An augmented reality display device and apparatus therefor

Abstract

The application discloses an augmented reality display device and equipment, and aims to solve the problems of high cost and poor display quality in the prior art. The device comprises a depth acquisition module, a display module, a processing module, a lifting module and a frame, wherein the depth acquisition module is used for acquiring depth position information of a target object; the display module is used for displaying a target image; the processing module is fixedly connected with the display module, and is used for determining displacement information of the display module based on the depth position information of the target object acquired by the depth acquisition module; the lifting module is fixedly connected with the frame, and is connected with the processing module through a cable; a driving unit in the lifting module is fixedly connected with the display module, and the lifting module is used for driving the display module to move to a target position based on the displacement information determined by the processing module.

Description

Technical Field

[0001] This case is a divisional application of the parent case with application number CN202010722830.0.

[0002] The present invention relates to the field of augmented reality technology, and in particular to an augmented reality display device and equipment thereof. Background Art

[0003] With the rapid development of science and technology, people are no longer satisfied with experiencing the virtual world through screens, but want to combine the virtual world with the real world. Therefore, augmented reality technology came into being.

[0004] Currently, most augmented reality devices use multiple displays, each located at different locations within the device, to achieve multi-depth display. This means that virtual images can be displayed at different depths within the real scene. However, multiple displays also increase the cost of the augmented reality device. Another type of augmented reality device uses a liquid lens as the optical processing module within the device. By controlling the shape of the liquid lens, the angle and direction of light can be controlled. However, liquid lenses are sensitive to the ambient temperature, which can affect the image display quality of such augmented reality devices, such as reducing contrast.

[0005] Therefore, it is necessary to provide an augmented reality display device that can achieve multi-depth augmented reality display while reducing costs and not affecting the virtual image display effect. Summary of the Invention

[0006] Embodiments of the present invention provide an augmented reality display device and equipment thereof to solve the problem in the prior art that multi-depth augmented reality display has high cost and cannot guarantee display quality.

[0007] In order to solve the above technical problems, the present invention is implemented as follows: In a first aspect, an embodiment of the present invention provides an augmented reality display device, including a depth acquisition module, a display module, a processing module, a lifting module and a frame, wherein:

[0008] The depth acquisition module is configured to acquire depth position information of a target object, wherein the target object includes at least one of a human eye, a target image, and a real environment within the field of view of the human eye, and the depth position information of the target object includes position information of a depth plane of a gaze position of the human eye, and / or position information of a depth plane of a to-be-displayed target image, and / or position information of a depth plane of the real environment;

[0009] The display module is used to display the target image;

[0010] The processing module is fixedly connected to the display module, and the processing module is used to determine the displacement information of the display module based on the depth position information of the target object acquired by the depth acquisition module;

[0011] The lifting module is fixedly connected to the frame, the lifting module is connected to the processing module via a cable, the driving unit in the lifting module is fixedly connected to the display module, and the lifting module is used to drive the display module to move to a target position based on the displacement information determined by the processing module, and the target position is the position that the display module finally reaches as indicated by the displacement information.

[0012] In a second aspect, an embodiment of the present invention further provides an augmented reality display device, comprising the augmented reality display apparatus provided in the first aspect.

[0013] An augmented reality display device provided by an embodiment of the present invention includes a depth acquisition module, a display module, a processing module, a lifting module and a frame, wherein: the depth acquisition module is used to acquire depth position information of a target object, the target object including at least one of a human eye, a target image and a real environment within the field of view of the human eye, the depth position information of the target object including position information of a depth plane of a gaze position of the human eye, and / or position information of a depth plane of a target image to be displayed, and / or position information of a depth plane of the real environment; the display module is used to display the target image; the processing module is fixedly connected to the display module, and the processing module is used to determine displacement information of the display module based on the depth position information of the target object acquired by the depth acquisition module; the lifting module is fixedly connected to the frame, the lifting module is connected to the processing module via a cable, a driving unit in the lifting module is fixedly connected to the display module, and the lifting module is used to drive the display module to move to a target position based on the displacement information determined by the processing module, and the target position is the position indicated by the displacement information where the display module finally reaches.

[0014] In this way, when the display module moves, the object-side telecentric optical structure between the display module and the optical module can be ensured to ensure that the angle at which the human eye receives light does not change. As a result, the lifting module drives the display module to move within the displacement range based on the displacement information determined by the processing module, thereby realizing real-time multi-depth augmented reality display. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments of the present invention. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0016] Figure 1 A schematic structural diagram of an augmented reality display device provided by an embodiment of the present invention;

[0017] Figure 2 A schematic diagram of the positions of multiple micro springs of the augmented reality display device provided by an embodiment of the present invention;

[0018] Figure 3 A schematic structural diagram of a driving unit of an augmented reality display device provided by an embodiment of the present invention;

[0019] Figure 4 A schematic diagram of the position of a voice coil motor of an augmented reality display device provided by an embodiment of the present invention;

[0020] Figure 5 A schematic diagram showing the position of an optical module of an augmented reality display device provided by an embodiment of the present invention;

[0021] Figure 6 A schematic structural diagram of an optical module of an augmented reality display device provided by an embodiment of the present invention;

[0022] Figure 7 A schematic diagram of another lens unit of an augmented reality display device provided by an embodiment of the present invention;

[0023] Figure 8 A schematic structural diagram of a display module of an augmented reality display device provided by an embodiment of the present invention;

[0024] Figure 9 A multi-angle schematic diagram of an augmented reality display device provided by an embodiment of the present invention;

[0025] Figure 10 A schematic diagram of image-side focal length and object-side focal length provided in an embodiment of the present invention;

[0026] Figure 11 A schematic diagram of the linear relationship between the distance between the display module and the object focus and the display depth of the target image in the augmented reality display device provided by an embodiment of the present invention;

[0027] Figure 12 A schematic diagram of an object-side telecentric optical structure of an augmented reality display device provided by an embodiment of the present invention;

[0028] Figure 13 A schematic diagram showing the relationship between the operating time of the lifting module of the augmented reality display device provided by an embodiment of the present invention and the display depth of the virtual image;

[0029] Figure 14 A schematic diagram of the distance between a display module and a focal plane of an augmented reality display device provided by an embodiment of the present invention with respect to the Riccati equation;

[0030] Figure 15 A schematic diagram showing how the distance between a display module and a supporting substrate of an augmented reality display device according to an embodiment of the present invention changes over time;

[0031] Figure 16 A schematic diagram of a cam and its rotation effect of an augmented reality display device provided by an embodiment of the present invention;

[0032] Figure 17 A schematic diagram of another cam of the augmented reality display device provided by an embodiment of the present invention;

[0033] Figure 18 A schematic diagram of a displacement curve of a voice coil motor of an augmented reality display device provided by an embodiment of the present invention;

[0034] Figure 19 A schematic diagram of an augmented reality display device provided by an embodiment of the present invention moving a display module based on a person's eye gaze position;

[0035] Figure 20 A schematic diagram of the display sequence of virtual images when the augmented reality display device provided by an embodiment of the present invention moves the display module based on the gaze position of the human eye;

[0036] Figure 21 A schematic diagram of an augmented reality display device provided by an embodiment of the present invention moving a display module based on a target image to be displayed;

[0037] Figure 22 A schematic diagram of the display sequence of virtual images when the augmented reality display device provided by an embodiment of the present invention moves the display module based on the position of the target image to be displayed;

[0038] Figure 23 A schematic diagram of defocus rendering processing when the display module of the augmented reality display device provided by an embodiment of the present invention is moved based on the gaze position of the human eye;

[0039] Figure 24 A schematic diagram of defocus rendering processing when the augmented reality display device provided by an embodiment of the present invention moves the display module based on the position to be displayed of the target image. DETAILED DESCRIPTION

[0040] To solve the problem of high cost and unable to guarantee the display quality of multi-depth augmented reality display in the prior art, the present application provides an augmented reality display device, comprising a depth acquisition module, a display module, a processing module, a lifting module and a frame, wherein: the depth acquisition module is used to acquire the depth position information of a target object, the target object including at least one of a human eye, a target image and a real environment within the field of view of the human eye, the depth position information of the target object including the position information of the depth plane of the gaze position of the human eye, and / or the position information of the depth plane to be displayed of the target image, and / or the position information of the depth plane of the real environment; the display module is used to display the target image; the processing module is fixedly connected with the display module, and is used to determine the displacement information of the display module based on the depth position information of the target object acquired by the depth acquisition module; the lifting module is fixedly connected with the frame, and is connected with the processing module through a cable, the driving unit in the lifting module is fixedly connected with the display module, and the lifting module is used to drive the display module to move to a target position based on the displacement information determined by the processing module, the target position being the position indicated by the displacement information to which the display module finally reaches.

[0041] In this way, when the display module moves, the angle of the light received by the human eye can be ensured not to change by guaranteeing the object side telecentric optical structure between the display module and the optical module, so that the display module can be driven to move within the displacement range based on the displacement information determined by the processing module, and real-time multi-depth augmented reality display can be realized.

[0042] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0043] The technical solutions provided by the embodiments of the present application will be described in detail below with reference to the drawings.

[0044] Please refer to Figure 1, is a schematic structural diagram of an augmented reality display device provided by an embodiment of the present invention. The augmented reality display device includes a depth acquisition module 11, a display module 12, a processing module 13, a lifting module 14, and a frame 15, wherein: the depth acquisition module 11 is used to acquire depth position information of a target object; the display module 12 is used to display a target image; the processing module 13 is fixedly connected to the display module 12, and is used to determine displacement information of the display module 12 based on the depth position information of the target object acquired by the depth acquisition module 11; the lifting module 14 is fixedly connected to the frame 15, and the lifting module 14 and the processing module 13 are connected via a cable. The driving unit 142 in the lifting module 14 is fixedly connected to the display module 12, and is used to drive the display module 12 to move to the target position based on the displacement information determined by the processing module 13.

[0045] Among them, the target object includes at least one of the human eye, the target image and the real environment within the field of view of the human eye, and the depth position information of the target object includes the position information of the depth plane of the human eye's gaze position, and / or the position information of the depth plane of the target image to be displayed, and / or the position information of the depth plane of the real environment; the target position is the position where the displacement information indicates that the display module 12 finally reaches.

[0046] Optionally, in order to obtain the position information of the depth plane of the human eye gaze position, and / or the position information of the depth plane of the target image to be displayed, and / or the position information of the depth plane of the real environment, the depth acquisition module 11 can be a collection of multiple depth acquisition devices.

[0047] Specifically, the depth acquisition module 11 includes at least one of a human eye tracking device, a structured light depth sensing device, a binocular vision depth sensing device, and a time-of-flight depth sensing device.

[0048] It should be understood that depth acquisition devices for different purposes can be set at different positions within the augmented reality display device provided by the embodiment of the present invention to achieve their respective functions.

[0049] Optionally, during the movement of the display module 12 driven by the lifting module 14, the display module 12 may tilt, meaning that the plane of the display screen of the display module 12 is no longer aligned with the pre-set optical plane. Consequently, the image displayed by the display module 12 may not reach the human eye. Therefore, to ensure that the plane of the display screen of the display module 12 remains aligned with the pre-set plane, a plurality of microsprings 141 may be disposed between the display module 12 and the frame 15. These microsprings 141 may serve to connect the display module 12 and the frame 15. Furthermore, the microsprings 141 may provide a compressive restoring force to support the movement of the display module 12.

[0050] Specifically, the lifting module 14 further includes a plurality of micro springs 141, wherein:

[0051] One end of each of the micro springs 141 is fixedly connected to the display module 12 , and the other end of each of the micro springs 141 is fixedly connected to the mirror frame 15 .

[0052] When the driving unit 142 drives the display module 12 to move, the plurality of micro springs 141 are used to keep the tilt angle of the display module 12 consistent with the tilt angle of the display module 12 before the displacement.

[0053] like Figure 2 , which is a schematic diagram of the positions of multiple micro springs of the augmented reality display device provided by an embodiment of the present invention. Figure 2 (a) is a schematic diagram of the connection between multiple micro springs and the front of the display module provided by an embodiment of the present invention, Figure 2 (b) is a schematic diagram of the connection between multiple micro springs provided by an embodiment of the present invention and the back surface of the display module.

[0054] Specifically, one end of each of the plurality of micro springs 141 is fixedly connected to a non-display area on the front side of the display module 12, where the front side of the display module 12 is the side of the display module 12 where the display screen of the display module 12 is located; or,

[0055] One end of each of the micro springs 141 is connected to the back surface of the display module 12 . The back surface of the display module 12 is the surface of the display module 12 opposite to the front surface of the display module 12 .

[0056] It should be understood that Figure 2 Only a single-sided schematic diagram is shown; the microspring in the diagram could be a representation of a stack of multiple microsprings 141. Regardless of the number of microsprings used, the method of connecting the multiple microsprings 141 to the display module 12, the method of connecting the multiple microsprings 141 to the frame 15, or the layout of the multiple microsprings 141, as long as the display module 12 can be kept stable during movement, the embodiment is protected by the present invention.

[0057] Optionally, the internal space of the augmented reality display device provided in the embodiment of the present invention is limited, and the displacement range of the display module 12 is also small, so the displacement provided by the diameter length of the cam 1421 can meet the movement requirements of the display module 12. Figure 3 , which is a schematic structural diagram of a driving unit of an augmented reality display device provided by an embodiment of the present invention.

[0058] Specifically, the driving unit 142 includes a cam 1421, wherein:

[0059] The cam 1421 can rotate around the rotation center axis of the cam;

[0060] The surface of the cam 1421 is slidably connected to the back surface of the display module 12 . When the cam 1421 rotates around the rotation center, the cam 1421 is used to drive the display module 12 to move.

[0061] In addition, a micro-rod 1422 may be provided on the back of the display module 12, which is slidably connected to the cam 1421 via the micro-rod 1422. The rotation center axis of the cam 1421 can be used to drive the cam 1421. The motor that drives the cam 1421 to rotate may include a stepper motor, a brushed motor, a brushless motor, or a coreless motor.

[0062] Optionally, if the displacement range of the display module 12 is small, the voice coil motor 143 can be used instead of the cam 1422 to achieve the purpose of accurately driving the display module 12 to move to the target position, and the small size of the voice coil motor 143 can also save the internal space of the augmented reality display device.

[0063] Specifically, in the device provided by the embodiment of the present invention, the driving unit 142 may include a voice coil motor 143, wherein:

[0064] The voice coil motor 143 is fixedly connected to the back surface of the display module 12 , and is used to drive the display module to move to a target position.

[0065] Optionally, in order to drive the display module 12 to the target position more accurately, the cam 1421 can be used to drive the display module 12 to move near the target position, and then the position of the display module 12 can be fine-tuned by the voice coil motor 143 so that the display module 12 can be accurately located at the target position. This combination structure of the cam 1421 and the voice coil motor 143 can be applied to augmented reality display devices with higher display requirements.

[0066] like Figure 4 , which is a schematic diagram of the position of the voice coil motor of the augmented reality display device provided by an embodiment of the present invention.

[0067] Specifically, the driving unit 142 includes a voice coil motor 143, wherein:

[0068] The surface of the cam 1421 is slidably connected to the back surface of the display module 12;

[0069] The cam 1421 rotates around the rotation center axis of the cam 1421;

[0070] When the cam 1421 rotates around the rotation center, the cam 1421 and the voice coil motor 143 are used to drive the display module 12 to move.

[0071] The voice coil motor 143 is connected with the processing module 13, the processing module 13 is used for acquiring position information of the display module 12, and based on the position information of the display module 12, the distance and direction of the voice coil motor 143 driving the display module 12 are determined.

[0072] The voice coil motor 143 is fixedly connected with the back of the display module 12, and the voice coil motor 143 is used for fine-tuning the position of the display module 12 when the display module 12 is displaced to the vicinity of the target position, so that the display module 12 reaches the target position.

[0073] In addition, the back of the display module 12 can be provided with a micro strut 1422, and the micro strut 1422 is in sliding connection with the cam 1421.

[0074] Optionally, when the displacement range of the display module 12 is small, the cam 1421 can be omitted, and the voice coil motor 143 can also drive the display module 12 to reach the target position.

[0075] Optionally, in order to make the light emitted by the pixel point 1201 of the display module 12 be able to pass through optical processing and reach the human eye at the same time as the light of the actual scene, the augmented reality display device provided by the embodiment of the application further comprises an optical module 16 capable of processing light.

[0076] As shown in Figure 5 , it is a position schematic view of the optical module of the augmented reality display device provided by the embodiment of the application. In Figure 5 (a), the augmented reality display device can include two left-right symmetrical optical modules 16 with the same internal structure, or one optical module 16 capable of processing the light corresponding to the left and right eyes, and one or two optical modules 16 can be arranged inside the frame 15 as shown in Figure 5 (b), the relative position and relative angle between the display module 12 and the optical module 16 should meet the requirements of the optical system in the actual application scene. As an example, the focal length range of the optical module 16 can be between 10 mm and 50 mm, and the angle range of the chief ray 1202 and the surface of the display module 12 can be less than 30 degrees.

[0077] Specifically, the device further comprises an optical module 16, wherein:

[0078] The optical module 16 and the frame 15 are fixedly connected;

[0079] The optical module 16 is optically aligned with the display module 12, and is used for performing a preset processing on the light emitted by the pixel point 1201 in the display module 12, so that the light emitted by the display module 12 reaches the human eye;

[0080] The preset processing includes at least one of amplification processing, reflection processing and transmission processing.

[0081] Optionally, in order to ensure that the light processed by the optical module 16 can produce the expected display effect after reaching the human eye, the optical module 16 in the augmented reality display device provided by the embodiment of the present invention may include a lens unit 161 and an optical pre-processing unit. Figure 6 , which is a schematic structural diagram of an optical module of an augmented reality display device provided by an embodiment of the present invention.

[0082] Specifically, the optical module 16 includes a lens unit 161, wherein:

[0083] The lens unit 161 is fixedly connected to the lens frame 15;

[0084] The lens unit 161 includes at least one lens 1611 . The at least one lens 1611 is optically aligned. The lens unit 161 is used to perform aberration correction processing on the light emitted by the pixel point 1201 in the display module 12 .

[0085] As an example, Figure 6 In (a), two lenses 1611 are arranged one above the other and are fixedly connected to the lens barrel 1612 respectively. Light enters from the light entrance at the upper part of the lens unit 161 and then exits from the light exit at the lower part and enters the optical pre-processing unit 162.

[0086] Another example Figure 7 FIG. 1 is a schematic diagram of another lens unit of an augmented reality display device according to an embodiment of the present invention. The lens unit 161 can be Figure 7 (a) shows a lens 1611. When the lens unit 161 includes one lens 1611 or two lenses 1611, the incident and outgoing directions of the light are as shown in the incident and outgoing directions of the light 71.

[0087] Specifically, the optical module 16 includes an optical pre-processing unit 162, wherein:

[0088] The optical pre-processing unit 162 is fixedly connected to the frame 15 , and is used to perform preset processing on the light emitted by the pixel point 1201 in the display module 12 .

[0089] Specifically, the optical pre-processing unit 162 includes a light splitting element 1621 and a reflective element 1622, wherein:

[0090] The light splitting element 1621 and the reflective element 1622 are optically aligned, and the light splitting element 1621 is light-transmissive;

[0091] The light splitting element 1621 is used to reflect the light emitted by the pixel point 1201 in the display module 12 to the reflective element 1622;

[0092] The reflective element 1622 is used to reflect the light reflected by the beam splitter 1621 back to the beam splitter 1621 , so that the light reflected by the beam splitter 1621 passes through the beam splitter 1621 and reaches the human eye.

[0093] Specifically, the lens unit 161 is fixedly connected to the optical pre-processing unit 162;

[0094] The lens unit 161 is disposed above the optical pre-processing unit 162 , and is optically aligned with the optical pre-processing unit 162 , so that light subjected to aberration correction processing by the lens unit 161 reaches the beam splitter 1621 of the optical pre-processing unit 162 .

[0095] As an example, Figure 6 In (b), the lens unit 161 and the optical pre-processing unit 162 are fixedly connected via the lens barrel 1612 , and light is emitted from the lens unit 161 to the optical pre-processing unit 162 .

[0096] Alternatively, as Figure 8 FIG2 is a schematic diagram of the structure of the display module of an augmented reality display device provided by an embodiment of the present invention. The display module 12 can also be divided into a first display device 121 and a second display device 122 for the left and right eyes, each including an independent display screen. To ensure the symmetry of the human eye, the first display device 121 and the second display device 122 can be symmetrical about the centerline of the substrate. The first display device 121 and the second display device 122 can be any device such as a display screen that can be used in an augmented reality display device.

[0097] Specifically, the display module 12 includes a first display device 121, a second display device 122 and a support substrate 123, wherein:

[0098] The first display device 121 corresponds to the left eye of the human eye and is used to emit light of the target image to the left eye of the human eye;

[0099] The second display device 122 corresponds to the right eye of the human eye and is used to emit light of the target image to the right eye of the human eye;

[0100] The first display device 121 and the second display device 122 are respectively fixedly connected to the supporting substrate 123;

[0101] The first display device 121 and the second display device 122 are axisymmetric about the center line of the support substrate 123 .

[0102] It should be understood that the fixed connection between structures such as the depth acquisition module 11, optical module 16, multiple micro-springs 141, or lifting module 14 and the frame 15 is intended to prevent external movement or shaking of the augmented reality display device from causing the position of the internal structures to change, thereby affecting the overall augmented reality display effect. The relative positions between the display module 12, optical module 16 and the human eye, as well as the relative positions of the lens unit 161 and the optical pre-processing unit 162, should all meet optical design requirements such as object-side telecentricity. In addition, all of the aforementioned fixed connection methods in the embodiments of the present invention can be adhesive, screws, etc., and any connection method that can achieve a fixed connection between the structures is acceptable.

[0103] Specifically, if Figure 9 FIG2 is a multi-angle schematic diagram of an augmented reality display device provided by an embodiment of the present invention. Figure 9 (a) is a front view of an augmented reality display device provided by an embodiment of the present invention, Figure 9 (b) is a rear view of the augmented reality display device provided by an embodiment of the present invention, Figure 9 (c) is a front view of the augmented reality display device provided by an embodiment of the present invention, Figure 9 (d) is a rear view of the augmented reality display device provided by an embodiment of the present invention, Figure 9 (e) is a bottom view of the augmented reality display device provided by an embodiment of the present invention, Figure 9 (f) is a top view of the augmented reality display device provided by an embodiment of the present invention, Figure 9 (g) is a right view of the augmented reality display device provided by an embodiment of the present invention.

[0104] Optionally, in order to improve the wearing comfort, the lifting module 14 can also be set as follows Figure 9 The front face shown in (c) is positioned above the nose bridge, placing the center of gravity of the augmented reality display device provided by this embodiment of the present invention above the nose bridge. This also prevents the lifting module 14 from obstructing the user's view of the real world. Furthermore, the lifting module 14 can be positioned on the back of the device, further from the wearer's face. This allows for better heat dissipation of the motor in the lifting module 14, thereby reducing potential discomfort during wear.

[0105] The following combination Figures 10 to 24 , the working principle and working process of the augmented reality display device provided by the embodiment of the present invention are described in detail.

[0106] It should be understood that Figure 10 As shown in FIG, it is a schematic diagram of the image-side focal length and object-side focal length provided by an embodiment of the present invention. Figure 10 (a) If the incident light is emitted by a point light source and the outgoing light is a plurality of parallel rays, the position of the incident point can be used as the image focus F'; Figure 10 (b) Figure 10 The optical diagram shown in (a) is equivalently adjusted. In this diagram, the intersection of the extended lines of the incident and outgoing rays can be used as the image-side principal point P'. Therefore, the image-side focal length f' is the distance between the image-side principal point P' and the image-side focal point F'.

[0107] like Figure 10 (c) If the incident light is emitted by a point light source and the outgoing light is a plurality of parallel rays, the position of the incident point can be used as the object focus F; Figure 10 (d) Figure 10 (c) shows an equivalently adjusted optical diagram, where the intersection of the extended lines of the incident and outgoing rays can be taken as the object principal point P. Therefore, the object focal length f is the distance between the object principal point P and the object focal point F.

[0108] The process of determining displacement information by the processing module 13 in the device provided by the present invention is based on the Gaussian formula and the Newtonian formula as the most basic principles. Specifically, the Gaussian formula is as follows:

[0109]

[0110] Wherein, f and f' are the object focal length and image focal length respectively, l and l' are the distance between the display module 12 as the image source and the principal point of the optical module 16, and the distance between the target image and the principal point of the optical module 16 when the target image is displayed as a virtual image respectively.

[0111] The Newton formula equivalent to the above Gaussian formula is as follows:

[0112] f·f'=x·x' (2)

[0113] Among them, f and f' are also the object focal length and image focal length respectively, x and x' are respectively the distance between the display module 12 as the image source and the object focus of the optical module 16, and the distance between the target image and the image focus of the optical module 16 when displayed as a virtual image.

[0114] Since optical principles have proven that the Gaussian formula and the Newtonian formula are equivalent, the principle of the device provided by the embodiment of the present invention will be further described using the Newtonian formula as an example. Figure 11As shown, it is a schematic diagram of the linear relationship between the distance between the display module and the object focus and the display depth of the target image in the augmented reality display device provided by an embodiment of the present invention. The reciprocal of x' can be represented by the visual acuity of the depth of the virtual image when the target image is displayed as a virtual image, that is, it is represented by the variable depth, and its unit is D. When the virtual image is at infinity, depth = 0D; the distance between the display module 12 as the image source and the object focus of the optical module 16 is x, and its unit is meter (m). The curve of the distance between the display module 12 and the object focus of the optical module 16 and the visual acuity depth is as follows Figure 11 (a) shows the linear relationship.

[0115] By Figure 11 From the linear relationship shown in (a), it can be seen that by changing the distance x between the image source and the object focus of the optical module 16, the depth of the virtual image display position can be changed.

[0116] Furthermore, if Figure 11 (b) is a schematic diagram showing the displacement range of the display module 12. The adjustment range of the displacement x of the display module 12 is between x1 and x2, and the depth of the virtual image display position can be changed between depth1 and depth2 accordingly.

[0117] In particular, when x1=0 and the object focal length f=0.02 m, the displacement x of the display module 12 and the depth of the virtual image display position are as shown in Table 1.

[0118] Table 1 When x1 = 0, f = 0.02m, the relationship between x and the depth of the virtual image display position

[0119] Displacement x (mm) 0 0.1 0.2 0.4 0.8 1.6 Depth plane (viewing depth) 0D -0.25D -0.5D -1D -2D -4D Depth plane (m) Infinity 4 2 1 0.5 0.25

[0120] like Figure 12 FIG. 1 is a schematic diagram of an object-space telecentric optical structure for an augmented reality display device according to an embodiment of the present invention. When the display module 12 moves, the optical module 16 and the display module 12 can maintain or approximately maintain the object-space telecentric optical structure. This ensures that when the displacement adjustment range of the display module 12 is [x1, x2], the angle of the principal ray 1202 emitted by the pixel 1201 displayed in the display module 12 when it enters the human eye pupil remains virtually unchanged. This ensures that when the virtual image is displayed at different depths, the field of view angle θ of the augmented reality display remains virtually unchanged.

[0121] Specifically, in order to ensure that the viewing angle θ of the virtual image received by the human eye does not change when the display module 12 moves, the display module 12 and the optical module 16 can be kept as an object-side telecentric optical structure as possible. The ideal object-side telecentric optical structure can be as follows: Figure 12As shown in (a), at this time, the optical axis is perpendicular to the display module 12, and the focus of the display module 12 is generally located at the center of the display module 12. The main light rays 1202 emitted by the pixel points 1201 in the display module 12 are parallel to each other, and the center of the human eye pupil is located at the image-side focus of the optical module 16. Therefore, the main light rays 1202 emitted by the pixel points 1201 in the display module 12 can finally converge at the image-side focus.

[0122] If the lifting module 14 drives the display module 12 to move along the optical axis, the chief light 1202 emitted by the pixel 1201 in the display module 12 may coincide with the chief light 1202 emitted by the pixel 1201 before the display module 12 moved. Therefore, after the display module 12 moves along the optical axis, the angle of the chief light 1202 received by the human eye is consistent with the angle of the chief light 1202 emitted by the pixel 1201 before the display module 12 moved, and the visual field perceived by the human eye will not change.

[0123] Furthermore, for an optical structure approximating an object-side telecentric optical structure, the angles of the principal rays 1202 emitted by the pixels 1201 in the display module 12 may vary slightly, and the principal rays 1202 may not be strictly parallel. This may cause a slight change in the field of view angle at the human eye. Therefore, the angle difference between the principal rays 1202 at the edge and the center of the display module 12 can be determined based on the acceptable field of view angle variation for the human eye. For example, this angle difference can be controlled within ±5°, ±10°, ±20°, or ±30°.

[0124] like Figure 12 (b) is a schematic diagram of the curve of the human eye field angle and the object focus distance between the display module 12 and the optical module 16 in the object telecentric optical structure, as shown in FIG. Figure 12 Figure (c) shows the relationship between the human eye's field of view (FOV) and the depth of the virtual image display position in an object-side telecentric optical structure. Here, FOV is the human eye's field of view (Deg); x is the object-side focal distance between display module 12 and optical module 16 (M); and depth1 and depth2 are the depths of the two virtual image display positions.

[0125] It should be understood that according to formula (2), the distance between the image source in the augmented reality display device, such as pixel 1201 displayed by display module 12, and the object-side focal point is linearly related to the visual angle of the virtual image displayed by the target image, while the distance between the image source and the object-side focal point is inversely proportional to the depth of the virtual image. Therefore, when the lifting module 14 drives the display module 12 to move, the change in the display depth of the virtual image is different when the virtual image is at different depths.

[0126] For example, if the initial display depth of the virtual image is 1m, after the lifting module 14 drives the display module 12 to move 0.1mm toward the direction of the optical module 16, the display depth of the virtual image is 3m, that is, the change in the display depth of the virtual image is 2m; if the initial display depth of the virtual image is 3m, after the lifting module 14 drives the display module 12 to move 0.1mm toward the direction of the optical module 16, the display depth of the virtual image is 8m, that is, the change in the display depth of the virtual image is 5m.

[0127] Therefore, in an actual scenario, when the virtual image is displayed at different depths, the rotation speed of the motor of the lifting module 14 is also different accordingly, so that the display depth of the virtual image changes in equal steps.

[0128] Optionally, the lifting module 14 can be designed to rotate at a constant speed while maintaining a constant step length change in the display depth of the virtual image, thereby reducing the amount of calculation of the displacement information of the display module 12 and reducing the complexity of the entire augmented reality display system. Figure 13 , which is a schematic diagram of the relationship between the operating time of the lifting module and the display depth of the virtual image of the augmented reality display device provided by an embodiment of the present invention. When the motor of the lifting module 14 rotates at a constant speed, the display depth of the virtual image changes linearly with time.

[0129] Specifically, if Figure 14 As shown in FIG, a schematic diagram of the distance between the display module and the focal plane of the augmented reality display device provided by an embodiment of the present invention with respect to the Riccati equation. Figure 14 (a) is a schematic diagram of an optical system of an augmented reality display device provided by an embodiment of the present invention. When the display depth of the virtual image changes in equal steps, the distance between the display module 12 and the object focus needs to satisfy the following Riccati equation:

[0130]

[0131] Where y is the distance between the display module 12 and the focal plane, t is a certain time point, c is a constant, Schematic diagram of a curve showing the distance between the lens 12 and the focal plane versus time, wherein time represents the uniform rotation of the motor in the lifting module 14.

[0132] It should be understood that Figure 15 FIG. 1 is a schematic diagram showing how the distance between the display module and the supporting substrate of the augmented reality display device provided by the embodiment of the present invention changes over time. Figure 15 (a) is a schematic diagram of the distance between the display module and the supporting substrate of the augmented reality display device provided by an embodiment of the present invention; Figure 15(b) is a schematic diagram showing a curve of the distance between the display module and the supporting substrate of an augmented reality display device according to an embodiment of the present invention varying over time. Here, t is time, d is the distance between the display module 12 and the supporting substrate 123, and D is the distance between the supporting substrate 123 and the object focus.

[0133] Optionally, in order to achieve a linear relationship between the display depth change of the virtual image and the uniform rotation time of the motor in the lifting module 14, the profile curve of the cam 1421 of the lifting module 14 provided in the embodiment of the present invention may satisfy the following formula:

[0134]

[0135] The support plane is a plane passing through the rotation center of the cam 1421 and parallel to the display module 12 , D is the distance between the support plane and the object focus, c1 and c2 are constants, and θ is the argument of the profile of the cam 1421 .

[0136] For example, Figure 16 The figure shows a schematic diagram of a cam and its rotation effect of the augmented reality display device provided by an embodiment of the present invention. Figure 16 The cam 1421 in (a) always rotates in one direction, such as clockwise, so that the virtual image can be Figure 16 The four depth planes A, B, C, and D in (b) are displayed in turn, that is, the display strategy of displaying the virtual image in "A, B, C, D, A, B, C, D, A, B, C, D..." is realized in turn.

[0137] If the drive Figure 16 The cam 1421 in (a) rotates alternately in two directions, such as first clockwise, then counterclockwise, and finally clockwise, so that the virtual image can be Figure 16 The four depth planes A, B, C, and D in (b) are displayed in turn, that is, the display strategy of displaying the virtual image in "A, B, C, D, C, B, A, B, C..." in turn is realized.

[0138] For example, Figure 17 , which is a schematic diagram of another cam of the augmented reality display device provided by an embodiment of the present invention. Figure 17 The contour angle of the cam 1421 is in the range of [π, 2π], and the contour within [0, π] is symmetrically distributed.

[0139] Regardless of drive Figure 17 The cam 1421 in the embodiment can rotate in one direction or in two directions alternately, so that the virtual image can be displayed in the image. Figure 16The four depth planes A, B, C, and D in (b) are displayed in turn, that is, the display strategy of displaying the virtual image in "A, B, C, D, C, B, A, B, C..." in turn is realized.

[0140] Optionally, on the one hand, a cam 1421 and a voice coil motor 143 may be simultaneously provided in the augmented reality display device provided in an embodiment of the present invention, so that when the display module 12 moves to the vicinity of the target position, the processing module 13 obtains the position or displacement distance of the display module 12, calculates and sends the distance between the display module 12 and the target position to the voice coil motor 143, so that the voice coil motor 143 fine-tunes the position of the display module 12 at high speed, corrects the displacement error, and then accurately projects the virtual image onto the corresponding depth plane, thereby improving the depth display effect.

[0141] On the other hand, when the movable range of the display module 12 is small, only the voice coil motor 143 may be used, and the display module 12 is directly connected to the voice coil motor 143 .

[0142] It should be understood that Figure 18 FIG2 is a diagram showing a displacement curve of a voice coil motor of an augmented reality display device according to an embodiment of the present invention. The displacement range of the voice coil motor 143 can be 0.2 mm, and the minimum displacement of a single movement can be less than 10 μm.

[0143] Optionally, in one embodiment, in order to enable the virtual image corresponding to the target image to move according to changes in the gaze position of the human eye, the embodiment provided by the embodiment of the present invention can determine the displacement information of the display module 12 within the displacement range based on the position information of the depth plane of the gaze position of the human eye.

[0144] Specifically, when the depth position information of the target object includes position information of the depth plane of the human eye gaze position, the processing module 13 provided in the embodiment of the present invention is configured to:

[0145] Determine the displacement range of the display module 12 based on the display depth range of the target image, the image-side focal length between the display module 12 and the optical module 16, and the object-side focal length between the human eye and the optical module 16;

[0146] Determining the displacement information of the display module 12 based on the displacement range of the display module 12 and the position information of the depth plane of the human eye gaze position;

[0147] The displacement information is within the displacement range.

[0148] Optionally, in order to ensure the object-side telecentric optical structure between the human eye and the optical module 16, an embodiment of the present invention can obtain the displacement information of the display module 12 based on the image-side focal length between the display module 12 and the optical module 16, and the object-side focal length between the optical module 16 and the human eye.

[0149] Specifically, the processing module 13 in the apparatus provided in the embodiment of the present invention is configured to:

[0150] Obtaining the image-side focal length between the display module 12 and the optical module 16, and the object-side focal length between the optical module 16 and the human eye;

[0151] The displacement information of the display module 12 is determined based on the position information of the depth plane of the human eye gaze position, the image-side focal length between the display module 12 and the optical module 16 , and the object-side focal length between the optical module 16 and the human eye.

[0152] Specifically, if Figure 19 , which is a schematic diagram of an augmented reality display device provided by an embodiment of the present invention moving a display module based on a human eye gaze position.

[0153] First, the human eye tracking device in the depth acquisition module 11 can obtain the depth plane of the current position of the human eye in the real scene in real time, and transmit the position information about the depth plane such as depth to the processing module 13.

[0154] Secondly, the processing module 13 can calculate the displacement information within the movable range of the display module 12 based on the position information of the depth plane of the human eye's gaze position, the acquired image-side focal length between the display module 12 and the optical module 16, and the object-side focal length between the optical module 16 and the human eye. The displacement information may include the displacement direction and displacement distance of the display module 12.

[0155] At the same time, the processing module 13 can also process the image information of the original image to be displayed based on the position information of the depth plane of the above-mentioned human eye gaze position, the image side focal length between the display module 12 and the optical module 16, and the object side focal length between the optical module 16 and the human eye, so as to obtain image information that can adapt to the target image after the display module 12 moves.

[0156] Then, the processing module 13 can send the calculated displacement information of the display module 12 to the lifting module 14, so that the lifting module 14 can move the display module 12 according to the displacement information; the processing module 13 can also send the processed image information of the target image to the display module 12, so that the display module 12 can display the target image.

[0157] Finally, the lifting module 14 drives the display module 12 to move, and the display module 12 displays the target image. The lifting module 14, the display module 12 and the optical module 16 jointly display the virtual image corresponding to the target image and superimpose the virtual image on the real scene.

[0158] like Figure 20FIG2 is a schematic diagram of the display order of virtual images when the augmented reality display device according to an embodiment of the present invention moves the display module based on the gaze position of the human eye. It should be understood that because the human eye tracking device obtains the position information of the depth plane of the human eye gaze position in real time, the processing module 13 will receive a sequence of position information of the depth plane of the human eye gaze position over a period of time. Therefore, the order in the position information sequence should correspond to the order in the image information sequence of the target image obtained by the processing module 13.

[0159] Optionally, in one embodiment, when the depth position information of the target object includes position information of multiple depth planes of the target image to be displayed, the processing module 13 is configured to:

[0160] Determine the displacement range of the display module 12 based on the display depth range of the target image, the image-side focal length between the display module 12 and the optical module 16, and the object-side focal length between the human eye and the optical module 16;

[0161] Determine a displacement sequence of the display module 12 based on a displacement range of the display module 12 and position information of multiple depth planes of the target image to be displayed, where the displacement sequence includes multiple pieces of displacement information;

[0162] The plurality of displacement information in the displacement sequence is within the displacement range.

[0163] Optionally, in order to enable the virtual image corresponding to the target image to be displayed at the target position, the embodiment provided by the embodiment of the present invention can determine the displacement information of the display module 12 within the displacement range based on the position information of multiple depth planes to be displayed of the target image.

[0164] Specifically, the processing module 13 provided in the embodiment of the present invention is configured to:

[0165] Obtaining the image-side focal length between the display module 12 and the optical module 16 , and the object-side focal length between the human eye and the optical module 16 ;

[0166] The displacement sequence of the display module 12 is determined based on the position information of the multiple depth planes of the target image to be displayed, the image-side focal length between the display module 12 and the optical module 16 , and the sequence of the multiple depth planes of the target image to be displayed.

[0167] Specifically, if Figure 21 , which is a schematic diagram of an augmented reality display device provided by an embodiment of the present invention moving a display module based on a position where a target image is to be displayed.

[0168] First, other sensing devices in the depth acquisition module 11, such as the structured light depth sensing device, can obtain the position information of multiple depth planes to be displayed in the target image in real time, and transmit the position information about the multiple depth planes, such as depth, to the processing module 13.

[0169] Secondly, the processing module 13 can calculate a displacement sequence including multiple displacement information within the movable range of the display module 12 based on the position information of multiple depth planes of the target image to be displayed, the acquired image side focal length between the display module 12 and the optical module 16, and the sequence of multiple depth planes of the target image to be displayed. The displacement information may include the displacement direction and displacement distance of the display module 12, etc.

[0170] At the same time, the processing module 13 can also process the image information sequence of the original image to be displayed based on the position information of the multiple depth planes of the target image to be displayed, the image side focal length between the display module 12 and the optical module 16, and the sequence of the multiple depth planes of the target image to be displayed, so as to obtain an image information sequence of the target image that can adapt to the movement of the display module 12.

[0171] Then, the processing module 13 can send the calculated displacement sequence of the display module 12 to the lifting module 14, so that the lifting module 14 can move the display module 12 in sequence according to the displacement sequence; the processing module 13 can also send the processed image information sequence of the target image to the display module 12, so that the display module 12 can display the target image in sequence.

[0172] Finally, the lifting module 14 drives the display module 12 to move according to the order of displacement information in the displacement sequence, and the display module 12 displays the target image according to the order of image information in the image information sequence. The lifting module 14, the display module 12 and the optical module 16 jointly complete the display of multiple virtual images corresponding to the multiple target images, and superimpose the multiple virtual images on the real scene, so that the multiple virtual images can be displayed cyclically in the real scene.

[0173] like Figure 22 FIG2 is a schematic diagram illustrating the display order of virtual images when the augmented reality display device according to an embodiment of the present invention moves the display module based on the position of the target image to be displayed. It should be understood that because the above-described augmented reality display method is implemented based on the position of the target image to be displayed, the order in which the human eye's gaze position changes is unrelated to the display order of the virtual images corresponding to the target image.

[0174] It should be understood that the augmented reality display device provided by the embodiment of the present invention can move the display module 12 based on changes in the gaze position of the human eye and the position of the target image to be displayed, thereby giving the human eye a more personalized augmented reality viewing experience.

[0175] Optionally, in one embodiment, when the depth position information of the target object includes position information of a depth plane at the position where the human eye is looking, and position information of multiple depth planes of the target image to be displayed, the processing module 13 provided in this embodiment of the present invention is configured to:

[0176] When the target image includes a dynamically displayed image, determining the displacement information of the display module 12 based on the sequence of depth information gazed at by the human eye;

[0177] When the target image includes a statically displayed image, the displacement sequence of the display module 12 is determined based on the range of depth position information to be displayed of the target image.

[0178] Specifically, when it is necessary to display target images such as small animals and people that can move as the human eye's gaze position changes, the processor can determine the displacement information of the display module 12 based on the sequence of depth information of the human eye's gaze; at the same time, if it is also necessary to display target images such as objects and buildings that are displayed in a loop to the human eye, the processor can also determine the displacement sequence of the display module 12 based on the depth position information range to be displayed of the target image.

[0179] It should be understood that when the depth position information of the target object includes both the position information of the depth plane of the human eye's gaze position and the position information of multiple depth planes of the target image to be displayed, the display module 12 needs to display both the dynamic display image and the static display image. In this case, the processing module 13 can alternately send the image information of the target image and the displacement information of the display module 12 to the lifting module 14 and the display module 12, respectively. That is, the processing module 13 can first send the displacement information and image signal related to the static display image, then send the displacement information and image signal related to the dynamic display image, and then send the displacement information and image signal related to the static display image.

[0180] Because the processing module 13 transmits displacement and image information extremely quickly, and the lifting module also moves the display module 12 at a very high speed, the human eye's persistence of vision prevents it from discerning the rapid movement of the display module 12 and the rapid switching of the target image. Therefore, the augmented reality display device provided by the embodiments of the present invention simultaneously moves the display module 12 and displays the target image based on changes in the user's gaze position and the target image's position to be displayed, without affecting the user's visual experience.

[0181] Optionally, when the depth position information of the target object includes position information of a depth plane at the gaze position of a human eye and position information of multiple depth planes of a target image to be displayed, the processing module 13 provided in this embodiment of the present invention is configured to:

[0182] If the position information of the depth plane of the human eye gaze position is within the position information of the multiple depth planes of the target image to be displayed, then determining the displacement sequence of the display module 12 based on the depth position information range of the target image to be displayed;

[0183] If the position information of the depth plane at the position where the human eye is gazing is not within the position information of the multiple depth planes of the target image to be displayed, the displacement information of the display module 12 is determined based on the sequence of the depth information at which the human eye is gazing.

[0184] Specifically, when the depth plane of the human eye's gaze position is within the depth position range of the target image to be displayed, the human eye can see the target image within the depth position range, and the depth acquisition module 11 does not need to acquire the human eye's gaze position in real time; and when the depth plane of the human eye's gaze position is not within the depth position range of the target image to be displayed, the human eye cannot see the target image within the depth position range, and the depth acquisition module 11 needs to acquire the human eye's gaze position in real time so that the human eye can see the target image.

[0185] Optionally, in order to enable the augmented reality display device provided by the embodiment of the present invention to display virtual images that are more consistent with the visual effects of the human eye when used, defocus rendering processing can be performed on the target image outside the range of human eye gaze.

[0186] Specifically, the processing module 13 provided in the embodiment of the present invention is further configured to:

[0187] Determining position information of multiple depth planes at a position to be gazed by the human eye based on position information of the depth plane at a gaze position of the human eye;

[0188] Determining a position of a target image to be displayed based on position information of multiple depth planes of a position to be gazed at by a human eye;

[0189] Perform defocus rendering on the target image.

[0190] Optionally, in one embodiment, when the augmented reality display device is in a binocular display state, the parallax information of the human eye at the depth to be looked at by the human eye and image blur processing technology, such as low-pass filtering smoothing graphics technology, can be combined to perform defocus rendering processing on the target image at the depth to be looked at by the human eye.

[0191] like Figure 23As shown, it is a schematic diagram of the defocus rendering processing when the augmented reality display device provided by an embodiment of the present invention moves the display module based on the gaze position of the human eye. The character "Dep" and the character "th" are in different depth planes, and the depth of the character "Dep" is the depth of the gaze position of the human eye. At this time, the human eye can see the clear character "Dep"; and at this time, the character "th" is in the depth plane of the position to be gazed by the human eye, that is, it is not the object currently gazed by the human eye. Therefore, when the human eye is looking at the depth where the character "Dep" is located, the character "th" is displayed as a defocused blur. Therefore, the defocused image "th" with parallax information can be displayed in the depth plane where the character "Dep" is located by binocular parallax, and the defocused display effect of the character "th" can be obtained, and the display effect of the character "th" can be rendered to the depth to be displayed.

[0192] Optionally, in one embodiment, similar to the above-mentioned defocus rendering processing method and effect, when the augmented reality display device is in a binocular display state, it can combine parallax information and image blur processing technology, such as low-pass filtering smoothing graphics technology, to perform defocus rendering processing on the image outside the depth plane of the target image to be displayed.

[0193] like Figure 24 As shown, it is a schematic diagram of the defocus rendering processing when the augmented reality display device provided by an embodiment of the present invention moves the display module based on the position to be displayed of the target image. Although the characters "Dep", "th" and "Dis" are displayed on different depth planes respectively, the human eye can see the characters "Dep", "th" and "Dis" by gazing within the range of the multiple depth planes where they are displayed. The character "play" is displayed outside the range of the above-mentioned multiple depth planes, so when the human eye views other characters, the character "play" is displayed as a defocused blurred display. Therefore, when displaying the characters "Dep", "th" or "Dis", a defocused image with the parallax information of "play" can be displayed on the depth plane where the characters "Dep", "th" or "Dis" are located, through binocular parallax, and the display effect of the character "play" can be rendered to the depth to be displayed.

[0194] An augmented reality display device provided by an embodiment of the present invention includes a depth acquisition module, a display module, a processing module, a lifting module and a frame, wherein: the depth acquisition module is used to acquire depth position information of a target object, the target object including at least one of a human eye, a target image and a real environment within the field of view of the human eye, the depth position information of the target object including position information of a depth plane of a gaze position of the human eye, and / or position information of a depth plane of a target image to be displayed, and / or position information of a depth plane of the real environment; the display module is used to display the target image; the processing module is fixedly connected to the display module, and the processing module is used to determine displacement information of the display module based on the depth position information of the target object acquired by the depth acquisition module; the lifting module is fixedly connected to the frame, the lifting module is connected to the processing module via a cable, a driving unit in the lifting module is fixedly connected to the display module, and the lifting module is used to drive the display module to move to a target position based on the displacement information determined by the processing module, and the target position is the position indicated by the displacement information where the display module finally reaches.

[0195] In this way, when the display module moves, the object-side telecentric optical structure between the display module and the optical module can be ensured to ensure that the angle at which the human eye receives light does not change. As a result, the lifting module drives the display module to move within the displacement range based on the displacement information determined by the processing module, thereby realizing real-time multi-depth augmented reality display.

[0196] An embodiment of the present invention further provides an augmented reality display device, which may include the aforementioned augmented reality display apparatus. It should be understood that the augmented reality display device, in practical applications, includes, but is not limited to, wearable devices such as augmented reality display glasses, and may also be used in at least one device capable of providing an augmented reality experience for a user.

[0197] It should be noted that, in this document, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or apparatus comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or apparatus comprising the element.

[0198] The embodiments of the present invention are described above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of the present invention, ordinary technicians in this field can also make many forms without departing from the scope of protection of the present invention and the claims, all of which are protected by the present invention.

Claims

1. An augmented reality display device, characterized in that: The device includes a depth acquisition module, a display module, a processing module, and a lifting module, wherein: The depth acquisition module is configured to acquire depth position information of a target object, wherein the target object includes a target image, and the depth position information of the target object includes position information of a depth plane to be displayed of the target image; The display module is used to display the target image; The processing module is fixedly connected to the display module, and the processing module is used to determine the displacement information of the display module based on the depth position information of the target object obtained by the depth acquisition module; the lifting module is connected to the processing module, and the driving unit in the lifting module is fixedly connected to the display module, and the lifting module is used to drive the display module to a target position based on the displacement information determined by the processing module, and the target position is the position that the display module finally reaches as indicated by the displacement information; The target object further includes a human eye, and the depth position information of the target object further includes position information of a depth plane of a gaze position of the human eye; The processing module is used to: if the position information of the depth plane of the human eye's gaze position is within the position information of multiple depth planes to be displayed of the target image, determine the displacement sequence of the display module based on the range of the depth position information to be displayed of the target image; if the position information of the depth plane of the human eye's gaze position is not within the position information of multiple depth planes to be displayed of the target image, determine the displacement information of the display module based on the sequence of the depth information of the human eye's gaze.

2. The device according to claim 1, wherein The depth acquisition module includes at least one of a human eye tracking device, a structured light depth sensing device, a binocular vision depth sensing device, and a time-of-flight depth sensing device.

3. The device according to claim 1, wherein The device further comprises: a frame, the lifting module being fixedly connected to the frame; The lifting module further comprises a plurality of micro springs, wherein: One end of each of the plurality of micro springs is fixedly connected to the display module, and the other end of each of the plurality of micro springs is fixedly connected to the frame. When the driving unit drives the display module to move, the plurality of micro springs are used to keep the tilt angle of the display module consistent with the tilt angle of the display module before the displacement.

4. The device according to claim 3, characterized in that One end of each of the plurality of micro springs is fixedly connected to a non-display area on the front side of the display module, where the front side of the display module is the side of the display module where the display screen of the display module is located; or One ends of the plurality of micro springs are respectively connected to the back surface of the display module, and the back surface of the display module is a surface of the display module opposite to the front surface of the display module.

5. The device according to claim 1, wherein The drive unit comprises a cam, wherein: The cam rotates around a rotation center axis of the cam; The surface of the cam is slidably connected to the back surface of the display module. When the cam rotates around the rotation center, the cam is used to drive the display module to move.

6. The device according to claim 1, wherein The driving unit includes a voice coil motor, wherein: The voice coil motor is fixedly connected to the back surface of the display module, and the voice coil motor is used to drive the display module to move to the target position.

7. The device according to claim 1, wherein The driving unit includes a cam and a voice coil motor, wherein: The surface of the cam is slidably connected to the back surface of the display module; The cam rotates around a rotation center axis of the cam; When the cam rotates around the rotation center, the cam and the voice coil motor are used to drive the display module to move; The voice coil motor is connected to the processing module, and the processing module is used to obtain the position information of the display module and determine the distance and direction of the voice coil motor driving the display module to fine-tune based on the position information of the display module; The voice coil motor is fixedly connected to the back surface of the display module. The voice coil motor is used to fine-tune the position of the display module when the display module is displaced to the vicinity of the target position, so that the display module reaches the target position.

8. The device according to claim 1, wherein The apparatus further comprises an optical module, wherein: The optical module is optically aligned with the display module and is used to perform preset processing on the light emitted by the pixels in the display module so that the light emitted by the display module reaches the human eye; The preset processing includes at least one of amplification processing, reflection processing and transmission processing.

9. The device according to claim 8, wherein The optical module includes an optical pre-processing unit, wherein: The optical pre-processing unit is used to perform the preset processing on the light emitted by the pixel points in the display module.

10. The device according to claim 9, wherein The optical module further includes a lens unit, wherein the lens unit includes at least one lens, the at least one lens is optically aligned, and the lens unit is used to perform aberration correction processing on light emitted by pixels in the display module.

11. The device according to claim 10, characterized in that The optical pre-processing unit includes a light splitting element and a reflecting element, wherein: The beam splitting element and the reflective element are optically aligned, and the beam splitting element is light-transmissive; The light splitting element is used to reflect the light emitted by the pixel points in the display module to the reflecting element; The reflective element is used to reflect the light reflected by the beam splitter element back to the beam splitter element, so that the light reflected by the beam splitter element passes through the beam splitter element and reaches the human eye.

12. The device according to claim 11, wherein The lens unit is fixedly connected to the optical pre-processing unit; The lens unit is arranged above the optical pre-processing unit, and the lens unit is optically aligned with the optical pre-processing unit so that the light subjected to the aberration correction processing of the lens unit reaches the beam splitting element of the optical pre-processing unit.

13. The device according to claim 1, wherein The display module includes a first display device, a second display device and a supporting substrate, wherein: The first display device corresponds to the left eye of a person, and is configured to emit light of the target image toward the left eye of the person; The second display device corresponds to the right eye of a person and is configured to emit light of the target image toward the right eye of the person; The first display device and the second display device are respectively fixedly connected to the supporting substrate; The first display device and the second display device are axisymmetric about a center line of the support substrate.

14. The device according to claim 8, wherein The processing module determines a displacement range of the display module based on a display depth range of the target image, an image-side focal length between the display module and the optical module, and an object-side focal length between a human eye and the optical module.

15. The device according to claim 8, wherein The device further comprises a frame, the lifting module is fixedly connected to the frame, and the optical module is fixedly connected to the frame.

16. An augmented reality display device, characterized in that: It comprises the augmented reality display device as described in any one of claims 1 to 15.

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