixel. For example, a=3.45 μm.

[0211] The information of the first pixel position p1 is recorded in step S17. For example, in the first picture as shown in Figure 7 the first pixel position p1 of the vertex 83 of the boundary angle of the out-coupling grating 82 is X1=780 and Y1=594.

[0212] For example, in the third picture as shown in Figure 9 the coordinates of the vertex 83 of the upper left corner of the out-coupling grating 82 in the image are (1278, 1291), i.e., X2=1278 and Y2=1291. Then:

[0213] D1=(Y2-Y1)×a= (1291-594)×0.00345=2.40465 mm;

[0214] D2=(X2-X1)×a= (1278-780)×0.00345=1.7181 mm.

[0215] The third position P3 is a position that is moved from the first position P1 by a first distance D1 along the Y-axis direction DY and a second distance D2 along the X-axis direction DX. That is, the Y-axis coordinate position of the third position P3 differs from that of the first position P1 by D1, the X-axis coordinate position of the third position P3 differs from that of the first position P1 by D2, and the Z-axis coordinate position of the third position P3 is the same as that of the first position P1. The parameter values ​​of the first position P1 are recorded in step S12. The X-, Y-, and Z-axis positions of the first position P1 are (100.3, 20.2, 135). Therefore, the X-axis coordinate of the third position P3 is 100.3 + 1.7181 = 102.0181 mm, the Y-axis coordinate of the third position P3 is 20.2 + 2.40465 = 22.60425 mm, and the Z-axis coordinate of the third position P3 is 135 mm.

[0216] After calculating the coordinates of the third position P3, the control device controls the Z-axis moving device 41, the X-axis moving device 51 and the Y-axis moving device 61 to operate, so that the imaging device 90 moves from the second position P2 to the third position P3.

[0217] In this step, the control device compensates for the differences in the relative positions of the in-coupling gratings 81 and out-coupling gratings 82 of different waveguide plates 80 and the contour of the waveguide plate 80 based on the pixel positions of the feature point 83 in the first and third images, thereby ensuring that the relative positions of the imaging device 90 and the in-coupling gratings 81 and out-coupling gratings 82 of the detection waveguide plate 80 are the same as the relative positions of the imaging device 90 and the in-coupling gratings 81 and out-coupling gratings 82 of the calibration waveguide plate 80. The control device directly obtains the second pixel position p2 of the vertex feature point 83 from the third image, rather than simply calculating the pixel position of the feature point 83 after the fixture 20 is rotated to the second angle R2. This makes the value of the pixel position p2 of the feature point 83 more accurate, which helps to align the detection imaging device 91 with the in-coupling grating 81 and out-coupling grating 82 at the ideal position.

[0218] Preferably, the positioning camera 95 of the positioning imaging device 92 includes a telecentric lens. Conventional lenses exhibit perspective. When the position of the imaging device 90 along the Z-axis direction DZ changes, the coordinates of non-image-centered objects in the image will change. Since the Z-axis motor 45 itself has inevitable errors, the errors introduced by the perspective of conventional lenses are unavoidable. However, telecentric lenses exhibit no perspective, and the coordinates of objects in the image are not affected by the errors of the Z-axis motor 45, thus reducing the final positioning error.

[0219] At this point, the waveguide plate detection system 100 completes the work of aligning the detection imaging device 91 with the coupling-in grating 81 and the coupling-out grating 82 at the detection position.

[0220] S24 , the control device obtains the image of the outcoupling grating 82 of the waveguide plate 80 to be inspected, which is captured by the inspection camera 93 , and analyzes the quality and performance of the waveguide plate 80 .

[0221] It is understood that after the calibration process of steps S11 to S17, all waveguide plates 80 to be inspected that have the same specifications and models as the calibration waveguide plate 80 can be inspected for quality through the inspection process of steps S21 to S24. Furthermore, during each inspection, the inspection imaging device 91 is aligned with the coupling-in grating 81 and the coupling-out grating 82 at the inspection position determined by the user during the calibration process. In other words, the waveguide plate inspection system 100 can achieve single-time calibration and multiple inspections.

[0222] When the uncut waveguide sheet 80 is placed directly on the first clamping portion 26, the distance between the uncut waveguide sheet 80 and the backplate 22 is a first distance d1. When the cut waveguide sheet 80 is attached to the first clamp 21 via the second clamp 31, the distance between the cut waveguide sheet 80 and the backplate 22 is a second distance d2. The clamp 20 is configured such that the first distance d1 equals the second distance d2 by designing the dimensions of the second clamp 31 or adjusting the distance between the second clamp 31 and the backplate 22. Therefore, the method of attaching the waveguide sheet 80 to the clamp 20 does not affect the alignment during the aforementioned inspection process.

[0223] According to the waveguide plate inspection system of the present invention, a fixture is used to clamp the waveguide plate, and an imaging device is used to image the waveguide plate to inspect its quality. A movable device is provided to enable the imaging device to move and rotate in three dimensions relative to the waveguide plate. This allows the imaging device to be adjusted to a suitable position relative to the waveguide plate for inspection, effectively ensuring inspection quality. The processes and steps described in all the preferred embodiments above are merely examples. Unless adverse effects occur, various processing operations may be performed in a different order from the above process. The order of the steps in the above process may also be expanded, combined, or deleted based on actual needs.

[0224] Unless otherwise defined, the technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used herein are merely for describing specific implementation purposes and are not intended to limit the present invention. Features described herein in one embodiment may be applied to another embodiment alone or in combination with other features, unless the feature is not applicable in the other embodiment or otherwise indicated.

[0225] The present invention has been described through the above embodiments, but it should be understood that the above embodiments are for illustrative and illustrative purposes only and are not intended to limit the present invention to the described embodiments. In addition, it will be understood by those skilled in the art that the present invention is not limited to the above embodiments and that various variations and modifications may be made based on the teachings of the present invention, all of which fall within the scope of protection claimed by the present invention.

Claims

1. A waveguide plate detection system, characterized in that: include: base; A fixture for holding the waveguide; An imaging device, used to photograph the waveguide plate, the imaging device comprising a positioning imaging device and a detection imaging device, both of which comprise cameras; a moving device provided to the base and movable relative to the base, the moving device being connected to at least one of the clamp and the imaging device and configured to enable the clamp to be movable relative to the imaging device; and a control device coupled to the mobile device and the imaging device, configured to control the movement of the mobile device according to the image captured by the imaging device, Wherein, the mobile device includes: A Z-axis moving device is provided for moving the imaging device relative to the fixture along the Z-axis direction. an X-axis moving device for moving the imaging device relative to the fixture along the X-axis direction, A Y-axis moving device for moving the imaging device relative to the fixture along the Y-axis direction, and A rotating device is provided for rotating the imaging device relative to the fixture around a rotation axis parallel to the Z-axis direction, wherein The Z-axis direction, the X-axis direction, and the Y-axis direction are perpendicular to each other, and the Z-axis direction is parallel to the optical axis of the camera of the imaging device; The image of the waveguide plate taken by the detection imaging device is used to analyze the quality and performance of the waveguide plate; the positioning imaging device is used to batch detect waveguide plates of the same model. At least after each replacement of the waveguide plate, the control device controls the movement device to operate according to the image of the waveguide plate taken by the positioning imaging device, so that the positions of the coupling-in grating and the coupling-out grating of the waveguide plate are located at a fixed detection position relative to the detection imaging device.

2. The waveguide plate detection system according to claim 1, characterized in that: The fixture comprises: a first clamp connected to the moving device, the first clamp comprising a first clamping portion for clamping an uncut waveguide sheet; and A second clamp is used to clamp the cut waveguide sheet, and the second clamp is detachably connected to the first clamp.

3. The waveguide plate detection system according to claim 2, characterized in that: The first fixture further comprises: a back plate including a first side and a second side opposite the first side, the first side facing the imaging device, the second side connected to the moving device; and a first mounting portion provided to the first side for mating with a second mounting portion of the second clamp so that the second clamp is detachably connected to the first clamp, Wherein, the first clamping portion is provided to the first side.

4. The waveguide plate detection system according to claim 3, characterized in that: The first clamping portion is configured as a first groove, and / or The first mounting portion is configured as a mounting hole.

5. The waveguide plate detection system according to claim 3, characterized in that: The first clamp further includes a second clamping portion, which is provided to the first side of the back plate. The second clamping portion is located between the first mounting portion and the back plate and is used to clamp the sunshade.

6. The waveguide plate detection system according to claim 5, characterized in that: The second clamping portion is configured as a second groove.

7. The waveguide plate detection system according to claim 6, characterized in that: When the uncut waveguide sheet is placed on the first clamping portion, the distance between the uncut waveguide sheet and the back plate is a first distance d1. When the cut waveguide sheet is connected to the first fixture through the second fixture, the distance between the cut waveguide sheet and the back plate is a second distance d2. The clamp is constructed such that the first distance d1 is equal to the second distance d2 by designing the size of the second clamp or adjusting the distance between the second clamp and the back plate.

8. The waveguide plate detection system according to claim 2, characterized in that: The second clamp includes a first clamp portion and a second clamp portion. The first clamp portion is disposed opposite to the second clamp portion. The first clamp portion is detachably connected to the second clamp portion to clamp the cut waveguide sheet together with the second clamp portion.

9. The waveguide plate detection system according to any one of claims 1 to 8, characterized in that: The Z-axis moving device, the X-axis moving device, and the Y-axis moving device are connected to the imaging device, and the rotating device is connected to the fixture.

10. The waveguide plate detection system according to claim 9, characterized in that: The waveguide plate detection system further includes a fixture support, which is provided to the base and is stationary relative to the base, wherein the rotating device is provided to the fixture support, and the fixture is connected to the rotating device and is rotatable relative to the fixture support around the rotation axis under the drive of the rotating device. The Z-axis moving device is provided on the base, and the Z-axis moving device includes a Z-axis moving platform, and the Z-axis moving platform is movable along the Z-axis direction relative to the base. The X-axis moving device is arranged on the Z-axis moving platform, and the X-axis moving device includes an X-axis moving platform, and the X-axis moving platform is movable along the X-axis direction relative to the Z-axis moving platform. The Y-axis moving device is arranged on the X-axis moving platform, and the Y-axis moving device includes a Y-axis moving platform, and the Y-axis moving platform is movable along the Y-axis direction relative to the X-axis moving platform. The imaging device is arranged on the Y-axis moving platform.

11. The waveguide plate detection system according to claim 10, characterized in that: The Z-axis moving device also includes: A Z-axis screw, the Z-axis screw being provided to the base and extending along the Z-axis direction; A Z-axis lead screw nut, configured to match the Z-axis lead screw; and A Z-axis motor is provided on the base, and the Z-axis motor is coupled to the control device for driving the Z-axis screw to rotate. Wherein, the Z-axis moving platform is connected to the Z-axis screw nut.

12. The waveguide plate detection system according to claim 10, characterized in that: The X-axis moving device also includes: An X-axis screw, the X-axis screw being arranged on the Z-axis movable platform and extending along the X-axis direction; An X-axis lead screw nut, configured to match the X-axis lead screw; and An X-axis motor is provided to the Z-axis moving platform, and the X-axis motor is coupled to the control device for driving the X-axis lead screw to rotate. Wherein, the X-axis moving platform is connected to the X-axis lead screw nut.

13. The waveguide plate detection system according to claim 10, characterized in that: The Y-axis moving device also includes: A Y-axis screw, the Y-axis screw being arranged on the X-axis movable platform and extending along the Y-axis direction; A Y-axis lead screw nut, configured to match the Y-axis lead screw; and A Y-axis motor is provided to the X-axis moving platform, and the Y-axis motor is coupled to the control device for driving the Y-axis lead screw to rotate. Wherein, the Y-axis moving platform is connected to the Y-axis lead screw nut.

14. The waveguide plate detection system according to claim 9, characterized in that: The rotating device includes a rotating motor and a rotating transmission assembly. The rotating motor is arranged on the clamp support and coupled to the control device. The rotating transmission assembly is connected between the output shaft of the rotating motor and the clamp, so that the clamp rotates as the output shaft of the rotating motor rotates.

15. The waveguide plate detection system according to any one of claims 1 to 8, characterized in that: The relative positions of the detection imaging device and the positioning imaging device remain unchanged, The positioning imaging device is used for batch testing of waveguide sheets of the same model. At least after each waveguide sheet is replaced, the control device controls the movement device to operate according to the image of the waveguide sheet captured by the positioning imaging device. The waveguide sheet detection system is configured to perform the following steps after each waveguide sheet is replaced during the batch testing process of the waveguide sheets of the same model: The control device controls the Z-axis moving device, the Y-axis moving device, and the X-axis moving device to operate so that the clamp is located at a second position P2 relative to the imaging device, and the control device controls the rotation device to operate so that the rotation angle of the clamp relative to the imaging device is a first angle R1; The control device controls the positioning imaging device to photograph the waveguide to be inspected to obtain a second image, and the control device controls the rotation device to operate according to the second image, so that the rotation angle of the clamp relative to the imaging device is a second angle R2; and The control device controls the positioning imaging device to photograph the waveguide to be inspected to obtain a third image. The control device controls the Z-axis moving device, the Y-axis moving device, and the X-axis moving device to operate according to the third image, so that the fixture is located at a third position P3 relative to the imaging device.

16. The waveguide plate detection system according to claim 15, characterized in that: During the detection process of the waveguide plate, a calibration process is further included before the detection process. The waveguide plate detection system is configured to complete the following steps in the calibration process: The control device controls the Z-axis moving device, the Y-axis moving device, and the X-axis moving device to operate so that the fixture is located at a first position P1 relative to the imaging device, and the control device controls the rotation device to operate so that the rotation angle of the fixture relative to the imaging device is the first angle R1, so that the calibration waveguide plate presents a desired image in the detection imaging device; The control device records information about the first position P1 and information about the first angle R1; The control device controls the Z-axis moving device, the Y-axis moving device, and the X-axis moving device to operate so that the fixture is located at the second position P2 relative to the imaging device, so that the calibration waveguide plate presents a desired image in the positioning imaging device; The control device records information of the second position P2; The control device controls the positioning imaging device to photograph the calibration waveguide to obtain a first image; The control device analyzes a first rotation angle r1 of the calibration waveguide relative to a reference line in the first image, and records information of the first rotation angle r1; and The control device analyzes a first pixel position p1 of a feature point of the calibration waveguide in the first image and records information of the first pixel position p1. The relative position of the coupling-in grating and the coupling-out grating of the calibration waveguide is the same as the relative position of the coupling-in grating and the coupling-out grating of the waveguide to be detected, and the reference line is a straight line with a constant angle in the shooting field of view of the positioning imaging device.

17. The waveguide plate detection system according to claim 16, characterized in that: The control device controls the rotation device to operate according to the second image so that the angle between the clamp and the imaging device is a second angle R2, including: The control device analyzes a second rotation angle r2 of the waveguide to be inspected relative to the reference line in the second picture, where the second angle R2 is a sum of the first angle R1 and the second rotation angle r2 minus the first rotation angle r1.

18. The waveguide plate detection system according to claim 16, characterized in that: The control device controls the Z-axis moving device, the Y-axis moving device, and the X-axis moving device to operate according to the third image, so that the clamp is located at a third position P3 relative to the imaging device, including: The control device analyzes the second pixel position p2 of the feature point of the waveguide to be detected in the third image, and determines the third position P3 according to the first pixel position p1 and the second pixel position p2.

19. The waveguide plate detection system according to claim 18, characterized in that: The first pixel position p1 includes a first Y-axis coordinate position Y1 along the Y-axis direction and a first X-axis coordinate position X1 along the X-axis direction. The second pixel position p2 includes a second Y-axis coordinate position Y2 along the Y-axis direction and a second X-axis coordinate position X2 along the X-axis direction. The third position P3 is a position moved from the first position P1 by a first moving distance D1 along the Y-axis direction and a second moving distance D2 along the X-axis direction, wherein D1=(Y2-Y1)×a, D2=(X2-X1)×a, Where a is the actual physical size corresponding to a pixel.

20. The waveguide plate detection system according to claim 16, wherein: The characteristic point is the vertex of the boundary angle of the outcoupling grating; and / or The reference line is a horizontal line or a vertical line in the shooting field of view of the positioning imaging device.

21. The waveguide plate detection system according to claim 16 or 17, characterized in that: The rotation angle of the waveguide plate relative to the reference line is the angle between the characteristic line of the waveguide plate and the reference line.

22. The waveguide plate detection system according to claim 21, characterized in that: The characteristic line is the edge of the outcoupling grating of the waveguide.

23. The waveguide plate detection system according to claim 15, characterized in that: The positioning imaging device includes a positioning camera, and the positioning camera includes a telecentric lens.

24. The waveguide plate detection system according to claim 23, characterized in that: The detection imaging device includes an optical machine and a detection camera, wherein the optical axis of the detection camera and the optical axis of the positioning camera both extend along the Z-axis direction, and the relative position of the optical machine and the detection camera corresponds to the relative position of the coupling-in grating of the waveguide plate and the coupling-out grating of the waveguide plate.

25. The waveguide plate detection system according to claim 24, characterized in that: The detection imaging device further includes an optical machine moving device for enabling the optical machine to move relative to the detection camera along at least one of the Y-axis direction and the X-axis direction.

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