Projection device assembly method, assembly device, and computer-readable storage medium

Abstract

An embodiment of the present application provides a method for assembling a projection device, an assembly device, and a computer-readable storage medium. The method includes: obtaining a first image captured by an image sensor and projected onto a waveguide by a standard projection device; controlling an image sensor adjustment mechanism to adjust the position of the image sensor so that a first rectangular image is approximately located at the center of the camera image; drawing four equal-sized rectangular positioning frames centered on the four corners of the first rectangular image; installing the projection device to be assembled, obtaining a second image captured by the image sensor and projected onto the waveguide by the projection device to be assembled; controlling a light-emitting screen adjustment mechanism to adjust the position of the light-emitting screen in the projection device to be assembled, and completing assembly when the four corner points of the second rectangular image are respectively located within the four rectangular positioning frames. The present application can effectively improve the clarity of the projection device and maintain assembly consistency in batch assembly.

Description

Technical Field

[0001] Embodiments of the present application relate to the technical field of smart devices, and more particularly, to an assembly method for a projection device, an assembly device, and a computer-readable storage medium. Background Art

[0002] Currently, during the calibration process of the projection device, it is necessary to pre-adjust the position of the human eye camera on the active alignment (AA) platform through a computer device to obtain the optical axis position parameters of the human eye camera, and then obtain the image picture captured by the human eye camera on the waveguide plate through the computer device. According to the position information of the target object in the image picture on the waveguide plate and the optical axis position parameters of the human eye camera, the projection module of the projection device is adjusted, resulting in poor clarity of the projection device. Summary of the Invention

[0003] According to an embodiment of the present application, a solution for assembling a projection device is provided.

[0004] In a first aspect of the present application, a method for assembling a projection device is provided, which is applied to an assembly device, wherein the assembly device includes a processor, an image sensor, an image sensor adjustment mechanism, and a light-emitting screen adjustment mechanism. The method is executed by the processor, and includes:

[0005] Acquire a first image captured by an image sensor and projected onto the waveguide by a standard projection device, wherein the first image includes a first rectangular frame projected onto the waveguide by the standard projection device;

[0006] Controlling the image sensor adjustment mechanism to adjust the position of the image sensor so that the first rectangular frame is approximately located in the center area of ​​the camera image;

[0007] Draw four rectangular positioning frames of equal size based on the four corner positions of the first rectangular image as the center;

[0008] Installing the projection device to be assembled, acquiring a second image captured by the image sensor and projected by the projection device to be assembled onto the waveguide, wherein the second image includes a second rectangular screen projected by the projection device onto the waveguide;

[0009] Controlling the light-emitting screen adjustment mechanism to adjust the position of the light-emitting screen in the projection device to be assembled so that the four corner points of the second rectangular screen are respectively located within the four rectangular positioning frames to complete the assembly;

[0010] The four rectangular positioning frames may also be directly determined by the parameters of the projection device and the image sensor, thereby omitting the use of a standard projection device.

[0011] In a possible implementation, four rectangular positioning frames are directly determined based on the parameters of the projection device to be assembled and the parameters of the image sensor, including:

[0012] Obtaining the horizontal resolution of the image sensor, the vertical resolution of the image sensor, the horizontal field of view of the projection device to be assembled, the vertical field of view of the projection device to be assembled, the pixel size of the image sensor, and the focal length of the image sensor;

[0013] The center coordinates of the four rectangular positioning frames are directly determined based on the following formula:

[0014] [resol_x / 2-f*tan(fov_x / 2) / a, resol_y / 2-f*tan(fov_y / 2) / a]

[0015] [resol_x / 2+f*tan(fov_x / 2) / a, resol_y / 2-f*tan(fov_y / 2) / a]

[0016] [resol_x / 2-f*tan(fov_x / 2) / a, resol_y / 2+f*tan(fov_y / 2) / a]

[0017] [resol_x / 2+f*tan(fov_x / 2) / a, resol_y / 2+f*tan(fov_y / 2) / a]

[0018] Where resol_x is the horizontal resolution of the image sensor, resol_y is the vertical resolution of the image sensor, fov_x is the horizontal field of view of the projection device to be assembled, fov_y is the vertical field of view of the projection device to be assembled, and a is the pixel size of the image sensor;

[0019] Determine the positions of the four rectangular positioning frames according to the center coordinates and the preset size;

[0020] The preset size may range from 1 to 5 pixels;

[0021] After directly obtaining the positioning frame, the projection device to be assembled is installed, and a second image captured by the image sensor and projected onto the waveguide by the projection device to be assembled is obtained, wherein the second image includes a second rectangular screen projected onto the waveguide by the projection device;

[0022] The light-emitting screen adjustment mechanism is controlled to adjust the position of the light-emitting screen in the projection device to be assembled, so that the four corner points of the second rectangular screen are respectively located in four rectangular positioning frames to complete the assembly.

[0023] In a possible implementation, during the assembly process, the remaining parts of the projection device to be assembled except for the light-emitting screen are placed in the same position as the remaining parts of the standard projection device except for the light-emitting screen.

[0024] In a possible implementation, the optical axis of the image sensor and the surface of the waveguide are approximately perpendicular.

[0025] In a possible implementation, the first rectangular picture and the second rectangular picture include but are not limited to black and white grid images, and the first rectangular picture and the second rectangular picture have the same size.

[0026] In a second aspect of the present application, an assembly device is provided, comprising:

[0027] An image sensor is configured to capture a first image projected onto the waveguide by a standard projection device and a second image projected onto the waveguide by the projection device to be assembled, wherein the first image includes a first rectangular image projected onto the waveguide by the standard projection device, and the second image includes a second rectangular image projected onto the waveguide by the projection device;

[0028] An image sensor adjustment mechanism, used for adjusting the position of the image sensor;

[0029] A light-emitting screen adjustment mechanism, used to adjust the position of the light-emitting screen in the projection device to be assembled;

[0030] The processor is configured to:

[0031] acquiring the first image;

[0032] Controlling the image sensor adjustment mechanism to adjust the position of the image sensor so that the first rectangular frame is approximately located in the center area of ​​the camera image;

[0033] Draw four rectangular positioning frames of equal size based on the four corner positions of the first rectangular image as the center;

[0034] acquiring the second image;

[0035] Controlling the light-emitting screen adjustment mechanism to adjust the position of the light-emitting screen in the projection device to be assembled so that the second rectangular screen is located and the four corner points of the second rectangular screen are respectively located within four rectangular positioning frames to complete the assembly;

[0036] The four rectangular positioning frames may also be directly determined by the parameters of the projection device to be assembled and the parameters of the image sensor, thereby omitting the use of a standard projection device.

[0037] In a possible implementation, when the four rectangular positioning frames are directly determined by the parameters of the projection device to be assembled and the parameters of the image sensor:

[0038] Obtaining the horizontal resolution of the image sensor, the vertical resolution of the image sensor, the horizontal field of view of the projection device to be assembled, the vertical field of view of the projection device to be assembled, the pixel size of the image sensor, and the focal length of the image sensor;

[0039] The center coordinates of the four rectangular positioning frames are directly determined based on the following formula:

[0040] [resol_x / 2-f*tan(fov_x / 2) / a, resol_y / 2-f*tan(fov_y / 2) / a]

[0041] [resol_x / 2+f*tan(fov_x / 2) / a, resol_y / 2-f*tan(fov_y / 2) / a]

[0042] [resol_x / 2-f*tan(fov_x / 2,) / a, resol_y / 2+f*tan(fov_y / 2) / a]

[0043] [resol_x / 2+f*tan(fov_x / 2) / a, resol_y / 2+f*tan(fov_y / 2) / a]

[0044] Where resol_x is the horizontal resolution of the image sensor, resol_y is the vertical resolution of the image sensor, fov_x is the horizontal field of view of the projection device to be assembled, fov_y is the vertical field of view of the projection device to be assembled, and a is the pixel size of the image sensor;

[0045] Determine the positions of the four rectangular positioning frames according to the center coordinates and the preset size;

[0046] The preset size may range from 1 to 5 pixels;

[0047] After directly obtaining the positioning frame, the projection device to be assembled is installed, and a second image captured by the image sensor and projected onto the waveguide by the projection device to be assembled is obtained, wherein the second image includes a second rectangular screen projected onto the waveguide by the projection device;

[0048] The light-emitting screen adjustment mechanism is controlled to adjust the position of the light-emitting screen in the projection device to be assembled, so that the four corner points of the second rectangular screen are respectively located in four rectangular positioning frames to complete the assembly.

[0049] In a third aspect of the present application, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the method according to any one of the first aspects is implemented.

[0050] In the assembly method, assembly device and computer-readable storage medium of the projection device provided in the embodiments of the present application, during the calibration process of the projection device, the position of the light-emitting screen in the projection device to be assembled is adjusted by the light-emitting screen control adjustment mechanism, so that the four corner points of the second rectangular screen are respectively located in the four rectangular positioning frames. In this way, the clarity of the projection device can be effectively improved.

[0051] It should be understood that the contents described in the Summary of the Invention are not intended to limit the key or important features of the embodiments of the present application, nor are they intended to limit the scope of the present application. Other features of the present application will become readily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] The above and other features, advantages and aspects of the embodiments of the present application will become more apparent with reference to the following detailed description in conjunction with the accompanying drawings.

[0053] Figure 1 A diagram showing the positions of an AR device and an image sensor according to an embodiment of the present application is shown.

[0054] Figure 2 A flow chart showing a method for assembling a projection device according to an embodiment of the present application is shown.

[0055] Figure 3 A schematic diagram of a rectangular screen according to an embodiment of the present application is shown.

[0056] Figure 4 The figure shows a picture captured after the image sensor of the embodiment of the present application is adjusted.

[0057] Figure 5 The figure shows a picture captured by the image sensor after the display of the embodiment of the present application is adjusted.

[0058] Figure 6 The figure shows the architecture of the assembly equipment according to the embodiment of the present application. DETAILED DESCRIPTION

[0059] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application.

[0060] First of all, it should be noted that the projection device involved in the embodiments of the present application can be an AR device or a VR device. In the embodiments of the present application, an AR device is used as an example for explanation.

[0061] Figure 1 A diagram showing the locations of an AR device and an image sensor according to an embodiment of the present application.

[0062] See also Figure 1 The AR device includes a light-emitting screen 101, an optical engine 102, and a waveguide 103. The light-emitting screen 101 is used to display images, and the optical engine 102 is used to project the images displayed on the light-emitting screen 101 onto the waveguide 103 for display. The light-emitting screen 101 has six degrees of freedom, that is, the light-emitting screen 101 can move along the three rectangular coordinate axes of x, y, and z, and rotate around these three coordinate axes.

[0063] In the embodiment of the present application, assembling the AR device refers to finding the optimal position of the light-emitting screen 101 so that the imaging quality of the AR device is optimized, and then fixing the position of the light-emitting screen 101 to achieve the final assembly of the AR device.

[0064] Continue to see Figure 1 In this application, an image sensor (e.g., a camera) 601 is used to capture the output information of the AR device (i.e., the image displayed on the waveguide) to find the optimal position of the light-emitting screen 101. Since the optical axis of the image sensor 601 is parallel to the main light ray of the AR device, and since the main light ray of the AR device is perpendicular to the surface of the waveguide 103, it is necessary to ensure that the optical axis of the image sensor 601 is approximately perpendicular or perpendicular to the surface of the waveguide 103.

[0065] The following describes the assembly method of the projection device in conjunction with specific embodiments.

[0066] Figure 2 FIG2 shows a flow chart of a method for assembling a projection device according to an embodiment of the present application. Figure 2 , the method comprises the following steps:

[0067] Step 201 : Acquire a first image captured by an image sensor and projected onto a waveguide by a standard projection device.

[0068] In the embodiment of the present application, the first image includes a first rectangular image projected onto the waveguide by a standard projection device. In one achievable manner, in order to facilitate positioning and distortion calculation, the first rectangular image includes but is not limited to a black and white grid image, such as Figure 3 shown.

[0069] In the embodiment of the present application, the standard projection device refers to a projection device with a light-emitting screen already assembled.

[0070] For example, the size of the rectangular positioning frame can also be directly determined by the parameters of the image sensor (the horizontal resolution resol_x of the image sensor and the vertical resolution resol_y of the image sensor). Figure 4, define the coordinate system oxy, where the coordinates of point A are (0,0), the coordinates of point B are (resol_x,0), the coordinates of point C are (0,resol_y), and the coordinates of point D are (resol_x,resol_y).

[0071] It should be noted that Figure 4 The middle grey part is the first rectangular picture.

[0072] Step 202: Control the image sensor adjustment mechanism to adjust the position of the image sensor so that the first rectangular frame is approximately located in the center area of ​​the camera image.

[0073] In the embodiment of the present application, the image sensor adjustment mechanism may be any mechanism capable of adjusting the position of the image sensor in six degrees of freedom.

[0074] Step 203: Draw four rectangular positioning frames of equal size with the four corners of the first rectangular image as the center.

[0075] In the embodiment of the present application, the size of the rectangular positioning frame may range from 1 to 5 pixels.

[0076] Step 204 : Install the projection device to be assembled, and obtain a second image captured by the image sensor and projected onto the waveguide by the projection device to be assembled.

[0077] In the embodiment of the present application, the second image includes a second rectangular screen projected onto the waveguide by the projection device to be assembled. In one achievable manner, in order to facilitate positioning and distortion calculation, the second rectangular screen includes but is not limited to a black and white grid image, such as Figure 3 shown.

[0078] It is worth noting that the rectangular positioning frame here is the same as the rectangular positioning frame used to adjust the image sensor. Furthermore, since the light-emitting screen and other components of the device to be assembled are separately provided, the problem to be solved in this application is to find the optimal position of the light-emitting screen to complete the assembly. Therefore, when replacing a standard projector device with a projector device to be assembled, it is necessary to ensure that the remaining parts of the projector device to be assembled, excluding the light-emitting screen, are positioned identically to those of the standard projector device.

[0079] Step 205 , controlling the light emitting screen adjustment mechanism to adjust the position of the light emitting screen in the projection device to be assembled, so that the four corner points of the second rectangular screen are respectively located in four rectangular positioning frames to complete the assembly.

[0080] The four rectangular positioning frames are determined by the parameters of the projection device and the parameters of the image sensor.

[0081] It should be noted that when the assembly method (3) is adopted, it can be understood that the light-emitting screen adjustment mechanism adjusts the position of the light-emitting screen in the projection device so that the four corner points of the second rectangular screen are respectively located in the four rectangular positioning frames for fine adjustment.

[0082] In the embodiment of the present application, four rectangular positioning frames are determined, that is, the size of each rectangular positioning frame and the position of each rectangular positioning frame are determined respectively.

[0083] In one possible implementation, using a rectangular positioning frame as an example, the center of the rectangular positioning frame can represent its position. The size of the rectangular positioning frame can be set by those skilled in the art based on actual needs. Its size determines the calibration accuracy. Specifically, a smaller rectangular positioning frame results in higher calibration accuracy, while a larger rectangular positioning frame results in lower calibration accuracy. For example, the size of the rectangular positioning frame can be 1 to 5 pixels.

[0084] For example, there are two methods for determining the four rectangular positioning frames E, F, G, and H:

[0085] 1. Determined by the four corner positions of the first image;

[0086] Specifically, four rectangular frames of equal size may be drawn with the four corners of the first rectangular image as the center. The side length of each rectangular frame may be set to 1 to 5 pixels. These four rectangular frames are positioning frames.

[0087] 2. The following method:

[0088] First, obtain the horizontal resolution resol_x of the image sensor, the vertical resolution resol_y of the image sensor, the horizontal field of view fov_x of the projection device to be assembled, the vertical field of view fov_y of the projection device to be assembled, the pixel size a of the image sensor, and the focal length f of the image sensor.

[0089] Then, the center coordinates of the four rectangular positioning frames are determined based on the following formula:

[0090] The center coordinates of the rectangular positioning frame E are:

[0091] [resol_x / 2-f*tan(fov_x / 2) / a, resol_y / 2-f*tan(fov_y / 2) / a]

[0092] The center coordinates of the rectangular positioning frame F are:

[0093] [resol_x / 2+f*tan(fov_x / 2) / a, resol_y / 2-f*tan(fov_y / 2) / a]

[0094] The center coordinates of the rectangular positioning frame G are:

[0095] [resol_x / 2-f*tan(fov_x / 2) / a, resol_y / 2+f*tan(fov_y / 2) / a]

[0096] The center coordinates of the rectangular positioning frame H are:

[0097] [resol_x / 2+f*tan(fov_x / 2,) / a, resol_y / 2+f*tan(fov_y / 2) / a]

[0098] Finally, the positions of the four rectangular positioning frames are determined according to the center coordinates and preset dimensions.

[0099] It should be noted that if the second method is used to determine the position of the rectangular positioning frame, after obtaining the first image, there is no need to adjust the first rectangular frame in the first image to be approximately located in the center area of ​​the camera image. Subsequent operations can be performed so that the four corner points of the first rectangular frame are located within the rectangular positioning frame.

[0100] In the embodiment of the present application, the light-emitting screen adjustment mechanism can be any mechanism that can adjust the light-emitting screen in six degrees of freedom. After the position of the display in the projection device to be assembled is adjusted, the effect diagram is as follows: Figure 5 As shown, it should be noted that Figure 5 The middle grey part is the second rectangular picture.

[0101] In an embodiment of the present application, during the assembly process of the projection device to be assembled, the position of the light-emitting screen in the projection device is adjusted by controlling the light-emitting screen adjustment mechanism so that the four corner points of the second rectangular screen are respectively located in four rectangular positioning frames. In this way, the clarity of the projection device can be effectively improved, and the consistency of assembly can be maintained in batch assembly.

[0102] It should be noted that for the aforementioned method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that this application is not limited by the order of the actions described, because according to this application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in this specification are all optional embodiments, and the actions and modules involved are not necessarily required by this application.

[0103] The following introduces the assembly equipment of an embodiment of the present application. It should be noted that the assembly method of the above-mentioned projection device can be performed by the assembly equipment.

[0104] Figure 6 A block diagram of an assembly device according to an embodiment of the present application is shown.

[0105] See also Figure 1 and Figure 6 The assembly device includes an image sensor 601, a processor 602, an image sensor adjustment mechanism 603 and a light-emitting screen adjustment mechanism 604.

[0106] The image sensor 601 is used to capture the image projected by the projection device onto the waveguide plate 103. The image sensor adjustment mechanism 203 is used to adjust the position of the image sensor. The light-emitting screen adjustment mechanism 204 is used to adjust the position of the light-emitting screen in the projection device.

[0107] Specifically, the image sensor 601 is used to capture a first image projected onto the waveguide plate 103 by the standard projection device and a second image projected onto the waveguide plate 103 by the projection device to be assembled.

[0108] The first image includes a first rectangular picture projected onto the waveguide plate by a standard projection device, and the second image includes a second rectangular picture projected onto the waveguide plate by a projection device to be assembled.

[0109] The processor 602 is configured to: acquire a first image; control an image sensor adjustment mechanism to adjust the position of the image sensor so that the first rectangular image is approximately located in the center area of ​​the camera image; draw four rectangular positioning frames of equal size based on the four corner positions of the first rectangular image as the center; acquire a second image; control a light-emitting screen adjustment mechanism to adjust the position of the light-emitting screen in the projection device so that the four corner points of the second rectangular image are respectively located within the four rectangular positioning frames to complete the assembly;

[0110] The four positioning frames may also be determined by the parameters of the projection device to be assembled and the parameters of the image sensor.

[0111] In some embodiments, the processor 602 is specifically configured to:

[0112] Obtaining the horizontal resolution of the image sensor, the vertical resolution of the image sensor, the horizontal field of view of the projection device to be assembled, the vertical field of view of the projection device to be assembled, the pixel size of the image sensor, and the focal length of the image sensor;

[0113] The center coordinates of the four rectangular positioning frames are determined based on the following formula:

[0114] [resol_x / 2-f*tan(fov_x / 2) / a, resol_y / 2-f*tan(fov_y / 2) / a]

[0115] [resol_x / 2+f*tan(fov_x / 2) / a, resol_y / 2-f*tan(fov_y / 2) / a]

[0116] [resol_x / 2-f*tan(fov_x / 2) / a, resol_y / 2+f*tan(fov_y / 2) / a]

[0117] [resol_x / 2+f*tan(fov_x / 2) / a, resol_y / 2+f*tan(fov_y / 2) / a]

[0118] Where resol_x is the horizontal resolution of the image sensor, resol_y is the vertical resolution of the image sensor, fov_x is the horizontal field of view of the projection device, fov_y is the vertical field of view of the projection device, and a is the pixel size of the image sensor;

[0119] Determine the positions of the four rectangular positioning frames according to the center coordinates and preset dimensions;

[0120] The preset size may range from 1 to 5 pixels;

[0121] Installing the projection device to be assembled, acquiring a second image captured by the image sensor and projected by the projection device to be assembled onto the waveguide, wherein the second image includes a second rectangular screen projected by the projection device onto the waveguide;

[0122] The light-emitting screen adjustment mechanism is controlled to adjust the position of the light-emitting screen in the projection device to be assembled, so that the four corner points of the second rectangular screen are respectively located in four positioning frames to complete the assembly.

[0123] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the described device can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0124] An embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon. When the computer-readable storage medium is run on a computer, the computer can execute the corresponding contents of the aforementioned method embodiment.

[0125] It should be understood that although the steps in the flowcharts of the accompanying drawings are shown in sequence as indicated by the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some of the steps in the flowcharts of the accompanying drawings may include multiple sub-steps or multiple stages, and these sub-steps or stages are not necessarily executed at the same time, but can be executed at different times, and their execution order is not necessarily sequential, but can be executed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.

[0126] The above description is only part of the implementation methods of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A method for assembling a projection device, applied to an assembly device, wherein the assembly device includes a processor, an image sensor, an image sensor adjustment mechanism, and a light-emitting screen adjustment mechanism. The method is executed by the processor, and is characterized in that: The method comprises: Acquire a first image captured by an image sensor and projected onto the waveguide by a standard projection device, wherein the first image includes a first rectangular frame projected onto the waveguide by the standard projection device; Controlling the image sensor adjustment mechanism to adjust the position of the image sensor so that the first rectangular frame is located in the center area of ​​the camera image; Draw four rectangular positioning frames of equal size based on the four corner positions of the first rectangular image as the center; Installing the projection device to be assembled, acquiring a second image captured by the image sensor and projected by the projection device to be assembled onto the waveguide, wherein the second image includes a second rectangular screen projected by the projection device onto the waveguide; Controlling the light-emitting screen adjustment mechanism to adjust the position of the light-emitting screen in the projection device to be assembled so that the four corner points of the second rectangular screen are respectively located within the four rectangular positioning frames to complete the assembly; The four rectangular positioning frames can be directly determined by the parameters of the projection device and the image sensor, thereby omitting the use of a standard projection device.

2. The method according to claim 1, characterized in that The four rectangular positioning frames are directly determined by the parameters of the projection device to be assembled and the parameters of the image sensor, including: Obtain the horizontal resolution resol_x of the image sensor, the vertical resolution resol_y of the image sensor, the horizontal field of view fov_x of the projection device to be assembled, the vertical field of view fov_y of the projection device to be assembled, the pixel size a of the image sensor, and the focal length f of the image sensor; The center coordinates of the four rectangular positioning frames are directly determined based on the following formula: [resol_x / 2-f*tan(fov_x / 2) / a,resol_y / 2-f*tan(fov_y / 2) / a] [resol_x / 2+f*tan(fov_x / 2) / a,resol_y / 2-f*tan(fov_y / 2) / a] [resol_x / 2-f*tan(fov_x / 2) / a,resol_y / 2+f*tan(fov_y / 2) / a] [resol_x / 2+f*tan(fov_x / 2) / a,resol_y / 2+f*tan(fov_y / 2) / a] Where resol_x is the horizontal resolution of the image sensor, resol_y is the vertical resolution of the image sensor, fov_x is the horizontal field of view of the projection device to be assembled, fov_y is the vertical field of view of the projection device to be assembled, and a is the pixel size of the image sensor; Determine the positions of the four rectangular positioning frames according to the center coordinates and the preset size; The preset size may range from 1 to 5 pixels; After directly obtaining the positioning frame, the projection device to be assembled is installed, and a second image captured by the image sensor and projected onto the waveguide by the projection device to be assembled is obtained, wherein the second image includes a second rectangular screen projected onto the waveguide by the projection device; The light-emitting screen adjustment mechanism is controlled to adjust the position of the light-emitting screen in the projection device to be assembled, so that the four corner points of the second rectangular screen are respectively located in four rectangular positioning frames to complete the assembly.

3. The method according to claim 1, characterized in that During the assembly process, the remaining parts of the projection device to be assembled except the light-emitting screen are placed in the same position as the remaining parts of the standard projection device except the light-emitting screen.

4. The method according to claim 1, wherein The optical axis of the image sensor is perpendicular to the surface of the waveguide.

5. The method according to claim 1, characterized in that The first rectangular image and the second rectangular image are black and white grid images, and the first rectangular image and the second rectangular image have the same size.

6. An assembly device, characterized in that: include: An image sensor is configured to capture a first image projected onto the waveguide by a standard projection device and a second image projected onto the waveguide by the projection device to be assembled, wherein the first image includes a first rectangular image projected onto the waveguide by the standard projection device, and the second image includes a second rectangular image projected onto the waveguide by the projection device; An image sensor adjustment mechanism, used for adjusting the position of the image sensor; A light-emitting screen adjustment mechanism, used to adjust the position of the light-emitting screen in the projection device to be assembled; The processor is configured to: acquiring the first image; Controlling the image sensor adjustment mechanism to adjust the position of the image sensor so that the first rectangular frame is approximately located in the center area of ​​the camera image; Draw four rectangular positioning frames of equal size based on the four corner positions of the first rectangular image as the center; acquiring the second image; Controlling the light-emitting screen adjustment mechanism to adjust the position of the light-emitting screen in the projection device to be assembled so that the four corner points of the second rectangular screen are respectively located within the four rectangular positioning frames to complete the assembly; The four rectangular positioning frames can be directly determined by the parameters of the projection device to be assembled and the parameters of the image sensor, thereby omitting the use of a standard projection device.

7. The assembly equipment according to claim 6, characterized in that The processor is further configured to: When the four rectangular positioning frames are determined directly by the parameters of the projection device to be assembled and the parameters of the image sensor: Obtain the horizontal resolution resol_x of the image sensor, the vertical resolution resol_y of the image sensor, the horizontal field of view fov_x of the projection device to be assembled, the vertical field of view fov_y of the projection device to be assembled, the pixel size a of the image sensor, and the focal length f of the image sensor; The center coordinates of the four rectangular positioning frames are directly determined based on the following formula: [resol_x / 2-f*tan(fov_x / 2) / a,resol_y / 2-f*tan(fov_y / 2) / a] [resol_x / 2+f*tan(fov_x / 2) / a,resol_y / 2-f*tan(fov_y / 2) / a] [resol_x / 2-f*tan(fov_x / 2) / a,resol_y / 2+f*tan(fov_y / 2) / a] [resol_x / 2+f*tan(fov_x / 2) / a,resol_y / 2+f*tan(fov_y / 2) / a] Where resol_x is the horizontal resolution of the image sensor, resol_y is the vertical resolution of the image sensor, fov_x is the horizontal field of view of the projection device to be assembled, fov_y is the vertical field of view of the projection device to be assembled, and a is the pixel size of the image sensor; Determine the positions of the four rectangular positioning frames according to the center coordinates and the preset size; The preset size may range from 1 to 5 pixels; After directly obtaining the positioning frame, the projection device to be assembled is installed, and a second image captured by the image sensor and projected onto the waveguide by the projection device to be assembled is obtained, wherein the second image includes a second rectangular screen projected onto the waveguide by the projection device; The light-emitting screen adjustment mechanism is controlled to adjust the position of the light-emitting screen in the projection device to be assembled, so that the four corner points of the second rectangular screen are respectively located in four rectangular positioning frames to complete the assembly.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 5 is implemented.

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