Dual vision AR glasses, active alignment method and calibration method

Abstract

The application discloses an AR glasses binocular image combining AA device, an active alignment method and a calibration method, and relates to the technical field of AR glasses binocular image combining AA devices. The AR glasses binocular image combining AA device comprises a workbench, a position adjusting mechanism, a feeding assembly, a binocular detection module, an automatic dispensing module and a controller. The position adjusting mechanism comprises first adjusting assemblies, moving pieces arranged at intervals on the workbench, second adjusting assemblies and third adjusting assemblies, two groups of the first adjusting assemblies are arranged at intervals on the moving pieces, and the moving parts of the moving pieces are arranged at intervals. The feeding assembly comprises first feeding platforms and second feeding platforms, the first feeding platforms are installed on the moving parts, and the two groups of second feeding platforms are arranged on the two groups of first adjusting assemblies. The binocular detection module comprises two detection cameras arranged on the two groups of second adjusting assemblies. The automatic dispensing module is installed on the third adjusting assembly. The AR glasses binocular image combining AA device has the advantages of fast AA process efficiency, high precision, and improved clarity of AR glasses finished products.

Description

Technical Field

[0001] This invention relates to the field of optical technology, and in particular to an AR glasses binocular image aligning (AA) device, an active alignment method, and a calibration method. Background Technology

[0002] Augmented Reality (AR) technology is an emerging technology that overlays computer-generated virtual information onto the user's real world, and is an important branch of virtual reality technology. It enhances users' perception of the real world and provides new ways for humans to communicate with it. In recent years, AR technology has been widely applied in various fields such as industrial maintenance, film and television entertainment, medical surgery, and education and training, and is gradually becoming a major direction for the development of next-generation human-computer interaction technology.

[0003] AR glasses enhance the user's perception of reality by overlaying virtual images generated in the glasses onto the real world to improve the visual effects of real-world scenes. The so-called AA process, or Active Alignment, is a technology for determining the relative positions of components during assembly. When assembling each component, the AA process device detects the semi-finished product being assembled and actively aligns it according to its actual condition before assembling the next component. This active alignment technology can adjust the lens alignment to six degrees of freedom (X, Y, Z, R, Tilt, Tip), effectively reducing the assembly tolerance of the entire module.

[0004] The manufacturing of AR glasses in the industry involves AA (Alignment and Animation) processes, which differ from those used for cameras. Currently, in AR glasses manufacturing, the emission position of the simulated projection light source in the simulated light source projection module cannot accurately follow the adjustment position of the AR glasses. This causes the refraction of the projected light source emitted by the simulated light source projection module to affect the test results of the binocular camera. Therefore, most of the time, the focus position of the AR glasses is manually adjusted, and then the emission position and angle of the projected light source emitted by the simulated light source projection module are also manually adjusted. Through slow manual adjustments, the accuracy is relatively coarse, with an error of a few millimeters. There are shift and tilt deviations (shift deviation refers to center offset, tilt deviation refers to XY tilt) between the simulated light source projection module and the entrance pupil of the lens, which cannot couple the light well, resulting in problems such as poor clarity and low processing efficiency of the finished AR glasses.

[0005] Therefore, it is necessary to provide a new binocular AA device for AR glasses, an active alignment method, and a calibration method to solve or at least alleviate the above-mentioned technical defects. Summary of the Invention

[0006] The main objective of this invention is to provide an AR glasses binocular image aligning (AA) device, an active alignment method, and a calibration method, aiming to solve the technical problems of poor image clarity and low processing efficiency in products manufactured using existing AA processes.

[0007] To achieve the above objectives, the present invention provides an AR glasses binocular image assembling (AA) device for assembling the frame and two waveguide plates. The AR glasses binocular image assembling (AA) device includes:

[0008] Workbench;

[0009] The position adjustment mechanism includes a first adjustment component, a movable component that is spaced apart from each other on the worktable, a second adjustment component, and a third adjustment component. The first adjustment component consists of two sets, which are spaced apart from each other on the movable part of the movable component. The second adjustment component also consists of two sets, which are spaced apart from each other, so that by driving the movable part to move, the first adjustment component can be moved closer to the second adjustment component or the third adjustment component.

[0010] The feeding assembly includes a first feeding platform and a second feeding platform. The first feeding platform is installed on the moving part. There are two sets of the second feeding platforms. The two sets of the second feeding platforms are respectively set on the two sets of the first adjustment components, so that by driving the first adjustment components to move, the second feeding platforms can be driven to move and rotate in multiple directions.

[0011] A binocular detection module, comprising two detection cameras, which are respectively mounted on two sets of second adjustment components, so that by driving the second adjustment components to move, the detection cameras can be driven to move and rotate in multiple directions;

[0012] An automatic dispensing module is installed on the third adjustment component so that the automatic dispensing module can move in three coordinates by driving the third adjustment component to move.

[0013] The controller is communicatively connected to the position adjustment mechanism, the binocular detection module, and the automatic dispensing module.

[0014] In one embodiment, the moving part further includes a fixed part, a drive motor, and a transmission screw. The output end of the drive motor is connected to the transmission screw. The transmission screw passes through the moving part and is threadedly connected to the moving part. The moving part is slidably connected to the fixed part. The drive motor is mounted on the fixed part. The transmission screw is rotatably connected to the fixed part.

[0015] In one embodiment, the second adjustment component includes a first translation component, a second translation component, a lifting component, a rotating component, a first swing component, and a second swing component stacked sequentially. The detection camera is mounted on the second swing component. By driving the first translation component, the second translation component, the lifting component, the rotating component, the first swing component, and the second swing component to move, the detection camera can be adjusted in six degrees of freedom.

[0016] In one embodiment, the first adjustment component includes a stacked three-axis translation component and a three-axis rotation component. The three-axis translation component is mounted on the moving part, and the second loading platform is mounted on the top of the three-axis rotation component. The controller adjusts the second loading platform in six degrees of freedom by driving the three-axis translation component and the three-axis rotation component to move respectively.

[0017] In one embodiment, the three-axis translation component includes a first-axis translation sub-component, a second-axis translation sub-component, and a third-axis translation sub-component stacked sequentially, wherein the movement axes of the first-axis translation sub-component, the second-axis translation sub-component, and the third-axis translation sub-component are perpendicular to each other.

[0018] In one embodiment, the three-axis rotating component includes a rotary slide, a first angle swing platform, and a second angle swing platform stacked sequentially. The first rotation axis of the first angle swing platform is perpendicular to the second rotation axis of the second angle swing platform. The third rotation axis of the rotary slide is perpendicular to both the first and second rotation axes. The second loading platform is disposed on the second angle swing platform.

[0019] In one embodiment, the automatic dispensing module includes a mounting plate, and a dispensing component, a vision module, and a curing lamp respectively mounted on the mounting plate, wherein the mounting plate is connected to the third adjustment component.

[0020] In one embodiment, the controller includes a calibration analysis module, a control module, and a storage module; the calibration analysis module is used to receive image data information captured by the binocular detection module and perform data processing to obtain data processing information; the control module is used to receive the analysis signal transmitted after processing by the calibration analysis module and output a control signal to drive the position adjustment mechanism to move according to the analysis signal; the storage module is used to record the position information of the position adjustment mechanism and the data processing information.

[0021] Furthermore, the present invention also provides an active alignment method, which is applied to the aforementioned AR glasses binocular merging AA device. The AR glasses include a frame and two waveguide plates. Two sets of simulated light source projection modules that cooperate with the waveguide plates are respectively mounted on the frame. The active alignment method includes the following steps:

[0022] The lens frame to be processed is fixed on the first loading platform, and the two waveguide sheets are respectively fixed on the two sets of the second loading platforms. The moving part is controlled to move to the first position, driving the two sets of the first adjustment components to approach the binocular detection module.

[0023] The first adjustment component is controlled to move to the first test position, the simulated light source projection module emits an image to the waveguide sheet, the detection camera captures the simulated image displayed on the waveguide sheet and feeds it back to the controller, the controller performs data processing and analysis on the simulated image information, obtains the first MTF value and the first image coupling percentage value, and determines whether the first MTF value is within the qualified range;

[0024] If the first MTF value is within the acceptable range, control the moving part to move to the second position, and drive the first adjustment component to approach the automatic dispensing module;

[0025] Controlling the displacement of the third adjustment component drives the automatic dispensing module to complete the dispensing and curing of adhesive on the lens frame and the waveguide sheet;

[0026] The moving part is controlled to move to the first position, the detection camera recaptures the simulated image displayed on the waveguide sheet and feeds it back to the controller, the controller performs data processing and analysis on the simulated image information, obtains the second image coupling percentage value, and determines whether the difference between the second image coupling percentage value and the first image coupling percentage value is within a preset difference range; if so, the active alignment of the waveguide sheet and the lens frame is completed.

[0027] If the first MTF value is not within the acceptable range, the controller outputs a control signal to drive the moving part and the first adjustment component to move to the third position and the second test position, respectively.

[0028] The step of performing the detection camera to recapture the simulated image of the waveguide sheet and feed it back to the controller.

[0029] Furthermore, the present invention also provides a calibration method, which is applied to the above-mentioned AR glasses binocular fusion AA device. The AR glasses binocular fusion AA device further includes a graphic card module and a UCGB. The calibration method includes the following steps:

[0030] The binocular detection module, the UCGB, and the image card module are controlled to be on the same straight line;

[0031] The UCGB is controlled to take pictures of the image card module and calculate the relative position of the six degrees of freedom of the image card module. Based on the relative position, the center of the image card module is adjusted to coincide with the optical axis of the UCGB and the detection surface of the image card module is made perpendicular to the optical axis of the UCGB.

[0032] Remove the UCGB, control the binocular detection module to take pictures of the image card module, reverse the process to obtain the six degrees of freedom coordinates of each detection camera of the binocular detection module, adjust the second adjustment component so that the optical axes of the two sets of detection cameras are respectively aligned with the two interpupillary distance points of the image card module and perpendicular to the detection surface of the image card module.

[0033] In the above technical solution of the present invention, after the calibration of the two detection cameras is completed by adjusting the positions of the two sets of second adjustment components respectively, the two waveguide plates are respectively installed on the two sets of second loading platforms, the lens frame is fixedly installed on the first loading platform, and the lens frame is equipped with two sets of analog light source projection modules that cooperate with the two waveguide plates respectively. Then, the controller drives the moving part to move the first loading platform and the first adjustment component installed on the moving part to the detection position close to the binocular detection module. After reaching the detection position, the controller first adjusts the position of the two sets of first adjustment components through control commands, and then controls each analog light source projection module to emit an image to the incident light port position of each waveguide plate (i.e., optical waveguide lens) of the AR glasses. After being guided by the internal optical path of the waveguide plate, the analog image is emitted from the exit port and projected onto the waveguide plate. Each detection camera captures the real-time display image displayed on the waveguide plate and feeds it back to the controller. The controller performs data processing on the real-time image information, and then, according to the difference between the processed information and the preset information, adaptively outputs control commands to drive the moving part and each first adjustment component to move respectively. When the moving part moves, the lens frame and waveguide sheet move together to adjust their overall position relative to the binocular detection module. Each first adjustment component can individually adjust the position of each waveguide sheet, achieving six degrees of freedom adjustment for each waveguide sheet. This actively aligns the relative positions of the lens frame and waveguide sheet, facilitating the assembly of the AR glasses. After adjustment, the binocular detection module acquires the displayed images from the waveguide sheet in real time and transmits them to the controller for processing. The controller drives the first adjustment components to move accordingly, changing the position of the waveguide sheet until the controller determines that the MTF value of the real-time image information of each waveguide sheet is qualified, indicating that the AA result is qualified. At this point, the moving part and the first adjustment components stop moving, and the controller records the position of the moving part and the image coupling percentage value of the image information of the two waveguide sheets. Then, the controller drives the moving part to move the lens frame and waveguide sheet together to a position close to the third adjustment component, i.e., below the automatic dispensing module. The controller then drives the third adjustment component to complete the dispensing and curing of the lens frame and waveguide sheet, fixing their relative positions. The driven moving part then returns to the detection position where the final MTF value was deemed acceptable, and the projected images on the two waveguide sheets are tested again. The controller compares the obtained image coupling percentage value with the previous image coupling percentage value. If the difference between the two is within a preset range, the assembled waveguide sheets and frames can be manually removed for the next stage of processing; if it deviates from the preset range, reprocessing is required. This invention, through the cooperation of algorithms and control mechanisms, simulates the human eye's binocular interpupillary distance and focal length, enabling a convenient AA process for the waveguide sheets and frames. This improves the efficiency and accuracy of the AA process and also enhances the clarity of the finished AR glasses. Attached Figure Description

[0034] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0035] Figure 1 This is a three-dimensional structural diagram of an AR glasses binocular fusion imaging (AA) device according to an embodiment of the present invention;

[0036] Figure 2 This is a three-dimensional structural diagram of a moving component, a feeding assembly, and a first adjusting assembly according to an embodiment of the present invention;

[0037] Figure 3 This is a three-dimensional structural diagram of a moving part, a feeding assembly, and a first adjusting assembly according to an embodiment of the present invention;

[0038] Figure 4 This is a three-dimensional structural diagram of a rotary slide according to an embodiment of the present invention;

[0039] Figure 5 This is a three-dimensional structural diagram of a first-angle swing table according to an embodiment of the present invention;

[0040] Figure 6 This is a three-dimensional structural diagram of a manual displacement mechanism, a second adjustment component, and a binocular detection module according to an embodiment of the present invention;

[0041] Figure 7 This is a three-dimensional structural diagram of the third adjustment component and the automatic dispensing module according to an embodiment of the present invention;

[0042] Figure 8 This is a schematic flowchart of a first embodiment of the active alignment method of the present invention;

[0043] Figure 9 This is another flowchart illustrating the first embodiment of the active alignment method of the present invention;

[0044] Figure 10 This is a flowchart illustrating the first embodiment of the calibration method of the present invention;

[0045] Figure 11 This is a schematic diagram of the calibration structure of a binocular detection module, UCGB, and chart module according to an embodiment of the present invention;

[0046] Figure 12 This is a schematic diagram of the detection surface of a card module according to an embodiment of the present invention.

[0047] Explanation of icon numbers:

[0048]

[0049]

[0050] The realization of the objective, functional characteristics and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0051] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0052] It should be noted that all directional indications (such as up, down, etc.) in the embodiments of this invention are only used to interpret a specific posture (as shown in the attached diagram). Figure 1 The relative positions and movements of the components shown below are considered. If the specific posture changes, the directional indication will also change accordingly.

[0053] Furthermore, in this invention, descriptions involving "first," "second," etc., are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" can explicitly or implicitly include at least one of that feature.

[0054] Furthermore, the technical solutions of the various embodiments of the present invention can be combined with each other, but only if they are implemented by those skilled in the art. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed by the present invention.

[0055] Please refer to Figures 1-3 This invention provides an AR glasses binocular merging AA device 100 for assembling a frame and two waveguide plates. The AR glasses binocular merging AA device 100 includes:

[0056] Workbench 1;

[0057] The position adjustment mechanism includes a first adjustment component 21, a movable component 24, a second adjustment component 22, and a third adjustment component 23, which are respectively spaced apart on the worktable 1. There are two sets of first adjustment components 21, which are spaced apart on the movable part 241 of the movable component 24. There are also two sets of second adjustment components 22, which are spaced apart, so that the first adjustment component 21 can be moved closer to the second adjustment component 22 or the third adjustment component 23 by driving the movable part 241 to move.

[0058] The feeding assembly 3 includes a first feeding platform 31 and a second feeding platform 32. The first feeding platform 31 is installed on the moving part 241. There are two sets of second feeding platforms 32. The two sets of second feeding platforms 32 are respectively set on two sets of first adjustment assemblies 21, so that by driving the first adjustment assemblies 21 to move, the second feeding platform 32 can be driven to move and rotate in multiple directions.

[0059] The binocular detection module 4 includes two detection cameras 41, which are respectively mounted on two sets of second adjustment components 22. By driving the second adjustment components 22 to move, the detection cameras 41 can be driven to move and rotate in multiple directions.

[0060] Automatic dispensing module 5 is installed on the third adjustment component 23 so that by driving the third adjustment component 23 to move, the automatic dispensing module 5 can be moved in three coordinates.

[0061] The controller is communicatively connected to the position adjustment mechanism, the binocular detection module 4, and the automatic dispensing module 5.

[0062] In the above embodiment, after the two detection cameras 41 are calibrated by adjusting the positions of the two sets of second adjustment components 22 respectively, the two waveguide sheets are respectively installed on the two sets of second loading platforms 32, and the lens frame is fixedly installed on the first loading platform 31. The lens frame is equipped with two sets of analog light source projection modules that cooperate with the two waveguide sheets respectively. Then, the controller drives the moving part 24 to move the first loading platform 31 and the first adjustment component 21 installed on the moving part 241 to the detection position close to the binocular detection module 4. After reaching the detection position, the controller first issues control commands. The positions of the two sets of first adjustment components 21 are adjusted, and then the position of the incident light port of each simulated light source projection module emitting an image onto each waveguide plate (i.e., optical waveguide lens) of the AR glasses is controlled. After being guided by the internal optical path of the waveguide plate, the simulated image is emitted from the exit port and projected onto the waveguide plate. Each detection camera 41 captures the real-time display image displayed on the waveguide plate and feeds it back to the controller. The controller processes the real-time image information and then, based on the difference between the processed information and the preset information, adaptively outputs control commands to drive the moving part 241 and each first adjustment component 21 to move respectively. When the moving part 241 moves, the frame and the waveguide plate move together to adjust the overall position of the frame and the binocular detection module 4. When each first adjustment component 21 moves, it can adjust the position of each waveguide piece individually, realizing the adjustment of the six degrees of freedom of each waveguide piece. It actively aligns the relative position of the frame and the waveguide piece, thereby facilitating the assembly of AR glasses. After adjustment, the binocular detection module 4 acquires the display image fed back on the waveguide piece in real time and transmits it to the controller for processing. The controller drives the first adjustment component 21 to move and change the position of the waveguide piece accordingly until the controller determines that the MTF value of the real-time image information of each waveguide piece is qualified, which means that the AA result is qualified. The moving part 241 and the first adjustment component 21 no longer move. The controller records the position of the moving part 241 and the image coupling percentage value of the image information of the two waveguide pieces at this time. Then the controller drives the moving part 241 to move the frame and the waveguide piece together to move close to the third adjustment component 23, that is, below the automatic dispensing module 5. The controller completes the dispensing and curing of the frame and the waveguide piece by driving the third adjustment component 23 to fix their relative positions. The drive unit 241 then returns to the detection position where the final MTF value was determined to be acceptable, and retests the projected images on the two waveguide sheets. The controller compares the obtained image coupling percentage value with the previous image coupling percentage value. If the difference between the two is within a preset range, the assembled waveguide sheet and frame can be manually removed for the next stage of processing; if it deviates from the preset range, reprocessing is required. This embodiment, through the cooperation of algorithms and control mechanisms, simulates the human eye's binocular interpupillary distance and focal length, enabling a convenient AA process for the waveguide sheet and frame, thereby improving the efficiency and accuracy of the AA process and enhancing the clarity of the finished AR glasses.It should be noted that the connection between the waveguide sheet and the second feeding platform 32 can be vacuum adsorption, and multiple negative pressure gas distribution holes are formed on the second feeding platform. The connection between the lens frame and the first feeding platform 31 can be snap-fit, with the middle part of the lens frame snapped into the snap-fit ​​groove opened on the first feeding platform 31.

[0063] In one embodiment, reference is made to Figure 2 The moving part 24 also includes a fixed part 242, a drive motor 243, and a transmission screw. The output end of the drive motor 243 is connected to the transmission screw, which passes through the moving part 241 and is threadedly connected to it. The moving part 241 is slidably connected to the fixed part 242. The drive motor 243 is mounted on the fixed part 242, and the transmission screw is rotatably connected to the fixed part 242. The drive motor 243 drives the transmission screw to rotate, and the transmission screw drives the moving part 241 to move on the fixed part 242. The fixed part 242 is connected to the worktable 1. This embodiment has the advantages of rapid movement and stable operation. The direction of movement of the moving part 241 is... Figure 2 The moving part 24 has a structure including but not limited to the above-described form. It can also be a transmission structure in which a gear and a rack mesh together. The rack is arranged along the length of the fixed part 242. The driving part is mounted on the moving part 241. The output end of the driving part is connected to the gear. The gear meshes with the rack, thereby driving the moving part 241 to move.

[0064] In one embodiment, reference is made to Figure 6 The second adjustment assembly 22 includes a first translation member 221, a second translation member 222, a lifting member 223, a rotating member 224, a first swing member 225, and a second swing member 226 stacked sequentially. The detection camera 41 is mounted on the second swing member 226. By driving the first translation member 221, the second translation member 222, the lifting member 223, the rotating member 224, the first swing member 225, and the second swing member 226 to move, the detection camera 41 can be adjusted in six degrees of freedom. The first translation member 221 is used to move along... Figure 6 The forward and backward drive detection camera 41 moves, and the second translation element 222 is used to move along the direction of the camera. Figure 6 The left and right drive detection camera 41 moves, and the lifting component 223 is used to move along the left and right directions. Figure 6 The vertical drive mechanism moves the detection camera 41. Rotating component 224, the first swing component 225, and the second swing component 226 respectively drive the detection camera 41 to rotate or swing around the vertical, left-right, and forward / backward directions shown in the diagram, thereby achieving adjustment of the detection camera 41's six degrees of freedom for calibration. The detection optical axis of the detection camera 41 is... Figure 6The front-to-back direction. It should be noted that the driving direction of each component of the second adjustment assembly 22 is manually driven by rotation. Each component is connected to the rotation part via a lead screw, and the lead screw 2183 is threadedly connected to the movable part of each component. This driving method is easy to adjust and control, and provides high precision. The position adjustment mechanism also includes a manual displacement mechanism 25, which includes a guide rail 251 and a slide 252. The guide rail 251... Figure 6 The slide 252 is slidably connected to the guide rail 251, and the two sets of second adjustment components 22 are installed on the slide 252 so that the positions of the two sets of second adjustment components 22 can be manually adjusted back and forth to improve the applicability.

[0065] In one embodiment, reference is made to Figure 2 and Figure 3 The first adjustment assembly 21 includes a stacked three-axis translation component 211 and a three-axis rotation component 216. The three-axis translation component 211 is mounted on the moving part 241, and the second loading platform 32 is mounted on the top of the three-axis rotation component 216. The controller adjusts the second loading platform 32 and the waveguide sheet mounted on the second loading platform 32 in six degrees of freedom by driving the three-axis translation component 211 and the three-axis rotation component 216 to move respectively. The three-axis translation component 211 is used to realize the linear movement of the waveguide sheet in three directions, and the three-axis rotation component 216 is used to realize the rotation or oscillation of the waveguide sheet in three directions, and works with the controller to perform precise AA motion control.

[0066] Specifically, the three-axis translation component 211 includes a first-axis translation sub-component 212, a second-axis translation sub-component 213, and a third-axis translation sub-component 214 stacked sequentially, with the movement axes of the first-axis translation sub-component 212, the second-axis translation sub-component 213, and the third-axis translation sub-component 214 being perpendicular to each other. The moving direction of the movable end of the first-axis translation sub-component 212 is... Figure 2 The left and right directions, the moving direction of the movable end of the second axis translation component 213 is as follows: Figure 2 The vertical direction of the third axis translation component 214, and the direction of movement of its movable end are as follows: Figure 2 The translation sub-component is driven by a combination of a slide rail, a lead screw, and a motor. The motor is connected to the lead screw via a transmission mechanism, and the motor drives the lead screw to rotate. The lead screw is threadedly connected to the movable end of the translation sub-component, and the movable end is slidably connected to the slide rail. The motor drives the lead screw to rotate, thereby driving the movable end to move.

[0067] In one embodiment, reference is made to Figures 2-5The three-axis rotating component 216 includes a rotary slide 217, a first angle swing platform 218, and a second angle swing platform 219 stacked sequentially. The first rotation axis of the first angle swing platform 218 is perpendicular to the second rotation axis of the second angle swing platform 219. The third rotation axis of the rotary slide 217 is perpendicular to both the first and second rotation axes. The second loading platform 32 is mounted on the second angle swing platform 219. The first rotation axis is... Figure 2 The left and right directions, the second axis of rotation is Figure 2 The front-back direction, the third axis of rotation is Figure 2 The up and down directions within. Specifically, refer to... Figure 5 The first angle swing stage 218 includes a first rotary motor 2181, a base 2182, a lead screw 2183, and a swinging part 2184. The first rotary motor 2181 is mounted on the base 2182, and its output end is connected to the lead screw 2183. The lead screw 2183 is threaded into the bottom of the swinging part 2184. The first rotary motor 2181 drives the lead screw 2183 to rotate, thereby causing the swinging part 2184 to swing left and right relative to the base 2182. The second angle swing stage 219 is disposed on the swinging part 2184. This embodiment has the advantages of easy control of the swing amplitude and high precision. Similarly, the second angle swing stage 219 is mounted on the swinging part 2184 of the first angle swing stage 218, rotated 90° horizontally relative to the first angle swing stage 218. Its structure is similar to that of the first angle swing stage 218, and therefore has the same advantages, which will not be described further here. (Refer to...) Figure 4 The rotary slide 217 includes a second rotary motor 2171, a mounting base 2172, and a rotating part 2173. The second rotary motor 2171 is mounted on the mounting base 2172, and the rotating part 2173 is rotatably connected to the mounting base 2172. The output end of the second rotary motor 2171 is drively connected to the rotating part 2173. The base 2182 of the first angle swing stage 218 is mounted on the rotating part 2173. The second rotary motor 2171 drives the rotating part 2173 to rotate, thereby causing the first angle swing stage 218, the second angle swing stage 219, and the waveguide plate mounted on the rotating part 2173 to rotate around a third rotation axis.

[0068] In one embodiment, reference is made to Figure 7The automatic dispensing module 5 includes a mounting plate 51, and dispensing components 52, a vision module 53, and a curing lamp 54, all mounted on the mounting plate 51. The mounting plate 51 is connected to the third adjustment assembly 23. The dispensing component 52 dispenses adhesive into the gap between the lens frame and the waveguide plate, thereby fixing the lens frame and the waveguide plate. The vision module 53 observes the dispensing position and provides feedback to the controller. The controller then adaptively drives the third adjustment assembly 23 to move, thereby changing the overall position of the automatic dispensing module 5, enabling multi-position dispensing and facilitating the dispensing operation. After dispensing, the curing lamp 54 illuminates the dispensing position on the lens frame and the waveguide plate for rapid curing. Specifically, the curing lamp 54 is a UV lamp. It should be noted that the third adjustment assembly 23 includes a Y-axis moving module 231, an X-axis moving module 232, and a Z-axis moving module 233 arranged sequentially. The Y-axis moving module 231 is mounted on the worktable 1, and the mounting plate 51 is mounted on the movable end of the Z-axis moving module 233. The Y-axis moving module 231 is installed at the bottom, the X-axis moving module 232 is installed at the movable end of the Y-axis moving module 231, and the Z-axis moving module 233 is installed at the movable end of the X-axis moving module 232, thereby realizing the position adjustment of the mounting plate 51, dispensing component 52, vision module 53 and curing lamp 54 installed at the movable end of the Z-axis moving module 233 in the spatial rectangular coordinate system.

[0069] In one embodiment, the controller includes a calibration analysis module, a control module, and a storage module. The calibration analysis module is used to receive image data information captured by the binocular detection module 4 and perform data processing to obtain data processing information. The control module is used to receive the analysis signal transmitted after processing by the calibration analysis module and output a control signal to drive the displacement of the position adjustment mechanism according to the analysis signal. The storage module is used to record the position information of the position adjustment mechanism and the data processing information. The controller is specifically set in the workbench 1.

[0070] In addition, please refer to Figure 8 and Figure 9 The present invention also provides an active alignment method, which is applied to the above-mentioned AR glasses binocular merging AA device 100. The AR glasses include a frame and two waveguide plates. Two sets of simulated light source projection modules that cooperate with the waveguide plates are respectively mounted on the frame. The active alignment method includes the following steps:

[0071] S200, fix the lens frame to be processed on the first loading platform, fix the two waveguide sheets on the two sets of the second loading platforms respectively, control the moving part to move to the first position, and drive the two sets of the first adjustment components to approach the binocular detection module;

[0072] The first position is the initial detection position of the moving part 241, so that the binocular detection module 4 can detect the lens frame and the two waveguide pieces, and realize the alignment measurement of the lens frame and the two waveguide pieces.

[0073] S300, control the first adjustment component to move to the first test position, the simulated light source projection module emits an image to the waveguide sheet, the detection camera captures the simulated image displayed on the waveguide sheet and feeds it back to the controller, the controller performs data processing and analysis on the simulated image information, obtains the first MTF value and the first image coupling percentage value, and determines whether the first MTF value is within the qualified range;

[0074] The controller first adjusts the position of each first adjustment component 21 to the first test position through control commands, and then controls each analog light source projection module on the frame to emit an image to the incident light port position of each waveguide plate of the AR glasses. After being guided by the internal optical path of the waveguide plate, the analog image is emitted from the exit port and projected onto the waveguide plate. Each detection camera 41 captures the real-time analog image displayed on each waveguide plate and feeds it back to the controller. The controller performs data processing on the real-time analog image information to obtain the first MTF value and the first image coupling percentage value of each analog image information. Then, based on the difference between the processed MTF value information and the preset information, it determines whether the first MTF value is in the qualified range.

[0075] S400, if the first MTF value is within the qualified range, control the moving part to move to the second position, and drive the first adjustment component to approach the automatic dispensing module;

[0076] When the MTF value is qualified, it means that the AA result is qualified. The moving part 241 and the first adjustment component 21 no longer move. The controller records the position of the moving part 241 and the image coupling percentage value of each waveguide image information at this time. Then the controller drives the moving part 241 to move the frame and the waveguide together to move closer to the third adjustment component 23, that is, below the automatic dispensing module 5.

[0077] S500, control the displacement of the third adjustment component, and drive the automatic dispensing module to complete the dispensing and curing of the lens frame and the waveguide sheet;

[0078] The controller drives the third adjustment component 23 to move, thereby completing the dispensing and curing of adhesive on the lens frame and the two waveguide sheets, and fixing the relative positions of the waveguide sheets and the lens frame.

[0079] S600, control the moving part to move to the first position, the detection camera recaptures the simulated image displayed on the waveguide sheet and feeds it back to the controller, the controller performs data processing and analysis on the simulated image information, obtains the second image coupling percentage value, and determines whether the difference between the second image coupling percentage value and the first image coupling percentage value is within a preset difference range; if so, complete the active alignment of the waveguide sheet and the lens frame;

[0080] After the adhesive is applied and fixed, the controller drives the moving part 241 back to the first position where the final MTF value is deemed acceptable, and the first adjustment component 21 remains in the first test position. The projected images on the two waveguide sheets are tested again. The controller compares the second image coupling percentage value obtained this time with the first image coupling percentage value. If the difference between the second image coupling percentage value and the first image coupling percentage value is within the preset difference range, the assembled waveguide sheet and frame can be manually removed for the next stage of processing. If it deviates from the preset difference range, it needs to be reprocessed.

[0081] S310, if the first MTF value is not in the qualified range, the controller outputs a control signal to drive the moving part and the first adjustment component to move to the third position and the second test position respectively;

[0082] The controller calculates the direction and distance of displacement required for the moving part 241 and each first adjustment component 21 through an algorithm, and outputs control commands to drive the moving part 241 and the first adjustment component 21 to move. When the moving part 241 moves, the lens frame and waveguide plate will move together to adjust the position of the whole with the binocular detection module 4. When each first adjustment component 21 moves, it can adjust the position of each waveguide plate individually, realizing the adjustment of the six degrees of freedom of each waveguide plate, and actively aligning the relative position of the lens frame and the waveguide plate.

[0083] S320, the step of recapturing the simulated image of the waveguide sheet displayed by the detection camera and feeding it back to the controller is performed.

[0084] After adjustment, each detection camera 41 acquires the displayed image fed back from each waveguide sheet in real time and transmits it to the controller for processing. The controller drives the first adjustment component 21 to move and change the position of the waveguide sheet accordingly until the controller determines that the MTF value of the real-time simulated image information of each waveguide sheet is qualified. This embodiment, through the cooperation of algorithms and control mechanisms, simulates the human eye's binocular interpupillary distance and focal length, enabling a convenient AA process for the waveguide sheet and frame, thereby improving the efficiency and accuracy of the AA process and also improving the clarity of the finished AR glasses.

[0085] In addition, please refer to Figures 10-12 The present invention also provides a calibration method, which is applied to the above-mentioned AR glasses binocular fusion AA device 100. The AR glasses binocular fusion AA device 100 further includes a graphics module 6 and a UCGB7 (universal camera gauge block). The calibration method includes the following steps:

[0086] S100, control the binocular detection module, the UCGB and the image card module to be on the same straight line;

[0087] S110, control the UCGB to take pictures of the image card module and calculate the relative position of the coordinates of the six degrees of freedom of the image card module, and adjust the center of the image card module to coincide with the optical axis of the UCGB and make the detection surface of the image card module perpendicular to the optical axis of the UCGB according to the relative position.

[0088] S120, remove the UCGB, control the binocular detection module to take pictures of the image card module, reverse the process to obtain the six degrees of freedom coordinates of each detection camera of the binocular detection module, adjust the second adjustment component so that the optical axes of the two sets of detection cameras are respectively aligned with the two interpupillary distance points of the image card module and perpendicular to the detection surface of the image card module.

[0089] The Tuka module 6 can specifically be composed of multiple arrays of circles, such as a 5*5 or 7*7 arrangement, for example... Figure 12 As shown, a circle at the center serves as the calibration point for the UCGB, with surrounding circles acting as auxiliary judgment points. Two circles on either side of the central circle serve as calibration points for the interpupillary distance of the two detection cameras. First, the position of the chart module 6 is calibrated using the standard UCGB7. Then, the two detection cameras 41 are calibrated using the calibrated chart module 6, thus completing the calibration of the binocular detection module 4 and ensuring the accuracy of subsequent detection of the waveguide sheet and frame. The chart module 6 and UCGB7 are only used for calibrating the detection module. After calibration, the AR glasses active alignment device 100 needs to be removed. Since this active alignment method employs all the technical solutions of the above embodiments, it possesses at least all the beneficial effects brought by the technical solutions of the above embodiments, which will not be elaborated further here.

[0090] The above are merely preferred embodiments of the present invention and do not limit the patent scope of the present invention. Any equivalent structural transformations made under the concept of the present invention using the contents of the specification and drawings of the present invention, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present invention.

Claims

1. An AR glasses binocular image assembly (AA) device, used to assemble the frame and two waveguide plates, characterized in that, include: Workbench; The position adjustment mechanism includes a first adjustment component, a movable component that is spaced apart from each other on the worktable, a second adjustment component, and a third adjustment component. The first adjustment component consists of two sets, which are spaced apart from each other on the movable part of the movable component. The second adjustment component also consists of two sets, which are spaced apart from each other, so that by driving the movable part to move, the first adjustment component can be moved closer to the second adjustment component or the third adjustment component. The feeding assembly includes a first feeding platform and a second feeding platform. The first feeding platform is installed on the moving part. There are two sets of the second feeding platforms. The two sets of the second feeding platforms are respectively set on the two sets of the first adjustment components, so that by driving the first adjustment components to move, the second feeding platforms can be driven to move and rotate in multiple directions. A binocular detection module, comprising two detection cameras, which are respectively mounted on two sets of second adjustment components, so that by driving the second adjustment components to move, the detection cameras can be driven to move and rotate in multiple directions; An automatic dispensing module is installed on the third adjustment component so that the automatic dispensing module can move in three coordinates by driving the third adjustment component to move. The controller is communicatively connected to the position adjustment mechanism, the binocular detection module, and the automatic dispensing module. The second adjustment assembly includes a first translation component, a second translation component, a lifting component, a rotating component, a first swing component, and a second swing component stacked in sequence. The detection camera is mounted on the second swing component. By driving the first translation component, the second translation component, the lifting component, the rotating component, the first swing component, and the second swing component to move respectively, the detection camera can be adjusted in six degrees of freedom. The first adjustment component includes a stacked three-axis translation component and a three-axis rotation component. The three-axis translation component is installed on the moving part, and the second loading platform is installed on the top of the three-axis rotation component. The controller adjusts the second loading platform in six degrees of freedom by driving the three-axis translation component and the three-axis rotation component to move respectively. When each of the first adjustment components moves, the position of each waveguide sheet can be adjusted individually, realizing the adjustment of the six degrees of freedom position of each waveguide sheet.

2. The AR glasses binocular fusion imaging (AA) device as described in claim 1, characterized in that, The moving part further includes a fixed part, a drive motor, and a transmission screw. The output end of the drive motor is connected to the transmission screw. The transmission screw passes through the moving part and is threadedly connected to the moving part. The moving part is slidably connected to the fixed part. The drive motor is mounted on the fixed part. The transmission screw is rotatably connected to the fixed part.

3. The AR glasses binocular fusion imaging (AA) device as described in claim 1, characterized in that, The three-axis translation component includes a first-axis translation sub-component, a second-axis translation sub-component, and a third-axis translation sub-component stacked sequentially, with the movement axes of the first-axis translation sub-component, the second-axis translation sub-component, and the third-axis translation sub-component being perpendicular to each other.

4. The AR glasses binocular fusion imaging (AA) device as described in claim 1, characterized in that, The three-axis rotating component includes a rotary slide, a first angle swing platform, and a second angle swing platform stacked sequentially. The first rotation axis of the first angle swing platform is perpendicular to the second rotation axis of the second angle swing platform. The third rotation axis of the rotary slide is perpendicular to both the first and second rotation axes. The second loading platform is disposed on the second angle swing platform.

5. The AR glasses binocular fusion imaging (AA) device as described in claim 1, characterized in that, The automatic dispensing module includes a mounting plate, and a dispensing component, a vision module, and a curing lamp respectively mounted on the mounting plate. The mounting plate is connected to the third adjustment component.

6. The AR glasses binocular fusion imaging (AA) device as described in claim 1, characterized in that, The controller includes a calibration analysis module, a control module, and a storage module. The calibration analysis module receives image data captured by the binocular detection module and processes the data to obtain data processing information. The control module receives the analysis signal transmitted after processing by the calibration analysis module and outputs a control signal to drive the position adjustment mechanism to move according to the analysis signal. The storage module records the position information of the position adjustment mechanism and the data processing information.

7. An active alignment method, characterized in that, The active alignment method is applied to the binocular image AA device for AR glasses according to any one of claims 1 to 6. The AR glasses include a frame and two waveguide plates. Two sets of analog light source projection modules that cooperate with the waveguide plates are respectively mounted on the frame. The active alignment method includes the following steps: The lens frame to be processed is fixed on the first loading platform, and the two waveguide sheets are respectively fixed on the two sets of the second loading platforms. The moving part is controlled to move to the first position, driving the two sets of the first adjustment components to approach the binocular detection module. The first adjustment component is controlled to move to the first test position, the simulated light source projection module emits an image to the waveguide sheet, the detection camera captures the simulated image displayed on the waveguide sheet and feeds it back to the controller, the controller performs data processing and analysis on the simulated image information, obtains the first MTF value and the first image coupling percentage value, and determines whether the first MTF value is within the qualified range; If the first MTF value is within the acceptable range, control the moving part to move to the second position, and drive the first adjustment component to approach the automatic dispensing module; Controlling the displacement of the third adjustment component drives the automatic dispensing module to complete the dispensing and curing of adhesive on the lens frame and the waveguide sheet; The moving part is controlled to move to the first position, the detection camera recaptures the simulated image displayed on the waveguide sheet and feeds it back to the controller, the controller performs data processing and analysis on the simulated image information, obtains the second image coupling percentage value, and determines whether the difference between the second image coupling percentage value and the first image coupling percentage value is within a preset difference range; if so, the active alignment of the waveguide sheet and the lens frame is completed. If the first MTF value is not within the acceptable range, the controller outputs a control signal to drive the moving part and the first adjustment component to move to the third position and the second test position, respectively. The step of performing the detection camera to recapture the simulated image of the waveguide sheet and feed it back to the controller.

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