A waveguide sheet detection system

Abstract

The present invention discloses a waveguide sheet detection system, which includes a base, a fixture for clamping a waveguide sheet, an imaging device for photographing the waveguide sheet, a moving device for moving the fixture relative to the imaging device, a control device, and a safety protection device. The control device is coupled to the moving device and the imaging device, and is configured to control the imaging device to capture an image and control the operation of the moving device according to the image captured by the imaging device. The safety protection device is coupled to the control device, and is configured to activate a safety protection mechanism when a safety problem occurs during the movement of the imaging device relative to the fixture, so as to stop the operation of the moving device. The moving device at least includes a Z-axis moving device for moving the imaging device relative to the fixture in the Z-axis direction; the safety protection device at least includes a Z-axis safety protection device for activating a Z-axis safety protection mechanism to stop the operation of the Z-axis moving device when a safety problem occurs. Wherein, the optical axis of the camera of the imaging device extends along the Z-axis direction.

Description

Technical Field

[0001] The present invention relates to the technical field of waveguide sheet detection, and more particularly to a waveguide sheet detection system. Background Art

[0002] When detecting the optical performance of an optical waveguide product, it is necessary to adjust the relative positions of the optical machine and the coupling grating of the waveguide sheet, as well as the detection imaging system and the output grating, to appropriate positions. During the process of adjusting the positions, the detection imaging system may collide with the waveguide sheet, resulting in detection failure or even damage to the waveguide sheet or the detection camera.

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

[0004] A series of simplified concepts are introduced in the Summary of the Invention section, which will be further elaborated in the Detailed Description section. The Summary of the Invention section of the present invention does not mean to attempt to define the key features and essential technical features of the claimed technical solution, nor does it mean to attempt to determine the protection scope of the claimed technical solution.

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

[0006] A base;

[0007] A fixture for clamping the waveguide sheet;

[0008] An imaging device, which includes a camera and is used for photographing the waveguide sheet;

[0009] A moving device, which is arranged on the base and is movable relative to the base. The moving device is connected to at least one of the fixture and the imaging device and is used for making the fixture movable relative to the imaging device. The moving device at least includes a Z-axis moving device for making the imaging device move relative to the fixture along the Z-axis direction;

[0010] A control device, which is coupled to the moving device and the imaging device and is used for controlling the movement of the moving device according to the image photographed by the imaging device; and

[0011] A safety protection device, which is coupled to the control device and is used for starting a safety protection mechanism when a safety problem occurs during the movement of the imaging device relative to the fixture, so as to stop the moving device from working.

[0012] Among them, the safety protection device at least includes a Z-axis safety protection device, and the Z-axis safety protection device is coupled to the control device and is used to activate the Z-axis safety protection mechanism to stop the Z-axis moving device from working when a safety problem occurs.

[0013] Among them, the optical axis of the camera extends along the Z-axis direction.

[0014] According to the waveguide sheet detection system of the present invention, in order to make the image formed by the waveguide sheet in the imaging device clear, it is necessary to move the waveguide sheet away from or close to the imaging device along the Z-axis. During the movement along the Z-axis, once a safety problem occurs, the safety protection mechanism is activated, which is beneficial to protecting the imaging device and the waveguide sheet.

[0015] Optionally, the waveguide sheet detection system is configured as:

[0016] The fixture is stationary relative to the base along the Z-axis direction.

[0017] The Z-axis moving device is connected to the imaging device and is used to move the imaging device relative to the base along the Z-axis direction.

[0018] According to the waveguide sheet detection system of the present invention, the Z-axis moving device is connected to the imaging device, and by adjusting the position of the imaging device relative to the base, the distance between the waveguide sheet and the imaging device is changed.

[0019] Optionally, the fixture includes:

[0020] A back plate, the back plate includes a first side of the back plate and a second side of the back plate opposite to the first side of the back plate, wherein the first side of the back plate is used to face the imaging device; and

[0021] A mounting groove, which is arranged on the first side of the back plate and protrudes from the first side of the back plate along the Z-axis direction towards the imaging device for placing the waveguide sheet.

[0022] According to the waveguide sheet detection system of the present invention, the fixture has a simple structure and is convenient to use.

[0023] Optionally, the Z-axis safety protection device includes:

[0024] A first Z-axis safety protection device, which is used to activate the Z-axis safety protection mechanism to stop the Z-axis moving device from working when the imaging device moves towards the fixture along the Z-axis direction to a first Z-axis safety distance ZS1 from the first side of the back plate;

[0025] A second Z-axis safety protection device, which is used to activate the Z-axis safety protection mechanism to stop the Z-axis moving device from working when the imaging device moves towards the fixture along the Z-axis direction to a second Z-axis safety distance ZS2 from the second side of the back plate; and

[0026] The third Z-axis safety protection device is configured to activate the Z-axis safety protection mechanism to stop the Z-axis moving device when the imaging device moves toward the fixture along the Z-axis direction to a third Z-axis safety distance ZS3 from the backplane.

[0027] Where ZS1 > ZS2 > ZS3.

[0028] According to the waveguide sheet detection system of the present invention, the safety performance of the device is improved by providing multiple safety protection devices in the Z-axis direction.

[0029] Optionally, the Z-axis moving device includes:

[0030] A moving device support, which is arranged on the base.

[0031] A Z-axis transmission structure, which is arranged on the moving device support.

[0032] A Z-axis motor, which is arranged on the moving device support, the Z-axis motor is coupled to the control device, and the output shaft of the Z-axis motor is connected to the Z-axis transmission structure for driving the Z-axis transmission structure to move, and

[0033] A Z-axis moving platform, which is connected to the Z-axis transmission structure. When the Z-axis motor drives the Z-axis transmission structure to move, the Z-axis moving platform moves relative to the base along the Z-axis direction.

[0034] Wherein, the imaging device is connected to the Z-axis moving platform.

[0035] Furthermore, the Z-axis transmission structure includes:

[0036] A Z-axis lead screw, which is arranged on the moving device support and extends along the Z-axis direction; and

[0037] A Z-axis lead screw nut, which is arranged in a matching manner with the Z-axis lead screw.

[0038] Wherein the Z-axis moving platform is connected to the Z-axis lead screw nut.

[0039] According to the waveguide sheet detection system of the present invention, the Z-axis moving device has a compact structure, convenient operation and stable performance.

[0040] Optionally, the third Z-axis safety protection device includes a third Z-axis switch, which is arranged on the base or the moving device support, and the third Z-axis switch is coupled to the control device.

[0041] The waveguide sheet detection system is configured such that when the Z-axis moving platform moves towards the fixture along the Z-axis direction so that the imaging device is at a third Z-axis safety distance ZS3 from the backplane, the Z-axis moving platform triggers the third Z-axis switch, and after receiving the trigger signal of the third Z-axis switch, the control device controls the Z-axis motor to stop working.

[0042] Furthermore, the Z-axis moving platform includes a third contact surface.

[0043] The third Z-axis switch includes a third roller. The third Z-axis switch is configured such that when the third roller rolls, the third roller is pressed, causing the third Z-axis switch to be triggered.

[0044] The waveguide sheet detection system is configured such that when the Z-axis moving platform moves towards the fixture along the Z-axis direction so that the imaging device is at a third Z-axis safety distance ZS3 from the backplane, the third contact surface contacts the third roller and causes the third roller to roll, triggering the third Z-axis switch.

[0045] According to the waveguide sheet detection system of the present invention, a triggering method is designed based on the triggering mechanism of the third Z-axis switch to effectively implement safety protection.

[0046] Optionally, the second Z-axis safety protection device includes a second Z-axis switch. The second Z-axis switch is provided on the base or the moving device support, and the second Z-axis switch is coupled to the control device.

[0047] The waveguide sheet detection system is configured such that when the Z-axis moving platform moves towards the fixture along the Z-axis direction so that the imaging device is at a second Z-axis safety distance ZS2 from the backplane, the Z-axis moving platform triggers the second Z-axis switch, and after receiving the trigger signal of the second Z-axis switch, the control device controls the Z-axis motor to stop working.

[0048] Furthermore, the Z-axis moving platform includes a second baffle.

[0049] The second Z-axis switch includes an optical transmitter and an optical receiver arranged opposite to each other.

[0050] The waveguide sheet detection system is configured such that when the Z-axis moving platform moves towards the fixture along the Z-axis direction so that the imaging device is at a second Z-axis safety distance ZS2 from the backplane, the second baffle enters the gap between the optical transmitter and the optical receiver, causing the optical receiver not to receive the light emitted by the optical transmitter, triggering the second Z-axis switch.

[0051] The waveguide sheet detection system according to the present invention designs a triggering method based on the triggering mechanism of the second Z-axis switch to effectively implement safety protection.

[0052] Optionally, the moving device further includes:

[0053] an X-axis moving device configured to move the imaging device relative to the fixture in the X-axis direction,

[0054] a Y-axis moving device configured to move the imaging device relative to the fixture in the Y-axis direction, and

[0055] a rotating device configured to rotate the imaging device relative to the fixture about a rotation axis parallel to the Z-axis direction,

[0056] wherein the Z-axis direction, the X-axis direction, and the Y-axis direction are perpendicular to each other pairwise,

[0057] wherein,

[0058] the X-axis moving device is disposed on the Z-axis moving platform. The X-axis moving device includes an X-axis moving platform and an X-axis transmission structure. The X-axis moving platform is connected to the X-axis transmission structure. The X-axis transmission structure is configured to move the X-axis moving platform relative to the Z-axis moving platform in the X-axis direction under the control of the control device.

[0059] the Y-axis moving device is disposed on the X-axis moving platform. The Y-axis moving device includes a Y-axis moving platform and a Y-axis transmission structure. The Y-axis moving platform is connected to the Y-axis transmission structure. The Y-axis transmission structure is configured to move the Y-axis moving platform relative to the X-axis moving platform in the Y-axis direction under the control of the control device.

[0060] The base further includes a fixture support. The fixture support is spaced apart from the moving device support in the Z-axis direction. The rotating device is disposed on the fixture support. The fixture is connected to the rotating device and is configured to be rotatable relative to the fixture support about the rotation axis.

[0061] wherein the imaging device is disposed on the Y-axis moving platform.

[0062] The waveguide sheet detection system according to the present invention has a compact moving device structure and is convenient to control.

[0063] Optionally, the Y-axis moving platform includes:

[0064] a second platform connected to the Y-axis transmission structure, and

[0065] The first platform is arranged on the second platform, and the first platform and the second platform are arranged along the Y-axis direction.

[0066] Wherein, the imaging device is arranged on the first platform.

[0067] The first Z-axis safety protection device includes a first Z-axis switch, the first Z-axis switch is arranged on the first platform, and the first Z-axis switch is coupled to the control device.

[0068] The waveguide sheet detection system is configured such that when the Z-axis moving platform moves along the Z-axis direction towards the fixture and the imaging device is at a first Z-axis safety distance ZS1 from the backplane, the first Z-axis switch is triggered, and after receiving the trigger signal of the first Z-axis switch, the control device controls the Z-axis motor to stop working.

[0069] Optionally, the first platform includes:

[0070] A first base arranged on the second platform, and

[0071] A sliding member arranged on the first base and movable relative to the first base along the Z-axis direction. The sliding member includes a first side of the sliding member facing the fixture and a second side of the sliding member opposite to the first side of the sliding member.

[0072] Wherein, the imaging device is arranged on the sliding member and is stationary relative to the sliding member.

[0073] The first Z-axis switch is arranged on the first base and abuts against the second side of the sliding member. When the Z-axis moving platform moves along the Z-axis direction towards the fixture and the imaging device contacts the mounting groove, the second side of the sliding member triggers the first Z-axis switch.

[0074] Wherein, when the imaging device contacts the mounting groove, the imaging device is at a first Z-axis safety distance ZS1 from the backplane.

[0075] Furthermore, the first Z-axis switch includes a first roller, and the first Z-axis switch is configured such that when the first roller rolls, the first roller is pressed, so that the first Z-axis switch is triggered.

[0076] The waveguide sheet detection system is configured such that when the Z-axis moving platform moves along the Z-axis direction towards the fixture and the imaging device contacts the mounting groove, the second side of the sliding member contacts the first roller and causes the first roller to roll, so that the first Z-axis switch is triggered.

[0077] Furthermore, the first platform further includes:

[0078] A guide rail is provided to the first base and extends along the Z-axis direction, wherein the slider is connected to the guide rail and is movable relative to the guide rail along the Z-axis direction; and

[0079] A spring is provided to the first base. The spring extends along the Z-axis direction. One end of the spring is stationary relative to the first base, and the other end of the spring abuts against the second side of the slider for biasing the slider towards the fixture.

[0080] In the waveguide sheet detection system according to the present invention, the first Z-axis safety protection device is used to prevent the imaging device from colliding with the fixture from the front, and a triggering method is designed according to the triggering mechanism of the first Z-axis switch to effectively implement safety protection.

[0081] Optionally, the safety protection device further includes an X-axis safety protection device. The X-axis safety protection device is coupled to the control device and is used to activate the X-axis safety protection mechanism when a safety problem occurs during the movement of the imaging device, so that the X-axis moving device stops working. Wherein, the X-axis safety protection device is provided to the Y-axis moving platform.

[0082] Further, the X-axis safety protection device includes an X-axis switch. The X-axis switch is provided to the Y-axis moving platform, and the X-axis switch is coupled to the control device.

[0083] The X-axis direction includes a first X-axis direction and a second X-axis direction opposite to the first X-axis direction.

[0084] The waveguide sheet detection system is configured such that when the Y-axis moving platform moves towards the fixture along any one of the first X-axis direction and the second X-axis direction to make the imaging device contact the fixture, the Y-axis moving platform triggers the X-axis switch, and after receiving the trigger signal of the X-axis switch, the control device controls the X-axis moving device to stop working.

[0085] In the waveguide sheet detection system according to the present invention, the X-axis safety protection device is used to prevent the imaging device from colliding with the fixture from the side.

[0086] Optionally, the second platform includes:

[0087] A second base is connected to the Y-axis transmission structure. The second base includes a rotating shaft hole extending along the Y-axis direction, and

[0088] A rotating member, the rotating member includes:

[0089] A first end for facing the first platform. The first end includes a first side of the rotating member and a second side of the rotating member that are spaced apart along the X-axis direction, and

[0090] A second end portion, opposite to the first end portion along the Y-axis direction, is disposed in the rotating shaft hole and is rotatable relative to the second base around an additional rotation axis, wherein the additional rotation axis extends along the Y-axis direction.

[0091] Wherein, the first base is disposed on the first end portion, and the rotating member is rotatable relative to the second base around the additional rotation axis;

[0092] The X-axis switch includes:

[0093] A first X-axis switch, disposed on the second base and attached to the first side of the rotating member, and

[0094] A second X-axis switch, disposed on the second base and attached to the second side of the rotating member.

[0095] Wherein, the waveguide sheet detection system is configured such that:

[0096] When the Y-axis moving platform moves towards the fixture along the first X-axis direction to make the imaging device contact the fixture, the first side of the rotating member triggers the first X-axis switch, and after the control device receives the trigger signal of the first X-axis switch, it controls the X-axis moving device to stop working;

[0097] When the Y-axis moving platform moves towards the fixture along the second X-axis direction to make the imaging device contact the fixture, the second side of the rotating member triggers the second X-axis switch, and after the control device receives the trigger signal of the second X-axis switch, it controls the X-axis moving device to stop working.

[0098] Furthermore, a fourth contact surface is provided on both the first side and the second side of the rotating member;

[0099] The X-axis switch includes a roller, and the X-axis switch is configured such that when the roller rolls, the roller is pressed, so that the X-axis switch is triggered;

[0100] The waveguide sheet detection system is configured such that when the Y-axis moving platform moves towards the fixture along the X-axis direction to make the imaging device contact the fixture, the fourth contact surface contacts the roller and causes the roller to roll, so that the X-axis switch is triggered.

[0101] According to the waveguide sheet detection system of the present invention, a triggering method is designed according to the triggering mechanism of the X-axis switch, effectively implementing safety protection.

[0102] Optionally, the X-axis transmission structure includes:

[0103] The X-axis lead screw is arranged on the Z-axis moving platform and extends along the X-axis direction, and

[0104] The X-axis lead screw nut is arranged in a matching manner with the X-axis lead screw; and

[0105] The X-axis moving device further includes an X-axis motor, which is coupled to the control device and is used to drive the X-axis lead screw to rotate,

[0106] wherein, the X-axis moving platform is connected to the X-axis lead screw nut.

[0107] Optionally, the Y-axis transmission structure includes:

[0108] The Y-axis lead screw is arranged on the X-axis moving platform and extends along the Y-axis direction, and

[0109] The Y-axis lead screw nut is arranged in a matching manner with the Y-axis lead screw; and

[0110] The Y-axis moving device further includes a Y-axis motor, which is coupled to the control device and is used to drive the Y-axis lead screw to rotate,

[0111] wherein, the Y-axis moving platform is connected to the Y-axis lead screw nut.

[0112] Optionally, the rotating device includes a rotating motor and a rotating transmission assembly. The rotating motor is arranged on the fixture support and coupled to the control device. The rotating transmission assembly is connected between the output shaft of the rotating motor and the fixture, so that the fixture rotates with the rotation of the output shaft of the rotating motor.

[0113] According to the waveguide sheet detection system of the present invention, the performance of the moving device is stable and the operation is convenient.

[0114] Optionally, the imaging device includes a positioning imaging device and a detection imaging device. The relative position between the detection imaging device and the positioning imaging device remains unchanged. Wherein, both the positioning imaging device and the detection imaging device include a camera, and the optical axis of the camera extends along the Z-axis direction.

[0115] According to the waveguide sheet detection system of the present invention, a positioning imaging device and a detection imaging device are simultaneously provided, which are respectively used for positioning the waveguide sheet and detecting the waveguide sheet, so that the detection quality is stable.

[0116] Optionally, the camera of the positioning imaging device includes a telecentric lens.

[0117] In the waveguide sheet detection system according to the present invention, since there is no perspective phenomenon in the telecentric lens, the object coordinates in the image are not affected by the movement error of the Z-axis moving device and do not change, reducing the final positioning error.

[0118] Optionally, the detection imaging device further includes an opto-mechanism.

[0119] Furthermore, the detection imaging device further includes an opto-mechanism moving device for making the opto-mechanism movable relative to the camera of the detection imaging device along at least one of the Y-axis direction and the X-axis direction.

[0120] In the waveguide sheet detection system according to the present invention, the relative position between the opto-mechanism and the detection camera can be adjusted, so that the waveguide sheet detection system can detect different models of waveguide sheets.

[0121] Optionally, the waveguide sheet detection system is configured to perform the following steps during the detection process of the waveguide sheet:

[0122] 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 fixture is located at the second position P2 relative to the imaging device, and the control device controls the rotating device to work, so that the rotation angle of the fixture relative to the imaging device is the first angle R1;

[0123] The control device controls the positioning imaging device to photograph the waveguide sheet to be detected to obtain a second picture, and the control device controls the rotating device to work according to the second picture, so that the rotation angle of the fixture relative to the imaging device is the second angle R2; and

[0124] The control device controls the positioning imaging device to photograph the waveguide sheet to be detected to obtain a third picture, and the control device controls the Z-axis moving device, the Y-axis moving device and the X-axis moving device to work according to the third picture, so that the fixture is located at the third position P3 relative to the imaging device.

[0125] Furthermore, during the detection process of the waveguide sheet, a calibration process is further included before the detection process, and the waveguide sheet detection system is configured to perform the following steps during the calibration process:

[0126] 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 fixture is located at the first position P1 relative to the imaging device, and the control device controls the rotating device to work, so that the rotation angle of the fixture relative to the imaging device is the first angle R1, so that the calibration waveguide sheet presents an expected image in the detection imaging device;

[0127] The control device records the information of the first position P1 and the information of the first angle R1;

[0128] 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 fixture is located at the second position P2 relative to the imaging device, so that the calibration waveguide sheet presents a desired image in the positioning imaging device;

[0129] The control device records the information of the second position P2;

[0130] The control device controls the positioning imaging device to photograph the calibration waveguide sheet to obtain a first picture;

[0131] The control device analyzes the first rotation angle r1 of the calibration waveguide sheet relative to the reference line in the first picture, and records the information of the first rotation angle r1; and

[0132] The control device analyzes the first pixel position p1 of the feature points of the calibration waveguide sheet in the first picture, and records the information of the first pixel position p1,

[0133] Wherein, the relative positions of the input grating and the output grating of the calibration waveguide sheet are the same as the relative positions of the input grating and the output grating of the waveguide sheet 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.

[0134] When detecting the optical performance of an optical waveguide product, it is necessary to ensure that the relative positions of the optical machine and the input grating of the waveguide sheet, and the detection imaging system and the output grating are adjusted to appropriate positions. During the transfer process of the waveguide sheet, only the relative positions between the input grating and the output grating can be guaranteed to be fixed, but the relative positions between them and the waveguide sheet cannot be guaranteed to be unchanged. Therefore, when detecting the optical performance of each waveguide sheet, the position of the waveguide sheet needs to be adjusted. According to the waveguide sheet detection system of the present invention, by arranging the detection imaging device and the positioning imaging device in pairs, and setting a calibration process before the detection process, for waveguide sheets of the same specification, the ideal positions of the input grating and the output grating of the waveguide sheet relative to the detection system are determined in the calibration process, and then in the detection process, the input grating and the output grating of the waveguide sheet to be inspected are automatically adjusted to this ideal position by the equipment, effectively ensuring the stability of the test results. Moreover, for waveguide sheets of the same specification, only one calibration is required, which is beneficial to improving the detection efficiency.

[0135] Optionally, the control device controls the rotation device to work according to the second picture, so that the rotation angle of the fixture relative to the imaging device is a second angle R2, including:

[0136] The control device analyzes a second rotation angle r2 of the waveguide sheet to be detected relative to the reference line in the second picture, and the second angle R2 is the difference obtained by adding the second rotation angle r2 to the first angle R1 and then subtracting the first rotation angle r1.

[0137] Optionally, the control device controls the Z-axis moving device, the Y-axis moving device, and the X-axis moving device to work according to the third picture, so that the fixture is located at a third position P3 relative to the imaging device, including:

[0138] The control device analyzes a second pixel position p2 of the feature point of the waveguide sheet to be detected in the third picture, and the control device determines the third position P3 according to the first pixel position p1 and the second pixel position p2.

[0139] Optionally, the first pixel position p1 includes a first Y-axis coordinate position Y1 in the Y-axis direction and a first X-axis coordinate position X1 in the X-axis direction.

[0140] The second pixel position p2 includes a second Y-axis coordinate position Y2 in the Y-axis direction and a second X-axis coordinate position X2 in the X-axis direction.

[0141] The third position P3 is a position obtained by moving a first moving distance D1 in the Y-axis direction and a second moving distance D2 in the X-axis direction from the first position P1, where

[0142] D1 = (Y2 - Y1) × a, D2 = (X2 - X1) × a.

[0143] where a is the actual physical size corresponding to one pixel.

[0144] According to the waveguide sheet detection system of the present invention, during the detection process, the adjustment of the position of the waveguide sheet is based on the ideal position determined in the calibration process, so that the coupling grating and the output grating of the waveguide sheet to be inspected can be adjusted to this ideal position.

[0145] Optionally, the feature point is the vertex of the boundary angle of the output grating; and / or

[0146] The reference line is a horizontal line or a vertical line in the shooting field of view of the positioning imaging device.

[0147] According to the waveguide sheet detection system of the present invention, the selection of the feature point and the reference line is reasonable, and the relevant algorithms are mature, which is beneficial to ensuring the stability of the detection result.

[0148] Optionally, the rotation angle of the waveguide sheet relative to the reference line is the included angle between the feature line of the waveguide sheet and the reference line.

[0149] Furthermore, the characteristic line is the edge of the output grating of the waveguide sheet.

[0150] In the waveguide sheet detection system according to the present invention, the selection of the characteristic line is reasonable and the related algorithm is mature, which is beneficial to ensuring the stability of the detection result. BRIEF DESCRIPTION OF THE DRAWINGS

[0151] The following drawings of the present invention are used as part of the present invention to understand the present invention. The embodiments and descriptions of the present invention shown in the drawings are used to explain the principles of the present invention.

[0152] Figure 1 is a front perspective view of a waveguide sheet detection system according to a specific embodiment of the present invention;

[0153] Figure 2 is Figure 1 a rear perspective view of the waveguide sheet detection system shown;

[0154] Figure 3 is Figure 1 a perspective view of a fixture of the waveguide sheet detection system shown;

[0155] Figure 4 is Figure 1 a schematic diagram of the fixture of the waveguide sheet detection system shown clamping an uncut waveguide sheet;

[0156] Figure 5 is Figure 1 a schematic diagram of the detection imaging device of the waveguide sheet detection system shown being aligned with the waveguide sheet;

[0157] Figure 6 is Figure 1 a schematic diagram of a first picture of a calibration waveguide sheet taken by a positioning imaging device in the calibration process of the waveguide sheet detection system shown for detecting a waveguide sheet;

[0158] Figure 7 is Figure 1 a schematic diagram of a second picture of a waveguide sheet to be detected taken by a positioning imaging device in the detection process of the waveguide sheet detection system shown for detecting a waveguide sheet;

[0159] Figure 8 is Figure 1 a schematic diagram of a third picture of a waveguide sheet to be detected taken by a positioning imaging device in the detection process of the waveguide sheet detection system shown for detecting a waveguide sheet;

[0160] Figure 9 is an external perspective view of a Z-axis moving device of a waveguide sheet detection system according to a specific embodiment of the present invention, wherein the Z-axis moving platform is omitted;

[0161] Figure 10Schematic diagram of the protection mechanisms of the first Z-axis safety protection device and the X-axis safety protection device of the waveguide sheet detection system according to the specific embodiments of the present invention;

[0162] Figure 11 is Figure 10 a perspective view of the component shown from another angle;

[0163] Figure 12 is Figure 10 an exploded perspective view of the second platform in the component shown.

[0164] Description of reference numerals:

[0165] 10: Base

[0166] 12: Fixture support

[0167] 13: Third Z-axis safety protection device

[0168] 14: Third roller

[0169] 15: Waveguide sheet

[0170] 16: Coupling grating

[0171] 17: Output grating

[0172] 18: Feature point

[0173] 19: Third Z-axis switch

[0174] 20: Fixture

[0175] 22: Backplane

[0176] 23: First side of the backplane

[0177] 24: Second side of the backplane

[0178] 25: Installation groove

[0179] 31: First Z-axis safety protection device

[0180] 32: Second Z-axis safety protection device

[0181] 33: Second Z-axis switch

[0182] 34: First Z-axis switch

[0183] 35: X-axis switch

[0184] 35A: First X-axis switch

[0185] 35B: Second X-axis switch

[0186] 36: First roller

[0187] 37 / 37A / 37B: Roller

[0188] 39: X-axis safety protection device

[0189] 40: Moving device

[0190] 41: Z-axis moving device

[0191] 42: Z-axis moving platform

[0192] 43: Z-axis lead screw

[0193] 45: Z-axis motor

[0194] 46: Third contact surface

[0195] 47: Moving device support

[0196] 51: X-axis moving device

[0197] 52: X-axis moving platform

[0198] 53: X-axis lead screw

[0199] 55: X-axis motor

[0200] 61: Y-axis moving device

[0201] 62: Y-axis moving platform

[0202] 63: Y-axis lead screw

[0203] 65: Y-axis motor

[0204] 67: First platform

[0205] 68: Second platform

[0206] 71: Rotating device

[0207] 75: Rotating motor

[0208] 81: First base

[0209] 82: Guide rail

[0210] 83: Sliding part

[0211] 83A: First side of the sliding part

[0212] 83B: Second side of the sliding part

[0213] 84: Spring

[0214] 85: Second base

[0215] 86: Rotating part

[0216] 86A: First side of the rotating part

[0217] 86B: Second side of the rotating part

[0218] 86C: First end

[0219] 86D: Second end

[0220] 87: Bearing

[0221] 88: Rotating shaft hole

[0222] 89: Fourth contact surface

[0223] 90: Imaging device

[0224] 91: Detection imaging device

[0225] 92: Positioning imaging device

[0226] 93: Detection camera

[0227] 94: Optical engine

[0228] 95: Positioning camera

[0229] 100: Waveguide sheet detection system

[0230] DZ: Z-axis direction

[0231] DX: X-axis direction

[0232] DX1: First X-axis direction

[0233] DX2: Second X-axis direction

[0234] DY: Y-axis direction

[0235] FL: Feature line

[0236] PA: Additional rotation axis

[0237] PR: Rotation axis

[0238] RL: Reference line Detailed implementation manners

[0239] In the following description, numerous specific details are given to provide a more thorough understanding of the present invention. However, it is obvious to those skilled in the art that the present invention can be implemented without one or more of these details. In other instances, in order to avoid obscuring the present invention, some well-known technical features are not described.

[0240] To fully understand the present invention, a detailed description will be presented in the following. 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 concept 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 have other embodiments.

[0241] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the 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 "comprising" and / or "including" are used in this specification, they indicate the presence of the described 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 their combinations.

[0242] The ordinal numbers such as "first" and "second" cited in the present invention are only 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".

[0243] It should be noted that the terms "upper", "lower", "front", "rear", "left", "right", "inner", "outer" and similar expressions used herein are only for illustrative purposes and are not restrictive.

[0244] The present invention provides a waveguide sheet detection system.

[0245] Now, the exemplary embodiments according to the present invention will be described in more detail with reference to the accompanying drawings.

[0246] As Figure 1 and Figure 2As shown, in a preferred embodiment, the waveguide sheet detection 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). Among them, the fixture 20 is used to hold the waveguide sheet 15. The imaging device 90 is used to photograph the waveguide sheet 15, so that the quality of the waveguide sheet 15 can be detected based on the photographed image. The moving device 40 is disposed on 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 used to move the fixture 20 relative to the imaging device 90 (i.e., move the imaging device 90 relative to the fixture 20), so that the imaging device 90 can be aligned with the waveguide sheet 15. The control device is respectively coupled to the moving device 40 and the imaging device 90, and is used to control the movement of the moving device 40 according to the image photographed by the imaging device 90, so that the imaging device 90 can be aligned with the waveguide sheet 15. At the same time, preferably, the control device can also analyze and process the image photographed by the imaging device 90, so as to identify the quality of the waveguide sheet 15.

[0247] In this application, "movement" can be translational movement or rotational movement.

[0248] Preferably, the moving device 40 includes a Z-axis moving device 41 that realizes the movement of the imaging device 90 relative to the fixture 20 along the Z-axis direction DZ (translational movement), an X-axis moving device 51 that realizes the movement of the imaging device 90 relative to the fixture 20 along the X-axis direction DX (translational movement), a Y-axis moving device 61 that realizes the movement of the imaging device 90 relative to the fixture 20 along the Y-axis direction DY (translational movement), and a rotating device 71 that realizes the rotation of the imaging device 90 relative to the fixture 20 around a rotation axis PR parallel to the Z-axis direction DZ (rotational movement). Among them, the Z-axis direction DZ, the X-axis direction DZ, and the Y-axis direction DY are perpendicular to each other in pairs, 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 the waveguide sheet 15 is held by the fixture 20, it is located in a plane perpendicular to or substantially perpendicular to the Z-axis direction DZ. That is, the normal line of the waveguide sheet 15 is parallel to or substantially parallel to the Z-axis direction DZ.

[0249] 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 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.

[0250] Specifically, the Z-axis moving device 41 is arranged on the base 10. The Z-axis moving device includes a moving device support 47, a Z-axis moving platform 42, a Z-axis lead screw 43, a Z-axis lead screw nut (not shown), and a Z-axis motor 45. Among them, the moving device support 47 is arranged on the base 10 and is stationary relative to the base 10. The moving device support 47 can also be regarded as a part of the base 10. The Z-axis lead screw 43 is arranged on the moving device support 47 (i.e., the base 10) and extends along the Z-axis direction DZ. The Z-axis lead screw nut is arranged in a matching manner with the Z-axis lead screw 43. The Z-axis motor 45 is arranged on the moving device support 47 (i.e., the base 10). The Z-axis motor 45 is coupled to the control device and is used to drive the Z-axis lead screw 43 to rotate. The Z-axis moving platform 42 is connected to the Z-axis lead screw nut. When the Z-axis motor 45 works, the Z-axis lead screw 43 rotates, so that the Z-axis lead screw nut moves along the Z-axis direction DZ on the Z-axis lead screw 43, thereby making the Z-axis moving platform 42 movable relative to the base 10 along the Z-axis direction DZ. Among them, the Z-axis lead screw 43 and the Z-axis lead screw nut are combined into a Z-axis transmission structure. The Z-axis moving platform 42 is connected to the Z-axis transmission structure. The output shaft of the Z-axis motor 45 is connected to the Z-axis transmission structure and is used to drive the Z-axis transmission structure to move. The Z-axis transmission structure makes the Z-axis moving platform 42 movable relative to the base 10 along the Z-axis direction DZ under the control of the control device.

[0251] The X-axis moving device 51 is arranged on 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 53 is arranged on the Z-axis moving platform 42 and extends along the X-axis direction DX. The X-axis lead screw nut is arranged in a matching manner with the X-axis lead screw 53. The X-axis motor 55 is arranged on the Z-axis moving platform 42. The X-axis motor 55 is coupled to the control device and is used to drive 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 works, 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, making the X-axis moving platform 52 movable relative to the Z-axis moving platform 42 along the X-axis direction DX, that is, making the X-axis moving platform 52 movable relative to the base 10 along the X-axis direction DX. Among them, the X-axis lead screw 53 and the X-axis lead screw nut are combined into an X-axis transmission structure. The output shaft of the X-axis motor 55 is connected to the X-axis transmission structure and is used to drive the X-axis transmission structure to move. The X-axis transmission structure makes the X-axis moving platform 52 movable relative to the Z-axis moving platform 42 along the X-axis direction DX under the control of the control device.

[0252] The Y-axis moving device 61 is disposed on 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 disposed on the X-axis moving platform 52 and extends along the Y-axis direction DY. The Y-axis lead screw nut is arranged to match the Y-axis lead screw 63. The Y-axis motor 65 is disposed on the X-axis moving platform 52. The Y-axis motor 65 is coupled to the control device and is used to drive 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 operates, the Y-axis lead screw 63 rotates, causing the Y-axis lead screw nut to move along the Y-axis direction DY on the Y-axis lead screw 63, so that the Y-axis moving platform 62 is movable relative to the X-axis moving platform 52 along the Y-axis direction DY, that is, the Y-axis moving platform 62 is movable relative to the Z-axis moving platform 42 along the Y-axis direction DY, that is, the Y-axis moving platform 62 is movable relative to the base 10 along the Y-axis direction DY. Among them, the Y-axis lead screw 63 and the Y-axis lead screw nut are combined into a Y-axis transmission structure. The output shaft of the Y-axis motor 65 is connected to the Z-axis transmission structure and is used to drive the Y-axis transmission structure to move. The Y-axis transmission structure makes the Y-axis moving platform 62 movable relative to the X-axis moving platform 52 along the Y-axis direction DY under the control of the control device.

[0253] The imaging device 90 is disposed on the Y-axis moving platform 62. Therefore, the imaging device 90 is movable relative to the X-axis moving platform 52, the Z-axis moving platform 42, and the base 10 along the Y-axis direction DY. The imaging device 90 is movable relative to the Z-axis moving platform 42 and the base 10 along the X-axis direction DX. The imaging device 90 is movable relative to the base 10 along the Z-axis direction DZ.

[0254] As Figure 1 and Figure 2 shown, the waveguide sheet detection system 100 further includes a fixture support 12. The fixture support 12 is disposed on the base 10 and is stationary relative to the base 10. The fixture support 12 can also be regarded as a part of the base 10. The fixture 20 is stationary relative to the base 10 along the Z-axis direction DZ. The fixture support 12 and the moving device support 47 are arranged or spaced apart along the Z-axis direction DZ. The fixture 20 is connected to the rotating device 71 and is rotatable relative to the fixture support 12 about the rotation axis PR under the drive of the rotating device 71. The rotating device 71 is disposed on the fixture support 12, or rather, the rotating device 71 is disposed on the base 10. The rotating device 71 includes a rotating motor 75 and a rotating transmission component (not shown). The rotating motor 75 is disposed on the fixture support 12 (i.e., the base 10) and is coupled to the control device. The rotating transmission component is connected between the output shaft of the rotating motor 75 and the fixture 20, so that the fixture 20 rotates about the rotation axis PR relative to the fixture support 12 (i.e., the base 10) as the output shaft of the rotating motor 75 rotates, where the rotation axis PR extends along the Z-axis direction DZ.

[0255] As can be seen from the above description, the Y-axis moving platform 62 equipped with the imaging device 90 does not rotate relative to the base 10. Therefore, in the present invention, the rotating device 71 enables the imaging device 90 to rotate relative to the fixture 20 about the rotation axis PR parallel to the Z-axis direction DZ by being configured to rotate the fixture 20 relative to the base 10 about the rotation axis PR parallel to the Z-axis direction DZ. The fixture 20 does not move relative to the base 10 in the Z-axis direction DZ, Y-axis direction DY, and X-axis direction DX. Therefore, in the present invention, the Z-axis moving device 41 enables the imaging device 90 to move relative to the fixture 20 in the Z-axis direction DZ by being configured to move the imaging device 90 relative to the base 10 in the Z-axis direction DZ; the X-axis moving device 51 enables the imaging device 90 to move relative to the fixture 20 in the X-axis direction DX by being configured to move the imaging device 90 relative to the base 10 in the X-axis direction DX; the Y-axis moving device 61 enables the imaging device 90 to move relative to the fixture 20 in the Y-axis direction DY by being configured to move the imaging device 90 relative to the base 10 in the Y-axis direction DY.

[0256] In other words, in a preferred embodiment, the imaging device 90 is translatable relative to the base 10 and the fixture 20 in the Z-axis direction DZ, X-axis direction DX, and Y-axis direction DY, and the fixture 20 is rotatable 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 15). The rotational movement of the fixture 20 determines the relative rotation angle of the imaging device 90 and the fixture 20 (i.e., the waveguide sheet 15).

[0257] The position of the imaging device 90 relative to the fixture 20 is jointly determined by the Z-axis moving device 41, X-axis moving device 51, and Y-axis moving device 61. Therefore, the imaging device 90 is connected to the Z-axis moving device 41, X-axis moving device 51, and Y-axis moving device 61.

[0258] As Figure 3 and Figure 4As shown, the fixture 20 includes a backplane 22 and a mounting groove 25. The backplane 22 extends in a plane perpendicular to or substantially perpendicular to the Z-axis direction DZ, that is, the backplane 22 is perpendicular to or substantially perpendicular to the Z-axis direction DZ. The backplane 22 includes a first side 23 of the backplane and a second side 24 of the backplane opposite to the first side of the backplane. The first side 23 of the backplane is used to face the imaging device 90. The first side 23 of the backplane extends in a plane perpendicular to or substantially perpendicular to the Z-axis direction DZ, that is, the normal of the backplane 22 is parallel to or substantially parallel to the Z-axis direction DZ. The second side 24 of the backplane is connected to the moving device 40, that is, connected to the rotation transmission assembly of the rotation device 71 of the moving device 40. The mounting groove 25 is provided on the first side 23 of the backplane 22 of the backplane for clamping the waveguide sheet 15 (inserting the waveguide sheet 15 into the mounting groove 25). The mounting groove 25 protrudes from the first side 23 of the backplane toward the imaging device 90 along the Z-axis direction DZ.

[0259] 15 It can be understood that after the waveguide sheet 15 is installed on the fixture 20, the waveguide sheet 15 rotates synchronously with the fixture 20 relative to the base 10 (that is, the fixture support 12), and the waveguide sheet 15 rotates synchronously with the fixture 20 relative to the imaging device 90. As Figure 4 shown, the waveguide sheet 15 includes a coupling grating 16 and a decoupling grating 17. For the same model or the same type of waveguide sheet 15, the relative positions of its coupling grating 16 and decoupling grating 17 remain unchanged.

[0260] As Figure 1 and Figure 2 shown, the imaging device 90 includes a detection imaging device 91, and the detection imaging device 91 is coupled to the control device for detecting the performance of the waveguide sheet 15. The detection imaging device 91 includes an optical machine 94 and a detection camera 93. Both the optical machine 94 and the detection camera 93 are coupled to the control device. Among them, the optical axis of the detection camera 93 extends along the Z-axis direction DZ. The relative position of the optical machine 94 and the detection camera 93 corresponds to the relative position of the coupling grating 16 and the decoupling grating 17, that is, when the optical machine 94 is aligned with the coupling grating 16, the detection camera 93 is simultaneously aligned with the decoupling grating 17 (as Figure 6As shown. During detection, the optical engine 94 is aligned with the input grating of the waveguide sheet 15, and light is made to enter the waveguide sheet 15 through the input grating 16. Then the user observes the image in the output grating 17 through the detection camera 93, so that the performance of the waveguide sheet 15 can be analyzed. When the models of the waveguide sheets 15 are different, the relative positions of the input grating 16 and the output grating 17 will be different. Therefore, preferably, the detection imaging device 91 further includes an optical engine moving device (not shown) for making the optical engine 94 movable relative to the detection camera 93 along at least one of the Y-axis direction DY and the X-axis direction DX, so as to adjust the relative position between the optical engine 94 and the detection camera 93. For example, the optical engine moving device is configured as an optical engine moving platform which is arranged on 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 detection camera 93 is arranged on the Y-axis moving platform 62, and the optical engine 94 is arranged on this optical engine moving platform, so that the relative position between it and the detection camera 93 can be adjusted.

[0261] When detecting the optical performance of an optical waveguide product, it is necessary to ensure that the relative positions of the optical engine and the input grating of the waveguide sheet and between the detection imaging system and the output grating are adjusted to appropriate positions. Currently, this relative position is adjusted according to experience by a person observing the image of the imaging system. During the transfer process of the waveguide sheet, only the relative position between the input grating and the output grating can be guaranteed to be fixed, but the relative positions between the two and the waveguide sheet cannot be guaranteed to be unchanged. Therefore, when detecting the optical performance of each waveguide sheet, the position of the waveguide sheet needs to be adjusted. Due to the existence of subjective factors, it cannot be guaranteed that the relative positions of the optical engine and the input grating of the waveguide sheet and between the detection imaging system and the output grating are consistent each time of measurement, which affects the stability of the test results.

[0262] In other words, during the transfer process of the waveguide sheet 15, only the relative position between the input grating 16 and the output grating 17 can be guaranteed to be fixed, but the relative positions between the two and the waveguide sheet 15 cannot be guaranteed to be unchanged, that is, it cannot be guaranteed that the input grating 16 and the output grating 17 are always located at fixed positions on the waveguide sheet 15. Therefore, each time the waveguide sheet 15 is replaced, the optical engine 94 needs to be realigned with the input grating 16 (or the detection camera 93 needs to be realigned), which makes the detection operation cumbersome and the detection efficiency low under manual operation. At the same time, the operation stability of manual alignment lacks guarantee, which affects the stability of the detection results.

[0263] To solve this problem, as 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 between the positioning imaging device 92 and the detection imaging device 91 remains unchanged. The positioning imaging device 92 includes a positioning camera 95. Among them, the optical axis of the positioning camera 95 extends along the Z-axis direction DZ. The positioning imaging device 92 is configured to automatically adjust the positions of the input grating 16 and the output grating 17 of the waveguide sheet 15 to a certain fixed position (also referred to as the detection position) relative to the detection imaging device 91 every time the waveguide sheet 15 is replaced, so that the relative position between the detection imaging device 91 and the waveguide sheet 15 always remains unchanged, which can improve work efficiency and detection stability.

[0264] Specifically, during the detection process of the waveguide sheet 15, it successively includes a calibration process and a detection process. In the calibration process, the user subjectively determines the ideal position of the fixture 20 for detecting the waveguide sheet 15 relative to the detection imaging device 91 based on the calibration waveguide sheet according to experience, and the control device records the relevant information. In the detection process, the control device automatically adjusts the fixture 20 relative to the detection imaging device 91 to this ideal position according to the recorded information, so that the relative position between each waveguide sheet to be detected and the detection imaging device 91 is this ideal position. It can be understood that the calibration waveguide sheet and the waveguide sheet to be detected are of the same model, that is, the relative positions of the input grating and the output grating of the calibration waveguide sheet are the same as those of the input grating and the output grating of the waveguide sheet to be detected.

[0265] First, in the calibration process, the waveguide sheet detection system 100 is configured to perform the following steps.

[0266] S11. The control device controls the mobile device 40 to work, so that the fixture 20 is located at the first position P1 relative to the imaging device 90, and the rotation angle of the fixture 20 relative to the imaging device 90 is the first angle R1, so that the waveguide sheet 15 (also referred to as the calibration waveguide sheet 15) as the calibration waveguide sheet presents an expected image in the detection imaging device 91.

[0267] In step S11, first, any one of the waveguide sheets 15 of a certain model is used as a calibration waveguide sheet and clamped in the fixture 20. The user operates the control device to make the moving device 40 work, including controlling the Z-axis moving device 41, the X-axis moving device 51, the Y-axis moving device 61, and the rotating device 71 to work, so as to adjust the relative position and relative angle between the fixture 20 and the imaging device 90, that is, to adjust the relative position and relative angle between the waveguide sheet 15 and the imaging device 90. Specifically, the user operates the control device to make the Z-axis moving device 41, the Y-axis moving device 61, and the X-axis moving device 51 work, so that the fixture 20 is located at the first position P1 relative to the imaging device 90; and the user operates the control device to make the control device control the rotating device 71 to work, so that the rotation angle of the fixture 20 relative to the imaging device 90 is the first angle R1. When the user sees the desired image in the image captured by the detection camera 93 (for example, sees a clear expected image in the image captured by the detection camera 93), the control device controls the moving device 40 to stop moving. At this time, the Z-axis moving device 41, the X-axis moving device 51, and the Y-axis moving device 61 make the fixture 20 located at the first position P1 relative to the imaging device 90, and the rotating device 71 makes the rotation angle of the fixture 20 relative to the imaging device 90 be the first angle R1. That is, at this time, the Z-axis moving device 41, the X-axis moving device 51, and the Y-axis moving device 61 make the waveguide sheet 15 located at the first position P1 relative to the imaging device 90, and the rotating device 71 makes the angle of the waveguide sheet 15 relative to the imaging device 90 be the first angle R1. In this application, the positions of the coupling grating 16 and the output grating 17 relative to the detection imaging device 91 when the waveguide sheet 15 is located at the first position P1 and the first angle R1 relative to the imaging device 90 are called the detection positions. It can be understood that in this application, after each replacement of the waveguide sheet 15, the waveguide sheet 15 needs to be moved relative to the detection imaging device 91 to this detection position by controlling the moving device 40 to work.

[0268] For example, in the present invention, the mechanical zero point in the X-axis direction DX is at Figure 1 the left end of Figure 1 and the mechanical zero point in the Y-axis direction DY is at Figure 1 the lower end of

[0269] For example, in step S11, when the relative positions of the detection camera 93 with respect to the output grating 17 and the optical engine 94 with respect to the input grating 16 are manually adjusted by the mobile device 40 to be appropriate (adjusted to position P1 and angle R1), the detection imaging device 91 is located at the detection position with respect to the calibration waveguide plate 15 (as Figure 5 shown, the optical engine 94 is aligned with the input grating 16, and the detection camera 93 is aligned with the output grating 17). The X, Y, and 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 fixture 20 is 90.5 degrees.

[0270] S12. The control device records the information of the first position P1 and the information of the first angle R1.

[0271] In step S12, the information recorded by the control device for the first position P1 is: 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 information recorded by the control device for the first angle R1 is: the R-axis coordinate position is 90.5 degrees. That is, preferably, the first position P1 of the fixture 20 with respect to the imaging device 90 at this time is equivalent to the position of the imaging device 90 with respect to the base 10, and the first angle R1 of the fixture 20 with respect to the imaging device 90 at this time is equivalent to the angle of the fixture 20 with respect to the base 10.

[0272] It can be understood that since the fixture support 12 is fixed with respect to the base 10, the position of the imaging device 90 with respect to the base 10 and the position of the imaging device 90 with respect to the fixture 20 always differ by a constant value. Therefore, the position of the imaging device 90 with respect to the base 10 can be used to represent the position of the imaging device 90 with respect to the fixture 20. On the other hand, the imaging device 90 does not rotate with respect to the base 10. Therefore, the rotation angle of the fixture 20 with respect to the base 10 can be used to represent the rotation angle of the fixture 20 with respect to the imaging device 90.

[0273] S13. The control device controls the mobile device 40 to operate so that the fixture 20 is located at the second position P2 with respect to the imaging device 90, such that the calibration waveguide plate 15 presents a desired image in the positioning imaging device 92.

[0274] In step S13, after the calibration waveguide sheet 15 presents an expected image in the detection camera 93, the user controls the mobile device 40 to work through the control device, so that the fixture 20 moves relative to the imaging device 90, and the calibration waveguide sheet 15 also presents an expected 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 to work through the control device, so that the fixture 20 is located at the second position P2 relative to the imaging device 90. At this time, the boundary angle of the clear output grating 17 can be seen in the image captured by the positioning camera 95 (as Figure 6 shown). For example, at this time, the X, Y, and Z-axis positions of the detection imaging device 91 (i.e., the imaging device 90, i.e., the positioning imaging device 92) are (150.5, 15.0, 100).

[0275] S14. The control device records the information of the second position P2.

[0276] In step S14, the information recorded by the control device for the second position P2 is: the X-axis coordinate position is 150.5 mm, the Y-coordinate position is 15.0 mm, and the Z-axis coordinate position is 100 mm. That is, preferably, the position of the imaging device 90 relative to the base 10 at this time is equivalent to the second position P2 of the fixture 20 relative to the imaging device 90.

[0277] S15. The control device controls the positioning imaging device 92 to photograph the calibration waveguide sheet 15 to obtain a first picture.

[0278] In this step, the first picture of the calibration waveguide sheet 15 photographed by the control device controlling the positioning imaging device 92 is as Figure 6 shown.

[0279] S16. The control device analyzes the first rotation angle r1 of the calibration waveguide sheet 15 relative to the reference line RL in the first picture and records the information of the first rotation angle r1.

[0280] Specifically, the reference line RL is, for example, a straight line with an unchanged angle in the shooting field of view of the positioning imaging device 92, such as a horizontal line (the pixel Y-axis coordinate remains unchanged) or a vertical line (the pixel X-axis coordinate remains unchanged) in the shooting field of view of the positioning imaging device 92. The rotation angle of the waveguide sheet 15 relative to the reference line RL can be characterized by the included angle between the characteristic line FL of the waveguide sheet 15 and the reference line RL. For example, as Figure 6 shown, the control device analyzes the included angle between the edge (characteristic line FL) of the output grating 17 of the waveguide sheet 15 and the reference line RL in the first picture, and this included angle is 0.46 degrees, that is, the first rotation angle r1 is 0.46 degrees.

[0281] S17. The control device analyzes the first pixel position p1 of the feature points of the calibration waveguide sheet 15 in the first picture and records the information of the first pixel position p1.

[0282] Specifically, the feature point 18 of the calibration waveguide sheet 15 is, for example, the vertex of the boundary angle of the output grating 17. The first pixel position p1 includes the first Y-axis coordinate position Y1 in the Y-axis direction and the first X-axis coordinate position X1 in the X-axis direction. The pixel position of the boundary angle vertex 18 (feature point 18) in the first picture is, for example, (780, 594), that is, the boundary angle vertex 18 is located at the position of the pixel in the 594th row and the 780th column in the digital picture, and this position is the first pixel position p1, where X1 = 780 and Y1 = 594. It can be understood that the boundary angle vertex 18 can be selected as the vertex of any one of the four boundary angles of the output grating 17.

[0283] The vision-guided positioning method of the prior art usually needs to place a marker at the target position as the recognition target. The marker can be temporarily placed at the target position or permanently processed at the target position (such as engraving, printing). There will inevitably be errors between the marker and the target position, and there is one more process. In this step, the present invention directly uses the boundary angle of the output grating 17 as the recognition target, avoiding the errors caused by the marker and simplifying the process.

[0284] So far, the calibration process is completed. The user takes out the calibration waveguide sheet 15 from the fixture 20 and puts the waveguide sheet 15 to be detected (also called the test waveguide sheet 15) into the fixture 20, and enters the detection process. In the detection process, the waveguide sheet detection system 100 detects the performance of the test waveguide sheet 15 one by one. Among them, the waveguide sheet detection system 100 needs to make the relative positions of the detection imaging device 91 and the input grating 16 and the output grating 17 of the test waveguide sheet 15 the same as the relative positions of the detection imaging device 91 and the input grating 16 and the output grating 17 of the calibration waveguide sheet 15 in step S11. In the detection process of the detection process of the waveguide sheet, the waveguide sheet detection system 100 is configured to complete the work of the following steps.

[0285] S21. The control device controls the moving device 40 to work, so that the fixture 20 is located at the second position P2 relative to the imaging device 90, and the rotation angle of the fixture 20 relative to the imaging device 90 is the first angle R1.

[0286] 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 operate so that the fixture 20 is located at the second position P2 relative to the imaging device 90; and the control device controls the rotating device 71 to operate so that the rotation angle of the fixture 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. The control device automatically controls the moving device 40 to move the imaging device 90 (i.e., the detection imaging device 91, i.e., the positioning imaging device 92) to the second position P2 with X, Y, and Z-axis positions of (150.5, 15.0, 100), and rotates the fixture 20 relative to the base 10 by 90.5 degrees. In step S21, it can be understood that as Figure 7 shown, at this time, a clear output grating 17 can be seen in the imaging field of view of the positioning imaging device 92.

[0287] S22. The control device controls the positioning imaging device 92 to photograph the waveguide sheet 15 to be detected to obtain a second picture, and the control device controls the rotating device 71 to operate according to the second picture so that the rotation angle of the fixture 20 relative to the imaging device 90 is the second angle R2.

[0288] In this step, the second picture of the waveguide sheet 15 to be detected photographed by the control device controlling the positioning imaging device 92 is as Figure 7 shown. Specifically, the control device analyzes the second rotation angle r2 of the waveguide sheet 15 to be detected relative to the reference line RL in the second picture. The second angle R2 is the difference between the sum of the first angle R1 and the second rotation angle r2 minus the first rotation angle r1, that is, the angle by which the waveguide sheet 15 rotates relative to the imaging device 90 is the difference between the first rotation angle r1 and the second rotation angle r2. Among them, 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, as Figure 8 shown, the second rotation angle r2 between the edge (characteristic line FL) of the output grating 17 of the waveguide sheet 15 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 calculation, the control device controls the rotating device 71 to operate so that the fixture 20 rotates -11.78 degrees relative to the imaging device 90, 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 -11.78 degrees, that is, the rotation angle of the fixture 20 relative to the base 10 is -11.78 degrees. After the fixture 20 is rotated, the appearance of the waveguide sheet 15 for detection seen in the photographing field of view of the positioning imaging device 92 is asFigure 8 as shown

[0289] S23. The control device controls the positioning imaging device 92 to photograph the waveguide sheet to be detected to obtain a third picture, and 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 according to the third picture, so that the fixture 20 is located at the third position P3 relative to the imaging device 90.

[0290] In this step, the third picture of the detection waveguide sheet 15 photographed by the control device controlling the positioning imaging device 92 is as Figure 8 shown. Specifically, the control device analyzes the second pixel position p2 of the feature point 18 of the detection waveguide sheet 15 in the third picture, and the control device 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 moves 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, where 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.

[0291] The information of the first pixel position p1 is recorded in step S17. For example, in Figure 6 the first picture as shown, in the first pixel position p1 of the vertex 18 of the boundary angle of the output grating 17, X1 = 780, Y1 = 594.

[0292] For example, in Figure 8 the third picture as shown, the pixel position coordinates of the upper left corner vertex 18 of the output grating 17 in the image are (1278, 1291), that is, X2 = 1278, Y2 = 1291. Then:

[0293] D1 = (Y2 - Y1) × a = (1291 - 594) × 0.00345 = 2.40465 mm;

[0294] D2 = (X2 - X1) × a = (1278 - 780) × 0.00345 = 1.7181 mm.

[0295] The third position P3 is a position obtained by moving 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. 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 value of the first position P1 is recorded in step S12, and the X, Y, and Z-axis positions of the first position P1 are (100.3, 20.2, 135). Then, 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.

[0296] 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.

[0297] In this step, the control device compensates for the difference in the relative positions of the coupling grating 16 and the output grating 17 of different waveguide chips 15 and the contour of the waveguide chip 15 according to the pixel positions of the feature point 18 in the first image and the third image, so that the relative positions of the imaging device 90 and the coupling grating 16 and the output grating 17 of the waveguide chip 15 for detection are the same as the relative positions of the imaging device 90 and the coupling grating 16 and the output grating 17 of the waveguide chip 15 for calibration. The control device directly obtains the second pixel position p2 of the vertex feature point 18 from the third image, rather than only obtaining the pixel position of the feature point 18 after the fixture 20 is rotated to the second angle R2 through calculation, making the value of the pixel position p2 of the feature point 18 more accurate, which is beneficial to aligning the detection imaging device 91 at the ideal position with the coupling grating 16 and the output grating 17.

[0298] Preferably, the positioning camera 95 of the positioning imaging device 92 includes a telecentric lens. There is a perspective phenomenon in ordinary lenses. When the position of the imaging device 90 changes along the Z-axis direction DZ, the coordinates of non-image center objects in the image will change, and there are inevitable errors in the Z-axis motor 45 itself. Therefore, the errors caused by the perspective phenomenon of ordinary lenses cannot be avoided. However, the telecentric lens has no perspective phenomenon, and the object coordinates in the image are not affected by the errors of the Z-axis motor 45 and do not change, reducing the final positioning error.

[0299] So far, the waveguide chip detection system 100 has completed the work of aligning the detection imaging device 91 with the coupling grating 16 and the output grating 17 at the detection position.

[0300] S24. The control device acquires an image of the output grating 17 of the waveguide slice 15 to be detected captured by the detection camera 93, and analyzes the quality and performance of the waveguide slice 15.

[0301] It can be understood that after the calibration process of steps S11 to S17, any waveguide slice 15 to be detected with the same specification and model as the calibration waveguide slice 15 can have its quality detected through the detection process of steps S21 to S24. And during each detection process, the detection imaging device 91 is aligned with the input grating 16 and the output grating 17 at the detection position determined by the user during the calibration process. That is, the waveguide slice detection system 100 can achieve one-time calibration and multiple detections.

[0302] As described above, during the detection of the waveguide slice, the imaging device 90 needs to move relative to the waveguide slice 15 so as to be able to see clear images in the detection imaging device 91 and the positioning imaging device 92. Since the waveguide slice 15 is a fragile component and the imaging device 90 is a precision device, to avoid collision between the imaging device 90 and the waveguide slice 15 or the fixture 20, the waveguide slice detection system 100 further includes a safety protection device. The safety protection device is coupled to the control device and is used to activate a safety protection mechanism when a safety problem occurs during the movement of the imaging device 90 relative to the fixture 20, so that the moving device 40 stops working.

[0303] First of all, the safety protection device includes a Z-axis safety protection device. The Z-axis safety protection device is connected to the moving device 40 and coupled to the control device, and is used to activate the Z-axis safety protection mechanism to stop the Z-axis moving device 41 from working when a safety problem occurs.

[0304] Specifically, the Z-axis safety protection device includes a first Z-axis safety protection device 31, a second Z-axis safety protection device 32, and a third Z-axis safety protection device 13. The first Z-axis safety protection device 31 is used to activate the Z-axis safety protection mechanism to stop the Z-axis moving device 41 from working when the imaging device 90 moves along the Z-axis direction DZ towards the fixture 20 to a first Z-axis safety distance ZS1 from the backplane 22. The second Z-axis safety protection device 32 is used to activate the Z-axis safety protection mechanism to stop the Z-axis moving device 41 from working when the imaging device 90 moves along the Z-axis direction DZ towards the fixture 20 to a second Z-axis safety distance ZS2 from the backplane 22. The third Z-axis safety protection device 13 is used to activate the Z-axis safety protection mechanism to stop the Z-axis moving device 41 from working when the imaging device 90 moves along the Z-axis direction DZ towards the fixture 20 to a third Z-axis safety distance ZS3 from the backplane 22. Where ZS1 > ZS2 > ZS3.

[0305] As Figure 1 and Figure 2As shown, the third Z-axis safety protection device 13 includes a third Z-axis switch 19. The third Z-axis switch 19 is disposed on the base 10 or the mobile device support 47. The third Z-axis switch 19 is coupled to the control device. The waveguide sheet detection system 100 is configured such that when the Z-axis moving platform 42 moves along the Z-axis direction DZ towards the fixture 20 so that the imaging device 90 is at a third Z-axis safety distance ZS3 from the backplane 22, the Z-axis moving platform 42 triggers the third Z-axis switch 19, and after receiving the trigger signal of the third Z-axis switch 19, the control device controls the Z-axis motor 45 to stop working.

[0306] Specifically, the third Z-axis switch 19 includes a third roller 14. The third Z-axis switch 19 is configured such that when the third roller 14 rolls, the third roller 14 is pressed, causing the third Z-axis switch 19 to be triggered. The Z-axis moving platform 42 includes a third contact surface 46. The waveguide sheet detection system 100 is configured such that when the Z-axis moving platform 42 moves along the Z-axis direction DZ towards the fixture 20 so that the imaging device 90 is at a third Z-axis safety distance ZS3 from the backplane 22, the third contact surface 46 contacts the third roller 14 and causes the third roller 14 to roll, thereby pressing the third roller 14 and causing the third Z-axis switch 19 to be triggered.

[0307] As Figure 9 shown, the second Z-axis safety protection device 32 includes a second Z-axis switch 33. The second Z-axis switch 33 is disposed on the base 10 or the mobile device support 47. The second Z-axis switch 33 is coupled to the control device. The waveguide sheet detection system 100 is configured such that when the Z-axis moving platform 42 moves along the Z-axis direction DZ towards the fixture 20 to make the imaging device 90 at a second Z-axis safety distance ZS2 from the backplane 22, the Z-axis moving platform 42 triggers the second Z-axis switch 33, and after receiving the trigger signal of the second Z-axis switch 33, the control device controls the Z-axis motor 45 to stop working.

[0308] Specifically, the Z-axis moving platform 42 includes a second baffle (not shown). The second Z-axis switch 33 is a photoelectric switch, including a light emitter and a light receiver disposed opposite to each other. The waveguide sheet detection system 100 is configured such that when the Z-axis moving platform 42 moves along the Z-axis direction DZ towards the fixture 20 to make the imaging device 90 at a second Z-axis safety distance ZS2 from the backplane 22, the second baffle enters the gap between the light emitter and the light receiver, causing the light receiver to not receive the light emitted by the light emitter, and causing the second Z-axis switch 33 to be triggered.

[0309] As Figure 10 and Figure 11 shown, the Y-axis moving platform 62 includes a first platform 67 and a second platform 68. The second platform 60 is connected to the Y-axis transmission structure, for example, connected to the Y-axis lead screw nut. The first platform 67 is disposed on the second platform 68. The first platform 67 and the second platform 68 are arranged along the Y-axis direction DY. Among them, the imaging device 90 is disposed on the first platform 67.

[0310] The first Z-axis safety protection device 31 includes a first Z-axis switch 34. The first Z-axis switch is disposed on the first platform 67. The first Z-axis switch 34 is coupled to the control device. The waveguide sheet detection system 100 is configured such that when the Z-axis moving platform 42 moves along the Z-axis direction DZ towards the fixture 20 and the imaging device 90 is at a first Z-axis safety distance ZS1 from the backplane 22, the first Z-axis switch 34 is triggered. After receiving the trigger signal of the first Z-axis switch 34, the control device controls the Z-axis motor 45 to stop working. Specifically, when the imaging device 90 is at the first Z-axis safety distance ZS1 from the backplane 22, the imaging device 90 (such as the positioning imaging device 92) exactly touches the end surface of the fixture 20 facing the imaging device 90, that is, the end surface of the mounting groove 25 of the fixture 20 facing the imaging device 90. Therefore, the first Z-axis safety protection device 31 is used to prevent the imaging device 90 from colliding with the fixture 20 along the Z-axis direction DZ.

[0311] As described above, the third Z-axis safety protection device 13 is used to activate the Z-axis safety protection mechanism when the imaging device 90 moves along the Z-axis direction DZ towards the fixture 20 to a third Z-axis safety distance ZS3 from the backplane 22, and the second Z-axis safety protection device 32 is used to activate the Z-axis safety protection mechanism when the imaging device 90 moves along the Z-axis direction DZ towards the fixture 20 to a second Z-axis safety distance ZS2 from the backplane 22, where ZS1 > ZS2 > ZS3. Therefore, the third Z-axis safety protection device 13 and the second Z-axis safety protection device 32 are used to implement safety protection when the detection camera 93 or the positioning camera 95 enters the space above the mounting groove 25 of the fixture 20. From the previous description, it can be seen that both the third Z-axis safety protection device 13 and the second Z-axis safety protection device 32 trigger the safety protection mechanism according to the moving distance, that is, as long as the imaging device 90 moves to the corresponding preset distance or position, the corresponding safety protection mechanism is activated. Different from the third Z-axis safety protection device 13 and the second Z-axis safety protection device 32, the first Z-axis safety protection device 31 uses the contact of the imaging device 90 (detection camera 93 or positioning camera 95) with the end surface of the fixture 20 facing the imaging device 90 as the signal to activate the safety protection mechanism.

[0312] Specifically, the first platform 67 includes a first base 81 and a slider 83. The first base 81 is disposed on the second platform 68. The slider 83 is disposed on the first base 81 and is movable relative to the first base 81 along the Z-axis direction DZ. The slider 83 includes a first slider side 83A facing the fixture 20 and a second slider side 83B opposite to the first slider side 83A. Among them, the imaging device 90 is disposed on the slider 83 and is stationary relative to the slider 83. The first Z-axis switch 34 is disposed on the first base 81 and abuts against the second slider side 83B. When the Z-axis moving platform 42 moves along the Z-axis direction DZ towards the fixture 20 and the imaging device 90 contacts the mounting groove 25 along the Z-axis direction DZ, due to touching the fixture 20, the imaging device 90 together with the slider 83 is subjected to a force that makes it move away from the fixture 20. Therefore, the slider 83 moves away from the fixture 20 along the Z-axis direction DZ, so that the second slider side 83B triggers the first Z-axis switch 34. As described above, when the imaging device 90 contacts the mounting groove 25, the imaging device 90 is at a first Z-axis safety distance ZS1 from the backplane 22.

[0313] The first Z-axis switch 34 includes a first roller 36. The first Z-axis switch 34 is configured such that when the first roller 36 rolls, the first roller 36 is pressed, causing the first Z-axis switch 34 to be triggered. The waveguide sheet detection system 100 is configured such that when the Z-axis moving platform 42 moves along the Z-axis direction DZ towards the fixture 20 and the imaging device 90 contacts the mounting groove 25 along the Z-axis direction DZ, the second slider side 83B contacts the first roller 36 and causes the first roller 36 to roll, causing the first Z-axis switch 34 to be triggered.

[0314] To enable the slider 83 to move stably relative to the first base 81, preferably, the first platform 67 further includes a guide rail 82. The guide rail 82 is disposed on the first base 81 and extends along the Z-axis direction DZ. Among them, the slider 83 is connected to the guide rail 82, for example, through a guide groove and is movable relative to the guide rail 82 along the Z-axis direction DZ. Preferably, the first platform 67 further includes two guide rails 82, and the two guide rails 82 are spaced apart along the X-axis direction DX. The slider 83 is connected to the two guide rails 82 at the same time, so that it can move stably relative to the first base 81 along the Z-axis direction DZ.

[0315] Preferably, the first platform 67 further includes a spring 84. The spring 84 is disposed on the first base 81. The spring 84 extends along the Z-axis direction DZ. One end of the spring 84 is stationary relative to the first base 81 (e.g., always abuts against the first base 81), and the other end of the spring 84 abuts against the second side 83B of the slider, for biasing the slider 83 towards the fixture 20. Under the action of the spring 84, the slider 83 can maintain a stable relative position with respect to the first base 81, that is, the second side 83B of the slider stably fits the first Z-axis switch 34, so that the first Z-axis switch 34 is only triggered when the imaging device 90 is touched in the Z-axis direction DZ. In addition, when the first Z-axis switch 34 is triggered, usually the imaging device 90 is moved away from the fixture 20 in the Z-axis direction DZ. At this time, the slider 83 is pushed back to its original position by the spring 84, so that the first Z-axis safety protection device 31 returns to the standby state again.

[0316] As Figure 10 and Figure 11 shown, the safety protection device of the waveguide sheet detection system 100 further includes an X-axis safety protection device 39. The X-axis safety protection device 39 is coupled to the control device, for starting the X-axis safety protection mechanism when a safety problem occurs during the movement of the imaging device 90, so that the X-axis moving device 51 stops working (e.g., the X-axis motor 55 stops working).

[0317] Wherein, the X-axis safety protection device 39 is disposed on the Y-axis moving platform 62. The X-axis safety protection device 39 includes an X-axis switch 35, and the X-axis switch 35 is disposed on the Y-axis moving platform 62. The X-axis switch 35 is coupled to the control device. The X-axis direction DZ includes a first X-axis direction DX1 and a second X-axis direction DX2 opposite to the first X-axis direction DX1. The waveguide sheet detection system 100 is configured such that when the Y-axis moving platform 62 moves towards the fixture 20 in any one of the first X-axis direction DX1 and the second X-axis direction DX2 to make the imaging device 90 contact the fixture 20, the Y-axis moving platform 62 triggers the X-axis switch 35, and after receiving the trigger signal of the X-axis switch 35, the control device controls the X-axis moving device 51 to stop working. Therefore, similar to the first Z-axis safety protection device 31, the X-axis safety protection device 39 also uses the imaging device 90 (the detection camera 93 or the positioning camera 95) contacting the fixture 20 as the signal to start the safety protection mechanism.

[0318] Specifically, the X-axis safety protection device 39 is disposed on the second platform 68. As Figures 10 to 12As shown, the second platform 68 includes a second base 85 and a rotating member 86. The second base 85 is connected to the Y-axis drive structure (such as the YA-axis lead screw nut). The second base 85 includes a rotating shaft hole 88 extending in the Y-axis direction DY. The rotating member 86 includes a first end 86C and a second end 86D arranged in opposite directions along the Y-axis direction DY. The first end 86C is used to face the first platform 67. The second end 86D is disposed in the rotating shaft hole 88 and is rotatable relative to the second base 85 about an additional rotation axis PA. For example, two bearings 87 are also disposed in the rotating shaft hole 88 and are coaxially connected to the second end 86D of the rotating member 86, so that the rotating member 86 can rotate stably and flexibly in the rotating shaft hole 88. The first end 86C includes a first side 86A of the rotating member and a second side 86B of the rotating member spaced apart in the X-axis direction DX. Among them, the additional rotation axis PA extends in the Y-axis direction DY. The first base 81 is disposed on the first end 86C and rotates synchronously with the rotating member 86 relative to the second base 85 about the additional rotation axis PA. The X-axis switch 35 includes a first X-axis switch 35A and a second X-axis switch 35B. That is, the X-axis safety protection device 39 includes two X-axis switches 35, namely the first X-axis switch 35A and the second X-axis switch 35B. The first X-axis switch 35A is disposed on the second base 85 and abuts against the first side 86A of the rotating member. The second X-axis switch 35B is disposed on the second base 85 and abuts against the second side 86B of the rotating member.

[0319] The waveguide sheet detection system 100 is configured such that when the Y-axis moving platform 62 moves toward the fixture 20 along the first X-axis direction DX1 and the imaging device 90 contacts the fixture 20, the first side 86A of the rotating member triggers the first X-axis switch 35A, and after the control device receives the trigger signal of the first X-axis switch 35A, it controls the X-axis moving device 51 to stop working; when the Y-axis moving platform 62 moves toward the fixture 20 along the second X-axis direction DX2 and the imaging device 90 contacts the fixture 20, the second side 86B of the rotating member triggers the second X-axis switch 35B, and after the control device receives the trigger signal of the second X-axis switch 35B, it controls the X-axis moving device 51 to stop working.

[0320] The X-axis switch 35 includes a roller 37. The first X-axis switch 35A includes a roller 37A, and the second X-axis switch 35B includes a roller 37B. The X-axis switch 35 is configured such that when the roller 37 rolls, the roller 37 is pressed, so that the X-axis switch 35 is triggered. The first side 86A of the rotating member and the second side 86B of the rotating member are both provided with a fourth contact surface 89. The waveguide sheet detection system 100 is configured such that when the Y-axis moving platform 62 moves toward the fixture 20 along the X-axis direction DX and the imaging device 90 contacts the fixture 20, the fourth contact surface 89 contacts the roller 37 and causes the roller 37 to roll, so that the X-axis switch 35 is triggered.

[0321] It can be understood that since the first side 86A of the rotating member abuts against the first X-axis switch 35A and the second side 86B of the rotating member abuts against the second X-axis switch 35B, generally, the first end 86C of the rotating member 86 is clamped by the two X-axis switches 35. Therefore, the two X-axis switches 35 determine the spatial orientation of the first end 86C, that is, determine the spatial orientation of the rotating member 86, that is, determine the spatial orientation of the first platform 67, that is, determine the spatial orientation of the imaging device 90. By designing the assembly parameters, the two X-axis switches 35 can make the optical axis of the camera of the imaging device 90 extend along the Z-axis direction DZ.

[0322] In the waveguide sheet detection system according to the present invention, a fixture is used to clamp the waveguide sheet, and an imaging device is used to photograph the waveguide sheet to detect the quality of the waveguide sheet. Among them, by setting a moving device, the imaging device can be moved relative to the waveguide sheet, so that the imaging device can be adjusted to a position suitable for detecting the waveguide sheet relative to the waveguide sheet, effectively ensuring the detection quality. The safety protection device can avoid safety problems caused by the collision between the imaging device and the waveguide sheet or the fixture.

[0323] The processes and steps described in all the above preferred embodiments are only examples. Unless adverse effects occur, various processing operations can be performed in an order different from the order of the above processes. The order of the steps of the above processes can also be increased, combined or deleted according to actual needs.

[0324] Unless otherwise defined, the technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field of the present invention. The terms used herein are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The features described in one embodiment herein can be applied to another embodiment alone or in combination with other features, unless the feature is not applicable or otherwise stated in that other embodiment.

[0325] The present invention has been described through the above embodiments. However, it should be understood that the above embodiments are only for the purpose of exemplification and illustration, and are not intended to limit the present invention to the scope of the described embodiments. In addition, those skilled in the art can understand that the present invention is not limited to the above embodiments, and more variations and modifications can be made according to the teachings of the present invention, and these variations and modifications all fall within the scope of protection required by the present invention. The scope of protection of the present invention is defined by the appended claims and their equivalent scope.

Claims

1. A waveguide sheet detection system, characterized in that, Comprising: A base; A fixture for clamping a waveguide sheet; An imaging device, the imaging device including a camera for photographing the waveguide sheet, the imaging device including a pair of positioned imaging devices and a detecting imaging device, both the positioned imaging device and the detecting imaging device including cameras; A moving device, the moving device being provided on the base and movable relative to the base, the moving device being connected to at least one of the fixture and the imaging device for moving the fixture relative to the imaging device, the moving device at least including a Z-axis moving device for moving the imaging device relative to the fixture in the Z-axis direction; A control device, the control device being coupled to the moving device and the imaging device for controlling the imaging device to capture an image and controlling the moving device to move according to the image captured by the imaging device; And A safety protection device, the safety protection device being coupled to the control device for activating a safety protection mechanism when a safety problem occurs during the movement of the imaging device relative to the fixture, so as to stop the moving device from working, wherein, the safety protection device at least includes a Z-axis safety protection device, the Z-axis safety protection device being coupled to the control device for activating a Z-axis safety protection mechanism to stop the Z-axis moving device from working when a safety problem occurs, wherein, the optical axis of the camera extends along the Z-axis direction, The image of the waveguide sheet captured by the detecting imaging device is used to analyze the quality and performance of the waveguide sheet; the positioned imaging device is used for batch detecting waveguide sheets of the same model, at least after each replacement of the waveguide sheet, the control device controls the moving device to work according to the image of the waveguide sheet captured by the positioned imaging device, so that the positions of the input grating and the output grating of the waveguide sheet are located at a fixed detecting position relative to the detecting imaging device.

2. The waveguide sheet detection system according to claim 1, wherein The waveguide sheet detecting system is configured as: The fixture is stationary relative to the base along the Z-axis direction, The Z-axis moving device is connected to the imaging device for moving the imaging device relative to the base in the Z-axis direction.

3. The waveguide sheet detection system according to claim 2, characterized in that, The fixture includes: A back plate, the back plate including a first side of the back plate and a second side of the back plate opposite to the first side of the back plate, wherein the first side of the back plate is for facing the imaging device; and A mounting groove, provided on the first side of the back plate and protruding from the first side of the back plate towards the imaging device along the Z-axis direction for placing the waveguide sheet.

4. The waveguide sheet detection system according to claim 3, wherein The Z-axis safety protection device includes: A first Z-axis safety protection device for activating the Z-axis safety protection mechanism to stop the Z-axis moving device from working when the imaging device moves towards the fixture in the Z-axis direction to a first Z-axis safety distance ZS1 from the first side of the back plate; A second Z-axis safety protection device for activating the Z-axis safety protection mechanism to stop the Z-axis moving device from working when the imaging device moves towards the fixture in the Z-axis direction to a second Z-axis safety distance ZS2 from the second side of the back plate; and The third Z-axis safety protection device is used to activate the Z-axis safety protection mechanism to stop the Z-axis moving device from working when the imaging device moves towards the fixture along the Z-axis direction to a third Z-axis safety distance ZS3 from the backplane, where ZS1 > ZS2 > ZS3.

5. The waveguide sheet detection system according to claim 4, characterized in that, The Z-axis moving device includes: A moving device support, which is arranged on the base, A Z-axis transmission structure, which is arranged on the moving device support, A Z-axis motor, which is arranged on the moving device support, the Z-axis motor is coupled to the control device, and the output shaft of the Z-axis motor is connected to the Z-axis transmission structure for driving the Z-axis transmission structure to move, and A Z-axis moving platform, which is connected to the Z-axis transmission structure. When the Z-axis motor drives the Z-axis transmission structure to move, the Z-axis moving platform moves relative to the base along the Z-axis direction, wherein the imaging device is connected to the Z-axis moving platform.

6. The waveguide sheet detection system according to claim 5, characterized in that The Z-axis transmission structure includes: A Z-axis lead screw, which is arranged on the moving device support and extends along the Z-axis direction; and A Z-axis lead screw nut, which is arranged in a matching manner with the Z-axis lead screw, where the Z-axis moving platform is connected to the Z-axis lead screw nut.

7. The waveguide sheet detection system according to claim 6, wherein the third Z-axis safety protection device includes a third Z-axis switch, which is arranged on the base or the moving device support, and the third Z-axis switch is coupled to the control device, the waveguide sheet detection system is configured such that when the Z-axis moving platform moves towards the fixture along the Z-axis direction so that the imaging device is at the third Z-axis safety distance ZS3 from the backplane, the Z-axis moving platform triggers the third Z-axis switch, and after receiving the trigger signal of the third Z-axis switch, the control device controls the Z-axis motor to stop working.

8. The waveguide sheet detection system according to claim 7, wherein the Z-axis moving platform includes a third contact surface, the third Z-axis switch includes a third roller, and the third Z-axis switch is configured such that when the third roller rolls, the third roller is pressed, so that the third Z-axis switch is triggered, the waveguide sheet detection system is configured such that when the Z-axis moving platform moves towards the fixture along the Z-axis direction so that the imaging device is at the third Z-axis safety distance ZS3 from the backplane, the third contact surface contacts the third roller and causes the third roller to roll, so that the third Z-axis switch is triggered.

9. The waveguide sheet detection system according to claim 6, wherein the second Z-axis safety protection device includes a second Z-axis switch, which is arranged on the base or the moving device support, and the second Z-axis switch is coupled to the control device, The waveguide sheet detection system is configured such that when the Z-axis moving platform moves towards the fixture along the Z-axis direction and the imaging device is at the second Z-axis safety distance ZS2 from the backplane, the Z-axis moving platform triggers the second Z-axis switch, and after the control device receives the trigger signal of the second Z-axis switch, it controls the Z-axis motor to stop working.

10. The waveguide sheet detection system according to claim 9, wherein the Z-axis moving platform includes a second baffle, the second Z-axis switch includes an optical transmitter and an optical receiver arranged oppositely, the waveguide sheet detection system is configured such that when the Z-axis moving platform moves towards the fixture along the Z-axis direction and the imaging device is at the second Z-axis safety distance ZS2 from the backplane, the second baffle enters the gap between the optical transmitter and the optical receiver, so that the optical receiver cannot receive the light emitted by the optical transmitter, and the second Z-axis switch is triggered.

11. The waveguide sheet detection system according to claim 5, wherein the moving device further includes: 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 for rotating the imaging device relative to the fixture about 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 pairwise, and the X-axis moving device is arranged on the Z-axis moving platform. The X-axis moving device includes an X-axis moving platform and an X-axis transmission structure. The X-axis moving platform is connected to the X-axis transmission structure, and the X-axis transmission structure moves the X-axis moving platform relative to the Z-axis moving platform along the X-axis direction under the control of the control device. the Y-axis moving device is arranged on the X-axis moving platform. The Y-axis moving device includes a Y-axis moving platform and a Y-axis transmission structure. The Y-axis moving platform is connected to the Y-axis transmission structure, and the Y-axis transmission structure moves the Y-axis moving platform relative to the X-axis moving platform along the Y-axis direction under the control of the control device. the base further includes a fixture support. The fixture support is spaced apart from the moving device support along the Z-axis direction. The rotating device is arranged on the fixture support. The fixture is connected to the rotating device and can rotate relative to the fixture support about the rotation axis under the drive of the rotating device. wherein the imaging device is arranged on the Y-axis moving platform.

12. The waveguide sheet detection system according to claim 11, wherein the Y-axis moving platform includes: a second platform connected to the Y-axis transmission structure, and a first platform arranged on the second platform. The first platform and the second platform are arranged along the Y-axis direction, wherein the imaging device is arranged on the first platform; The first Z-axis safety protection device includes a first Z-axis switch, the first Z-axis switch is arranged on the first platform, and the first Z-axis switch is coupled to the control device; The waveguide sheet detection system is configured such that when the Z-axis moving platform moves towards the fixture along the Z-axis direction and the imaging device is at a first Z-axis safety distance ZS1 from the backplane, the first Z-axis switch is triggered, and after receiving the trigger signal of the first Z-axis switch, the control device controls the Z-axis motor to stop working.

13. The waveguide sheet detection system according to claim 12, wherein The first platform includes: A first base arranged on the second platform, and A slider arranged on the first base and movable relative to the first base along the Z-axis direction. The slider includes a first side of the slider facing the fixture and a second side of the slider opposite to the first side of the slider. Wherein, the imaging device is arranged on the slider and is stationary relative to the slider. The first Z-axis switch is arranged on the first base and abuts against the second side of the slider. When the Z-axis moving platform moves towards the fixture along the Z-axis direction and the imaging device contacts the mounting groove, the second side of the slider triggers the first Z-axis switch. Wherein, when the imaging device contacts the mounting groove, the imaging device is at the first Z-axis safety distance ZS1 from the backplane.

14. The waveguide sheet detection system according to claim 13, wherein The first Z-axis switch includes a first roller. The first Z-axis switch is configured such that when the first roller rolls, the first roller is pressed, so that the first Z-axis switch is triggered. The waveguide sheet detection system is configured such that when the Z-axis moving platform moves towards the fixture along the Z-axis direction and the imaging device contacts the mounting groove, the second side of the slider contacts the first roller and makes the first roller roll, so that the first Z-axis switch is triggered.

15. The waveguide sheet detection system according to claim 13, wherein The first platform further includes: A guide rail arranged on the first base and extending along the Z-axis direction, wherein the slider is connected to the guide rail and is movable relative to the guide rail along the Z-axis direction; and A spring arranged on the first base. The spring extends along the Z-axis direction. One end of the spring is stationary relative to the first base, and the other end of the spring abuts against the second side of the slider for biasing the slider towards the fixture.

16. The waveguide sheet detection system according to claim 13, wherein The safety protection device further includes an X-axis safety protection device. The X-axis safety protection device is coupled to the control device and is used to activate the X-axis safety protection mechanism when a safety problem occurs during the movement of the imaging device, so that the X-axis moving device stops working. Wherein, the X-axis safety protection device is arranged on the Y-axis moving platform.

17. The waveguide sheet detection system according to claim 16, wherein The X-axis safety protection device includes an X-axis switch. The X-axis switch is arranged on the Y-axis moving platform, and the X-axis switch is coupled to the control device. The X-axis direction includes a first X-axis direction and a second X-axis direction opposite to the first X-axis direction. The waveguide sheet detection system is configured such that when the Y-axis moving platform moves towards the fixture along either the first X-axis direction or the second X-axis direction to bring the imaging device into contact with the fixture, the Y-axis moving platform triggers the X-axis switch, and after the control device receives the trigger signal of the X-axis switch, it controls the X-axis moving device to stop working.

18. The waveguide sheet detection system according to claim 17, wherein the second platform includes: a second base connected to the Y-axis transmission structure, the second base including a rotating shaft hole extending along the Y-axis direction, and a rotating member, the rotating member including: a first end for facing the first platform, the first end including a first side of the rotating member and a second side of the rotating member spaced apart along the X-axis direction and opposite to the first side of the rotating member, and a second end opposite to the first end along the Y-axis direction, the second end being disposed in the rotating shaft hole and being rotatable relative to the second base about an additional rotation axis, wherein the additional rotation axis extends along the Y-axis direction, wherein the first base is disposed on the first end and is rotatable relative to the second base about the additional rotation axis with the rotating member; the X-axis switch includes: a first X-axis switch disposed on the second base and in contact with the first side of the rotating member, and a second X-axis switch disposed on the second base and in contact with the second side of the rotating member, wherein the waveguide sheet detection system is configured such that: when the Y-axis moving platform moves towards the fixture along the first X-axis direction to bring the imaging device into contact with the fixture, the first side of the rotating member triggers the first X-axis switch, and after the control device receives the trigger signal of the first X-axis switch, it controls the X-axis moving device to stop working; when the Y-axis moving platform moves towards the fixture along the second X-axis direction to bring the imaging device into contact with the fixture, the second side of the rotating member triggers the second X-axis switch, and after the control device receives the trigger signal of the second X-axis switch, it controls the X-axis moving device to stop working.

19. The waveguide sheet detection system according to claim 18, wherein both the first side of the rotating member and the second side of the rotating member are provided with a fourth contact surface; the X-axis switch includes a roller, and the X-axis switch is configured such that when the roller rolls, the roller is pressed, so that the X-axis switch is triggered; the waveguide sheet detection system is configured such that when the Y-axis moving platform moves towards the fixture along the X-axis direction to bring the imaging device into contact with the fixture, the fourth contact surface contacts the roller and causes the roller to roll, so that the X-axis switch is triggered.

20. The waveguide sheet detection system according to claim 11, wherein the X-axis transmission structure includes: an X-axis lead screw disposed on the Z-axis moving platform, the X-axis lead screw extending along the X-axis direction, and an X-axis lead screw nut disposed in a matching manner with the X-axis lead screw; and The X-axis moving device further includes an X-axis motor, which is coupled to the control device and is used to drive the X-axis lead screw to rotate. Wherein, the X-axis moving platform is connected to the X-axis lead screw nut.

21. The waveguide sheet detection system according to claim 11, wherein The Y-axis transmission structure includes: A Y-axis lead screw, which is arranged on the X-axis moving platform and extends along the Y-axis direction, and A Y-axis lead screw nut, which is arranged to match the Y-axis lead screw; and The Y-axis moving device further includes a Y-axis motor, which is coupled to the control device and is used to drive the Y-axis lead screw to rotate. Wherein, the Y-axis moving platform is connected to the Y-axis lead screw nut.

22. The waveguide sheet detection system according to claim 11, characterized in that, The rotating device includes a rotating motor and a rotating transmission component. The rotating motor is arranged on the fixture support and is coupled to the control device. The rotating transmission component is connected between the output shaft of the rotating motor and the fixture, so that the fixture rotates with the rotation of the output shaft of the rotating motor.

23. The waveguide sheet detection system according to any one of claims 11-22, characterized in that, The relative position between the detection imaging device and the positioning imaging device remains unchanged.

24. The waveguide sheet detection system according to claim 23, characterized in that, The camera of the positioning imaging device includes a telecentric lens.

25. The waveguide sheet detection system according to claim 23, wherein The detection imaging device further includes an optical engine.

26. The waveguide sheet detection system according to claim 25, characterized in that, The detection imaging device further includes an optical engine moving device, which is used to make the optical engine movable relative to the camera of the detection imaging device along at least one of the Y-axis direction and the X-axis direction.

27. The waveguide sheet detection system according to claim 23, characterized in that, The positioning imaging device is used for batch detecting waveguide sheets of the same model. At least after each replacement of the waveguide sheet, the control device controls the working of the moving device according to the image of the waveguide sheet captured by the positioning imaging device, including: the waveguide sheet detection system is configured to complete the following steps in the detection process of the batch detection process of the waveguide sheets of the same model after each replacement of the waveguide sheet: 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 fixture is located at the second position P2 relative to the imaging device, and the control device controls the rotating device to work, so that the rotation angle of the fixture relative to the imaging device is the first angle R1; The control device controls the positioning imaging device to capture the waveguide sheet to be detected to obtain a second picture, and the control device controls the rotating device to work according to the second picture, so that the rotation angle of the fixture relative to the imaging device is the second angle R2; and The control device controls the positioning imaging device to capture the waveguide sheet to be detected to obtain a third picture, and the control device controls the Z-axis moving device, the Y-axis moving device and the X-axis moving device to work according to the third picture, so that the fixture is located at the third position P3 relative to the imaging device.

28. The waveguide sheet detection system according to claim 27, wherein In the batch detection process of the waveguide sheets of the same model, a calibration process is further included before the detection process. The waveguide sheet detection system is configured to complete the following steps in the calibration process: The control device controls the operation of the Z-axis moving device, the Y-axis moving device, and the X-axis moving device so that the fixture is located at the first position P1 relative to the imaging device, and the control device controls the operation of the rotating device so that the rotation angle of the fixture relative to the imaging device is the first angle R1, such that the calibration waveguide plate presents a desired image in the detection imaging device; The control device records the information of the first position P1 and the information of the first angle R1; The control device controls the operation of the Z-axis moving device, the Y-axis moving device, and the X-axis moving device so that the fixture is located at the second position P2 relative to the imaging device, such that the calibration waveguide plate presents a desired image in the positioning imaging device; The control device records the information of the second position P2; The control device controls the positioning imaging device to photograph the calibration waveguide plate to obtain a first picture; The control device analyzes the first rotation angle r1 of the calibration waveguide plate relative to the reference line in the first picture and records the information of the first rotation angle r1; and The control device analyzes the first pixel position p1 of the feature points of the calibration waveguide plate in the first picture and records the information of the first pixel position p1, wherein the relative position of the input grating and the output grating of the calibration waveguide plate is the same as the relative position of the input grating and the output grating of the waveguide plate 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.

29. The waveguide sheet detection system according to claim 28, wherein The control device controls the operation of the rotating device according to the second picture so that the rotation angle of the fixture relative to the imaging device is the second angle R2, including: The control device analyzes the second rotation angle r2 of the waveguide plate to be detected relative to the reference line in the second picture, and the second angle R2 is the difference between the sum of the first angle R1 and the second rotation angle r2 minus the first rotation angle r1.

30. The waveguide sheet detection system according to claim 28, characterized in that, The control device controls the operation of the Z-axis moving device, the Y-axis moving device, and the X-axis moving device according to the third picture so that the fixture is located at the third position P3 relative to the imaging device, including: The control device analyzes the second pixel position p2 of the feature points of the waveguide plate to be detected in the third picture, and the control device determines the third position P3 according to the first pixel position p1 and the second pixel position p2.

31. The waveguide plate detection system according to claim 30, wherein The first pixel position p1 includes a first Y-axis coordinate position Y1 in the Y-axis direction and a first X-axis coordinate position X1 in the X-axis direction, The second pixel position p2 includes a second Y-axis coordinate position Y2 in the Y-axis direction and a second X-axis coordinate position X2 in the X-axis direction, The third position P3 is a position that moves a first moving distance D1 in the Y-axis direction and a second moving distance D2 in the X-axis direction from the first position P1, where D1 = (Y2 - Y1) × a, D2 = (X2 - X1) × a, where a is the actual physical size corresponding to one pixel.

32. The waveguide sheet detection system according to claim 28, wherein the feature point is the vertex of the boundary angle of the output 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.

33. The waveguide sheet detection system according to claim 28, wherein, The rotation angle of the waveguide sheet relative to the reference line is the included angle between the feature line of the waveguide sheet and the reference line.

34. The waveguide sheet detection system according to claim 33, characterized in that, The feature line is the edge of the output grating of the waveguide sheet.

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