A method, system, device and head-mounted wearable device for optical axis calibration

Abstract

The present invention discloses an optical axis calibration method, system, device and head-mounted wearable device, relating to the technical field of display control of electronic devices. First, a target offset angle is determined, which characterizes the optical axis offset of the positioning module in the current head-mounted wearable device. Then, based on the target offset angle and a preset optical axis calibration strategy, optical axis calibration processing is performed on the first positioning coordinates obtained by the positioning module, and thus second positioning coordinates after optical axis calibration are obtained. It can be understood that finally, the display module in the head-mounted wearable device will display the second positioning coordinates. Compared with the prior art, the present application calibrates the first positioning coordinates after optical axis offset, eliminates the influence of the optical axis offset of the positioning module on the final display effect, has accurate positioning, ensures the display effect, and improves the user experience and satisfaction.

Description

Technical Field

[0001] The present invention relates to the technical field of electronic device display control, and in particular to an optical axis calibration method, system, device and head-mounted wearable device. Background Art

[0002] In recent years, VR (Virtual Reality) technology, AR (Augmented Reality) and other technologies have developed rapidly, and various head-mounted wearable devices have emerged one after another. At present, the mainstream VR products or AR products at home and abroad are large in size, and the corresponding storage boxes are also large in size. Large-volume products have brought troubles to users in carrying and storing them. For this reason, foldable VR products or AR products and other head-mounted wearable devices have become the mainstream of current research.

[0003] Please refer to Figure 1 , Figure 1 The folding diagram of a current mainstream head-mounted wearable device is shown. For the sake of explanation, the head-mounted wearable device is taken as a VR product as an example. Figure 1 The right-hand coordinate system is exemplarily marked in FIG. 1 , and it can be seen that the common folding method in the prior art is to use Figure 1 Point A in the figure is the folding center point, and the left side is positioned corresponding to the camera area ( Figure 1 The area corresponding to the right positioning camera ( Figure 1 Specifically, the relative folding can be understood as rotating the left positioning camera counterclockwise in the plane formed by the XZ axes (or around the y axis), and the right positioning camera clockwise in the plane formed by the XZ axes (or around the y axis), and finally realizing the folding of the VR product. However, with the increase in the number of folding times during storage and the influence of the folding accuracy of the structural parts, the optical axis of the positioning camera will be offset after the VR product has been used for a period of time, resulting in inaccurate positioning position finally determined and displayed, poor display effect, and affecting the user experience.

[0004] Therefore, how to find an effective way to calibrate the optical axis offset of the above-mentioned positioning camera is a problem that needs to be solved urgently. Summary of the invention

[0005] The purpose of the present invention is to provide an optical axis calibration method, system, device and head-mounted wearable device, which can eliminate the influence of the optical axis offset of the positioning module on the final display effect by calibrating the first positioning coordinates after the optical axis offset, and accurately position the display effect, thereby improving the user experience and satisfaction.

[0006] To solve the above technical problems, the present invention provides an optical axis calibration method, which is applied to a head-mounted wearable device. The optical axis calibration method includes:

[0007] Determine a target offset angle, which characterizes the optical axis offset of the positioning module in the current head-mounted wearable device;

[0008] Based on the target offset angle and a preset optical axis calibration strategy, process the first positioning coordinates obtained by the positioning module to obtain second positioning coordinates after optical axis calibration.

[0009] Preferably, an angle measurement module is provided within a preset range of the positioning module;

[0010] The determination of the target offset angle includes:

[0011] Determine a first rotation angle of the current optical axis to be calibrated of the positioning module through the angle measurement module in the head-mounted wearable device;

[0012] Subtract the pre-stored initial rotation angle corresponding to the current optical axis to be calibrated from the first rotation angle to determine that the obtained difference is the target offset angle characterizing the optical axis offset of the positioning module in the current head-mounted wearable device.

[0013] Preferably, it further includes:

[0014] Judge whether the target offset angle is greater than a preset maximum allowable offset angle threshold;

[0015] If so, control the prompt module in the head-mounted wearable device to prompt a first piece of information, and the first piece of information characterizes the result that the current offset angle is greater than the preset maximum allowable offset angle threshold.

[0016] Preferably, controlling the prompt module in the head-mounted wearable device to prompt the first piece of information includes:

[0017] Control the voice prompt module in the head-mounted wearable device to broadcast the first piece of information, and / or control the vibration module in the head-mounted wearable device to vibrate to prompt the first piece of information, and / or control the display module in the head-mounted wearable device to display the first piece of information.

[0018] Preferably, it further includes:

[0019] Determine that the straight-line distance between the second positioning coordinates and the first positioning coordinates is the current offset distance;

[0020] Judge whether the current offset distance is greater than a preset maximum allowable distance threshold;

[0021] If so, control the prompting module in the head-mounted wearable device to prompt a second piece of information, where the second piece of information represents the result that the current offset distance is greater than a preset maximum allowable distance threshold.

[0022] Preferably, when the target offset angle is a left offset angle indicating that the current optical axis to be calibrated of the positioning module deflects counterclockwise around a fixed reference optical axis;

[0023] Based on the target offset angle and a preset optical axis calibration strategy, process the first positioning coordinates obtained by the positioning module to obtain second positioning coordinates after optical axis calibration, including:

[0024] Determine a left calibration transformation matrix based on the left offset angle;

[0025] The left calibration transformation matrix is:

[0026]

[0027] where θ1 is the left offset angle and C1 is the left calibration transformation matrix;

[0028] Based on the left calibration transformation matrix and a first preset relational expression, process the first positioning coordinates obtained by the positioning module to obtain second positioning coordinates after optical axis calibration;

[0029] The first preset relational expression is:

[0030]

[0031] where the first positioning coordinates are (x p , y p , z p ), and the second positioning coordinates are (x p ′, y p ′, z p ′).

[0032] Preferably, when the target offset angle is a right offset angle indicating that the current optical axis to be calibrated of the positioning module deflects clockwise around a fixed reference optical axis;

[0033] Based on the target offset angle and a preset optical axis calibration strategy, process the first positioning coordinates obtained by the positioning module to obtain second positioning coordinates after optical axis calibration, including:

[0034] Determine a right calibration transformation matrix based on the right offset angle;

[0035] The right calibration transformation matrix is:

[0036]

[0037] Wherein, θ2 is the right offset angle, and C2 is the right calibration transformation matrix;

[0038] Based on the right calibration transformation matrix and the second preset relational expression, process the first positioning coordinates obtained by the positioning module to obtain the second positioning coordinates after optical axis calibration;

[0039] The second preset relational expression is:

[0040]

[0041] Wherein, the first positioning coordinates are (x m , y m , z m ), and the second positioning coordinates are (x m ′, y m ′, z m ′).

[0042] To solve the above technical problems, the present invention also provides an optical axis calibration system, which is applied to a head-mounted wearable device. The optical axis calibration system includes:

[0043] A target offset angle determination unit, configured to determine a target offset angle, where the target offset angle characterizes the optical axis offset situation of the positioning module in the current head-mounted wearable device;

[0044] A first calibration unit, configured to process the first positioning coordinates obtained by the positioning module based on the target offset angle and a preset optical axis calibration strategy to obtain the second positioning coordinates after optical axis calibration.

[0045] To solve the above technical problems, the present invention also provides an optical axis calibration device, including:

[0046] A memory, configured to store a computer program;

[0047] A processor, configured to implement the steps of the optical axis calibration method as described above when executing the computer program.

[0048] To solve the above technical problems, the present invention also provides a head-mounted wearable device, including a positioning module and the optical axis calibration device as described above.

[0049] The present application provides an optical axis calibration method, system, device and head-mounted wearable device. First, a target offset angle is determined, which characterizes the optical axis offset of the positioning module in the current head-mounted wearable device. Then, based on the target offset angle and a preset optical axis calibration strategy, optical axis calibration processing is performed on the first positioning coordinates obtained by the positioning module, and then the second positioning coordinates after optical axis calibration are obtained. It can be understood that finally, the display module in the head-mounted wearable device will display the second positioning coordinates. Compared with the prior art, the present application calibrates the first positioning coordinates after optical axis offset, eliminates the influence of the optical axis offset of the positioning module on the final display effect, has accurate positioning, ensures the display effect, and improves the user experience and satisfaction. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the prior art and the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention, and those of ordinary skill in the art can also obtain other drawings based on these drawings without creative efforts.

[0051] Figure 1 FIG. is a folding schematic diagram of a head-mounted wearable device in the prior art;

[0052] Figure 2 FIG. is an equivalent folding schematic diagram of a head-mounted wearable device provided by the present invention;

[0053] Figure 3 FIG. is a flowchart of an optical axis calibration method provided by the present invention;

[0054] Figure 4 FIG. is a structural schematic diagram of an optical axis calibration system provided by the present invention;

[0055] Figure 5 FIG. is a structural schematic diagram of an optical axis calibration device provided by the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0056] The core of the present invention is to provide an optical axis calibration method, system, device and head-mounted wearable device. By calibrating the first positioning coordinates after optical axis offset, the influence of the optical axis offset of the positioning module on the final display effect is eliminated, the positioning is accurate, the display effect is ensured, and the user experience and satisfaction are improved.

[0057] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Apparently, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0058] Please refer to Figure 1 、 Figure 2 and Figure 3 , Figure 1 which is a folding schematic diagram of a head-mounted wearable device in the prior art, Figure 2 and Figure 3 is an equivalent folding schematic diagram of a head-mounted wearable device provided by the present invention,

[0059] In this embodiment, considering that in the prior art, the folding schematic diagram of a foldable head-mounted wearable device is usually as Figure 1 shown, that is, taking point A in Figure 1 as the folding center point, folding the left positioning camera B and the right positioning camera C relatively. It should be noted that Figure 1 only uses the form of a dotted line box to circle the position schematics corresponding to the left positioning camera B and the right positioning camera respectively for illustration purposes only to distinguish the left and right sides, and due to Figure 1 the shooting angle, the sizes of the two dotted line boxes do not represent the actual sizes of the left positioning camera B and the right positioning camera. The headband is labeled with reference numeral D. Further, please refer to Figure 2 , Figure 2 which is an equivalent folding schematic diagram of a head-mounted wearable device given after analysis. Among them, corresponding to Figure 1 , Figure 2 the right-hand coordinate system is still adopted, and a display schematic showing that the optical axes of the positioning cameras, that is, the X-axis and the Z-axis, will shift with folding is given when viewed from the plane formed by the XZ-axis. Among them, point A is still the folding center point, point B1 is the coordinate center point of the left positioning camera B, and point C1 is the coordinate center point of the right positioning camera C. Taking the left positioning camera B as an example, the original positions of its corresponding optical axes X-axis and Z-axis are in Figure 2It is represented by a solid line in the figure. However, as the number of folding times during storage increases and due to the folding accuracy of the structural components, after the VR product is used for a period of time, the optical axis of the positioning camera will shift. That is, the optical axis X-axis will shift to the position of the X`-axis, and the optical axis Z-axis will shift to the position of the Z`-axis. According to geometric principles, the offset angles corresponding to the two optical axes are both θ1. It can be understood that the optical axis Y-axis will not have an offset. The analysis of the right positioning camera C is the same (the offset angles of its corresponding two optical axes are both θ2), and will not be elaborated here. It should be noted that Figure 2 Only for the sake of clear display, the degree of the offset angle is shown relatively large. In fact, the degree of this offset angle is usually very small. It can be seen that it is precisely due to the appearance of this optical axis offset that the finally determined positioning position is inaccurate, the display effect is poor, and the user experience is affected. To solve the above technical problems, the present application provides an optical axis calibration method, which eliminates the influence of the optical axis offset of the positioning module on the final display effect.

[0060] This optical axis calibration method is applied to a head-mounted wearable device and includes:

[0061] S11: Determine the target offset angle, where the target offset angle characterizes the optical axis offset situation of the positioning module in the current head-mounted wearable device;

[0062] Specifically, the head-mounted wearable device includes but is not limited to various VR products and AR products, and the head-mounted wearable device is specifically a foldable head-mounted wearable device. The positioning module includes but is not limited to a camera (which is essentially a position tracking camera). Therefore, first determine the target offset angle. It can be understood that when the positioning module is the left positioning camera, the target offset angle is essentially the above-mentioned θ1; when the positioning module is the right positioning camera, the target offset angle is essentially the above-mentioned θ2. The size of the angle reflects the optical axis offset situation of the corresponding positioning module.

[0063] S12: Based on the target offset angle and a preset optical axis calibration strategy, process the first positioning coordinates obtained by the positioning module to obtain the second positioning coordinates after optical axis calibration.

[0064] Specifically, the preset optical axis calibration strategy is related to the positioning module. When the positioning module is the left positioning camera, a corresponding calibration logic is executed, and when the positioning module is the right positioning camera, another corresponding calibration logic is executed. See the following embodiments for details and will not be elaborated here.

[0065] It can be understood that after obtaining the second positioning coordinates after optical axis calibration, control the display module to display the second positioning coordinates.

[0066] In summary, the present application provides an optical axis calibration method. Compared with the prior art, the present application calibrates the first positioning coordinates after the optical axis offset to obtain the second positioning coordinates, eliminating the influence of the optical axis offset of the positioning module on the final display effect, with accurate positioning, ensuring the display effect, and improving the user experience and satisfaction.

[0067] Based on the above embodiments:

[0068] As a preferred embodiment, an angle measurement module is provided within the preset range of the positioning module;

[0069] Determining the target offset angle includes:

[0070] Determine the first rotation angle of the current optical axis to be calibrated of the positioning module through the angle measurement module in the head-mounted wearable device;

[0071] Subtract the pre-stored initial rotation angle corresponding to the current optical axis to be calibrated from the first rotation angle, and use the obtained difference as the target offset angle characterizing the optical axis offset of the positioning module in the current head-mounted wearable device.

[0072] In this embodiment, a method for determining the target offset angle is given. Specifically, the angle measurement module includes, but is not limited to, a gyroscope. The positioning module is actually placed on the main board, and the gyroscope can also be placed within the preset range on the main board. The preset range can be flexibly determined according to the size of the main board and the actual device placement requirements, and no special limitation is made here. According to the measurement principle of the gyroscope, integrating the measured angular velocity over time can obtain the corresponding angle data. Therefore, relying on the gyroscope, the determination of the first rotation angle can be simply and reliably achieved.

[0073] With reference to Figure 2 , the current optical axis to be calibrated can be understood as the X-axis and the Z-axis. According to geometric principles, the first rotation angles corresponding to the two optical axes are the same, and each current optical axis to be calibrated corresponds to a pre-stored initial rotation angle. Considering that there are certain limitations in the processing technology, in order to further improve the determination accuracy of the target offset angle, the pre-stored initial rotation angle can be measured and recorded inside the product when the head-mounted wearable device leaves the factory. Thus, subtracting the pre-stored initial rotation angle corresponding to the current optical axis to be calibrated from the first rotation angle of the current optical axis to be calibrated to obtain an angle difference, and this angle difference is the target offset angle characterizing the optical axis offset of the positioning module in the current head-mounted wearable device.

[0074] As a preferred embodiment, it further includes:

[0075] Judge whether the target offset angle is greater than the preset maximum allowable offset angle threshold;

[0076] If so, control the prompting module in the head-mounted wearable device to prompt the first information, where the first information represents the result that the current deviation angle is greater than the preset maximum allowable deviation angle threshold.

[0077] In this embodiment, the inventor further considers that after using for a period of time, the target deviation angle of the head-mounted wearable device is very likely to have been greater than the preset maximum allowable deviation angle threshold (this threshold can be set according to actual needs). At this time, although calibration can still be continued, it is preferably to prompt the user so that the user can perform factory repair, etc. later, improving the user experience.

[0078] As a preferred embodiment, controlling the prompting module in the head-mounted wearable device to prompt the first information includes:

[0079] Controlling the voice prompting module in the head-mounted wearable device to broadcast the first information, and / or controlling the vibration module in the head-mounted wearable device to vibrate to prompt the first information, and / or controlling the display module in the head-mounted wearable device to display the first information.

[0080] In this embodiment, various ways of prompting the user are given. When the prompting module is a voice prompting module, it can be controlled to broadcast the first information; when the prompting module is a vibration module, it can be controlled to vibrate to prompt the first information. Of course, the vibration intensity corresponding to different angle differences can also be set to play a better prompting role. The angle difference is the difference between the target deviation angle and the preset maximum allowable deviation angle threshold; when the prompting module is a display module, specifically a display interface, it can be controlled to display the first information. The specific prompting methods are diverse and are not particularly limited here.

[0081] As a preferred embodiment, it further includes:

[0082] Determine the straight-line distance between the second positioning coordinate and the first positioning coordinate as the current deviation distance;

[0083] Judge whether the current deviation distance is greater than the preset maximum allowable distance threshold;

[0084] If so, control the prompting module in the head-mounted wearable device to prompt the second information, where the second information represents the result that the current deviation distance is greater than the preset maximum allowable distance threshold.

[0085] In this embodiment, another way of prompting the user that the head-mounted wearable device needs repair currently is given, as described above, and will not be elaborated here. It can be understood that the preset maximum allowable distance threshold can be set according to actual needs, and the specific prompting method of the prompting module can refer to the description in the above embodiment and will not be elaborated here.

[0086] As a preferred embodiment, when the target offset angle is the left offset angle indicating that the current optical axis to be calibrated of the positioning module deflects counterclockwise around the fixed reference optical axis;

[0087] Based on the target offset angle and the preset optical axis calibration strategy, process the first positioning coordinates obtained by the positioning module to obtain the second positioning coordinates after optical axis calibration, including:

[0088] Determine the left calibration transformation matrix based on the left offset angle;

[0089] The left calibration transformation matrix is:

[0090]

[0091] where θ1 is the left offset angle and C1 is the left calibration transformation matrix;

[0092] Based on the left calibration transformation matrix and the first preset relational expression, process the first positioning coordinates obtained by the positioning module to obtain the second positioning coordinates after optical axis calibration;

[0093] The first preset relational expression is:

[0094]

[0095] where the first positioning coordinates are (x p , y p , z p ), and the second positioning coordinates are (x p ′, y p ′, z p ′).

[0096] In this embodiment, when the target offset angle is the left offset angle indicating that the current optical axis to be calibrated of the positioning module deflects counterclockwise around the fixed reference optical axis, the specific method for obtaining the second positioning coordinates after optical axis calibration is given. Referring to Figure 2 , it can be seen that when the target offset angle is the left offset angle, the positioning module here is the left positioning module, the corresponding fixed reference optical axis is the Y-axis, and the current optical axis to be calibrated is the X-axis and the Z-axis. As Figure 2 described, both the X-axis and the Z-axis rotate counterclockwise around the Y-axis by the left offset angle θ1. Then, relying on the above calibration logic corresponding to the left positioning module, the second positioning coordinates can be simply and reliably determined, and then the second positioning coordinates are fed back to the display area, improving the user experience.

[0097] As a preferred embodiment, when the target offset angle is the right offset angle indicating that the current optical axis to be calibrated of the positioning module deflects clockwise around the fixed reference optical axis;

[0098] Based on the target offset angle and the preset optical axis calibration strategy, process the first positioning coordinates obtained by the positioning module to obtain the second positioning coordinates after optical axis calibration, including:

[0099] Determine the right calibration transformation matrix based on the right offset angle;

[0100] The right calibration transformation matrix is:

[0101]

[0102] where θ2 is the right offset angle and C2 is the right calibration transformation matrix;

[0103] Based on the right calibration transformation matrix and the second preset relational expression, process the first positioning coordinates obtained by the positioning module to obtain the second positioning coordinates after optical axis calibration;

[0104] The second preset relational expression is:

[0105]

[0106] where the first positioning coordinates are (x m , y m , z m ), and the second positioning coordinates are (x m ′, y m ′, z m ′).

[0107] In this embodiment, when the target offset angle is the right offset angle representing the current optical axis to be calibrated of the positioning module rotating clockwise around the fixed reference optical axis, the specific method for obtaining the second positioning coordinates after optical axis calibration is given. Referring to Figure 2 , it can be seen that when the target offset angle is the right offset angle, the positioning module here is the right positioning module, the corresponding fixed reference optical axis is the Y axis, and the current optical axis to be calibrated is the X axis and the Z axis. As Figure 2 stated, both the X axis and the Z axis rotate clockwise around the Y axis by the right offset angle θ2. Thus, relying on the above calibration logic corresponding to the right positioning module, the second positioning coordinates can be simply and reliably determined, and then the second positioning coordinates are fed back to the display area, improving the user experience.

[0108] Please refer to Figure 4 , Figure 4 which is a schematic structural diagram of an optical axis calibration system provided by the present invention.

[0109] This optical axis calibration system is applied to a head-mounted wearable device and includes:

[0110] A target offset angle determination unit 21 for determining a target offset angle, where the target offset angle characterizes the optical axis offset of the positioning module in the current head-mounted wearable device;

[0111] A first calibration unit 22 for processing the first positioning coordinates obtained by the positioning module based on the target offset angle and a preset optical axis calibration strategy to obtain second positioning coordinates after optical axis calibration.

[0112] For the introduction of the optical axis calibration system provided in the present invention, please refer to the embodiments of the above optical axis calibration method, which will not be elaborated here.

[0113] As a preferred embodiment, the target offset angle determination unit 21 includes:

[0114] A first rotation angle determination unit for determining a first rotation angle of the current optical axis to be calibrated of the positioning module through an angle measurement module in the head-mounted wearable device;

[0115] An angle difference determination unit for subtracting the pre-stored initial rotation angle corresponding to the current optical axis to be calibrated from the first rotation angle to determine that the obtained difference is the target offset angle characterizing the optical axis offset of the positioning module in the current head-mounted wearable device.

[0116] As a preferred embodiment, the optical axis calibration system further includes: a first judgment unit for judging whether the target offset angle is greater than a preset maximum allowable offset angle threshold; if so, triggering a first prompt unit;

[0117] The first prompt unit is used to control a prompt module in the head-mounted wearable device to prompt a first piece of information, where the first piece of information characterizes the result that the current offset angle is greater than the preset maximum allowable offset angle threshold.

[0118] As a preferred embodiment, the first prompt unit specifically includes:

[0119] A specific prompt unit for controlling a voice prompt module in the head-mounted wearable device to broadcast the first piece of information, and / or controlling a vibration module in the head-mounted wearable device to vibrate to prompt the first piece of information, and / or controlling a display module in the head-mounted wearable device to display the first piece of information.

[0120] As a preferred embodiment, the optical axis calibration system further includes:

[0121] A current offset distance determination unit for determining that a straight-line distance between the second positioning coordinates and the first positioning coordinates is the current offset distance;

[0122] A second determination unit, configured to determine whether the current offset distance is greater than a preset maximum allowable distance threshold; if so, trigger a second prompt unit;

[0123] The second prompt unit is configured to control a prompt module in the head-mounted wearable device to prompt a second piece of information, where the second piece of information represents a result that the current offset distance is greater than the preset maximum allowable distance threshold.

[0124] As a preferred embodiment, when the target offset angle is a left offset angle indicating that the current optical axis to be calibrated of the positioning module rotates counterclockwise around a fixed reference optical axis;

[0125] The first calibration unit 22 specifically includes:

[0126] A left calibration transformation matrix determination unit, configured to determine a left calibration transformation matrix based on the left offset angle;

[0127] The left calibration transformation matrix is:

[0128]

[0129] where θ1 is the left offset angle and C1 is the left calibration transformation matrix;

[0130] A first specific calibration determination unit, configured to process the first positioning coordinates obtained by the positioning module based on the left calibration transformation matrix and a first preset relational expression to obtain second positioning coordinates after optical axis calibration;

[0131] The first preset relational expression is:

[0132]

[0133] where the first positioning coordinates are (x p , y p , z p ), and the second positioning coordinates are (x p ′, y p ′, z p ′).

[0134] As a preferred embodiment, when the target offset angle is a right offset angle indicating that the current optical axis to be calibrated of the positioning module rotates clockwise around a fixed reference optical axis;

[0135] The first calibration unit 22 specifically includes:

[0136] A right calibration transformation matrix determination unit, configured to determine a right calibration transformation matrix based on the right offset angle;

[0137] The right calibration transformation matrix is:

[0138]

[0139] Wherein, θ2 is the right offset angle, and C2 is the right calibration transformation matrix;

[0140] A second specific calibration determination unit, configured to process the first positioning coordinate obtained by the positioning module based on the right calibration transformation matrix and a second preset relational expression, so as to obtain a second positioning coordinate after optical axis calibration;

[0141] The second preset relational expression is:

[0142]

[0143] Wherein, the first positioning coordinate is (x m , y m , z m ), and the second positioning coordinate is (x m ′, y m ′, z m ′).

[0144] Please refer to Figure 5 , Figure 5 , which is a schematic structural diagram of an optical axis calibration device provided by the present invention.

[0145] The optical axis calibration device includes:

[0146] A memory 31, configured to store a computer program;

[0147] A processor 32, configured to implement the steps of the optical axis calibration method as described above when executing the computer program.

[0148] For the introduction of the optical axis calibration device provided by the present invention, please refer to the embodiments of the above optical axis calibration method, which will not be elaborated here.

[0149] The present invention further provides a head-mounted wearable device, including a positioning module, and further including the optical axis calibration device as described above.

[0150] For the introduction of the head-mounted wearable device provided by the present invention, please refer to the embodiments of the above optical axis calibration method, which will not be elaborated here.

[0151] The various embodiments in this specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments. For the same or similar parts among the various embodiments, reference can be made to each other. Relative terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, such that a process, method, article or device comprising a series of elements not only includes those elements but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the phrase "comprising a..." does not exclude the existence of additional identical elements in the process, method, article or device comprising the said element.

[0152] Those skilled in the art can further realize that the units and algorithm steps of the examples described in conjunction with the embodiments disclosed herein can be implemented by electronic hardware, computer software, or a combination of the two. To clearly illustrate the interchangeability of hardware and software, the composition and steps of the examples have been generally described according to functions in the above description. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods for each specific application to implement the described functions, but such implementation should not be considered to exceed the scope of the present invention. The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Therefore, the present invention will not be limited to these embodiments shown herein, but rather to the broadest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for optical axis calibration, characterized in that, Applied to a head-mounted wearable device, the optical axis calibration method includes: Determine a target offset angle, where the target offset angle characterizes the optical axis offset of the positioning module in the current head-mounted wearable device; Based on the target offset angle and a preset optical axis calibration strategy, process the first positioning coordinates obtained by the positioning module to obtain second positioning coordinates after optical axis calibration; An angle measurement module is provided within a preset range of the positioning module; The determining of the target offset angle includes: Determine a first rotation angle of the current optical axis to be calibrated of the positioning module through the angle measurement module in the head-mounted wearable device; subtract the pre-stored initial rotation angle corresponding to the current optical axis to be calibrated from the first rotation angle, and use the obtained difference as the target offset angle characterizing the optical axis offset of the positioning module in the current head-mounted wearable device; The optical axis calibration method further includes: Judge whether the target offset angle is greater than a preset maximum allowable offset angle threshold; if so, control the prompt module in the head-mounted wearable device to prompt a first piece of information, where the first piece of information characterizes the result that the current offset angle is greater than the preset maximum allowable offset angle threshold; The optical axis calibration method further includes: Determine that the straight-line distance between the second positioning coordinates and the first positioning coordinates is the current offset distance; judge whether the current offset distance is greater than a preset maximum allowable distance threshold; if so, control the prompt module in the head-mounted wearable device to prompt a second piece of information, where the second piece of information characterizes the result that the current offset distance is greater than the preset maximum allowable distance threshold; When the target offset angle is a left offset angle indicating that the current optical axis to be calibrated of the positioning module rotates counterclockwise around a fixed reference optical axis; based on the target offset angle and a preset optical axis calibration strategy, processing the first positioning coordinates obtained by the positioning module to obtain second positioning coordinates after optical axis calibration includes: Determine a left calibration transformation matrix based on the left offset angle; the left calibration transformation matrix is: where θ1 is the left offset angle and C1 is the left calibration transformation matrix; Based on the left calibration transformation matrix and a first preset relational expression, process the first positioning coordinates obtained by the positioning module to obtain second positioning coordinates after optical axis calibration; the first preset relational expression is: Among them, the first positioning coordinate is (x p , y p , z p ), and the second positioning coordinate is (x' p , y' p , z' p ).

2. The optical axis calibration method according to claim 1, wherein, Controlling the prompt module in the head-mounted wearable device to prompt the first piece of information includes: Controlling the voice prompt module in the head-mounted wearable device to broadcast the first piece of information, and / or controlling the vibration module in the head-mounted wearable device to vibrate to prompt the first piece of information, and / or controlling the display module in the head-mounted wearable device to display the first piece of information.

3. The optical axis calibration method according to claim 1 or 2, characterized in that, When the target offset angle is a right offset angle indicating that the current optical axis to be calibrated of the positioning module rotates clockwise around a fixed reference optical axis; Based on the target offset angle and a preset optical axis calibration strategy, processing the first positioning coordinates obtained by the positioning module to obtain second positioning coordinates after optical axis calibration includes: Determine a right calibration transformation matrix based on the right offset angle; The right calibration transformation matrix is: where θ2 is the right offset angle and C2 is the right calibration transformation matrix; Based on the right calibration transformation matrix and a second preset relation, process the first positioning coordinate obtained by the positioning module to obtain a second positioning coordinate after optical axis calibration; The second preset relation is: Among them, the first positioning coordinate is (x m , y m , z m ), and the second positioning coordinate is (x' m , y' m , z' m ).

4. A light axis calibration system, characterized in that, Applied to a head-mounted wearable device, the optical axis calibration system includes: A target offset angle determination unit configured to determine a target offset angle, where the target offset angle characterizes the optical axis offset condition of the positioning module in the current head-mounted wearable device; A first calibration unit configured to process the first positioning coordinate obtained by the positioning module based on the target offset angle and a preset optical axis calibration strategy to obtain a second positioning coordinate after optical axis calibration; An angle measurement module is provided within a preset range of the positioning module; The target offset angle determination unit is specifically configured to: Determine a first rotation angle of the current optical axis to be calibrated of the positioning module through the angle measurement module in the head-mounted wearable device; subtract the pre-stored initial rotation angle corresponding to the current optical axis to be calibrated from the first rotation angle to determine that the obtained difference is the target offset angle characterizing the optical axis offset condition of the positioning module in the current head-mounted wearable device; The optical axis calibration system is specifically configured to: Judge whether the target offset angle is greater than a preset maximum allowable offset angle threshold; if so, control a prompt module in the head-mounted wearable device to prompt a first piece of information, where the first piece of information characterizes the result that the current offset angle is greater than the preset maximum allowable offset angle threshold; The optical axis calibration system is specifically configured to: Determine that the straight-line distance between the second positioning coordinate and the first positioning coordinate is the current offset distance; judge whether the current offset distance is greater than a preset maximum allowable distance threshold; if so, control a prompt module in the head-mounted wearable device to prompt a second piece of information, where the second piece of information characterizes the result that the current offset distance is greater than the preset maximum allowable distance threshold; When the target offset angle is a left offset angle characterizing that the current optical axis to be calibrated of the positioning module rotates counterclockwise around a fixed reference optical axis; the first calibration unit is specifically configured to: Determine a left calibration transformation matrix based on the left offset angle; the left calibration transformation matrix is: where θ1 is the left offset angle and C1 is the left calibration transformation matrix; Based on the left calibration transformation matrix and a first preset relation, process the first positioning coordinate obtained by the positioning module to obtain a second positioning coordinate after optical axis calibration; the first preset relation is: Among them, the first positioning coordinate is (x p , y p , z p ), and the second positioning coordinate is (x' p , y' p , z' p ).

5. An optical axis calibration device, characterized in that, Includes: A memory for storing a computer program; A processor, configured to implement the steps of the optical axis calibration method according to any one of claims 1 to 2 when executing the computer program.

6. A head-mounted wearable device, characterized in that, Includes a positioning module and further includes the optical axis calibration device according to claim 5.

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